Vehicle-mounted collision alarm removing method, device and equipment and vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a vehicle-mounted collision alarm removing method, device and equipment and a vehicle, and the method comprises the steps: when detecting that a vehicle machine generates a collision alarm activation instruction, obtaining the motion state of the current vehicle and the motion state of an adjacent target around the current vehicle, the collision alarm activation instruction is generated when the current vehicle and the approaching target reach a preset early warning condition; judging whether the collision alarm activation instruction is a false alarm instruction or not based on the motion state of the current vehicle and the motion state of the adjacent target; and when the collision alarm activation instruction is the false alarm instruction, a generated alarm elimination instruction is sent to the vehicle machine, so that the vehicle machine carries out collision alarm elimination. According to the method, the motion state of the current vehicle is compared with the motion state of the adjacent target, and when the collision alarm activation instruction is the false alarm instruction, the alarm elimination instruction is generated to remove the collision alarm.

Description

Technical Field

[0001] The present application relates to the field of traffic control technology, and in particular to a method, device, equipment and vehicle for canceling a vehicle-mounted collision alarm. Background Art

[0002] As the number of cars continues to increase, the incidence of traffic accidents has also increased accordingly. According to statistics from the World Health Organization (WHO), more than 1.25 million people die in traffic accidents each year, and tens of millions are injured. Therefore, improving car safety and reducing the occurrence of traffic accidents have become important goals for automobile manufacturers and related technical research institutions. As an important part of the active safety system, collision warning technology can effectively reduce the incidence of collision accidents and improve driving safety.

[0003] When existing vehicles perform collision warnings, they use the vehicle computer to determine the relative distance between the current vehicle and the obstacle. When the relative distance reaches a preset relative distance threshold, the vehicle computer generates a collision activation command to alarm. However, since alarms are only based on relative distance, false alarms are prone to occur and users cannot actively turn them off. For example, when a vehicle is parked, the distance between the vehicle and the surrounding nearby targets reaches a preset distance threshold. After a vehicle collision alarm is generated, the alarm cannot be canceled even if the vehicle has stopped moving and the surrounding nearby targets are stationary, resulting in a poor user experience. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment and vehicle for canceling a vehicle-mounted collision alarm, aiming to solve the technical problem that the prior art only triggers the alarm based on a relative distance threshold, is prone to false alarms and cannot be manually closed.

[0005] To achieve the above purpose, the present application proposes a method for cancelling a vehicle-mounted collision alarm, the method is applied to a vehicle-mounted collision alarm cancelling device, the vehicle-mounted collision alarm cancelling device is connected to a vehicle computer, and the method comprises:

[0006] When it is detected that the vehicle computer generates a collision alarm activation instruction, the motion state of the current vehicle and the motion state of the adjacent target around the current vehicle are acquired, and the collision alarm activation instruction is generated when the current vehicle and the adjacent target reach a preset warning condition;

[0007] Determining whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target;

[0008] When the collision alarm activation instruction is the false alarm instruction, the generated alarm cancellation instruction is sent to the vehicle computer, so that the vehicle computer cancels the collision alarm.

[0009] In one embodiment, the vehicle-mounted collision alarm cancellation device is also respectively connected to a driving sensor, a plurality of driving radars, and a plurality of cameras. The step of obtaining the motion state of the current vehicle and the motion states of the nearby targets around the current vehicle includes:

[0010] Determine the motion state of the current vehicle according to the driving data uploaded by the driving sensor;

[0011] Based on the collision alarm activation instruction, determine the target driving radar from each of the driving radars, and based on the target driving radar, determine the relative azimuth between the nearby targets around the vehicle and the current vehicle;

[0012] Determine the target camera from each of the cameras according to the relative azimuth, identify the images around the vehicle uploaded by the target camera, and determine the motion states of the nearby targets according to the identification results.

[0013] In one embodiment, the step of identifying the images around the vehicle uploaded by the target camera and determining the motion states of the nearby targets according to the identification results includes:

[0014] Identify the images around the vehicle uploaded by the target camera to obtain the target feature points of the nearby targets;

[0015] Perform continuous tracking of the feature points on the images around the vehicle according to the target feature points to obtain the target movement trajectory corresponding to the target feature points;

[0016] Determine the displacement parameters of the nearby targets based on the target movement trajectory, and determine the motion states of the nearby targets according to the displacement parameters and a preset displacement threshold.

[0017] In one embodiment, the vehicle-mounted collision alarm cancellation device is also connected to a plurality of active feature generation units. Before the step of identifying the images around the vehicle uploaded by the target camera, it further includes:

[0018] Determine the target active feature generation unit from each of the active feature generation units based on the relative azimuth, and activate the target active feature generation unit so that the target active feature generation unit generates active feature points on the nearby targets at a preset working power;

[0019] The step of identifying the images around the vehicle uploaded by the target camera to obtain the target feature points of the nearby targets includes:

[0020] Identify the images around the vehicle uploaded by the target camera to obtain the active feature points in the images around the vehicle, and use the active feature points as the target feature points.

[0021] In one embodiment, before the step of using the active feature point as the target feature point, the method further includes:

[0022] Performing light and shadow feature analysis on the image around the vehicle, and determining whether the light and shadow analysis result meets the preset light and shadow conditions;

[0023] When the light and shadow analysis result meets the preset light and shadow condition, executing the step of taking the active feature point as the target feature point;

[0024] When the light and shadow analysis result does not meet the preset light and shadow condition, the preset working power is adjusted based on the light and shadow analysis result, so that the target active feature generation unit generates active feature points on the adjacent target according to the adjusted preset working power.

[0025] In one embodiment, after the step of sending the generated alarm elimination instruction to the vehicle computer, the method further includes:

[0026] Acquiring the positioning data of the current vehicle, and determining the estimated driving direction of the current vehicle according to the positioning data and a preset electronic map;

[0027] Determining whether there is a collision risk when the current vehicle is traveling based on the estimated traveling direction and the relative position;

[0028] If so, the generated collision risk warning information is sent to the vehicle computer so that the vehicle computer issues a collision risk warning.

