Vehicle early warning method and device, storage medium, electronic equipment and vehicle

Abstract

The invention provides a vehicle early warning method and device, a storage medium, electronic equipment and a vehicle, and the method comprises the steps: obtaining blind area environment information, carrying out the blind area detection based on the blind area environment information, and obtaining a blind area detection result. The blind area detection result comprises detected real-time position information and real-time speed information of other vehicles, based on the blind area detection result, if the other vehicles are located in a preset distance range from the vehicle, an early warning signal is sent out, and further, if the other vehicles are abnormally lost in the preset distance range, an early warning signal is sent out. If so, recording loss moment position information and loss moment speed information of other vehicles when the other vehicles are lost, then calculating departure duration required by the other vehicles to leave the preset distance range according to the loss moment position information and the loss moment speed information, and finally continuously sending out an early warning signal according to the departure duration.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular, to a vehicle warning method, device, storage medium, electronic device and vehicle. Background Art

[0002] Due to the visual blind spots of automotive rearview mirrors, a driver cannot observe the vehicles in the blind spots through the rearview mirror before changing lanes. If there is an overtaking vehicle in the blind spot, a collision accident will occur when changing lanes at this time. In rainy weather, foggy weather, and dim light at night, it is even more difficult to see the vehicles behind, and changing lanes at this time poses a greater danger. Blind spot detection is one of the important driving assistance functions for improving driving safety.

[0003] However, due to the variability of the vehicle driving environment, in some specific scenarios, the blind spot detection system cannot continuously and accurately identify the vehicles in the blind spot, which is not conducive to the driving safety of the driver. Summary of the Invention

[0004] Based on this, the present invention provides a vehicle warning method, device, storage medium, electronic device and vehicle. By using this vehicle warning method, during the warning process, when the signal of other vehicles in the detected blind spot is abnormally lost, the warning signal can be continuously maintained to output, avoiding potential safety risks caused by the absence of the warning signal.

[0005] On the one hand, the present invention provides a vehicle warning method, and the method includes:

[0006] Obtain the blind spot environment information, perform blind spot detection based on the blind spot environment information to obtain a blind spot detection result, and the blind spot detection result includes the real-time position information and real-time speed information of the other detected vehicles;

[0007] Based on the blind spot detection result, if the other vehicle is within a preset distance range from the vehicle, a warning signal is issued;

[0008] If the other vehicle is abnormally lost within the preset distance range, record the position information and speed information at the moment of loss of the other vehicle when it is lost;

[0009] Calculate the departure duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss;

[0010] Continuously issue the warning signal according to the departure duration.

[0011] Further, in some embodiments, the continuously issuing the warning signal according to the departure duration includes:

[0012] If the warning signal continues to be emitted for the duration of departure, the warning is stopped;

[0013] If the warning signal continues to be emitted for less than the duration of departure and the other vehicle is redetected in the blind zone environmental information, a warning signal is emitted according to the real-time position information and real-time speed information corresponding to the other vehicle.

[0014] Further, in some embodiments, the "if the other vehicle is within a preset distance range from the own vehicle, a warning signal is emitted" includes:

[0015] If the other vehicle is within a preset distance range from the own vehicle, based on the real-time position information and the real-time speed information, calculate the approaching time required for the other vehicle to approach the own vehicle;

[0016] If the approaching time is less than a preset time threshold, a warning signal is emitted.

[0017] Further, in some embodiments, the blind zone detection result further includes the lane information corresponding to the other vehicle;

[0018] Based on the blind zone detection result, if the other vehicle is within a preset distance range from the own vehicle, a warning signal is emitted, including:

[0019] If the other vehicle is within a preset distance range from the own vehicle and the other vehicle is in the adjacent lane of the own vehicle, based on the real-time position information and the real-time speed information, calculate the approaching time required for the other vehicle to approach the own vehicle;

[0020] If the approaching time is less than a preset time threshold, a warning signal is emitted.

[0021] Further, in some embodiments, the preset distance range includes the range between a first preset distance and a second preset distance from the own vehicle, and the first preset distance is less than the second preset distance;

[0022] The "emitting a warning signal" includes:

[0023] If the real-time distance between the other vehicle and the own vehicle is less than the second preset distance and greater than a third preset distance, a first warning signal is emitted, and the first warning signal includes a blind zone vehicle display warning, and the third preset distance is less than the second preset distance and greater than the first preset distance;

[0024] If the real-time distance between the other vehicle and the own vehicle is greater than the first preset distance and less than the third preset distance, a second warning signal is emitted, and the second warning signal includes a blind zone vehicle display warning and a non-lane-changing warning.

