Collision early warning method and device, terminal equipment and storage medium

Abstract

The embodiment of the invention is suitable for the technical field of automobiles, and provides a collision early warning method and device, terminal equipment and a storage medium, and the method comprises the steps: in a driving state, obtaining collision auxiliary information of a vehicle in a current state; the collision auxiliary information comprises at least one of a tire pressure characteristic value, a load characteristic value and environment information; determining a safe distance between the vehicle and a target object based on a first moving speed of the vehicle and the collision auxiliary information; and generating a collision early warning result corresponding to the target object based on the safe distance and the actual distance corresponding to the target object. Through the method provided by the embodiment of the invention, the collision early warning system on the vehicle can calculate the safety distance between the vehicle and the target object in combination with the collision auxiliary information and the first moving speed of the vehicle. Therefore, the method provided by the embodiment of the invention can improve the accuracy and reliability of the collision early warning result generated by the collision early warning system.

Description

Technical Field

[0001] The embodiments of the present application belong to the field of automobile technology, and in particular, relate to a collision warning method, device, terminal equipment and storage medium. Background Art

[0002] With the rapid development of electric, intelligent and networked vehicles, the assisted driving functions of vehicles have become more comprehensive. Among them, the collision warning system can automatically detect obstacles in front of the car while it is driving and calculate the possibility of a collision, so as to predict the risk of collision and avoid collision.

[0003] In the prior art, the collision warning system on the car can obtain the vehicle's own speed and the speed of the vehicle in front of it on the road in real time, and calculate the braking distance between the vehicle and the target vehicle based on the vehicle's own speed and the speed of the vehicle in front. At the same time, the collision warning system can also obtain the actual distance between the vehicle and the target vehicle in real time through the millimeter wave radar. The collision warning system can issue a collision warning to the vehicle based on the braking distance and the actual distance. However, in actual operation, the braking distance of the car will not only be affected by the vehicle's current speed and the speed of the vehicle in front, but also by the vehicle's environment and the vehicle's driving state. When calculating the braking distance, the existing collision warning system only considers the vehicle's own speed and the speed of the vehicle in front, and fails to combine the environmental information of the vehicle's environment and the vehicle's state information for collision warning. Therefore, the collision warning results generated by the existing collision warning system are less reliable. Summary of the invention

[0004] In view of this, embodiments of the present application provide a collision warning method, apparatus, terminal device, and storage medium to improve the reliability and accuracy of collision warning results generated by a collision warning system.

[0005] A first aspect of an embodiment of the present application provides a collision warning method, comprising:

[0006] In the driving state, obtaining collision assistance information of the vehicle in the current state; the collision assistance information includes: at least one of tire pressure characteristic value, load characteristic value and environmental information;

[0007] Determining a safe distance between the vehicle and a target object based on the first moving speed of the vehicle and the collision assistance information;

[0008] A collision warning result corresponding to the target object is generated based on the safety distance and the actual distance corresponding to the target object.

[0009] A second aspect of an embodiment of the present application provides a collision warning method, including:

[0010] Obtaining the tilt angle of the vehicle;

[0011] determining the first friction coefficient based on the inclination angle and the load characteristic value;

[0012] The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes:

[0013] A safe distance between the vehicle and the target object is determined based on the first friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

[0014] A third aspect of an embodiment of the present application provides a collision warning method, including:

[0015] Acquiring meteorological information of a location of the vehicle, and determining the second friction coefficient based on the meteorological information;

[0016] The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes:

[0017] A safe distance between the vehicle and the target object is determined based on the second friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

[0018] A fourth aspect of the embodiments of the present application provides a collision warning method, including:

[0019] If the second moving speed corresponding to the target object is equal to 0, a regression parameter corresponding to the vehicle is obtained; the regression parameter is generated by a target regression model; the target regression model is constructed by the first moving speed, the tire pressure characteristic value, the load characteristic value, the environmental information and the historical safety distance;

[0020] A first safety distance between the vehicle and the target object is determined based on the regression parameter, the first moving speed, and the collision assistance information.

[0021] A fifth aspect of the embodiments of the present application provides a collision warning method, including:

[0022] If the second moving speed corresponding to the target object is not equal to 0, the first moving speed, the second moving speed and the collision assistance information are input into a preset safety distance function to calculate the second safety distance corresponding to the target object through the safety distance function.

[0023] A sixth aspect of the embodiments of the present application provides a collision warning method, including a safety distance function, wherein the safety distance function is:

[0024]

[0025] Wherein, D2 is the second safety distance; V1 is the first moving speed corresponding to the vehicle; V2 is the second moving speed corresponding to the target; T is the reaction time; t1 is the braking coordination time of the vehicle; the braking coordination time is the time required for the vehicle to receive the braking command and perform the braking action; t2 is the deceleration growth time of the vehicle; the deceleration growth time is the time required for the vehicle to increase from a deceleration of 0 to a target deceleration; L0 is the body length corresponding to the vehicle; k p is the tire pressure coefficient corresponding to the tire pressure characteristic value; the k r is the environmental coefficient corresponding to the environmental information; z is the load coefficient corresponding to the load characteristic value.

[0026] A seventh aspect of the embodiments of the present application provides a collision warning method, including:

[0027] Acquire an environmental image of the location of the target object;

[0028] The environment image and the safety distance are transmitted to a display device, so that the display device displays the safety distance corresponding to the target object through the environment image.

[0029] An eighth aspect of the embodiments of the present application provides a collision warning device, including:

[0030] An information acquisition module, used to acquire collision assistance information of the vehicle in a current state while the vehicle is in motion; the collision assistance information includes at least one of a tire pressure characteristic value, a load characteristic value, and environmental information;

[0031] A safety distance determination module, configured to determine a safety distance between the vehicle and a target object based on the first moving speed of the vehicle itself and the collision assistance information;

[0032] The warning result generating module is used to generate a collision warning result corresponding to the target object based on the safety distance and the actual distance corresponding to the target object.