[0029] In one embodiment, after the step of sending the generated alarm elimination instruction to the vehicle computer, the method further includes:

[0030] Acquire the historical false alarm records of the current vehicle, and determine the number of false alarms corresponding to each of the driving radars based on the historical false alarm records;

[0031] When the number of false alarms is higher than a preset maintenance threshold, the generated false alarm record of the driving radar is sent to the vehicle computer, so that the vehicle computer feeds back a driving radar maintenance prompt.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle-mounted collision alarm cancellation device, the device comprising:

[0033] A state acquisition module, used to acquire the motion state of the current vehicle and the motion state of the adjacent targets around the current vehicle when detecting that the vehicle computer generates a collision alarm activation instruction, wherein the collision alarm activation instruction is generated when the current vehicle and the adjacent targets reach a preset warning condition;

[0034] A state judgment module, used for judging whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target;

[0035] The alarm cancellation module is used for sending the generated alarm cancellation instruction to the vehicle computer when the collision alarm activation instruction is the false alarm instruction, so that the vehicle computer cancels the collision alarm.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle-mounted collision alarm cancellation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle-mounted collision alarm cancellation method described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle, comprising: a vehicle computer and the vehicle-mounted collision alarm cancellation device as described above, wherein the vehicle-mounted collision alarm cancellation device is connected to the vehicle computer.

[0038] The present application proposes a method, device, equipment and vehicle for canceling a vehicle-mounted collision alarm. The method is applied to a vehicle-mounted collision alarm canceling device, which is connected to a vehicle computer. The method includes: when detecting that the vehicle computer generates a collision alarm activation instruction, obtaining the motion state of the current vehicle and the motion state of the adjacent target around the current vehicle, the collision alarm activation instruction is generated when the current vehicle and the adjacent target reach a preset warning condition; judging whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target; when the collision alarm activation instruction is the false alarm instruction, sending the generated alarm cancellation instruction to the vehicle computer so that the vehicle computer cancels the collision alarm. Since the present application can also judge whether the collision alarm activation instruction is a false alarm instruction by the motion state of the current vehicle and the motion state of the adjacent target when generating the collision alarm activation instruction, when the collision alarm activation instruction is a false alarm instruction, sending the generated alarm cancellation instruction to the vehicle computer so that the vehicle computer cancels the collision alarm. This allows the alarm to be canceled in time in the event of a false alarm, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0041] Figure 1 A flow chart of a first embodiment of the vehicle collision alarm cancellation method proposed in this embodiment;

[0042] Figure 2 This is a diagram of device connection in this embodiment;

[0043] Figure 3 A flow chart of a second embodiment of the vehicle collision alarm cancellation method proposed in this embodiment;

[0044] Figure 4 A flowchart of a third embodiment of the vehicle collision alarm cancellation method proposed in this embodiment;

[0045] Figure 5 A diagram of a vehicle-mounted collision alarm cancellation device provided in this embodiment;

[0046] Figure 6 Schematic diagram of the structure of a vehicle-mounted collision alarm cancellation device suitable for implementing the present embodiment.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] It is understandable that with the continuous increase in the number of cars, the incidence of traffic accidents has also increased accordingly. According to statistics from the World Health Organization (WHO), more than 1.25 million people die in traffic accidents worldwide each year, and tens of millions of people are injured. Therefore, improving car safety and reducing the occurrence of traffic accidents have become important goals for automobile manufacturers and related technical research institutions. As an important part of the active safety system, collision warning technology can effectively reduce the incidence of collision accidents and improve driving safety.

[0052] When existing vehicles perform collision warnings, they use the vehicle computer to determine the relative distance between the current vehicle and the obstacle. When the relative distance reaches a preset relative distance threshold, the vehicle computer generates a collision activation command to alarm. However, since alarms are only based on relative distance, false alarms are prone to occur and users cannot actively turn them off. For example, when a vehicle is parked, the distance between the vehicle and the surrounding nearby targets reaches a preset distance threshold. After a vehicle collision alarm is generated, the alarm cannot be canceled even if the vehicle has stopped moving and the surrounding nearby targets are stationary, resulting in a poor user experience.

[0053] Therefore, in order to solve the technical problem that the prior art triggers the alarm only based on the relative distance threshold, is prone to false alarms and cannot be manually closed, this embodiment proposes a vehicle-mounted collision alarm cancellation method, device, equipment and vehicle. The above method is applied to the vehicle-mounted collision alarm cancellation device, and the above vehicle-mounted collision alarm cancellation device is connected to the vehicle computer. The above method includes: when detecting that the vehicle computer generates a collision alarm activation instruction, obtaining the motion state of the current vehicle and the motion state of the adjacent target around the above current vehicle, and the above collision alarm activation instruction is generated when the above current vehicle and the above adjacent target reach a preset warning condition; based on the motion state of the above current vehicle and the motion state of the above adjacent target, judging whether the above collision alarm activation instruction is a false alarm instruction; when the above collision alarm activation instruction is the above false alarm instruction, sending the generated alarm cancellation instruction to the above vehicle computer, so that the above vehicle computer cancels the collision alarm. Because when the present embodiment generates the collision alarm activation instruction, it can also judge whether the collision alarm activation instruction is a false alarm instruction by the motion state of the current vehicle and the motion state of the adjacent target. When the collision alarm activation instruction is a false alarm instruction, the generated alarm cancellation instruction is sent to the vehicle computer, so that the vehicle computer cancels the collision alarm. This allows the alarm to be cleared in time in the event of a false alarm, improving user experience.

[0054] For ease of understanding, the following combination Figures 1 to 6 The vehicle collision alarm cancellation method provided in the embodiment of the present application and the vehicle collision alarm cancellation method, device, equipment and vehicle provided in the following embodiments are specifically introduced.

