Vehicle track early warning method and device, vehicle and storage medium

Abstract

The invention provides a vehicle track early warning method and device, a vehicle and a storage medium, relates to the technical field of vehicles, and is used for solving the technical problems that an existing vehicle early warning method is complex in display interface and poor in user experience. The method comprises the following steps: firstly, acquiring obstacle information in a preset range of a vehicle and driving track information of the vehicle; the obstacle information comprises the position, the moving speed and the moving direction of each obstacle, and the driving track information is used for representing the driving track area of the vehicle. Then, according to the position, the moving speed and the moving direction of each obstacle and the driving track information, the collision time of each obstacle to the driving track area is determined, and the obstacle corresponding to the minimum collision time in the collision time smaller than a first preset threshold value is determined as a target obstacle. The first preset threshold value is determined according to the collision danger degree of the obstacle. Subsequently, early warning information indicating the target obstacle can be displayed in the driving track displayed by the vehicle.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a vehicle trajectory warning method, device, vehicle, and storage medium. Background Art

[0002] An electronic rearview mirror (Camera Monitor Systems, CMS) is a monitoring system composed of a camera and a sensor, which can obtain and display the driving trajectory of a vehicle and surrounding obstacles, improving the safety during vehicle driving.

[0003] However, when the CMS displays the surrounding obstacles of the vehicle, it usually boxes the obstacles and displays the boxed results, with a relatively complex display interface and poor user experience. Summary of the Invention

[0004] This application provides a vehicle trajectory warning method, device, vehicle, and storage medium, which are used to solve the technical problem that the display interface of the existing vehicle warning method is complex and the user experience is poor.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, a vehicle trajectory warning method is provided, including: obtaining obstacle information within a preset range of the vehicle and the driving trajectory information of the vehicle; the obstacle information includes the position, moving speed, and moving direction of each obstacle; the driving trajectory information is used to represent the driving trajectory area of the vehicle; determining the collision time of each obstacle to the driving trajectory area according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information; determining the obstacle corresponding to the minimum collision time among the collision times less than a first preset threshold as the target obstacle; the first preset threshold is determined according to the collision risk degree of the obstacle; and displaying a warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0007] Optionally, the warning information includes: a direction marker for indicating the direction of the obstacle; before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, it further includes: determining a target direction and a target position according to the position of the target obstacle and the driving trajectory information; the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position in the driving trajectory that is closest to the position of the target obstacle; and displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: displaying a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle.

[0008] Optionally, the obstacle information further includes the type of each obstacle; the direction markers of different types of obstacles are different; at the target position in the driving trajectory of the vehicle, the direction marker showing the target direction includes: at the target position in the driving trajectory displayed by the vehicle, the direction marker showing the target direction corresponding to the type of the target obstacle.

[0009] Optionally, the obstacle information further includes the size of each obstacle; the warning information further includes: a first warning color for indicating the first collision risk level; a second warning color for indicating the second collision risk level and a third warning color for indicating the third collision risk level; the risk levels of the first collision risk level, the second collision risk level and the third collision risk level decrease in sequence; the color reminder levels of the first warning color, the second warning color and the third warning color decrease in sequence; when the collision time of the target obstacle to the driving trajectory area is less than or equal to the second preset threshold, before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, it further includes: determining the display area and display size of the first warning color in the driving trajectory according to the size and target position of the target obstacle; the display area is the area spreading from the target position to both sides of the driving trajectory; the display size is the physical size mapped by the target obstacle on the driving trajectory; the second preset threshold is less than the first preset threshold; displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: based on the display area and display size of the first warning color in the driving trajectory, displaying the first warning color in the driving trajectory displayed by the vehicle, and sequentially transitioning to display the second warning color and the third warning color in the areas other than the first warning color in the driving trajectory.

[0010] Optionally, when the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, it further includes: determining the display area and display size of the second warning color in the driving trajectory according to the size and target position of the target obstacle; displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: based on the display area and display size of the second warning color in the driving trajectory, displaying the second warning color in the driving trajectory displayed by the vehicle, and transitioning to display the third warning color in the areas other than the second warning color in the driving trajectory.

[0011] In a second aspect, a vehicle trajectory warning device is provided, including: an acquisition unit, a determination unit, and a display unit; the acquisition unit is configured to acquire obstacle information and vehicle driving trajectory information within a preset range of the vehicle; the obstacle information includes the position, moving speed, and moving direction of each obstacle; the driving trajectory information is used to represent the driving trajectory area of the vehicle; the determination unit is configured to determine the collision time of each obstacle to the driving trajectory area according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information; the determination unit is further configured to determine the obstacle corresponding to the minimum collision time among the collision times less than a first preset threshold as the target obstacle; the first preset threshold is determined according to the collision risk level of the obstacle; the display unit is configured to display warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0012] Optionally, the warning information includes: a direction marker for indicating the direction of the obstacle; the determination unit is further configured to determine a target direction and a target position according to the position of the target obstacle and the driving trajectory information; the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position in the driving trajectory that is closest to the position of the target obstacle; the display unit is specifically configured to: display a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle.

[0013] Optionally, the obstacle information further includes the type of each obstacle; the direction markers of different types of obstacles are different; the display unit is specifically configured to: display a direction marker of the target direction corresponding to the type of the target obstacle at the target position in the driving trajectory displayed by the vehicle.

