Vehicle warning method, device and equipment and storage medium

Abstract

The invention discloses a vehicle warning method, device and equipment and a storage medium. Comprising the steps that driving information of a first vehicle is obtained, the driving information comprises the vehicle speed and the vehicle distance, the vehicle speed comprises the vehicle speed of the first vehicle or the vehicle speed of the first vehicle relative to a second vehicle, the vehicle distance comprises the vehicle distance between the first vehicle and the second vehicle, and a visual signal is determined according to the driving information; the visual signal is used for indicating a first risk degree and a second risk degree, the first risk degree is the risk degree of collision of the first vehicle determined based on the vehicle speed, and the second risk degree is the risk degree of collision of the first vehicle determined based on the vehicle distance. The collision risk degree indicated by the invention can avoid the problem of missing the optimal warning opportunity.

Description

Vehicle warning method, device, equipment and storage medium Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to a vehicle warning method, device, equipment and storage medium. Background Art

[0002] Assisted driving technology can provide auxiliary support to the driver during driving, allowing the driver to drive the vehicle more comfortably and safely. As an implementation of assisted driving technology, the advanced driving assistance system (ADAS) can warn the vehicle whether there is a risk of collision. For example, ADAS uses various sensors installed on the vehicle (such as millimeter-wave radar, lidar, monocular / binocular cameras, and satellite navigation) to sense the distance between the vehicle and the oncoming vehicle during driving. When the distance between the vehicle and the oncoming vehicle is small, it will use a red warning light to alert the driver that the vehicle is at risk of collision. However, this warning method often affects the warning effect due to poor timing. For example, the warning is too late and there is not enough deceleration or braking time, or the warning is too early, causing emergency braking when it is not necessary, thereby reducing the reliability of the vehicle's assisted driving.

[0003] Summary of the Invention

[0004] Embodiments of the present application provide a vehicle warning method, apparatus, device, and storage medium to improve the reliability of collision risk indication.

[0005] In a first aspect, an embodiment of the present application provides a vehicle warning method, comprising: obtaining driving information of a first vehicle, the driving information including vehicle speed and vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the vehicle distance between the first vehicle and the second vehicle; determining a visual signal based on the driving information, the visual signal being used to indicate a first risk level and a second risk level, the first risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level being the risk level of a collision of the first vehicle determined based on the vehicle distance.

[0006] Through the vehicle warning method provided by the first aspect, the collision risk level of the first vehicle is warned through a visual signal. Compared with warning the presence or absence of collision risk, the collision risk level indicated by the present application can avoid the problem of missing the best warning opportunity.

[0007] Furthermore, the embodiment of the present application determines a visual signal based on vehicle speed and vehicle distance to indicate the first risk level and the second risk level, which improves the reliability of the collision risk warning compared to always determining the collision risk indication based on vehicle distance.

[0008] In one possible embodiment, the visual signal indicates the first risk level and the second risk level through a visual element of a signal identifier, and the visual element is used to characterize the value of the signal identifier on a variable morphological attribute; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0009] With the vehicle warning method provided by this embodiment, the visual signal indicates the first risk level and the second risk level through two signal identifiers, or the visual signal indicates the first risk level and the second risk level through two visual elements, so that the collision risk levels of the first vehicle in two dimensions can be warned, thereby improving the reliability of the collision risk warning.

[0010] Optionally, the visual element includes at least one of the length, width, radius, shape, color, brightness, and flashing frequency of the signal identifier.

[0011] In one possible embodiment, the risk level of a collision between the visual element of the signal marker and the first vehicle satisfies at least one of the following: the length of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the width of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the shape and size of the signal marker are positively correlated with the risk level of a collision between the first vehicle; the light wavelength of the color of the signal marker is negatively correlated with the risk level of a collision between the vehicle; the brightness of the signal marker is positively correlated with the risk level of a collision between the vehicle; and the flashing frequency of the signal marker is positively correlated with the risk level of a collision between the vehicle.

[0012] With the vehicle warning method provided by this embodiment, a variety of visual elements based on visual signals can realize dynamic indication of the degree of collision risk, that is, adaptive warning of the degree of collision risk, which improves the reliability of collision risk warning compared to warning of the presence or absence of collision risk.

[0013] In one possible embodiment, when the visual signal is used to present the risk level of the first vehicle undergoing a collision within the first vehicle, the visual signal is displayed on at least one of the inside of a door, an inside window, an inside of a windshield, a vehicle display screen, and a rearview mirror of the first vehicle; and / or, when the visual signal is used to present the risk level of the first vehicle undergoing a collision to the second vehicle, the visual signal is displayed on at least one of the outside of a door, an outside window, an outside of a windshield, and a display screen deployed on the outside of the vehicle body of the first vehicle.

[0014] With the vehicle warning method provided by this embodiment, on the one hand, a visual signal can be presented inside the first vehicle so that the driver can control the driving according to the degree of collision risk indicated by the visual signal; on the other hand, the visual signal can be presented outside the vehicle so that the adjacent vehicle (i.e., the second vehicle) can control the vehicle by receiving the warning of the visual signal to avoid collision with the first vehicle.

[0015] In a possible implementation, the method further includes: determining a display position of the visual signal according to a relative position of the second vehicle and the first vehicle.

[0016] The vehicle warning method provided by this embodiment enables the visual signal to be more easily observed by the second vehicle, thereby enabling the second vehicle to perform driving control in a timely manner to reduce the possibility of collision with the first vehicle.

[0017] Optionally, the signal identifier includes lines, patterns or characters.

[0018] In a possible implementation manner, when the signal identifier is a pattern or a character, the visual element of the signal identifier also includes the meaning of the signal identifier.

[0019] The vehicle warning method provided by this embodiment improves the intuitiveness of the warning by presenting the meaning of the signal identification through visual signals.

[0020] In a possible implementation, the method further includes: determining an audible signal based on the driving information, where the audible signal is used to indicate the first risk level and / or the second risk level.

[0021] The vehicle warning method provided by this embodiment combines an audible signal to indicate the first risk level and / or the second risk level, thereby enhancing the warning effect of the collision risk.

[0022] In one possible implementation, generating a visual signal based on the driving information includes: determining the first risk level based on the vehicle speed and a first preset value, and determining the second risk level based on the vehicle distance and a second preset value; generating the visual signal based on the first risk level and the second risk level.

[0023] The vehicle warning method provided by this embodiment judges a first risk level in the vehicle speed dimension based on a pre-acquired first preset value, and judges a second risk level in the vehicle distance dimension based on a pre-acquired second preset value, so as to accurately identify the collision risk levels of the first vehicle in the vehicle speed dimension and the vehicle distance dimension respectively, thereby improving the reliability of the visual signal for indicating the collision risk level.

[0024] In a possible implementation manner, the second preset value is associated with the speed of the first vehicle.

[0025] With the vehicle warning method provided by this embodiment, the safe distance between the first vehicle and the second vehicle (as can be determined based on the second preset value) should be different under different vehicle speed conditions. Therefore, the second preset value is associated with the speed of the first vehicle, which can improve the accuracy of the determined collision risk level.

[0026] In a possible implementation, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate a risk level of a collision of the first vehicle and / or a display style of the visual signal.

[0027] The vehicle warning method provided by this embodiment determines the risk level of a collision of the first vehicle in combination with scene information, thereby improving the accuracy of identifying the collision risk level. The display style of the visual signal is determined based on the scene information, so that the presentation of the visual signal meets the current scene, thereby improving the effectiveness of the warning.

[0028] In a possible implementation, the driving information further includes scene information of the first vehicle's driving; the method further includes: determining the first preset value and / or the second preset value based on the scene information.

[0029] The vehicle warning method provided by this embodiment determines the first preset value and / or the second preset value through scene information, which can make the accuracy of determining the collision risk level in the corresponding dimension based on each preset value higher.

[0030] In a second aspect, an embodiment of the present application provides a vehicle warning method, comprising: obtaining driving information of a first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the vehicle distance between the first vehicle and the second vehicle; determining a perceptible signal based on the driving information, the perceptible signal being used to indicate a target risk level, the target risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed and / or vehicle distance, the perceptible signal including at least one of a visual signal, an audible signal, and a tactile signal.

[0031] In a possible implementation, the audible signal indicates the target risk level through an audible element, and the audible element is used to represent the value of the audible signal on a variable audio attribute.

[0032] In one possible embodiment, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level being the risk level of a collision of the first vehicle determined based on the vehicle distance; the audible element of the audible signal includes a first sub-element and a second sub-element, the first sub-element being used to indicate the first risk level, and the second sub-element being used to indicate the second risk level.

[0033] In a possible implementation, the audible element includes the frequency and / or amplitude of the audible signal.

[0034] In one possible implementation, the risk level of the audible element of the audible signal colliding with the first vehicle satisfies at least one of the following:

[0035] The frequency of the audible signal is positively correlated with the risk level of the first vehicle being subject to a collision;

[0036] The amplitude of the audible signal is positively correlated with the risk level of the first vehicle being subject to a collision.

[0037] In a possible implementation, the visual signal indicates the target risk level through a visual element of the signal identifier, and the visual element is used to represent the value of the signal identifier on a variable morphological attribute.

[0038] In one possible embodiment, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0039] In a possible implementation, the visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

[0040] In one possible embodiment, the risk level of a collision between the visual element of the signal marker and the first vehicle satisfies at least one of the following: the length of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the width of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the shape and size of the signal marker are positively correlated with the risk level of a collision between the first vehicle; the light wavelength of the color of the signal marker is negatively correlated with the risk level of a collision between the vehicle; the brightness of the signal marker is positively correlated with the risk level of a collision between the vehicle; and the flashing frequency of the signal marker is positively correlated with the risk level of a collision between the vehicle.

