Vehicle early warning method and device, vehicle-mounted terminal and storage medium

Abstract

The invention is suitable for the technical field of automobiles, and provides a vehicle early warning method and device, a vehicle-mounted terminal and a storage medium, and the method comprises the steps: obtaining vehicle parameters of a vehicle and size parameters of a damaged region when it is detected that the damaged region exists on a road on which the vehicle runs; according to the vehicle parameters and the size parameters, the risk level when the vehicle makes contact with the damaged area is determined; and executing an early warning operation corresponding to the risk level. Compared with the prior art that early warning information is sent to personnel in the vehicle when the damage width of the road surface depression is detected to be larger than a fixed threshold value and the damage depth is detected to be larger than another fixed threshold value, the method provided by the invention needs to determine the risk level in combination with the vehicle parameters and the size parameters of the damaged area of the road; and corresponding early warning operations are executed according to the risk levels, so that the early warning accuracy is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a vehicle early warning method, device, vehicle-mounted terminal and storage medium. Background Art

[0002] With the continuous growth of the number of cars and the continuous increase in the use time of roads, especially due to the squeezing of the road surface by large trucks, it is easy to cause damage to the road surface, such as bulges, potholes, and cracks. When drivers drive vehicles on roads with such road damage, it is easy to cause traffic accidents. Therefore, when the road surface is damaged, the people in the vehicle should be reminded in time.

[0003] However, the existing technology usually only sends warning information to the occupants of the vehicle when it is detected that the damage width of the road depression is greater than a fixed threshold and the damage depth is greater than another fixed threshold. This is not comprehensive and reduces the accuracy of the warning. Summary of the invention

[0004] The embodiments of the present application provide a vehicle warning method, device, vehicle-mounted terminal and storage medium, which improve the accuracy of warning.

[0005] In a first aspect, an embodiment of the present application provides a vehicle early warning method, comprising:

[0006] When a damaged area is detected on the road where the vehicle is traveling, vehicle parameters of the vehicle and size parameters of the damaged area are obtained;

[0007] determining, according to the vehicle parameters and the size parameters, a risk level when the vehicle contacts the damaged area;

[0008] Execute a warning operation corresponding to the risk level.

[0009] Optionally, the size parameters include the boundary size and the concave-convex size of the damaged area; the size parameters are obtained by:

[0010] Determine the three-dimensional coordinate range of the damaged area in the camera coordinate system corresponding to the binocular camera of the vehicle;

[0011] Determine, according to the three-dimensional coordinate range, first coordinates of each of a plurality of boundary points of the damaged area and a second coordinate of a center point of the damaged area;

[0012] Calculating the boundary size according to the first coordinates of each of the plurality of boundary points;

[0013] The concave-convex size is calculated according to the first coordinate and the second coordinate of any one of the boundary points.

[0014] Optionally, the vehicle parameters include vehicle speed, acceleration, current position information, heading angle, wheel width, and wheel diameter; and determining the risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters includes:

[0015] Determining a predicted driving trajectory of the vehicle according to the vehicle speed, the acceleration, the current position information and the heading angle;

[0016] Calculating a longitudinal distance and a lateral distance between the vehicle and the damaged area according to the predicted driving trajectory, the heading angle, and the area position information of the damaged area;

[0017] If the longitudinal distance and the lateral distance are both within the set range, the risk level is determined according to the wheel width, the wheel diameter and the size parameters.

[0018] Optionally, the calculating, according to the predicted driving trajectory, the heading angle, and the regional position information of the damaged area, a longitudinal distance and a lateral distance between the vehicle and the damaged area includes:

[0019] Determining the coordinates of the location point where the vehicle begins to contact the damaged area according to the predicted driving trajectory and the area location information;

[0020] Determining the wheel coordinates of the vehicle according to the predicted driving trajectory and the current position information;

[0021] The longitudinal distance and the lateral distance are calculated according to the wheel coordinates, the position point coordinates and the orientation angle.

[0022] Optionally, the size parameters include a damage length, a damage width and a concave-convex size of the damaged area; and determining the risk level according to the wheel width, the wheel diameter and the size parameters includes:

[0023] If the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both smaller than a set multiple of the wheel diameter, the risk level is determined to be the first level;

[0024] If the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the second level; the second level is higher than the first level;

[0025] If the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both smaller than the set multiple of the wheel diameter, the risk level is determined to be the third level; the third level is higher than the second level;

[0026] If the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the fourth level; the fourth level is higher than the third level.

[0027] Optionally, after determining the risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters, the method further includes:

[0028] If the risk level is the second level, the third level or the fourth level, obtaining a current distance between the damaged area and the vehicle and a speed of the vehicle;

[0029] Calculating the time when the vehicle starts to contact the damaged area according to the current distance and the vehicle speed;

[0030] Predicting the probability of the vehicle contacting the damaged area according to the time;

[0031] The risk level is adjusted according to the probability.

[0032] Optionally, the risk level includes a first level, a second level, a third level and a fourth level; the fourth level is higher than the third level, the third level is higher than the second level, and the second level is higher than the first level; and the performing of the warning operation corresponding to the risk level includes:

[0033] If the risk level is the first level, controlling the display screen in the vehicle to output a first prompting message for prompting that the road is clear and passable;

[0034] If the risk level is the second level, controlling the voice prompter in the vehicle to output a second prompt message for prompting that there is a damaged area on the road and to slow down the vehicle;

[0035] If the risk level is the third level, controlling the display screen and the voice prompter to output a third prompt message for prompting that there is a damaged area on the road and to avoid driving;

[0036] If the risk level is the third level, the buzzer in the vehicle and the display screen are controlled to output a fourth prompting message for prompting that there is a damaged area on the road and requiring emergency avoidance.