[0014] Optionally, the obstacle information further includes the size of each obstacle; the warning information further includes: a first warning color for indicating a first collision risk level; a second warning color for indicating a second collision risk level, and a third warning color for indicating a third collision risk level; the first collision risk level, the second collision risk level, and the third collision risk level decrease in sequence; the color reminder levels of the first warning color, the second warning color, and the third warning color decrease in sequence; when the collision time of the target obstacle to the driving trajectory area is less than or equal to a second preset threshold, the determination unit is further configured to determine the display area and display size of the first warning color in the driving trajectory according to the size of the target obstacle and the target position; the display area is the area that spreads from the target position to both sides of the driving trajectory; the display size is the physical size of the target obstacle mapped on the driving trajectory; the second preset threshold is less than the first preset threshold; the display unit is specifically configured to: based on the display area and display size of the first warning color in the driving trajectory, display the first warning color in the driving trajectory displayed by the vehicle, and sequentially transition and display the second warning color and the third warning color in the area other than the first warning color in the driving trajectory.

[0015] Optionally, when the collision time between the target obstacle and the driving trajectory area is greater than a second preset threshold and less than a first preset threshold, the determining unit is further configured to determine the display area and display size of the second warning color in the driving trajectory according to the size and target position of the target obstacle; the display unit is specifically configured to: based on the display area and display size of the second warning color in the driving trajectory, display the second warning color in the driving trajectory displayed by the vehicle, and transitionally display a third warning color in the area other than the second warning color in the driving trajectory.

[0016] In a third aspect, a vehicle trajectory warning device is provided, including a memory and a processor; the memory is used for storing computer execution instructions, and the processor is connected to the memory through a bus; when the vehicle trajectory warning device runs, the processor executes the computer execution instructions stored in the memory, so that the vehicle trajectory warning device executes the vehicle trajectory warning method described in the first aspect.

[0017] In a fourth aspect, a computer-readable storage medium is provided, the computer-readable storage medium includes computer execution instructions, and when the computer execution instructions run on a computer, the computer is enabled to execute the vehicle trajectory warning method described in the first aspect.

[0018] In a fifth aspect, a computer program product is further provided, the computer program product includes computer instructions, and when the computer instructions run on the vehicle trajectory warning device, the vehicle trajectory warning device is enabled to execute the vehicle trajectory warning method described in the first aspect as above.

[0019] It should be noted that the above computer instructions may be stored in whole or in part on a first computer-readable storage medium. Wherein, the first computer-readable storage medium may be packaged together with the processor of the vehicle trajectory warning device, or may be separately packaged from the processor of the vehicle trajectory warning device. The embodiments of the present application do not make any limitations in this regard.

[0020] In a sixth aspect, a vehicle is provided, including the vehicle trajectory warning device as described in the third aspect.

[0021] The descriptions of the second aspect, the third aspect, the fourth aspect, the fifth aspect and the sixth aspect in the present application may refer to the detailed description of the first aspect; and, the beneficial effects of the second aspect, the third aspect, the fourth aspect, the fifth aspect and the sixth aspect may refer to the analysis of the beneficial effects of the first aspect, which will not be elaborated here.

[0022] In the embodiments of the present application, the names of the above vehicle trajectory warning devices do not limit the devices or functional modules themselves. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of the present application and fall within the scope of the claims of the present application and their equivalent technologies.

[0023] These aspects or other aspects of the present application will be more clearly understood in the following description.

[0024] The technical solutions provided by the present application at least bring the following beneficial effects:

[0025] Based on any of the above aspects, the present application proposes a vehicle trajectory warning method. First, obstacle information within a preset range of the vehicle and the driving trajectory information of the vehicle are obtained. Among them, the obstacle information includes the position, moving speed, and moving direction of each obstacle, and the driving trajectory information is used to represent the driving trajectory area of the vehicle. Then, according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information, the collision time of each obstacle to the driving trajectory area can be determined, and among the collision times less than the first preset threshold, the obstacle corresponding to the minimum collision time is determined as the target obstacle. Among them, the first preset threshold is determined according to the collision risk degree of the obstacle. Subsequently, a warning message indicating the target obstacle can be displayed in the driving trajectory displayed by the vehicle.

[0026] As can be seen from the above, after the present application determines the target obstacle, a warning message indicating the target obstacle can be displayed in the driving trajectory displayed by the vehicle. In this way, by adding the warning message of the target obstacle to the driving trajectory displayed by the vehicle, it can be reminded that there is an obstacle in the driving trajectory of the vehicle. The display process of the warning message is clear and concise, and there is no need to frame and display the obstacle, solving the technical problem that the display interface of the existing vehicle warning method is complex and the user experience is poor. Secondly, displaying the warning message in the driving trajectory can also remind the user that there is a target obstacle on the driving trajectory, avoiding traffic accidents of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of a vehicle trajectory warning system provided by an embodiment of the present application;

[0028] Figure 2 It is a schematic hardware structure diagram of a vehicle trajectory warning device provided by an embodiment of the present application;

[0029] Figure 3 It is a schematic flowchart of a vehicle trajectory warning method provided by an embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of a display interface of a warning message provided by an embodiment of the present application;

[0031] Figure 5 It is a schematic flowchart of another vehicle trajectory warning method provided by an embodiment of the present application;

[0032] Figure 6A schematic flowchart of another vehicle trajectory warning method provided by an embodiment of the present application;

[0033] Figure 7 A schematic flowchart of another vehicle trajectory warning method provided by an embodiment of the present application;

[0034] Figure 8 A schematic flowchart of another vehicle trajectory warning method provided by an embodiment of the present application;

[0035] Figure 9 A schematic structural diagram of a vehicle trajectory warning device provided by an embodiment of the present application. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0037] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0038] In order to facilitate a clear description of the technical solutions in the embodiments of the present application, in the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using words such as "first" and "second". Those skilled in the art can understand that the words such as "first" and "second" do not limit the quantity and execution order.