[0055] The present application embodiment provides a method for removing a vehicle collision alarm.Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle collision alarm cancellation method proposed in this embodiment.

[0056] like Figure 1 As shown, the method includes:

[0057] Step S10: when it is detected that the vehicle computer generates a collision alarm activation instruction, the motion state of the current vehicle and the motion state of the adjacent targets around the current vehicle are acquired, and the collision alarm activation instruction is generated when the current vehicle and the adjacent targets reach a preset warning condition.

[0058] It should be noted that the execution subject of this embodiment can be a computing service device with vehicle collision alarm cancellation, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the vehicle collision alarm cancellation device (hereinafter referred to as the device) as an example to illustrate this embodiment and the following embodiments.

[0059] It should be noted that, in this embodiment, the above-mentioned device can be connected to the vehicle computer of the current vehicle equipped with the above-mentioned device. The above-mentioned current vehicle can be a vehicle equipped with the above-mentioned device, the above-mentioned adjacent target can be other vehicles or obstacles around the above-mentioned current vehicle, and the above-mentioned collision alarm activation instruction can be an instruction generated when the current vehicle and the adjacent target reach a preset warning condition. The above-mentioned warning condition can be whether the relative distance between the above-mentioned current vehicle and the above-mentioned adjacent target reaches a preset distance threshold. The above-mentioned motion state can include a moving state and a stationary state.

[0060] In a specific implementation, when the above-mentioned device detects that the vehicle computer generates a collision alarm activation instruction, it will obtain the current vehicle's motion state, which includes information such as the vehicle's speed, acceleration, and whether it is stationary. At the same time, the device will also obtain the motion state of nearby targets around the current vehicle, such as the speed, direction, and whether the nearby vehicle or obstacle is moving. At the same time, the above-mentioned device will also obtain the motion state of nearby targets around the current vehicle, such as the speed, direction, and whether the nearby vehicle or obstacle is moving. This motion state information can be obtained through a variety of sensors installed on the vehicle, such as cameras, radars, and speedometers.

[0061] Further, refer to Figure 2 , Figure 2 FIG. 1 is a diagram showing the device connection relationship in this embodiment. In order to determine the motion state of the current vehicle and the nearby target, a driving radar (i.e. Figure 2 Driving radar in the vehicle), driving sensor (i.e. Figure 2 Driving sensors in the Figure 2The camera in the vehicle) is used to measure the current vehicle and the nearby target. In this embodiment, the vehicle controller (i.e. Figure 2 The vehicle controller in the Figure 2 The vehicle sensors connected to the control module in the apparatus are used to collect and integrate data, so that the above-mentioned device can call the integrated data at any time. The step of obtaining the motion state of the current vehicle and the motion state of the adjacent targets around the current vehicle includes:

[0062] Step S11: determining the current motion state of the vehicle according to the driving data uploaded by the driving sensor.

[0063] It should be noted that the above-mentioned vehicle-mounted collision alarm cancellation device is also connected to a driving sensor, a plurality of driving radars and a plurality of cameras respectively. The above-mentioned driving data may be the movement data of the current vehicle recorded by the driving sensor. In a specific implementation, the above-mentioned device determines the motion state of the current vehicle by receiving the driving data uploaded by the driving sensor. The driving sensor includes a speedometer, an accelerometer, a steering angle sensor, etc. These sensors can monitor the key parameters of the vehicle such as speed, acceleration, steering angle, etc. in real time. The above-mentioned device analyzes and processes the received data to determine whether the vehicle is in a driving state, an accelerating state, a decelerating state or a stationary state.

[0064] Step S12: determining a target driving radar from the driving radars based on the collision alarm activation instruction, and determining the relative positions of adjacent targets around the vehicle and the current vehicle based on the target driving radar.

[0065] It should be noted that the collision alarm activation instruction may be activated based on the data uploaded by the driving radar. The target driving radar may be the driving radar that activates the collision alarm activation instruction. Usually, a vehicle is equipped with multiple radars, which are distributed at the front, rear and side of the vehicle. The relative orientation may be the position direction of the adjacent target relative to the current vehicle, such as the front, rear, left, right, etc.

[0066] refer to Figure 2 In a specific implementation, the above device will collect information from multiple driving radars installed on the vehicle (i.e. Figure 2The target driving radar that triggers the alarm is determined in the driving radar in the alarm activation command. This process is completed by identifying the radar ID carried in the alarm activation command. After determining the target driving radar, the above-mentioned device will further analyze the data detected by the radar to determine the relative position of the adjacent targets around the vehicle and the current vehicle. Specifically, the above-mentioned device will calculate the specific position of the adjacent target relative to the current vehicle, such as the front, rear, left or right, etc., based on the position of the target driving radar and the detected target distance, angle and other information. For example, if the target driving radar is installed at the front of the vehicle and an obstacle is detected in front, the device will determine that the adjacent target is directly in front of the vehicle.

[0067] Step S13: determining a target camera from each of the cameras according to the relative orientation, identifying the vehicle surrounding image uploaded by the target camera, and determining the motion state of the nearby target according to the identification result.

[0068] refer to Figure 2 It should be noted that the target camera may be a specific camera selected according to the relative position of the adjacent target, and is used to capture image information of the adjacent target. In a specific implementation, after determining the relative position of the adjacent target and the current vehicle, the device further selects multiple cameras installed on the vehicle (i.e. Figure 2 The device selects the corresponding target camera from the cameras in the image. For example, if the adjacent target is located directly in front of the vehicle, the device selects the camera at the front of the vehicle as the target camera. Subsequently, the device identifies the surrounding images of the vehicle uploaded by the target camera, analyzes the adjacent targets in the images using image recognition technology, extracts their feature points, and tracks the motion trajectory of their feature points. By analyzing the position changes of the target in consecutive image frames, the device can calculate the speed and direction of the adjacent target, thereby determining its motion state.

[0069] In another example, the above-mentioned device can also directly find the corresponding camera ID according to the radar ID corresponding to the above-mentioned target driving radar in the preset configuration table, and use the camera corresponding to the camera ID as the target camera.

