Vehicle side scraping prevention early warning method and device, vehicle and program product

Abstract

The embodiment of the invention provides a vehicle side scraping prevention early warning method and device, a vehicle and a program product, and relates to the technical field of auxiliary driving. A vehicle-mounted radar is arranged on the side face of a vehicle body of the vehicle. The method comprises the steps that after a side scraping prevention early warning function of the vehicle is started, the vehicle-mounted radar is triggered to collect position information of road inflection points of a road where the vehicle is located; according to the position information, the transverse distance between the side face of the vehicle body and the road inflection point and the exposure length of the part, exposed out of the vertical plane where the road inflection point is located, of the vehicle body of the vehicle are obtained; and under the condition that the exposure length is smaller than the exposure length threshold value corresponding to the transverse distance, side scraping risk prompt information is sent. According to the embodiment of the invention, the technical effect of reducing the side scraping risk of the vehicle in the driving process can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assisted driving, in particular to a vehicle side-scratching prevention warning method and device, a vehicle and a program product. BACKGROUND

[0002] When a vehicle needs to turn at a road intersection during driving, the driver mainly manually controls the vehicle by relying on driving experience. However, many drivers are prone to improper control due to inaccurate lateral distance estimation, limited road intersection visibility and other problems, resulting in side-scratching of the vehicle. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a vehicle side-scratching prevention warning method, device, vehicle and program product, to achieve the technical effect of reducing the risk of side-scratching of the vehicle during driving.

[0004] In a first aspect, the embodiments of the present application provide a vehicle side-scratching prevention warning method, a vehicle body side of the vehicle is provided with a vehicle-mounted radar; the method comprises: After the side-scratching prevention warning function of the vehicle is turned on, triggering the vehicle-mounted radar to collect position information of a road inflection point of a road where the vehicle is located; According to the position information, obtaining a lateral distance between the vehicle body side and the road inflection point, and an exposed length of the vehicle body exposed to a vertical plane where the road inflection point is located; In the case where the exposed length is less than the exposed length threshold corresponding to the lateral distance, sending side-scratching risk prompt information.

[0005] In the above implementation process, by triggering the vehicle-mounted radar arranged on the vehicle body side to collect the position information of the road inflection point of the road where the vehicle is located after the side-scratching prevention warning function of the vehicle is turned on, according to the position information, obtaining the lateral distance between the vehicle body side and the road inflection point, and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located, and in the case where the exposed length is less than the exposed length threshold corresponding to the lateral distance, sending the side-scratching risk prompt information, the side-scratching risk of the vehicle during driving can be accurately warned by turning on the side-scratching prevention warning function to automatically trigger the vehicle-mounted radar to detect the road inflection point, according to the lateral distance between the vehicle body side and the road inflection point, and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located, thereby reducing the risk of side-scratching of the vehicle during driving.

[0006] Further, the method further comprises: In the case where a function turning-on instruction input by a user is received or it is detected that the driving data of the vehicle meets a vehicle turning condition, turning on the side-scratching prevention warning function.

[0007] In the implementation process, the anti-side-scratching early warning function of the vehicle is started when the function starting instruction input by the user is received or it is detected that the driving data of the vehicle meets the vehicle turning condition, so as to support the user to manually start the anti-side-scratching early warning function of the vehicle and support the anti-side-scratching early warning function of the vehicle to be automatically activated in a turnable road environment.

[0008] Further, the vehicle turning condition includes any of the following conditions: a longitudinal distance between the positioning location of the vehicle and any turning area in the map is less than a longitudinal distance threshold; the positioning location is in the turning area; the positioning location is in the turning area, and a steering wheel deflection angle of the vehicle is greater than a deflection angle threshold; the positioning location is in the turning area, and a driving speed of the vehicle is less than a driving speed threshold.

[0009] In the implementation process, the vehicle turning condition includes any of the following conditions: a longitudinal distance between the positioning location of the vehicle and any turning area in the map is less than a longitudinal distance threshold; the positioning location is in the turning area; the positioning location is in the turning area, and a steering wheel deflection angle of the vehicle is greater than a deflection angle threshold; and the positioning location is in the turning area, and a driving speed of the vehicle is less than a driving speed threshold, so as to flexibly adapt to various use requirements of the user and automatically activate the anti-side-scratching early warning function of the vehicle in a turnable road environment.

[0010] Further, the position information includes a straight-line distance between the setting position of the vehicle-mounted radar and the road inflection point and a direction angle of the road inflection point relative to the side of the vehicle body; and the acquiring, according to the position information, of a transverse distance between the side of the vehicle body and the road inflection point and an exposed length of the vehicle body exposed outside a vertical plane in which the road inflection point is located includes: performing a trigonometric function operation according to the straight-line distance and the direction angle to determine the transverse distance and the exposed length.

[0011] In the implementation process, the straight-line distance between the setting position of the vehicle-mounted radar and the road inflection point and the direction angle of the road inflection point relative to the side of the vehicle body are collected by using the vehicle-mounted radar, and a trigonometric function operation is performed according to the straight-line distance and the direction angle to determine the transverse distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed outside a vertical plane in which the road inflection point is located, so as to quickly and accurately determine the transverse distance and the exposed length.

[0012] Further, after the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located are obtained according to the position information, the method further comprises: determining a target lateral distance range in which the lateral distance is located from a plurality of lateral distance ranges; determining the exposed length threshold value as an exposed length limit value corresponding to the target lateral distance range; judging whether the exposed length is less than the exposed length threshold value.

[0013] In the above implementation process, by pre-setting a plurality of lateral distance ranges, setting an exposed length limit value for each lateral distance range, the target lateral distance range in which the lateral distance is located can be determined from the plurality of lateral distance ranges, the exposed length threshold value is determined as the exposed length limit value corresponding to the target lateral distance range, and whether the exposed length is less than the exposed length threshold value is judged, which can more quickly warn the side scraping risk of the vehicle during driving.

[0014] Further, the plurality of lateral distance ranges comprises a first lateral distance range, a second lateral distance range and a third lateral distance range, the minimum value of the second lateral distance range is greater than the maximum value of the first lateral distance range, and the maximum value of the second lateral distance range is less than the minimum value of the third lateral distance range. The first lateral distance range corresponds to a first exposed length limit value, the second lateral distance range corresponds to a second exposed length limit value, and the third lateral distance range corresponds to a third exposed length limit value, the second exposed length limit value is less than the first exposed length limit value and greater than the third exposed length limit value.