[0033] The ninth aspect of an embodiment of the present application provides a terminal device, including 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, the collision warning method as described in the first aspect above is implemented.

[0034] A tenth aspect of 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 collision warning method as described in the first aspect above is implemented.

[0035] An eleventh aspect of the embodiments of the present application provides a computer program product. When the computer program product runs on a computer, the computer executes the collision warning method described in the first aspect.

[0036] Compared with the prior art, the embodiments of the present application have the following advantages:

[0037] In an embodiment of the present application, when the vehicle is in a driving state, the terminal device can obtain collision assistance information under the current state of the vehicle; wherein, the collision assistance information obtained by the terminal device may include: at least one of tire pressure characteristic values, load characteristic values ​​and environmental information; after obtaining the collision assistance information, the terminal device can determine the safe distance between the vehicle and the target object based on the vehicle's own first moving speed and the collision assistance information; the terminal device can generate a collision warning result corresponding to the target object based on the actual distance and the safety distance corresponding to the target object. In an embodiment of the present application, the terminal device can calculate the safe distance between the vehicle and the target object in combination with the vehicle's own first moving speed and the collision assistance information. Therefore, through the method provided in this embodiment, the terminal device can calculate a more accurate safety distance in combination with the collision assistance information, thereby improving the reliability of the collision warning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a schematic diagram of a collision warning method provided in an embodiment of the present application;

[0040] Figure 2 This is a data processing flow diagram provided by an embodiment of the present application;

[0041] Figure 3 This is a specific implementation flow chart of a collision warning method S102 provided in an embodiment of the present application;

[0042] Figure 4 This is a specific implementation flow chart of another collision warning method S102 provided in an embodiment of the present application;

[0043] Figure 5 It is a specific implementation flow chart of a collision warning method S101 and S102 provided in an embodiment of the present application;

[0044] Figure 6 It is a specific implementation flow chart of another collision warning method S101 and S102 provided in an embodiment of the present application;

[0045] Figure 7 This is a specific implementation flow chart of another collision warning method S102 provided in an embodiment of the present application;

[0046] Figure 8 This is a schematic diagram showing a safety distance provided in an embodiment of the present application;

[0047] Fig. 9 is a schematic diagram of a collision warning device provided in an embodiment of the present application;

[0048] Fig.10 It is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures, technologies, etc. are proposed 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 can 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 hindering the description of the present application.

[0050] The technical solution of the present application is described below through specific embodiments.

[0051] Reference Figure 1 , shows a schematic diagram of a collision warning method provided by an embodiment of the present application, and the collision warning method can be applied to a terminal device. The terminal device can be a computer, a large server, an electronic control unit (ECU), a microcontroller unit (MCU), a central processing unit (CPU), and other terminal devices. The collision warning method can specifically include the following steps:

[0052] S101. Acquire collision assistance information of a vehicle in a current state while the vehicle is in motion; the collision assistance information includes at least one of a tire pressure characteristic value, a load characteristic value, and environmental information.

[0053] In this embodiment, when the driver needs to drive the vehicle, the driver can initiate a start command through the vehicle control key or the start button on the vehicle to start the vehicle. In response to the start command initiated by the driver, the terminal device can obtain the first moving speed of the vehicle itself through the vehicle speed sensor. Among them, the vehicle speed sensor is a speed sensor that can be installed on the vehicle wheel or a speed sensor installed on the vehicle transmission. After obtaining the first moving speed of the vehicle, the terminal device can determine whether the first moving speed of the vehicle is greater than the speed threshold preset by the user. If the terminal device determines that the current first moving speed of the vehicle is less than the speed threshold, the terminal device can determine that the vehicle is currently in a stationary state. If the terminal device determines that the current first moving speed of the vehicle is greater than or equal to the speed threshold preset by the user, the terminal device can determine that the vehicle is currently in a driving state, and the terminal device can obtain the collision assistance information of the vehicle in the current state. Among them, the collision assistance information obtained by the terminal device may include at least one of the tire pressure characteristic value, the load characteristic value and the environmental information. Among them, the tire pressure characteristic value can be used to represent the pressure value of the air inside the tire.

[0054] In a possible implementation, the terminal device may obtain the tire pressure characteristic value of the vehicle through the tire pressure detection system on the vehicle. The tire pressure detection system on the vehicle may be an indirect tire pressure detection system and / or a direct tire pressure detection system. It should be noted that the embodiments of the present application are not intended to limit the method for obtaining the tire pressure characteristic value, and those skilled in the art may obtain the tire pressure characteristic value of the vehicle through any method known in the art.

[0055] The indirect tire pressure detection system can be composed of multiple wheel speed sensors and an electronic control unit. The electronic control unit in the indirect tire pressure detection system can continuously obtain the tire speed corresponding to each tire of the vehicle through multiple wheel speed sensors during the driving process of the vehicle. After obtaining multiple tire speeds, the electronic control unit in the indirect tire pressure detection system can determine the speed change value corresponding to any tire according to the tire speed of the tire at different times. Among them, the speed change value corresponding to any tire can be used to indicate the situation where the speed of the tire changes over time. The electronic control unit of the indirect tire pressure detection system can determine the tire pressure characteristic value corresponding to each tire of the vehicle according to the speed change value corresponding to each tire of the vehicle. After obtaining the tire pressure characteristic value corresponding to each tire, the indirect tire pressure detection system can transmit the tire pressure characteristic value corresponding to each tire to the terminal device through the controller area network (CAN).

[0056] The direct tire pressure monitoring system can be composed of multiple tire pressure sensors and an electronic control unit. The direct tire pressure monitoring system can continuously obtain the tire pressure characteristic value corresponding to each tire through the tire pressure sensor on each tire. The electronic control unit of the direct tire pressure monitoring system can transmit the tire pressure characteristic value corresponding to each tire to the terminal device through the controller area network.

