Danger reminding device for vehicle-mounted radar

Abstract

The invention relates to a danger reminding device for a vehicle-mounted radar in the field of alarm devices, which detects the position and speed of a person in a rear vehicle in real time through the vehicle-mounted radar, and calculates the residual collision time in a simulated collision scene based on the position and speed of the person in the rear vehicle. Then, graded early warning reminding is conducted based on the positions of rear vehicle personnel, the collision remaining time and the vehicle door opening state, the collision probability, urgency and personnel response speed under different scenes are fully considered, and multi-stage early warning reminding is conducted; meanwhile, by setting a pre-collision area, the interference of rear vehicle personnel with low collision probability on the early warning reminding system is reduced, and the probability of false alarm and frequent false alarm is reduced; in addition, through the fixed outline marker and the movable outline marker projected by the projection lamp, people outside the vehicle are reminded to pay attention to the vehicle door opening operation and the vehicle door opening range, and more response time is provided for the people outside the vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle warning device, in particular to a danger reminder device for vehicle-mounted radar applied in the field of alarm devices. Background Art

[0002] During the daily use of vehicles, collision accidents (commonly known as "door-opening collision") caused by the failure of drivers and passengers to effectively observe the road conditions behind when opening the door have a relatively high occurrence frequency. The current technical solutions mainly use vehicle-mounted millimeter-wave radar / ultrasonic radar to monitor the rear area of the vehicle in real time. When dynamic targets such as pedestrians, non-motor vehicles or moving vehicles are detected behind, the system will trigger an audible and visual alarm device to send a collision risk warning to the driver and passengers.

[0003] In actual use, when the existing door warning reminder device detects that the vehicle or person behind reaches a specified distance, even if the collision probability is low, it will issue an alarm, resulting in false alarms and frequent alarms. In addition, the audible and visual alarm uses a single mode, which cannot improve the alertness of the driver and passengers, places a high demand on the reaction ability of the driver and passengers, and reduces the error tolerance rate.

[0004] A patent with the publication number CN103247143B discloses a vehicle door opening warning system, including: an information collection unit for detecting the information of moving objects within the effective range behind the vehicle in real time; a main control unit for receiving and processing the information detected by the information collection unit in real time; a primary alarm unit that, when the main control unit determines by comparison that opening the door at this time may collide with an external moving object, receives the primary alarm signal sent by the main control unit to give a primary alarm; a redundancy unit that, when the vehicle owner ignores the primary alarm signal and continues to open the door, receives the secondary alarm signal sent by the main control unit to give a secondary alarm, and at the same time receives the control signal sent by the main control unit to generate a reverse resistance to opening the door to delay the door opening speed. The above patent has a simple structure and low cost, can effectively ensure the safety of the door when the vehicle owner opens the door, is applicable to various vehicles, and can give an alarm when the door is opened.

[0005] The above-mentioned prior art discloses a two-stage alarm mode and uses reverse resistance to delay the door opening resistance, but does not solve the problem of poor alarm accuracy and pertinence of the existing door warning device. Summary of the Invention

[0006] Aiming at the above-mentioned prior art, the technical problem to be solved by the present invention is the problem of poor alarm accuracy and pertinence of the existing door warning reminder device.

[0007] To solve the above problems, the present invention provides a danger warning device for vehicle-mounted radar, which includes an installation box fixedly connected to the vehicle door. A controller is fixedly connected inside the installation box, and the controller is equipped with a warning and reminder system. The warning and reminder system includes a control module. The input ends of the control module are respectively connected to a start module, a detection module, and a vehicle door monitoring module. The input end of the start module is connected to a vehicle speed sensor fixed on the vehicle body. The vehicle speed sensor is used to monitor the speed of the vehicle body. The input end of the detection module is connected to the vehicle-mounted radar fixed around the vehicle body. The vehicle-mounted radar is used to detect the states of vehicles and personnel outside the vehicle body. The input end of the vehicle door monitoring module is connected to a Hall sensor fixed at the opening end of the vehicle door. The Hall sensor is used to monitor the opening and closing states of the vehicle door. The output end of the control module is connected to a warning module, and the output end of the warning module is connected to a speaker fixed on the installation box. The detection module includes a position detection unit, a distance detection unit, a speed detection unit, and a collision remaining time calculation unit. The position detection unit is used to detect whether the rear vehicle and personnel are in the pre-collision area. The pre-collision area is a rectangular area artificially set on both sides of the vehicle body. The speed detection unit is used to detect the moving speed of the rear vehicle and personnel in the pre-collision area. The collision remaining time calculation unit simulates and calculates the remaining time for it to collide with the vehicle door based on the position and speed of the rear vehicle and personnel. The warning module includes a first-level warning unit, a second-level warning unit, and a third-level warning unit. The first-level warning unit, the second-level warning unit, and the third-level warning unit respectively store warning language broadcast instructions corresponding to their levels.