[0039] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion.

[0040] As described in the background technology, when the CMS displays the obstacles around the vehicle, it usually boxes the obstacles and displays the boxed results, and the display interface is relatively complex, resulting in a poor user experience. Secondly, since the CMS is usually deployed on both sides of the vehicle and cannot display the view directly behind or in front of the vehicle, when an obstacle appears directly behind or in front of the vehicle, the CMS cannot give an early warning in time.

[0041] In view of the above problems, an embodiment of the present application provides a vehicle trajectory warning method. First, obstacle information within a preset range of the vehicle and the driving trajectory information of the vehicle are obtained. Among them, the obstacle information includes the position, moving speed, and moving direction of each obstacle, and the driving trajectory information is used to represent the driving trajectory area of the vehicle. Then, according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information, the collision time of each obstacle to the driving trajectory area can be determined, and among the collision times less than the first preset threshold, the obstacle corresponding to the minimum collision time is determined as the target obstacle. Among them, the first preset threshold is determined according to the collision risk degree of the obstacle. Subsequently, a warning message indicating the target obstacle can be displayed in the driving trajectory displayed by the vehicle.

[0042] As can be seen from the above, after the target obstacle is determined in the present application, a warning message indicating the target obstacle can be displayed in the driving trajectory displayed by the vehicle. In this way, by adding the warning message of the target obstacle to the driving trajectory displayed by the vehicle, it can be reminded that there are obstacles in the driving trajectory of the vehicle. The display process of the warning message is clear and concise, and there is no need to box and display the obstacles, solving the technical problems of the complex display interface and poor user experience of the existing vehicle warning methods. Secondly, displaying the warning message in the driving trajectory can also remind the user that there is a target obstacle on the driving trajectory, avoiding traffic accidents of the vehicle.

[0043] This vehicle trajectory warning method is applicable to a vehicle trajectory warning system. Figure 1 A structure of the vehicle trajectory warning system is shown. As Figure 1 shown, the vehicle trajectory warning system includes: a collection device 101, a driving trajectory determination device 102, and a vehicle trajectory warning device 103.

[0044] Among them, the vehicle trajectory warning device 103 is respectively connected between the collection device 101 and the driving trajectory determination device 102.

[0045] Figure 1 The collection device 101 in [] is used to obtain obstacle information within the vehicle driving scene.

[0046] Optionally, the collection device 101 includes a sonar module and a camera module.

[0047] The sonar module is used to detect obstacle information such as the distance between the obstacle in the vehicle driving scene and the vehicle.

[0048] The camera module is used to frame by frame capture images of the parking position and surrounding obstacles during the vehicle parking process to obtain obstacle information such as the position, moving direction, type, and size of the obstacles.

[0049] Exemplarily, the collection device 101 can be a sensing device such as a camera, radar, or CMS.

[0050] Figure 1 The driving trajectory determination device 102 therein is used to obtain the steering wheel angle information of the vehicle and determine the driving trajectory information of the vehicle according to the steering wheel angle information. For example, when the vehicle is moving forward, the driving trajectory determination device 102 can determine the driving trajectory information of the front wheels of the vehicle. Correspondingly, when the vehicle is moving backward, the driving trajectory determination device 102 can determine the driving trajectory information of the rear wheels of the vehicle.

[0051] Figure 1 The vehicle trajectory warning device 103 therein is used to determine a target obstacle according to the obstacle information acquired by the acquisition device 101 and the driving trajectory information of the vehicle determined by the driving trajectory determination device 102, and display a warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0052] Optionally, the vehicle trajectory warning device 103 can be an electronic device such as a center console or an in-vehicle computer installed inside the vehicle, or can be installed at other positions of the vehicle to implement the vehicle trajectory warning method provided by the embodiments of the present application.

[0053] In some embodiments, Figure 2 shows the hardware structure of the vehicle trajectory warning device provided by the embodiments of the present application.

[0054] As Figure 2 shown, it is a schematic diagram of a hardware structure of the vehicle trajectory warning device provided by the embodiments of the present application. The vehicle trajectory warning device includes a processor 21, a memory 22, a communication interface 23, and a bus 24. The processor 21, the memory 22, and the communication interface 23 can be connected through the bus 24.

[0055] The processor 21 is the control center of the vehicle trajectory warning device, which can be a single processor or a collective term for multiple processing elements. For example, the processor 21 can be a general-purpose central processing unit (CPU), or other general-purpose processors, etc. Among them, the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0056] As an embodiment, the processor 21 can include one or more CPUs, such as Figure 2 the CPU 0 and CPU 1 shown in

[0057] The memory 22 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or can also be an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0058] In a possible implementation, the memory 22 can exist independently of the processor 21. The memory 22 can be connected to the processor 21 through the bus 24 and is used to store instructions or program code. When the processor 21 calls and executes the instructions or program code stored in the memory 22, the vehicle trajectory warning method provided in the following embodiments of the present application can be implemented.

[0059] In another possible implementation, the memory 22 can also be integrated with the processor 21.

[0060] The communication interface 23 is used for the vehicle trajectory warning device to be connected to other devices through a communication network. The communication network can be an Ethernet, a wireless access network, a wireless local area network (WLAN), etc. The communication interface 23 can include a receiving unit for receiving data and a sending unit for sending data.

[0061] The bus 24 can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0062] It should be noted that Figure 2 the structure shown in the figure does not constitute a limitation on the vehicle trajectory warning device, except Figure 2In addition to the components shown, the vehicle trajectory warning device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0063] An embodiment of the present application also provides a vehicle equipped with Figure 2 the vehicle trajectory warning device shown.