[0057] In a possible implementation, the load characteristic value in the collision assistance information may be the sum of the vehicle's own weight characteristic value and the vehicle's loaded weight characteristic value. Among them, the vehicle's own weight characteristic value may be pre-stored in the terminal device by the developer according to the vehicle's actual empty vehicle weight. During the driving process of the vehicle, the terminal device may obtain the vehicle's loaded weight characteristic value in real time through the axle load detection system or the air suspension system. It should be noted that the embodiments of the present application are not intended to limit the method for obtaining the load characteristic value, and those skilled in the art may obtain the vehicle's load characteristic value through any method known in the art.

[0058] The axle load detection system may be composed of a controller and an axle load sensor installed on a vehicle frame or axle or other travel system components. The axle load sensor on the axle load detection system obtains strain data of the vehicle frame or axle, and converts the strain data of the vehicle frame or axle into an electrical signal through the strain amplification principle and circuit conversion. The axle load sensor may transmit the electrical signal to the controller of the axle load detection system. The controller of the axle load detection system may determine the characteristic value of the vehicle's loading weight based on the received electrical signal.

[0059] The air suspension system may be composed of an air suspension including a plurality of airbags, at least one pressure sensor and a controller. The pressure sensor in the air suspension system may be connected to at least one airbag in the air suspension to obtain air pressure data in the airbag in real time. The pressure sensor in the air suspension system may transmit the collected air pressure data to the controller of the air suspension system. After receiving the air pressure data fed back by the pressure sensor, the controller of the air suspension system may calculate the vehicle's loading weight characteristic value according to a pressure algorithm preset by a user.

[0060] In a possible implementation, the collision assistance information acquired by the terminal device may also include, but is not limited to, the vehicle's body length, the vehicle's body width, the first longitude and latitude information corresponding to the vehicle, the second longitude and latitude information corresponding to the target object, the vehicle's current heading angle, and other types of collision assistance information. Among them, the vehicle's first longitude and latitude information may include the first longitude value of the vehicle's location and the first latitude value of the vehicle's location. The second longitude and latitude information corresponding to the target object may include the second longitude value of the target object's location and the second latitude value of the target object's location. The vehicle's body length and the vehicle's body width may be pre-stored in the terminal device by the developer based on the actual data of the vehicle body. The first longitude and latitude information corresponding to the vehicle and the second longitude and latitude information corresponding to the target object may be acquired in real time through the Global Positioning System (GPS) on the vehicle.

[0061] S102: Determine a safe distance between the vehicle and a target object based on the first moving speed of the vehicle and the collision assistance information.

[0062] In this embodiment, after acquiring the collision assistance information of the vehicle in the current state, the terminal device can determine the safe distance between the vehicle and the target object based on the first moving speed of the vehicle itself and the collision assistance information.

[0063] S103: Generate a collision warning result corresponding to the target object based on the safety distance and the actual distance corresponding to the target object.

[0064] In this embodiment, the terminal device can obtain the actual distance between the vehicle and the target object in real time during the driving process of the vehicle. After determining the safe distance between the vehicle and the target object, the terminal device can generate a collision warning result corresponding to the target object according to the safe distance and the actual distance corresponding to the target object.

[0065] In a possible implementation, the terminal device can obtain the actual distance between the vehicle and the target object in three ways, which are described in detail as follows:

[0066] Method 1: When the target object is any target vehicle on the road other than the vehicle itself, the terminal device can obtain the first longitude and latitude information of the vehicle itself in real time through the Global Positioning System (GPS). At the same time, the terminal device can also transmit data with the target vehicle through the Internet of Vehicles system, and obtain the second longitude and latitude information of the target object at the location of the target vehicle through a pre-set communication protocol. For example, data can be transmitted between vehicles through the v2x protocol stack. After the terminal device obtains the first longitude and longitude information and the second longitude and longitude information, it can calculate the actual distance between the vehicle and the target vehicle in real time based on the first longitude value of the vehicle's own location and the first latitude value of the vehicle's own location in the first longitude and longitude information, and the second longitude value of the target vehicle's location and the second latitude value of the target vehicle's location in the second longitude and longitude information.

[0067] Method 2: The terminal device can obtain the actual distance between the vehicle and the target object in real time through the ranging radar on the vehicle body.

[0068] Method 3: The terminal device can obtain the environment image on the road in real time through the camera on the vehicle body. After obtaining the environment image, the terminal device can input the environment image into a pre-set image processing algorithm and obtain the actual distance between the vehicle and the target object through the image processing algorithm.

[0069] In a possible implementation, the collision warning result generated by the terminal device may include a first reminder message and a second reminder message. After obtaining the safety distance and the actual distance, the terminal device may determine whether the actual distance corresponding to the target object is greater than the safety distance corresponding to the target object. If the terminal device determines that the actual distance is greater than the safety distance, the terminal device may determine that there is no risk of collision between the two vehicles. At this time, the terminal device may continue to obtain the actual distance corresponding to the target object and continue to perform collision detection on the target object. If the terminal device determines that the actual distance is equal to the safety distance, the terminal device may generate a first reminder message. Among them, the first reminder message can be used to inform the driver that the actual distance between the vehicle and the target object is exactly the safety distance at this time. If the terminal device determines that the actual distance is less than the safety distance, the terminal device may generate a second reminder message. The second reminder message can be used to inform the driver that the actual distance between the vehicle and the target object is too small at this time, and there is a risk of collision between the vehicle and the target object.

