Obstacle detection method, electronic device, storage medium and program product

Abstract

The embodiment of the invention discloses an obstacle detection method, electronic equipment, a storage medium and a program product. The obstacle detection method comprises: controlling a millimeter wave antenna to transmit a millimeter wave signal; determining reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of the mobile terminal; performing risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; and outputting prompt information used for representing that the encounter risk exists between the obstacle and the mobile terminal in response to the fact that the risk assessment result meets a preset prompt condition. According to the invention, the obstacle in the surrounding environment of the user can be accurately and timely detected, so that the collision with the obstacle is effectively avoided, and the safety of the user is improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent terminal technology, and in particular to an obstacle detection method, electronic equipment, storage medium and program product. Background Art

[0002] When people are walking, they will inevitably encounter various obstacles, such as mobile obstacles such as vehicles and pets, and fixed obstacles such as trees and buildings. If users use mobile terminals while walking, they are likely to ignore obstacles in the surrounding environment, resulting in collision risks, thus affecting the user's walking safety. Therefore, how to avoid obstacles for walking users to improve their safety is one of the problems that need to be solved urgently. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an obstacle detection method, an electronic device, a storage medium and a program product to solve the problem of how to accurately and timely detect obstacles in the user's surrounding environment, thereby effectively avoiding collisions with obstacles.

[0004] To solve the above technical problems, the embodiments of the present application are implemented as follows: On the one hand, an embodiment of the present application provides an obstacle detection method, including: Controlling the millimeter wave antenna to transmit millimeter wave signals; Determining reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; Performing a risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; In response to the risk assessment result meeting a preset reminder condition, prompt information is outputted to indicate that there is a risk of encounter between the obstacle and the mobile terminal.

[0005] On the other hand, an embodiment of the present application provides an obstacle detection device, comprising: A control module, used for controlling the millimeter wave antenna to transmit millimeter wave signals; A determination module, configured to determine reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; An assessment module, used to perform risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; The output module is used for outputting prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal in response to the risk assessment result meeting a preset prompt condition.

[0006] On the other hand, an embodiment of the present application provides an electronic device, including a processor and a memory electrically connected to the processor, the memory storing a computer program, and the processor being configured to call and execute the computer program from the memory to implement the above-mentioned obstacle detection method.

[0007] On the other hand, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program can be executed by a processor to implement the above obstacle detection method.

[0008] On the other hand, an embodiment of the present application provides a computer program product, including a computer program, wherein the computer program is executed by a processor to implement the above obstacle detection method.

[0009] The technical solution of the embodiment of the present application is adopted, by controlling the millimeter wave antenna to transmit the millimeter wave signal, and determining the reflection information of the reflected signal of the millimeter wave signal. The reflected signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of ​​the mobile terminal. A risk assessment is performed on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle. In response to the risk assessment result meeting the preset reminder condition, a prompt information is output to characterize the risk of encounter between the obstacle and the mobile terminal. It can be seen that the present application utilizes the reflection characteristics of the millimeter wave signal to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encounter with the obstacle, and by timely outputting prompt information, the risk of collision between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate one or more embodiments of the present application 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, the drawings described below are only some embodiments recorded in one or more embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 is a schematic flow chart of an obstacle detection method according to an embodiment of the present application; Figure 2 is a schematic scene diagram of sending a millimeter wave signal in an obstacle detection method according to an embodiment of the present application; Figure 3 is a schematic scene diagram of receiving a reflected signal in an obstacle detection method according to an embodiment of the present application; Figure 4is a schematic interface diagram of outputting prompt information in an obstacle detection method according to an embodiment of the present application; Figure 5 is a schematic interface diagram of outputting prompt information in an obstacle detection method according to another embodiment of the present application; Figure 6 is a schematic flow chart of an obstacle detection method according to another embodiment of the present application; Figure 7 is a schematic block diagram of an obstacle detection device according to an embodiment of the present application; Figure 8 It is a schematic block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0012] The embodiments of the present application provide an obstacle detection method, an electronic device, a storage medium, and a program product to solve the problem of how to accurately and timely detect obstacles in the user's surrounding environment, thereby effectively avoiding collisions with obstacles.

[0013] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0014] The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein.

[0015] The obstacle detection method provided in the embodiment of the present application can be executed by an electronic device, or by software installed in the electronic device. Specifically, the electronic device can be a terminal device or a server device. Among them, the terminal device can include a smart phone, a laptop computer, a smart wearable device, a vehicle terminal, etc., and the server device can include an independent physical server, a server cluster composed of multiple servers, or a cloud server capable of cloud computing.

[0016] Millimeter wave detection technology is a technology that uses electromagnetic waves in the millimeter wave (MMW) frequency band for detection and measurement. Millimeter waves refer to electromagnetic waves with a wavelength between 1 mm and 10 mm, and their frequency range is approximately 30 GHz to 300 GHz. Millimeter wave detection technology uses millimeter wave radar to transmit signals, and when the signal encounters an obstacle, it will be reflected. By receiving the reflected signal, the system can calculate information such as the distance, speed and angle of the obstacle. Millimeter wave detection technology has the advantages of high resolution, strong anti-interference ability, penetration ability, and strong privacy protection. Based on the many advantages of millimeter wave detection technology, the embodiment of the present application uses millimeter wave detection technology to detect obstacles in the surrounding environment. The following will describe in detail the method of applying millimeter wave detection technology in obstacle detection scenarios.

[0017] Figure 1 is a schematic flow chart of an obstacle detection method according to an embodiment of the present application, such as Figure 1 As shown, the method is applied to a mobile terminal, comprising the following steps S102-S108: Step S102: Control the millimeter wave antenna to transmit a millimeter wave signal.