[0025] Further, in some embodiments, if the proximity time is greater than or equal to the preset time threshold, no warning signal is issued.

[0026] On the other hand, the present invention provides a vehicle warning device, comprising:

[0027] A detection module, configured to obtain blind spot environment information, perform blind spot detection based on the blind spot environment information, and obtain a blind spot detection result, where the blind spot detection result includes real-time position information and real-time speed information of other detected vehicles;

[0028] A warning module, configured to issue a warning signal based on the blind spot detection result if the other vehicle is within a preset distance range from the vehicle;

[0029] An information recording module, configured to record the position information and speed information at the moment of loss of the other vehicle when the other vehicle is abnormally lost within the preset distance range;

[0030] A duration prediction module, configured to calculate the departure duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss of the other vehicle;

[0031] The warning module is further configured to continuously issue the warning signal according to the departure duration.

[0032] On the other hand, the present invention provides a storage medium storing a computer program adapted to be loaded and executed by a processor to perform the steps of the above method.

[0033] On the other hand, the present invention further provides an electronic device, comprising: a processor and a memory; wherein, the memory stores a computer program adapted to be loaded and executed by the processor to perform the steps of the above method.

[0034] On the other hand, the present invention further provides a vehicle, comprising the above vehicle warning device or electronic device.

[0035] By using the vehicle warning method provided by the present invention, blind spot vehicle detection is performed by obtaining blind spot environment information. According to the detected blind spot monitoring result, when there is a vehicle in the blind spot within a preset distance range from the vehicle, a warning signal is issued. During the warning process, if the signal of the other vehicle in the blind spot is abnormally lost, the departure duration for the other vehicle to drive away from the preset distance range of the vehicle is calculated according to the position information at the moment of loss and the speed information at the moment of loss of the other vehicle, and then the warning signal is continuously output according to the departure duration, avoiding potential safety risks caused by the absence of the warning signal and improving vehicle driving safety.

[0036] It should be understood that the content described in the summary of the invention is not intended to limit the key or important features of the embodiments of the present invention, nor to limit the scope of the present invention. Other features of the present invention will become readily apparent from the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic flowchart of a vehicle warning method provided by an embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of blind area detection provided by an embodiment of the present invention;

[0039] Figure 3 It is an example schematic diagram of abnormal loss of a detection target provided by an embodiment of the present invention;

[0040] Figure 4 It is another example schematic diagram of abnormal loss of a detection target provided by an embodiment of the present invention;

[0041] Figure 5 It is an example schematic diagram of a preset distance range provided by an embodiment of the present invention;

[0042] Figure 6 It is a schematic structural diagram of a vehicle warning device provided by an embodiment of the present invention;

[0043] Figure 7 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] In the description of one or more embodiments of the present invention, the term "including" and its similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions below.

[0046] Please refer to Figure 1 , which is a schematic flowchart of a vehicle warning method provided by an embodiment of the present invention. The following will be directed toFigure 1 The following is a detailed description of the process shown. The vehicle warning method may specifically include the following steps:

[0047] Step S102: Obtain blind spot environment information, perform blind spot detection based on the blind spot environment information, and obtain a blind spot detection result. The blind spot detection result includes the real-time position information and real-time speed information of other detected vehicles.

[0048] Among them, the blind spot environment information may refer to the environment information of the visual blind spot that the driver cannot observe during driving, or the pre-defined environment information of the vehicle blind spot.

[0049] In one or more embodiments of the present invention, the vehicle obtains the blind spot environment information of the vehicle through a radar or a camera. The blind spot detection system detects whether there are other vehicles other than the vehicle itself in the blind spot according to the blind spot environment information. If so, it simultaneously detects the real-time position information and real-time speed information of other vehicles in the blind spot.

[0050] In a feasible implementation, millimeter-wave radar, lidar, etc. can be used to detect whether there are other vehicles in the blind spot, as well as the position and speed information of other vehicles. Specifically, point cloud data of the blind spot environment can be collected through a radar, and by processing the point cloud data, it is detected whether there are other vehicles in the blind spot and the position information of other vehicles, and the speed of other vehicles is calculated through the point cloud data collected at different times.