[0070] In a possible implementation, the first reminder information and / or the second reminder information generated by the terminal device may be any one of voice reminder information, instrument reminder information, collision warning image, etc. When the first reminder information and / or the second reminder information generated by the terminal device is voice reminder information, the terminal device may send the generated voice reminder information to the vehicle's audio system so as to play the corresponding voice reminder to the driver through the audio system. When the first reminder information and / or the second reminder information generated by the terminal device is instrument reminder information, the terminal device may send the generated instrument reminder information to the vehicle's instrument system so that the dashboard issues a collision reminder to the driver by flashing the corresponding icon. When the first reminder information and / or the second reminder information generated by the terminal device is a collision warning image, the terminal device may send the corresponding collision warning image to the display device on the vehicle so as to display the collision warning image to the driver through the display device.

[0071] See also Figure 2 , shows a data processing flow diagram provided by an embodiment of the present application. Figure 2 As shown, when the vehicle is in a driving state, the terminal device can obtain the first actual distance between the vehicle and the target vehicle through the ranging radar installed on the wheel. At the same time, the terminal device can also obtain the environmental image of the target vehicle's location through the camera on the vehicle body. The terminal device can input the environmental image into a pre-set image processing algorithm to obtain the second actual distance between the vehicle and the target vehicle through the image processing algorithm. The terminal device can also obtain the second longitude and latitude information of the target vehicle at the location of the target vehicle through the v2x protocol stack, and determine the third actual distance between the vehicle and the target vehicle based on the second longitude and latitude information of the target vehicle at the location of the target vehicle and the first longitude and latitude information of the vehicle's own location. The terminal device can input the first actual distance, the second actual distance and the third actual distance into the data fusion module to obtain the target actual distance between the vehicle and the target vehicle through the data fusion module.

[0072] During the driving process of the vehicle, the terminal device can also obtain collision assistance information under the current state of the vehicle through sensors installed on the wheels. The terminal device can obtain the tire pressure characteristic value of the vehicle through the tire pressure sensor on the wheel. The terminal device can also obtain the load characteristic value of the vehicle through the load sensor on the wheel. The terminal device can input the obtained tire pressure characteristic value and / or load characteristic value into the data preprocessing module. Through the data preprocessing module, the terminal device can perform data preprocessing operations such as filtering and noise reduction on the tire pressure characteristic value and / or load characteristic value to improve the accuracy of the collision assistance information.

[0073] Then, the terminal device can obtain the first moving speed of the vehicle and other collision assistance information of the vehicle through the data extraction module, such as the body length of the vehicle, the current acceleration of the vehicle, the current heading angle of the vehicle and other collision assistance information. The terminal device can input the first moving speed of the vehicle and all the acquired collision assistance information into the data analysis module to calculate the safe distance between its own vehicle and the target vehicle through the data analysis module. After calculating the safe distance, the data analysis module can transmit the safe distance to the corresponding display device to issue a collision warning through the display device. The display device can display the corresponding safe distance of the target vehicle through the environmental image of the target vehicle's location, so that the driver can drive according to the safe distance.

[0074] After calculating the safe distance, the data analysis module can also determine whether there is a collision risk between the own vehicle and the target vehicle based on the safe distance and the actual distance corresponding to the target vehicle, and generate a collision warning result. Among them, the data analysis module can determine whether there is a collision risk between the two vehicles by judging whether the actual distance is less than the safe distance. When the data analysis module determines that the actual distance is less than the safe distance, the data analysis module can determine that there is a collision risk between the two vehicles. At this time, the collision warning result generated by the data analysis module may include a collision type and a collision time. The data analysis module can determine the type of collision that may occur based on the second longitude and latitude information corresponding to the target vehicle. For example, when the data analysis module determines that the target vehicle is located in the left front according to the second longitude and latitude information corresponding to the target vehicle and its own first longitude and latitude information, the data analysis module can determine that the type of collision that may occur is a left front collision. The data analysis module can also calculate the collision time based on the actual distance, the second moving speed corresponding to the target vehicle, and its own first moving speed.

[0075] After generating the collision warning result, the data analysis module can transmit the generated collision warning result to the decision module. The decision module in the terminal device can perform corresponding alarm operations according to the received collision warning result. For example, the decision module can send the collision type and collision time to the corresponding display device, and display the possible collision type and the possible collision time through the display device. Finally, the decision module can transmit data such as the first moving speed, the second moving speed, collision auxiliary information, collision warning results and alarm operations to the data storage module, so that the data can be stored in the local database and / or the cloud database through the data storage module.

[0076] In this embodiment, the terminal device can obtain collision assistance information under the current state of the vehicle while the vehicle is in motion. The terminal device can calculate the safe distance between the vehicle and the target object based on the first moving speed of the vehicle itself and the collision assistance information, and generate a collision warning result based on the safe distance and the actual distance corresponding to the target object. Through the method provided in this embodiment, the terminal device can perform real-time collision monitoring and analysis in combination with collision assistance information such as tire pressure characteristic values, load characteristic values, and environmental information. Therefore, the method provided in this embodiment can improve the accuracy and reliability of collision warnings.

[0077] Figure 3 FIG. 2 shows a specific implementation flow chart of a collision warning method S102 provided in the second embodiment of the present application. Figure 3 , compared to Figure 1 In the embodiment, a collision warning method provided in this embodiment includes S102: S301-S302, which are described in detail as follows:

[0078] S301. If the second moving speed corresponding to the target object is equal to 0, the regression parameters corresponding to the vehicle are obtained; the regression parameters are generated by a target regression model; the target regression model is constructed by the first moving speed, the tire pressure characteristic value, the load characteristic value, the environmental information and the historical safety distance.