[0070] Step S20: determining whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target.

[0071] It should be noted that the above-mentioned false alarm instruction may be a collision alarm activation instruction mistakenly generated by the vehicle computer. In a specific implementation, after obtaining the motion status of the current vehicle and the adjacent target, the above-mentioned device will comprehensively analyze this information to determine whether the collision alarm activation instruction is a false alarm. If the current vehicle and the adjacent target are both stationary, or the motion trajectory of the adjacent target will not collide with the current vehicle, the device will determine that the alarm is a false alarm and take measures to eliminate the alarm. For example, when a vehicle stops at an intersection and the vehicle in front also stops, the radar may misjudge that the distance is too close and trigger an alarm.

[0072] Step S30: When the collision alarm activation instruction is the false alarm instruction, the generated alarm cancellation instruction is sent to the vehicle computer, so that the vehicle computer cancels the collision alarm.

[0073] refer to Figure 2 In a specific implementation, after determining that the collision alarm activation instruction is a false alarm instruction, the above device will generate an alarm cancellation instruction and send it to the vehicle computer (i.e. Figure 2 The vehicle computer in the vehicle). After receiving the command, the vehicle computer immediately cancels the collision alarm and stops issuing sound or visual prompts, thereby avoiding unnecessary interference to the driver and passengers. For example, when the vehicle stops and waits for the traffic light, the vehicle in front is also stationary, and the driving radar may trigger an alarm due to the close distance. The device analyzes the movement status of the vehicle and the nearby target, confirms that neither party has moved, and determines that the alarm is a false alarm. It then sends an alarm cancellation command to the vehicle computer to cancel the alarm, ensuring that the driver and passengers will not be troubled by the false alarm.

[0074] This embodiment proposes a method for canceling a vehicle-mounted collision alarm, which includes: when detecting that the vehicle computer generates a collision alarm activation instruction, obtaining the motion state of the current vehicle and the motion state of the adjacent target around the current vehicle, the collision alarm activation instruction is generated when the current vehicle and the adjacent target reach a preset warning condition; judging whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target; when the collision alarm activation instruction is a false alarm instruction, sending the generated alarm cancellation instruction to the vehicle computer so that the vehicle computer cancels the collision alarm. Since this embodiment can also judge whether the collision alarm activation instruction is a false alarm instruction by the motion state of the current vehicle and the motion state of the adjacent target when generating the collision alarm activation instruction, when the collision alarm activation instruction is a false alarm instruction, sending the generated alarm cancellation instruction to the vehicle computer so that the vehicle computer cancels the collision alarm. This allows the alarm to be canceled in time in the event of a false alarm, thereby improving the user experience.

[0075] Based on the first embodiment, in the second embodiment, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be described in detail later. Figure 3 , Figure 3 This is a flow chart of the second embodiment of the vehicle collision alarm cancellation method proposed in this embodiment. In order to further determine the motion state of the above-mentioned adjacent target, the step of identifying the vehicle surrounding image uploaded by the target camera and determining the motion state of the adjacent target according to the identification result includes:

[0076] Step S21: Identify the vehicle surrounding image uploaded by the target camera to obtain target feature points of the adjacent target.

[0077] It should be noted that the above-mentioned target feature points may be points that can significantly identify the position and shape of the target object in the image, such as contour points, corner points, edge points, etc., which are used for target recognition and tracking.

[0078] Step S22: continuously tracking feature points of the image around the vehicle according to the target feature points to obtain a target movement trajectory corresponding to the target feature points;

[0079] It should be noted that the above-mentioned continuous tracking of feature points can be to continuously monitor and record the position changes of target feature points in continuous image frames to obtain their movement trajectory. The above-mentioned target movement trajectory can be the position change path of the target feature points in continuous image frames, reflecting the motion state of the target object. In a specific implementation, after identifying the target feature points, the above-mentioned device will further continuously track the feature points of the image around the vehicle. By locating and tracking these feature points in continuous image frames, the device can calculate the movement trajectory of each feature point. This process is usually implemented with the help of computer vision technologies such as optical flow method to accurately capture the position changes of feature points. For example, after the device identifies the two corner points of the taillights of the vehicle in front as target feature points, it will continue to track the position changes of these two points in subsequent image frames. If these two feature points gradually move downward in continuous frames, the device will determine that the vehicle in front is decelerating or going downhill.

[0080] Step S23: determining a displacement parameter of the adjacent target based on the target movement trajectory, and determining a motion state of the adjacent target according to the displacement parameter and a preset displacement threshold.

[0081] It should be noted that the above displacement parameters may be quantitative data describing the target movement trajectory, including displacement distance, speed, acceleration, etc. The above preset displacement threshold may be a standard value pre-set by the above device for judging the target movement state, such as a speed threshold, a displacement distance threshold, etc.

[0082] In a specific implementation, after the above device obtains the movement trajectory of the nearby target, it will further calculate its displacement parameters, including displacement distance, speed, acceleration, etc. The device compares these displacement parameters with a preset displacement threshold to determine the motion state of the nearby target. For example, if the displacement parameters show that the speed of the nearby target is lower than a certain threshold and the displacement distance is small, the device will determine that the target is in a stationary or slow-moving state; conversely, if the speed and displacement distance exceed the threshold, it is determined that the target is moving fast.

[0083] Furthermore, in order to accurately obtain the target feature points in the face of nearby targets that cannot emit light independently or have unclear features, the above device is also connected to several active feature generation units. Before the step of recognizing the images around the vehicle uploaded by the target camera, it further includes:

[0084] Step S201: Determine the target active feature generation unit from each of the active feature generation units based on the relative orientation, and activate the target active feature generation unit, so that the target active feature generation unit generates active feature points on the nearby target according to a preset working power;

[0085] It should be noted that the above active feature generation unit can be a device installed on the vehicle and connected to the above device, which can generate recognizable feature points, such as a beam emitter, a laser, etc., for assisting the camera in target recognition and tracking. The above target active feature generation unit can be a specific active feature generation unit selected according to the relative orientation of the nearby target, and is used to generate active feature points on the nearby target. The above preset working power can be the working power of the active feature generation unit preset by the above device. In this embodiment, the above active feature generation unit uses a beam emitter, and the light beam generated by the beam emitter is emitted obliquely and is colored light, but this embodiment is not specifically limited.

