Vehicle anti-collision early warning system and method, master vehicle early warning unit, slave vehicle early warning unit and vehicle

Abstract

The invention provides an anti-collision early warning method for a vehicle, and the method comprises the steps: a main vehicle early warning unit obtains the position information of a target object through a short-distance positioning module, and the position information comprises information in a non-line-of-sight range; according to the position information, the main vehicle early warning unit makes an anti-collision early warning decision; and the master vehicle early warning unit obtains the position information of the target object through a short-distance positioning module, and sends the position information to one or more slave vehicle early warning units. After the technical scheme is adopted, under the non-cooperative condition, the vehicle can utilize the existing short-distance positioning module to independently detect environmental information of surrounding motor vehicles or non-motor vehicles, pedestrians and the like; under the condition of cooperating with other vehicles, through interface standardization, information broadcasting of a detection result and interaction with other vehicles, other vehicles can also know the information of a target object under the condition that the sight is blocked, and the driving safety of vehicles on a certain local road is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and in particular to an anti-collision warning system and method for a vehicle, a master vehicle warning unit, a slave vehicle warning unit and a vehicle. Background Art

[0002] In the prior art, the vehicle's automatic driving or driving assistance system needs to obtain information about the vehicle's surrounding environment and detect real-time information about the target object to provide a basis for the vehicle's driving decision. The mainstream target object detection devices currently used are still traditional perception systems, such as millimeter-wave radar, ultrasonic radar, cameras, etc. However, traditional vehicle perception systems may be blocked by physical obstacles, making it impossible to obtain information within the non-line-of-sight range.

[0003] Moreover, even though in-vehicle Bluetooth / UWB systems are already relatively common, their mainstream use is still in functions such as keyless entry of vehicles. Their use has not yet expanded to the field of in-vehicle sensing, nor has it been applied to safety functions such as vehicle collision warnings.

[0004] Therefore, there is an urgent need in the art for an anti-collision warning system that can stably and comprehensively obtain information about the vehicle's environment and issue warnings in a timely manner. Summary of the invention

[0005] In order to overcome the above technical defects, the purpose of the present invention is to provide a collision avoidance warning method for vehicles, using the short-range positioning device of the vehicle to obtain information within the non-line-of-sight range. At the same time, warnings can be given in both cooperative and non-cooperative situations, and can be implemented for both independent detection and warning of the vehicle itself, and for warnings in cooperation with other vehicles. Specifically, the present invention discloses a collision avoidance warning method for vehicles, comprising:

[0006] The host vehicle warning unit obtains the position information of the target object through the short-range positioning module, and the position information includes information within the non-line-of-sight range;

[0007] According to the position information, the host vehicle warning unit makes an anti-collision warning decision.

[0008] Preferably, the master vehicle warning unit obtains the position information of the target object through a short-range positioning module, and sends the position information to one or more slave vehicle warning units.

[0009] Preferably, the position information includes a first coordinate of the target object, the first coordinate is a coordinate of the target object in the host vehicle warning unit coordinate system, and the host vehicle warning unit converts the first coordinate into an absolute coordinate in a world coordinate system;

[0010] The master vehicle warning unit sends the absolute coordinates to the one or more slave vehicle warning units.

[0011] Preferably, the host vehicle warning unit performs standardization processing on the absolute coordinates to obtain standard information adapted to the wireless information communication module;

[0012] The master vehicle warning unit sends the standard information to the one or more slave vehicle warning units through the wireless information communication module.

[0013] Preferably, the master vehicle warning unit sends the first standard information to the one or more slave vehicle warning units through the wireless information communication module;

[0014] The master vehicle warning unit receives the second standard information sent by the one or more slave vehicle warning units through the wireless information communication module;

[0015] According to the first standard information and the second standard information, the host vehicle warning unit makes an anti-collision warning decision. Preferably, the short-range positioning module is a vehicle-mounted Bluetooth or UWB module.

[0016] Another aspect of the present invention provides a vehicle cooperative collision avoidance warning method, comprising:

[0017] The slave vehicle warning unit receives the position information of the target object sent by the master vehicle warning unit, wherein the position information includes information within a non-line-of-sight range;

[0018] The slave vehicle warning unit makes an anti-collision warning decision based on the position information.

[0019] Preferably, the slave vehicle warning unit receives the absolute coordinates of the target object through a wireless information communication module; the slave vehicle warning unit converts the absolute coordinates into second coordinates, which are the coordinates of the target object in the coordinate system of the slave vehicle warning unit;

[0020] The slave vehicle warning unit makes an anti-collision warning decision according to the second coordinate.