[0079] In this embodiment, when the vehicle is in a driving state, the terminal device can obtain the second moving speed corresponding to the target object through the speed measuring radar on the vehicle. After obtaining the second moving speed corresponding to the target object, the terminal device can determine whether the second moving speed corresponding to the target object is 0. If the terminal device determines that the second moving speed corresponding to the target object is equal to 0, the terminal device can obtain the regression parameter corresponding to the vehicle. Among them, the regression parameter corresponding to the vehicle can be generated by the target regression model. The regression parameter can represent the correlation between the collision auxiliary information such as tire pressure characteristic value, load characteristic value and environmental information and the safety distance without considering the second moving speed of the target object. Specifically, the regression parameter can be the intercept value in the target regression model. Among them, the target regression model can be constructed by the first moving speed, tire pressure characteristic value, load characteristic value, environmental information and historical safety distance. The target regression model can be used to represent the linear relationship between the first moving speed, tire pressure characteristic value, load characteristic value, environmental information and other information and the historical safety distance. As shown in Table 1 below, a data table for establishing a target regression model provided in an embodiment of the present application is shown.

[0080]

[0081] Table 1 Regression model data table

[0082] S302: Determine a first safety distance between the vehicle and the target object based on the regression parameter, the first moving speed, and the collision assistance information.

[0083] In this embodiment, after acquiring the regression parameters, the terminal device may bring the regression parameters, the first moving speed and the collision assistance information into a preset linear function to determine the first safe distance between the vehicle and the target object through the linear function. The collision assistance information may include, but is not limited to, tire pressure characteristic values ​​of the vehicle in the current state, auxiliary characteristic values ​​of the vehicle, environmental information of the vehicle's location, and other information. Specifically, the environmental information of the vehicle's location may include a first friction coefficient for indicating the relationship between the vehicle's tilt state and friction and / or a second friction coefficient for indicating the relationship between the road surface state at the vehicle's location and friction.

[0084] In a possible implementation, the linear function may be specifically as follows:

[0085] D1=β0+β p *K p +β r *K r +β z *K z

[0086] Where D1 can be the first safety distance; β0 can represent the regression parameter corresponding to the vehicle; β p It can represent the tire pressure parameters corresponding to the tire pressure characteristic value; K p It can represent the tire pressure characteristic value of the vehicle in the current state; β r It can represent the environmental parameters corresponding to the environmental information; K r It can represent the environmental information of the vehicle's location; wherein the environmental information can specifically be the first friction coefficient and / or the second friction coefficient; β z It can represent the load parameter corresponding to the load characteristic value; K z It can represent the load characteristic value of the vehicle in the current state.

[0087] In this embodiment, when developing a collision warning system, developers can analyze the impact of factors such as tire pressure characteristic values, road surface conditions, and load characteristic values ​​on historical safety distances under the same vehicle speed by establishing a regression model. By analyzing these data, developers can derive regression parameters and calculate safety distances under different conditions using the regression parameters. Therefore, the method provided in this embodiment can improve the accuracy of calculating safety distances.

[0088] Figure 4 FIG. 4 shows a specific implementation flow chart of a collision warning method S102 provided in the third embodiment of the present application. Figure 4, compared to Figure 1 In the embodiment, a collision warning method provided in this embodiment includes S102: S401, which is described in detail as follows:

[0089] S401. If the second moving speed corresponding to the target object is not equal to 0, the first moving speed, the second moving speed and the collision assistance information are input into a preset safety distance function to calculate the second safety distance corresponding to the target object through the safety distance function.

[0090] In this embodiment, if the terminal device determines that the second moving speed corresponding to the target object is not equal to 0, the terminal device can obtain a preset safety distance function. The terminal device can input the first moving speed of the vehicle itself, the second moving speed corresponding to the target object, and the collision assistance information into the safety distance function to calculate the second safety distance corresponding to the target object through the safety distance function.

[0091] In a possible implementation, after acquiring the collision assistance information of the vehicle in the current state, the terminal device can convert the collision assistance information into the collision assistance coefficient through a preset coefficient conversion table, and input each collision assistance coefficient into the safety distance function, so as to calculate the second safety distance corresponding to the target object through the safety distance function. For example, the terminal device can convert the tire pressure characteristic value of the vehicle in the current state into the tire pressure coefficient through the tire pressure coefficient conversion table; the terminal device can also convert the load characteristic value of the vehicle in the current state into the load coefficient through the load coefficient conversion table; the terminal device can also query the second friction coefficient corresponding to the meteorological information at the location of the vehicle through the preset road surface coefficient table.

[0092] In a possible implementation, the safety distance function in the terminal device may be as follows.

[0093]

[0094] Wherein, D2 in the safety distance function may be the second safety distance. V1 may be the first moving speed corresponding to the vehicle. V2 may be the second moving speed corresponding to the target object. T may be the reaction time. t1 may be the braking coordination time of the vehicle; wherein the braking coordination time may be the time required for the vehicle to receive the braking command and execute the braking action; illustratively, the braking coordination time may be 0.5 seconds. t2 may be the deceleration growth time of the vehicle; wherein the deceleration growth time may be the time required for the vehicle to increase from a deceleration of 0 to a target deceleration; illustratively, the deceleration growth time may be 0.2 seconds. L0 may be the body length corresponding to the vehicle. k p It can be the tire pressure coefficient corresponding to the tire pressure characteristic value. rIt may be an environmental coefficient corresponding to the environmental information; wherein the environmental coefficient may be a first friction coefficient used to represent the relationship between the vehicle tilt state and the friction force and / or a second friction coefficient used to represent the relationship between the road surface state at the vehicle location and the friction force. z It can be the load coefficient corresponding to the load characteristic value.

[0095] Figure 5 FIG. 4 shows a specific implementation flow chart of a collision warning method S101 and S102 provided in the fourth embodiment of the present application. Figure 5 , compared to Figure 1 In the embodiment, in a collision warning method provided in this embodiment, S101 includes: S501-S502, S102 includes: S503, which is specifically described as follows:

[0096] S501: Obtain the inclination angle of the vehicle.

[0097] In this embodiment, the environmental information acquired by the terminal device may include a first friction coefficient. The first friction coefficient may be used to represent the relationship between the tilt state of the vehicle and the friction. During the driving of the vehicle, the terminal device may obtain the tilt angle of the vehicle in real time through a tilt sensor on the vehicle.