[0018] The millimeter wave antenna may be built into the mobile terminal or may be an external module connected to the mobile terminal. If the millimeter wave antenna is an external module connected to the mobile terminal, the mobile terminal can control the millimeter wave antenna to transmit millimeter wave signals based on the communication connection relationship between the two.

[0019] Optionally, in response to detecting that the mobile terminal meets a preset detection condition, the millimeter wave antenna is controlled to transmit the millimeter wave signal. The preset detection condition includes at least one of the following: the mobile terminal is in a moving state, the terminal screen of the mobile terminal is in a lit state, and the terminal screen is being watched.

[0020] There are many ways to determine whether a mobile terminal is in a mobile state. Optionally, the location information of the mobile terminal can be located in real time by the GPS (Global Positioning System) built into the mobile terminal, so as to determine whether the mobile terminal is in a mobile state based on the location information. When the location information of the mobile terminal changes, it is determined that the mobile terminal is in a moving state. Optionally, the moving speed of the mobile terminal is detected by an acceleration sensor built into the mobile terminal, and when the moving speed is not zero, it is determined that the mobile terminal is in a moving state. The front camera of the mobile terminal can be used to detect whether the user is currently looking at the terminal screen.

[0021] Step S104, determining reflection information of a reflected signal of the millimeter wave signal, where the reflected signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal.

[0022] The reflection information includes at least one of the following: the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal, the reflection signal strength, and the position offset information of the reception position of the reflection signal relative to the transmission position of the millimeter wave signal.

[0023] The preset area can be pre-set according to the obstacle detection requirements. For example, if obstacles within 5 meters around the mobile terminal need to be detected, the preset area can be set to the area where the distance from the mobile terminal is less than or equal to 5 meters. After the millimeter wave antenna transmits the millimeter wave signal, the millimeter wave signal will be reflected back when it encounters an obstacle.

[0024] Take the example of a millimeter wave antenna built into a mobile terminal transmitting a millimeter wave signal. Figure 2 is a schematic diagram of a mobile terminal controlling a millimeter wave antenna to transmit a millimeter wave signal according to an embodiment of the present application, such as Figure 2 As shown, the millimeter wave antenna is in array form and can transmit millimeter wave signals in multiple directions. The main frequency bands used by millimeter wave signals are 24GHz, 60GHz and 77GHz. Based on the signal action distance of millimeter wave signals in different frequency bands, when implementing the obstacle detection function, the millimeter wave antenna can emit two frequency bands of 60GHz / 77GHz and 24GHz. Among them, the millimeter wave signal in the 24GHz frequency band can be used for communication systems, and the millimeter wave signal in the 60GHz / 77GHz frequency band can be used for obstacle detection.

[0025] Assuming that there is an obstacle in a certain direction, the millimeter wave signal will be blocked after encountering the obstacle. At this time, the millimeter wave signal will be transmitted on the surface of the obstacle, and part of the reflected signal will be recovered by the signal receiving system of the mobile terminal, such as Figure 3 According to the different angles of the reflected signal, the time difference between the transmission time and the reception time, the reflected signal strength and other information, the obstacles around the mobile terminal can be predicted.

[0026] Step S106: Perform risk assessment on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle.

[0027] Among them, the risk assessment results can be represented by at least one of the following: risk level, risk score, etc.

[0028] Step S108: In response to the risk assessment result meeting the preset reminder condition, outputting a reminder message for indicating that there is an encounter risk between the obstacle and the mobile terminal.

[0029] Among them, the preset reminder conditions may include at least one of the following: the risk level is higher than or equal to the preset risk level, and the risk score is greater than or equal to the preset score threshold.

[0030] Optionally, before executing step S102, an environmental image of a preset area may be captured by a camera device, and in response to the environmental image including an obstacle image, the millimeter wave antenna is controlled to transmit a millimeter wave signal. Alternatively, an ultrasonic generator transmits an ultrasonic signal, and in response to determining that an obstacle exists in a preset area according to the ultrasonic signal, the millimeter wave antenna is controlled to transmit a millimeter wave signal. Therefore, the mobile terminal can detect the surrounding environment in real time, and when an obstacle is detected in the surrounding environment, a risk assessment of the obstacle is triggered. The entire process does not require manual operation by the user, thereby achieving the effect of intelligently and flexibly performing obstacle risk detection through the mobile terminal.

[0031] The technical solution of the embodiment of the present application is adopted, by controlling the millimeter wave antenna to transmit the millimeter wave signal, and determining the reflection information of the reflected signal of the millimeter wave signal. The reflected signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of ​​the mobile terminal. A risk assessment is performed on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle. In response to the risk assessment result meeting the preset reminder condition, a prompt information is output to characterize the risk of encounter between the obstacle and the mobile terminal. It can be seen that the present application utilizes the reflection characteristics of the millimeter wave signal to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encounter with the obstacle, and by timely outputting prompt information, the risk of collision between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate.

[0032] In one embodiment, the risk assessment result includes a risk level. When performing risk assessment on an obstacle (i.e., executing step S106), the following steps A1-A2 may be performed: Step A1: Determine the encounter information between the obstacle and the mobile terminal according to the reflection information.

[0033] The encounter information includes at least one of the following: encounter probability, encounter time, encounter location, and interval distance.

[0034] Step A2: Determine the risk level of the obstacle based on the encounter information.

[0035] Among them, the encounter probability is positively correlated with the risk level. The greater the encounter probability, the higher the risk level. The interval distance is negatively correlated with the risk level. The smaller the interval distance, the higher the risk level. There is a time difference between the encounter time and the current time. The time difference is negatively correlated with the risk level. The closer the encounter time is to the current time, that is, the smaller the time difference, the higher the risk level. There is a distance between the encounter position and the current position of the mobile terminal, which is the interval distance between the obstacle and the mobile terminal.