[0008] In the above-mentioned danger warning device for vehicle-mounted radar, multi-scenario hierarchical warning and reminder are carried out through the vehicle-mounted radar and the warning module.

[0009] As a further improvement of the present application, projection lights are fixedly connected to both sides of the vehicle body. The projection lights are connected to the output end of the warning module, and the projection lights are used to project outline lines.

[0010] As a further improvement of the present application, an encoder is fixedly connected to the rotating shaft of the vehicle door. The encoder is used to detect the opening angle of the vehicle door. The encoder is electrically connected to the controller. The outline line includes a fixed outline line and a moving outline line. The fixed outline line is fixedly projected at the outer edge of the pre-collision area, and the moving outline line follows the outer end of the vehicle door to move.

[0011] As a further improvement of the present application, the inner edge of the pre-collision area fits the two side edges of the projection of the vehicle body on the ground. The length of the pre-collision area adopts a set detection distance. The set detection distance is greater than the length of the vehicle body and less than the farthest detection distance of the vehicle-mounted radar at the rear of the vehicle. The width of the pre-collision area is not less than the vertical distance from the outer end of the vehicle door to the vehicle body when the vehicle door is fully opened.

[0012] As a further improvement of the present application, the volume, speech rate, and repetition frequency of the warning voice broadcast instructions stored in the first-level warning unit, second-level warning unit, and third-level warning unit increase step by step.

[0013] As a further improvement of the present application, a strobe light is fixedly connected to the installation box. The strobe light is a three-color strobe light and is connected to the output end of the warning module. The first-level warning unit, second-level warning unit, and third-level warning unit all store warning strobe instructions, and the strobe brightness, strobe color, and strobe frequency of the warning strobe instructions of the three increase step by step.

[0014] As a further improvement of the present application, the length of the outline line projected by the projection lamp is greater than the length of the vehicle body and extends towards the rear of the vehicle.

[0015] As a further improvement of the present application, the output end of the warning module is also connected to a turn signal. The turn signal is activated by detecting the direction of the opened door through a Hall sensor to prompt the people outside the vehicle.

[0016] As a further improvement of the present application, the following steps are included during use: Step 1, when the vehicle speed sensor detects that the vehicle speed is zero, start the warning reminder system; when the vehicle speed is greater than zero, turn off the warning reminder system; Step 2, detect the vehicle and personnel behind the vehicle body through the vehicle-mounted radar. When it is detected that the vehicle and personnel behind are in the pre-collision area, execute Step 3; otherwise, continue to detect; Step 3, detect the position and speed of the vehicle and personnel behind through the vehicle-mounted radar, and calculate the remaining collision time based on the position and speed of the vehicle and personnel behind. When the remaining collision time is less than the set reaction time, execute Step 4; when the remaining collision time is not less than the set reaction time, execute Step 5; Step 4, detect whether the door is opened through the Hall sensor. When the door is not opened, execute Step 6; when the door is opened, execute Step 7; Step 5, conduct a first-level warning and play the first-level warning voice through the speaker; Step 6, conduct a second-level warning and play the second-level warning voice through the speaker; Step 7, conduct a third-level warning and play the third-level warning voice through the speaker.