[0098] S502: Determine the first friction coefficient based on the inclination angle and the load characteristic value.

[0099] In this embodiment, after obtaining the inclination angle of the vehicle, the terminal device can input the inclination angle and the corresponding load characteristic value of the vehicle into a preset friction formula, and calculate the first friction coefficient of the vehicle through the friction formula.

[0100] In a possible implementation, the friction formula in the terminal device can be as follows:

[0101] f1=G*M*sinθ

[0102] Among them, f1 can represent the first friction coefficient at the location of the vehicle; G can represent the gravitational acceleration at the location of the vehicle; exemplarily, G can be 9.8 meters per square second; M can represent the load characteristic value of the vehicle; θ can represent the inclination angle at the location of the vehicle.

[0103] S503: Determine a safe distance between the vehicle and the target object based on the first friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

[0104] In this embodiment, after determining the first friction coefficient, the terminal device can determine the safe distance between the vehicle and the target object according to the first friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value. When the second moving speed of the target object is equal to 0, the terminal device can input the first friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value into the regression function, and calculate the safe distance between the vehicle and the target object through the regression function. When the second moving speed of the target object is not equal to 0, the terminal device can input the first friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value into the preset safety distance function, and calculate the safe distance between the vehicle and the target object through the safety distance function. For the specific method of calculating the safety distance through the regression function or the safety distance function, please refer to the contents of the second and third embodiments of the specification, which will not be repeated here.

[0105] In a possible implementation, after the terminal device determines the first friction coefficient, it can also obtain the second friction coefficient. The second friction coefficient can represent the relationship between the road surface state and the friction force at the location of the vehicle. The terminal device can determine the safe distance between the vehicle and the target object based on the first friction coefficient, the second friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

[0106] In this embodiment, the terminal device can obtain the inclination angle of the vehicle through the inclination sensor during the driving of the vehicle. After obtaining the inclination angle of the vehicle, the terminal device can determine the first friction coefficient of the vehicle according to the inclination angle and the load characteristic value. The terminal device can determine the safe distance between the vehicle and the target object based on the first friction coefficient, the first moving speed of the vehicle itself, and other collision auxiliary information other than the first friction coefficient. Through the method provided in this embodiment, the terminal device can calculate the safe distance between the vehicle and the target object in combination with the relationship between the inclination state of the vehicle and the friction. Therefore, the method provided in this embodiment can improve the accuracy of calculating the safe collision distance, thereby improving the accuracy of the collision warning system for forward collision, rear-end collision warning, reverse overtaking and other scenarios, thereby improving the driving safety of the vehicle.

[0107] Figure 6 FIG. 5 shows a specific implementation flow chart of a collision warning method S101 and S102 provided in the fifth embodiment of the present application. Figure 6 , compared to Figure 1 In the embodiment, in a collision warning method provided in this embodiment, S101 includes: S601, S102 includes: S602, which are specifically described as follows:

[0108] S601. Obtain weather information of the location of the vehicle, and determine the second friction coefficient based on the weather information.

[0109] In this embodiment, the environmental information obtained by the terminal device may also include a second friction coefficient. The second friction coefficient in the environmental information may be used to represent the relationship between the road surface condition and friction at the location of the vehicle. When the vehicle is in motion, the terminal device may obtain the location information of the vehicle in real time through the global satellite positioning system on the vehicle. After obtaining the location information, the terminal device may obtain the meteorological information corresponding to the current location information through a pre-set application programming interface (API). After obtaining the meteorological information at the location of the vehicle, the terminal device may query the second friction coefficient corresponding to the current meteorological information through a pre-set road surface coefficient table. The road surface coefficient table may store a plurality of meteorological types and the second friction coefficients corresponding to the various meteorological types.

[0110] S602: Determine a safe distance between the vehicle and the target object based on the second friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

[0111] In this embodiment, after determining the second friction coefficient, the terminal device can determine the safe distance between the vehicle and the target object according to the second friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value. When the second moving speed of the target object is equal to 0, the terminal device can input the second friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value into the regression function, and calculate the safe distance between the vehicle and the target object through the regression function. When the second moving speed of the target object is not equal to 0, the terminal device can input the second friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value into the preset safety distance function, and calculate the safe distance between the vehicle and the target object through the safety distance function. For the specific method of calculating the safety distance through the regression function or the safety distance function, please refer to the contents of the second and third embodiments of the specification, which will not be repeated here.

[0112] In this embodiment, the terminal device can obtain the meteorological information of the location of the vehicle during the driving process of the vehicle, and determine the second friction coefficient of the location of the vehicle based on the meteorological information. Among them, the second friction coefficient can represent the relationship between the road surface state and the friction force. The terminal device can calculate the safe distance between the vehicle and the target object based on the second friction force. Therefore, through the method provided in this embodiment, the terminal device can flexibly calculate the safe distance according to the actual situation of the vehicle, thereby reducing the false alarm or missed alarm of the collision alarm.

[0113] Figure 7FIG. 6 shows a specific implementation flow chart of a collision warning method S102 provided in the sixth embodiment of the present application. Figure 7 , compared to Figure 1 In the embodiment, after S102, a collision warning method provided in the embodiment further includes: S701 to S702, which are described in detail as follows:

[0114] S701: Acquire an environmental image of the location of the target object.

[0115] In this embodiment, after determining the safety distance corresponding to the target object, the terminal device can obtain the environmental image of the location of the target object through the camera on the vehicle body. The camera on the vehicle body may include but is not limited to a surround view camera, a rear view camera, a front view camera, a side view camera, a built-in camera and other cameras. The image format of the environmental image can be any image format such as JPEG format (Joint Photographic Experts Group Image Format), RAW format (RAW Image Format) and TIFF format (Tagged Image File Format).