[0037] In a second aspect, an embodiment of the present application provides a vehicle warning device, including:

[0038] A first acquisition unit, configured to acquire vehicle parameters of the vehicle and size parameters of the damaged area when a damaged area is detected on the road on which the vehicle is traveling;

[0039] A first level determination unit, configured to determine a risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters;

[0040] An execution unit is used to execute a warning operation corresponding to the risk level.

[0041] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a vehicle warning method as described in any one of the first aspects above is implemented.

[0042] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle warning method as described in any one of the above-mentioned first aspects is implemented.

[0043] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle-mounted terminal, enables the vehicle-mounted terminal to execute the vehicle warning method described in any one of the first aspects above.

[0044] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0045] The embodiment of the present application provides a vehicle warning method, which obtains the vehicle parameters and the size parameters of the damaged area of ​​the vehicle when a damaged area is detected on the road where the vehicle is traveling; determines the risk level when the vehicle contacts the damaged area based on the vehicle parameters and the size parameters; and performs a warning operation corresponding to the risk level. Compared with the prior art, when the width of the damage of the road depression is detected to be greater than a fixed threshold and the damage depth is greater than another fixed threshold, a warning message is sent to the personnel in the vehicle, the method provided by the present application needs to determine the risk level by combining the vehicle parameters and the size parameters of the damaged area of ​​the road, and then performs the corresponding warning operations according to the risk level, thereby improving the accuracy of the warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 is a flow chart of an implementation of a vehicle warning method provided by an embodiment of the present application;

[0048] Figure 2 is a flow chart of an implementation of a vehicle warning method provided by another embodiment of the present application;

[0049] Figure 3 is a schematic diagram of the location of a damaged area in a binocular camera provided in an embodiment of the present application;

[0050] Figure 4 is a flow chart of an implementation of a vehicle warning method provided by another embodiment of the present application;

[0051] Figure 5 is a schematic diagram of a predicted driving trajectory of a vehicle provided in an embodiment of the present application;

[0052] Figure 6 is a flow chart of an implementation of a vehicle warning method provided by another embodiment of the present application;

[0053] Figure 7 is a flow chart of an implementation of a vehicle warning method provided by another embodiment of the present application;

[0054] Figure 8 is a flow chart of an implementation of a vehicle warning method provided by another embodiment of the present application;

[0055] Fig. 9 It is a structural schematic diagram of a vehicle warning device provided by an embodiment of the present application;

[0056] Fig.10 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0058] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0059] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0060] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0061] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0062] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0063] See also Figure 1 , Figure 1 This is a flow chart of a vehicle early warning method provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the vehicle early warning method is a vehicle-mounted terminal.

[0064] like Figure 1 As shown, the vehicle warning method provided by an embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0065] In S101, when it is detected that there is a damaged area on the road on which the vehicle is traveling, vehicle parameters of the vehicle and size parameters of the damaged area are acquired.

[0066] In practical applications, with the continuous growth of the number of cars and the continuous increase in the use time of roads, especially large trucks squeezing the road surface, it is easy to cause damage to the road surface, such as bumps, potholes, fractures, etc. When the driver drives the vehicle on the road with the above road damage, it is easy to cause traffic accidents. Therefore, when the vehicle is driving on the road, the on-board terminal can obtain the road image in front of the vehicle in real time, and input the road image into the trained target detection model for processing to obtain the target detection result. Among them, the target detection result includes the damaged area and damage type in the road image.

[0067] It should be noted that the types of damage include but are not limited to: bulges, holes and fractures.

[0068] The above target detection model can be an existing target detection model based on convolutional neural network.

[0069] In the embodiment of the present application, when the vehicle-mounted terminal detects that there is a damaged area in the target detection result, it indicates that there is a damaged area on the road. Therefore, the vehicle-mounted terminal can obtain the vehicle parameters of the vehicle and the size parameters of the damaged area.

[0070] The vehicle parameters include but are not limited to: vehicle speed, acceleration, current position information, heading angle, wheel width and wheel diameter, etc.

[0071] The size parameters include but are not limited to: the boundary size and the concave-convex size of the damaged area. The boundary size can be the length and width of the damaged area, and the concave-convex size can be the height or depth of the damaged area. For example, if the damage type of the damaged area is a pit and a fracture, the concave-convex size is the depth of the pit; if the damage type of the damaged area is a bulge, the concave-convex size is the height of the bulge.

[0072] In one implementation of the embodiment of the present application, the vehicle terminal can obtain the above vehicle parameters in real time through sensors connected to it by wireless communication, wherein the sensors include but are not limited to: speed sensors, acceleration sensors, and laser radars.

[0073] In another implementation of the embodiment of the present application, since the binocular camera uses the bionics principle, the calibrated dual cameras obtain synchronous exposure images, and then calculate the third-dimensional depth information of the acquired two-dimensional image pixels to obtain the three-dimensional coordinate information of the object in the image. Therefore, the vehicle-mounted terminal can determine the size parameters of the damaged area through the binocular camera in the vehicle to which it is wirelessly connected.