[0021] Preferably, the slave vehicle warning unit receives the standard information sent by the master vehicle warning unit through a wireless information communication module, and the standard information is adapted to the wireless information communication module.

[0022] Another aspect of the present invention provides a host vehicle warning unit, comprising a short-range positioning module,

[0023] The short-range positioning module is used to obtain the position information of the target object, and the position information includes information within the non-line-of-sight range; the host vehicle warning unit is used to make an anti-collision warning decision based on the position information.

[0024] Preferably, it also includes a wireless information communication module and a conversion module;

[0025] The position information includes a first coordinate of the target object, the first coordinate is a coordinate of the target object in the vehicle warning unit coordinate system, and the host vehicle warning unit converts the first coordinate into an absolute coordinate in the world coordinate system;

[0026] The master vehicle warning unit is used to send the absolute coordinates to one or more slave vehicle warning units through the wireless information communication module; and also includes a standardization module, which is used to standardize the absolute coordinates and obtain standard information adapted to the wireless information communication module;

[0027] The master vehicle warning unit is used to send the standard information to the one or more slave vehicle warning units through the wireless information communication module.

[0028] Preferably, the short-range positioning module is a vehicle-mounted Bluetooth module or a UWB module.

[0029] Another aspect of the present invention provides a slave vehicle warning unit, including a wireless information communication module, wherein the vehicle warning unit is used to receive the location information of the target object sent by the master vehicle warning unit through the wireless information communication module; the slave vehicle warning unit is used to make an anti-collision warning decision based on the location information.

[0030] Preferably, the slave vehicle warning unit is used to receive the absolute coordinates of the target object sent by the master vehicle warning unit through the wireless information communication module;

[0031] The slave vehicle warning unit is used to convert the absolute coordinates into second coordinates, where the second coordinates are the coordinates of the target object in the slave vehicle warning unit coordinate system, and make an anti-collision warning decision based on the second coordinates.

[0032] Another aspect of the present invention provides a vehicle warning system, comprising a master vehicle warning unit as described above and one or more slave vehicle warning units as described above.

[0033] Another aspect of the present invention provides a vehicle, comprising any of the master vehicle warning units described above, or one or more of the slave vehicle warning units described above.

[0034] Another aspect of the present invention provides a vehicle anti-collision warning method, comprising:

[0035] The host vehicle warning unit obtains the position information of the target object through the short-range positioning module, and the position information includes information within the non-line-of-sight range;

[0036] The master vehicle warning unit sends the position information to one or more slave vehicle warning units via a wireless information communication module;

[0037] According to the position information, the host vehicle warning unit makes an anti-collision warning decision;

[0038] The slave vehicle warning unit receives the position information and makes an anti-collision warning decision based on the position information.

[0039] Compared with the prior art, the above technical solution has the following beneficial effects:

[0040] 1. In a non-cooperative situation, the vehicle can use the existing short-range positioning module to independently detect the environmental information of motor vehicles or non-motor vehicles, pedestrians, etc. around the vehicle, thereby improving driving safety and ensuring the safety of pedestrians;

[0041] 2. In the case of cooperation with other vehicles, the detection results of the first vehicle, i.e. the self-vehicle, are used, and the detection results are broadcasted through interface standardization to interact with other vehicles, so that other vehicles can also know the information of the target object when their vision is blocked, thereby ensuring effective ghost head warning and ensuring the driving safety of vehicles on a certain road;

[0042] 3. The information interaction between the above-mentioned multiple vehicles can also be used to detect the real-time running trajectories of traffic participants within the communication range for recording and prediction, etc., so as to provide high-level control applications in the fields of vehicle-mounted driving assistance or autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of an anti-collision warning system for a vehicle according to an embodiment of the present invention;

[0044] Figure 2 is a flow chart of a collision avoidance warning method for a vehicle according to an embodiment of the present invention;

[0045] Figure 3 FIG. 4 is a flow chart of another anti-collision warning method for a vehicle in accordance with an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The advantages of the present invention are further described below in conjunction with the accompanying drawings and specific embodiments.

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0049] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0050] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0051] One embodiment of the present invention includes a vehicle anti-collision warning method, comprising:

[0052] The host vehicle warning unit obtains the position information of the target object through the short-range positioning module, and the position information includes information within the non-line-of-sight range;

[0053] According to the position information, the host vehicle warning unit makes an anti-collision warning decision.

