Obstacle early warning method, device and equipment, readable storage medium and vehicle

Abstract

The invention relates to an obstacle early warning method, device and equipment, a readable storage medium and a vehicle. The method comprises the steps that driving state information of the vehicle and parameter information of the vehicle are acquired; calculating a predicted driving track of the vehicle according to the driving state information and the parameter information; if an obstacle is detected in the predicted driving track, acquiring obstacle information of the obstacle; according to the obstacle information and the driving state information, whether the collision risk exists between the obstacle and the vehicle or not is determined; and if the collision risk exists between the obstacle and the vehicle, an early warning prompt is triggered. The predicted driving range of the vehicle is calculated according to the driving state information of the vehicle and the parameter information of the vehicle, the obstacles in the predicted driving range are detected, and compared with obstacle early warning in a fixed area, the obstacle early warning is more targeted and more flexible, and the false alarm of the obstacles is effectively avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent detection, and in particular to an obstacle warning method, device, equipment, readable storage medium and vehicle. Background Art

[0002] Radar has become a standard feature of modern vehicles, and its development is constantly being updated and improved. Radar can cover the environment around the entire vehicle, including obstacle monitoring in the front, rear, left and right directions. It can not only provide safety tips when reversing, but also provide front and rear obstacle warnings and assistance when the vehicle is driving in front. The development trend of radar is to have more comprehensive functions and intelligence to improve the safety and driving experience of drivers.

[0003] The existing radar obstacle warning method mainly detects obstacles in a fixed warning area, and triggers an obstacle warning when there is an obstacle in the warning area. In order to ensure vehicle safety and cover various scenarios, the fixed warning area is often large, which can give users enough prompts, but there are a lot of false alarms, and frequent alarm prompts will relax the driver's vigilance, causing the driver to ignore the key prompts, resulting in vehicle scratches or collisions. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides an obstacle warning method, device, equipment, readable storage medium and vehicle to reduce false alarms during obstacle warning.

[0005] In a first aspect, an embodiment of the present disclosure provides an obstacle warning method, comprising:

[0006] Obtaining vehicle driving status information and vehicle parameter information;

[0007] Calculating an estimated driving trajectory of the vehicle according to the driving state information and the parameter information;

[0008] If an obstacle is detected within the predicted driving trajectory, obtaining obstacle information of the obstacle;

[0009] Determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information;

[0010] If there is a risk of collision between the obstacle and the vehicle, a warning prompt is triggered.

[0011] In some embodiments, the parameter information includes at least size information of the vehicle, the driving state information includes at least a steering wheel angle, and calculating the estimated driving trajectory of the vehicle according to the driving state information and the parameter information includes:

[0012] The predicted driving trajectory is calculated according to the size information of the vehicle and the steering wheel angle.

[0013] In some embodiments, the obstacle includes a moving obstacle, and if an obstacle is detected within the expected driving trajectory, obtaining obstacle information of the obstacle includes:

[0014] If the moving obstacle is detected within the preset range of the vehicle, the current position, moving direction and moving speed of the moving obstacle are obtained;

[0015] The determining, according to the obstacle information and the driving state information, whether there is a collision risk between the obstacle and the vehicle includes:

[0016] Determine whether there is a collision risk with the moving obstacle based on the current position, the moving direction, the moving speed, and the predicted driving trajectory.

[0017] In some embodiments, if there is a risk of collision between the obstacle and the vehicle, triggering a warning prompt includes:

[0018] If there is a risk of collision between the obstacle and the vehicle, the radar corresponding to the position of the obstacle is controlled to trigger a warning prompt.

[0019] In some embodiments, the driving state information includes vehicle gear information, and after determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information, the method further includes:

[0020] If the vehicle gear is in P gear or N gear, it is determined that no warning prompt is triggered;

[0021] If the vehicle gear is in the D gear, it is determined that the rear radar warning prompt is not triggered.

[0022] In some embodiments, the driving state information includes vehicle speed, and after determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information, the method further includes:

[0023] If the vehicle speed is zero or greater than a first preset speed threshold, it is determined that no warning prompt is triggered.

[0024] In a second aspect, an embodiment of the present disclosure provides an obstacle warning device, comprising:

[0025] A first acquisition module is used to acquire the driving state information and parameter information of the vehicle;

[0026] A calculation module, used for calculating the estimated driving trajectory of the vehicle according to the driving state information and the parameter information;

[0027] A second acquisition module, configured to acquire obstacle information of the obstacle if an obstacle is detected within the predicted driving trajectory;

[0028] A first determination module, configured to determine whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information;

[0029] The warning module is used to trigger a warning prompt if there is a risk of collision between the obstacle and the vehicle.