[0015] In the above implementation process, by pre-setting the first lateral distance range, the second lateral distance range and the third lateral distance range, and setting the first lateral distance range corresponding to the first exposed length limit value, the second lateral distance range corresponding to the second exposed length limit value, and the third lateral distance range corresponding to the third exposed length limit value, the plurality of lateral distance ranges and the plurality of exposed length threshold values are negatively correlated, which can more accurately warn the side scraping risk of the vehicle during driving.

[0016] Further, the vehicle-mounted radar is arranged in the vehicle A-pillar front area on the side of the vehicle body. The first exposed length limit value is determined according to the longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the vehicle A-pillar and the offset threshold value; The second exposed length limit value is determined according to the longitudinal distance between the arrangement position of the vehicle-mounted radar and the center position of the vehicle front door window and the offset threshold value; The third exposed length limit value is determined according to a longitudinal distance between a setting position of the vehicle-mounted radar and a setting position of the vehicle B pillar, and the offset threshold value, wherein the offset threshold value is positively correlated with the vehicle body length of the vehicle.

[0017] In the implementation process, the exposed length limit values are determined by setting the vehicle-mounted radar in the front area of the vehicle A pillar on the side surface of the vehicle body, in combination with the setting positions of the vehicle-mounted radar, the vehicle A pillar, the vehicle front door window and the vehicle B pillar, and the vehicle body length of the vehicle, so that the side scraping risk of the vehicle during driving can be more accurately warned.

[0018] Further, the sending of the side scraping risk prompt information comprises: sending the side scraping risk prompt information to an instrument panel controller of the vehicle, so that the instrument panel controller displays the side scraping risk prompt information on an instrument panel of the vehicle.

[0019] In the implementation process, the side scraping risk prompt information is displayed on the instrument panel of the vehicle by sending the side scraping risk prompt information to the instrument panel controller of the vehicle, so that the user can conveniently and intuitively view the side scraping risk prompt information in time.

[0020] Further, the vehicle-mounted radar comprises a laser radar.

[0021] In the implementation process, the laser radar is selected as the vehicle-mounted radar, so that the position information of the road inflection point of the road where the vehicle is located can be effectively and accurately collected.

[0022] In a second aspect, an embodiment of the present application provides a vehicle side scraping prevention warning device, a vehicle body side surface of the vehicle is provided with a vehicle-mounted radar; the device comprises: an inflection point detection module, configured to trigger the vehicle-mounted radar to collect position information of a road inflection point of a road where the vehicle is located after a side scraping prevention warning function of the vehicle is turned on; a data processing module, configured to acquire a lateral distance between the vehicle body side surface and the road inflection point and an exposed length of the vehicle body exposed to a vertical plane where the road inflection point is located according to the position information; a risk prompt module, configured to send side scraping risk prompt information in a case where the exposed length is less than an exposed length threshold value corresponding to the lateral distance.

[0023] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor; the processor implements the method as described above when executing the computer program.

[0024] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a vehicle-mounted radar and an intelligent driving controller; the vehicle-mounted radar is arranged on a side of a vehicle body of the vehicle; the intelligent driving controller is configured to: After a side-scratching prevention early warning function of the vehicle is turned on, triggering the vehicle-mounted radar to collect position information of a road corner of a road where the vehicle is located; According to the position information, obtaining a lateral distance between the side of the vehicle body and the road corner, and an exposed length of the vehicle body exposed to a vertical plane where the road corner is located; In a case where the exposed length is less than an exposed length threshold corresponding to the lateral distance, sending side-scratching risk prompt information.

[0025] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising instructions, which, when executed by a computer, cause the computer to implement the method described above.

[0026] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, comprising a stored computer program; wherein the computer-readable storage medium controls a device where the computer-readable storage medium is located to execute the method described above when the computer program runs. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0028] Figure 1 A flowchart of a vehicle side-scratching prevention early warning method provided by the first embodiment of the present application; Figure 2 A side view of the vehicle exemplified by the first embodiment of the present application; Figure 3 A schematic diagram of the vehicle exemplified by the first embodiment of the present application driving on a road; Figure 4 A schematic diagram of the vehicle exemplified by the first embodiment of the present application turning at a road corner; Figure 5 A structural schematic diagram of a vehicle side-scratching prevention early warning device provided by the second embodiment of the present application; Figure 6 A structural schematic diagram of an electronic device provided by the third embodiment of the present application; Figure 7A structural schematic diagram of a vehicle is provided for a fourth embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0030] It should be noted that similar reference numerals and letters indicate similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second”, and the like are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0031] During driving, if a vehicle needs to turn at a road intersection, the driver mainly manually controls the vehicle by his driving experience. However, many drivers are prone to improper control due to inaccurate lateral distance estimation, limited road intersection visibility and other problems, resulting in side scraping of the vehicle. At present, there is a lack of automatic solutions to reduce the risk of vehicle side scraping in the industry.

[0032] Therefore, the present application provides a vehicle side scraping prevention warning method. After the vehicle side scraping prevention warning function is turned on, the vehicle-mounted radar arranged on the side of the vehicle body is triggered to collect the position information of the road inflection point of the road where the vehicle is located. According to the position information, the lateral distance between the side of the vehicle body and the road inflection point, and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located are obtained. If the exposed length is less than the exposed length threshold corresponding to the lateral distance, a side scraping risk prompt information is sent. The vehicle-mounted radar can be triggered to detect the road inflection point by turning on the side scraping prevention warning function. The lateral distance between the side of the vehicle body and the road inflection point, and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located are used to accurately warn the side scraping risk of the vehicle during driving, so as to reduce the side scraping risk of the vehicle during driving.

[0033] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, which are clear and complete. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0034] It should be understood that the vehicle described in the embodiments of the present application can be a pure electric vehicle, or a hybrid electric vehicle, a hybrid gas-electric vehicle, a fuel cell vehicle, or a vehicle with other energy types of motor, and the embodiments of the present application are not limited thereto. The type of vehicle in the embodiments of the present application can include a car, a SUV, a truck, a bus, and the like, and the embodiments of the present application are not limited thereto. The vehicle in the embodiments of the present application can be an automatic intelligent driving vehicle, or a vehicle with a human driver and an auxiliary intelligent driving function, and the embodiments of the present application are not limited thereto.

[0035] The embodiments of the present application will be described below in conjunction with Figures 1-4 A vehicle side scratch prevention early warning method is described in the embodiments of the present application. The method provided in the embodiments of the present application can be executed by a related terminal device, such as a vehicle controller, for example, an intelligent driving controller. The intelligent driving controller is taken as an example for description in the following.

