Vehicle reminding method and device, vehicle and storage medium

Abstract

The invention relates to a vehicle reminding method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining current sensing data collected by a foresight camera of the vehicle; based on the current perception data, identifying at least one target risk object crossing the front of the vehicle, and extracting current behavior data of each target risk object; and determining a reminding side of the vehicle according to the current behavior data of each target risk object, and when at least one to-be-reminded vehicle exists on the reminding side, carrying out risk early warning reminding on the at least one to-be-reminded vehicle. Therefore, the technical problems that in the related technology, visual field intercommunication of vehicles with different configurations is difficult to achieve, the reminding effect of a display screen arranged at an intersection is poor, and driving safety is difficult to guarantee are solved.

Description

Technical Field

[0001] This application relates to the technical field of automobiles, and particularly relates to a reminder method, device, vehicle and storage medium for a vehicle. Background Art

[0002] In traffic accidents, due to the obstruction of the line of sight by the vehicle itself, especially large trucks, accidents often occur in which vehicles in other lanes cause damage to pedestrians and bicycles crossing in front. In related technologies, mutual reminders can be achieved through vehicle-to-vehicle communication on the same channel or by equipping vision sharing devices. It is also possible to set up road traffic infrastructure and install real-time video data display screens at intersections from multiple angles to facilitate drivers to obtain a full view of the intersection.

[0003] However, in related technologies, due to different configurations of each automobile manufacturer and non-interoperable technologies, the feasibility of equipping vehicle-to-vehicle communication channels or vision sharing devices is relatively low. When the road traffic conditions are complex, drivers focus their attention on the road ahead and are likely to overlook the real-time video data display screen at the intersection, resulting in poor reminder effects of the display screen, which is not conducive to popularization and application and needs to be improved. Summary of the Invention

[0004] This application provides a reminder method, device, vehicle and storage medium for a vehicle to solve the technical problems in related technologies, such as the difficulty in realizing the vision intercommunication of vehicles with different configurations, the poor reminder effect of setting up display screens at intersections, and the difficulty in ensuring driving safety.

[0005] The first aspect of the embodiments of this application provides a reminder method for a vehicle, including the following steps: obtaining current perception data collected by a front view camera of the vehicle; based on the current perception data, identifying at least one target risk object crossing in front of the vehicle and extracting current behavior data of each target risk object; and determining the reminder side of the vehicle according to the current behavior data of each target risk object, and when there is at least one vehicle to be reminded on the reminder side, performing a risk warning reminder on the at least one vehicle to be reminded.

[0006] Optionally, in an embodiment of this application, the performing a risk warning reminder on the at least one vehicle to be reminded includes: obtaining the actual position of the at least one vehicle to be reminded relative to the vehicle; matching the optimal reminder method for the at least one vehicle to be reminded according to the actual position; and performing a risk warning reminder on the at least one vehicle to be reminded according to the optimal reminder method.

[0007] Optionally, in an embodiment of the present application, the method of matching the optimal reminder method for the at least one vehicle to be reminded according to the actual position includes: when the actual position is parallel to the vehicle, the optimal reminder method is to control at least one acoustic reminder device of the vehicle to give an acoustic reminder to the at least one vehicle to be reminded; when the actual position is at the rear side position of the vehicle, the optimal reminder method is to control at least one optical reminder device and / or at least one acoustic reminder device of the vehicle to give an acoustic reminder to the at least one vehicle to be reminded.

[0008] Optionally, in an embodiment of the present application, when the actual position is at the rear side position of the vehicle, after matching the optimal reminder method for the at least one vehicle to be reminded according to the actual position, it further includes: determining the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual position.

[0009] Optionally, in an embodiment of the present application, the method of determining the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual position includes: obtaining the actual type of the at least one target risk object; determining the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual type and the actual position.

[0010] Optionally, in an embodiment of the present application, the method of identifying at least one target risk object in front of the crossing vehicle includes: identifying the moving trends of multiple moving objects; when the moving trends meet the preset conditions for crossing in front of the vehicle, determining them as the target risk objects in front of the crossing vehicle.