[0017] In summary, the present invention uses an in-vehicle radar to detect the position and speed of the rear vehicle's occupants in real time, calculates the remaining collision time in a simulated collision scenario based on the position and speed of the rear vehicle's occupants, and then issues a graded warning based on the position of the rear vehicle's occupants, the remaining collision time, and the door opening state. By fully considering the probability, urgency, and requirements of the occupants' reactions in different scenarios, multi-level warning is provided, improving the pertinence of the warning; at the same time, by setting a pre-collision area, interference from rear vehicle occupants with a low probability of collision to the warning system is reduced, the probability of false alarms and frequent false alarms is lowered, and the accuracy of the warning is improved, enhancing the safety of door opening and the user experience of the driver and passengers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic installation diagram of the present application on the vehicle body; Figure 2 It is a schematic installation diagram of the installation box on the door in the present application; Figure 3 It is a schematic module diagram of the warning system in the present application; Figure 4 It is a schematic module diagram of the detection module in the present application; Figure 5 It is a schematic module diagram of the warning module in the present application; Figure 6 It is a schematic diagram of the pre-collision area; Figure 7 It is an execution flow chart of the warning system in the present application; Figure 8 It is a schematic distribution diagram of the outline lines; Figure 9 It is a schematic distribution diagram of the fixed outline lines and the moving outline lines in the present application.

[0019] Explanation of the reference numerals in the drawings: 1. Installation box; 2. Controller; 3. In-vehicle radar; 4. Hall sensor; 5. Speaker; 6. Flashing light; 7. Vehicle speed sensor; 8. Projection lamp. SPECIFIC EMBODIMENTS

[0020] The following describes two embodiments of the present application in detail with reference to the drawings.

[0021] The first embodiment: Figures 1-5Disclosed is a danger warning device for vehicle-mounted radar, which includes a mounting box 1 fixedly connected to the vehicle door. A controller 2 is fixedly connected inside the mounting box 1. The controller 2 is equipped with a warning and reminder system. The warning and reminder system includes a control module. The input ends of the control module are respectively connected to a start module, a detection module, and a vehicle door monitoring module. The input end of the start module is connected to a vehicle speed sensor 7 fixed on the vehicle body. The vehicle speed sensor 7 is used to monitor the speed of the vehicle body. The input end of the detection module is connected to a vehicle-mounted radar 3 fixed around the vehicle body. The vehicle-mounted radar 3 is used to detect the states of vehicles and personnel outside the vehicle body. The input end of the vehicle door monitoring module is connected to a Hall sensor 4 fixed at the opening end of the vehicle door. The Hall sensor 4 is used to monitor the opening and closing states of the vehicle door. The output end of the control module is connected to a warning module. The output end of the warning module is connected to a speaker 5 fixed on the mounting box 1; Please refer to Figure 4 , the detection module includes a position detection unit, a distance detection unit, a speed detection unit, and a collision remaining time calculation unit. The position detection unit is used to detect whether the vehicle and personnel behind are in the pre-collision area. The pre-collision area is a rectangular area artificially set on both sides of the vehicle body. The speed detection unit is used to detect the moving speed of the vehicle and personnel behind in the pre-collision area. The collision remaining time calculation unit simulates and calculates the remaining time of their collision with the vehicle door based on the position and speed of the vehicle and personnel behind; Please refer to Figure 5 , the warning module includes a first-level warning unit, a second-level warning unit, and a third-level warning unit. The first-level warning unit, the second-level warning unit, and the third-level warning unit respectively store warning language broadcast instructions of corresponding levels.

[0022] A danger warning device for vehicle-mounted radar, please refer to Figure 7 , when in use, it includes the following steps: Step 1, when the vehicle speed sensor 7 detects that the vehicle speed is zero, start the warning and reminder system. When the vehicle speed is greater than zero, turn off the warning and reminder system; Specifically, detect the start and stop states of the vehicle through the vehicle speed sensor 7 to reduce the interference of the warning and reminder system to the driver during driving; Step 2, detect the vehicle and personnel behind the vehicle body through the vehicle-mounted radar 3. When it is detected that the vehicle and personnel behind are in the pre-collision area, execute Step 3. Otherwise, continue to detect; Specifically, when the vehicle and personnel behind do not appear in the pre-collision area, there is no need to give a warning reminder, reducing false alarms and frequent warnings; Step 3, detect the position and speed of the vehicle and personnel behind through the vehicle-mounted radar 3, and calculate the remaining time of the collision based on the position and speed of the vehicle and personnel behind. When the remaining time of the collision is less than the set reaction time, execute Step 4. When the remaining time of the collision is not less than the set reaction time, execute Step 5; Specifically, the reaction time refers to the time length for the driver and passengers to have sufficient reaction to take measures after the warning reminder. The set reaction time means that the personnel increase or decrease it based on the required reaction time, and the set reaction time is set under the condition of balancing the warning efficiency and safety redundancy. Step 4: Detect whether the door is opened through the Hall sensor 4. When the door is not opened, execute Step 6; when the door is opened, execute Step 7. Specifically, after the door is opened, the collision risk obviously increases significantly. Therefore, it is necessary to increase the warning level. Step 5: Conduct a first-level warning and play the first-level warning voice through the speaker 5. Specifically, when the personnel of the following vehicle appear in the pre-collision area, but the remaining time of the simulated collision is greater than the set reaction time, at this time, the driver and passengers have sufficient reaction time. Therefore, the first-level warning is adopted. Step 6: Conduct a second-level warning and play the second-level warning voice through the speaker 5. Specifically, when the personnel of the following vehicle are in the pre-collision area and the remaining collision time is less than the set reaction time, but the door is in the closed state. At this time, the driver and passengers need to pay high attention. Therefore, the second-level warning is adopted. It should be particularly noted that the "door-opening collision" in daily traffic belongs to this scenario. Step 7: Conduct a third-level warning and play the third-level warning voice through the speaker 5.