[0036] Please refer to Figure 1 , Figure 1 A flowchart of a vehicle side scratch prevention early warning method provided in the first embodiment of the present application is shown. The first embodiment of the present application provides a vehicle side scratch prevention early warning method, and a vehicle radar is arranged on the side of the vehicle body. The method comprises steps S101-S103: S101, after the vehicle side scratch prevention early warning function is turned on, triggering the vehicle radar to collect the position information of the road inflection point of the road where the vehicle is located.

[0037] As an example, a vehicle radar is arranged on the side of the vehicle body.

[0038] In actual application, the same number of vehicle radars are symmetrically arranged on the left side and the right side of the vehicle body. For example, as shown in Figure 2 , one vehicle radar is arranged on the left side of the vehicle body, and one vehicle radar is symmetrically arranged on the right side of the vehicle body.

[0039] During the driving of the vehicle on the road, the intelligent driving controller detects whether the vehicle side scratch prevention early warning function is turned on according to a pre-set first period.

[0040] After the intelligent driving controller detects that the vehicle side scratch prevention early warning function is turned on, the intelligent driving controller sends a trigger signal to the vehicle radar according to a pre-set second period, triggering the vehicle radar to collect the position information of the road inflection point of the road where the vehicle is located.

[0041] It should be noted that the road inflection point refers to the connection point between two opposite line segments in the road line.

[0042] For example, as shown in Figure 3 , the road where the vehicle is located is a T-shaped road, and there is a forward line segment and a right line segment connected in the right lane line of the T-shaped road. The connection point between the forward line segment and the right line segment is a road inflection point.Figure 3 The solid black point in the figure is a road inflection point. During the driving of the vehicle on the road, after the intelligent driving controller monitors that the vehicle's side scraping prevention warning function is turned on, it sends a trigger signal to the vehicle-mounted radar arranged on the left side of the vehicle body and the vehicle-mounted radar arranged on the right side of the vehicle body every 1 second, triggers the vehicle-mounted radar arranged on the left side of the vehicle body to detect to the left side to determine the position information of each target point in the left side environment of the vehicle, and triggers the vehicle-mounted radar arranged on the right side of the vehicle body to detect to the right side to determine the position information of each target point in the right side environment of the vehicle. Since there is no road inflection point in the left lane line of the road, the vehicle-mounted radar arranged on the left side of the vehicle body does not collect the position information of the road inflection point, and since there is a road inflection point on the right lane line of the road, the vehicle-mounted radar arranged on the right side of the vehicle body collects the position information of the road inflection point.

[0043] S102, obtaining a lateral distance between the side of the vehicle body and the road inflection point and an exposed length of the vehicle body exposed to a vertical plane where the road inflection point is located according to the position information.

[0044] As an example, after the intelligent driving controller obtains the position information of the road inflection point, it obtains a lateral distance between the side of the vehicle body and the road inflection point and an exposed length of the vehicle body exposed to a vertical plane where the road inflection point is located according to the position information of the road inflection point.

[0045] In actual application, after the intelligent driving controller obtains the position information of the road inflection point, it can determine that the road inflection point is located on the left side or the right side of the vehicle. If the road inflection point is located on the left side of the vehicle, the lateral distance between the left side of the vehicle body and the road inflection point is obtained. If the road inflection point is located on the right side of the vehicle, the lateral distance between the right side of the vehicle body and the road inflection point is obtained.

[0046] S103, sending a side scraping risk prompt information in the case that the exposed length is less than an exposed length threshold corresponding to the lateral distance.

[0047] As an example, after the intelligent driving controller obtains a lateral distance between the side of the vehicle body and the road inflection point and an exposed length of the vehicle body exposed to a vertical plane where the road inflection point is located, it determines an exposed length threshold corresponding to the lateral distance.

[0048] It should be noted that the exposed length threshold corresponding to the lateral distance refers to the minimum exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located in the case that the lateral distance between the side of the vehicle body and the road inflection point is maintained, so as to avoid side scraping of the vehicle. The exposed length threshold corresponding to the lateral distance is pre-set by comprehensively considering actual road environment and vehicle model and other factors, and can be determined through real vehicle test.

[0049] The intelligent driving controller compares the exposed length with the exposed length threshold value after determining the exposed length threshold value corresponding to the lateral distance, determines whether the exposed length is less than the exposed length threshold value, considers that there is a side scraping risk when the vehicle turns at the road inflection point according to the lateral distance and the exposed length at this time, generates and sends a side scraping risk prompt information, and timely reminds the driver, and considers that it is safe for the vehicle to turn at the road inflection point according to the lateral distance and the exposed length at this time, and there is no side scraping risk, and the current vehicle state is maintained without any processing if the value of the exposed length is greater than or equal to the exposed length threshold value.

[0050] The embodiments of the present application can trigger the vehicle-mounted radar arranged on the side of the vehicle body to collect the position information of the road inflection point of the road where the vehicle is located after the anti-side scraping early warning function of the vehicle is turned on, obtain the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located according to the position information, and send a side scraping risk prompt information in the case that the exposed length is less than the exposed length threshold value corresponding to the lateral distance. The vehicle-mounted radar can be triggered to detect the road inflection point by turning on the anti-side scraping early warning function, the side scraping risk of the vehicle in the driving process can be accurately warned according to the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located, so that the side scraping risk of the vehicle in the driving process is reduced.

[0051] In an optional embodiment, the method further comprises a step S104: S104, in the case that the function opening instruction input by the user is received or it is detected that the driving data of the vehicle meets the vehicle turning condition, the anti-side scraping early warning function is turned on.

[0052] As an example, in order to support the user, that is, the driver to manually turn on the anti-side scraping early warning function of the vehicle, and support the automatic activation of the anti-side scraping early warning function of the vehicle in the turnable road environment, the vehicle turning condition can be set in advance for the turnable road environment, and the intelligent driving controller is configured to determine whether to turn on the anti-side scraping early warning function of the vehicle by listening to whether the function opening instruction is input by the user and detecting whether the driving data of the vehicle meets the vehicle turning condition.

[0053] In the process of driving on the road, the intelligent driving controller listens to whether the function opening instruction input by the user is received in real time, and acquires the driving data of the vehicle in real time, judges whether the currently acquired driving data meets the vehicle turning condition, and turns on the anti-side scraping early warning function of the vehicle in the case that the function opening instruction input by the user is received or it is detected that the currently acquired driving data meets the vehicle turning condition.

[0054] The embodiment of the present application can support the user to manually open the side-scratching prevention warning function of the vehicle and support the automatic activation of the side-scratching prevention warning function of the vehicle in the turnable road environment by opening the side-scratching prevention warning function of the vehicle when receiving the function opening instruction input by the user or detecting that the driving data of the vehicle meets the vehicle turning condition.