[0011] Optionally, in an embodiment of the present application, the method of identifying at least one target risk object in front of the crossing vehicle based on the current perception data includes: obtaining the current measurement data detected by at least one roadside device; combining the current perception data and the current measurement data to determine at least one target risk object in front of the crossing vehicle.

[0012] A second aspect embodiment of the present application provides a reminder device for a vehicle, including: an acquisition module configured to acquire current perception data collected by a front view camera of the vehicle; an identification module configured to identify at least one target risk object crossing in front of the vehicle based on the current perception data, and extract current behavior data of each target risk object; and a reminder module configured to determine a reminder side of the vehicle according to the current behavior data of each target risk object, and perform a risk warning reminder on at least one vehicle to be reminded when there is at least one vehicle to be reminded on the reminder side.

[0013] Optionally, in an embodiment of the present application, the reminder module includes: a first acquisition unit configured to acquire an actual position of the at least one vehicle to be reminded relative to the vehicle; a matching unit configured to match an optimal reminder method for the at least one vehicle to be reminded according to the actual position; and a reminder unit configured to perform a risk warning reminder on the at least one vehicle to be reminded according to the optimal reminder method.

[0014] Optionally, in an embodiment of the present application, the matching unit includes: a first reminder subunit configured to, when the actual position is parallel to the vehicle, the optimal reminder method is to control at least one acoustic reminder device of the vehicle to perform an acoustic reminder on the at least one vehicle to be reminded; a second reminder subunit configured to, when the actual position is at a position behind the side of the vehicle, the optimal reminder method is to control at least one optical reminder device and / or at least one acoustic reminder device of the vehicle to perform an acoustic reminder on the at least one vehicle to be reminded.

[0015] Optionally, in an embodiment of the present application, it further includes: a determination module configured to determine an optimal semantics or optimal frequency of the at least one acoustic reminder device, and / or an optimal pattern and / or optimal projection position of the at least one optical reminder device according to the actual position.

[0016] Optionally, in an embodiment of the present application, the determination module includes: a second acquisition unit configured to acquire an actual type of the at least one target risk object; a first determination unit configured to determine an optimal semantics or optimal frequency of the at least one acoustic reminder device, and / or an optimal pattern and / or optimal projection position of the at least one optical reminder device according to the actual type and the actual position.

[0017] Optionally, in an embodiment of the present application, the identification module includes: an identification unit configured to identify a movement trend of a plurality of moving objects; a determination unit configured to determine, when the movement trend meets a preset condition for crossing in front of the vehicle, as a target risk object crossing in front of the vehicle.

[0018] Optionally, in an embodiment of the present application, the recognition module includes: a third acquisition unit configured to acquire current measurement data detected by at least one roadside device; a second determination unit configured to determine at least one target risk object in front of the crossing vehicle by combining the current perception data and the current measurement data.

[0019] An embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the program to implement the reminder method for a vehicle as described in the above embodiment.

[0020] An embodiment of the fourth aspect of the present application provides a computer-readable storage medium storing computer instructions for causing a computer to execute the reminder method for a vehicle as described in the above embodiment.

[0021] The embodiments of the present application can integrate the current perception data collected by the front-view camera of the vehicle to identify the current behavior data of the target risk object in front of the crossing vehicle, and then determine the reminder side of the vehicle according to the current behavior data of each target risk object, and perform risk warning reminders on the vehicles to be reminded on the reminder side, so as to avoid the rear vehicle from colliding with the target risk object passing through in front of the vehicle due to the visual occlusion of the vehicle itself, effectively ensuring road driving safety, without the need to implement direct communication between vehicles, and the reminder target is more targeted, which is convenient for popularization and application. Thus, the technical problems in the related art that it is difficult to achieve the visual intercommunication of vehicles with different configurations, and the reminder effect of setting a display screen at the intersection is poor and it is difficult to ensure driving safety are solved.