[0116] S702: Transmit the environment image and the safety distance to a display device, so that the display device displays the safety distance corresponding to the target object through the environment image.

[0117] In this embodiment, after acquiring the environment image of the target object, the terminal device can transmit the environment image and the safety distance corresponding to the target object to the corresponding display device through the controller local area network, so that the display device displays the safety distance corresponding to the target object through the environment image. The display device for displaying the safety distance can be any display device on the vehicle, such as the vehicle display screen, instrument display screen, head-up display screen, etc.

[0118] In a possible implementation, after acquiring the environment image at the location of the target object, the terminal device can transmit the environment image to the image signal processor (ISP) to perform target detection on the environment image through the target detection algorithm in the image processing module. Among them, the image processing module can perform various image processing such as high dynamic range imaging (HDR), pixel correction, auto white balance (AWB), auto exposure (AE), noise processing, etc. on the environment image collected by the camera. The target detection algorithm in the image processing module can be used to detect the target object in the environment image and generate the target detection result corresponding to the environment image. The terminal device can transmit the target detection result, the environment image and the safety distance to the display device so that the display device displays the safety distance and detection frame corresponding to the target object on the environment image.

[0119] See also Figure 8 , shows a schematic diagram of displaying a safety distance provided by an embodiment of the present application. Figure 8 As shown, after the terminal device determines the safety distance corresponding to the target object, the environment image of the target object and the safety distance corresponding to the target object can be transmitted to the display device. After receiving the environment image and the safety distance, the display device can display the target object in the environment image in the form of a flashing detection frame. At the same time, the display device can also display the safety distance corresponding to the target object above the detection frame to provide a better prompt effect for the driver.

[0120] It should be noted that the target detection algorithm in the embodiments of the present application can be any target detection algorithm known to those skilled in the art, such as the OverFeat algorithm, YOLOv1 algorithm, YOLOv2 algorithm, YOLOv3 algorithm, SSD algorithm, and RetinaNet algorithm. The embodiments of the present application do not limit the specific type of the target detection algorithm.

[0121] It should be noted 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.

[0122] Reference Fig. 9 , shows a schematic diagram of a collision warning device provided in an embodiment of the present application, which may specifically include an information acquisition module 901, a safety distance determination module 902 and a warning result generation module 903, wherein:

[0123] The information acquisition module 901 is used to acquire collision assistance information of the vehicle in the current state while the vehicle is in motion; the collision assistance information includes at least one of a tire pressure characteristic value, a load characteristic value and environmental information;

[0124] A safety distance determination module 902, configured to determine a safety distance between the vehicle and a target object based on the first moving speed of the vehicle itself and the collision assistance information;

[0125] The warning result generating module 903 is used to generate a collision warning result corresponding to the target object based on the safety distance and the actual distance corresponding to the target object.

[0126] The information acquisition module can also be used to obtain the inclination angle of the vehicle; determine the first friction coefficient based on the inclination angle and the load characteristic value; the safety distance determination module can also be used to determine the safety distance between the vehicle and the target object based on the first friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value; wherein the first friction coefficient is used to represent the relationship between the inclination state of the vehicle and the friction force.

[0127] The information acquisition module can also be used to obtain meteorological information at the location of the vehicle and determine the second friction coefficient based on the meteorological information; the safety distance determination module can also be used to determine the safety distance between the vehicle and the target object based on the second friction coefficient, the first moving speed, the tire pressure characteristic value and the load characteristic value; wherein the second friction coefficient is used to represent the relationship between the road surface condition and friction at the location of the vehicle.

[0128] The safety distance determination module can also be used to obtain the regression parameters corresponding to the vehicle if the second moving speed corresponding to the target object is equal to 0; the regression parameters are generated by a target regression model; the target regression model is constructed by the first moving speed, the tire pressure characteristic value, the load characteristic value, the environmental information and the historical safety distance; based on the regression parameters, the first moving speed and the collision assistance information, the first safety distance between the vehicle and the target object is determined.

[0129] The safety distance determination module can also be used to input the first moving speed, the second moving speed and the collision assistance information into a preset safety distance function if the second moving speed corresponding to the target object is not equal to 0, so as to calculate the second safety distance corresponding to the target object through the safety distance function.

[0130] The safety distance determination module can also be used to calculate the safety distance function; the safety distance function can be:

[0131]

[0132] Wherein, D2 is the second safety distance; V1 is the first moving speed corresponding to the vehicle; V2 is the second moving speed corresponding to the target; T is the reaction time; t1 is the braking coordination time of the vehicle; the braking coordination time is the time required for the vehicle to receive the braking command and perform the braking action; t2 is the deceleration growth time of the vehicle; the deceleration growth time is the time required for the vehicle to increase from a deceleration of 0 to a target deceleration; L0 is the body length corresponding to the vehicle; k p is the tire pressure coefficient corresponding to the tire pressure characteristic value; the k r is the environmental coefficient corresponding to the environmental information; z is the load coefficient corresponding to the load characteristic value.

[0133] The warning result generation module can also be used to obtain an environmental image of the location of the target object; transmit the environmental image and the safety distance to a display device so that the display device displays the safety distance corresponding to the target object through the environmental image.

[0134] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0135] Reference Fig.10 , shows a schematic diagram of a terminal device provided in an embodiment of the present application. Fig.10 As shown, the terminal device 1000 in the embodiment of the present application includes: a processor 1010, a memory 1020, and a computer program 1021 stored in the memory 1020 and executable on the processor 1010. When the processor 1010 executes the computer program 1021, the steps in each embodiment of the above-mentioned collision warning method are implemented, for example Figure 1 Alternatively, when the processor 1010 executes the computer program 1021, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig. 9 Functions of modules 901 to 903 are shown.