[0055] In optional embodiments, the vehicle turning condition includes any one of the following conditions: the longitudinal distance between the positioning location of the vehicle and any turning area in the map is less than a longitudinal distance threshold; the positioning location is in a turning area; the positioning location is in a turning area and the steering wheel deflection angle of the vehicle is greater than a deflection angle threshold; and the positioning location is in a turning area and the driving speed of the vehicle is less than a driving speed threshold.

[0056] For example, when the vehicle is driving on the road, the driver is likely to control the vehicle to turn in the case that the vehicle drives to any turning area in the map, such as a garage, a road intersection of the road where the vehicle is located, or other turning areas.

[0057] In order to support the early opening of the side-scratching prevention warning function of the vehicle when the vehicle is about to drive to any turning area in the map, the vehicle turning condition can be pre-set to include that the longitudinal distance between the positioning location of the vehicle and any turning area in the map is less than a longitudinal distance threshold.

[0058] It should be noted that the longitudinal distance threshold refers to the minimum longitudinal distance required between the positioning location of the vehicle and the turning area in the case that the vehicle approaches the turning area. The longitudinal distance threshold can be factory-set or user-defined. It can be understood that the longitudinal direction refers to the driving direction of the vehicle, and the transverse direction refers to the direction perpendicular to the driving direction of the vehicle.

[0059] The intelligent driving controller obtains the positioning location of the vehicle in real time, determines the longitudinal distance between the current positioning location and each turning area in the map, compares the longitudinal distance between the current positioning location and each turning area with the pre-set longitudinal distance threshold, and if the longitudinal distance between the current positioning location and any turning area is less than the longitudinal distance threshold, it is considered that the vehicle will drive to the turning area at this time, it is determined that the driving data of the vehicle meets the vehicle turning condition at this time, and the side-scratching prevention warning function of the vehicle is opened. If the longitudinal distance between the current positioning location and each turning area is greater than or equal to the longitudinal distance threshold, it is considered that the vehicle is still a distance away from each turning area at this time, it is determined that the driving data of the vehicle does not meet the vehicle turning condition at this time, and the side-scratching prevention warning function of the vehicle is kept closed.

[0060] In order to support the opening of the vehicle's side-scratching prevention warning function only when the vehicle drives to any turning area in the map, the vehicle turning condition can be preset to include that the positioning location of the vehicle is in any turning area in the map.

[0061] The intelligent driving controller acquires the positioning location of the vehicle in real time, determines whether the current positioning location is in each turning area in the map, if the current positioning location is in any turning area, it is considered that the vehicle has driven to the turning area at this time, it is determined that the driving data of the vehicle at this time meets the vehicle turning condition, and the vehicle's side-scratching prevention warning function is opened, if the current positioning location is not in each turning area, it is considered that the vehicle has not driven to each turning area at this time, it is determined that the driving data of the vehicle at this time does not meet the vehicle turning condition, and the vehicle's side-scratching prevention warning function is kept closed.

[0062] In order to support the opening of the vehicle's side-scratching prevention warning function only when the vehicle drives to any turning area in the map and the driver intends to turn at the turning area, the vehicle turning condition can be preset to include that the positioning location of the vehicle is in any turning area in the map, and the steering wheel deflection angle of the vehicle is greater than a deflection angle threshold, wherein the deflection angle threshold can be a factory setting of the vehicle or a user-defined setting.

[0063] The intelligent driving controller acquires the positioning location and the steering wheel deflection angle of the vehicle in real time, determines whether the current positioning location is in each turning area in the map, and compares the current steering wheel deflection angle with the preset deflection angle threshold, if the current positioning location is in any turning area and the current steering wheel deflection angle is greater than the deflection angle threshold, it is considered that the vehicle has driven to the turning area at this time and the driver intends to turn at the turning area, it is determined that the driving data of the vehicle at this time meets the vehicle turning condition, and the vehicle's side-scratching prevention warning function is opened, if the current positioning location is not in each turning area or the current steering wheel deflection angle is less than or equal to the deflection angle threshold, it is considered that the vehicle has not driven to each turning area at this time or is only straight driving in a turning area, it is determined that the driving data of the vehicle at this time does not meet the vehicle turning condition, and the vehicle's side-scratching prevention warning function is kept closed.

[0064] Since part of the turning areas in the map includes multiple turning sub-areas, such as multiple T-shaped roads in a garage, each T-shaped road has at least one road intersection, therefore, during the driving of the vehicle in this part of the turning area, the driver usually controls the vehicle to turn at a small driving speed, the vehicle turning condition can be preset to include that the positioning location of the vehicle is in any turning area in the map, and the driving speed of the vehicle is less than a driving speed threshold, wherein the driving speed threshold is determined according to the speed limit of the turning area, such as 20 km / h.

[0065] The intelligent driving controller obtains the positioning location of the vehicle and the driving speed of the vehicle in real time, determines whether the current positioning location is in each turning area in the map, and compares the current driving speed with a pre-set driving speed threshold value, if the current positioning location is in any turning area and the current driving speed is less than the driving speed threshold value, it is determined that the driving data of the vehicle at this time meets the vehicle turning condition, and the side scratch prevention warning function of the vehicle is started, if the current positioning location is not in each turning area or the current driving speed is greater than or equal to the driving speed threshold value, it is determined that the driving data of the vehicle at this time does not meet the vehicle turning condition, and the side scratch prevention warning function of the vehicle is kept off.

[0066] In actual application, in order to better support starting the side scratch prevention warning function of the vehicle only when the vehicle drives to a turning area including multiple turning sub-areas in the map, the turning area including multiple turning sub-areas can also be pre-selected as a target turning area from the map, and the vehicle turning condition is set to include that the positioning location of the vehicle is in the target turning area and the driving speed of the vehicle is less than the driving speed threshold value.

[0067] The embodiment of the present application can flexibly adapt to various use requirements of users by setting the vehicle turning condition to include any of the following conditions: the longitudinal distance between the positioning location of the vehicle and any turning area in the map is less than a longitudinal distance threshold value; the positioning location is in the turning area; the positioning location is in the turning area and the steering wheel deflection angle of the vehicle is greater than a deflection angle threshold value; and the positioning location is in the turning area and the driving speed of the vehicle is less than a driving speed threshold value, so as to automatically activate the side scratch prevention warning function of the vehicle in a turnable road environment.