[0086] Reference Figure 2 , in a specific implementation, after the above device determines the relative orientation between the nearby target and the current vehicle, it will select from multiple active feature generation units installed on the vehicle (i.e., Figure 2Select the corresponding target active feature generation unit from the active feature generation units in (). These active feature generation units usually include beam emitters, lasers, or other devices capable of generating identifiable features. The device activates the target active feature generation unit according to the relative orientation and makes it generate active feature points on the adjacent target according to the preset operating power. For example, if the adjacent target is directly in front of the vehicle, the device will select the front active feature generation unit and activate it to generate active feature points on the front target. These active feature points can be light spots, lines, or other visual markers, which are used to assist the camera in more accurate tracking and recognition. In this way, the device can more accurately monitor the motion state of the adjacent target and improve the reliability and accuracy of the collision warning system.

[0087] The step of identifying the surrounding image of the vehicle uploaded by the target camera to obtain the target feature points of the adjacent target includes:

[0088] Step S211: Identify the surrounding image of the vehicle uploaded by the target camera, obtain the active feature points in the surrounding image of the vehicle, and use the active feature points as target feature points.

[0089] It should be noted that the above active feature points can be identifiable markers generated by the active feature generation unit on the adjacent target, such as light spots, lines, etc., which are used to assist the camera in more accurate tracking and recognition. The above target feature points can be points that can significantly identify the position and shape of the target object in the image, which are used for target recognition and tracking. In this scenario, the active feature points become target feature points after being identified.

[0090] In a specific implementation, after the above device activates the target active feature generation unit and generates active feature points on the adjacent target, it will identify the surrounding image of the vehicle uploaded by the target camera. The above device searches for and locates these active feature points in the image through image recognition technology. Once the active feature points are identified, the above device will use them as target feature points for subsequent tracking and motion state analysis. This method utilizes the visual effect of the active feature points to improve the recognition rate and tracking accuracy of the feature points, especially in complex environments or low light conditions. For example, after the above device identifies the light spot active feature points on the vehicle in front through the front camera, it uses them as target feature points for tracking, so as to more accurately monitor the motion state of the vehicle in front and provide reliable data for collision risk assessment.

[0091] For ease of understanding, the following is illustrated by way of example, but the present embodiment is not specifically limited. Assume that the vehicle is traveling at night and there is a slow-moving truck ahead. The device determines the position of the truck through the front driving radar and activates the front active feature generation unit to generate a light spot on the truck as an active feature point. After the front camera captures the image around the vehicle, the device recognizes the image, successfully locates the active feature point of the light spot on the truck, and uses it as the target feature point. The device then continuously tracks the target feature point, calculates the movement trajectory and displacement parameters of the truck, and determines the movement state of the truck. In this way, the device can accurately monitor the movement state of the approaching target under low light conditions, improving the reliability and accuracy of the collision warning system.

[0092] Further, considering that if the light spot is used as the basis for discriminative feature analysis, it may be greatly affected in strong light environments such as sunny days. Before the step of using the active feature point as the target feature point, it further includes:

[0093] Performing a light and shadow feature analysis on the image around the vehicle, and determining whether the light and shadow analysis result meets a preset light and shadow condition;

[0094] When the light and shadow analysis result meets the preset light and shadow condition, perform the step of using the active feature point as the target feature point;

[0095] When the light and shadow analysis result does not meet the preset light and shadow condition, adjust the preset working power based on the light and shadow analysis result, so that the target active feature generation unit generates an active feature point on the approaching target according to the adjusted preset working power.

[0096] It should be noted that the above light and shadow feature analysis can be to evaluate the visualization effect of the active feature point by analyzing features such as brightness, contrast, and lighting conditions in the image. The above preset light and shadow condition can be a light and shadow feature standard preset by the device for determining whether the active feature point has sufficient recognition. The above preset working power can be the power preset when the active feature generation unit is working normally for generating the active feature point.

[0097] In a specific implementation, after the above-mentioned device recognizes the image around the vehicle and detects the active feature points, it will further perform light and shadow feature analysis. This analysis process is intended to evaluate the visualization effect of the active feature points in the image to ensure that they have sufficient recognition under different environmental conditions. Specifically, the above-mentioned device will analyze factors such as the brightness and contrast of the active feature points and the lighting conditions of the surrounding environment. If the light and shadow analysis results meet the preset light and shadow conditions, such as the brightness and contrast of the active feature points reach the set threshold, the above-mentioned device will use these active feature points as target feature points for subsequent tracking and motion state analysis. However, if the light and shadow analysis results do not meet the preset conditions, it indicates that the visualization effect of the active feature points may be affected by factors such as ambient lighting and is insufficient to support accurate tracking. In this case, the above-mentioned device will adjust the preset working power of the active feature generation unit according to the light and shadow analysis results. For example, if the ambient lighting is weak, resulting in insufficient brightness of the active feature points, the above-mentioned device will increase the working power of the active feature generation unit to enhance the brightness and contrast of the active feature points, so that it can generate clearer and easier to identify active feature points on the adjacent target, thereby ensuring the accuracy and reliability of the collision warning system.