[0022] The additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. Description of the Drawings

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of the embodiments in conjunction with the drawings, where:

[0024] Figure 1 It is a flowchart of a reminder method for a vehicle according to an embodiment of the present application;

[0025] Figure 2a It is a schematic diagram of a pedestrian reminder pattern according to an embodiment of the present application;

[0026] Figure 2b It is a schematic diagram of a non-motor vehicle reminder pattern according to an embodiment of the present application;

[0027] Figure 2c It is a schematic diagram of a motor vehicle reminder pattern according to an embodiment of the present application;

[0028] Figure 3a Schematic diagram of a pedestrian reminder pattern according to another embodiment of the present application;

[0029] Figure 3b Schematic diagram of a non-motor vehicle reminder pattern according to another embodiment of the present application;

[0030] Figure 3c Schematic diagram of a motor vehicle reminder pattern according to another embodiment of the present application;

[0031] Figure 4 Schematic diagram of the principle of a vehicle reminder method according to an embodiment of the present application;

[0032] Figure 5 Schematic diagram of the structure of a vehicle reminder device provided according to an embodiment of the present application;

[0033] Figure 6 Schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. Detailed implementation manners

[0034] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, but should not be construed as limiting the present application.

[0035] The vehicle reminder method, device, vehicle and storage medium according to the embodiments of the present application will be described below with reference to the accompanying drawings. In view of the technical problems in the related art mentioned in the above background art, such as the difficulty in realizing the vision intercommunication of vehicles with different configurations, the poor reminder effect of setting a display screen at intersections, and the difficulty in ensuring driving safety, the present application provides a vehicle reminder method. In this method, the current perception data collected by the front view camera of the vehicle can be fused to identify the current behavior data of the target risk objects crossing in front of the vehicle, so as to determine the reminder side of the vehicle according to the current behavior data of each target risk object, and perform risk warning reminders on the vehicles to be reminded on the reminder side, avoiding the rear vehicle from colliding with the target risk objects passing through in front of the vehicle due to the vision occlusion of its own vehicle, effectively ensuring road driving safety, without the need to realize direct communication between vehicles, and the reminder target is more targeted, which is convenient for popularization and application. Thus, the technical problems in the related art, such as the difficulty in realizing the vision intercommunication of vehicles with different configurations, the poor reminder effect of setting a display screen at intersections, and the difficulty in ensuring driving safety, are solved.

[0036] Specifically, Figure 1 Flow chart of a vehicle reminder method provided by an embodiment of the present application.

[0037] As Figure 1 shown, the reminder method for the vehicle includes the following steps:

[0038] In step S101, obtain the current perception data collected by the front-view camera of the vehicle.

[0039] In the actual execution process, the embodiment of the present application can use the front-view camera of the vehicle to collect the current perception data in front of the vehicle.

[0040] For example, the front-view camera can be a camera for ADAS (Advanced Driving Assistance System), without setting up a new camera separately, and collect corresponding data at about 24 frames per second. The current perception data can be the current video data or picture data in front of the vehicle.

[0041] In step S102, based on the current perception data, identify at least one target risk object crossing in front of the vehicle, and extract the current behavior data of each target risk object.

[0042] As a possible implementation manner, the embodiment of the present application can identify whether there is at least one target risk object crossing in front of the vehicle based on the current perception data of the front-view camera, where the target risk object can be a pedestrian, a non-motor vehicle, a motor vehicle, an animal, or a plant blown away by the wind in bad weather, etc., and then extract the current behavior data of each crossing target risk object, including the crossing direction and crossing speed of the crossing target risk object.

[0043] Optionally, in an embodiment of the present application, identifying at least one target risk object crossing in front of the vehicle based on the current perception data includes: obtaining the current measurement data detected by at least one roadside device; combining the current perception data and the current measurement data to determine at least one target risk object crossing in front of the vehicle.

[0044] In addition to using the front-view camera of the vehicle to collect the current perception data in front of the vehicle to identify the target risk object, the embodiment of the present application can also use the method of combining the front-view camera with the roadside device to improve the identification accuracy of the target risk object.