[0054] In this embodiment, the short-range positioning module is a vehicle-mounted Bluetooth module, through which the position information of the target object within the non-line-of-sight range can be directly obtained, and anti-collision warning can be independently realized. In other embodiments, the short-range positioning module can be a UWB module. It can be understood that the target object described in the present invention refers to an object within the signal transmission distance of the Bluetooth module or the UWB module, which can be a non-motor vehicle, a pedestrian, a road green belt, etc. Even though the vehicle-mounted Bluetooth / UWB system is already a relatively mature technology, its mainstream use is still applied to functions such as keyless entry of vehicles. Its use has not yet been expanded to the field of vehicle-mounted perception, nor has it been applied to safety functions such as vehicle anti-collision warning. In this embodiment, since it is necessary to obtain information on target objects within the non-line-of-sight range, the Bluetooth / UWB device already installed in the vehicle can be used to obtain information on the target object for vehicle anti-collision warning decisions.

[0055] In addition, the "information within the non-line-of-sight range" in the present invention is defined relative to the "information within the line-of-sight range". Common vehicle-mounted sensing systems in the prior art, such as cameras, radars and other devices, cannot further detect the information of the target object if the target object is blocked, so the information obtained by the vehicle-mounted sensing system is the information within the line-of-sight range. Correspondingly, even if the target object is blocked, the short-range positioning module in the present invention can still continue to detect the information of the target object and obtain the position information of the blocked target object. The position information at this time is the "information within the non-line-of-sight range". Further, in other embodiments, the main vehicle warning unit obtains the position information of the target object through the short-range positioning module, and when making autonomous anti-collision warning decisions, it sends the position information to one or more slave vehicle warning units at the same time. It should be noted that the "main vehicle warning unit" and "slave vehicle warning unit" in the present invention do not specifically refer to a certain vehicle warning unit, but are only used to distinguish the vehicle warning units that send and receive position information in the vehicle anti-collision warning method.

[0056] In another preferred embodiment, the position information includes a first coordinate of the target object, which is a coordinate of the target object in the coordinate system of the master vehicle warning unit. The master vehicle warning unit converts the first coordinate into an absolute coordinate in the world coordinate system, and sends the absolute coordinate to one or more slave vehicle warning units. After the first coordinate is converted into an absolute coordinate, it is convenient for multiple slave vehicle warning units to quickly process the coordinate information.

[0057] In another preferred embodiment, the main vehicle warning unit standardizes the absolute coordinates to obtain standard information suitable for the wireless information communication module; the main vehicle warning unit sends the standard information to the one or more slave vehicle warning units through the wireless information communication module.

[0058] It should be understood that the location information obtained by using Bluetooth or UWB modules for target detection should be adapted to the message set of the vehicle-mounted wireless information communication module, such as the V2X module, in accordance with the standard to comply with the transmission and reception of the detection results. The so-called standard mainly refers to the application layer message set in the national or industry standards issued by different regions (China, Europe, North America, etc.).

[0059] In addition, based on the above, the "main vehicle warning unit" and "slave vehicle warning unit" in the present invention do not specifically refer to a certain vehicle warning unit, but are only used to distinguish the vehicle warning unit that sends and receives position information in the vehicle anti-collision warning method. Therefore, in actual operation, the main vehicle warning unit can send position information and receive position information sent by other vehicles at the same time, and make a comprehensive anti-collision warning decision. For example, in one embodiment of the present invention, the main vehicle warning unit sends a first standard message to one or more slave vehicle warning units through the wireless information communication module; at the same time, the main vehicle warning unit receives a second standard message sent by one or more slave vehicle warning units through the wireless information communication module; according to the first standard message and the second standard message, the main vehicle warning unit makes an anti-collision warning decision. In one embodiment of the present invention, a collaborative anti-collision warning method for vehicles is included, including: the slave vehicle warning unit receives the position information of the target object sent by the main vehicle warning unit, the position information includes information within the non-line-of-sight range, and then the slave vehicle warning unit makes an anti-collision warning decision based on the position information.

[0060] In this embodiment, the slave vehicle warning unit receives the position information of the target object sent by the main vehicle warning unit. Even if the slave vehicle warning unit cannot detect information within the non-line-of-sight range or the short-range positioning module is not installed, the slave vehicle warning unit can also make accurate anti-collision warning decisions in a timely manner based on the position information of the target object sent by the main vehicle warning unit.