[0068] In an optional embodiment, the position information includes a straight line distance between the setting position of the vehicle-mounted radar and the road inflection point and a direction angle of the road inflection point relative to the side of the vehicle body; and the obtaining, according to the position information, of the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located includes: performing a trigonometric function operation according to the straight line distance and the direction angle to determine the lateral distance and the exposed length.

[0069] For example, after the intelligent driving controller obtains the position information of the road inflection point, the position information includes a straight line distance between the setting position of the vehicle-mounted radar and the road inflection point and a direction angle of the road inflection point relative to the side of the vehicle body, a trigonometric function operation is performed according to the straight line distance and the direction angle to determine the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located.

[0070] For example, as shown in FIG. 1, the intelligent driving controller 100 is connected to the vehicle-mounted radar 200 and the vehicle body controller 300. Figure 4As shown, the position information of the road inflection point obtained by the intelligent driving controller includes a straight line distance d1 between the setting position of the vehicle-mounted radar and the road inflection point, and a direction angle θ of the road inflection point relative to the side surface of the vehicle body. A transverse distance d2 between the side surface of the vehicle body and the road inflection point is obtained by performing a trigonometric function operation according to the straight line distance d1 and the direction angle θ, and an exposed length d3 of the vehicle body exposed to a vertical plane in which the road inflection point is located is obtained by d3 = d1 × cos θ + d0, where d0 is a longitudinal distance between the setting position of the vehicle-mounted radar and the front edge of the vehicle body.

[0071] The embodiment of the present application can quickly and accurately determine the transverse distance and the exposed length by using the vehicle-mounted radar to collect the straight line distance between the setting position of the vehicle-mounted radar and the road inflection point, and the direction angle of the road inflection point relative to the side surface of the vehicle body, and performing a trigonometric function operation according to the straight line distance and the direction angle.

[0072] In an optional embodiment, after the transverse distance between the side surface of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to a vertical plane in which the road inflection point is located are obtained according to the position information, the method further comprises: determining a target transverse distance range in which the transverse distance is located from a plurality of transverse distance ranges; determining the exposed length threshold as an exposed length limit value corresponding to the target transverse distance range; and judging whether the exposed length is less than the exposed length threshold.

[0073] As an example, considering factors such as actual road environment and vehicle model, a plurality of transverse distance ranges and an exposed length limit value corresponding to each transverse distance range in the plurality of transverse distance ranges are set in advance, and a mapping relationship between the transverse distance range and the exposed length limit value is configured for the intelligent driving controller.

[0074] It should be noted that the transverse distance range refers to a value range of the transverse distance between the side surface of the vehicle body and the road inflection point. The plurality of transverse distance ranges do not overlap with each other. The exposed length limit value corresponding to the transverse distance range refers to a minimum exposed length of the vehicle body exposed to a vertical plane in which the road inflection point is located, in order to avoid side scraping of the vehicle, in a case where the transverse distance between the side surface of the vehicle body and the road inflection point remains at any value in the transverse distance range.

[0075] The intelligent driving controller obtains the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located, queries a lateral distance range in which the lateral distance is located from a plurality of lateral distance ranges, determines the lateral distance range as a target lateral distance range, determines a limit value of the exposed length corresponding to the target lateral distance range as an exposed length threshold corresponding to the lateral distance, and then compares the exposed length with the exposed length threshold to determine whether the exposed length is less than the exposed length threshold. If the exposed length is less than the exposed length threshold, it is considered that the vehicle turning at the road inflection point according to the lateral distance and the exposed length has a side scraping risk at this time, side scraping risk prompt information is generated and sent, and the driver is timely reminded. If the exposed length is greater than or equal to the exposed length threshold, it is considered that the vehicle turning at the road inflection point according to the lateral distance and the exposed length is safe at this time, and there is no side scraping risk, and the current vehicle state is maintained without any processing.

[0076] In actual application, considering the actual road environment and vehicle model and other factors, a plurality of lateral distance values and a plurality of limit values of the exposed length corresponding to each lateral distance value in the plurality of lateral distance values can be pre-configured, and a mapping relationship between the lateral distance value and the limit value of the exposed length is configured for the intelligent driving controller.

[0077] The intelligent driving controller obtains the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located, queries a lateral distance range in which the lateral distance is located from a plurality of lateral distance ranges, determines the lateral distance range as a target lateral distance range, determines a limit value of the exposed length corresponding to the target lateral distance range as an exposed length threshold corresponding to the lateral distance, and then compares the exposed length with the exposed length threshold to determine whether the exposed length is less than the exposed length threshold. If the exposed length is less than the exposed length threshold, it is considered that the vehicle turning at the road inflection point according to the lateral distance and the exposed length has a side scraping risk at this time, side scraping risk prompt information is generated and sent, and the driver is timely reminded. If the exposed length is greater than or equal to the exposed length threshold, it is considered that the vehicle turning at the road inflection point according to the lateral distance and the exposed length is safe at this time, and there is no side scraping risk, and the current vehicle state is maintained without any processing.

[0078] By pre-configuring a plurality of lateral distance ranges, a limit value of the exposed length is set for each lateral distance range, so that one lateral distance range corresponds to one limit value of the exposed length. Compared with the mapping relationship that one lateral distance value corresponds to one exposed length threshold, the searching speed can be effectively improved.

[0079] The embodiment of the application sets a plurality of lateral distance ranges in advance, sets an exposed length limit value for each lateral distance range, so that the target lateral distance range in which the lateral distance is located can be determined from the plurality of lateral distance ranges, the exposed length threshold value is determined as the exposed length limit value corresponding to the target lateral distance range, and it is judged whether the exposed length is less than the exposed length threshold value, which can more quickly warn the side scraping risk of the vehicle during driving.

[0080] In optional embodiments, the plurality of lateral distance ranges include a first lateral distance range, a second lateral distance range and a third lateral distance range, the minimum value of the second lateral distance range is greater than the maximum value of the first lateral distance range, and the maximum value of the second lateral distance range is less than the minimum value of the third lateral distance range; the first lateral distance range corresponds to a first exposed length limit value, the second lateral distance range corresponds to a second exposed length limit value, and the third lateral distance range corresponds to a third exposed length limit value, and the second exposed length limit value is less than the first exposed length limit value and greater than the third exposed length limit value.

[0081] As an example, considering that the lateral distance between the side of the vehicle body and the road inflection point is short, the vehicle usually needs to have a longer exposed length of the vehicle body to safely turn at the road inflection point, a plurality of lateral distance ranges including a first lateral distance range, a second lateral distance range and a third lateral distance range can be set in advance, the first lateral distance range corresponds to a first exposed length limit value, the second lateral distance range corresponds to a second exposed length limit value, and the third lateral distance range corresponds to a third exposed length limit value, wherein the minimum value of the second lateral distance range is greater than the maximum value of the first lateral distance range, and the maximum value of the second lateral distance range is less than the minimum value of the third lateral distance range; the second exposed length limit value is less than the first exposed length limit value and greater than the third exposed length limit value.