[0036] In this embodiment, when determining the encounter information between the obstacle and the mobile terminal according to the reflection information (i.e., executing step A1), the following steps B1-B3 may be executed: Step B1, in response to a change in the distance between the mobile terminal and the obstacle, determining the interval distance between the obstacle and the mobile terminal and movement parameter information according to reflection information.

[0037] The reflection information includes at least one of the following: the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal, and the reflection signal strength.

[0038] The movement parameter information includes at least one of the following: terminal movement information, obstacle movement information; the terminal movement information includes the terminal movement direction and / or the terminal movement speed; the obstacle movement information includes the obstacle movement direction and / or the obstacle movement speed.

[0039] Optionally, a GPS and an acceleration sensor are provided in the mobile terminal, and the terminal moving direction of the mobile terminal can be detected in real time by the GPS, and the terminal moving speed of the mobile terminal can be detected in real time by the acceleration sensor. Optionally, the reflection information includes: the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal, and the position offset information of the reception position of the reflection signal relative to the transmission position of the millimeter wave signal. After the terminal movement information is determined according to the reflection information, the obstacle movement information can be determined according to the reflection information and the terminal movement information. The obstacle movement direction refers to the movement direction relative to the mobile terminal, including the direction away from the mobile terminal or the direction close to the mobile terminal. The method for determining the obstacle movement information may include the following steps: First, at the first moment, the interval distance between the mobile terminal and the obstacle, and the relative direction of the obstacle relative to the mobile terminal are determined based on the time difference and position offset information in the reflection information, wherein the time difference is used to calculate the interval distance, and the position offset information is used to determine the relative direction.

[0040] Then, at the second moment, the interval distance between the mobile terminal and the obstacle, and the relative direction of the obstacle with respect to the mobile terminal are determined according to the time difference and the position offset information in the reflection information. The second moment is later than the first moment.

[0041] Through the above calculations, the following data are obtained: at the first moment, the terminal position of the mobile terminal, the terminal moving direction, the terminal moving speed, the interval distance between the mobile terminal and the obstacle, and the relative direction of the obstacle; and, at the second moment, the terminal position of the mobile terminal, the terminal moving direction, the terminal moving speed, the interval distance between the mobile terminal and the obstacle, and the relative direction of the obstacle.

[0042] Afterwards, the obstacle moving speed and obstacle moving direction can be determined based on the above data obtained. Among them, the moving distance of the obstacle between the two moments can be determined based on the position information of the obstacle at two moments, thereby calculating the obstacle moving speed. The obstacle moving direction can be determined based on the relative direction of the obstacle at two moments.

[0043] It can be understood that due to the movement of the mobile terminal and / or the obstacle, the movement parameter information between the mobile terminal and the obstacle continues to change. Therefore, the movement parameter information can be continuously calculated in real time or at a certain frequency to make the risk assessment result of the obstacle more accurate.

[0044] Step B2: determining the current movement change information between the obstacle and the mobile terminal according to the movement parameter information.

[0045] The current movement change information includes at least one of the following: distance change speed, direction change type. The direction change type may include getting closer to each other or moving away from each other.

[0046] Step B3, according to the interval distance between the mobile terminal and the obstacle and the current movement change information, determine at least one of the encounter probability, the encounter time, and the encounter position. The encounter time refers to how long it will take for the mobile terminal to encounter (or collide with) the obstacle. For example, if the encounter time is 5 minutes, it means that the mobile terminal will encounter the obstacle in 5 minutes.

[0047] In this embodiment, before executing step B1, it is possible to determine whether the distance between the mobile terminal and the obstacle has changed based on the reflection information of the reflection signal. Optionally, the mobile terminal calculates the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal in real time or at a certain frequency. If the time difference changes, it can be determined that the distance between the mobile terminal and the obstacle has changed. If the time difference becomes smaller, it means that the distance between the mobile terminal and the obstacle has decreased. On the contrary, if the time difference becomes larger, it means that the distance between the mobile terminal and the obstacle has increased.

[0048] In one embodiment, according to the interval distance and the current movement change information, determining the encounter probability can be performed as follows: First, a first correlation between the movement change information and the encounter probability and a second correlation between the interval distance and the encounter probability are obtained.

[0049] The first correlation and the second correlation may be preset. In the first correlation, when the direction change type between the obstacle and the mobile terminal is approaching each other, the encounter probability is positively correlated with the distance change speed. When the direction change type between the obstacle and the mobile terminal is moving away from each other, the encounter probability is negatively correlated with the distance change speed. In the second correlation, the encounter probability is negatively correlated with the interval distance.

[0050] Secondly, according to the first correlation and / or the second correlation, the encounter probability corresponding to the current movement change information is determined.

[0051] When determining the encounter probability according to the first correlation, the corresponding encounter probability can be determined by determining the direction change type and distance change speed between the obstacle and the mobile terminal. When determining the encounter probability according to the second correlation, the corresponding encounter probability can be determined by determining the interval distance between the obstacle and the mobile terminal.

[0052] When determining the encounter probability according to the first correlation and the second correlation, a relationship function can be preset between the movement change information, the encounter probability, and the interval distance, so that the encounter probability can be calculated through the relationship function. In the relationship function, the functional relationship between the encounter probability, the direction change type, and the distance change speed can still satisfy the following relationship: when the direction change type between the obstacle and the mobile terminal is approaching each other, the encounter probability is positively correlated with the distance change speed; when the direction change type between the obstacle and the mobile terminal is moving away from each other, the encounter probability is negatively correlated with the distance change speed; the encounter probability is negatively correlated with the interval distance.

[0053] In one embodiment, according to the interval distance and the current movement change information, determining the encounter time can be performed as follows: when the direction change type between the obstacle and the mobile terminal is approaching each other, determining the encounter time according to the distance change speed between the obstacle and the mobile terminal and the interval distance. Wherein. The encounter time is negatively correlated with the distance change speed and positively correlated with the interval distance. Optionally, the interval distance is divided by the distance change speed, and the result obtained is the encounter time.