[0064] The vehicle trajectory warning method provided by the embodiment of the present application will be introduced in detail below with reference to the accompanying drawings.

[0065] As Figure 3 shown, the vehicle trajectory warning method provided by the embodiment of the present application is applied to Figure 1 or Figure 2 the vehicle trajectory warning device in, and includes:

[0066] S301. The vehicle trajectory warning device obtains obstacle information within a preset range of the vehicle and the driving trajectory information of the vehicle.

[0067] Specifically, a collection device (such as Figure 1 the collection device 101 in) may be deployed on the vehicle. The collection device can collect obstacle information within a preset range of the vehicle in real time, such as obstacle information such as the moving speed, position, moving direction, type, and size of the obstacle. After collecting the obstacle information within the preset range of the vehicle, the collection device can send the collected obstacle information to the vehicle trajectory warning device. Correspondingly, the vehicle trajectory warning device can obtain the obstacle information within the preset range of the vehicle, so as to display warning information related to the obstacle subsequently.

[0068] Secondly, a driving trajectory determination device (such as Figure 1 the driving trajectory determination device 102 in) may be deployed on the vehicle. The driving trajectory determination device can collect the steering wheel steering angle information in real time and determine the driving trajectory information of the vehicle according to the steering wheel steering angle information. After determining the driving trajectory information of the vehicle, the driving trajectory determination device can send the determined driving trajectory information to the vehicle trajectory warning device. Correspondingly, the vehicle trajectory warning device can obtain the driving trajectory information of the vehicle, so as to display the driving trajectory corresponding to the driving trajectory information subsequently, and display warning information related to the obstacle in the driving trajectory displayed by the vehicle.

[0069] S302. The vehicle trajectory warning device determines the collision time of each obstacle to the driving trajectory area according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information.

[0070] Specifically, after obtaining the position, moving speed, and moving direction of each obstacle, as well as the driving trajectory information of the vehicle, the vehicle trajectory warning device can determine the collision time of each obstacle to the driving trajectory area according to the position, moving speed, and moving direction of each obstacle, as well as the driving trajectory information of the vehicle.

[0071] Exemplarily, it is assumed that the obstacle information within the preset range of the vehicle obtained by the vehicle trajectory warning device includes: first obstacle information and second obstacle information.

[0072] Among them, the first obstacle information includes: the position of the first obstacle is: a meters behind the left rear of the vehicle; the moving speed is: b meters per second; the moving direction is due east.

[0073] The second obstacle information includes: the position of the second obstacle is: c meters behind the left rear of the vehicle; the moving speed is: d meters per second; the moving direction is due east. Wherein, c > a and d < b.

[0074] The driving trajectory information obtained by the vehicle trajectory warning device is: the vehicle trajectory of the vehicle reversing in the due south direction.

[0075] In this case, the vehicle trajectory warning device can determine that the collision time of the first obstacle to the driving trajectory area is m seconds according to the first obstacle information and the driving trajectory information of the vehicle.

[0076] Correspondingly, the vehicle trajectory warning device can determine that the collision time of the second obstacle to the driving trajectory area is n seconds according to the second obstacle information and the driving trajectory information of the vehicle.

[0077] Since c > a and d < b, therefore, the collision time (m seconds) of the first obstacle determined by the vehicle trajectory warning device to the driving trajectory area < the collision time (n seconds) of the second obstacle to the driving trajectory area.

[0078] S303. The vehicle trajectory warning device determines the obstacle corresponding to the minimum collision time among the collision times less than the first preset threshold as the target obstacle.

[0079] It should be understood that when there are multiple obstacles within the preset range of the vehicle, if the warning information of each obstacle is displayed, it may lead to a relatively complex display interface and poor user experience. In actual applications, when the vehicle can avoid the collision of the obstacle closest to the vehicle, the vehicle will not collide with other obstacles farther from the vehicle. Therefore, after determining the collision time of each obstacle to the driving trajectory area, the vehicle trajectory warning device can determine the obstacle corresponding to the minimum collision time among the collision times less than the first preset threshold as the target obstacle, so as to display the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle subsequently.

[0080] Among them, the first preset threshold is determined according to the collision risk degree of the obstacle. For example, when the collision time between the obstacle and the vehicle is less than 5 seconds, it can be determined that the collision risk degree of the obstacle is relatively high. In this case, the first preset threshold can be set to 5 seconds.

[0081] Of course, in practical applications, the first preset threshold can also be reasonably adjusted according to manual experience, and the embodiments of the present application do not limit this.

[0082] In practical applications, when there are multiple obstacles within a range relatively close to the vehicle, the first preset threshold set according to manual experience may screen out multiple obstacles. In this case, among the collision times less than the first preset threshold of the vehicle trajectory warning device, the obstacle corresponding to the minimum collision time is determined as the target obstacle.

[0083] It should be noted that when the distance between the obstacle and the vehicle is very close, but the moving direction is away from the vehicle, the vehicle trajectory warning device can determine that the collision time corresponding to the obstacle is infinite, that is, the obstacle cannot be considered as the target obstacle.

[0084] S304. The vehicle trajectory warning device displays warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0085] Specifically, after determining the target obstacle, in order to improve the simplicity of the display interface of the warning information, the vehicle trajectory warning device can display warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0086] Optionally, the warning information of the target obstacle may include: a direction marker for indicating the direction of the target obstacle, the type of the target obstacle, a first warning color for indicating the first collision risk degree, a second warning color for indicating the second collision risk degree, a third warning color for indicating the third collision risk degree, and other warning information.