[0051] In a feasible implementation, high-definition camera can be used to collect blind spot environment information, and target detection is performed according to the collected image environment information to determine whether there are other vehicles in the blind spot and the position information of other vehicles, and the speed of other vehicles is calculated through the image environment information collected at different times.

[0052] Step S104: Based on the blind spot detection result, if other vehicles are within a preset distance range from the vehicle, issue a warning signal.

[0053] In one or more embodiments of the present invention, after obtaining the blind spot monitoring result, according to the blind spot monitoring result, if other vehicles in the blind spot are within a preset distance range from the vehicle, it is determined that other vehicles are relatively close to the vehicle and in an unsafe state. At this time, the vehicle issues a warning signal to remind the driver that there are other vehicles in the blind spot.

[0054] Please refer to Figure 2 for a schematic diagram of blind spot detection provided by an embodiment of the present invention. As Figure 2As shown, vehicle 01 is traveling in the middle lane. The gray area in the adjacent lane of the vehicle is the preset distance range 03 for blind spot detection. Among them, the preset distance range 03 is within the range of 0 meters to 50 meters from the vehicle. If there is another vehicle 02 within the preset distance range, the vehicle will give a warning to the driver.

[0055] In a feasible implementation, when the blind spot detection system detects that another vehicle in the blind spot is within the preset distance range from the vehicle, it sends a warning indication message to the in-vehicle central control system, and the in-vehicle central control system gives a warning by voice or display.

[0056] In one embodiment, if another vehicle in the blind spot is within the preset distance range from the vehicle, further, based on the real-time position information and real-time speed information of the other vehicle, calculate the approaching time required for the other vehicle to approach the vehicle. If the approaching time is less than the preset time threshold, a warning signal is issued.

[0057] Among them, the approaching time required for the other vehicle to approach the vehicle refers to the time required for the other vehicle within the preset distance range to reach the vehicle starting from the current real-time position and real-time speed. It can be understood that when the speed of the other vehicle within the preset distance range is relatively fast and it can reach the vehicle in a short time, it is determined that the other vehicle in the blind spot may pose a safety risk to the vehicle's driving. By calculating the approaching time of the other vehicle approaching the vehicle, when the approaching time is less than the preset time threshold, it can be determined that the other vehicle may pose a safety risk to the vehicle's driving, and the vehicle issues a warning signal to remind the driver that there is another vehicle in the blind spot.

[0058] Preferably, the preset distance range can be the distance range extending 50 meters backward from the rear position of the vehicle.

[0059] Preferably, the preset time threshold can be three seconds. When the approaching time is less than three seconds, a warning is given. When the approaching time is greater than three seconds, no warning is given. For example, at a certain moment, the distance between another vehicle and the vehicle is 40 meters, the speed of the other vehicle is 50 kilometers per hour, and the speed of the vehicle is 30 kilometers per hour. According to the speed difference, the time required for the other vehicle to approach the vehicle at a speed of 50 kilometers per hour can be calculated as 7.2 seconds. At this time, 7.2 seconds is greater than the preset time threshold of 3 seconds, and no warning is given.

[0060] Step S106, if another vehicle is abnormally lost within the preset distance range, record the position information and speed information at the moment of loss of the other vehicle when it is lost.

[0061] In one or more embodiments of the present invention, after detecting a warning signal sent by another vehicle, if the other vehicle abnormally loses the detection target within a preset distance range from the vehicle itself, that is, when the blind spot detection system of the vehicle itself cannot identify the other vehicle, record the position information at the moment of loss and the speed information at the moment of loss of the other vehicle when it is lost.

[0062] Step S108, calculate the leaving duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss.

[0063] Step S110, continuously send a warning signal according to the leaving duration.

[0064] It can be understood that in some specific scenarios, due to off-site environmental interference, the vehicle blind spot detection system cannot continuously and accurately identify other vehicles in the blind spot. At this time, during the warning process, the phenomenon that the detection object of other vehicles is lost in the detection system may occur. At this time, since the other vehicle cannot be detected, the warning is also turned off synchronously. However, the other vehicle whose detection object is lost is still driving within the dangerous range of the vehicle itself, and the vehicle owner's inability to know the position of the other vehicle may pose a safety risk to the normal driving of the vehicle itself.