[0030] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0031] Memory;

[0032] Processor; and

[0033] Computer programs;

[0034] The computer program is stored in the memory and is configured to be executed by the processor to implement the method as described in the first aspect.

[0035] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement the method described in the first aspect.

[0036] In a fifth aspect, an embodiment of the present disclosure provides a vehicle, comprising the device, electronic device or computer-readable storage medium as described above.

[0037] The obstacle warning method, device, equipment, readable storage medium and vehicle provided in the embodiments of the present disclosure calculate the expected driving range of the vehicle through the vehicle's driving status information and the vehicle's parameter information, and detect obstacles within the expected driving range. Compared with obstacle warnings within a fixed area, they are more targeted and flexible, and effectively avoid false alarms of obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 A flow chart of an obstacle warning method provided in an embodiment of the present disclosure;

[0041] Figure 2 A schematic diagram of an application scenario provided by an embodiment of the present disclosure;

[0042] Figure 3 A flow chart of an obstacle warning method provided by another embodiment of the present disclosure;

[0043] Figure 4 A schematic diagram of the structure of an obstacle warning device provided in an embodiment of the present disclosure;

[0044] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0045] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0047] There are a lot of false alarms in the existing technology using fixed warning areas. For example, in a straight-line reversing scenario, an obstacle on the right rear side will trigger an alarm because it is within the fixed warning area. However, the vehicle will never come into contact with the obstacle on the right rear side when reversing in a straight line, so the warning triggered in this scenario is a false alarm.

[0048] In order to reduce such false alarm phenomenon, the embodiments of the present disclosure provide an obstacle warning method, which is introduced below in conjunction with specific embodiments.

[0049] Figure 1 This is a flow chart of the obstacle warning method provided by the embodiment of the present disclosure. The method can be applied to Figure 2 The application scenario shown includes a vehicle 21 and an obstacle 22. The vehicle 21 includes an on-board device for executing the obstacle warning method, and the on-board device can be a vehicle computer, a smart phone, a handheld computer, a tablet computer, a laptop computer, an all-in-one machine, an intelligent driving device, etc.

[0050] It is understandable that the obstacle warning method provided by the embodiment of the present disclosure can also be applied in other scenarios.

[0051] Combine the following Figure 2 The application scenario shown is Figure 1 The obstacle warning method shown in the figure is introduced, and the specific steps of the method are as follows:

[0052] S101. Acquire vehicle driving status information and vehicle parameter information.

[0053] While the vehicle is driving, the on-board equipment obtains the vehicle's driving status information through the vehicle's internal system or various sensors mounted on the vehicle, such as speed sensors, acceleration sensors, inertial measurement sensors and other components in the vehicle; the vehicle's parameter information includes the size information of each component of the vehicle.

[0054] Specifically, the driving state information of the vehicle may include the steering wheel angle of the vehicle, the driving speed of the vehicle, the gear position of the vehicle, the position of the vehicle, and the like.

[0055] S102: Calculate an estimated driving trajectory of the vehicle according to the driving state information and the parameter information.

[0056] The predicted driving trajectory of a vehicle refers to the trajectory that the vehicle may travel in the future. By combining the driving state information with the parameter information, the predicted driving trajectory of the vehicle can be calculated.

[0057] S103: If an obstacle is detected within the predicted driving trajectory, obtain obstacle information of the obstacle.

[0058] Obstacles are any objects around the vehicle that may affect the normal driving of the vehicle, including static obstacles and dynamic obstacles.

[0059] The vehicle is equipped with sensors for collecting information about the vehicle's surrounding environment, such as one or more of cameras, visual sensors, laser radars, millimeter-wave radars, and ultrasonic radars, but of course not limited to these. During the vehicle's driving, the vehicle computer obtains real-time environmental information about the vehicle's surroundings through the above sensors. The vehicle computer analyzes and processes the environmental information about the vehicle's surroundings collected by the sensors installed on the vehicle, and if an obstacle is detected within the expected driving trajectory, the obstacle information of the obstacle is obtained.

[0060] Specifically, the obstacle information includes at least one or more of the following: the position of the obstacle, the moving direction of the obstacle, and the moving speed of the obstacle.

[0061] S104: Determine whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information.