[0098] For ease of understanding, the following is explained by way of example, but this embodiment is not specifically limited. Assume that the vehicle is driving in the evening and there is a slow-moving truck in front. The device determines the position of the truck through the front driving radar and activates the active feature generation unit in the front to generate a light spot on the truck as an active feature point. After the front camera captures the image around the vehicle, the device performs light and shadow feature analysis on the image and finds that due to the weak light in the evening, the brightness and contrast of the light spot are lower than the preset light and shadow conditions. The device then adjusts the working power of the active feature generation unit to increase its output intensity to enhance the brightness and contrast of the light spot. After the adjustment, the device performs light and shadow feature analysis again, and after confirming that the visualization effect of the light spot meets the preset conditions, the light spot is tracked as a target feature point. In this way, the device can ensure the recognition of active feature points under different lighting conditions and improve the accuracy and reliability of the collision warning system.

[0099] Based on the first and second embodiments, in the third embodiment, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 4 , Figure 4 This is a flow chart of the third embodiment of the vehicle collision alarm cancellation method proposed in this embodiment. Further, after the step of sending the generated alarm cancellation instruction to the vehicle computer, it also includes:

[0100] Step S41: Obtain the positioning data of the current vehicle, and determine the expected driving direction of the current vehicle according to the positioning data and a preset electronic map.

[0101] It should be noted that the above positioning data can be the current position information of the vehicle obtained through a positioning system such as GPS or Beidou, including longitude, latitude, altitude, etc. The above preset electronic map can be the map data pre-stored in the above device, containing detailed information such as road directions, traffic signs, slopes, etc. The above expected driving direction can be the direction in which the vehicle is about to drive analyzed based on the positioning data and the electronic map, such as going straight, turning left, turning right, etc.

[0102] Step S42: Based on the expected driving direction and the relative orientation, determine whether there is a collision risk when the current vehicle is driving.

[0103] It should be noted that the above collision risk can refer to the possibility of the vehicle colliding with a nearby target during driving, which is evaluated by comprehensively analyzing the expected driving direction of the vehicle and the relative orientation of the nearby target. In a specific implementation, after the above device determines the expected driving direction of the current vehicle and the relative orientation of the nearby target, it will comprehensively analyze this information to determine whether there is a collision risk. Specifically, the above device will consider the positional relationship between the driving path of the vehicle and the nearby target. For example, if the vehicle is expected to turn left and there is a vehicle approaching quickly on the left, the above device will judge whether there is a collision risk based on their relative speed and distance.

[0104] For ease of understanding, the following is illustrated by way of example, but does not specifically limit this embodiment. Suppose the vehicle is about to turn left at an intersection. The device determines the expected driving direction of the vehicle as turning left through the positioning data and the electronic map. At the same time, the device detects through the driving radar and the camera that there is a vehicle going straight approaching quickly on the left. The device comprehensively analyzes the expected driving direction and the relative orientation of the nearby vehicle, calculates their relative speed and distance, and determines that there is a collision risk during the left turn. Therefore, the device issues a collision warning to remind the driver to pay attention to the oncoming vehicle on the left and avoid collisions.

[0105] Further, in order to timely discover and solve potential technical problems, after the step of sending the generated alarm cancellation instruction to the vehicle head unit, the following is further included:

[0106] Obtain the historical false alarm records of the current vehicle, and determine the number of false alarms corresponding to each driving radar based on the historical false alarm records;

[0107] When the number of false alarms is higher than a preset maintenance threshold, send the false alarm records of the driving radar generated to the vehicle head unit so that the vehicle head unit feeds back a maintenance prompt for the driving radar.

[0108] It should be noted that the above-mentioned historical false alarm records may be false alarm information generated by the above-mentioned equipment during the historical driving process of the vehicle, including the time, location, and sensor ID involved in the false alarm. The above-mentioned number of false alarms may be the total number of false alarms generated by a specific driving radar within a certain period of time, which is used to evaluate the working status of the radar. The above-mentioned preset maintenance threshold may be the upper limit of the number of false alarms pre-set by the above-mentioned equipment. When the actual number of false alarms exceeds this threshold, it is considered that the driving radar needs inspection or maintenance. The above-mentioned driving radar maintenance prompt may be a prompt message sent by the vehicle computer to the driver, reminding the driver that a certain driving radar has too many false alarms and needs to be inspected or repaired.

[0109] In a specific implementation, when the above-mentioned device performs the collision warning function, it will continuously monitor and record the false alarm situation of the current vehicle. Specifically, the above-mentioned device will obtain the historical false alarm records of the vehicle, which include the time, location, involved driving radar ID and specific circumstances of each false alarm. The above-mentioned device determines the number of false alarms corresponding to each driving radar by analyzing these historical false alarm records. If the number of false alarms of a driving radar exceeds the preset maintenance threshold, the above-mentioned device will generate a false alarm record of the driving radar and send it to the vehicle computer. After receiving the false alarm record, the vehicle computer will feedback the driving radar maintenance prompt to the driver, reminding the driver to check or repair the relevant above-mentioned equipment in time. For example, if the number of false alarms of the front driving radar of the vehicle reaches 5 times within a month, exceeding the preset maintenance threshold, the above-mentioned device will generate a detailed false alarm record and prompt the driver through the vehicle computer that "the number of false alarms of the front driving radar is too many, please check and repair in time." This mechanism can help drivers discover and solve potential technical problems in a timely manner and improve the safety and reliability of the vehicle.

[0110] This embodiment also provides a first embodiment of a vehicle-mounted collision alarm deactivation device, please refer to Figure 5 , Figure 5 The vehicle-mounted collision alarm cancellation device provided in this embodiment includes:

[0111] A state acquisition module, used to acquire the motion state of the current vehicle and the motion state of the adjacent targets around the current vehicle when detecting that the vehicle computer generates a collision alarm activation instruction, wherein the collision alarm activation instruction is generated when the current vehicle and the adjacent targets reach a preset warning condition;

[0112] A state judgment module, used for judging whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target;

[0113] An alarm cancellation module, used for sending a generated alarm cancellation instruction to the vehicle computer when the collision alarm activation instruction is the false alarm instruction, so that the vehicle computer cancels the collision alarm;

[0114] The state acquisition module is also used to determine the motion state of the current vehicle based on the driving data uploaded by the driving sensor; determine the target driving radar from each of the driving radars based on the collision alarm activation instruction, and determine the relative position of the adjacent targets around the vehicle and the current vehicle based on the target driving radar; determine the target camera from each of the cameras based on the relative position, identify the vehicle surrounding images uploaded by the target camera, and determine the motion state of the adjacent targets based on the identification results.