[0054] In one embodiment, when determining the risk level of an obstacle according to the encounter information, the following steps may be performed: in response to satisfying a preset risk condition, determining the risk level of the obstacle as a first-class level. The preset risk condition includes at least one of the following: the encounter probability is greater than or equal to a preset probability threshold, the encounter time is less than or equal to a preset duration threshold, and the interval distance is less than or equal to a preset distance threshold.

[0055] Optionally, in response to the risk level being the first level, it is determined that the risk assessment result meets a preset reminder condition. In one embodiment, in response to the risk assessment result meeting the preset reminder condition, outputting a prompt message for indicating that there is a risk of encounter between the obstacle and the mobile terminal may be performed as follows: In response to the risk assessment result meeting the preset reminder condition, according to the encounter information, the encounter change information between the obstacle and the mobile terminal is determined. In response to the encounter change information satisfying at least one of the following, the prompt information is output: the encounter probability increases, the encounter time shortens, and the interval distance decreases.

[0056] The encounter change information includes at least one of the following: change information of the encounter probability, change information of the encounter time, and change information of the interval distance.

[0057] In this embodiment, prompt information will only be output when at least one of the following conditions is met: the encounter probability between the obstacle and the mobile terminal increases, the encounter time shortens, or the interval distance decreases. This can effectively avoid the risk of false alarm of encounter risk and improve the accuracy of the prompt of obstacle collision risk.

[0058] In one embodiment, the reflection information includes: position offset information of the receiving position of the reflected signal relative to the transmitting position of the millimeter wave signal. According to the position offset information, the obstacle information of the obstacle can be determined, and the obstacle information includes at least one of the following: the position, size, and shape of the obstacle. Based on this, when outputting the prompt information, the risk assessment result and / or obstacle information of the obstacle can be output.

[0059] The position offset information can represent the relative direction of the obstacle with respect to the mobile terminal. The position of the obstacle can be determined by combining the relative direction and the distance between the mobile terminal and the obstacle. The size and shape of the obstacle refers to the size and shape of the part of the area where the obstacle and the mobile terminal may encounter each other, not the size and shape of the entire obstacle. Figure 3 Taking the obstacle shown as an example, the distance between point A on the left side and point B on the right side of the obstacle can be determined based on the reflection information of the reflection signal, thereby determining the length of the left and right sides of the obstacle, that is, the size.

[0060] In one embodiment, a preset prompting method is used to output a prompting message indicating that there is a risk of encounter between an obstacle and a mobile terminal. The preset prompting method includes at least one of the following methods 1 to 3: Mode 1: Displaying the first specific area of ​​the display interface of the mobile terminal in a preset display mode. The preset display mode includes at least one of the following: highlighting, displaying in a specified color, and flashing at a first preset frequency.

[0061] The relative position of the first specific area on the display interface matches the encounter position, that is, the relative position of the first specific area on the display interface is used to indicate the encounter position. For example, if the encounter position is located in the left front of the mobile terminal, the upper left corner area on the display interface can be determined as the first specific area, and the first specific area is displayed in highlighted red, such as Figure 4 The size of the first specific area can be preset.

[0062] Method 2: Control the mobile terminal to vibrate according to a second preset frequency.

[0063] Optionally, the second preset frequency is positively correlated with the risk level of the obstacle. The higher the risk level, the higher the second preset frequency.

[0064] Method three: displaying prompt content in the second specific area of ​​the display interface.

[0065] The second specific area and the prompt content can be pre-set. For example, the second specific area is set as the upper area of ​​the display interface, and the prompt content is "Please pay attention to the environment and pay attention to safety!". Figure 5 As shown, "Please pay attention to the environment and be safe!" is displayed in the second specific area on the display interface of the mobile terminal. In addition, the prompt information can be output in combination with the voice module of the mobile terminal, for example, while displaying the prompt content, the prompt content is output by voice.

[0066] In this embodiment, prompt information used to characterize the risk of encounter between an obstacle and a mobile terminal is output in a variety of prompting methods, which can improve the effectiveness and pertinence of the risk prompt, so that users holding mobile terminals can be aware of the current collision risk based on the prompt information, thereby making correct response measures and avoiding the collision risk in a timely manner.

[0067] In one embodiment, after outputting the prompt information for indicating that there is a risk of encounter between the obstacle and the mobile terminal, the risk of encounter between the obstacle and the mobile terminal is continuously detected. According to the continuously detected data, it can be determined whether the mobile terminal meets the cancellation reminder condition. In response to detecting that the mobile terminal meets the cancellation reminder condition, the prompt information is stopped from being output.

[0068] The cancellation reminder conditions include at least one of the following (1) to (4): (1) The risk assessment result does not meet the preset reminder conditions, which may include at least one of the following: the risk level is higher than or equal to the preset risk level, and the risk score is greater than or equal to the preset score threshold.

[0069] (2) The mobile terminal stops moving. Whether the mobile terminal stops moving can be determined through the GPS or acceleration sensor built into the mobile terminal.

[0070] (3) The terminal screen of the mobile terminal is in black screen state.

[0071] (4) The terminal screen is not being looked at. The front camera of the mobile terminal can be used to detect whether the user is looking at the terminal screen.

[0072] In this embodiment, by continuously detecting the risk of encounter between the obstacle and the mobile terminal, and stopping the output of the prompt information when it is detected that the mobile terminal meets the conditions for canceling the reminder, the prompt strategy can be changed in time according to the encounter situation between the mobile terminal and the obstacle. For example, if the user has avoided the risk of encounter with the obstacle, there is no need for risk prompting, thereby improving the accuracy and flexibility of the prompting of obstacle collision risks.

[0073] In one embodiment, when executing step S108, that is, outputting prompt information for characterizing the risk of encounter between an obstacle and a mobile terminal, in order to improve the accuracy of the obstacle risk prompt, the camera device and / or ultrasonic generator built into the mobile terminal can be combined to further determine whether to output the prompt information.