[0087] Among them, the first collision risk degree, the second collision risk degree, and the third collision risk degree decrease in turn; the color reminder levels of the first warning color, the second warning color, and the third warning color decrease in turn.

[0088] In this way, by adding detailed warning information of the target obstacle to the driving trajectory displayed by the vehicle, it can be reminded that there is an obstacle in the vehicle driving trajectory. The display process of the warning information is clear and simple, and there is no need to frame and display the obstacle, which solves the technical problems of the complex display interface and poor user experience of the existing vehicle warning method. Secondly, displaying the warning information in the driving trajectory can also remind the user that there is a target obstacle on the driving trajectory, avoiding traffic accidents of the vehicle.

[0089] Exemplarily, Figure 4 FIG. shows a schematic diagram of a display interface for warning information provided by an embodiment of the present application. As Figure 4 shown, the display interface may include the outline 401 of the vehicle and the driving trajectory 402 of the vehicle. To improve the simplicity of the display interface for warning information, the driving trajectory 402 of the vehicle may include: a direction marker 403 for indicating the direction of the target obstacle, a first warning color 404 for indicating the first collision risk level, a second warning color 405 for indicating the second collision risk level, and a third warning color 406 for indicating the third collision risk level.

[0090] Among them, different obstacle types can be displayed by different direction markers.

[0091] Next, in combination with different warning contents in the warning information, the vehicle trajectory warning method provided by the embodiment of the present application will be introduced in detail.

[0092] When the warning information includes: a direction marker for indicating the direction of the obstacle, the vehicle trajectory warning device needs to determine in advance the direction of the target obstacle relative to the driving trajectory and the position on the driving trajectory that is closest to the position of the target obstacle. In this case, in combination with Figure 3 , as Figure 5 shown, before the vehicle trajectory warning device displays the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, the method further includes:

[0093] S501. The vehicle trajectory warning device determines a target direction and a target position according to the position of the target obstacle and the driving trajectory information.

[0094] Among them, the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position on the driving trajectory that is closest to the position of the target obstacle.

[0095] Specifically, in order to accurately display the direction marker for indicating the direction of the obstacle, the vehicle trajectory warning device may determine the target direction and the target position according to the position of the target obstacle and the driving trajectory information.

[0096] After determining the target direction and the target position, in the above S304, the method for the vehicle trajectory warning device to display the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle specifically includes:

[0097] S502. The vehicle trajectory warning device displays the direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle.

[0098] Specifically, after determining the target direction and target position, the vehicle trajectory warning device can display a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle. For example Figure 4 The direction marker 403 in []. The display direction of this direction marker is the target direction determined in S501. Correspondingly, the display position of this direction marker is the target position determined in S501.

[0099] As can be seen from the above, when displaying warning information, the vehicle trajectory warning device can determine the target direction and target position according to the obstacle information of the target obstacle, and then display a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle, so as to remind the user of the direction and position where the target obstacle is located, enriching the warning content of the warning information and improving the user experience.

[0100] To enrich the warning content of the warning information, the vehicle trajectory warning device can also display different direction markers according to different obstacle types. In this case, the obstacle information also includes the type of each obstacle, and the direction markers of different types of obstacles are different. Combining Figure 5 , such as Figure 6 shown, when the obstacle information also includes the type of each obstacle, in the above S502, the method for the vehicle trajectory warning device to display a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle specifically includes:

[0101] S601. The vehicle trajectory warning device displays a direction marker of the target direction corresponding to the type of the target obstacle at the target position in the driving trajectory displayed by the vehicle.

[0102] Exemplarily, when the obstacle type of the target obstacle is a person, the direction marker 403 can be a single arrow. When the obstacle type of the target obstacle is a building, the direction marker 403 can be a double arrow.

[0103] To enrich the warning content of the warning information, the vehicle trajectory warning device can also display the collision risk level corresponding to the target obstacle through warning colors. In this case, the obstacle information also includes the size of each obstacle; the warning information also includes: a first warning color for indicating a first collision risk level, a second warning color for indicating a second collision risk level, and a third warning color for indicating a third collision risk level.

[0104] It should be understood that when the collision risk levels corresponding to the target obstacles are different, the vehicle trajectory warning device can display different warning colors.

[0105] Exemplarily, assuming that the second preset threshold is 3 seconds, the first preset threshold is 5 seconds, the first warning color is red, the second warning color is yellow, and the third warning color is green.

[0106] When the collision time from the target obstacle to the driving trajectory area is less than or equal to 3 seconds, the vehicle trajectory warning device can display a red warning color in the area corresponding to the target obstacle in the driving trajectory. At the same time, in order to enrich the display content of the warning information, the vehicle trajectory warning device can also sequentially display yellow and green in the areas other than red in the driving trajectory.

[0107] When the collision time from the target obstacle to the driving trajectory area is greater than 3 seconds and less than 5 seconds, the vehicle trajectory warning device can display a yellow warning color in the area corresponding to the target obstacle in the driving trajectory. At the same time, in order to enrich the display content of the warning information, the vehicle trajectory warning device can also display green in the areas other than yellow in the driving trajectory.

[0108] When the collision time from the target obstacle to the driving trajectory area is greater than or equal to 5 seconds, the vehicle trajectory warning device can display a driving trajectory that is all green.

[0109] In an implementable manner, when the collision time from the target obstacle to the driving trajectory area is less than or equal to the second preset threshold, since the second preset threshold is a threshold smaller than the first preset threshold, the target obstacle is in a position with a relatively high degree of danger. In this case, since the color reminder level corresponding to the first warning color is also a relatively high reminder level, the vehicle trajectory warning device can display the first warning color. At the same time, in order to enrich the display content of the warning information, the vehicle trajectory warning device can also sequentially display the second warning color and the third warning color in the areas other than the first warning color in the driving trajectory.