[0082] The embodiment of the application sets a first lateral distance range, a second lateral distance range and a third lateral distance range in advance, and sets the first lateral distance range to correspond to a first exposed length limit value, the second lateral distance range to correspond to a second exposed length limit value, and the third lateral distance range to correspond to a third exposed length limit value, so that the plurality of lateral distance ranges and the plurality of exposed length limit values are negatively correlated, which can more accurately warn the side scraping risk of the vehicle during driving.

[0083] In an optional embodiment, the vehicle-mounted radar is arranged at a front area of a vehicle A pillar on a side of a vehicle body; the first exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the vehicle A pillar and the offset threshold value; the second exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the center position of the vehicle front door window and the offset threshold value; the third exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the vehicle B pillar and the offset threshold value; wherein the offset threshold value is positively correlated with the length of the vehicle body.

[0084] For example, in order to ensure more accurate early warning of the side scraping risk of the vehicle during driving, the vehicle-mounted radar can be arranged at a front area of a vehicle A pillar on a side of a vehicle body. The first exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the vehicle A pillar and the offset threshold value; the second exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the center position of the vehicle front door window and the offset threshold value; the third exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the vehicle B pillar and the offset threshold value; wherein the offset threshold value is positively correlated with the length of the vehicle body.

[0085] By determining the first exposed length limit value, the second exposed length limit value and the third exposed length limit value based on the arrangement positions of the vehicle-mounted radar, the vehicle A pillar, the vehicle front door window and the vehicle B pillar, the intelligent driving controller can finely determine whether it is safe for the vehicle to turn at a road inflection point according to its current lateral distance and exposed length. In addition, by determining the first exposed length limit value, the second exposed length limit value and the third exposed length limit value in combination with the offset threshold value positively correlated with the length of the vehicle body, the intelligent driving controller can accurately determine whether it is safe for the vehicle to turn at a road inflection point according to its current lateral distance and exposed length in combination with the length of the vehicle body.

[0086] In actual application, through real vehicle test analysis of human driving experience, it is found that when the lateral distance between the side of the vehicle body and the road inflection point is 30 cm and the vehicle B pillar passes the road inflection point, if the driver turns the steering wheel to the full, the vehicle will not be scraped; when the lateral distance between the side of the vehicle body and the road inflection point is 50 cm and the center of the vehicle front door window passes the road inflection point, if the driver turns the steering wheel to the full, the vehicle will not be scraped; when the lateral distance between the side of the vehicle body and the road inflection point is 100 cm and the vehicle A pillar passes the road inflection point, if the driver turns the steering wheel to the full, the vehicle will not be scraped.

[0087] Based on human driving experience, a mapping table as shown in Table 1 can be configured.

[0088] Table 1

[0089] In Table 1, DA represents a longitudinal distance between a vehicle body front edge and a setting position of a vehicle A pillar, DB represents a longitudinal distance between the vehicle body front edge and a center position of a vehicle front door window, DC represents a longitudinal distance between the vehicle body front edge and a setting position of a vehicle B pillar, and Z represents a threshold value of an offset amount.

[0090] The vehicle A pillar front area on the side of the vehicle body is provided with the vehicle-mounted radar, the setting positions of the vehicle-mounted radar, the vehicle A pillar, the vehicle front door window and the vehicle B pillar are combined, and the vehicle body length of the vehicle is combined to determine the values of the plurality of exposed length threshold values, so that the side scraping risk of the vehicle during driving can be more accurately warned.

[0091] In optional embodiments, the sending of the side scraping risk prompt information includes: sending the side scraping risk prompt information to an instrument panel controller of the vehicle, so that the instrument panel controller displays the side scraping risk prompt information on an instrument panel of the vehicle.

[0092] As an example, the intelligent driving controller generates the side scraping risk prompt information when the exposed length is less than the exposed length threshold value corresponding to the lateral distance, sends the side scraping risk prompt information to the instrument panel controller of the vehicle, and makes the instrument panel controller display the side scraping risk prompt information on the instrument panel of the vehicle.

[0093] In actual application, the instrument panel controller can display the side scraping risk prompt information on the instrument panel of the vehicle in the form of displayed text, in the form of marked graphics or in other forms. For example, the side scraping risk prompt information with the text content of "there is a side scraping risk" is displayed on the instrument panel, and a marking box is added to the vehicle body picture displayed on the instrument panel to indicate the side scraping risk prompt information by using the marking box. The marking box can be added to the rear door part of the vehicle body or the identified side scraping area.

[0094] The embodiments of the present application can make the instrument panel controller of the vehicle display the side scraping risk prompt information on the instrument panel of the vehicle by sending the side scraping risk prompt information to the instrument panel controller, so that the user can conveniently and intuitively view the side scraping risk prompt information in time.

[0095] In optional embodiments, the vehicle-mounted radar includes a laser radar.

[0096] As an example, the vehicle-mounted radar selects a laser radar.

[0097] The intelligent driving controller sends a trigger signal to the vehicle-mounted radar after detecting that the vehicle's side-scratching prevention warning function is turned on, triggers the vehicle-mounted radar to emit a laser beam outward, so that the laser radar can accurately identify and determine the position information of each target point in the outside environment, including the position information of the road inflection point of the road where the vehicle is located, thereby ensuring that the position information of the road inflection point is effectively and accurately collected.

[0098] The embodiment of the application can ensure that the position information of the road inflection point of the road where the vehicle is located is effectively and accurately collected by selecting the laser radar as the vehicle-mounted radar.

[0099] Please refer to Figure 5 , Figure 5 A structural schematic diagram of a vehicle side-scratching prevention warning device provided by the second embodiment of the application is shown. The second embodiment of the application provides a vehicle side-scratching prevention warning device, and a vehicle-mounted radar is arranged on the side surface of the vehicle body; the device comprises: an inflection point detection module 201, configured to trigger the vehicle-mounted radar to collect the position information of the road inflection point of the road where the vehicle is located after the vehicle's side-scratching prevention warning function is turned on; a data processing module 202, configured to obtain the lateral distance between the side surface of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located according to the position information; and a risk prompting module 203, configured to send side-scratching risk prompting information in the case that the exposed length is less than the exposed length threshold corresponding to the lateral distance.