[0041] In a possible implementation, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate a risk level of a collision of the first vehicle and / or a display style of the visual signal.

[0042] In one possible embodiment, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the first sub-signal of the perceptible signal is used to indicate the first risk level, and the second sub-signal of the perceptible signal is used to indicate the second risk level, the first sub-signal and the second sub-signal are both at least one of the visual signal, the audible signal and the tactile signal, and the first sub-signal is different from the second sub-signal.

[0043] The beneficial effects of the vehicle warning method provided by the second aspect and its possible implementation methods can be found in the beneficial effects brought about by the first aspect and its possible implementation methods, and will not be repeated here.

[0044] In a third aspect, an embodiment of the present application provides a vehicle warning device, comprising: an acquisition unit for acquiring driving information of a first vehicle, the driving information including vehicle speed and vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the vehicle distance between the first vehicle and the second vehicle; a processing unit for determining a visual signal based on the driving information, the visual signal being used to indicate a first risk level and a second risk level, the first risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level being the risk level of a collision of the first vehicle determined based on the vehicle distance.

[0045] In one possible embodiment, the visual signal indicates the first risk level and the second risk level through a visual element of a signal identifier, and the visual element is used to characterize the value of the signal identifier on a variable morphological attribute; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0046] In a possible implementation, the visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

[0047] In one possible embodiment, the risk level of a collision between the visual element of the signal marker and the first vehicle satisfies at least one of the following: the length of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the width of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the shape and size of the signal marker are positively correlated with the risk level of a collision between the first vehicle; the light wavelength of the color of the signal marker is negatively correlated with the risk level of a collision between the vehicle; the brightness of the signal marker is positively correlated with the risk level of a collision between the vehicle; and the flashing frequency of the signal marker is positively correlated with the risk level of a collision between the vehicle.

[0048] In one possible embodiment, when the visual signal is used to present the risk level of the first vehicle undergoing a collision within the first vehicle, the visual signal is displayed on at least one of the inside of a door, an inside window, an inside of a windshield, a vehicle display screen, and a rearview mirror of the first vehicle; and / or, when the visual signal is used to present the risk level of the first vehicle undergoing a collision to the second vehicle, the visual signal is displayed on at least one of the outside of a door, an outside window, an outside of a windshield, and a display screen deployed on the outside of the vehicle body of the first vehicle.

[0049] In a possible implementation manner, the processing unit is further configured to determine a display position of the visual signal according to a relative position of the second vehicle and the first vehicle.

[0050] In a possible implementation, the signal mark includes lines, patterns, or characters.

[0051] In a possible implementation manner, when the signal identifier is a pattern or a character, the visual element of the signal identifier also includes the meaning of the signal identifier.

[0052] In a possible implementation, the processing unit is further configured to: determine an audible signal based on the driving information, where the audible signal is used to indicate the first risk level and / or the second risk level.

[0053] In one possible implementation, the processing unit is specifically used to: determine the first risk level based on the vehicle speed and a first preset value, and determine the second risk level based on the vehicle distance and a second preset value; and generate the visual signal based on the first risk level and the second risk level.

[0054] In a possible implementation manner, the second preset value is associated with the speed of the first vehicle.

[0055] In a possible implementation, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate a risk level of a collision of the first vehicle and / or a display style of the visual signal.

[0056] The beneficial effects of the vehicle warning device provided by the third aspect and its possible implementation methods can be found in the beneficial effects brought about by the first aspect and its possible implementation methods, and will not be repeated here.

[0057] In fourth aspect, an embodiment of the present application provides a vehicle warning device, comprising: an acquisition unit for acquiring driving information of a first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the vehicle distance between the first vehicle and the second vehicle; a processing unit for determining a perceptible signal based on the driving information, the perceptible signal being used to indicate a target risk level, the target risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed and / or vehicle distance, the perceptible signal including at least one of a visual signal, an audible signal and a tactile signal.

[0058] In a possible implementation, the visual signal indicates the target risk level through a visual element of the signal identifier, and the visual element is used to represent the value of the signal identifier on a variable morphological attribute.

[0059] In one possible embodiment, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0060] In a possible implementation, the visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

[0061] In one possible embodiment, the risk level of a collision between the visual element of the signal marker and the first vehicle satisfies at least one of the following: the length of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the width of the signal marker is positively correlated with the risk level of a collision between the first vehicle; the shape and size of the signal marker are positively correlated with the risk level of a collision between the first vehicle; the light wavelength of the color of the signal marker is negatively correlated with the risk level of a collision between the vehicle; the brightness of the signal marker is positively correlated with the risk level of a collision between the vehicle; and the flashing frequency of the signal marker is positively correlated with the risk level of a collision between the vehicle.

[0062] In a possible implementation, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate a risk level of a collision of the first vehicle and / or a display style of the visual signal.

[0063] In one possible embodiment, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the first sub-signal of the perceptible signal is used to indicate the first risk level, and the second sub-signal of the perceptible signal is used to indicate the second risk level, the first sub-signal and the second sub-signal are both at least one of the visual signal, the audible signal and the tactile signal, and the first sub-signal is different from the second sub-signal.

[0064] The beneficial effects of the vehicle warning device provided by the fourth aspect and the possible implementation methods of the fourth aspect can be referred to the beneficial effects brought about by the first aspect and the possible implementation methods of the first aspect, and will not be repeated here.

[0065] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory, and executing the method in the first aspect, the second aspect, or each possible implementation.

[0066] In a sixth aspect, an embodiment of the present application provides a chip, comprising: a processor for calling and executing computer instructions from a memory, so that a device equipped with the chip executes a method as in the first aspect, the second aspect, or each possible implementation.

[0067] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium for storing computer program instructions, wherein the computer program enables a computer to execute the method in the first aspect, the second aspect, or each possible implementation manner.

[0068] In an eighth aspect, an embodiment of the present application provides a computer program product, comprising computer program instructions, which enable a computer to execute the method in the first aspect, the second aspect, or each possible implementation manner.

[0069] In the ninth aspect, an embodiment of the present application provides a device comprising a logic circuit and an input / output interface, wherein the input / output interface is used to receive signals from other communication devices outside the device and transmit them to the logic circuit or send signals from the logic circuit to other communication devices outside the device, and the logic circuit is used to execute code instructions to implement the method in the first aspect, the second aspect or each possible implementation method.

[0070] In a tenth aspect, an embodiment of the present application provides an intelligent vehicle, including a vehicle warning device, which is used to execute the method in the first aspect, the second aspect or each possible implementation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] FIG1 is a schematic diagram of a vehicle control system provided in an embodiment of the present application;

[0072] FIG2 is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of the present application;

[0073] FIG3 is a schematic diagram of a driving scenario of a vehicle provided in an embodiment of the present application;

[0074] FIG4 is a schematic diagram of a process flow of a vehicle warning method provided in an embodiment of the present application;

[0075] Figures 5a to 5e are schematic diagrams of signal identification provided in an embodiment of the present application;

[0076] FIG6 is a schematic diagram of some visual signals provided in an embodiment of the present application;

[0077] FIG7 is a schematic diagram of other visual signals provided in an embodiment of the present application;

[0078] 8a and 8b are schematic diagrams of visual signal display positions provided in an embodiment of the present application;

[0079] FIG9 is a schematic flow chart of another vehicle warning method provided in an embodiment of the present application;

[0080] FIG10 is a schematic block diagram of a vehicle warning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0082] The technical solutions of the embodiments of the present application may be implemented by a mobile device or a device deployed in the mobile device. The mobile device may have any appearance, such as an intelligent vehicle, an intelligent robot, etc. The intelligent vehicle may be an autonomous vehicle that automatically controls all functions, or an assisted driving vehicle that automatically controls some functions to provide driving assistance. Hereinafter, both autonomous vehicles and assisted driving vehicles are referred to as vehicles.

[0083] To reduce collisions such as scrapes and rear-end collisions between adjacent vehicles, ADAS often provides collision risk warnings during driving. For example, a vehicle can sense the distance between itself and an oncoming vehicle while driving, and when the distance between the vehicle and the oncoming vehicle is less than a preset value, the warning light on the rearview mirror will turn red to alert the driver to the risk of collision.

[0084] Currently, collision risk indication has the following main problems:

[0085] On the one hand, using a red warning light to warn the vehicle of collision risk does not reflect the extent of the collision risk. In this case, if the warning is too late, the vehicle does not have enough time to slow down or brake. If the warning is too early, the brakes are triggered unnecessarily, which reduces the reliability and safety of the vehicle's assisted driving.

[0086] On the other hand, the collision risk warning is based on the distance between the own vehicle and the adjacent vehicle without considering the impact of vehicle speed on the collision risk, resulting in low reliability of the collision risk warning.

[0087] In response to the above problems, the present application provides a collision risk warning solution. On the one hand, it can warn the degree of collision risk between the own vehicle and the oncoming vehicle through rich perceptible information, avoiding the problem of missing the best warning opportunity when warning about the presence or absence of collision risk; on the other hand, it judges the degree of collision risk between the own vehicle and the oncoming vehicle in combination with the vehicle speed and / or driving scene, which improves the reliability of the collision risk warning compared to the collision risk warning that always determines the collision risk based on the distance between the vehicles.