[0074] Specifically, in one embodiment of the present application, the vehicle-mounted terminal can be specifically Figure 2 The steps S201 to S204 shown in the figure obtain the size parameters of the damaged area, which are described in detail as follows:

[0075] In S201, a three-dimensional coordinate range of the damaged area in a camera coordinate system corresponding to a binocular camera of the vehicle is determined.

[0076] In S202, first coordinates of each of a plurality of boundary points of the damaged area and a second coordinate of a center point of the damaged area are determined according to the three-dimensional coordinate range.

[0077] In S203, the boundary size is calculated according to the first coordinates of each of the plurality of boundary points.

[0078] In S204, the concave-convex size is calculated according to the first coordinate and the second coordinate of any one of the boundary points.

[0079] In this embodiment, since the binocular camera uses the bionics principle, the calibrated dual cameras obtain synchronous exposure images, and then calculate the third-dimensional depth information of the acquired two-dimensional image pixels to obtain the three-dimensional coordinate information of the object in the image. Therefore, the vehicle-mounted terminal can determine the three-dimensional coordinate range of the damaged area in the camera coordinate system corresponding to the binocular camera through the binocular camera in the vehicle connected to it by wireless communication.

[0080] For example, see Figure 3 , Figure 3 Schematic diagram of the location of the damaged area in the binocular camera provided in one embodiment of the present application. Figure 3 As shown, L1 is the imaging plane, L2 is the ground, O l is the origin of the left camera coordinate system, O l Z is the optical axis of the left camera, O r is the origin of the right camera coordinate system, O r Z is the optical axis of the right camera, point P is the three-dimensional coordinate of the damaged area, and point P1 is the coordinate of point P on plane XO. l Z, point A is the projection point of point P on the right camera imaging plane, point B is the projection point of point P on the left camera imaging plane, point A1 is the projection point of point A on plane XO l The projection point on Z, point B1 is point B on plane XO l The projection point on Z, point C is the projection point of point A1 to the optical axis of the right camera, and point C1 is the projection point of point B1 to the optical axis of the left camera.

[0081] In this embodiment, the relationship between the three-dimensional coordinate range of the damaged area in the camera coordinate system and the three-dimensional coordinate range of the damaged area in the world coordinate system is as follows:

[0082]

[0083] Among them, R is a 3×3 rotation matrix, T is an offset vector, (XYZ) is the coordinate value of the damaged area in the world coordinate system, (xyz) is the coordinate value of the damaged area in the camera coordinate system, and Z is the distance between the damaged area and the vehicle.

[0084] Based on this, the vehicle terminal can determine the actual coordinate range of the damaged area on the road according to the above three-dimensional coordinate range, so as to determine the first coordinates of each of the multiple boundary points of the damaged area and the second coordinates of the center point of the damaged area.

[0085] Afterwards, the vehicle-mounted terminal can calculate the boundary size of the damaged area according to the first coordinates of each boundary point, and calculate the concave-convex size according to the first coordinate of any boundary point and the second coordinate of the center point.

[0086] Specifically, the vehicle terminal can calculate the boundary size of the damaged area based on the horizontal and vertical coordinates in the first coordinates of each boundary point, and calculate the concave and convex size of the damaged area based on the vertical coordinate in the first coordinate of any boundary point and the vertical coordinate in the second coordinate of the center point.

[0087] In S102, a risk level when the vehicle contacts the damaged area is determined according to the vehicle parameters and the size parameters.

[0088] In the embodiment of the present application, since the road is usually in contact with the wheels of the vehicle, the vehicle parameter may be the wheel size, and the vehicle-mounted terminal may compare the wheel size with the size parameter of the damaged area to determine the risk level when the vehicle contacts the damaged area. The risk level is used to describe the degree of risk when the vehicle contacts the damaged area.

[0089] Risk levels include but are not limited to: Level 1, Level 2, Level 3 and Level 4. Among them, Level 4 is higher than Level 3, Level 3 is higher than Level 2, and Level 2 is higher than Level 1.

[0090] It should be noted that the higher the risk level, the higher the risk level when the vehicle contacts the damaged area. Specifically, when the risk level is the first level, it means that the damaged area on the road will not cause harm to the vehicle, that is, the first level is used to characterize that the risk level when the vehicle contacts the damaged area is zero; when the risk level is the second level, it means that the damaged area on the road causes less harm to the vehicle, that is, the second level is used to characterize that the risk level when the vehicle contacts the damaged area is low; when the risk level is the third level, it means that the damaged area on the road causes moderate harm to the vehicle, that is, the third level is used to characterize that the risk level when the vehicle contacts the damaged area is moderate; when the risk level is the fourth level, it means that the damaged area on the road causes high harm to the vehicle, that is, the fourth level is used to characterize that the risk level when the vehicle contacts the damaged area is high.

[0091] In S103, a warning operation corresponding to the risk level is performed.

[0092] In an embodiment of the present application, the vehicle-mounted terminal pre-stores the correspondence between each risk level and each warning operation. Therefore, the vehicle-mounted terminal can determine the warning operation corresponding to the risk level of the damaged area at this time based on the risk level of the damaged area determined at this time, and the correspondence between each risk level and each warning operation, and execute the warning operation.

[0093] It should be noted that the warning operation includes but is not limited to: outputting prompt information for reminding the user to pay attention to the road, controlling the vehicle to slow down and controlling the vehicle to avoid driving, etc.