[0110] Among them, the second preset threshold can also be determined according to the collision risk level of the obstacle. However, the collision risk level of the obstacle corresponding to the second preset threshold is higher than the collision risk level of the obstacle corresponding to the first preset threshold. For example, when the collision time between the obstacle and the vehicle is less than 3 seconds, it can be determined that the collision risk level of the obstacle is higher. In this case, the second preset threshold can be set to 3 seconds.

[0111] Of course, in practical applications, the second preset threshold can also be reasonably adjusted according to manual experience, and the embodiments of the present application do not limit this.

[0112] Specifically, in combination with Figure 6 , such as Figure 7 shown, when the collision time from the target obstacle to the driving trajectory area is less than or equal to the second preset threshold, before the vehicle trajectory warning device displays the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, the method further includes:

[0113] S701. The vehicle trajectory warning device determines the display area and display size of the first warning color in the driving trajectory according to the size and target position of the target obstacle.

[0114] Among them, the display area is the area that spreads from the target position to both sides of the driving trajectory; the display size is the physical size of the target obstacle mapped on the driving trajectory.

[0115] Specifically, since the target obstacle is usually an object with a certain size, the possible collision area of the target obstacle in the driving trajectory is also an area with a certain size. The size of this area is usually the same as or similar to the size of the obstacle. In this case, the vehicle trajectory warning device can determine the display size of the first warning color in the driving trajectory according to the size of the target obstacle, that is, the physical size of the target obstacle mapped on the driving trajectory.

[0116] Secondly, after determining the display size of the first warning color in the driving trajectory, the vehicle trajectory warning device can spread from the target position to both sides of the driving trajectory according to the display size of the first warning color in the driving trajectory, so as to determine the display area and display size of the first warning color in the driving trajectory.

[0117] After determining the display area and display size of the first warning color in the driving trajectory, in the above S304, the method for the vehicle trajectory warning device to display the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle specifically includes:

[0118] S702. The vehicle trajectory warning device displays the first warning color in the driving trajectory displayed by the vehicle based on the display area and display size of the first warning color in the driving trajectory, and sequentially transitions to display the second warning color and the third warning color in the area other than the first warning color in the driving trajectory.

[0119] Optionally, the display size of the second warning color can be a fixed size or determined according to the ratio of the display size of the first warning color. The embodiments of the present application do not limit this.

[0120] Exemplarily, as Figure 4 shown, the first warning color can be the first warning color 404 used to represent the first collision danger level. The second warning color can be the second warning color 405 used to represent the second collision danger level. The third warning color can be the third warning color 406 used to represent the third collision danger level.

[0121] Optionally, since the danger level of the first collision danger level is relatively high, the first warning color is usually red. Of course, the first warning color can also be set to other colors. The embodiments of the present application do not limit this.

[0122] Correspondingly, since the degree of the second collision risk is moderate, the second warning color is usually yellow. Of course, the second warning color can also be set to other colors with a lower reminder level than the first warning color, and the embodiments of the present application do not limit this.

[0123] Correspondingly, since the degree of the third collision risk is low, the third warning color is usually green. Of course, the third warning color can also be set to other colors with a lower reminder level than the second warning color, and the embodiments of the present application do not limit this.

[0124] In another implementable manner, when the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, the target obstacle is in a position with a moderate degree of risk. In this case, since the color reminder level corresponding to the second warning color is also a moderate reminder level, the vehicle trajectory warning device can display the second warning color and does not need to display the first warning color with a higher color reminder level. At the same time, in order to enrich the display content of the warning information, the vehicle trajectory warning device can also transitionally display the third warning color in the area other than the second warning color in the driving trajectory.

[0125] Specifically, in combination with Figure 6 , such as Figure 8 shown, when the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, before the vehicle trajectory warning device displays the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, the method further includes:

[0126] S801. The vehicle trajectory warning device determines the display area and display size of the second warning color in the driving trajectory according to the size and target position of the target obstacle.

[0127] For the specific implementation manner in which the vehicle trajectory warning device determines the display area and display size of the second warning color in the driving trajectory according to the size and target position of the target obstacle, reference can be made to the relevant description of S701, which will not be elaborated here.

[0128] After determining the display area and display size of the second warning color in the driving trajectory, in the above S304, the method for the vehicle trajectory warning device to display the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle specifically includes:

[0129] S802. The vehicle trajectory warning device displays the second warning color in the driving trajectory displayed by the vehicle based on the display area and display size of the second warning color in the driving trajectory, and transitionally displays the third warning color in the area other than the second warning color in the driving trajectory.

[0130] Optionally, since the color reminder level corresponding to the second warning color is a moderate reminder level, the second warning color may be yellow. Correspondingly, since the color reminder level corresponding to the third warning color is lower than that of the second warning color, the third warning color may be green.

[0131] In another implementable manner, when the collision time between the target obstacle and the driving trajectory area is greater than or equal to the first preset threshold, since the first preset threshold is a relatively large threshold compared to the second preset threshold, the target obstacle is in a position with a relatively low degree of danger. In this case, since the color reminder level corresponding to the third warning color is also a relatively low reminder level, the vehicle trajectory warning device may display the entire driving trajectory in the third warning color.