[0065] In one or more embodiments of the present invention, when it is detected that another vehicle is abnormally lost within a preset distance range, record the position information at the moment of loss and the speed information at the moment of loss of the other vehicle when it is lost. Then, according to the speed information at the moment of loss of the other vehicle and the speed information of the vehicle itself, calculate the vehicle speed difference. Calculate the distance between the other vehicle and the vehicle itself according to the position information at the moment of loss of the other vehicle. Calculate the leaving duration required for the other vehicle to drive out of the preset distance range according to the calculated vehicle speed difference and distance. Then, continuously send a warning signal according to the leaving duration to avoid potential safety risks caused by the absence of warning signals and improve vehicle driving safety.

[0066] Please refer to Figure 3 , which is an example schematic diagram of abnormal loss of a detection target provided by an embodiment of the present invention. As Figure 3 shown, if the detected other vehicle is abnormally lost at position A, it is necessary to calculate the leaving duration required for the other vehicle to move from position A to position B according to the real-time speed information of the other vehicle at position A, and continuously send a warning signal within the leaving duration. Among them, position B is the position where the other vehicle just leaves the detection range of the vehicle itself.

[0067] In an embodiment of the present invention, blind spot vehicle detection is performed by obtaining blind spot environment information. According to the detected blind spot monitoring results, when there is a vehicle in the blind spot within a preset distance range from the vehicle, a warning signal is issued. During the warning process, if the signals of other vehicles in the blind spot are abnormally lost, the departure duration for the other vehicle to drive out of the preset distance range from the vehicle is calculated based on the position information and speed information at the moment of loss of the other vehicle, and then the warning signal is continuously output based on the departure duration, so as to avoid potential safety risks caused by the absence of the warning signal and improve vehicle driving safety.

[0068] In one embodiment, the warning signal is continuously issued according to the departure duration. Specifically, if the continuous issuance of the warning signal reaches the departure duration, the warning is stopped. If the continuous issuance of the warning signal does not reach the departure duration and other vehicles are detected again in the blind spot environment information, a warning signal is issued according to the real-time position information and real-time speed information corresponding to the other vehicles.

[0069] It can be understood that the departure duration refers to the duration required for other vehicles in the blind spot to drive out of the preset distance range from the vehicle at a uniform speed based on the speed and position at the moment of loss. When other vehicles are abnormally lost in the blind spot detection system of the vehicle, the blind spot detection system of the vehicle loses the detection information of the other vehicles. At this time, the blind spot detection system of the vehicle indicates that no other vehicles are detected. In fact, the other vehicles are still driving within the preset distance range in the blind spot of the vehicle. At this time, according to the position information and speed information at the moment of loss of the other vehicles, the departure duration for the vehicle to drive out of the preset distance range is calculated, and continuous warning is issued within the departure duration to avoid potential safety risks caused by the absence of the warning signal and improve vehicle driving safety.

[0070] Furthermore, if the blind spot detection system of the vehicle detects the other vehicle again within the departure duration, the departure duration is reset, and it is determined whether to continue to issue a warning message according to the information of the other vehicles detected by the blind spot detection system.

[0071] Please refer to Figure 4 , which is an example schematic diagram for another detection of abnormal loss of the target provided by the embodiment of the present invention. As Figure 4 shown, the detected other vehicle is abnormally lost at position A. According to the real-time speed information of the other vehicle at position A, the departure duration required for the other vehicle to move from position A to position B is calculated. When continuously issuing a warning signal within the departure duration, if the vehicle 01 detects the other vehicle 02 again at position C within the preset distance range 03 before the warning duration reaches the departure duration, a decision is made whether to issue a warning signal based on the real-time position information and real-time speed information of the other vehicle at this time.

[0072] In one embodiment, the blind spot detection result further includes the lane information corresponding to other vehicles. Then, in step S104, based on the blind spot detection result, if other vehicles are within a preset distance range from the vehicle itself, a warning signal may be issued. It may also be: if other vehicles are within a preset distance range from the vehicle itself and the other vehicles are in the adjacent lane of the vehicle itself, then based on the real-time position information and real-time speed information, calculate the approaching time required for the other vehicles to approach the vehicle itself. If the approaching time is less than a preset time threshold, a warning signal is issued.

[0073] By obtaining the lane line information of the road and combining it with the lane to which the vehicle itself belongs, if other vehicles are within a preset distance range from the vehicle itself and the other vehicles are in the adjacent lane of the vehicle itself, then determine whether to issue a warning signal according to the calculated approaching time for the other vehicles to approach the vehicle itself. It can be understood that if other vehicles are in other lanes far from the lane of the vehicle itself, then these other vehicles will not pose a safety risk to the normal driving of the vehicle itself, and it is unnecessary to issue a warning signal, thus improving the usage experience of vehicle blind spot warning.