[0094] Based on this, in an embodiment of the present application, in combination with S102, when the vehicle is in automatic driving mode, the on-board terminal can output prompt information for prompting the user to pay attention to the road when it detects that the risk level is the first level and the second level; when the on-board terminal detects that the risk level is the third level, it can directly control the vehicle to slow down; when the on-board terminal detects that the risk level is the fourth level, it can directly control the vehicle to avoid driving, that is, control the vehicle to detour and avoid the damaged area.

[0095] In one embodiment of the present application, in combination with S102, when the vehicle is in the manual driving mode, the vehicle terminal can specifically implement S103 through the following steps, which are described in detail as follows:

[0096] If the risk level is the first level, the display screen in the vehicle is controlled to output a first prompt message for prompting that the road is clear and passable.

[0097] If the risk level is the second level, the voice prompter in the vehicle is controlled to output a second prompt message for prompting that there is a damaged area on the road and the driver should slow down.

[0098] If the risk level is the third level, the display screen and the voice prompter are controlled to output a third prompt message for prompting that there is a damaged area on the road and to avoid driving.

[0099] If the risk level is the third level, the buzzer in the vehicle and the display screen are controlled to output a fourth prompting message for prompting that there is a damaged area on the road and requiring emergency avoidance.

[0100] In actual applications, the vehicle is provided with a display screen, a voice prompter and a buzzer. Therefore, in this embodiment, the warning operation includes but is not limited to: controlling the display screen in the vehicle to output a first prompt message for prompting that the road is clear and passable; controlling the voice prompter in the vehicle to output a second prompt message for prompting that there is a damaged area on the road and to slow down; controlling the display screen and the voice prompter to output a third prompt message for prompting that there is a damaged area on the road and to avoid the area; controlling the buzzer and the display screen in the vehicle to output a fourth prompt message for prompting that there is a damaged area on the road and to make an emergency avoidance.

[0101] In combination with S102, the vehicle-mounted terminal can set the warning operation of the first risk level to control the display screen in the vehicle to output a first prompt message for prompting that the road is clear and passable; set the warning operation of the second risk level to control the voice prompter in the vehicle to output a second prompt message for prompting that there is a damaged area on the road and to slow down; set the warning operation of the third risk level to control the display screen and voice prompter to output a third prompt message for prompting that there is a damaged area on the road and to avoid driving; set the warning operation of the fourth risk level to control the buzzer and display screen in the vehicle to output a fourth prompt message for prompting that there is a damaged area on the road and to make an emergency avoidance.

[0102] Based on this, in this embodiment, when the vehicle-mounted terminal detects that the risk level of the damaged area is the first level, it can control the display screen in the vehicle to output the first prompt information for prompting that the road is clear and passable; when the risk level of the damaged area is detected to be the second level, it can control the voice prompter in the vehicle to output the second prompt information for prompting that there is a damaged area on the road and to slow down; when the risk level of the damaged area is detected to be the third level, it can control the display screen and the voice prompter to output the third prompt information for prompting that there is a damaged area on the road and to avoid driving; when the risk level of the damaged area is detected to be the fourth level, it can control the buzzer and display screen in the vehicle to output the fourth prompt information for prompting that there is a damaged area on the road and to make an emergency avoidance.

[0103] From the above, it can be seen that the vehicle warning method provided by the embodiment of the present application, when a damaged area is detected on the road where the vehicle is traveling, obtains the vehicle parameters of the vehicle and the size parameters of the damaged area; determines the risk level when the vehicle contacts the damaged area based on the vehicle parameters and the size parameters; and executes the warning operation corresponding to the risk level. Compared with the prior art, when it is detected that the damage width of the road depression is greater than a fixed threshold and the damage depth is greater than another fixed threshold, a warning message is sent to the personnel in the vehicle, the method provided by the present application needs to determine the risk level in combination with the vehicle parameters and the size parameters of the damaged area of ​​the road, and then executes the corresponding warning operations according to the risk level, thereby improving the accuracy of the warning.

[0104] See also Figure 4 , Figure 4 This is a vehicle warning method provided by another embodiment of the present application. Figure 1 In the corresponding embodiment, the vehicle parameters include vehicle speed, acceleration, current position information, heading angle, wheel width and wheel diameter, etc. Therefore, in this embodiment, step S102 specifically includes S301 to S303, which are described in detail as follows:

[0105] In S301, the predicted driving trajectory of the vehicle is determined according to the vehicle speed, the acceleration, the current position information and the heading angle.

[0106] In this embodiment, the vehicle terminal can obtain the predicted driving trajectory of the vehicle based on the vehicle speed, acceleration, current position information, heading angle and historical position information of the vehicle before the current time, combined with the cubic spline interpolation fitting method.

[0107] Here, the current time refers to the moment of obtaining vehicle parameters.

[0108] For example, see Figure 5 , Figure 5 Schematic diagram of the predicted driving trajectory of a vehicle provided in one embodiment of the present application. Figure 5 As shown, S is the vehicle, H is the damaged area, and L3 is the predicted driving trajectory.

[0109] In S302, the longitudinal distance and the lateral distance between the vehicle and the damaged area are calculated based on the predicted driving trajectory, the heading angle, and the area position information of the damaged area.