[0045] Among them, the embodiment of the present application can use the front-view camera to collect the current perception data, and at the same time, through V2X (vehicle to X) technology, obtain the current measurement data from at least one roadside device. The roadside device can be an infrastructure built beside the road, specifically a roadside device capable of wireless communication around the vehicle; the current measurement data can be the surrounding video data and / or radar data detected by the roadside device.

[0046] Optionally, in an embodiment of the present application, identifying at least one target risk object crossing in front of the vehicle includes: identifying the moving trends of multiple moving objects; when the moving trends meet the preset conditions for crossing in front of the vehicle, determining them as target risk objects crossing in front of the vehicle.

[0047] In some embodiments, the embodiments of the present application can identify the moving trends of multiple moving objects, that is, target risk objects. For example, multiple pieces of current perception data at adjacent time intervals are obtained, and with a fixed point as a reference, the moving directions of multiple moving objects are determined; when the roadside device is a camera device, the moving directions of multiple moving objects can be directly obtained within a fixed time. When the roadside device is a radar device, with a communication vehicle as a reference point, within a fixed time, the moving directions of multiple moving objects relative to the communication vehicle are obtained.

[0048] Furthermore, when the embodiments of the present application determine that the moving trends meet the preset conditions for crossing in front of the vehicle, such as when it can be determined based on the moving trends that the target risk object will cross or is crossing in front of the vehicle, the moving object is determined as a target risk object.

[0049] In step S103, the reminder side of the vehicle is determined according to the current behavior data of each target risk object, and when there is at least one vehicle to be reminded on the reminder side, a risk warning reminder is given to at least one vehicle to be reminded.

[0050] In the actual execution process, after identifying the target risk object, the embodiments of the present application can further determine the risk of a cross collision and control the vehicle to give a risk warning reminder to the vehicle to be reminded on the reminder side. Among them, the reminder side can be determined according to the moving trend of each target risk object. For example, when the moving trend of the target risk object is from left to right, the reminder side is the right side of the vehicle; when the moving trend of the target risk object is from right to left, the reminder side is the left side of the vehicle, so as to remind the vehicle to be reminded that is in the blind area of vision due to vehicle occlusion to avoid the crossing target risk object, improving road safety.

[0051] Optionally, in an embodiment of the present application, giving a risk warning reminder to at least one vehicle to be reminded includes: obtaining the actual position of at least one vehicle to be reminded relative to the vehicle; matching the optimal reminder method for at least one vehicle to be reminded according to the actual position; giving a risk warning reminder to at least one vehicle to be reminded according to the optimal reminder method.

[0052] In some embodiments, the embodiments of the present application can use sensors such as radar to obtain the relative positions of the vehicle to be reminded and the vehicle, so as to match the optimal reminder method according to the relative positions.

[0053] For example, when the relative position between the vehicle to be reminded and the vehicle is far, risk warning can be carried out through warning sounds and lights. When the relative position between the vehicle to be reminded and the vehicle is close, risk warning can be carried out through voice reminder to enhance the reminder effect.

[0054] Optionally, in an embodiment of the present application, matching the optimal reminder method for at least one vehicle to be reminded according to the actual position includes: when the actual position is parallel to the vehicle, the optimal reminder method is to control at least one acoustic reminder device of the vehicle to give an acoustic reminder to at least one vehicle to be reminded; when the actual position is at the side rear position of the vehicle, the optimal reminder method is to control at least one optical reminder device and / or at least one acoustic reminder device of the vehicle to give an acoustic reminder to at least one vehicle to be reminded.

[0055] It can be understood that when the vehicle to be reminded is in a parallel position with the vehicle or there is a vehicle that does not need to be reminded in parallel with the vehicle, and the vehicle that does not need to be reminded is within the optical reminder range of the optical reminder device, the light reminder will affect the vision of the parallel vehicle, and at the same time, the reminder effect is poor. At this time, the embodiment of the present application can prohibit the optical reminder device from giving a reminder and only use the acoustic reminder device to give an acoustic reminder, such as voice broadcasting "There is a crossing target ahead, pay attention to avoidance", or through warning sounds.