[0074] In one embodiment, the preset distance range includes the range between a first preset distance and a second preset distance from the vehicle itself, and the first preset distance is less than the second preset distance. Then, in step S104, issuing a warning signal may also be: if the real-time distance between the other vehicle and the vehicle itself is less than the second preset distance and greater than a third preset distance, a first warning signal is issued. The first warning signal includes a blind spot vehicle display warning, and the third preset distance is less than the second preset distance and greater than the first preset distance; if the real-time distance between the other vehicle and the vehicle itself is greater than the first preset distance and less than the third preset distance, a second warning signal is issued. The second warning signal includes a blind spot vehicle display warning and a non-lane-changing warning.

[0075] Please refer to Figure 5 , which is an example schematic diagram of a preset distance range provided by an embodiment of the present invention. As Figure 5 shown, when the other vehicle 02 is between the second preset distance D2 and the third preset distance D3, it is at a certain distance from the vehicle 01 itself. When the other vehicle 02 is between the first preset distance D1 and the third preset distance D3, it is closer to the vehicle 01 itself.

[0076] Refer to Figure 5 , according to the implementation position information in the blind spot detection result, the implementation distance of the other vehicle from the vehicle itself can be calculated. If the real-time distance between the other vehicle and the vehicle itself is less than the second preset distance and greater than the third preset distance, it indicates that the other vehicle is at a certain distance from the vehicle itself. At this time, a blind spot vehicle warning is performed on the vehicle-mounted display interface of the vehicle itself to prompt the driver that there is a vehicle in the blind spot and to be cautious when changing lanes.

[0077] Preferably, the second preset distance can be 50 meters, and the third preset distance can be 10 meters.

[0078] See Figure 5 , if the real-time distance between another vehicle and the vehicle is greater than the first preset distance and less than the third preset distance, it indicates that the other vehicle is within the blind spot of the vehicle and is relatively close to the vehicle. At this time, a collision will surely occur if the vehicle changes lanes. Therefore, a blind spot vehicle display warning and a non-lane-changing warning are given on the vehicle's in-vehicle display interface to prompt the driver that there is a vehicle in the blind spot and lane-changing is not possible.

[0079] Preferably, the first preset distance can be 0 meters, and the third preset distance can be 10 meters.

[0080] In one embodiment, if another vehicle is within the preset distance range from the vehicle and the approaching time of the other vehicle approaching the vehicle is less than the preset time threshold, a blind spot vehicle display warning is given on the vehicle's in-vehicle display interface. During the continuous warning process, if it is detected that the driver turns on the turn signal and makes a turning operation, a sound warning is issued to remind the driver that there is another vehicle in the blind spot and to be cautious when changing lanes.

[0081] In one embodiment, if the real-time distance between another vehicle and the vehicle is greater than the first preset distance and less than the third preset distance, it indicates that the other vehicle is within the blind spot of the vehicle and is relatively close to the vehicle. At this time, a collision will surely occur if the vehicle changes lanes. Therefore, a blind spot vehicle display warning and a non-lane-changing warning are given on the vehicle's in-vehicle display interface to prompt the driver that there is a vehicle in the blind spot and lane-changing is not possible. Further, if it is detected that the driver turns on the turn signal and makes a turning operation, a sound warning is issued to remind the driver that there is another vehicle in the blind spot and lane-changing is not possible.

[0082] It can be understood that in this embodiment, when the driver still makes a lane-changing operation without noticing the warning information displayed on the display interface, the driver can be reminded not to change lanes by means of a sound warning, further improving driving safety.

[0083] Please refer to Figure 6 , which is a schematic structural diagram of a vehicle warning device provided by an embodiment of the present invention. As Figure 6 shown, the vehicle warning device 1 can be implemented as all or part of an electronic device through software, hardware, or a combination of both. According to some embodiments, the vehicle warning device 1 includes a detection module 11, a warning module 12, an information recording module 13, and a duration prediction module 14, specifically including:

[0084] The detection module 11 is configured to obtain blind spot environment information, perform blind spot detection based on the blind spot environment information, and obtain a blind spot detection result, where the blind spot detection result includes the real-time position information and real-time speed information of the detected other vehicles;

[0085] The warning module 12 is configured to issue a warning signal if the other vehicle is within a preset distance range from the vehicle based on the blind spot detection result;

[0086] The information recording module 13 is configured to record the position information and speed information of the other vehicle at the moment of loss if the other vehicle is abnormally lost within the preset distance range;

[0087] The duration prediction module 14 is configured to calculate the leaving duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss;

[0088] The warning module 12 is further configured to continuously issue the warning signal according to the leaving duration.