[0061] In another preferred embodiment, the slave vehicle warning unit receives the absolute coordinates of the target object in the world coordinate system through the wireless information communication module; then, the slave vehicle warning unit converts the absolute coordinates into a second coordinate, which is the coordinate of the target object in the slave vehicle warning unit coordinate system; the slave vehicle warning unit makes an anti-collision warning decision based on the second coordinate. Since the absolute coordinates are sent through the wireless information communication module, in other embodiments, the absolute coordinates are standardized into standard information to adapt to the wireless information communication module.

[0062] In other embodiments of the present invention, a master vehicle warning unit and a slave vehicle warning unit are also provided, and their technical features are the same as the above-mentioned vehicle anti-collision warning method and cooperative vehicle anti-collision warning method, which are not elaborated herein by the present invention.

[0063] like Figure 1 FIG. 2 is another embodiment of the present invention, which is a collision avoidance warning system for a vehicle, comprising:

[0064] A master vehicle warning unit, one or more slave vehicle warning units;

[0065] The main vehicle warning unit is used to obtain the position information of the target object and determine the anti-collision warning decision of the first vehicle; and the main vehicle warning unit sends the position information to the one or more slave vehicle warning units through the communication module; the slave vehicle warning unit is used to determine the anti-collision warning decision of the second vehicle based on the position information.

[0066] In this embodiment, through the information exchange between vehicles, other networked vehicles around the vehicle can know the location information of the target object detected by the vehicle, so as to know the information of the target object in advance and make anti-collision warning decisions based on the information of the target object. The more location information received, the more accurate the anti-collision warning decision made by the vehicle, thereby effectively improving the driving safety of the vehicle through the cooperation between multiple vehicles.

[0067] Another embodiment of the present invention provides a vehicle anti-collision warning method, wherein the main vehicle warning unit detects a target object within its signal transmission distance through a short-range positioning module. Since the short-range positioning module can independently detect target object information around the vehicle, if the distance between the target object and the first vehicle is less than the warning distance threshold, the vehicle issues a warning message; at the same time, the main vehicle warning module sends the position information of the target object and the target object to the slave vehicle warning unit through a wireless model communication module. The slave vehicle warning unit also makes a corresponding anti-collision warning decision.

[0068] In this embodiment, by using cooperative and non-cooperative anti-collision warning methods at the same time, driving safety can be fully protected and the protection of traffic participants can be achieved.

[0069] In another preferred embodiment of the present invention, the short-range positioning module is used to detect first distance information of the target object, and the distance information includes a first coordinate compared to the target object, and the main vehicle warning unit converts the first coordinate into an absolute coordinate in the world coordinate system.

[0070] Subsequently, the absolute coordinates are sent to the slave vehicle early warning unit via the wireless information communication module.

[0071] The slave vehicle warning unit receives the absolute coordinates and converts the absolute coordinates into second coordinates compared to the slave vehicle warning unit.

[0072] The slave vehicle warning unit determines the distance between the target object and the slave vehicle warning unit according to the second coordinate, and issues a warning message when the distance between the target object and the slave vehicle warning unit is less than a warning distance threshold.

[0073] That is, in this embodiment, the coordinate systems of different vehicles are all converted into absolute coordinates, and then the absolute coordinates of different vehicles are converted into relative coordinates in their respective vehicle coordinate systems. The absolute coordinates are coordinate information relative to the world coordinate system.

[0074] The communication module in this embodiment is a wireless information communication module. Combined with the wireless network communication method used for surrounding target detection using the Bluetooth or UWB system, it can achieve direct detection by penetrating or bypassing intermediate obstacles. It can realize non-cooperative early warning reminders for the vehicle itself, and can also realize cooperative early warning reminders with other vehicles.

[0075] It should be noted that the anti-collision warning decision described in the present invention is a common anti-collision warning method in the art. For example, collision risk judgment is performed based on vehicle dynamics and kinematic logic: the predicted motion trajectories of the vehicle and the target are calculated based on the coordinate information of the target object, and whether there is a collision intersection area is checked. If there is, the collision time calculation is continued, and the obtained collision time result is compared with the preset collision threshold. If it is lower than the threshold, an alarm message is issued in time to prevent a collision from occurring. In actual applications, the above-mentioned anti-collision warning system for vehicles usually also includes a display device, such as an on-board display screen, a horn, a sound system, etc., to feed back warning information to the driver.

[0076] The internal devices of the vehicle, such as the Bluetooth or UWB module, communicate with the wireless information communication module via the vehicle CAN bus or LIN bus.