[0074] Optionally, in response to the risk assessment result meeting the preset reminder condition, the camera device captures the environment image of the preset area; in response to the environment image including the obstacle image, the prompt information is output. By combining the image recognition of the environment image by the camera device, the obstacles in the surrounding environment are identified from the visual level, and cross-checked with the risk assessment result determined based on the millimeter wave signal, the accuracy and efficiency of obstacle risk detection can be improved.

[0075] Optionally, in response to the risk assessment result meeting the preset reminder condition, an ultrasonic signal is emitted through the ultrasonic generator; in response to determining that there is an obstacle in the preset area according to the ultrasonic signal, a prompt message is output. By combining the ultrasonic generator, obstacles in the surrounding environment are identified based on the positioning characteristics of ultrasound, and cross-checked with the risk assessment result determined based on the millimeter wave signal, the accuracy and efficiency of obstacle risk detection can be improved.

[0076] Figure 6 is a schematic flow chart of an obstacle detection method according to another embodiment of the present application, such as Figure 6 As shown, the method is applied to a mobile terminal, comprising the following steps S601-S608: Step S601, acquiring detection data of the acceleration sensor and gyroscope of the mobile terminal, the lighting status of the mobile terminal screen, and the shooting data of the front camera.

[0077] Among them, according to the detection data of the acceleration sensor and the gyroscope, it can be determined whether the mobile terminal is in a moving state. According to the lighting state of the mobile terminal screen, it can be determined whether the terminal screen of the mobile terminal is in a lighting state. According to the shooting data of the front camera, it can be determined whether the terminal screen of the mobile terminal is being looked at.

[0078] Step S602, determine whether the following preset detection conditions are met: the mobile terminal is in a moving state, the terminal screen is in a lighted state, and the terminal screen is being stared at. If yes, execute step S603; if no, return to step S601.

[0079] Step S603: Control the millimeter wave antenna on the mobile terminal to transmit a millimeter wave signal.

[0080] Step S604: Control the signal receiving module on the mobile terminal to receive the reflected signal of the millimeter wave signal, and determine the reflection information of the reflected signal.

[0081] The reflected signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal. The reflection information includes at least one of the following: the time difference between the reception time of the reflected signal and the transmission time of the millimeter wave signal, the reflected signal strength, and the position offset information of the reception position of the reflected signal relative to the transmission position of the millimeter wave signal.

[0082] Step S605: determine whether the distance between the mobile terminal and the obstacle has changed based on the reflection information. If yes, execute step S606; if no, return to step S601.

[0083] Step S606: determining the encounter information between the obstacle and the mobile terminal according to the reflection information, and determining the risk level of the obstacle according to the encounter information.

[0084] The encounter information includes at least one of the following: encounter probability, encounter time, encounter location, and interval distance. The determination method of each encounter information and the method of determining the risk level based on the encounter information have been described in detail in the above embodiments and will not be repeated here.

[0085] Step S607, determine whether the risk level is higher than or equal to the preset risk level. If yes, execute step S608; if no, return to step S601.

[0086] Step S608: outputting prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal.

[0087] Step S609: when it is determined that the mobile terminal meets the reminder cancellation condition, stop outputting the reminder information.

[0088] The cancellation reminder condition includes at least one of the following: the risk assessment result does not meet the preset reminder condition, the mobile terminal stops moving, the terminal screen is in a black screen state, and the terminal screen is not being watched. If the risk assessment result does not meet the preset reminder condition, it means that the user has avoided the risk of encountering obstacles, and there is no need for risk reminder at this time.

[0089] By adopting the technical solution of the embodiment of the present application, the reflection characteristics of the millimeter wave signal are used to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encountering obstacles, and by timely outputting prompt information, the collision risk between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate. In addition, by continuously detecting the risk of encountering obstacles with the mobile terminal, and stopping the output of prompt information when it is detected that the mobile terminal meets the cancellation reminder condition, the prompt strategy can be changed in time according to the encounter situation between the mobile terminal and the obstacle. For example, if the user has avoided the risk of encountering the obstacle, there is no need to issue a risk prompt, thereby improving the accuracy and flexibility of the prompt for the risk of obstacle collision. In addition, the technical solution does not need to add additional hardware costs to the mobile terminal, and can achieve accurate detection and evaluation of obstacles based on the existing hardware and software conditions, tapping the potential of mobile terminals in realizing complex environment perception and decision support.

[0090] The obstacle detection method provided in the embodiment of the present application can be applied to a variety of scenarios. In one scenario, in a pedestrian area or a crowded urban environment, obstacle detection and real-time reminders can help pedestrians avoid collisions with others or objects, thereby improving pedestrian safety, especially for elderly people with limited mobility and active children, which can better reflect the advantage of effectively avoiding collision risks in complex environments. In addition, for visually impaired people, it can also be used as an auxiliary tool to help them perceive obstacles in the surrounding environment through voice reminders, thereby improving the travel safety of visually impaired people.

[0091] Another scenario is that in emergency rescue and disaster response scenarios, rescue workers can use the mobile phones (i.e., mobile terminals) of disaster victims to quickly locate and avoid obstacles in complex environments, thereby improving rescue efficiency and safety.

[0092] In another scenario, the mobile terminal is a smart home device. By sensing obstacles in the surrounding environment through the smart home device, the intelligence of the smart home device and the home security can be improved.

[0093] In another scenario, in public places such as shopping malls, airports, and stations, the present invention can be used as a part of a security monitoring system to help managers monitor the flow of people and prevent safety accidents such as crowding and trampling.

[0094] In summary, specific embodiments of the present subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recorded in the claims can be performed in a different order and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing can be advantageous.