[0100] In optional embodiments, the device further comprises a function turning-on module configured to turn on the side-scratching prevention warning function in the case that a function turning-on instruction input by a user is received or the driving data of the vehicle meets the vehicle turning condition.

[0101] In optional embodiments, the vehicle turning condition comprises any one of the following conditions: the longitudinal distance between the positioning location of the vehicle and any turning area in a map is less than a longitudinal distance threshold; the positioning location is in a turning area; the positioning location is in a turning area, and the steering wheel deflection angle of the vehicle is greater than a deflection angle threshold; and the positioning location is in a turning area, and the driving speed of the vehicle is less than a driving speed threshold.

[0102] In optional embodiments, the position information comprises the straight-line distance between the setting position of the vehicle-mounted radar and the road inflection point and the direction angle of the road inflection point relative to the side surface of the vehicle body; and the lateral distance between the side surface of the vehicle body and the road inflection point and the exposed length of the vehicle body exposed to the vertical plane where the road inflection point is located are obtained according to the position information, comprising: performing a trigonometric function operation according to the straight-line distance and the direction angle to determine the lateral distance and the exposed length.

[0103] In an optional embodiment, the data processing module 202 is further configured to, after obtaining the lateral distance between the side of the vehicle body and the road inflection point and the exposed length of the vehicle body from the road inflection point, determine a target lateral distance range in which the lateral distance is located from a plurality of lateral distance ranges; determine the exposed length threshold as an exposed length limit value corresponding to the target lateral distance range; and determine whether the exposed length is less than the exposed length threshold.

[0104] In an optional embodiment, the plurality of lateral distance ranges include a first lateral distance range, a second lateral distance range, and a third lateral distance range, the minimum value of the second lateral distance range is greater than the maximum value of the first lateral distance range, and the maximum value of the second lateral distance range is less than the minimum value of the third lateral distance range; the first lateral distance range corresponds to a first exposed length limit value, the second lateral distance range corresponds to a second exposed length limit value, and the third lateral distance range corresponds to a third exposed length limit value, the second exposed length limit value is less than the first exposed length limit value and greater than the third exposed length limit value.

[0105] In an optional embodiment, the vehicle-mounted radar is arranged in a front area of an A-pillar of the vehicle body; the first exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of the A-pillar of the vehicle and an offset threshold; the second exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the center position of the front door window of the vehicle and the offset threshold; and the third exposed length limit value is determined according to a longitudinal distance between the arrangement position of the vehicle-mounted radar and the arrangement position of a B-pillar of the vehicle and the offset threshold; wherein the offset threshold is positively correlated with the length of the vehicle body.

[0106] In an optional embodiment, the sending of the side swipe risk prompt information includes: sending the side swipe risk prompt information to an instrument panel controller of the vehicle, so that the instrument panel controller displays the side swipe risk prompt information on an instrument panel of the vehicle.

[0107] In an optional embodiment, the vehicle-mounted radar includes a laser radar.

[0108] The implementation process of the functions and roles of each module in the above device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0109] Please refer to Figure 6 , Figure 6A structural schematic diagram of an electronic device is provided in the third embodiment of the present application. The third embodiment of the present application provides an electronic device 30, which comprises a processor 301, a memory 302, and a computer program stored in the memory 302 and configured to be executed by the processor 301; the processor 301 implements the method as described in the first embodiment of the present application when executing the computer program, and can achieve the same beneficial effects.

[0110] The processor 301 can implement the method as described in the first embodiment of the present application when reading the computer program from the memory 302 through the bus 303 and executing the computer program.

[0111] The processor 301 can process digital signals, and can include various computing structures. For example, a complex instruction set computer structure, a reduced instruction set computer structure, or a structure implementing a combination of multiple instruction sets. In some examples, the processor 301 can be a microprocessor.

[0112] The memory 302 can be used to store instructions executed by the processor 301 or data related to the execution process of the instructions. These instructions and / or data can include code for implementing some or all functions of one or more modules described in the embodiments of the present application. The processor 301 of the present embodiment can be used to execute instructions in the memory 302 to implement the method as described in the first embodiment of the present application. The memory 302 includes a dynamic random access memory, a static random access memory, a flash memory, an optical memory, or other memories well known to those skilled in the art.

[0113] Please refer to Figure 7 , Figure 7 A structural schematic diagram of a vehicle is provided in the fourth embodiment of the present application. The fourth embodiment of the present application provides a vehicle 40, which comprises a vehicle-mounted radar 401 and an intelligent driving controller 402; the vehicle-mounted radar 401 is arranged on the side of the vehicle body of the vehicle 40; the intelligent driving controller 402 is configured to: after the side scraping prevention warning function of the vehicle 40 is turned on, trigger the vehicle-mounted radar 401 to collect position information of a road inflection point of a road on which the vehicle 40 is located; according to the position information, obtain a lateral distance between the side of the vehicle body and the road inflection point, and an exposed length of the vehicle body exposed to a vertical plane in which the road inflection point is located; and in the case that the exposed length is less than an exposed length threshold corresponding to the lateral distance, send side scraping risk prompt information.

[0114] The implementation process of the functions and effects of the intelligent driving controller 402 in the vehicle 40 described above is specifically described in the implementation process of the corresponding steps in the above method, which will not be described here.

[0115] The fifth embodiment of the present application provides a computer program product, which comprises instructions, and the instructions, when executed by a computer, cause the computer to implement the method in the first embodiment of the present application and achieve the same beneficial effects.

[0116] The method in the first embodiment of the present application can be implemented by software, hardware, firmware or any combination thereof, in whole or in part. When implemented by software, the method can be implemented in the form of a computer program product, in whole or in part. The computer program product comprises one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, the processes or functions in the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM (Open Application Model) or other programmable devices.

[0117] The computer programs or instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, for example, a floppy disk, a hard disk, a magnetic tape; an optical medium, for example, a digital video disc; a semiconductor medium, for example, a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0118] The sixth embodiment of the present application provides a computer readable storage medium, which comprises a stored computer program; wherein when the computer program is running, the device where the computer readable storage medium is located executes the method in the first embodiment of the present application and achieves the same beneficial effects.