[0089] Optionally, when the warning module 12 executes the operation of continuously issuing the warning signal according to the leaving duration, it is specifically configured to:

[0090] If the warning signal is continuously issued for the leaving duration, stop the warning;

[0091] If the warning signal is continuously issued but does not reach the leaving duration, and the other vehicle is redetected in the blind spot environment information, issue a warning signal according to the real-time position information and real-time speed information corresponding to the other vehicle.

[0092] Optionally, when the warning module 12 executes the operation of issuing a warning signal if the other vehicle is within a preset distance range from the vehicle, it is specifically configured to:

[0093] If the other vehicle is within a preset distance range from the vehicle, calculate the approaching time required for the other vehicle to approach the vehicle based on the real-time position information and the real-time speed information;

[0094] If the approaching time is less than a preset time threshold, issue a warning signal.

[0095] Optionally, the blind spot detection result further includes the lane information corresponding to the other vehicle;

[0096] When the warning module 12 executes the operation of issuing a warning signal if the other vehicle is within a preset distance range from the vehicle based on the blind spot detection result, it is specifically configured to:

[0097] If the other vehicle is within a preset distance range from the vehicle and the other vehicle is in the adjacent lane of the vehicle, calculate the approaching time required for the other vehicle to approach the vehicle based on the real-time position information and the real-time speed information;

[0098] If the approaching time is less than a preset time threshold, a warning signal is issued.

[0099] Optionally, the preset distance range includes the range between a first preset distance and a second preset distance from the vehicle itself, and the first preset distance is less than the second preset distance; when the warning module 12 executes the issuance of the warning signal, it is further configured to:

[0100] If the real-time distance between the other vehicle and the vehicle itself is less than the second preset distance and greater than a third preset distance, a first warning signal is issued, and the first warning signal includes a blind spot vehicle display warning, and the third preset distance is less than the second preset distance and greater than the first preset distance and greater than the first preset distance;

[0101] If the real-time distance between the other vehicle and the vehicle itself is greater than the first preset distance and less than the third preset distance, a second warning signal is issued, and the second warning signal includes a blind spot vehicle display warning and a non-lane-changing warning.

[0102] Optionally, the warning module 12 is further configured to:

[0103] If the approaching time is greater than or equal to the preset time threshold, no warning signal is issued.

[0104] The above device embodiment corresponds to the method embodiment. For specific descriptions, reference can be made to the description in the method embodiment part, which will not be elaborated here. The device embodiment is obtained based on the corresponding method embodiment and has the same technical effect as the corresponding method embodiment. For specific descriptions, reference can be made to the corresponding method embodiment.

[0105] The present invention further provides a storage medium, which can store multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the vehicle warning method as shown in the above Figures 1 to 5 embodiment. For the specific execution process, reference can be made to Figures 1 to 5 the specific description of the shown embodiment, which will not be elaborated here.

[0106] The present invention further provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to perform the vehicle warning method as shown in the above Figures 1 to 5 embodiment. For the specific execution process, reference can be made to Figures 1 to 5 the specific description of the shown embodiment, which will not be elaborated here.

[0107] In one embodiment, the present invention further provides Figure 7 the structural schematic diagram of the electronic device as shown. As Figure 7, at the hardware level, the electronic device includes a processor 31, an internal bus 32, a network interface 33, a memory 34, and a non-volatile memory 35. Of course, it may also include other hardware required for other services. The electronic device may be disposed in a vehicle, and the processor 31 therein reads a corresponding computer program from the non-volatile memory 35 into the memory and then runs it to implement the above-mentioned vehicle warning method.

[0108] In one embodiment, the present invention further provides a vehicle, which may include the vehicle warning device or the electronic device as described above. The vehicle may further include the blind spot detection system as described above. The blind spot detection system includes the vehicle warning device or the electronic device as described above to implement the vehicle warning function by executing the vehicle warning method.

[0109] It should be noted that in addition to the software implementation method, the present invention does not exclude other implementation methods for the vehicle warning method, such as logic devices or a combination of software and hardware. That is to say, the execution subject of the following processing flow is not limited to each logical unit, and may also be hardware or a logic device.