[0088] It should be noted that the present application is applicable to assisted driving vehicles. For example, the assisted driving vehicle can provide a collision risk warning to the driver of the vehicle based on the collision risk warning scheme provided by the present application, so that the driver can perform corresponding driving operations based on the collision risk warning to avoid a collision. In addition, the present application is also applicable to autonomous driving vehicles. The autonomous driving vehicle adopts the collision risk warning scheme provided by the embodiment of the present application, which can indicate the collision risk of the vehicle, so that the vehicle can perform corresponding driving operations based on the indication of the collision risk to avoid a collision. It should also be understood that both assisted driving vehicles and autonomous driving vehicles can warn the oncoming vehicle of the collision risk based on the collision risk warning scheme provided by the present application, so that the oncoming vehicle can take corresponding driving operations to avoid a collision.

[0089] FIG1 is a schematic diagram of a vehicle control system 100 provided by the present application. As shown in FIG1 , the vehicle control system 100 includes at least a collision risk warning module 110 and a driving information acquisition module 120 .

[0090] Among them, the driving information acquisition module 120 is used to obtain at least one of the vehicle speed, vehicle distance and scene information. Exemplarily, the driving information acquisition module 120 may include a motion module 121 and an ADAS module 122. The motion module 121 is used to obtain the vehicle speed and send the obtained vehicle speed to the collision risk warning module 110. The motion module can be implemented as a speed sensor, etc.; the ADAS module 122 is used to obtain the vehicle distance and / or scene information, and send the obtained vehicle distance and / or scene information to the collision risk warning module 110. For example, ADAS can obtain the vehicle distance and / or scene information through data collected by image sensors, optical sensors, radars, etc.

[0091] The collision risk warning module 110 can determine a warning signal for warning of collision risk based on the driving information acquired by the driving information acquisition module 120. The warning signal can be any of the sensible signals described below, and control the vehicle's output device to output the warning signal. Alternatively, the collision risk warning module 110 can determine a warning instruction based on the driving information acquired by the driving information acquisition module 120, and send the warning instruction to the vehicle's output device, causing the vehicle's output device to output a warning signal based on the warning instruction.

[0092] Optionally, the vehicle's output device may include at least one of the following: a headlight, a display screen, a speaker, a vibrator, etc. For example, the collision risk warning module 110 may control the headlights (one or more of high beam, low beam, and fog light) to flash to output a warning signal, or control the display screen to display a warning signal in any form, or control the vehicle's speaker to emit an alarm sound or voice to output a warning signal, or control a vibrator to generate vehicle vibration to output a warning signal.

[0093] Optionally, the display screen of the vehicle's output device can be deployed anywhere in the vehicle, such as the inside or outside of a door, an inner window, an outer window, the inside or outside of a windshield, a vehicle display screen (such as a central control display screen), a rearview mirror, or the outside of the vehicle body. It should be understood that the display screen of the output device can be a cathode ray tube (CRT) display screen, a liquid crystal display screen, a laser display screen, an LED display screen, or a projection area of ​​a projection display.

[0094] The collision risk warning module 110 may include a distance warning module 111 and a warning control module 112. As an example, the distance warning module 111 is configured to determine a warning signal for warning of collision risk based on the driving information acquired by the driving information acquisition module 120, and to send a first warning instruction carrying the warning signal to the warning control module 112, so that the warning control module 112 controls the output device of the vehicle to output the warning signal according to the first warning instruction. As another example, the warning control module 112 is configured to determine the degree of collision risk of the vehicle based on the driving information, and to send a second warning instruction carrying the degree of collision risk of the vehicle to the warning control module 112, so that the warning control module 112 determines a warning message based on the degree of collision risk of the vehicle indicated by the second warning instruction, and further controls the output device of the vehicle to output the warning message.

[0095] In some embodiments, the collision risk warning module 110 may also perform driving control based on driving information, such as controlling the vehicle to decelerate, park, or steer when the distance between the vehicle and an adjacent vehicle is close. Alternatively, the collision risk warning module 110 may include a driving control module 113. After the distance warning module 111 within the collision risk warning module 110 determines the vehicle's collision risk based on the driving information, it generates a driving control instruction and sends the driving control instruction to the driving control module 113. The driving control module 113 controls the vehicle to decelerate, park, steer, etc. based on the received driving control instruction.

[0096] In some embodiments, the driving control module 113 may also receive warning instructions sent by adjacent vehicles and control the driving of the vehicle according to the warning instructions sent by the adjacent vehicles. For example, when the warning instruction sent by the rear vehicle indicates that the distance between the two vehicles is close, the vehicle may be controlled to start or accelerate.

[0097] The vehicle control system 100 can be implemented in hardware as a central processing unit (CPU) 201 as shown in FIG2 , or the vehicle control system 100 can be a functional module of the CPU 201. The vehicle control system 100 can be implemented in software as an intelligent vehicle digital platform (iDVP), for example.

[0098] It should be noted that the adjacent vehicles mentioned in this application (hereinafter referred to as the second vehicle) may include vehicles within the detection range around the vehicle, such as the vehicle in front, behind, to the left, to the right, etc. The detection range of the vehicle refers to the detection range of the sensors deployed in the vehicle (such as image sensors, radar, etc.).

[0099] FIG2 is a schematic diagram of the hardware structure of a vehicle provided in an embodiment of the present application. The vehicle 200 includes:

[0100] CPU 201 is used to control the hardware devices of various parts of the entire intelligent vehicle on the one hand; on the other hand, it is used to run the operating system software and required application software, including the software involved in this application such as driving feature acquisition, driving data acquisition, steering state determination, and rearview mirror adjustment during steering.

[0101] The storage device 202 is used to store various software programs, data, etc. of the vehicle 200; the storage device can be one or more of a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), a solid state disk (SSD), a secure digital (SD) card, and a hard disk. The software functions of the rearview mirror adjustment method provided in the embodiment of the present application are also run and stored on the storage device 202.

[0102] The communication device 203 provides the vehicle 200 with network communication functions, including one or more of cellular networks (global system for mobile communications (GSM) / universal mobile telecommunications system (UMTS) / long term evolution (LTE) / code division multiple access (CDMA)), wireless local area networks (WLAN), near field communication (NFC), short-range communication (such as Bluetooth, a short-range communication technology used in future communication systems), etc. Alternatively, the communication device 203 provides the vehicle 200 with wired communication functions based on electrical connections, including any method of transmitting information using tangible media such as metal wires and optical fibers. For example, the vehicle can realize communication between the entire vehicle system and vehicle components based on the communication device 203, or the vehicle can communicate with other vehicles (such as adjacent vehicles), roadside equipment, etc. based on the communication device 203 to realize information exchange.

[0103] The antenna device 204 includes a wireless transmitting antenna or a wireless receiving antenna used by the communication device 203. The global positioning system (GPS) device 205 is used to provide location information of the vehicle 200. The sensor device 206 is used to obtain the driving status of the vehicle, and may also include, for example, radar, a camera based on machine vision, etc., for sensing the road traffic environment and pedestrians on the road, so as to guide the vehicle to drive according to the road conditions. The power supply device 207 supplies power to the vehicle. The input / output (I / O) control device 208 is used to control the data interaction between various input / output devices, especially to control the data interaction between the CPU 201 and the I / O interface 209 and the UI operation interface 210.

[0104] The I / O interface 209 is an external interface provided by the vehicle 200 and includes one or more of a universal serial bus (USB) interface, an SD card interface, a compact disc (CD) / digital versatile disc (DVD) interface, a key interface, etc. The UI operation interface 210 includes a graphical user interface (GUI) operation / display panel provided by the vehicle 200, which is used to display the operating status of the vehicle 200, device status, the environment in which the autonomous vehicle is located, user operation interfaces, and operation results; the panel can also be a touch screen for receiving user touch operations and converting them into user operation commands.

[0105] Referring to FIG3 , the embodiment of the present application can be applied to at least the following three possible driving scenarios:

[0106] Scenario 1: Vehicle B is traveling between Vehicle A and Vehicle C, both of which are neighbors of Vehicle B. Based on the driving information obtained, Vehicle B can determine the risk of a collision between itself and Vehicle A, and the risk of a collision between itself and Vehicle C.

[0107] Scenario 2: Vehicle A can determine the risk of a collision with vehicle B based on the driving information it obtains.

[0108] Scenario 3: Vehicle C can determine the risk of a collision with Vehicle B based on the driving information it obtains.

[0109] Of course, in the above scenarios 2 and 3, it is not ruled out that vehicle A and vehicle C are also adjacent vehicles. In this case, vehicle A and vehicle C also determine the risk level of collision between the two based on the driving information obtained.

[0110] The vehicle warning method provided in the embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0111] It should be understood that the following description is merely for ease of understanding and explanation, and the methods provided in the embodiments of the present application are described using a vehicle control device as the execution subject. The control device may, for example, be part or all of the modules in the vehicle control system 100 in FIG. 1 , or the CPU 201 in FIG. 2 . The control device may be implemented as a component in the first vehicle described below, such as a chip, a chip system, or other functional module capable of calling and executing a program.

[0112] However, it should be understood that this does not constitute any limitation on the execution subject of the method provided in the present application. As long as a program that can implement the method provided in the embodiment of the present application by running the program that records the code of the method provided in the embodiment of the present application can serve as the execution subject of the method provided in the embodiment of the present application.