[0062] By combining obstacle information and driving status information, the relative position relationship between the vehicle and the obstacle at any moment in the future can be calculated in real time. When the distance between the two is too close, there is a risk of collision between the obstacle and the vehicle.

[0063] For example, when the obstacle is a static obstacle, the obstacle information includes at least the position of the obstacle. Combined with the vehicle's steering wheel angle, driving speed and other driving status information, the distance between the vehicle and the obstacle at any time in the future can be calculated. When this distance is less than the preset safety distance, there is a risk of collision between the obstacle and the vehicle.

[0064] For example, when the obstacle is a dynamic obstacle, the obstacle information also includes the obstacle's movement direction and movement speed. Combined with the vehicle's steering wheel angle, vehicle speed and other driving status information, the distance between the vehicle and the obstacle after relative movement at any time in the future can be calculated. When this distance is less than the preset safety distance, there is a risk of collision between the obstacle and the vehicle.

[0065] S105: If there is a risk of collision between the obstacle and the vehicle, trigger an early warning prompt.

[0066] When it is determined that there is a risk of collision between the obstacle and the vehicle based on the obstacle information and driving status information, a warning prompt is triggered.

[0067] Specifically, the warning prompt can be in a variety of forms, or a combination of any of several warning forms. For example, sound prompts, central control screen prompts, vibration prompts, etc. Among them, the sound prompt is generally a buzzer prompt, which can be divided into different reminder levels according to the current distance between the obstacle and the vehicle. The closer the obstacle is to the vehicle, the stronger the warning sound; the central control screen prompt refers to the display of graphics and obstacles on the vehicle's central control screen; the vibration prompt can be the vibration of the vibrator on the vehicle's steering wheel to alert the driver. It is understandable that the warning prompt method is not limited to this.

[0068] In some embodiments, if there is a risk of collision between the obstacle and the vehicle, the radar corresponding to the position of the obstacle is controlled to trigger a warning prompt. According to the different relative positions of the obstacle and the vehicle, the speakers at different positions in the vehicle are controlled to make sounds, so that the direction of the sound warning prompt is consistent with the direction of the obstacle.

[0069] The disclosed embodiment obtains driving status information and parameter information of the vehicle; calculates an estimated driving trajectory of the vehicle according to the driving status information and the parameter information; if an obstacle is detected within the estimated driving trajectory, obtains obstacle information of the obstacle; determines whether there is a risk of collision between the obstacle and the vehicle according to the obstacle information and the driving status information; if there is a risk of collision between the obstacle and the vehicle, triggers an early warning prompt, calculates the estimated driving trajectory of the vehicle according to the driving status information and the parameter information of the vehicle, detects obstacles within the estimated driving trajectory and determines whether an early warning is needed, which is more targeted and flexible than obstacle warnings within fixed areas and effectively avoids false alarms of obstacles.

[0070] Based on the above embodiment, the parameter information includes at least the size information of the vehicle, the driving status information includes at least the steering wheel angle, and the calculating the expected driving trajectory of the vehicle based on the driving status information and the parameter information includes: calculating the expected driving trajectory based on the size information of the vehicle and the steering wheel angle.

[0071] The direction of the vehicle can be determined based on the steering wheel angle, and the vehicle's expected driving trajectory can be calculated based on the vehicle's direction of travel by further combining the vehicle's parameter information (such as the vehicle's width, height, etc.).

[0072] In some embodiments, the user can set the detection distance covered by the expected driving trajectory according to his or her own habits, that is, set the radar detection distance, for example, to "short distance", "medium distance" or "long distance".

[0073] In some embodiments, the user can also set the volume of the sound warning prompt according to his or her own feelings.

[0074] Figure 3 This is a flow chart of an obstacle warning method provided by another embodiment of the present disclosure. Figure 3 As shown, the method includes the following steps:

[0075] S301. Obtain vehicle driving status information and vehicle parameter information.

[0076] Specifically, the implementation process and principle of S301 and S101 are the same, and will not be repeated here.

[0077] S302: Calculate an estimated driving trajectory of the vehicle according to the driving state information and the parameter information.

[0078] Specifically, the parameter information includes at least size information of the vehicle, the driving state information includes at least a steering wheel angle, and the calculating the estimated driving trajectory of the vehicle according to the driving state information and the parameter information includes:

[0079] The predicted driving trajectory is calculated according to the size information of the vehicle and the steering wheel angle.

[0080] S303: If the moving obstacle is detected within the preset range of the vehicle, obtain the current position, moving direction and moving speed of the moving obstacle.