[0023] Specifically, at this time, the remaining collision time is less than the set reaction time and the door is still in the open state. At this time, the door is in the open state and the collision is imminent. The operator needs to take measures in real time, close the door or make preparations for the collision. Compared with the scenario of the second-level warning where the door is not opened, in the third-level warning scenario where the door is in the open state, the personnel need to perform actual operations. Therefore, the third-level warning is required. It should be noted that based on the above description, it can be seen that from the first-level warning to the third-level warning, the probability of collision increases gradually, and the requirements for the on-site reaction of personnel also increase gradually.

[0024] Compared with the traditional door warning and reminder device, the present invention uses an in-vehicle radar to detect the position and speed of the personnel in the vehicle behind in real time, calculates the remaining collision time in the simulated collision scenario based on the position and speed of the personnel in the vehicle behind, and then performs hierarchical warning and reminder based on the position of the personnel in the vehicle behind, the remaining collision time, and the door opening state. It fully considers the probability, urgency, and requirements of personnel response in different scenarios, conducts multi-level warning and reminder, and improves the pertinence of the warning and reminder. At the same time, by setting a pre-collision area, it reduces the interference of the personnel in the vehicle behind with a low collision probability to the warning and reminder system, reduces the probability of false alarms and frequent false alarms, improves the accuracy of the warning and reminder, and improves the driving experience of the passengers while improving the safety of opening the door.

[0025] Please refer to Figure 6 , the inner edge of the pre-collision area fits the two side edges of the projection of the vehicle body on the ground. The length of the pre-collision area uses a set detection distance, and the set detection distance is greater than the length of the vehicle body and less than the maximum detection distance of the vehicle-mounted radar 3 at the rear of the vehicle. The width of the pre-collision area is not less than the vertical distance from the outer end of the door to the vehicle body when the door is fully opened.

[0026] Specifically, the longer the length of the pre-collision area, the more timely it can detect the approaching vehicles and personnel behind, and the closer the width of the pre-collision area is to the vertical distance from the outer end of the door to the vehicle body when the door is fully opened, the less interference from the personnel in the vehicle behind with a lower collision probability to the warning and reminder system can be reduced; it should be noted that generally, the maximum opening range of the door is 0-90 degrees, and the fully opened door means the door is opened to a position perpendicular to the vehicle body. For special vehicles with an opening angle exceeding 90 degrees, the maximum vertical distance from the outer end of the door to the vehicle body during the door opening process is used as the minimum width value of the pre-collision area.

[0027] In this embodiment, the volume, speech rate, and repetition frequency of the warning voice broadcast instructions stored in the first-level warning unit, the second-level warning unit, and the third-level warning unit increase gradually.

[0028] Specifically, in order to achieve the reminder effect of hierarchical warning and improve the alertness of the passengers, it is necessary to use warning voices with gradually increasing volume and repetition frequency to improve the on-site response speed of the passengers. For the sake of easy understanding, the following is an example: During the first-level warning, the warning voices played are "Be careful when opening the door" and "Pay attention to observation", with a volume of 40 decibels, a speech rate of 180-220 words per minute (natural Chinese speech rate), and a repetition frequency of 30 times per minute; During the second-level warning, the warning voices played are "Do not open the door" or "Do not open the door", with a volume of 60 decibels, a speech rate of 230-250 words per minute (natural Chinese speech rate), and a repetition frequency of 40 times per minute; When a third-level warning is issued, the warning voice played is "Close the door", with a volume of 80 decibels, a speech rate of 250 - 260 words per minute (natural Chinese speech rate), and a repetition frequency of 50 times per minute.