[0113] The first vehicle mentioned below can be, for example, vehicle B in the above-mentioned scenario one, and the second vehicle can be at least one of vehicle A and vehicle C in scenario one; or, the first vehicle can be vehicle A in the above-mentioned scenario two, and the second vehicle can be at least one of vehicle B and vehicle C in scenario two; or, the first vehicle can be vehicle C in the above-mentioned scenario three, and the second vehicle can be at least one of vehicle A and vehicle B in scenario three.

[0114] FIG4 is a flow chart of a vehicle warning method 300 provided in an embodiment of the present application. As shown in FIG4 , the method 300 may include the following steps S310 and S320.

[0115] S310, obtaining driving information of a first vehicle, the driving information including a vehicle speed and a vehicle distance, the vehicle speed including a speed of the first vehicle or a speed of the first vehicle relative to a second vehicle, and the vehicle distance including a distance between the first vehicle and the second vehicle;

[0116] S320, determining a visual signal based on the driving information, where the visual signal is used to indicate a first risk level and a second risk level, where the first risk level is the risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level is the risk level of a collision of the first vehicle determined based on the vehicle distance.

[0117] It should be noted that the second vehicle is an adjacent vehicle to the first vehicle. For example, the second vehicle is within the detection range of the first vehicle's sensors, or the second vehicle is within a preset range around the first vehicle. This application does not limit the number of second vehicles. In other words, embodiments of this application can provide a collision risk warning for a first vehicle with one second vehicle, or for a first vehicle with multiple second vehicles.

[0118] When there are multiple second vehicles around a first vehicle, the risk level of a collision involving the first vehicle may refer to the risk level of a collision between the first vehicle and one of the multiple second vehicles, for example, the control device takes the second vehicle with the highest risk level of collision with the first vehicle as the collision risk level of the first vehicle; or the risk level of a collision involving the first vehicle may be comprehensively determined based on the risk levels of a collision between the first vehicle and each second vehicle, for example, the control device performs a weighted summation of the risk levels of a collision between the first vehicle and each second vehicle to obtain the collision risk level of the first vehicle.

[0119] In the above S310, the control device can obtain the speed of the first vehicle or the speed of the second vehicle through a speed sensor, or obtain the relative speed of the first vehicle and the second vehicle based on the perception of the speed of the first vehicle and the perception of the speed of the second vehicle.

[0120] In the above S320, the control device can simultaneously indicate the risk level determined based on the vehicle speed and the risk level determined based on the vehicle distance based on the visual signal determined according to the vehicle speed and the vehicle distance, avoiding always indicating the risk level determined based on the vehicle distance and ignoring the impact of the vehicle speed on the collision risk.

[0121] Exemplarily, the visual signal may indicate the first risk level and the second risk level via a visual element of the signal identifier. The signal identifier may include at least one of a line, a pattern, or a character. The visual element is used to represent the value of the signal identifier based on a variable morphological attribute. For example, the visual element may include at least one of the length, width, radius, shape, color, brightness, and flashing frequency of the signal identifier. For another example, when the signal identifier includes a pattern or a character, the visual element also includes the meaning of the signal identifier.

[0122] For example, when the signal marker is a line, the visual element may include at least one of the line's length, width, color, brightness, and blinking frequency. This signal marker can be shown as line 01 in Figure 5a. It should be noted that when the visual element is a color, the color of the signal marker can adaptively change based on the degree of collision risk. The color presented can be any color that varies with the wavelength of light, not limited to green, yellow, or red. Similarly, when the visual element is length, width, brightness, or blinking frequency, the length, width, brightness, or blinking frequency of the signal marker also adaptively change based on the degree of collision risk.

[0123] Optionally, the visual signal can be provided by gradually lighting up the signal marker. During this process, the speed of lighting up can be controlled. For example, as shown in line 02 of FIG5b , the line can be divided into multiple pixel blocks, and the visual signal can illuminate each pixel block sequentially from left to right or from right to left. This lighting process can be repeated multiple times, creating a display effect similar to a circular marquee. The higher the collision risk of the first vehicle, the faster the lighting speed. Alternatively, the size of the pixel blocks can be reduced to increase the flashing frequency.

[0124] Optionally, when the visual signal indicates the degree of collision risk of the first vehicle through lines, the present application does not limit the number of lines. For example, the visual signal can indicate the degree of collision risk through a single line, double lines (such as line 03 in Figure 5c) or three lines of visual elements.

[0125] When the signal indicator is a pattern, the visual element may include at least one of the pattern's shape, color, brightness, and flashing frequency. The shape of the signal indicator pattern can be seen in patterns 01-04 shown in Figure 5d, or patterns 05-08 shown in Figure 5e. Larger shapes indicate a higher collision risk, such as those represented by patterns 01-04, which gradually increase in size, and those represented by patterns 05-08, which gradually increase in size. When the pattern is circular, the visual element may also include the circular pattern's radius.

[0126] When the signal identifier is a character, the visual element may include at least one of brightness, flickering frequency, and character size.

[0127] For example, when the visual elements include the meaning of signal signs, when the pattern of the signal sign is a red triangle, it indicates that the collision risk is high; when the pattern is a green circle, it indicates that the collision risk is low; when the character of the signal sign is "!", it indicates that the collision risk is high; when the character of the signal sign is "Danger", it indicates that the collision risk is high.

[0128] Illustratively, the risk level of a collision between the visual element of the signal indicator and the first vehicle satisfies at least one of the following:

[0129] The length of the signal sign is positively correlated with the risk of collision of the first vehicle;

[0130] The width of the signal sign is positively correlated with the risk of collision with the first vehicle;

[0131] The size of the signal marker is positively correlated with the risk of the first vehicle having a collision;

[0132] The wavelength of the signal's color is negatively correlated with the risk of a vehicle crash.

[0133] The brightness of the signal sign is positively correlated with the risk of vehicle collision;

[0134] The flashing frequency of the signal sign is positively correlated with the risk of vehicle collision.

[0135] In a first possible example, the control device may indicate the first risk level and the second risk level respectively through two sub-identifiers (such as the first sub-identifier and the second sub-identifier) ​​in the signal identifier of the visual signal. For example, the visual element of the first sub-identifier indicates the first risk level, and the visual element of the second sub-identifier indicates the second risk level. Generally speaking, the visual element of the first sub-identifier and the visual element of the second sub-identifier may be the same, for example, the first sub-identifier and the second sub-identifier are both lines, and the visual element of the first sub-identifier and the visual element of the second sub-identifier are both the length of the line. Of course, the present application does not exclude the situation where the visual element of the first sub-identifier and the visual element of the second sub-identifier are different, such as the first sub-identifier and the second sub-identifier are both lines, the visual element of the first sub-identifier is the length of the line, and the visual element of the second sub-identifier is the width of the line. Moreover, the present application does not exclude the situation where the first sub-identifier and the second sub-identifier are different, for example, the first sub-identifier may be a line and the second sub-identifier may be a pattern.

[0136] In a second possible example, the control device may indicate the first risk level and the second risk level, respectively, using two sub-elements (e.g., a first sub-element and a second sub-element) of the signal identifier of the visual signal. For example, the first sub-element of the signal identifier indicates the first risk level, and the second sub-element of the signal identifier indicates the second risk level. If the signal identifier is a line, the first sub-element is the length of the line, and the second sub-element is the width of the line; or if the signal identifier is a character, the first sub-element is the meaning of the character, and the second sub-element is the color of the character.

[0137] In the first possible example mentioned above, the collision risk degree of the first vehicle in the vehicle speed dimension and the collision risk degree in the vehicle distance dimension are respectively displayed by two signal identifiers, which can more clearly show the two collision risk degrees and facilitate the identification of the causes of the collision risk; and in the second possible example mentioned above, the collision risk degree of the first vehicle in the vehicle speed dimension and the collision risk degree in the vehicle distance dimension are respectively displayed by two different visual elements of a signal identifier, which can present a simple display effect and make the indication of the collision risk degree more intuitive.

[0138] In some embodiments of the above-mentioned S320, the control device may determine a first risk level based on the vehicle speed and a first preset value, and determine a second risk level based on the vehicle distance and a second preset value, and then generate a visual signal based on the first risk level and the second risk level.

[0139] For the vehicle speed and the first preset value, the first risk level is determined. There are two possible examples:

[0140] In example 1, when the vehicle speed is greater than a first preset value, the control device determines the first risk level to be Class A; when the vehicle speed is equal to the first preset value, the control device determines the first risk level to be Class B; and when the vehicle speed is less than the first preset value, the control device determines the first risk level to be Class C. The risk levels corresponding to Classes A to C decrease in descending order.

[0141] Example 2: Multiple risk intervals are obtained based on the first preset value, and then the first risk level is determined based on the risk interval in which the vehicle speed is located. For example, the following multiple risk intervals are obtained:

[0142] Risk interval 1: [first preset value*0.9, first preset value*1.1];

[0143] Risk interval 2: [first preset value*0.8, first preset value*0.9);

[0144] Risk interval 3: [first preset value*0.7, first preset value*0.8).

[0145] When the vehicle speed is in risk interval 1, the control device determines the first risk level to be level A. When the vehicle speed is in risk interval 2, the control device determines the first risk level to be level B. When the vehicle speed is in risk interval 3, the control device determines the first risk level to be level C. The risk levels corresponding to levels A to C decrease in descending order.

[0146] In the above example 2, the present application does not limit the way of dividing the risk intervals. The smaller the risk interval is set, the smaller the granularity of the change of the first risk level with the vehicle speed.