[0081] Specifically, the implementation process and principle of S303 and S103 are the same, and will not be repeated here.

[0082] S304: Determine whether there is a collision risk between the moving obstacle and the vehicle based on the current position, the moving direction, the moving speed and the expected driving trajectory. If yes, execute S305; if no, execute S301.

[0083] The warning logic is judged based on the current position, direction and speed of the moving obstacle, and combined with the current vehicle's expected driving trajectory. If the calculation determines that the moving obstacle and the vehicle will come into contact within the first preset time, it indicates that the distance between the obstacle and the vehicle is less than the preset safety distance, and a warning prompt needs to be triggered in time.

[0084] Correspondingly, if it is determined by calculation that the moving obstacle and the vehicle will not come into contact within the first preset time, it indicates that the distance between the obstacle and the vehicle is greater than or equal to the preset safety distance, and the vehicle driving state continues to be detected.

[0085] S305: Determine whether to trigger a warning prompt according to the driving state information of the vehicle. If yes, execute S306; if not, execute S301.

[0086] Specifically, the vehicle's driving status information includes the vehicle's gear information. If the vehicle's gear is in P or N gear, it is determined that the warning prompt is not triggered; if the vehicle's gear is in D gear, it is determined that the rear radar warning prompt is not triggered.

[0087] When the vehicle gear is in P or N gear, the vehicle is usually parked or about to park, and there is no need to trigger the warning prompt; when the vehicle gear is in D gear, the vehicle's estimated driving trajectory is in front of the vehicle, and it is only necessary to trigger the radar warning prompt in front of the vehicle, and make sure not to trigger the rear radar warning prompt.

[0088] The driving status information of the vehicle also includes the speed of the vehicle. If the vehicle speed is zero or greater than the first preset speed threshold, it is determined that the warning prompt is not triggered. Since the obstacle warning mainly acts on scenes such as low-speed driving and reversing, the vehicle speed in these scenes is relatively low. For example, when the vehicle speed is greater than zero and less than 15km / h, an obstacle warning prompt needs to be triggered. When the vehicle is driving normally (for example, the vehicle speed is greater than the first preset speed threshold), there is no need to turn on the obstacle warning function. At the same time, when the vehicle speed is zero, the vehicle is stationary and there is no need to turn on the obstacle warning function.

[0089] It is understandable that the conditions for determining whether the vehicle needs to turn on the obstacle warning function are not limited to these, and can be set according to user needs, and one or several conditions can be selected to enable, and the embodiments of the present disclosure do not limit this.

[0090] When it is determined that there is no need to trigger a warning prompt, return to S301 to continue detecting the vehicle driving status.

[0091] S306: triggering an early warning prompt.

[0092] The disclosed embodiment detects moving obstacles around the vehicle and, when there is a risk of collision between the moving obstacle and the vehicle, makes a logical judgment on whether the vehicle needs to activate the obstacle warning function based on the current state of the vehicle. This reduces false alarms of obstacle warnings and avoids missed alarms, thereby further ensuring the safety of users and vehicles.

[0093] Figure 4 Schematic diagram of the structure of the obstacle warning device provided in the embodiment of the present disclosure. The obstacle warning device may be the vehicle-mounted terminal as described in the above embodiment, or the obstacle warning device may be a component or assembly in the vehicle-mounted terminal. The obstacle warning device provided in the embodiment of the present disclosure may execute the processing flow provided in the obstacle warning method embodiment, such as Figure 4 As shown, the obstacle warning device 40 includes: a first acquisition module 41, a calculation module 42, a second acquisition module 43, a first determination module 44, and a warning module 45; wherein the first acquisition module 41 is used to acquire the driving state information and the parameter information of the vehicle; the calculation module 42 is used to calculate the expected driving trajectory of the vehicle according to the driving state information and the parameter information; the second acquisition module 43 is used to acquire the obstacle information of the obstacle if an obstacle is detected within the expected driving trajectory; the first determination module 44 is used to determine whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information; the warning module 45 is used to trigger a warning prompt if there is a collision risk between the obstacle and the vehicle.

[0094] Optionally, the parameter information includes at least the size information of the vehicle, and the driving state information includes at least the steering wheel angle; the calculation module 42 is used to calculate the expected driving trajectory according to the size information of the vehicle and the steering wheel angle.

[0095] Optionally, the second acquisition module 43 is used to obtain the current position, movement direction and movement speed of the moving obstacle if the moving obstacle is detected within the preset range of the vehicle; the first determination module 44 is used to determine whether there is a risk of collision between the moving obstacle and the vehicle based on the current position, the movement direction, the movement speed and the expected driving trajectory.