[0119] In summary, the embodiment of the present application provides a vehicle side scratch prevention early warning method, device, vehicle and program product. A vehicle body side of the vehicle is provided with a vehicle-mounted radar. The method comprises the following steps: after a vehicle side scratch prevention early warning function of the vehicle is turned on, the vehicle-mounted radar is triggered to collect position information of a road corner point of a road where the vehicle is located; according to the position information, a lateral distance between the vehicle body side and the road corner point and an exposed length of the vehicle body exposed to a vertical plane where the road corner point is located are obtained; and in the case that the exposed length is less than an exposed length threshold corresponding to the lateral distance, side scratch risk prompt information is sent. According to the embodiment of the present application, the vehicle-mounted radar arranged on the vehicle body side is triggered to collect the position information of the road corner point of the road where the vehicle is located after the vehicle side scratch prevention early warning function of the vehicle is turned on. According to the position information, the lateral distance between the vehicle body side and the road corner point and the exposed length of the vehicle body exposed to the vertical plane where the road corner point is located are obtained. In the case that the exposed length is less than the exposed length threshold corresponding to the lateral distance, the side scratch risk prompt information is sent. The vehicle side scratch risk in the driving process of the vehicle can be reduced by automatically triggering the vehicle-mounted radar to detect the road corner point by turning on the vehicle side scratch prevention early warning function, and the vehicle side scratch risk in the driving process of the vehicle can be accurately warned according to the lateral distance between the vehicle body side and the road corner point and the exposed length of the vehicle body exposed to the vertical plane where the road corner point is located.

[0120] The above embodiment is only used as an example, and each embodiment of the present application can be combined or nested with each other, and the present application is not limited thereto.

[0121] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiment described above is only schematic, and the flowchart and block diagram of the apparatus embodiment show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a segment or a portion of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figure. For example, two blocks shown in succession can in fact be executed substantially concurrently or in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by dedicated hardware-based systems that perform the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0122] In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] If the functions are realized in the form of software functional modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0124] The above is only an embodiment of the present application and is not used to limit the protection scope of the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0125] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be limited to the protection scope of the claims.

[0126] It is to be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" can include a combination of two or more components. Additionally, the terms "comprise," "comprises," and "comprising," or any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, unless otherwise indicated herein, the terms "first," "second," "third," etc., are used herein merely as labels, and are not intended to impose ordinal import.

Claims

1. A vehicle side-scratching warning method, characterized in that, The vehicle is equipped with an onboard radar on its side; the method includes: After the vehicle's side-scratching warning function is activated, the vehicle-mounted radar is triggered to collect the location information of the road turning point on the road where the vehicle is located; Based on the location information, the lateral distance between the side of the vehicle body and the road inflection point is obtained, as well as the exposed length of the vehicle body protruding from the vertical plane where the road inflection point is located. If the exposed length is less than the exposed length threshold corresponding to the lateral distance, a side scratch risk warning message is sent.

2. The method according to claim 1, characterized in that, The method further includes: The side-scratching warning function is activated when a user input command to activate the function is received or when the vehicle's driving data is detected to meet the turning conditions.

3. The method according to claim 2, characterized in that, The vehicle turning conditions include any of the following conditions: The longitudinal distance between the vehicle's location and any turning area on the map is less than the longitudinal distance threshold. The location is situated within the turning area; The location is within the turning area, and the steering wheel deflection angle of the vehicle is greater than the deflection angle threshold. The location is within the turning area, and the vehicle's speed is less than the speed threshold.

4. The method according to claim 1, characterized in that, The location information includes the straight-line distance between the location of the vehicle-mounted radar and the road bend, and the azimuth angle of the road bend relative to the side of the vehicle body; the step of obtaining the lateral distance between the side of the vehicle body and the road bend, and the exposed length of the vehicle body above the vertical plane where the road bend is located, based on the location information, includes: The lateral distance and the exposed length are determined by performing trigonometric function calculations based on the straight-line distance and the direction angle.

5. The method according to claim 1, characterized in that, After obtaining the lateral distance between the side of the vehicle body and the road bend point based on the location information, and the exposed length of the vehicle body protruding from the vertical plane where the road bend point is located, the method further includes: Determine the target lateral distance range where the lateral distance is located from multiple lateral distance ranges; The exposed length threshold is determined to be the exposed length limit corresponding to the target lateral distance range; Determine whether the exposed length is less than the exposed length threshold.

6. The method according to claim 5, characterized in that, The plurality of lateral distance ranges include a first lateral distance range, a second lateral distance range, and a third lateral distance range, wherein the minimum value of the second lateral distance range is greater than the maximum value of the first lateral distance range, and the maximum value of the second lateral distance range is less than the minimum value of the third lateral distance range; The first lateral distance range corresponds to the first exposed length limit, the second lateral distance range corresponds to the second exposed length limit, and the third lateral distance range corresponds to the third exposed length limit. The second exposed length limit is less than the first exposed length limit and greater than the third exposed length limit.

7. The method according to claim 6, characterized in that, The vehicle-mounted radar is located in the area in front of the A-pillar on the side of the vehicle body; The first exposed length limit is determined based on the longitudinal distance between the installation position of the vehicle radar and the installation position of the vehicle A-pillar, as well as the offset threshold. The second exposed length limit is determined based on the longitudinal distance between the installation position of the vehicle radar and the center position of the front door window of the vehicle, and the offset threshold. The third exposed length limit is determined based on the longitudinal distance between the installation position of the vehicle radar and the installation position of the vehicle's B-pillar, as well as the offset threshold; wherein the offset threshold is positively correlated with the vehicle's body length.

8. The method according to claim 1, characterized in that, The sending of the side-scratching risk warning information includes: The side scratch risk warning information is sent to the instrument panel controller of the vehicle, so that the instrument panel controller displays the side scratch risk warning information on the instrument panel of the vehicle.

9. A vehicle side-scratching warning device, characterized in that, The vehicle is equipped with an onboard radar on its side; the device includes: The corner detection module is used to trigger the vehicle radar to collect the location information of the road corners on the road where the vehicle is located after the vehicle's side scrape warning function is activated. The data processing module is used to obtain, based on the location information, the lateral distance between the side of the vehicle body and the road turning point, and the exposed length of the vehicle body above the vertical plane where the road turning point is located. The risk warning module is used to send a side scratch risk warning message when the exposed length is less than the exposed length threshold corresponding to the lateral distance.

10. A vehicle, characterized in that, Includes an onboard radar and an intelligent driving controller; the onboard radar is mounted on the side of the vehicle body; the intelligent driving controller is used for: After the vehicle's side-scratching warning function is activated, the vehicle-mounted radar is triggered to collect the location information of the road turning point on the road where the vehicle is located; Based on the location information, the lateral distance between the side of the vehicle body and the road inflection point is obtained, as well as the exposed length of the vehicle body protruding from the vertical plane where the road inflection point is located. If the exposed length is less than the exposed length threshold corresponding to the lateral distance, a side scratch risk warning message is sent.

11. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 8.

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