[0056] When the actual position of the vehicle to be reminded is at the side rear position of the vehicle, the embodiment of the present application can control the optical reminder device and / or the acoustic reminder device of the vehicle to give a reminder. For example, when the vehicle needs to remind the vehicle to be reminded at the right rear side that there is a target risk object crossing from left to right ahead, the right outer contour light or warning light of the vehicle can be turned on, or it can also be reminded through voice broadcasting or warning sounds.

[0057] Optionally, in an embodiment of the present application, when the actual position is at the side rear position of the vehicle, after matching the optimal reminder method for at least one vehicle to be reminded according to the actual position, it further includes: determining the best semantics or best frequency of at least one acoustic reminder device, and / or the best pattern and / or best projection position of at least one optical reminder device according to the actual position.

[0058] Furthermore, specifically, the voice reminder semantics, the flashing frequency of the optical reminder light, the frequency of the acoustic reminder warning sound, and / or the best pattern and / or best projection position of the projection of the optical reminder device can all be determined according to the actual position of the vehicle to be reminded.

[0059] For example, when the actual distance between the vehicle to be reminded and the vehicle is greater than 10 m, the flashing frequency of the optical reminder light and the frequency of the acoustic reminder warning sound can be once every 2 s; when the actual distance between the vehicle to be reminded and the vehicle is greater than 5 m and less than or equal to 10 m, the flashing frequency of the optical reminder light and the frequency of the acoustic reminder warning sound can be once every 1 s, and the best semantic meaning can be "There is a crossing target ahead, please pay attention and avoid it", and the best pattern is projected. The projection position can be on the current driving road of the vehicle to be reminded, at a position parallel to the rear of the vehicle; when the actual distance between the vehicle to be reminded and the vehicle is less than or equal to 5 m but not parallel, the best semantic meaning can be "There is a crossing target ahead, please slow down", and the projection position can be on the current driving road of the vehicle to be reminded, at a position parallel to the front of the vehicle.

[0060] It should be noted that the best semantic meaning, or the best frequency, and / or the best pattern and / or the best projection position can be set accordingly by those skilled in the art according to the actual situation. The above is only an example.

[0061] Optionally, in an embodiment of the present application, determining the best semantic meaning or the best frequency of at least one acoustic reminder device, and / or the best pattern and / or the best projection position of at least one optical reminder device according to the actual position includes: obtaining the actual types of at least one target risk object; determining the best semantic meaning or the best frequency of at least one acoustic reminder device, and / or the best pattern and / or the best projection position of at least one optical reminder device according to the actual types and the actual position.

[0062] Furthermore, the embodiment of the present application can determine the best pattern of the optical reminder device according to the actual type of the target risk object and the moving trend of the target risk object. For example, Figure 2a 、 Figure 2b Figure 2c As shown, when a pedestrian, a non-motor vehicle, and a motor vehicle cross from right to left, the best pattern projected by the left optical reminder device of the embodiment of the present application; as Figure 3a 、 Figure 3b and Figure 3c As shown, when a pedestrian, a non-motor vehicle, and a motor vehicle cross from left to right, the best pattern projected by the right optical reminder device of the embodiment of the present application, so that the driver of the vehicle to be reminded can directly obtain the reminder purpose through simple and easy-to-understand light language, and thus avoid it.

[0063] The embodiments of the present application can also determine the optimal projection position of the optical reminder device according to the actual type of the target risk object, the moving trend of the target risk object, and the actual position. For example, based on different actual types and the moving trend of the target risk object, the time required for the target risk object to cross the vehicle is determined, that is, the time when the target risk object is in the blind spot of the vehicle's field of vision to be reminded, as well as the crossing direction of the target risk object, so as to determine the optimal projection position, that is, whether it should be projected at a relatively far position behind the vehicle for early warning or at a relatively close position to the vehicle.

[0064] The embodiments of the present application can also determine the optimal semantics or the optimal frequency of at least one acoustic reminder device according to the actual type and the actual position. The optimal frequency can gradually increase according to the actual position and the distance between the vehicle to be reminded and other vehicles. The optimal semantics can be determined according to the moving trend, the actual position, and the actual type of the target risk object. For example, when the actual type is a pedestrian, the moving trend is to cross from left to right, and the actual position is at the right rear of the vehicle, the optimal semantics can be "There is a pedestrian target crossing from left to right ahead, please slow down."