[0132] In summary, after determining the target obstacle, the present application can display rich warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, including: a direction marker for indicating the obstacle direction and obstacle type of the target obstacle, a first warning color for indicating the first collision danger level, a second warning color for indicating the second collision danger level, and a third warning color for indicating the third collision danger level, etc. In this way, by adding rich warning information about the target obstacle to the driving trajectory displayed by the vehicle, it is possible to remind that there is an obstacle in the vehicle driving trajectory. The display process of the warning information is clear and concise, without the need to box and display the obstacle, solving the technical problem that the display interface of the existing vehicle warning method is complex and the user experience is poor. Secondly, displaying warning information in the driving trajectory can also remind the user that there is a target obstacle on the driving trajectory, avoiding traffic accidents of the vehicle.

[0133] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of the method. To implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0134] Embodiments of the present application can divide the support server into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. Optionally, the division of modules in the embodiments of the present application is illustrative, only a logical function division, and there may be other division methods in actual implementation.

[0135] As Figure 9 shown, it is a schematic structural diagram of a vehicle trajectory warning device provided by an embodiment of the present application. The vehicle trajectory warning device can be used to execute Figure 3 , Figures 5 - 8 the vehicle trajectory warning method shown. Figure 9 The vehicle trajectory warning device shown includes: an acquisition unit 901, a determination unit 902, and a display unit 903;

[0136] The acquisition unit 901 is configured to acquire obstacle information within a preset range of the vehicle and driving trajectory information of the vehicle; the obstacle information includes the position, moving speed, and moving direction of each obstacle; the driving trajectory information is used to represent the driving trajectory area of the vehicle;

[0137] The determination unit 902 is configured to determine the collision time of each obstacle to the driving trajectory area according to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information;

[0138] The determination unit 902 is further configured to determine the obstacle corresponding to the minimum collision time among the collision times less than a first preset threshold as the target obstacle; the first preset threshold is determined according to the collision risk degree of the obstacle;

[0139] The display unit 903 is configured to display warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

[0140] Optionally, the warning information includes: a direction mark for indicating the direction of the obstacle;

[0141] The determination unit 902 is further configured to determine a target direction and a target position according to the position of the target obstacle and the driving trajectory information; the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position in the driving trajectory that is closest to the position of the target obstacle;

[0142] The display unit 903 is specifically configured to: display a direction mark of the target direction at the target position in the driving trajectory displayed by the vehicle.

[0143] Optionally, the obstacle information further includes the type of each obstacle; the direction markings of different types of obstacles are different; the display unit 903 is specifically configured to:

[0144] At the target position in the driving trajectory displayed by the vehicle, display a direction marking of the target direction corresponding to the type of the target obstacle.

[0145] Optionally, the obstacle information further includes the size of each obstacle; the warning information further includes: a first warning color for indicating the first collision risk level; a second warning color for indicating the second collision risk level, and a third warning color for indicating the third collision risk level; the risk levels of the first collision risk level, the second collision risk level, and the third collision risk level decrease in sequence; the color reminder levels of the first warning color, the second warning color, and the third warning color decrease in sequence;

[0146] When the collision time of the target obstacle to the driving trajectory area is less than or equal to the second preset threshold, the determination unit 902 is further configured to determine the display area and display size of the first warning color in the driving trajectory according to the size and target position of the target obstacle; the display area is the area that spreads from the target position to both sides of the driving trajectory; the display size is the physical size of the target obstacle mapped on the driving trajectory; the second preset threshold is less than the first preset threshold;

[0147] The display unit 903 is specifically configured to: Based on the display area and display size of the first warning color in the driving trajectory, display the first warning color in the driving trajectory displayed by the vehicle, and sequentially transition and display the second warning color and the third warning color in the area other than the first warning color in the driving trajectory.

[0148] Optionally, when the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, the determination unit 902 is further configured to determine the display area and display size of the second warning color in the driving trajectory according to the size and target position of the target obstacle;

[0149] The display unit 903 is specifically configured to:

[0150] Based on the display area and display size of the second warning color in the driving trajectory, display the second warning color in the driving trajectory displayed by the vehicle, and transition and display the third warning color in the area other than the second warning color in the driving trajectory.

[0151] The embodiment of the present application further provides a computer-readable storage medium, the computer-readable storage medium includes computer-executable instructions, when the computer-executable instructions run on a computer, the computer is caused to execute the vehicle trajectory warning method provided in the above embodiment.

[0152] An embodiment of the present application further provides a computer program that can be directly loaded into a memory and contains software code. After being loaded and executed by a computer, the computer program can implement the vehicle trajectory warning method provided in the above embodiment.

[0153] Those skilled in the art should be able to realize that in the above one or more examples, the functions described in the present application can be implemented by hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer-readable storage media and communication media, where the communication media includes any medium that facilitates the transmission of a computer program from one place to another. The storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0154] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0155] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form. The units described as separate components may or may not be physically separated, and the components displayed as units can be a physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0157] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle trajectory warning method, characterized in that, Including: Obtaining obstacle information within a preset range of the vehicle and driving trajectory information of the vehicle; The obstacle information includes the position, moving speed, and moving direction of each obstacle; The driving trajectory information is used to represent the driving trajectory area of the vehicle; According to the position, moving speed, and moving direction of each obstacle, and the driving trajectory information, determining the collision time of each obstacle to the driving trajectory area; Determining the obstacle corresponding to the minimum collision time among the collision times less than a first preset threshold as the target obstacle; The first preset threshold is determined according to the collision risk level of the obstacle; Displaying warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

2. The vehicle trajectory warning method according to claim 1, wherein The warning information includes: a direction marker for indicating the direction of the obstacle; before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, further including: According to the position of the target obstacle and the driving trajectory information, determining a target direction and a target position; the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position in the driving trajectory that is closest to the position of the target obstacle; The displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: Displaying a direction marker of the target direction at the target position in the driving trajectory displayed by the vehicle.