[0147] This application does not limit the size of the first preset value, and it can be set according to the implementation scenario. For example, the first preset value can be set to 100km / h, 80km / h, 60km / h, etc.

[0148] In the above-mentioned Example 1 and Example 2, the first preset value is the upper threshold value of the vehicle speed. In addition, the first preset value also includes the lower threshold value of the vehicle speed. In the case where the first preset value of the vehicle speed includes an upper threshold value and a lower threshold value, the control device can determine that the first risk level is Class A when the vehicle speed is greater than the upper threshold value or less than the lower threshold value; the control device can determine that the first risk level is Class B when the vehicle speed is equal to the upper threshold value or the lower threshold value; the control device can determine that the first risk level is Class C when the vehicle speed is less than the upper threshold value or greater than the lower threshold value. Alternatively, the following multiple risk intervals are obtained according to the upper threshold value and the lower threshold value:

[0149] Risk interval 1: [upper threshold*0.9, upper threshold*1.1];

[0150] Risk interval 2: [upper threshold*0.8, upper threshold*0.9);

[0151] Risk interval 3: [upper threshold*0.7, upper threshold*0.8);

[0152] Risk interval 4: [lower threshold*0.7, lower threshold*0.8);

[0153] Risk interval 5: [lower threshold*0.8, lower threshold*0.9);

[0154] Risk interval 6: [lower threshold*0.9, lower threshold*1.1].

[0155] When the vehicle speed is in risk interval 1 or risk interval 6, the control device determines the first risk level to be Class A; when the vehicle speed is in risk interval 2 or risk interval 5, the control device determines the first risk level to be Class B; and when the vehicle speed is in risk interval 3 or risk interval 4, the control device determines the first risk level to be Class C.

[0156] For example, when the vehicle speed exceeds a first preset value (including being greater than an upper threshold or less than a lower threshold), the signal identifier of the visual signal appears red; when the vehicle speed does not exceed the first preset value (for example, it is between the upper threshold and the lower threshold), the signal identifier of the visual signal appears yellow; when the vehicle speed is equal to the first preset value (for example, equal to the upper threshold or the lower threshold), the signal identifier of the visual signal appears green.

[0157] Of course, the aforementioned risk levels A to C can also be presented through the length, width, shape, color, brightness, flashing frequency, pattern, or character meaning of the signal marker. For example, when the vehicle speed exceeds a first preset value (including being less than an upper threshold or less than a lower threshold) by 15%, pattern 04 in FIG. 5d or pattern 08 in FIG. 5e is presented; when the vehicle speed exceeds the first preset value by 10%, pattern 03 in FIG. 5d or pattern 07 in FIG. 5e is presented; when the vehicle speed exceeds the first preset value by 5%, pattern 02 in FIG. 5d or pattern 06 in FIG. 5e is presented; and when the vehicle speed is equal to the first preset value, pattern 01 in FIG. 5d or pattern 05 in FIG. 5e is presented.

[0158] For the vehicle distance and the second preset value, the second risk level is determined. There are two possible examples similar to the first risk level:

[0159] In Example 1, when the vehicle distance is less than a second preset value, the control device determines the second risk level to be Class A; when the vehicle distance is equal to the second preset value, the control device determines the second risk level to be Class B; and when the vehicle distance is greater than the second preset value, the control device determines the second risk level to be Class C. The risk levels corresponding to Classes A to C decrease in descending order.

[0160] Example 2: Multiple risk intervals are obtained based on the second preset value, and then the second risk level is determined based on the risk interval where the vehicle distance is located. For example, the following multiple risk intervals are obtained:

[0161] Risk interval 1: [second preset value*0.7, second preset value*0.8);

[0162] Risk interval 2: [second preset value*0.8, second preset value*0.9);

[0163] Risk interval 3: [second preset value*0.9, second preset value*1.1].

[0164] When the vehicle distance is in risk interval 1, the control device determines the first risk level to be level A. When the vehicle speed is in risk interval 2, the control device determines the first risk level to be level B. When the vehicle speed is in risk interval 3, the control device determines the first risk level to be level C. The risk levels corresponding to levels A to C decrease in descending order.

[0165] In the above example 2, the present application does not limit the way of dividing the risk interval. The smaller the risk interval is set, the smaller the granularity of the second risk level changing with the vehicle distance.

[0166] This application does not limit the size of the first preset value, and it can be set according to the implementation scenario. For example, when judging the degree of collision risk between the vehicle and the vehicle in front or behind, the second preset value can be set to 60m, 80m, 100m, etc.

[0167] For example, if the second vehicle is either the preceding or following vehicle, the signal indicator will be red when the distance is less than 100 meters, yellow when the distance is equal to 100 meters, and green when the distance is greater than 100 meters. If the second vehicle is both the preceding and following vehicle, the second risk level can be determined based on the vehicle closest to the first vehicle.

[0168] Of course, the aforementioned risk levels A to C can also be represented by the length, width, shape, color, brightness, flashing frequency, pattern, or meaning of characters of the signal marker. For example, when the distance to the vehicle ahead or behind is less than 70% of 100 meters, the visual signal may appear as pattern 04 in FIG. 5d or pattern 08 in FIG. 5e ; when the distance to the vehicle ahead or behind is less than 80% of 100 meters, the visual signal may appear as pattern 03 in FIG. 5d or pattern 07 in FIG. 5e ; when the distance to the vehicle ahead or behind is less than 90% of 100 meters, the visual signal may appear as pattern 02 in FIG. 5d or pattern 06 in FIG. 5e ; and when the distance to the vehicle ahead or behind is equal to 100 meters, the visual signal may appear as pattern 01 in FIG. 5d or pattern 05 in FIG. 5e .

[0169] When judging the degree of collision risk between the vehicle and the vehicle on the left or the vehicle on the right, the second preset value may be set to 1m, 1.2m, 1.4m, etc.

[0170] For example, if the second vehicle is on the left or right, the signal indicator will display green when the vertical distance between the first and second vehicles is greater than 1 meter, and red otherwise. Alternatively, if the vertical distance between the first and second vehicles is less than 1 meter, the signal indicator will display pattern 04 in Figure 5d or pattern 08 in Figure 5e. If the vertical distance between the first and second vehicles is between 1 meter and 1.2 meters, the signal indicator will display pattern 03 in Figure 5d or pattern 07 in Figure 5e. If the vertical distance between the first and second vehicles is between 1.2 meters and 1.4 meters, the signal indicator will display pattern 02 in Figure 5d or pattern 06 in Figure 5e. If the vertical distance between the first and second vehicles is between 1.4 meters and 1.6 meters, the signal indicator will display pattern 01 in Figure 5d or pattern 05 in Figure 5e. For the case where the second vehicle includes both the left and rear vehicles, the second risk level can be determined based on the vehicle closest to the first vehicle. For example, the vertical distance between the first and second vehicles can be h between vehicles B and C in Figure 3.

[0171] If the second vehicle includes multiple adjacent vehicles, the collision risk between the second vehicle with the highest collision risk and the first vehicle can be indicated, or the collision risk between each second vehicle and the first vehicle can be indicated separately through multiple visual signals.

[0172] The collision risk caused by the same vehicle distance varies at different vehicle speeds. Therefore, to accurately warn of collision risk, in some embodiments, the second preset value is associated with vehicle speed. For example, the higher the vehicle speed, the smaller the second preset value. For example, a vehicle traveling at 100 km / h will be considered to have a high collision risk when the distance between it and the vehicle ahead is 80 meters, while a vehicle traveling at 50 km / h will be considered to have a low collision risk when the distance between it and the vehicle ahead is 80 meters.

[0173] For example, when the speed of the first vehicle is 100 km / h and the distance to the vehicle in front is 50 m, the signal sign is red; when the speed of the first vehicle is 60 km / h and the distance to the vehicle in front is 60 m, the signal sign is yellow; when the speed of the first vehicle is 30 km / h and the distance to the vehicle in front is 80 m, the signal sign is green.

[0174] Furthermore, when the control device determines the first risk level and the second risk level respectively, the first risk level and the second risk level are indicated by a visual signal.

[0175] Assuming the first risk level is A and the second risk level is B, the following example illustrates the presentation of the visual signal with reference to Figure 6. Examples 1 to 4 below each present the first risk level and the second risk level respectively using two visual elements identified by a visual signal.

[0176] For example 1, the visual signal indicates a first risk level by the color of the signal mark 01 (e.g., red), and indicates a second risk level by the length of the signal mark 01;

[0177] Example 2: The visual signal indicates a first risk level through the length of the signal mark 02 and indicates a second risk level through the width of the signal mark 02;

[0178] Example 3: The visual signal indicates a first risk level through the shape of the signal marker 03 and indicates a second risk level through the color of the signal marker 03 (e.g., yellow);

[0179] For example 4, the visual signal indicates the first risk level through the radius of the signal mark 04 and indicates the second risk level through the brightness or blinking frequency of the signal mark 04.

[0180] In example 5, the visual signal indicates the first risk level through the color of the signal identifier 05 and indicates the second risk level through the meaning of the signal identifier 05.

[0181] In Examples 1 to 4 above, the visual elements indicating the first risk level and the visual elements indicating the second risk level can be interchanged, or the visual elements between different examples can be combined with each other, all of which fall within the scope of protection of this application. For the sake of simplicity, they are not listed here.