[0077] Based on the above embodiments, the vehicle can use the existing short-range positioning module to independently detect environmental information such as motor vehicles or non-motor vehicles, pedestrians, etc. around the vehicle in a non-cooperative situation. At the same time, it can also use the detection results of the first vehicle, i.e., the vehicle itself, in cooperation with other vehicles. At the same time, through interface standardization, the detection results are broadcast and interacted with other vehicles, so that other vehicles can also know the information of the target object when the line of sight is obstructed, thereby ensuring effective ghost head warning reminders and ensuring the safety of vehicles on a certain road.

[0078] In addition, the information interaction between multiple vehicles can also be used to detect the real-time running trajectories of traffic participants within the communication range for recording and prediction, etc., so as to provide high-level control applications in fields such as on-board driving assistance or autonomous driving.

[0079] like Figure 2 FIG. 2 is a flow chart of a method for preventing collisions and warning vehicles in another embodiment of the present invention. The method for preventing collisions and warning vehicles in this embodiment specifically includes the following steps:

[0080] The host vehicle warning unit obtains distance information of the target object, wherein the position information includes information within a non-line-of-sight range;

[0081] The distance information is sent to one or more slave vehicle warning units;

[0082] The slave vehicle warning unit determines the anti-collision warning decision of the slave vehicle warning unit according to the distance information.

[0083] In this embodiment, information is exchanged through cooperation between vehicles, thereby establishing a collaborative early warning mechanism.

[0084] Further, such as Figure 3 FIG. 1 is a flow chart of a method for anti-collision warning for a vehicle in another embodiment of the present invention, which specifically includes:

[0085] The short-range positioning module detects the distance information of the target object;

[0086] When the distance between the target object and the warning unit of the host vehicle is less than the warning distance threshold, the warning unit of the host vehicle issues a warning message;

[0087] At the same time, the distance information includes a first coordinate of the host vehicle warning unit, which is converted into an absolute coordinate in a world coordinate system;

[0088] The short-range positioning module converts the absolute coordinates into standard distance information adapted to the wireless information communication module, and then sends the standard distance information to the slave vehicle warning unit via the wireless information communication device;

[0089] The slave vehicle warning unit receives the standard distance information, and converts the absolute coordinate in the standard distance information into a second coordinate compared to the slave vehicle warning unit;

[0090] The distance between the target object and the slave vehicle warning unit is determined according to the second coordinate, and a warning message is issued when the distance between the target object and the slave vehicle warning unit is less than a warning distance threshold.

[0091] In this embodiment, a short-range positioning module is used to detect information around the vehicle, which can obtain non-line-of-sight information such as pedestrians and non-motor vehicles, and achieve anti-collision warning reminders in a collaborative or independent manner.

[0092] The technical features of the anti-collision warning method for a vehicle in the present invention are consistent with the technical features of the anti-collision warning system for a vehicle, and the present invention will not be elaborated here.

[0093] Another embodiment of the present invention provides a vehicle, including the above-mentioned main vehicle warning unit, which can not only be applied to the safety mechanism of the vehicle to form a non-cooperative traffic participant protection warning; at the same time, the detection results of the Bluetooth and / or UWB module can be pre-processed, and standardized information broadcasting can be performed through the network communication module, such as the PC5 direct communication channel of V2X, so that the surrounding slave vehicles receiving the information can use the safety mechanism of the vehicle to drive cooperative traffic participant protection warning. In another other embodiment, the vehicle includes a slave vehicle warning unit, which can receive the location information sent by other vehicles through network communication even if the Bluetooth and / or UBW module is not installed, so as to make anti-collision warning decisions. It can be understood that the vehicle in the present invention can include a display module, such as a vehicle-mounted display screen, a speaker or a sound, etc., to cooperate with subsequent anti-collision warnings, such as showing the current location of the target object to the driver, the predicted location, reminding the driver to pay attention to road conditions, etc. The present invention is not further introduced here.

[0094] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A vehicle anti-collision warning method, characterized in that: include: The host vehicle warning unit obtains the position information of the target object through the short-range positioning module, and the position information includes information within the non-line-of-sight range; According to the position information, the host vehicle warning unit makes an anti-collision warning decision.

2. The vehicle anti-collision warning method according to claim 1, characterized in that: The master vehicle early warning unit obtains the position information of the target object through the short-range positioning module, and sends the position information to one or more slave vehicle early warning units.

3. The vehicle anti-collision warning method according to claim 2, characterized in that: The position information includes a first coordinate of the target object, the first coordinate is a coordinate of the target object in the host vehicle warning unit coordinate system, and the host vehicle warning unit converts the first coordinate into an absolute coordinate in the world coordinate system; The master vehicle warning unit sends the absolute coordinates to the one or more slave vehicle warning units.