[0115] Based on the first embodiment of the vehicle-mounted collision alarm cancellation device of the present application, a second embodiment of the vehicle-mounted collision alarm cancellation device of the present application is proposed.

[0116] In this embodiment, the state acquisition module is further used to identify the vehicle surrounding image uploaded by the target camera to obtain the target feature points of the adjacent target; continuously track the feature points of the vehicle surrounding image according to the target feature points to obtain the target movement trajectory corresponding to the target feature points; determine the displacement parameter of the adjacent target based on the target movement trajectory, and determine the motion state of the adjacent target according to the displacement parameter and a preset displacement threshold;

[0117] The state acquisition module is further used to determine a target active feature generating unit from each of the active feature generating units based on the relative position, and activate the target active feature generating unit so that the target active feature generating unit generates active feature points on the adjacent target according to a preset working power;

[0118] The state acquisition module is further used to recognize the vehicle surrounding image uploaded by the target camera, obtain the active feature points in the vehicle surrounding image, and use the active feature points as target feature points;

[0119] The state acquisition module is also used to perform light and shadow feature analysis on the image around the vehicle and determine whether the light and shadow analysis result meets the preset light and shadow conditions; when the light and shadow analysis result meets the preset light and shadow conditions, execute the step of using the active feature point as the target feature point; when the light and shadow analysis result does not meet the preset light and shadow conditions, adjust the preset working power based on the light and shadow analysis result, so that the target active feature generation unit generates active feature points on the adjacent target according to the adjusted preset working power.

[0120] Based on the above-mentioned first embodiment of the vehicle-mounted collision alarm cancellation device and the second embodiment of the vehicle-mounted collision alarm cancellation device of the present application, a third embodiment of the vehicle-mounted collision alarm cancellation device of the present application is proposed.

[0121] In this embodiment, the alarm release module is further used to obtain the positioning data of the current vehicle, and determine the expected driving direction of the current vehicle according to the positioning data and the preset electronic map; determine whether there is a collision risk when the current vehicle is driving based on the expected driving direction and the relative position; if so, send the generated collision risk prompt information to the vehicle computer, so that the vehicle computer issues a collision risk prompt;

[0122] The alarm cancellation module is also used to obtain the historical false alarm records of the current vehicle, and determine the number of false alarms corresponding to each of the driving radars based on the historical false alarm records; when the number of false alarms is higher than a preset maintenance threshold, the generated false alarm records of the driving radar are sent to the vehicle computer, so that the vehicle computer can feedback the driving radar maintenance prompt.

[0123] The vehicle-mounted collision alarm cancellation device provided in this embodiment adopts the vehicle-mounted collision alarm cancellation method in the above embodiment, which can solve the technical problem that the prior art only triggers the alarm based on the relative distance threshold, is prone to false alarms, and cannot be manually closed. Compared with the prior art, the beneficial effects of the vehicle-mounted collision alarm cancellation device provided in this embodiment are the same as the beneficial effects of the vehicle-mounted collision alarm cancellation method provided in the above embodiment, and other technical features in the vehicle-mounted collision alarm cancellation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0124] This embodiment provides a vehicle-mounted collision alarm cancellation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle-mounted collision alarm cancellation method in the above-mentioned embodiment one.

[0125] Reference below Figure 6 , Figure 6The schematic diagram of the structure of the vehicle collision alarm cancellation device suitable for implementing the present embodiment. The vehicle collision alarm cancellation device in the present embodiment may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The vehicle-mounted collision alarm cancellation device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0126] like Figure 6 As shown, the vehicle-mounted collision alarm cancellation device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the vehicle-mounted collision alarm cancellation device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the vehicle-mounted collision alarm cancellation device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vehicle-mounted collision alarm cancellation device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0127] In particular, according to the present embodiment, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the present embodiment includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present embodiment are executed.

[0128] The vehicle-mounted collision alarm cancellation device provided in this embodiment adopts the vehicle-mounted collision alarm cancellation method in the above embodiment, which can solve the technical problem that the prior art only triggers the alarm based on the relative distance threshold, is prone to false alarms, and cannot be manually closed. Compared with the prior art, the beneficial effects of the vehicle-mounted collision alarm cancellation device provided in this embodiment are the same as the beneficial effects of the vehicle-mounted collision alarm cancellation method provided in the above embodiment, and other technical features in the vehicle-mounted collision alarm cancellation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0129] It should be understood that the various parts disclosed in this embodiment can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0130] The above is only a specific implementation of this embodiment, but the protection scope of this embodiment is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this embodiment, which should be included in the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be based on the protection scope of the claims.

[0131] This embodiment provides a car including: a vehicle computer and the vehicle-mounted collision alarm cancellation device in the above embodiment, and the vehicle-mounted collision alarm cancellation device is connected to the vehicle computer.

[0132] This embodiment provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle-mounted collision alarm cancellation method in the above embodiment.

[0133] The computer-readable storage medium provided in this embodiment may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including, but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0134] The computer-readable storage medium may be included in the vehicle-mounted collision alarm cancellation device; or may exist independently without being assembled into the vehicle-mounted collision alarm cancellation device.

[0135] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle-mounted collision alarm cancellation device, the vehicle-mounted collision alarm cancellation device cancels the vehicle-mounted collision alarm.

[0136] The computer program code for performing the operations of the present embodiment may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present embodiment. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the description of this embodiment may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0139] The readable storage medium provided in this embodiment is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle collision alarm cancellation method, aiming to solve the technical problem that the prior art only triggers the alarm based on the relative distance threshold, is prone to false alarms, and cannot be manually closed. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this embodiment are the same as the beneficial effects of the vehicle collision alarm cancellation method provided in the above-mentioned embodiment, and will not be repeated here.