[0182] It should also be understood that the visual signal may indicate a first risk level through multiple first sub-elements, and / or may indicate a second risk level through multiple second sub-elements. For example, the visual signal may indicate the first risk level through the color and brightness of the signal marker, and the visual signal may indicate the second risk level through the length and blinking frequency of the signal marker, and so on.

[0183] Assuming that the first risk level is A and the second risk level is B, the following examples illustrate the presentation of visual signals with reference to Figure 7. Examples 6 to 11 below each present the first risk level and the second risk level, respectively, using two signal identifiers (a first sub-identifier and a second sub-identifier) ​​of the visual signal.

[0184] Example 6: The visual signal indicates a first risk level by the color of the first sub-identifier 11 (e.g., red), and indicates a second risk level by the color of the second sub-identifier 12 (e.g., yellow);

[0185] Example 7: The visual signal indicates a first risk level through the length of the first sub-identifier 21 and indicates a second risk level through the length of the second sub-identifier 22;

[0186] Example 8: The visual signal indicates a first risk level through the radius of the first sub-identifier 31 and indicates a second risk level through the radius of the second sub-identifier 32;

[0187] Example 9: The visual signal indicates a first risk level through the shape of the first sub-identifier 41 and indicates a second risk level through the shape of the second sub-identifier 42;

[0188] In example 10, the visual signal indicates a first risk level through the length of the first sub-identifier 51 and indicates a second risk level through the width of the second sub-identifier 52;

[0189] For example 11, the visual signal indicates a first risk level through the meaning of the first sub-identifier 61 and indicates a second risk level through the length of the second sub-identifier 62 .

[0190] In Examples 6 to 11 above, the visual elements between different examples can be combined with each other, and they all fall within the scope of protection of this application. For the sake of simplicity, they are not listed here.

[0191] It should also be understood that the visual signal may indicate the first risk level through multiple visual elements of multiple first sub-identifiers, and / or may indicate the second risk level through multiple visual elements of second sub-identifiers. For example, based on the above examples 6 to 10, the first risk level may be indicated by the brightness, blinking frequency, etc. of the first sub-identifiers (such as signal identifiers 21, 31, 41, 51, and 61), and the second risk level may be indicated by the brightness, blinking frequency, etc. of the second sub-identifiers (such as signal identifiers 22, 32, 42, 52, and 62), and so on.

[0192] In some embodiments, the driving information also includes scene information of the first vehicle. The scene information can be used to indicate the risk level of the first vehicle in a collision and / or the display style of visual signals. Exemplarily, the scene information of the first vehicle can be an image of the surroundings of the vehicle body collected by the control device of the first vehicle based on machine vision technology, or it can be satellite data acquired by the first vehicle. The scene information may include traffic indication information (such as speed limit signs) and map information of the first vehicle. The control device can determine the speed limit of the road on which the vehicle is traveling based on the traffic indication information; the control device can determine whether the road on which the first vehicle is traveling is a highway, an urban road (including expressways, main roads, secondary roads, and branch roads), a forest road, a rural road, etc. based on the map information.

[0193] In some embodiments, the control device may determine a first preset value and a second preset value based on the scenario information, that is, determine a reasonable speed range and distance between vehicles for the first vehicle. The first preset value and the second preset value may be set or adjusted based on the actual driving scenario of the first vehicle to make the indicated collision risk level more accurate.

[0194] For example, when it is determined that the first vehicle is traveling on a highway, the control device can determine the first preset value to be 120km / h and the second preset value to be 200m; when it is determined that the first vehicle is traveling on a forest road, the control device can determine the first preset value to be 50km / h and the second preset value to be 30m.

[0195] In other embodiments, the control device can determine the display style of the visual signal based on the scene information. For example, when the first vehicle is traveling on a forest road, the first vehicle may be on a journey, and the color of the visual signal may be brighter, or the pattern of the visual signal may be set to an animation style.

[0196] As previously mentioned, a first vehicle can warn its own vehicle of the risk of collision, and can also warn a second vehicle of the risk of collision. When a visual signal is used to present the first vehicle's risk of collision within the first vehicle, the visual signal can be displayed on at least one of the first vehicle's door interior (as shown in FIG8a ), interior window, interior windshield, vehicle display, or rearview mirror (as shown in FIG8b ). When a visual signal is used to present the first vehicle's risk of collision to a second vehicle, the visual signal can be displayed on at least one of the first vehicle's door exterior, exterior window, exterior windshield, or a display located on the exterior of the vehicle body.

[0197] Of course, the visual signal can be used to present the risk level of the first vehicle collision in the first vehicle, and can also be used to present the risk level of the first vehicle collision to the second vehicle. In this case, the visual signal can be presented to the second vehicle at the same time as it is presented in the first vehicle.

[0198] In some embodiments, when the control device presents a visual signal to the second vehicle, the display position of the visual signal can be determined based on the relative position between the second vehicle and the first vehicle. For example, if the second vehicle is the vehicle in front of the first vehicle, the control device can present the visual signal to the second vehicle on a display screen deployed on the outside of the front windshield of the first vehicle, or on the front end of the vehicle (such as near the hood or bumper). For another example, if the second vehicle is the vehicle behind the first vehicle, the control device can present the visual signal to the second vehicle on a display screen deployed on the outside of the rear windshield of the first vehicle, or on the rear end of the vehicle (such as near the trunk lid or rear bumper). For another example, if the second vehicle is the left vehicle of the first vehicle, the control device can present the visual signal to the second vehicle on the outside of the left window or the outside of the left door of the first vehicle. For another example, if the second vehicle is the right vehicle of the first vehicle, the control device can present the visual signal to the second vehicle on the outside of the right window or the outside of the right door of the first vehicle.

[0199] In some embodiments, the visual signal can also be used to warn the second vehicle through the headlights. For example, if the second vehicle is the vehicle in front of the first vehicle, the control device can warn the second vehicle by controlling the first vehicle's low beam to flash, or controlling the high beam to turn on, or controlling the high beam to flash; for another example, if the second vehicle is the vehicle behind the first vehicle, the control device can warn the second vehicle by controlling the first vehicle's taillights (including rear headlights or rear brake lights) to flash; for another example, if the second vehicle is the vehicle to the left of the first vehicle, the control device can warn the second vehicle by controlling the left rearview mirror lights of the first vehicle to flash; for another example, if the second vehicle is the vehicle to the right of the first vehicle, the control device can warn the second vehicle by controlling the right rearview mirror lights of the first vehicle to flash. It should be noted that when the control device warns the second vehicle by controlling the first vehicle's headlights, the visual elements can be the flashing frequency, brightness, etc. of the headlights.

[0200] In some embodiments, in addition to providing a collision risk warning based on the aforementioned visual signal, the control device may also determine an audible signal based on driving information and indicate the first risk level and / or the second risk level via the audible signal. Alternatively, the control device may determine a tactile signal based on driving information and indicate the first risk level and / or the second risk level via the tactile signal. Audible and tactile signals are described in detail below.

[0201] As mentioned above, determining the visual signal based on the driving signal can be specifically implemented as follows: the control device determines the visual signal based on the driving signal, and controls the output device of the vehicle to present the visual signal; or, the control device determines a warning instruction carrying a visual signal based on the driving signal, and sends the warning instruction to the output device of the vehicle, so that the output device of the vehicle presents a visual signal based on the instruction of the warning instruction; or, the control device receives a warning instruction sent by other devices in the vehicle or an external device, and determines a visual signal based on the warning instruction, and then controls the output device of the vehicle to present the visual signal.

[0202] Therefore, the embodiment of the present application warns the first vehicle of the collision risk level through a visual signal. Compared with warning the presence or absence of collision risk, the collision risk level indicated by the present application can avoid the problem of missing the best warning opportunity.

[0203] Furthermore, the embodiment of the present application determines a visual signal based on vehicle speed and vehicle distance to indicate the first risk level and the second risk level, which improves the reliability of the collision risk warning compared to always determining the collision risk indication based on vehicle distance.

[0204] The above embodiments primarily illustrate the use of visual signals to warn the first vehicle of its collision risk level, but this should not be construed as limiting the present application. For example, the control device may also use other sensible signals, such as audible or tactile signals, to indicate the first vehicle's collision risk level. Of course, the control device may also use a combination of multiple sensible signals to warn the first vehicle of its collision risk level. This is illustrated below with reference to FIG9 .

[0205] FIG9 is a flow chart of another vehicle warning method 400 provided in an embodiment of the present application. As shown in FIG9 , the method 400 may include the following steps S410 and S420.

[0206] S410, obtaining driving information of a first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the distance between the first vehicle and the second vehicle;

[0207] S420: Determine a perceptible signal based on the driving information, where the perceptible signal is used to indicate a target risk level, where the target risk level is a risk level of collision of the first vehicle determined based on vehicle speed and / or vehicle distance.

[0208] The control device obtaining the speed of the first vehicle and the control device obtaining the distance between the first vehicle in the above S410 have been described in S310 in the above embodiment and will not be repeated here.

[0209] In the above S420, the target risk level may be the risk level of the first vehicle causing a collision determined based on the vehicle speed, such as the first risk level mentioned above; or the target risk level may be the risk level of the first vehicle causing a collision determined based on the vehicle distance, such as the second risk level mentioned above; or the target risk level may be the risk level of the first vehicle causing a collision determined based on the vehicle speed and vehicle distance.

[0210] Among them, the control device determines the risk level of the first vehicle colliding based on the vehicle speed. It can be that the control device determines the first risk level based on the vehicle speed and the first preset value. The specific implementation method is similar to Example 1 and Example 2 above, and will not be repeated here; the control device determines the risk level of the first vehicle colliding based on the vehicle distance. It can be that the control device determines the second risk level based on the vehicle distance and the second preset value. The specific implementation method is similar to Example 1 and Example 2 above, and will not be repeated here.