[0095] The above is an obstacle detection method provided in an embodiment of the present application. Based on the same idea, an obstacle detection device is also provided in an embodiment of the present application.

[0096] Figure 7 is a schematic block diagram of an obstacle detection device according to an embodiment of the present application, such as Figure 7 As shown, the device comprises: A control module 71, used to control the millimeter wave antenna to transmit millimeter wave signals; A determination module 72 is used to determine reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; An evaluation module 73, configured to perform risk evaluation on the obstacle according to the reflection information to obtain a risk evaluation result of the obstacle; The output module 74 is used for outputting prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal in response to the risk assessment result meeting a preset prompt condition.

[0097] In one embodiment, the reflection information includes at least one of the following: the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal, and the reflection signal strength; the risk assessment result includes the risk level; When the assessment module 73 performs risk assessment on the obstacle according to the reflection information and obtains the risk assessment result of the obstacle, the following steps are performed: Determine, according to the reflection information, the encounter information between the obstacle and the mobile terminal; the encounter information includes at least one of the following: encounter probability, encounter time, encounter position, and interval distance; A risk level of the obstacle is determined according to the encounter information.

[0098] In one embodiment, when determining the encounter information between the obstacle and the mobile terminal according to the reflection information, the evaluation module 73 performs the following steps: In response to a change in the distance between the mobile terminal and the obstacle, determining the interval distance and movement parameter information between the obstacle and the mobile terminal according to the reflection information; the movement parameter information includes at least one of the following: terminal movement information, obstacle movement information; the terminal movement information includes a terminal movement direction and / or a terminal movement speed; the obstacle movement information includes an obstacle movement direction and / or an obstacle movement speed; Determine, according to the movement parameter information, current movement change information between the obstacle and the mobile terminal; the current movement change information includes at least one of the following: distance change speed, direction change type; At least one of the encounter probability, the encounter time, and the encounter position is determined according to the interval distance and the current movement change information.

[0099] In one embodiment, when determining the encounter probability according to the interval distance and the current movement change information, the evaluation module 73 performs the following steps: Acquire a first correlation between movement change information and encounter probability, and a second correlation between interval distance and encounter probability; wherein, when the direction change type is approaching each other, the encounter probability is positively correlated with the distance change speed; when the direction change type is moving away from each other, the encounter probability is negatively correlated with the distance change speed; and the encounter probability is negatively correlated with the interval distance; The encounter probability corresponding to the current movement change information is determined according to the first correlation relationship and / or the second correlation relationship.

[0100] In one embodiment, when determining the encounter time according to the interval distance and the current movement change information, the evaluation module 73 performs the following steps: When the direction change type is approaching each other, the encounter time is determined according to the distance change speed and the interval distance.

[0101] In one embodiment, when determining the risk level of the obstacle according to the encounter information, the assessment module 73 performs the following steps: In response to satisfying a preset risk condition, determining that the risk level of the obstacle is a first level; the preset risk condition includes at least one of the following: the encounter probability is greater than or equal to a preset probability threshold, the encounter time is less than or equal to a preset duration threshold, and the interval distance is less than or equal to a preset distance threshold; The device also includes: The second determining module is used to determine that the risk assessment result meets the preset reminder condition in response to the risk level being the first category level. In one embodiment, in response to the risk assessment result meeting the preset reminder condition, the output module 74 outputs the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, and executes the following steps: In response to the risk assessment result meeting the preset reminder condition, determining encounter change information between the obstacle and the mobile terminal according to the encounter information; In response to the encounter change information satisfying at least one of the following, the prompt information is outputted: the encounter probability increases, the encounter time shortens, and the interval distance decreases.

[0102] In one embodiment, the control module 71 performs the following steps when controlling the millimeter wave antenna to transmit the millimeter wave signal: In response to detecting that the mobile terminal meets a preset detection condition, the millimeter wave antenna is controlled to transmit the millimeter wave signal; the preset detection condition includes at least one of the following: the mobile terminal is in a moving state, the terminal screen of the mobile terminal is in a lit state, and the terminal screen is being looked at.

[0103] In one embodiment, the reflection information includes: position offset information of a receiving position of the reflection signal relative to a transmitting position of the millimeter wave signal; The device also includes: A third determination module is used to determine obstacle information of the obstacle according to the position offset information; the obstacle information includes at least one of the following: the position, size, and shape of the obstacle; When the output module 74 outputs the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, the output module 74 executes the following steps: Output the risk assessment result and / or the obstacle information.

[0104] In one embodiment, when the output module 74 outputs the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, the output module 74 executes the following steps: The prompt information is outputted in a preset prompting manner; the preset prompting manner includes at least one of the following: Displaying a first specific area of ​​the display interface of the mobile terminal in accordance with a preset display mode; the preset display mode includes at least one of the following: highlighting, displaying in a specified color, and flashing at a first preset frequency; the relative position of the first specific area on the display interface matches the encounter position; Controlling the mobile terminal to vibrate according to a second preset frequency; The prompt content is displayed in a second specific area of ​​the display interface.

[0105] In one embodiment, the apparatus further comprises: A cancellation reminder module is used for, after outputting the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, in response to detecting that the mobile terminal meets a cancellation reminder condition, stopping outputting the prompt information; the cancellation reminder condition includes at least one of the following: The risk assessment result does not meet the preset reminder condition; The mobile terminal stops moving; The terminal screen of the mobile terminal is in a black screen state; The terminal screen is not being looked at.

[0106] In one embodiment, when the control module 71 controls the millimeter wave antenna to transmit a millimeter wave signal, the following steps are performed: Capturing an environment image of the preset area by a camera device; in response to the environment image including an obstacle image, controlling the millimeter wave antenna to transmit the millimeter wave signal; or, An ultrasonic wave signal is emitted through an ultrasonic wave generator; in response to determining that the obstacle exists in the preset area according to the ultrasonic wave signal, the millimeter wave antenna is controlled to emit the millimeter wave signal.