[0065] Combined with Figure 2- Figure 4 As shown, the working principle of the vehicle reminder method according to the embodiments of the present application is elaborated in detail with an example. In the actual execution process, the embodiments of the present application can be implemented based on the framework as Figure 4 shown.

[0066] As Figure 4 shown, the framework applied when the embodiments of the present application are executed can include a front view camera, corner radars, a vehicle controller, a digital lighting system, and a buzzer.

[0067] Among them, the front view camera can sense information in real time and transmit the following information to the vehicle controller:

[0068] 1. Whether there is a target risk object and the type of the target risk object.

[0069] 2. The crossing direction and speed of the target risk object.

[0070] Based on V2X technology communication, the measurement data of roadside infrastructure is obtained, and the following information can be transmitted to the vehicle controller through 5G communication:

[0071] 1. Whether there is a target risk object and the type of the target risk object.

[0072] 2. The crossing direction and speed of the target risk object.

[0073] The vehicle controller can integrate the data of V2X and cameras, identify the target risk objects passing through, judge the risk of cross-collision, and when it judges that there are target risk objects and determines the passing direction and speed of the target risk objects, it controls the digital lighting alarm system and buzzer installed on the left or right side of the vehicle to remind the vehicle to be reminded behind in the following manner and logic; conversely, when it judges that there are no target risk objects or there is no cross-collision risk for the target risk objects, there is no need for subsequent sound and light reminders, and continuous data perception and identification are carried out.

[0074] When the vehicle is in the right lane and the target risk object travels from right to left, the left digital lighting alarm system emits yellow light flashes, and at the same time, the pattern formed by irradiating the ground can be as Figure 2a 、 Figure 2b or Figure 2c shown.

[0075] The external buzzer alarms at the same time with a sound intensity of 100 dB.

[0076] When the vehicle is in the left lane and the target risk object passes through from left to right, the right digital lighting alarm system emits yellow light flashes, and at the same time, the pattern formed by irradiating the ground can be as Figure 3a 、 Figure 3b or Figure 3c shown.

[0077] The external buzzer alarms at the same time with a sound intensity of 100 dB.

[0078] The embodiment of the present application can also introduce the perception of the corner radar. When there are parallel vehicles in other lanes, this function is automatically partially inhibited, only the acoustic alarm is retained, and the optical alarm is removed to avoid interference of the optical alarm on the parallel vehicles.

[0079] The embodiment of the present application is particularly beneficial in scenarios with poor night lighting conditions and is suitable for being assembled on large trailers and tractors. Considering the installation space problem of small vehicles, simple LED yellow light flashes and buzzer alarms can be used without the need to additionally introduce a digital lighting system.

[0080] The vehicle reminder method proposed according to the embodiments of the present application can integrate the current perception data collected by the vehicle's front view camera to identify the current behavior data of the target risk objects crossing in front of the vehicle, so as to determine the reminder side of the vehicle according to the current behavior data of each target risk object, and perform risk warning reminders on the vehicles to be reminded on the reminder side, avoiding the rear vehicle from colliding with the target risk object passing through in front of the vehicle due to the field of view occlusion of the own vehicle, effectively ensuring road driving safety, without the need to implement direct communication between vehicles, and the reminder target is more targeted, which is convenient for popularization and application. Thus, it solves the technical problems in the related art that it is difficult to achieve the field of view intercommunication of vehicles with different configurations, and the reminder effect of setting a display screen at the intersection is poor, and it is difficult to ensure driving safety, etc.

[0081] Next, refer to the drawings to describe the vehicle reminder device proposed according to the embodiments of the present application.

[0082] Figure 5 It is a block diagram of the vehicle reminder device according to the embodiments of the present application.

[0083] As Figure 5 shown, the vehicle reminder device 10 includes: an acquisition module 100, an identification module 200, and a reminder module 300.