[0110] In this embodiment, the vehicle-mounted terminal can determine the predicted position information of the vehicle at different times based on the predicted driving trajectory of the vehicle, and then determine the wheel coordinates of the vehicle based on the predicted position information at different times and the orientation angle. Finally, based on the wheel coordinates and the regional position information of the damaged area, the longitudinal distance and lateral distance between the wheel and the damaged area can be calculated, that is, the longitudinal distance and lateral distance between the vehicle and the damaged area.

[0111] In one embodiment of the present application, the vehicle-mounted terminal can be specifically configured as follows: Figure 6 Steps S401 to S403 shown in the figure calculate the longitudinal distance and the lateral distance between the vehicle and the damaged area, as detailed below:

[0112] In S401, the coordinates of the position point where the vehicle starts to contact the damaged area are determined according to the predicted driving trajectory and the area position information.

[0113] In S402, the wheel coordinates of the vehicle are determined according to the predicted driving trajectory and the current position information.

[0114] In S403, the longitudinal distance and the lateral distance are calculated according to the wheel coordinates, the position point coordinates and the orientation angle.

[0115] In this embodiment, the vehicle-mounted terminal can determine the position point coordinates of the contact point when the vehicle and the damaged area first come into contact based on the predicted driving trajectory and the area position information of the damaged area.

[0116] Since the road is usually in contact with the wheels of the vehicle, the vehicle-mounted terminal can determine the wheel coordinates of the vehicle at different times based on the predicted driving trajectory and current position information of the vehicle.

[0117] Based on this, the vehicle-mounted terminal can calculate the longitudinal distance and lateral distance between the vehicle and the damaged area at different times under the predicted driving trajectory according to the wheel coordinates, position point coordinates and vehicle orientation angle at different times.

[0118] In one embodiment of the present application, at different positions at different times, the longitudinal distance and the lateral distance between the vehicle and the damaged area can be calculated according to the following formula:

[0119]

[0120] Among them, X i represents the longitudinal distance at the i-th moment, Y i represents the lateral distance at the i-th moment, θ represents the heading angle, (X l ,Y l ) represents the wheel coordinates at the i-th moment, (Xp ,Y p ) represents the coordinates of the location point.

[0121] In S303, if the longitudinal distance and the lateral distance are both within the set range, the risk level is determined according to the wheel width, the wheel diameter and the size parameter.

[0122] It should be noted that the setting range can be set according to actual needs and is not limited here. For example, the preset range can be (0, 2m).

[0123] In this embodiment, combined with S302, when the vehicle-mounted terminal detects that the lateral distance and longitudinal distance between the vehicle and the damaged area gradually decrease until they are both within the set range, it means that the damaged area is within the predicted driving trajectory of the vehicle, that is, the vehicle and the damaged area will come into contact. Therefore, the vehicle-mounted terminal can determine the risk level based on the vehicle's wheel width, wheel diameter and size parameters of the damaged area.

[0124] Specifically, the vehicle-mounted terminal may compare the wheel width, wheel diameter and size parameters of the damaged area to determine the risk level when the vehicle contacts the damaged area.

[0125] Based on this, in one embodiment of the present application, when the size parameters of the damaged area include the damaged length, damaged width and concave-convex size of the damaged area, the vehicle-mounted terminal can be used as follows: Figure 7 Steps S501 to S504 shown determine the risk level when the vehicle contacts the damaged area, as detailed below:

[0126] In S501, if the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both smaller than a set multiple of the wheel diameter, the risk level is determined to be the first level.

[0127] In this embodiment, when the vehicle-mounted terminal detects that the wheel width is greater than or equal to the damage width, and the damage length and the bump size are both smaller than the set multiple of the wheel diameter, it means that the wheel size is larger than the size of the damaged area, and the bump size of the damaged area will not affect the driving of the vehicle, that is, when the type of the damaged area is a pothole, the wheel of the vehicle will not fall into the pothole, and when the type of the damaged area is a bulge, the bulge will not affect the stable driving of the vehicle. Therefore, the vehicle-mounted terminal can determine that the risk level of the damaged area is the first level.

[0128] Among them, the setting multiple can be set to one third.

[0129] In S502, if the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the second level; the second level is higher than the first level.

[0130] In this embodiment, when the vehicle-mounted terminal detects that the wheel width is greater than or equal to the damage width, and the damage length and the bump size are both greater than or equal to the set multiple of the wheel diameter, it means that the wheel size is larger than the size of the damaged area. However, the bump size of the damaged area will affect the vehicle's driving. That is, when the type of damaged area is a pothole, although the vehicle's wheel will not fall into the pothole, the bump size of the damaged area affects the stable driving of the vehicle. When the type of damaged area is a bulge, the bulge will affect the stable driving of the vehicle. Therefore, the vehicle-mounted terminal can determine that the risk level of the damaged area is the second level.

[0131] In S503, if the wheel width is smaller than the damage width, and the damage length and the concave-convex size are smaller than the set multiple of the wheel diameter, the risk level is determined to be the third level; the third level is higher than the second level.

[0132] In this embodiment, when the vehicle-mounted terminal detects that the wheel width is smaller than the damage width, and the damage length and the bump size are both smaller than the set multiple of the wheel diameter, it means that the wheel size is smaller than the size of the damaged area, and the bump size of the damaged area will not affect the driving of the vehicle, that is, when the type of the damaged area is a pothole, the wheel of the vehicle will fall into the pothole, but the bump size of the damaged area will not affect the stable driving of the vehicle. When the type of the damaged area is a bulge, it will also have a certain impact on the stable driving of the vehicle. Therefore, the vehicle-mounted terminal can determine that the risk level of the damaged area is the third level.