[0110] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is an integrated circuit whose logic function is determined by the user programming the device. Designers can program themselves to "integrate" a digital system onto a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, today, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL), and there is not just one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0111] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to implement the same function by logically programming the method steps so that the controller takes the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers, etc. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0112] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0113] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in Figure 1 one or more flows or multiple flows and / or blocks Figure 1 one or more blocks or multiple blocks.

[0114] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes Figure 1 one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 one or more processes and / or blocks Figure 1 specified in the block or blocks.

[0116] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element limited by the statement "comprising an …" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0117] Finally, the various embodiments of the present invention are described in a progressive manner. For the same or similar parts among the various embodiments, reference may be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for the relevant parts.

[0118] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A vehicle warning method, comprising: Obtaining blind spot environment information, performing blind spot detection based on the blind spot environment information to obtain a blind spot detection result, the blind spot detection result including real-time position information and real-time speed information of other detected vehicles; Based on the blind spot detection result, if the other vehicle is within a preset distance range from the vehicle itself, then issue a warning signal; If the other vehicle is abnormally lost within the preset distance range, then record the position information and speed information at the moment of loss of the other vehicle when it is lost; Calculate the departure duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss; Continuously issue the warning signal according to the departure duration.

2. The method according to claim 1, wherein the continuously issuing the warning signal according to the departure duration includes: If continuously issuing the warning signal reaches the departure duration, then stop the warning; If continuously issuing the warning signal does not reach the departure duration and the other vehicle is redetected in the blind spot environment information, then issue a warning signal according to the real-time position information and real-time speed information corresponding to the other vehicle.

3. The method according to claim 1, wherein the if the other vehicle is within a preset distance range from the vehicle itself, then issue a warning signal includes: If the other vehicle is within a preset distance range from the vehicle itself, then calculate the approaching time required for the other vehicle to approach the vehicle itself based on the real-time position information and the real-time speed information; If the approaching time is less than a preset time threshold, then issue a warning signal.

4. The method according to claim 1, wherein the blind spot detection result further includes lane information corresponding to the other vehicle; The based on the blind spot detection result, if the other vehicle is within a preset distance range from the vehicle itself, then issue a warning signal includes: If the other vehicle is within a preset distance range from the vehicle itself and the other vehicle is in an adjacent lane to the vehicle itself, then calculate the approaching time required for the other vehicle to approach the vehicle itself based on the real-time position information and the real-time speed information; If the approaching time is less than a preset time threshold, then issue a warning signal.

5. The method according to claim 1, wherein the preset distance range includes a range between a first preset distance and a second preset distance from the vehicle itself, the first preset distance being less than the second preset distance; The issuing a warning signal includes: If the real-time distance between the other vehicle and the vehicle itself is less than the second preset distance and greater than a third preset distance, then issue a first warning signal, the first warning signal including a blind spot vehicle display warning, the third preset distance being less than the second preset distance and greater than the first preset distance and greater than the first preset distance; If the real-time distance between the other vehicle and the vehicle itself is greater than the first preset distance and less than the third preset distance, then issue a second warning signal, the second warning signal including a blind spot vehicle display warning and a non-lane-changing warning.

6. The method according to any one of claims 3 or 4, the method further comprising: If the proximity time is greater than or equal to the preset time threshold, no warning signal is issued.

7. A vehicle warning device, comprising: A detection module, configured to obtain blind area environment information, perform blind area detection based on the blind area environment information, and obtain a blind area detection result, where the blind area detection result includes real-time position information and real-time speed information of other detected vehicles; A warning module, configured to issue a warning signal based on the blind area detection result if the other vehicle is within a preset distance range from the vehicle itself; An information recording module, configured to record the position information and speed information at the moment of loss of the other vehicle when the other vehicle is abnormally lost within the preset distance range; A duration prediction module, configured to calculate the departure duration required for the other vehicle to leave the preset distance range according to the position information at the moment of loss and the speed information at the moment of loss; The warning module is further configured to continuously issue the warning signal according to the departure duration.

8. A storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. An electronic device, comprising: A processor and a memory; wherein, the memory stores a computer program, and the computer program is adapted to be loaded and executed by the processor to perform the steps of the method according to any one of claims 1 to 6.

10. A vehicle, comprising the vehicle warning device according to claim 7 or the electronic device according to claim 9.

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