4. The vehicle anti-collision warning method according to claim 3, characterized in that: The host vehicle warning unit performs standardization processing on the absolute coordinates to obtain standard information adapted to the wireless information communication module; The master vehicle warning unit sends the standard information to the one or more slave vehicle warning units through the wireless information communication module.

5. The vehicle anti-collision warning method according to claim 4, characterized in that: The master vehicle warning unit sends a first standard message to the one or more slave vehicle warning units through the wireless information communication module; The master vehicle warning unit receives the second standard information sent by the one or more slave vehicle warning units through the wireless information communication module; The host vehicle warning unit makes an anti-collision warning decision based on the first standard information and the second standard information.

6. The vehicle anti-collision warning method according to any one of claims 1 to 5, characterized in that: The short-range positioning module is a vehicle-mounted Bluetooth or UWB module.

7. A vehicle cooperative collision avoidance warning method, characterized in that: include: The slave vehicle warning unit receives the position information of the target object sent by the master vehicle warning unit, wherein the position information includes information within a non-line-of-sight range; The slave vehicle warning unit makes an anti-collision warning decision based on the position information.

8. The vehicle cooperative collision avoidance warning method as claimed in claim 7, characterized in that: include: The slave vehicle warning unit receives the absolute coordinates of the target object in the world coordinate system through the wireless information communication module; The slave vehicle early warning unit converts the absolute coordinates into second coordinates, where the second coordinates are coordinates of the target object in the slave vehicle early warning unit coordinate system; The slave vehicle warning unit makes an anti-collision warning decision according to the second coordinate.

9. The vehicle cooperative collision avoidance warning method as claimed in claim 8, characterized in that: The slave vehicle warning unit receives the standard information sent by the master vehicle warning unit through the wireless information communication module, and the standard information is adapted to the wireless information communication module.

10. A host vehicle warning unit, characterized in that: Including short-range positioning module, The short-range positioning module is used to obtain the position information of the target object, and the position information includes information within a non-line-of-sight range; The host vehicle warning unit is used to make an anti-collision warning decision based on the position information.

11. The host vehicle warning unit according to claim 10, characterized in that: It also includes a wireless information communication module and a conversion module; The position information includes a first coordinate of the target object, the first coordinate is a coordinate of the target object in the vehicle warning unit coordinate system, and the host vehicle warning unit converts the first coordinate into an absolute coordinate in the world coordinate system; The master vehicle warning unit is used to send the absolute coordinates to one or more slave vehicle warning units through the wireless information communication module; Also includes standardized modules, The standardization module is used to standardize the absolute coordinates to obtain standard information suitable for the wireless information communication module; The master vehicle warning unit is used to send the standard information to the one or more slave vehicle warning units through the wireless information communication module.

12. The host vehicle warning unit according to any one of claims 10-11, characterized in that: The short-range positioning module is a vehicle-mounted Bluetooth or UWB module.

13. A slave vehicle warning unit, characterized in that: Including wireless information communication module, The slave vehicle warning unit is used to receive the location information of the target object sent by the master vehicle warning unit through the wireless information communication module; The slave vehicle warning unit is used to make an anti-collision warning decision based on the position information.

14. The slave vehicle warning unit according to claim 13, characterized in that: The slave vehicle warning unit is used to receive the absolute coordinates of the target object sent by the master vehicle warning unit through the wireless information communication module; The slave vehicle warning unit is used to convert the absolute coordinates into second coordinates, where the second coordinates are the coordinates of the target object in the slave vehicle warning unit coordinate system, and make an anti-collision warning decision based on the second coordinates.

15. A vehicle warning system, characterized in that: It comprises a main vehicle warning unit as described in any one of claims 10-12 and one or more slave vehicle warning units as described in any one of claims 13-14.

16. A vehicle, characterized in that: It comprises the main vehicle warning unit as described in any one of claims 10-12, or one or more slave vehicle warning units as described in any one of claims 13-14.

17. A vehicle anti-collision warning method, characterized in that: include: The host vehicle warning unit obtains the position information of the target object through the short-range positioning module, and the position information includes information within the non-line-of-sight range; The master vehicle warning unit sends the position information to one or more slave vehicle warning units via a wireless information communication module; According to the position information, the host vehicle warning unit makes an anti-collision warning decision; The slave vehicle warning unit receives the position information and makes an anti-collision warning decision based on the position information.

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