[0211] When the target risk level is the risk level of a collision with the first vehicle determined based on vehicle speed and vehicle distance, there are two possible implementation methods: Method 1: The target risk level is determined based on a combination of vehicle speed and vehicle distance. Method 2: The target risk level includes the aforementioned first and second risk levels, with the first risk level determined based on vehicle speed and the second risk level determined based on vehicle distance.

[0212] In the above-mentioned method 1, the control device can determine the initial collision risk level based on the vehicle speed according to the vehicle speed and the first preset value, and determine the initial collision risk level based on the vehicle distance according to the vehicle distance and the second preset value, and then perform weighted calculations on the initial collision risk level based on the vehicle speed and the initial collision risk level based on the vehicle distance to obtain the target risk level.

[0213] For the case where the target risk level is the first risk level, or the target risk level is the second risk level, or the target risk level is the collision risk level determined based on the above method 1, the control device can indicate the target risk level through one or more perceptible signals.

[0214] In the first example, the control device indicates the target risk level via a visual signal. This visual signal can indicate the target risk level via one or more visual elements identified by the signal. For example, the visual signal can indicate the target risk level via the color and blinking frequency of a line. The higher the target risk level, the shorter the wavelength of the line and the higher the blinking frequency. The visual elements have been described above and will not be repeated here.

[0215] Optionally, when the visual signal indicates the target risk level through lines, the present application does not limit the number of lines. For example, the visual signal may indicate the target risk level through single-line, double-line, or triple-line visual elements.

[0216] In a second example, the control device indicates the target risk level via an audible signal. The audible signal may indicate the target risk level via an audible element, which represents the value of a variable audio attribute of the audible signal. For example, the audible element may include the frequency and / or amplitude of the audible signal. For example, the higher the target risk level, the higher the frequency and the larger the amplitude of the audible signal. Alternatively, the audible element of the audible signal may also include a spoken message. For example, when the target risk level is high, the first vehicle may play a message stating, "Please maintain a safe distance from the vehicle ahead."

[0217] In a third example, the control device indicates the target risk level through a tactile signal. This tactile signal can be delivered through tangible changes, such as vehicle vibration, temperature control (including seat or interior temperature control), or spraying. Tactile signals can indicate the target risk level through tangible elements, such as vibration frequency, temperature, and spray volume. For example, the higher the target risk level, the higher the vibration frequency of the tactile signal, the higher (or lower) the seat temperature, and the greater the spray volume.

[0218] It should be noted that the control device can also combine at least two of the above three examples to indicate the degree of collision risk. The collision risk warning achieved by combining the examples still falls within the scope of protection of this application.

[0219] For the case where the target risk level is the collision risk level determined based on the above-mentioned second method, in other words, the target risk level includes the first risk level and the second risk level.

[0220] The control device may respectively indicate the first risk level and the second risk level through different types of tangible signals. For example, the control device may indicate the first risk level through a visual signal and the second risk level through an audible signal. For another example, the control device may indicate the first risk level through a visual signal and a tangible signal and the second risk level through a visual signal and an audible signal, and so on.

[0221] The control device may further indicate the first risk level and the second risk level respectively using different perceptible elements of the same perceptible signal. The control device indicates the first risk level and the second risk level using visual signals. For details, please refer to the relevant description in the embodiment shown in FIG4 , which will not be repeated here.

[0222] Exemplarily, the control device may indicate the first risk level and the second risk level using different audible elements of the audible signal as follows: the control device may indicate the first risk level using a first sub-element of the audible signal and the second risk level using a second sub-element of the audible signal. For example, the first sub-element may be the frequency of the audible signal and the second sub-element may be the amplitude of the audible signal. When the speed of the first vehicle exceeds a first preset value, the frequency of the audible signal is high; when the speed of the first vehicle is equal to the first preset value, the frequency of the audible signal is medium; when the speed of the first vehicle does not reach the first preset value, the frequency of the audible signal is low; when the distance between the first vehicle and the second vehicle is less than a second preset value, the amplitude of the audible signal is high; when the distance between the first vehicle and the second vehicle is equal to the second preset value, the amplitude of the audible signal is medium; and when the distance between the first vehicle and the second vehicle is less than the second preset value, the amplitude of the audible signal is weak.

[0223] Exemplarily, the control device indicates the first risk level and the second risk level through different tactile elements of the tactile signal. For example, the control device indicates the first risk level through the vibration frequency of the vehicle and indicates the second risk level through the seat temperature.

[0224] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0225] The above text, in combination with Figures 4 to 9, describes in detail the method embodiment of the present application. The following text, in combination with Figure 10, describes in detail the device embodiment of the present application. It should be understood that the device embodiment and the method embodiment correspond to each other, and similar descriptions can refer to the method embodiment.

[0226] Figure 10 is a schematic block diagram of a vehicle warning device 500 provided in an embodiment of the present application. As shown in Figure 10 , the vehicle control device 500 includes at least an acquisition unit 510 and a processing unit 520. This device 500 may correspond to the vehicle control device in the method embodiments described above, such as some or all of the modules in the vehicle control system 100 in Figure 1 or the CPU 201 in Figure 2 .

[0227] When the device 500 is used to implement the method 400 shown in Figure 4, the acquisition unit 510 can be used to obtain driving information of the first vehicle, the driving information including the vehicle speed and the vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the vehicle distance between the first vehicle and the second vehicle; the processing unit 520 can be used to determine a visual signal based on the driving information, the visual signal being used to indicate a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance.

[0228] In some embodiments, the visual signal indicates the first risk level and the second risk level through a visual element of a signal identifier, and the visual element is used to characterize the value of the signal identifier on a variable morphological attribute; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0229] In some embodiments, the visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

[0230] In some embodiments, the risk level of the visual element of the signal indicator colliding with the first vehicle satisfies at least one of the following:

[0231] The length of the signal identifier is positively correlated with the risk level of the first vehicle having a collision;

[0232] The width of the signal mark is positively correlated with the risk of collision of the first vehicle;

[0233] The size of the signal marker is positively correlated with the risk of the first vehicle having a collision;

[0234] The wavelength of the light of the color of the signal identification is negatively correlated with the risk level of the vehicle crashing;

[0235] The brightness of the signal sign is positively correlated with the risk of the vehicle crashing;

[0236] The flashing frequency of the signal indicator is positively correlated with the risk level of the vehicle crashing.

[0237] In some embodiments, when the visual signal is used to present the risk level of the first vehicle being subject to a collision within the first vehicle, the visual signal is displayed on at least one of the inside of a door, an inside window, an inside of a windshield, a vehicle display screen, and a rearview mirror of the first vehicle; and / or, when the visual signal is used to present the risk level of the first vehicle being subject to a collision to the second vehicle, the visual signal is displayed on at least one of the outside of a door, an outside window, an outside of a windshield, and a display screen deployed on the outside of the vehicle body of the first vehicle.

[0238] In some embodiments, the processing unit 520 is further configured to determine a display position of the visual signal according to a relative position of the second vehicle and the first vehicle.

[0239] In some embodiments, the signal marker includes lines, patterns, or characters.

[0240] In some embodiments, when the signal identifier is a pattern or a character, the visual element of the signal identifier also includes the meaning of the signal identifier.

[0241] In some embodiments, the processing unit 520 is further configured to: determine an audible signal based on the driving information, where the audible signal is configured to indicate the first risk level and / or the second risk level.

[0242] In some embodiments, the processing unit 520 is specifically used to: determine the first risk level based on the vehicle speed and a first preset value, and determine the second risk level based on the vehicle distance and a second preset value; and generate the visual signal based on the first risk level and the second risk level.

[0243] In some embodiments, the second predetermined value is associated with the speed of the first vehicle.

[0244] In some embodiments, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate the risk level of the first vehicle's collision and / or the display style of the visual signal.

[0245] When the device 500 is used to implement the method 400 shown in Figure 4, the acquisition unit 510 can be used to obtain driving information of the first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the distance between the first vehicle and the second vehicle; the processing unit 520 can be used to determine a perceptible signal based on the driving information, the perceptible signal being used to indicate a target risk level, the target risk level being the risk level of a collision of the first vehicle determined based on the vehicle speed and / or vehicle distance, and the perceptible signal including at least one of a visual signal, an audible signal, and a tactile signal.

[0246] In some embodiments, the visual signal indicates the target risk level through a visual element of the signal identifier, and the visual element is used to represent the value of the signal identifier on a variable morphological attribute.

[0247] In some embodiments, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, the signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

[0248] In some embodiments, the visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

[0249] In some embodiments, the risk level of the visual element of the signal indicator colliding with the first vehicle satisfies at least one of the following:

[0250] The length of the signal identifier is positively correlated with the risk level of the first vehicle having a collision;

[0251] The width of the signal mark is positively correlated with the risk of collision of the first vehicle;

[0252] The size of the signal marker is positively correlated with the risk of the first vehicle having a collision;

[0253] The wavelength of the light of the color of the signal identification is negatively correlated with the risk level of the vehicle crashing;

[0254] The brightness of the signal sign is positively correlated with the risk of the vehicle crashing;

[0255] The flashing frequency of the signal indicator is positively correlated with the risk level of the vehicle crashing.