[0029] In this embodiment, the vehicle-mounted radar 3 adopts one of a lidar, a solid-state radar, and a Doppler radar.

[0030] Please refer to Figure 2 , a flash lamp 6 is fixedly connected to the installation box 1. The flash lamp 6 is a three-color flash lamp, and the flash lamp 6 is connected to the output end of the warning module. The first-level warning unit, the second-level warning unit, and the third-level warning unit all store warning flash instructions, and the flash brightness, flash color, and flash frequency adopted by the warning flash instructions of the three increase step by step.

[0031] Specifically, the flash lamp 6 is used to give a light alarm to the driver and passengers, further improving the effectiveness of the warning.

[0032] The second implementation method: Figure 1 、 Figure 8 and Figure 9 show a danger reminder device for a vehicle-mounted radar. On the basis of the first implementation method, projection lamps 8 are fixedly connected to both sides of the vehicle body. The projection lamps 8 are connected to the output end of the warning module, and the projection lamps 8 are used to project outline lines.

[0033] Specifically, the outline lines are projected by the projection lamps 8 to remind the personnel of the following vehicle to pay attention to the vehicle door opening operation, further improving the reminder effect.

[0034] Please refer to Figure 8 , the outline lines projected by the projection lamps 8 are located outside the length direction of the pre-collision area, and the length of the outline lines is greater than the length of the vehicle body and extends towards the rear of the vehicle.

[0035] Specifically, it reminds the personnel of the following vehicle not to enter the pre-collision area, reducing the collision probability. Especially in the case of insufficient visibility at night, it further improves the safety of opening the vehicle door.

[0036] Please refer to Figure 9 , an encoder is fixedly connected to the rotating shaft of the vehicle door. The encoder is used to detect the opening angle of the vehicle door. The encoder is electrically connected to the controller 2. The outline lines include a fixed outline line and a moving outline line. The fixed outline line is fixedly projected at the outer edge of the pre-collision area, and the moving outline line follows the outer end of the vehicle door to move, enabling the personnel outside the vehicle to timely discover the opening range of the vehicle door, facilitating the pre-judgment operation of the personnel outside the vehicle, and further improving the warning reminder effect.

[0037] Specifically, the encoder is used to detect the opening angle of the car door, and since the specifications of the car door are known, the controller 2 can obtain the vertical distance from the outer end of the car door to the vehicle body. The projection lamp 8 projects the moving outline onto the ground below the outer end of the car door; it should be noted that the moving outline follows the outer end of the car door with the largest opening angle.

[0038] Please refer to Figure 1 , the output end of the warning module is also connected to the turn signal. The turn signal is activated by the Hall sensor 4 to detect the opening direction of the car door to prompt the people outside the car.

[0039] Specifically, the turn signal is used to assist in reminding the people outside the car to pay attention, further improving the reminder effect.

[0040] Combined with the current actual requirements, the above implementation method adopted in this application, the protection scope is not limited to this. Within the knowledge scope of those skilled in the art, various changes made without departing from the concept of this application still fall within the protection scope of the present invention.

Claims

1. A danger warning device for vehicle-mounted radar, characterized in that, It includes a mounting box (1) fixedly connected to the vehicle door. A controller (2) is fixedly connected inside the mounting box (1). The controller (2) is equipped with a warning reminder system. The warning reminder system includes a control module. The input ends of the control module are respectively connected to a start module, a detection module, and a vehicle door monitoring module. The input end of the start module is connected to a vehicle speed sensor (7) fixed on the vehicle body. The vehicle speed sensor (7) is used to monitor the speed of the vehicle body. The input end of the detection module is connected to a vehicle-mounted radar (3) fixed around the vehicle body. The vehicle-mounted radar (3) is used to detect the states of vehicles and personnel outside the vehicle body. The input end of the vehicle door monitoring module is connected to a Hall sensor (4) fixed at the opening end of the vehicle door. The Hall sensor (4) is used to monitor the opening and closing states of the vehicle door; the output end of the control module is connected to a warning module, and the output end of the warning module is connected to a speaker (5) fixed on the mounting box (1); The detection module includes a position detection unit, a distance detection unit, a speed detection unit, and a collision remaining time calculation unit. The position detection unit is used to detect whether the vehicle and personnel behind are in the pre-collision area. The pre-collision area refers to a rectangular area artificially set on both sides of the vehicle body. The distance detection unit is used to detect the distance between the vehicle and personnel behind and the vehicle door. The speed detection unit is used to detect the moving speed of the vehicle and personnel behind in the pre-collision area. The collision remaining time calculation unit simulates and calculates the remaining time of their collision with the vehicle door based on the position and speed of the vehicle and personnel behind; The warning module includes a first-level warning unit, a second-level warning unit, and a third-level warning unit. The first-level warning unit, the second-level warning unit, and the third-level warning unit respectively store warning language broadcast instructions of corresponding levels.