[0133] In S504, if the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the fourth level; the fourth level is higher than the third level.

[0134] In this embodiment, when the vehicle-mounted terminal detects that the wheel width is smaller than the damage width, and the damage length and the bump size are both greater than or equal to a set multiple of the wheel diameter, it means that the wheel size is smaller than the size of the damaged area, and the bump size of the damaged area will affect the vehicle's driving, that is, when the type of the damaged area is a pothole, the vehicle's wheel will fall into the pothole, and the bump size of the damaged area will affect the vehicle's stable driving. When the type of the damaged area is a bulge, it will also have a greater impact on the vehicle's stable driving. Therefore, the vehicle-mounted terminal can determine that the risk level of the damaged area is the fourth level.

[0135] As can be seen from the above, the vehicle warning method provided by this embodiment determines the predicted driving trajectory of the vehicle according to the vehicle speed, acceleration, current position information and heading angle; calculates the longitudinal distance and lateral distance between the vehicle and the damaged area according to the predicted driving trajectory and heading angle; if the longitudinal distance and lateral distance are both within the set range, the risk level is determined according to the wheel width, wheel diameter and size parameters. The method provided by this embodiment can improve the accuracy of the determined risk level, thereby further improving the accuracy of the warning.

[0136] See also Figure 8 , Figure 8 This is a vehicle warning method provided by another embodiment of the present application. Figure 7 In the corresponding embodiment, in order to further improve the accuracy of determining the risk level, after S303, this embodiment may further include S601 to S604, which are described in detail as follows:

[0137] In S601, if the risk level is the second level, the third level or the fourth level, the current distance between the damaged area and the vehicle and the speed of the vehicle are obtained.

[0138] In S602, the time when the vehicle starts to contact the damaged area is calculated according to the current distance and the vehicle speed.

[0139] In S603, the probability of the vehicle contacting the damaged area is predicted based on the time.

[0140] In S604, the risk level is adjusted according to the probability.

[0141] In this embodiment, when the vehicle-mounted terminal detects that the risk level of the damaged area is the second level, the third level or the fourth level, it means that there is indeed a risk when the vehicle contacts the damaged area, and in actual applications, the vehicle speed and the distance between the vehicle and the damaged area will also have a greater impact on the vehicle when it contacts the damaged area. Therefore, at this time, the vehicle-mounted terminal can obtain the current distance between the damaged area and the vehicle and the speed of the vehicle.

[0142] The current distance refers to the moment when the vehicle-mounted terminal determines the risk level of the damaged area.

[0143] Based on this, the vehicle terminal can calculate the time when the vehicle starts to contact the damaged area according to the above current distance and speed.

[0144] Afterwards, the vehicle terminal can determine the time it takes for the vehicle to travel to the damaged area based on the above-mentioned contact start time and the current time.

[0145] It should be noted that the shorter the above-mentioned time duration is, the more difficult it is for the vehicle to avoid contact with the damaged area, and the longer the time duration is, the easier it is for the vehicle to avoid contact with the damaged area. Therefore, the vehicle-mounted terminal can predict the probability of the vehicle contacting the damaged area based on the time duration.

[0146] Among them, the duration and probability are positively proportional, that is, the longer the duration, the greater the probability, and the shorter the duration, the smaller the probability.

[0147] Based on this, the vehicle-mounted terminal can adjust the risk level of the damaged area according to the probability determined above.

[0148] Specifically, when the vehicle-mounted terminal detects that the above probability size is less than the first threshold, it means that there is no risk when the vehicle contacts the damaged area. Therefore, the vehicle-mounted terminal can adjust the risk level to the first level; when the vehicle-mounted terminal detects that the above probability size is greater than or equal to the first threshold and less than the second threshold, it means that there is a lower risk when the vehicle contacts the damaged area. Therefore, the vehicle-mounted terminal can adjust the risk level to the second level; when the vehicle-mounted terminal detects that the above probability size is greater than or equal to the second threshold and less than the third threshold, it means that there is a medium risk when the vehicle contacts the damaged area. Therefore, the vehicle-mounted terminal can adjust the risk level to the third level; when the vehicle-mounted terminal detects that the above probability size is greater than or equal to the third threshold, it means that there is a higher risk when the vehicle contacts the damaged area. Therefore, the vehicle-mounted terminal can adjust the risk level to the fourth level.

[0149] The first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold. Exemplarily, the first threshold can be set to 5%, the second threshold can be set to 20%, and the third threshold can be set to 30%.

[0150] Based on this, in one embodiment of the present application, after adjusting the risk level of the damaged area, the vehicle-mounted terminal can perform a warning operation corresponding to the adjusted risk level.

[0151] As can be seen from the above, the vehicle warning method provided in this embodiment obtains the current distance between the damaged area and the vehicle and the speed of the vehicle if the risk level is the second level, the third level or the fourth level; calculates the time when the vehicle and the damaged area begin to contact based on the current distance and speed; predicts the probability of the vehicle contacting the damaged area based on the time; and adjusts the risk level based on the probability. The method provided in this embodiment can adjust the risk level, that is, improve the accuracy of determining the risk level, thereby further improving the accuracy of warning.