3. The vehicle trajectory warning method according to claim 2, wherein, The obstacle information further includes the type of each obstacle; the direction markers of different types of obstacles are different; the displaying the direction marker of the target direction at the target position in the driving trajectory of the vehicle includes: Displaying a direction marker of the target direction corresponding to the type of the target obstacle at the target position in the driving trajectory displayed by the vehicle.

4. The vehicle trajectory warning method according to claim 2 or 3, characterized in that, The obstacle information further includes the size of each obstacle; the warning information further includes: a first warning color for indicating a first collision risk level, a second warning color for indicating a second collision risk level, and a third warning color for indicating a third collision risk level; the risk levels of the first collision risk level, the second collision risk level, and the third collision risk level decrease in sequence; the color reminder levels of the first warning color, the second warning color, and the third warning color decrease in sequence; When the collision time of the target obstacle to the driving trajectory area is less than or equal to a second preset threshold, before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, further including: According to the size of the target obstacle and the target position, determining the display area and display size of the first warning color in the driving trajectory; the display area is the area spreading from the target position to both sides of the driving trajectory; the display size is the physical size of the target obstacle mapped on the driving trajectory; the second preset threshold is less than the first preset threshold; The displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: Based on the display area and display size of the first warning color in the driving trajectory, display the first warning color in the driving trajectory displayed by the vehicle, and in the driving trajectory, the second warning color and the third warning color are sequentially and gradually displayed in the area other than the first warning color.

5. The vehicle trajectory warning method according to claim 4, wherein When the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, before displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle, it further includes: Determine the display area and display size of the second warning color in the driving trajectory according to the size of the target obstacle and the target position; The displaying the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle includes: Based on the display area and display size of the second warning color in the driving trajectory, display the second warning color in the driving trajectory displayed by the vehicle, and in the driving trajectory, the third warning color is gradually displayed in the area other than the second warning color.

6. A vehicle trajectory warning device, characterized in that, It includes: An acquisition unit, a determination unit and a display unit; The acquisition unit is used to acquire the obstacle information within the preset range of the vehicle and the driving trajectory information of the vehicle; The obstacle information includes the position, moving speed and moving direction of each obstacle; The driving trajectory information is used to represent the driving trajectory area of the vehicle; The determination unit is used to determine the collision time of each obstacle to the driving trajectory area according to the position, moving speed and moving direction of each obstacle, and the driving trajectory information; The determination unit is further used to determine the obstacle corresponding to the minimum collision time among the collision times less than the first preset threshold as the target obstacle; The first preset threshold is determined according to the collision risk degree of the obstacle; The display unit is used to display the warning information indicating the target obstacle in the driving trajectory displayed by the vehicle.

7. The vehicle trajectory warning device according to claim 6, characterized in that, The warning information includes: a direction mark for indicating the direction of the obstacle; The determination unit is further used to determine the target direction and the target position according to the position of the target obstacle and the driving trajectory information; the target direction is the direction of the target obstacle relative to the driving trajectory; the target position is the position in the driving trajectory that is closest to the position of the target obstacle; The display unit is specifically used to: display the direction mark of the target direction at the target position in the driving trajectory displayed by the vehicle.

8. The vehicle trajectory warning device according to claim 7, wherein The obstacle information further includes the type of each obstacle; the direction marks of different types of obstacles are different; the display unit is specifically used to: Display the direction mark of the target direction corresponding to the type of the target obstacle at the target position in the driving trajectory displayed by the vehicle.

9. The vehicle trajectory warning device according to claim 7 or 8, characterized in that, The obstacle information further includes the size of each obstacle; the warning information further includes: a first warning color for indicating the first collision risk level, a second warning color for indicating the second collision risk level, and a third warning color for indicating the third collision risk level; the risk levels of the first collision risk level, the second collision risk level, and the third collision risk level decrease in sequence; the color reminder levels of the first warning color, the second warning color, and the third warning color decrease in sequence. When the collision time of the target obstacle to the driving trajectory area is less than or equal to a second preset threshold, the determining unit is further configured to determine, according to the size of the target obstacle and the target position, the display area and display size of the first warning color in the driving trajectory; the display area is an area that spreads from the target position to both sides of the driving trajectory; the display size is the physical size mapped by the target obstacle on the driving trajectory; the second preset threshold is less than the first preset threshold. The display unit is specifically configured to: based on the display area and display size of the first warning color in the driving trajectory, display the first warning color in the driving trajectory displayed by the vehicle, and sequentially and gradually display the second warning color and the third warning color in the area other than the first warning color in the driving trajectory.

10. The vehicle trajectory warning device according to claim 8, characterized in that, When the collision time of the target obstacle to the driving trajectory area is greater than the second preset threshold and less than the first preset threshold, the determining unit is further configured to determine, according to the size of the target obstacle and the target position, the display area and display size of the second warning color in the driving trajectory. The display unit is specifically configured to: Based on the display area and display size of the second warning color in the driving trajectory, display the second warning color in the driving trajectory displayed by the vehicle, and gradually display the third warning color in the area other than the second warning color in the driving trajectory.

11. A vehicle trajectory warning device, characterized in that, It includes a memory and a processor; the memory is used to store computer execution instructions, and the processor is connected to the memory through a bus; when the vehicle trajectory warning device runs, the processor executes the computer execution instructions stored in the memory, so that the vehicle trajectory warning device executes the vehicle trajectory warning method according to any one of claims 1-5.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer execution instructions, and when the computer execution instructions run on a computer, the computer is caused to execute the vehicle trajectory warning method according to any one of claims 1-5.

13. A vehicle, characterized in that, It includes the vehicle trajectory warning device according to claim 11.

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