2. The hazardous reminder device for vehicle-mounted radar according to claim 1, characterized in that Projection lights (8) are fixedly connected to both sides of the vehicle body. The projection lights (8) are connected to the output end of the warning module. The projection lights (8) are used to project outline lines.

3. The hazardous reminder device for vehicle-mounted radar according to claim 2, characterized in that, An encoder is fixedly connected to the rotating shaft of the vehicle door. The encoder is used to detect the opening angle of the vehicle door. The encoder is electrically connected to the controller (2). The outline lines include a fixed outline line and a moving outline line. The fixed outline line is fixedly projected at the outer edge of the pre-collision area. The moving outline line follows the outer end of the vehicle door.

4. The hazard warning device for vehicle-mounted radar according to claim 1, characterized in that, The inner edge of the pre-collision area fits the two side edges of the projection of the vehicle body on the ground. The length of the pre-collision area uses a set detection distance. The set detection distance is greater than the length of the vehicle body and less than the farthest detection distance of the vehicle-mounted radar (3) at the rear of the vehicle. The width of the pre-collision area is not less than the vertical distance between the outer end of the vehicle door when it is fully opened and the vehicle body.

5. The dangerous reminder device for vehicle-mounted radar according to claim 1, characterized in that The volume, speech rate, and repetition frequency of the warning voice broadcast instructions stored in the first-level warning unit, the second-level warning unit, and the third-level warning unit increase step by step.

6. The hazard warning device for vehicle-mounted radar according to claim 1, characterized in that, A strobe light (6) is fixedly connected to the mounting box (1). The strobe light (6) is a three-color strobe light. The strobe light (6) is connected to the output end of the warning module. The first-level warning unit, the second-level warning unit, and the third-level warning unit all store warning strobe instructions, and the strobe brightness, strobe color, and strobe frequency of their warning strobe instructions increase step by step.

7. The hazard warning device for vehicle-mounted radar according to claim 2, characterized in that, The outline length projected by the projection lamp (8) is greater than the vehicle body length and extends towards the rear of the vehicle.

8. The hazardous reminder device for vehicle-mounted radar according to claim 2, characterized in that, The output end of the warning module is also connected to a turn signal lamp, and the turn signal lamp is activated by the Hall sensor (4) to detect the opening direction of the vehicle door to prompt the people outside the vehicle.

9. A method for using a danger reminder device for vehicle-mounted radar, characterized in that, It includes the following steps: Step 1: When the vehicle speed sensor (7) detects that the vehicle speed is zero, the warning reminder system is activated; when the vehicle speed is greater than zero, the warning reminder system is turned off. Step 2: The vehicle-mounted radar (3) is used to detect the vehicle and personnel behind the vehicle body. When it detects that the vehicle and personnel behind are in the pre-collision area, step 3 is executed; otherwise, the detection continues. Step 3: The vehicle-mounted radar (3) is used to detect the position and speed of the vehicle and personnel behind, and the remaining collision time is calculated based on the position and speed of the vehicle and personnel behind. When the remaining collision time is less than the set reaction time, step 4 is executed; when the remaining collision time is not less than the set reaction time, step 5 is executed. Step 4: The Hall sensor (4) is used to detect whether the vehicle door is opened. When the vehicle door is not opened, step 6 is executed; when the vehicle door is opened, step 7 is executed. Step 5: A first-level warning is given, and a first-level warning voice is played through the speaker (5). Step 6: A second-level warning is given, and a second-level warning voice is played through the speaker (5). Step 7: A third-level warning is given, and a third-level warning voice is played through the speaker (5).

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