[0107] In one embodiment, in response to the risk assessment result meeting the preset reminder condition, the output module 74 outputs the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, and executes the following steps: In response to the risk assessment result meeting the preset reminder condition, capturing an environmental image of the preset area through a camera device; in response to the environmental image including an obstacle image, outputting the prompt information; or, In response to the risk assessment result meeting the preset reminder condition, an ultrasonic signal is emitted by an ultrasonic generator; in response to determining that the obstacle exists in the preset area according to the ultrasonic signal, the prompt information is output.

[0108] The technical solution of the embodiment of the present application is adopted, by controlling the millimeter wave antenna to transmit the millimeter wave signal, and determining the reflection information of the reflected signal of the millimeter wave signal. The reflected signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of ​​the mobile terminal. A risk assessment is performed on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle. In response to the risk assessment result meeting the preset reminder condition, a prompt information is output to characterize the risk of encounter between the obstacle and the mobile terminal. It can be seen that the present application utilizes the reflection characteristics of the millimeter wave signal to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encounter with the obstacle, and by timely outputting prompt information, the risk of collision between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate.

[0109] Those skilled in the art should understand that Figure 7 The obstacle detection device in can be used to implement the obstacle detection method described above, and the detailed description thereof should be similar to the description of the method part above, and will not be further described here to avoid tediousness.

[0110] Based on the same idea, the embodiment of the present application also provides an electronic device, such as Figure 8 As shown. The electronic device may have relatively large differences due to different configurations or performances, and may include one or more processors 801 and memory 802, and the memory 802 may store one or more storage applications or data. Among them, the memory 802 can be a temporary storage or a permanent storage. The application stored in the memory 802 may include one or more modules (not shown in the figure), and each module may include a series of computer executable instructions in the electronic device. Furthermore, the processor 801 can be configured to communicate with the memory 802 to execute a series of computer executable instructions in the memory 802 on the electronic device. The electronic device may also include one or more power supplies 803, one or more wired or wireless network interfaces 804, one or more input and output interfaces 805, and one or more keyboards 806.

[0111] Specifically in this embodiment, the electronic device includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions for the electronic device, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions: Controlling the millimeter wave antenna to transmit millimeter wave signals; Determining reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; Performing a risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; In response to the risk assessment result meeting a preset reminder condition, prompt information is outputted to indicate that there is a risk of encounter between the obstacle and the mobile terminal.

[0112] The technical solution of the embodiment of the present application is adopted, by controlling the millimeter wave antenna to transmit the millimeter wave signal, and determining the reflection information of the reflected signal of the millimeter wave signal. The reflected signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of ​​the mobile terminal. A risk assessment is performed on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle. In response to the risk assessment result meeting the preset reminder condition, a prompt information is output to characterize the risk of encounter between the obstacle and the mobile terminal. It can be seen that the present application utilizes the reflection characteristics of the millimeter wave signal to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encounter with the obstacle, and by timely outputting prompt information, the risk of collision between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate.

[0113] The embodiment of the present application further proposes a computer-readable storage medium, which stores one or more computer programs. The one or more computer programs include instructions. When the instructions are executed by an electronic device including multiple application programs, the electronic device can execute each process of the obstacle detection method embodiment described above, and is specifically used to execute: Controlling the millimeter wave antenna to transmit millimeter wave signals; Determining reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; Performing a risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; In response to the risk assessment result meeting a preset reminder condition, prompt information is outputted to indicate that there is a risk of encounter between the obstacle and the mobile terminal.

[0114] The technical solution of the embodiment of the present application is adopted, by controlling the millimeter wave antenna to transmit the millimeter wave signal, and determining the reflection information of the reflected signal of the millimeter wave signal. The reflected signal is obtained by reflecting the millimeter wave signal by an obstacle located in a preset area of ​​the mobile terminal. A risk assessment is performed on the obstacle based on the reflection information to obtain a risk assessment result of the obstacle. In response to the risk assessment result meeting the preset reminder condition, a prompt information is output to characterize the risk of encounter between the obstacle and the mobile terminal. It can be seen that the present application utilizes the reflection characteristics of the millimeter wave signal to achieve the effect of real-time monitoring of the surrounding environment, accurately assess whether there are obstacles in the surrounding environment, and whether there is a risk of encounter with the obstacle, and by timely outputting prompt information, the risk of collision between the mobile terminal and the obstacle is effectively avoided, thereby improving the safety of users holding the mobile terminal when walking and reducing the accident rate.

[0115] An embodiment of the present application provides a computer program product, including a computer program, which is executed by a processor to implement the various processes of the above-mentioned obstacle detection method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0116] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0117] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0118] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0119] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0120] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0122] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0123] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0124] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined in this article, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0126] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0127] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0128] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An obstacle detection method, comprising: Controlling the millimeter wave antenna to transmit millimeter wave signals; Determining reflection information of a reflection signal of the millimeter wave signal; the reflection signal is obtained by reflecting the millimeter wave signal from an obstacle located in a preset area of ​​the mobile terminal; Performing a risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle; In response to the risk assessment result meeting a preset reminder condition, prompt information is outputted to indicate that there is a risk of encounter between the obstacle and the mobile terminal.

2. According to the method of claim 1, the reflection information includes at least one of the following: the time difference between the reception time of the reflection signal and the transmission time of the millimeter wave signal, and the reflection signal strength; the risk assessment result includes the risk level; The step of performing risk assessment on the obstacle according to the reflection information to obtain a risk assessment result of the obstacle includes: Determining, according to the reflection information, encounter information between the obstacle and the mobile terminal; The encounter information includes at least one of the following: encounter probability, encounter time, encounter location, and interval distance; A risk level of the obstacle is determined according to the encounter information.