[0136] Exemplarily, the computer program 1021 may be divided into one or more modules / units, which are stored in the memory 1020 and executed by the processor 1010 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which may be used to describe the execution process of the computer program 1021 in the terminal device 1000. For example, the computer program 1021 may be divided into an information acquisition module, a safety distance determination module, and an early warning result generation module, and the specific functions of each module are as follows:

[0137] An information acquisition module, used to acquire collision assistance information of the vehicle in a current state while the vehicle is in motion; the collision assistance information includes at least one of a tire pressure characteristic value, a load characteristic value, and environmental information;

[0138] A safety distance determination module, configured to determine a safety distance between the vehicle and a target object based on the first moving speed of the vehicle itself and the collision assistance information;

[0139] The warning result generating module is used to generate a collision warning result corresponding to the target object based on the safety distance and the actual distance corresponding to the target object.

[0140] The terminal device 1000 may be a terminal device in the aforementioned embodiments, and may be a computer, a large server, an electronic control unit (ECU), a microcontroller unit (MCU), a central processing unit (CPU), or the like. The terminal device 1000 may include, but is not limited to, a processor 1010 and a memory 1020. Those skilled in the art may understand that Fig.10 It is only an example of the terminal device 1000 and does not constitute a limitation of the terminal device 1000. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 1000 may also include input and output devices, network access devices, buses, etc.

[0141] The processor 1010 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.

[0142] The memory 1020 may be an internal storage unit of the terminal device 1000, such as a hard disk or memory of the terminal device 1000. The memory 1020 may also be an external storage device of the terminal device 1000, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 1000. Further, the memory 1020 may also include both an internal storage unit of the terminal device 1000 and an external storage device. The memory 1020 is used to store the computer program 1021 and other programs and data required by the terminal device 1000. The memory 1020 may also be used to temporarily store data that has been output or is to be output.

[0143] An embodiment of the present application also discloses a terminal device, including 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, the collision warning method as described in the above-mentioned embodiments is implemented.

[0144] The embodiment of the present application further discloses 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 collision warning method as described in the above-mentioned embodiments is implemented.

[0145] The embodiment of the present application further discloses a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the collision warning method described in the above-mentioned embodiments.

[0146] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A collision warning method, characterized in that: include: When driving, obtain collision assistance information of the vehicle in its current state; The collision assistance information includes: at least one of a tire pressure characteristic value, a load characteristic value and environmental information; Determining a safe distance between the vehicle and a target object based on the first moving speed of the vehicle and the collision assistance information; A collision warning result corresponding to the target object is generated based on the safety distance and the actual distance corresponding to the target object.

2. The method according to claim 1, characterized in that The environmental information includes a first friction coefficient, and the first friction coefficient is used to represent the relationship between the tilt state of the vehicle and the friction force. The acquiring the collision assistance information in the current state of the vehicle in the driving state includes: Obtaining the tilt angle of the vehicle; determining the first friction coefficient based on the inclination angle and the load characteristic value; The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes: A safe distance between the vehicle and the target object is determined based on the first friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

3. The method according to claim 1, characterized in that The environmental information also includes a second friction coefficient, which is used to represent the relationship between the road surface state and the friction force at the location of the vehicle. The acquisition of collision assistance information in the current state of the vehicle in the driving state also includes: Acquiring meteorological information of a location of the vehicle, and determining the second friction coefficient based on the meteorological information; The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes: A safe distance between the vehicle and the target object is determined based on the second friction coefficient, the first moving speed, the tire pressure characteristic value, and the load characteristic value.

4. The method according to claim 1, characterized in that: The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes: If the second moving speed corresponding to the target object is equal to 0, a regression parameter corresponding to the vehicle is obtained; the regression parameter is generated by a target regression model; the target regression model is constructed by the first moving speed, the tire pressure characteristic value, the load characteristic value, the environmental information and the historical safety distance; A first safety distance between the vehicle and the target object is determined based on the regression parameter, the first moving speed, and the collision assistance information.

5. The method according to claim 1, characterized in that The determining a safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information includes: If the second moving speed corresponding to the target object is not equal to 0, the first moving speed, the second moving speed and the collision assistance information are input into a preset safety distance function to calculate the second safety distance corresponding to the target object through the safety distance function.

6. The method according to claim 5, characterized in that The safety distance function is: Wherein, D2 is the second safety distance; V1 is the first moving speed corresponding to the vehicle; V2 is the second moving speed corresponding to the target; T is the reaction time; t1 is the braking coordination time of the vehicle; the braking coordination time is the time required for the vehicle to receive the braking command and perform the braking action; t2 is the deceleration growth time of the vehicle; the deceleration growth time is the time required for the vehicle to increase from a deceleration of 0 to a target deceleration; L0 is the body length corresponding to the vehicle; k p is the tire pressure coefficient corresponding to the tire pressure characteristic value; the k r is the environmental coefficient corresponding to the environmental information; z is the load coefficient corresponding to the load characteristic value.

7. The method according to any one of claims 1 to 6, characterized in that: After determining the safe distance between the vehicle and the target object based on the first moving speed of the vehicle and the collision assistance information, the method further includes: Acquire an environmental image of the location of the target object; The environment image and the safety distance are transmitted to a display device, so that the display device displays the safety distance corresponding to the target object through the environment image.

8. A collision warning device, characterized in that: include: An information acquisition module is used to acquire collision assistance information of the vehicle in the current state while driving; The collision assistance information includes: at least one of a tire pressure characteristic value, a load characteristic value and environmental information; A safety distance determination module, configured to determine a safety distance between the vehicle and a target object based on the first moving speed of the vehicle itself and the collision assistance information; The warning result generating module is used to generate a collision warning result corresponding to the target object based on the safety distance and the actual distance corresponding to the target object.

9. A terminal device, 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 collision 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 collision warning method according to any one of claims 1 to 7 is implemented.

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