[0084] Specifically, the acquisition module 100 is used to acquire the current perception data collected by the vehicle's front view camera.

[0085] The identification module 200 is used to identify at least one target risk object crossing in front of the vehicle based on the current perception data, and extract the current behavior data of each target risk object.

[0086] The reminder module 300 is used to determine the reminder side of the vehicle according to the current behavior data of each target risk object, and when there is at least one vehicle to be reminded on the reminder side, perform risk warning reminders on at least one vehicle to be reminded.

[0087] Optionally, in an embodiment of the present application, the reminder module 300 includes: a first acquisition unit, a matching unit, and a reminder unit.

[0088] Among them, the first acquisition unit is used to acquire the actual position of at least one vehicle to be reminded relative to the vehicle.

[0089] The matching unit is used to match the optimal reminder method for at least one vehicle to be reminded according to the actual position.

[0090] The reminder unit is used to perform risk warning reminders on at least one vehicle to be reminded according to the optimal reminder method.

[0091] Optionally, in an embodiment of the present application, the matching unit includes: a first reminder subunit and a second reminder subunit.

[0092] Among them, the first reminder subunit is used to, when the actual position is parallel to the vehicle, the optimal reminder method is to control at least one acoustic reminder device of the vehicle to perform acoustic reminder on at least one vehicle to be reminded.

[0093] The second reminder subunit is used to, when the actual position is at the rear side position of the vehicle, the optimal reminder method is to control at least one optical reminder device and / or at least one acoustic reminder device of the vehicle to perform acoustic reminder on at least one vehicle to be reminded.

[0094] Optionally, in an embodiment of the present application, the reminder device 10 of the vehicle further includes: a determination module.

[0095] Among them, the determination module is used to determine the best semantics or best frequency of at least one acoustic reminder device, and / or the best pattern and / or best projection position of at least one optical reminder device according to the actual position.

[0096] Optionally, in an embodiment of the present application, the determination module includes: a second acquisition unit and a first determination unit.

[0097] Among them, the second acquisition unit is used to acquire the actual type of at least one target risk object.

[0098] The first determination unit is used to determine the best semantics or best frequency of at least one acoustic reminder device, and / or the best pattern and / or best projection position of at least one optical reminder device according to the actual type and actual position.

[0099] Optionally, in an embodiment of the present application, the recognition module 200 includes: a recognition unit and a determination unit.

[0100] Among them, the recognition unit is used to recognize the movement trends of multiple moving objects.

[0101] The determination unit is used to determine a target risk object crossing in front of the vehicle when the movement trend meets the preset condition of crossing in front of the vehicle.

[0102] Optionally, in an embodiment of the present application, the recognition module 200 includes: a third acquisition unit and a second determination unit.

[0103] Among them, the third acquisition unit is used to acquire the current measurement data detected by at least one roadside device.

[0104] The second determination unit is used to determine at least one target risk object crossing in front of the vehicle by combining the current perception data and the current measurement data.

[0105] It should be noted that the foregoing explanation of the embodiments of the vehicle reminder method also applies to the vehicle reminder device in this embodiment, and will not be elaborated here.

[0106] The vehicle reminder device provided according to the embodiments of the present application can integrate the current perception data collected by the vehicle's front view camera to identify the current behavior data of the target risk object crossing in front of the vehicle, so as to determine the reminder side of the vehicle according to the current behavior data of each target risk object, and perform risk warning reminders on the vehicles to be reminded on the reminder side, avoiding the rear vehicle from colliding with the target risk object passing through in front of the vehicle due to the visual occlusion of the own vehicle, effectively ensuring road driving safety, without the need to implement direct communication between vehicles, and the reminder target is more targeted, facilitating popularization and application. Thus, it solves the technical problems in the related art that it is difficult to achieve the visual intercommunication of vehicles with different configurations, and the reminder effect of setting a display screen at the intersection is poor, making it difficult to ensure driving safety.

[0107] Figure 6 It is a schematic structural diagram of the vehicle provided by the embodiments of the present application. The vehicle may include:

[0108] A memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602.