3. The method according to claim 2, wherein determining, based on the reflection information, the encounter information between the obstacle and the mobile terminal comprises: In response to a change in the distance between the mobile terminal and the obstacle, determining the interval distance and movement parameter information between the obstacle and the mobile terminal according to the reflection information; the movement parameter information includes at least one of the following: terminal movement information, obstacle movement information; The terminal movement information includes the terminal movement direction and / or the terminal movement speed; the obstacle movement information includes the obstacle movement direction and / or the obstacle movement speed; Determine, according to the movement parameter information, current movement change information between the obstacle and the mobile terminal; the current movement change information includes at least one of the following: distance change speed, direction change type; At least one of the encounter probability, the encounter time, and the encounter position is determined according to the interval distance and the current movement change information.

4. The method according to claim 3, wherein determining the encounter probability according to the interval distance and the current movement change information comprises: Acquire a first correlation between movement change information and encounter probability, and a second correlation between interval distance and encounter probability; wherein, when the direction change type is approaching each other, the encounter probability is positively correlated with the distance change speed; when the direction change type is moving away from each other, the encounter probability is negatively correlated with the distance change speed; and the encounter probability is negatively correlated with the interval distance; The encounter probability corresponding to the current movement change information is determined according to the first correlation relationship and / or the second correlation relationship.

5. The method according to claim 3, wherein determining the encounter time according to the interval distance and the current movement change information comprises: When the direction change type is approaching each other, the encounter time is determined according to the distance change speed and the interval distance.

6. The method according to claim 2, wherein determining the risk level of the obstacle according to the encounter information comprises: In response to satisfying a preset risk condition, determining that the risk level of the obstacle is a first level; The preset risk condition includes at least one of the following: the encounter probability is greater than or equal to a preset probability threshold, the encounter time is less than or equal to a preset duration threshold, and the interval distance is less than or equal to a preset distance threshold; The method further comprises: In response to the risk level being the first category level, it is determined that the risk assessment result meets the preset reminder condition.

7. The method according to claim 2, wherein in response to the risk assessment result meeting a preset reminder condition, outputting prompt information for indicating that there is a risk of encounter between the obstacle and the mobile terminal comprises: In response to the risk assessment result meeting the preset reminder condition, determining encounter change information between the obstacle and the mobile terminal according to the encounter information; In response to the encounter change information satisfying at least one of the following, the prompt information is outputted: the encounter probability increases, the encounter time shortens, and the interval distance decreases.

8. According to the method according to any one of claims 1 to 7, the controlling the millimeter wave antenna to transmit the millimeter wave signal comprises: In response to detecting that the mobile terminal meets a preset detection condition, controlling the millimeter wave antenna to transmit the millimeter wave signal; The preset detection condition includes at least one of the following: the mobile terminal is in a moving state, the terminal screen of the mobile terminal is in a lighted state, and the terminal screen is being watched.

9. The method according to any one of claims 1 to 7, wherein the reflection information comprises: Position offset information of a receiving position of the reflected signal relative to a transmitting position of the millimeter wave signal; The method further comprises: Determine obstacle information of the obstacle according to the position offset information; the obstacle information includes at least one of the following: the position, size, and shape of the obstacle; The output is used to indicate prompt information that there is a risk of encounter between the obstacle and the mobile terminal, including: Output the risk assessment result and / or the obstacle information.

10. According to the method according to any one of claims 2 to 7, the outputting of prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal comprises: Using a preset prompting method to output the prompting information; The preset prompting method includes at least one of the following: Displaying a first specific area of ​​the display interface of the mobile terminal in accordance with a preset display mode; the preset display mode includes at least one of the following: highlighting, displaying in a specified color, and flashing at a first preset frequency; the relative position of the first specific area on the display interface matches the encounter position; Controlling the mobile terminal to vibrate according to a second preset frequency; The prompt content is displayed in a second specific area of ​​the display interface.

11. The method according to claim 10, after outputting the prompt information indicating that there is a risk of encounter between the obstacle and the mobile terminal, further comprising: In response to detecting that the mobile terminal meets the reminder cancellation condition, stopping outputting the prompt information; The cancellation reminder condition includes at least one of the following: The risk assessment result does not meet the preset reminder condition; The mobile terminal stops moving; The terminal screen of the mobile terminal is in a black screen state; The terminal screen is not being looked at.

12. The method according to claim 1, wherein controlling the millimeter wave antenna to transmit the millimeter wave signal comprises: Capturing an environmental image of the preset area by a camera device; In response to the environment image including an obstacle image, controlling the millimeter wave antenna to transmit the millimeter wave signal; or, An ultrasonic wave signal is emitted through an ultrasonic wave generator; in response to determining that the obstacle exists in the preset area according to the ultrasonic wave signal, the millimeter wave antenna is controlled to emit the millimeter wave signal.

13. The method according to claim 1, wherein in response to the risk assessment result meeting a preset reminder condition, outputting prompt information for indicating that there is a risk of encounter between the obstacle and the mobile terminal comprises: In response to the risk assessment result meeting the preset reminder condition, capturing an environmental image of the preset area by a camera device; In response to the environment image including an obstacle image, outputting the prompt information; or, In response to the risk assessment result meeting the preset reminder condition, an ultrasonic signal is emitted by an ultrasonic generator; in response to determining that the obstacle exists in the preset area according to the ultrasonic signal, the prompt information is output.

14. An electronic device, comprising a processor and a memory electrically connected to the processor, the memory storing a computer program, and the processor being configured to call and execute the computer program from the memory to implement the obstacle detection method according to any one of claims 1 to 13.

15. A computer-readable storage medium, wherein the storage medium is used to store a computer program, wherein the computer program can be executed by a processor to implement the obstacle detection method according to any one of claims 1 to 13.

16. A computer program product, comprising a computer program, wherein the computer program is executed by a processor to implement the obstacle detection method according to any one of claims 1 to 13.

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