[0152] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0153] Corresponding to the vehicle warning method described in the above embodiment, Fig. 9 The structure diagram of a vehicle warning device provided by an embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown. Fig. 9 The vehicle warning device 700 includes: a first acquisition unit 71, a first level determination unit 72 and an execution unit 73. Among them:

[0154] The first acquisition unit 71 is used to acquire vehicle parameters of the vehicle and size parameters of the damaged area when it is detected that there is a damaged area on the road on which the vehicle is traveling.

[0155] The first level determination unit 72 is used to determine the risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters.

[0156] The execution unit 73 is used to execute the warning operation corresponding to the risk level.

[0157] In one embodiment of the present application, the size parameters include the boundary size and the concave-convex size of the damaged area; the first acquisition unit 71 specifically includes: a range determination unit, a coordinate determination unit, a boundary size calculation unit and a concave-convex size calculation unit. Among them:

[0158] The range determination unit is used to determine the three-dimensional coordinate range of the damaged area in the camera coordinate system corresponding to the binocular camera of the vehicle.

[0159] The coordinate determination unit is used to determine the first coordinates of each of the plurality of boundary points of the damaged area and the second coordinates of the center point of the damaged area according to the three-dimensional coordinate range.

[0160] The border size calculation unit is used to calculate the border size according to the first coordinates of each of the plurality of border points.

[0161] The concave-convex size calculation unit is used to calculate the concave-convex size according to the first coordinate and the second coordinate of any one of the boundary points.

[0162] In one embodiment of the present application, the vehicle parameters include vehicle speed, acceleration, current position information, heading angle, wheel width and wheel diameter; the first level determination unit 72 specifically includes: a trajectory determination unit, a first distance calculation unit and a second level determination unit. Among them:

[0163] The trajectory determination unit is used to determine the predicted driving trajectory of the vehicle according to the vehicle speed, the acceleration, the current position information and the heading angle.

[0164] The first distance calculation unit is used to calculate the longitudinal distance and the lateral distance between the vehicle and the damaged area according to the predicted driving trajectory, the heading angle and the area position information of the damaged area.

[0165] The second level determination unit is used to determine the risk level according to the wheel width, the wheel diameter and the size parameter if the longitudinal distance and the lateral distance are both within a set range.

[0166] In one embodiment of the present application, the first distance calculation unit specifically includes: a point coordinate determination unit, a wheel coordinate determination unit and a second distance calculation unit.

[0167] The point coordinate determination unit is used to determine the coordinates of the position point where the vehicle starts to contact the damaged area according to the predicted driving trajectory and the area position information.

[0168] The wheel coordinate determination unit is used to determine the wheel coordinates of the vehicle according to the predicted driving trajectory and the current position information.

[0169] The second distance calculation unit is used to calculate the longitudinal distance and the lateral distance according to the wheel coordinates, the position point coordinates and the orientation angle.

[0170] In one embodiment of the present application, the size parameters include the damage length, damage width and concave-convex size of the damaged area; the second risk level determination unit specifically includes: a first risk level determination subunit, a second risk level determination subunit, a third risk level determination subunit and a fourth risk level determination subunit. Wherein:

[0171] The first risk level determination subunit is used to determine that the risk level is the first level if the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both smaller than a set multiple of the wheel diameter.

[0172] The second risk level determination subunit is used to determine the risk level as the second level if the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter; the second level is higher than the first level.

[0173] The third risk level determination subunit is used to determine the risk level as the third level if the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both smaller than the set multiple of the wheel diameter; the third level is higher than the second level.

[0174] The fourth risk level determination subunit is used to determine the risk level as the fourth level if the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter; the fourth level is higher than the third level.

[0175] In one embodiment of the present application, the vehicle warning device 700 further includes: a second acquisition unit, a time calculation unit, a prediction unit, and an adjustment unit.

[0176] The second acquisition unit is used for acquiring the current distance between the damaged area and the vehicle and the speed of the vehicle if the risk level is the second level, the third level or the fourth level.

[0177] The time calculation unit is used to calculate the time when the vehicle starts to contact the damaged area according to the current distance and the vehicle speed.

[0178] The prediction unit is used to predict the probability of the vehicle contacting the damaged area according to the time.

[0179] The adjustment unit is used to adjust the risk level according to the probability.

[0180] In one embodiment of the present application, the risk level includes a first level, a second level, a third level and a fourth level; the fourth level is higher than the third level, the third level is higher than the second level, and the second level is higher than the first level; the execution unit 73 specifically includes: a first output unit, a second output unit, a third output unit and a fourth output unit. Among them:

[0181] The first output unit is used for controlling the display screen in the vehicle to output first prompt information for prompting that the road is clear and passable if the risk level is the first level.

[0182] The second output unit is used for controlling the voice prompter in the vehicle to output the second prompt information for prompting that there is a damaged area on the road and to slow down driving if the risk level is the second level.

[0183] The third output unit is used to control the display screen and the voice prompter to output a third prompt message for prompting that there is a damaged area on the road and to avoid driving if the risk level is the third level.

[0184] The fourth output unit is used to control the buzzer in the vehicle and the display screen to output a fourth prompt message for prompting that there is a damaged area on the road and requiring emergency avoidance if the risk level is the third level.

[0185] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0186] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0187] Fig.10 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Fig.10 As shown, the vehicle terminal 8 of this embodiment includes: at least one processor 80 ( Fig.10 Only one is shown in the figure) a processor, a memory 81, and a computer program 82 stored in the memory 81 and executable on the at least one processor 80, and when the processor 80 executes the computer program 82, the steps in any of the above-mentioned vehicle warning method embodiments are implemented.