[0256] In some embodiments, the driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate the risk level of the first vehicle's collision and / or the display style of the visual signal.

[0257] In some embodiments, the target risk level includes a first risk level and a second risk level, the first risk level being the risk level of the first vehicle causing a collision determined based on the vehicle speed, and the second risk level being the risk level of the first vehicle causing a collision determined based on the vehicle distance; the first sub-signal of the perceptible signal is used to indicate the first risk level, and the second sub-signal of the perceptible signal is used to indicate the second risk level, the first sub-signal and the second sub-signal are both at least one of the visual signal, the audible signal and the tactile signal, and the first sub-signal is different from the second sub-signal.

[0258] It should be understood that the specific process of each unit executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0259] The division of the units in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated.

[0260] The acquisition unit 510 in the apparatus 500 may be implemented by a transceiver, for example, corresponding to the I / O control device 208 shown in FIG. 2 . The processing unit 520 in the apparatus 500 may be implemented by a processor, for example, the CPU 201 in FIG. 2 .

[0261] It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by hardware integrated logic circuits in the processor or software instructions. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0262] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0263] It should be understood that the above-mentioned memories are exemplary but not restrictive. For example, the memories in the embodiments of the present application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM RAM (DR RAM), etc. In other words, the memories in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0264] An embodiment of the present application also provides an electronic device, which can be implemented as a control device for a vehicle in an embodiment of the present application, including: a processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory, and execute the response process in each method of the embodiment of the present application. For the sake of brevity, it will not be repeated here.

[0265] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0266] In some embodiments, the computer-readable storage medium can be applied to the control device of the vehicle in the embodiments of the present application, and the computer program enables the computer to execute the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0267] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0268] In some embodiments, the computer program product can be applied to the control device of the vehicle in the embodiments of the present application, and the computer program instructions enable the computer to execute the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0269] The embodiment of the present application also provides a computer program.

[0270] In some embodiments, the computer program can be applied to the control device of the vehicle in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes in the various methods in the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0271] An embodiment of the present application also provides a smart vehicle.

[0272] In some embodiments, the smart vehicle includes the vehicle control device in the embodiments of the present application.

[0273] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0274] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A vehicle warning method, characterized in that: include: Acquiring driving information of a first vehicle, the driving information including a vehicle speed and a vehicle distance, the vehicle speed including a speed of the first vehicle or a speed of the first vehicle relative to a second vehicle, and the vehicle distance including a distance between the first vehicle and the second vehicle; Based on the driving information, a visual signal is determined, where the visual signal is used to indicate a first risk level and a second risk level, where the first risk level is a risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level is a risk level of a collision of the first vehicle determined based on the vehicle distance.

2. The method according to claim 1, characterized in that The visual signal indicates the first risk level and the second risk level through a visual element of the signal identifier, and the visual element is used to represent the value of the signal identifier on a variable morphological attribute; The visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, The signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

3. The method according to claim 2, characterized in that The visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

4. The method according to claim 3, characterized in that The risk level of collision between the visual element of the signal indicator and the first vehicle satisfies at least one of the following: The length of the signal identifier is positively correlated with the risk of collision of the first vehicle; The width of the signal marker is positively correlated with the risk of collision of the first vehicle; The size of the signal marker is positively correlated with the risk of collision of the first vehicle; The wavelength of the color of the signal marker is negatively correlated with the risk of the vehicle crashing; The brightness of the signal mark is positively correlated with the risk of collision of the vehicle; The flashing frequency of the signal indicator is positively correlated with the risk level of the vehicle collision.

5. The method according to any one of claims 1 to 4, characterized in that When the visual signal is used to present the risk level of the first vehicle to collide, the visual signal is displayed on at least one of the inside of a door, an inside window, an inside of a windshield, a vehicle display screen, and a rearview mirror of the first vehicle; and / or When the visual signal is used to present the risk level of collision of the first vehicle to the second vehicle, the visual signal is displayed on at least one of the outside of the door, the outside window, the outside of the windshield, and a display screen deployed on the outside of the vehicle body of the first vehicle.

6. The method according to claim 5, characterized in that The method further comprises: A display position of the visual signal is determined according to a relative position of the second vehicle and the first vehicle.

7. The method according to any one of claims 2 to 6, characterized in that The signal mark includes lines, patterns or characters.

8. The method according to claim 7, characterized in that When the signal identifier is a pattern or a character, the visual element of the signal identifier also includes the meaning of the signal identifier.

9. The method according to any one of claims 1 to 7, characterized in that The method further comprises: An audible signal is determined based on the driving information, where the audible signal is used to indicate the first risk level and / or the second risk level.

10. The method according to any one of claims 1 to 9, characterized in that Generating a visual signal according to the driving information includes: determining the first risk level based on the vehicle speed and a first preset value, and determining the second risk level based on the vehicle distance and a second preset value; The visual signal is generated based on the first risk level and the second risk level.

11. The method according to claim 10, characterized in that The second preset value is associated with the vehicle speed of the first vehicle.

12. The method according to any one of claims 1 to 11, characterized in that The driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate the risk level of the first vehicle's collision and / or the display style of the visual signal.

13. A vehicle warning method, characterized in that: include: Acquiring driving information of a first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the distance between the first vehicle and the second vehicle; Based on the driving information, a perceptible signal is determined, where the perceptible signal is used to indicate a target risk level, where the target risk level is a risk level of collision of the first vehicle determined based on the vehicle speed and / or vehicle distance, and the perceptible signal includes at least one of a visual signal, an audible signal, and a tactile signal.

14. The method according to claim 13, characterized in that The visual signal indicates the target risk level through a visual element of the signal identifier, and the visual element is used to represent the value of the signal identifier on a variable morphological attribute.

15. The method according to claim 13 or 14, characterized in that The target risk level includes a first risk level and a second risk level, the first risk level being a risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level being a risk level of a collision of the first vehicle determined based on the vehicle distance; The visual element of the signal identifier includes a first sub-element and a second sub-element, the first sub-element of the signal identifier is used to indicate the first risk level, and the second sub-element of the signal identifier is used to indicate the second risk level; or, The signal identifier includes a first sub-identifier and a second sub-identifier, the visual element of the first sub-identifier is used to indicate the first risk level, and the visual element of the second sub-identifier is used to indicate the second risk level.

16. The method according to claim 14 or 15, characterized in that The visual element includes at least one of the length, width, radius, shape, color, brightness, and blinking frequency of the signal marker.

17. The method according to claim 16, characterized in that The risk level of collision between the visual element of the signal indicator and the first vehicle satisfies at least one of the following: The length of the signal identifier is positively correlated with the risk of collision of the first vehicle; The width of the signal marker is positively correlated with the risk of collision of the first vehicle; The size of the signal marker is positively correlated with the risk of collision of the first vehicle; The wavelength of the color of the signal marker is negatively correlated with the risk of the vehicle crashing; The brightness of the signal mark is positively correlated with the risk of collision of the vehicle; The flashing frequency of the signal indicator is positively correlated with the risk level of the vehicle collision.

18. The method according to any one of claims 13 to 17, characterized in that The driving information further includes scene information of the first vehicle's driving, and the scene information is at least used to indicate the risk level of the first vehicle's collision and / or the display style of the visual signal.

19. The method according to claim 13, wherein The target risk level includes a first risk level and a second risk level, the first risk level being a risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level being a risk level of a collision of the first vehicle determined based on the vehicle distance; The first sub-signal of the tangible signal is used to indicate the first risk level, and the second sub-signal of the tangible signal is used to indicate the second risk level. The first sub-signal and the second sub-signal are both at least one of the visual signal, the audible signal and the tactile signal, and the first sub-signal is different from the second sub-signal.

20. A warning device for a vehicle, characterized in that: include: an acquiring unit, configured to acquire driving information of a first vehicle, the driving information including a vehicle speed and a vehicle distance, the vehicle speed including a vehicle speed of the first vehicle or a speed of the first vehicle relative to a second vehicle, and the vehicle distance including a vehicle distance between the first vehicle and the second vehicle; a processing unit for determining a visual signal based on the driving information, wherein the visual signal is used to indicate a first risk level and a second risk level, wherein the first risk level is a risk level of a collision of the first vehicle determined based on the vehicle speed, and the second risk level is a risk level of a collision of the first vehicle determined based on the vehicle distance.

21. A warning device for a vehicle, characterized in that: include: an acquiring unit, configured to acquire driving information of the first vehicle, the driving information including vehicle speed and / or vehicle distance, the vehicle speed including the speed of the first vehicle or the speed of the first vehicle relative to the second vehicle, and the vehicle distance including the distance between the first vehicle and the second vehicle; a processing unit for determining a perceptible signal based on the driving information, the perceptible signal being used to indicate a target risk level, the target risk level being a risk level of a collision of the first vehicle determined based on the vehicle speed and / or vehicle distance, the perceptible signal comprising at least one of a visual signal, an audible signal, and a tactile signal.

22. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store a computer program, the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 19.

23. A chip, characterized in that: include: A processor, configured to call and execute computer instructions from a memory, so that a device equipped with the chip executes the method according to any one of claims 1 to 19.

24. A computer-readable storage medium, characterized in that Used to store computer program instructions, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 19.

25. A computer program product, characterized in that The method comprises computer program instructions, which cause a computer to execute the method according to any one of claims 1 to 19.

26. An intelligent vehicle, characterized in that: include: A warning device for a vehicle, wherein the warning device for the vehicle is configured to execute the method according to any one of claims 1 to 19.

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