[0109] When the processor 602 executes the program, it implements the vehicle reminder method provided in the foregoing embodiments.

[0110] Further, the vehicle further includes:

[0111] A communication interface 603 for communication between the memory 601 and the processor 602.

[0112] The memory 601 is used to store a computer program executable on the processor 602.

[0113] The memory 601 may include a high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

[0114] If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 can be interconnected through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is used in Figure 6 , but it does not mean that there is only one bus or one type of bus.

[0115] Optionally, in a specific implementation, if the memory 601, the processor 602, and the communication interface 603 are integrated on a single chip, the memory 601, the processor 602, and the communication interface 603 can communicate with each other through an internal interface.

[0116] The processor 602 may be a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0117] This embodiment also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the reminder method for a vehicle as described above is implemented.

[0118] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or N embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0119] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0120] Any process or method description represented in a flowchart or described otherwise herein can be understood to represent a module, segment, or portion of code including one or N executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be performed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0121] The logic and / or steps represented in a flowchart or described otherwise herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with such instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or N wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0122] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0123] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0124] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0125] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A reminder method for a vehicle, characterized in that, Including the following steps: Obtain the current perception data collected by the front view camera of the vehicle; Based on the current perception data, identify at least one target risk object crossing in front of the vehicle, and extract the current behavior data of each target risk object; And Determine the reminder side of the vehicle according to the current behavior data of each target risk object, and when there is at least one vehicle to be reminded on the reminder side, perform a risk warning reminder on the at least one vehicle to be reminded.

2. The method according to claim 1, wherein The performing a risk warning reminder on the at least one vehicle to be reminded includes: Obtain the actual position of the at least one vehicle to be reminded relative to the vehicle; Match the optimal reminder method for the at least one vehicle to be reminded according to the actual position; Perform a risk warning reminder on the at least one vehicle to be reminded according to the optimal reminder method.

3. The method according to claim 2, wherein The matching the optimal reminder method for the at least one vehicle to be reminded according to the actual position includes: When the actual position is parallel to the vehicle, the optimal reminder method is to control at least one acoustic reminder device of the vehicle to perform an acoustic reminder on the at least one vehicle to be reminded; When the actual position is at the side rear position of the vehicle, the optimal reminder method is to control at least one optical reminder device and / or at least one acoustic reminder device of the vehicle to perform an acoustic reminder on the at least one vehicle to be reminded.

4. The method according to claim 2, wherein When the actual position is at the side rear position of the vehicle, after matching the optimal reminder method for the at least one vehicle to be reminded according to the actual position, it further includes: Determine the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual position.

5. The method according to claim 4, characterized in that, The determining the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual position includes: Obtain the actual type of the at least one target risk object; Determine the best semantics or best frequency of the at least one acoustic reminder device, and / or the best pattern and / or best projection position of the at least one optical reminder device according to the actual type and the actual position.

6. The method according to claim 1, wherein The identifying at least one target risk object crossing in front of the vehicle includes: Identify the moving trends of multiple moving objects; When the moving trends meet the preset conditions for crossing in front of the vehicle, determine it as the target risk object crossing in front of the vehicle.

7. The method according to claim 1, characterized in that, The identifying at least one target risk object crossing in front of the vehicle based on the current perception data includes: Obtain the current measurement data detected by at least one roadside device; Combine the current perception data and the current measurement data to determine at least one target risk object crossing in front of the vehicle.

8. A reminder device for a vehicle, characterized in that, Including: An acquisition module for obtaining the current perception data collected by the front view camera of the vehicle; An identification module for identifying at least one target risk object crossing in front of the vehicle based on the current perception data, and extracting the current behavior data of each target risk object; And A reminder module, configured to determine a reminder side of the vehicle according to current behavior data of each target risk object, and perform a risk warning reminder on at least one vehicle to be reminded when there is at least one vehicle to be reminded on the reminder side.

9. A vehicle, characterized in that, Comprising: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the reminder method for a vehicle according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the reminder method for a vehicle according to any one of claims 1-7.

Images