[0188] The vehicle terminal may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will appreciate that Fig.10 It is only an example of the vehicle-mounted terminal 8 and does not constitute a limitation on the vehicle-mounted terminal 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0189] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0190] In some embodiments, the memory 81 may be an internal storage unit of the vehicle-mounted terminal 8, such as the memory of the vehicle-mounted terminal 8. In other embodiments, the memory 81 may also be an external storage device of the vehicle-mounted terminal 8, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 8. Further, the memory 81 may also include both the internal storage unit of the vehicle-mounted terminal 8 and an external storage device. The memory 81 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 81 may also be used to temporarily store data that has been output or is to be output.

[0191] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0192] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0193] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0194] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0195] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle early warning method, characterized in that: include: When a damaged area is detected on the road where the vehicle is traveling, vehicle parameters of the vehicle and size parameters of the damaged area are obtained; determining, according to the vehicle parameters and the size parameters, a risk level when the vehicle contacts the damaged area; Execute a warning operation corresponding to the risk level.

2. The vehicle warning method according to claim 1, characterized in that: The size parameters include the boundary size and the concave-convex size of the damaged area; the size parameters are obtained by: Determine the three-dimensional coordinate range of the damaged area in the camera coordinate system corresponding to the binocular camera of the vehicle; Determine, according to the three-dimensional coordinate range, first coordinates of each of a plurality of boundary points of the damaged area and a second coordinate of a center point of the damaged area; Calculating the boundary size according to the first coordinates of each of the plurality of boundary points; The concave-convex size is calculated according to the first coordinate and the second coordinate of any one of the boundary points.

3. The vehicle warning method according to claim 1, characterized in that: The vehicle parameters include vehicle speed, acceleration, current position information, heading angle, wheel width, and wheel diameter; determining the risk level when the vehicle contacts the damaged area based on the vehicle parameters and the size parameters includes: Determining a predicted driving trajectory of the vehicle according to the vehicle speed, the acceleration, the current position information and the heading angle; Calculating a longitudinal distance and a lateral distance between the vehicle and the damaged area according to the predicted driving trajectory, the heading angle, and the area position information of the damaged area; If the longitudinal distance and the lateral distance are both within the set range, the risk level is determined according to the wheel width, the wheel diameter and the size parameters.

4. The vehicle warning method according to claim 3, characterized in that: The calculating, according to the predicted driving trajectory, the heading angle, and the regional position information of the damaged area, a longitudinal distance and a lateral distance between the vehicle and the damaged area comprises: Determining the coordinates of the location point where the vehicle begins to contact the damaged area according to the predicted driving trajectory and the area location information; Determining the wheel coordinates of the vehicle according to the predicted driving trajectory and the current position information; The longitudinal distance and the lateral distance are calculated according to the wheel coordinates, the position point coordinates and the orientation angle.

5. The vehicle warning method according to claim 3, characterized in that: The size parameters include the damage length, damage width and concave-convex size of the damaged area; determining the risk level according to the wheel width, the wheel diameter and the size parameters includes: If the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both smaller than a set multiple of the wheel diameter, the risk level is determined to be the first level; If the wheel width is greater than or equal to the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the second level; the second level is higher than the first level; If the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both smaller than the set multiple of the wheel diameter, the risk level is determined to be the third level; the third level is higher than the second level; If the wheel width is smaller than the damage width, and the damage length and the concave-convex size are both greater than or equal to the set multiple of the wheel diameter, the risk level is determined to be the fourth level; the fourth level is higher than the third level.

6. The vehicle warning method according to claim 5, characterized in that: After determining the risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters, the method further includes: If the risk level is the second level, the third level or the fourth level, obtaining a current distance between the damaged area and the vehicle and a speed of the vehicle; Calculating the time when the vehicle starts to contact the damaged area according to the current distance and the vehicle speed; Predicting the probability of the vehicle contacting the damaged area according to the time; The risk level is adjusted according to the probability.

7. The vehicle early warning method according to any one of claims 1 to 6, characterized in that: The risk levels include the first level, the second level, the third level and the fourth level; the fourth level is higher than the third level, the third level is higher than the second level, and the second level is higher than the first level; The performing of the warning operation corresponding to the risk level includes: If the risk level is the first level, controlling the display screen in the vehicle to output a first prompting message for prompting that the road is clear and passable; If the risk level is the second level, controlling the voice prompter in the vehicle to output a second prompt message for prompting that there is a damaged area on the road and to slow down the vehicle; If the risk level is the third level, controlling the display screen and the voice prompter to output a third prompt message for prompting that there is a damaged area on the road and to avoid driving; If the risk level is the third level, the buzzer in the vehicle and the display screen are controlled to output a fourth prompting message for prompting that there is a damaged area on the road and requiring emergency avoidance.

8. A vehicle warning device, characterized in that: include: A first acquisition unit, configured to acquire vehicle parameters of the vehicle and size parameters of the damaged area when a damaged area is detected on the road on which the vehicle is traveling; A first level determination unit, configured to determine a risk level when the vehicle contacts the damaged area according to the vehicle parameters and the size parameters; An execution unit is used to execute a warning operation corresponding to the risk level.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the vehicle warning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the vehicle warning method according to any one of claims 1 to 7 is implemented.

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