[0140] This embodiment also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle collision alarm cancellation method when executed by a processor.

[0141] The computer program product provided in this embodiment can solve the technical problems of the prior art that the alarm is triggered only based on the relative distance threshold, is prone to false alarms, and cannot be manually turned off. Compared with the prior art, the beneficial effects of the computer program product provided in this embodiment are the same as the beneficial effects of the vehicle collision alarm cancellation method provided in the above embodiment, which will not be described in detail here.

[0142] The above descriptions are only some embodiments, and are not intended to limit the patent scope of this embodiment. All equivalent structural changes made using the contents of the specification and drawings of this application under the technical concept of this application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of this application.

Claims

1. A method for canceling a vehicle collision alarm, characterized in that: The method is applied to a vehicle-mounted collision alarm cancellation device, the vehicle-mounted collision alarm cancellation device is connected to a vehicle computer, and the method includes: When it is detected that the vehicle computer generates a collision alarm activation instruction, the motion state of the current vehicle and the motion state of the adjacent target around the current vehicle are acquired, and the collision alarm activation instruction is generated when the current vehicle and the adjacent target reach a preset warning condition; Determining whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent target; When the collision alarm activation instruction is the false alarm instruction, the generated alarm cancellation instruction is sent to the vehicle computer, so that the vehicle computer cancels the collision alarm.

2. The method according to claim 1, wherein The vehicle-mounted collision alarm cancellation device is also connected to a driving sensor, a plurality of driving radars, and a plurality of cameras respectively. The step of obtaining the motion state of the current vehicle and the motion state of the adjacent targets around the current vehicle includes: Determine the current motion state of the vehicle according to the driving data uploaded by the driving sensor; Determining a target driving radar from the driving radars based on the collision alarm activation instruction, and determining a relative position of an adjacent target around the vehicle and the current vehicle based on the target driving radar; A target camera is determined from each of the cameras according to the relative orientation, the vehicle surrounding image uploaded by the target camera is recognized, and the motion state of the nearby target is determined according to the recognition result.

3. The method according to claim 2, wherein The step of identifying the vehicle surrounding image uploaded by the target camera and determining the motion state of the adjacent target according to the identification result includes: Identify the surrounding image of the vehicle uploaded by the target camera to obtain the target feature points of the nearby target; Continuously tracking feature points of the image around the vehicle according to the target feature points to obtain a target movement trajectory corresponding to the target feature points; The displacement parameters of the adjacent target are determined based on the target movement trajectory, and the motion state of the adjacent target is determined according to the displacement parameters and a preset displacement threshold.

4. The method according to claim 3, wherein The vehicle-mounted collision alarm cancellation device is also connected to a plurality of active feature generation units. Before the step of identifying the vehicle surrounding image uploaded by the target camera, it also includes: Determine a target active feature generating unit from each of the active feature generating units based on the relative orientation, and activate the target active feature generating unit so that the target active feature generating unit generates active feature points on the adjacent target according to a preset working power; The step of identifying the vehicle surrounding image uploaded by the target camera to obtain the target feature points of the adjacent target includes: The vehicle surrounding image uploaded by the target camera is recognized to obtain the active feature points in the vehicle surrounding image, and the active feature points are used as target feature points.

5. The method according to claim 4, characterized in that Before the step of using the active feature points as target feature points, the method further includes: Performing light and shadow feature analysis on the image around the vehicle, and determining whether the light and shadow analysis result meets the preset light and shadow conditions; When the light and shadow analysis result meets the preset light and shadow condition, perform the step of taking the active feature points as target feature points; When the light and shadow analysis result does not meet the preset light and shadow condition, adjust the preset working power based on the light and shadow analysis result, so that the target active feature generating unit generates active feature points on the adjacent target according to the adjusted preset working power.

6. The method according to claim 2, wherein After the step of sending the generated alarm cancellation instruction to the vehicle-mounted computer, the method further includes: Obtain the positioning data of the current vehicle, and determine the expected driving direction of the current vehicle according to the positioning data and a preset electronic map; Judge whether there is a collision risk when the current vehicle is driving based on the expected driving direction and the relative azimuth; If so, send the generated collision risk prompt information to the vehicle-mounted computer so that the vehicle-mounted computer performs a collision risk prompt.

7. The method according to claim 2, wherein After the step of sending the generated alarm cancellation instruction to the vehicle-mounted computer, the method further includes: Obtain the historical false alarm records of the current vehicle, and determine the number of false alarms corresponding to each driving radar based on the historical false alarm records; When the number of false alarms is higher than a preset maintenance threshold, send the false alarm records of the driving radar generated to the vehicle-mounted computer so that the vehicle-mounted computer gives a maintenance prompt for the driving radar.

8. A vehicle-mounted collision alarm cancellation device, characterized in that: The device includes: A status acquisition module, configured to acquire the motion state of the current vehicle and the motion state of adjacent targets around the current vehicle when detecting that the vehicle-mounted computer generates a collision alarm activation instruction, where the collision alarm activation instruction is generated when the current vehicle and the adjacent targets reach a preset warning condition; A status judgment module, configured to judge whether the collision alarm activation instruction is a false alarm instruction based on the motion state of the current vehicle and the motion state of the adjacent targets; An alarm cancellation module, configured to send the generated alarm cancellation instruction to the vehicle-mounted computer when the collision alarm activation instruction is the false alarm instruction, so that the vehicle-mounted computer cancels the collision alarm.

9. A vehicle-mounted collision alarm cancellation device, characterized in that: The device includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the computer program is configured to implement the steps of the vehicle-mounted collision alarm cancellation method according to any one of claims 1 to 7.

10. A vehicle, characterized in that, The vehicle includes: a vehicle-mounted computer and the vehicle-mounted collision alarm cancellation device according to claim 9, where the vehicle-mounted collision alarm cancellation device is connected to the vehicle-mounted computer.

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