[0096] Optionally, the warning module 45 is used to control the radar corresponding to the position of the obstacle to trigger a warning prompt if there is a risk of collision between the obstacle and the vehicle.

[0097] Optionally, the obstacle warning device 40 further includes a second determination module 46 for determining not to trigger a warning prompt if the vehicle gear is in P gear or N gear; and determining not to trigger a rear radar warning prompt if the vehicle gear is in D gear.

[0098] Optionally, the second determination module 46 is further configured to determine not to trigger a warning prompt if the vehicle speed is zero or greater than a first preset speed threshold.

[0099] Figure 4 The obstacle warning device of the illustrated embodiment can be used to implement the technical solution of the above-mentioned method embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0100] In addition, an embodiment of the present disclosure also provides a vehicle, which includes the obstacle warning device described in the above embodiment.

[0101] Figure 5 The electronic device provided in the embodiment of the present disclosure can execute the processing flow provided in the obstacle warning method embodiment, such as Figure 5 As shown, the electronic device 50 includes: a memory 51, a processor 52, a computer program and a communication interface 53; wherein the computer program is stored in the memory 51 and is configured so that the processor 52 executes the obstacle warning method as described above.

[0102] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the obstacle warning method described in the above embodiment.

[0103] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0104] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0105] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0106] In addition, an embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the obstacle warning method as described above is implemented.

[0107] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0108] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0109] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0110] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0111] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0112] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0113] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An obstacle warning method, characterized in that: The method comprises: Obtaining vehicle driving status information and vehicle parameter information; Calculating an estimated driving trajectory of the vehicle according to the driving state information and the parameter information; If an obstacle is detected within the predicted driving trajectory, obtaining obstacle information of the obstacle; Determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information; If there is a risk of collision between the obstacle and the vehicle, a warning prompt is triggered.

2. The method according to claim 1, characterized in that The parameter information includes at least size information of the vehicle, the driving state information includes at least a steering wheel angle, and calculating the estimated driving trajectory of the vehicle according to the driving state information and the parameter information includes: The predicted driving trajectory is calculated according to the size information of the vehicle and the steering wheel angle.

3. The method according to claim 1, characterized in that The obstacle includes a moving obstacle, and if an obstacle is detected within the expected driving trajectory, obtaining obstacle information of the obstacle includes: If the moving obstacle is detected within the preset range of the vehicle, the current position, moving direction and moving speed of the moving obstacle are obtained; The determining, according to the obstacle information and the driving state information, whether there is a collision risk between the obstacle and the vehicle includes: Determine whether there is a collision risk with the moving obstacle based on the current position, the moving direction, the moving speed, and the predicted driving trajectory.

4. The method according to any one of claims 1 to 3, characterized in that: If there is a risk of collision between the obstacle and the vehicle, triggering a warning prompt includes: If there is a risk of collision between the obstacle and the vehicle, the radar corresponding to the position of the obstacle is controlled to trigger a warning prompt.

5. The method according to claim 1, characterized in that The driving state information includes vehicle gear information. After determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information, the method further includes: If the vehicle gear is in P gear or N gear, it is determined that no warning prompt is triggered; If the vehicle gear is in the D gear, it is determined that the rear radar warning prompt is not triggered.

6. The method according to claim 1, characterized in that The driving state information includes a vehicle speed. After determining whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information, the method further includes: If the vehicle speed is zero or greater than a first preset speed threshold, it is determined that no warning prompt is triggered.

7. An obstacle warning device, characterized in that: The device comprises: A first acquisition module is used to acquire the driving state information and parameter information of the vehicle; A calculation module, used for calculating the estimated driving trajectory of the vehicle according to the driving state information and the parameter information; A second acquisition module, configured to acquire obstacle information of the obstacle if an obstacle is detected within the predicted driving trajectory; A first determination module, configured to determine whether there is a collision risk between the obstacle and the vehicle according to the obstacle information and the driving state information; The warning module is used to trigger a warning prompt if there is a risk of collision between the obstacle and the vehicle.

8. An electronic device, characterized in that: include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and is configured to be executed by the processor to implement the obstacle warning method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the obstacle warning method according to any one of claims 1 to 6 is implemented.

10. A vehicle comprising: The obstacle warning device as claimed in claim 7; or the electronic device as claimed in claim 8; Or, the computer readable storage medium of claim 9.

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