Early warning method and device for vehicle reversing scene and vehicle

Abstract

The invention discloses an early warning method and device for a vehicle reversing scene and a vehicle, and belongs to the technical field of vehicles. The early warning method for the vehicle backing scene can comprise the steps that after a vehicle enters the backing scene, the backing speed of the vehicle and the distance between the vehicle and surrounding obstacles are obtained in real time; determining collision early warning time according to the distance between the vehicle and the obstacle and the reversing speed; and according to the collision early-warning time and a preset early-warning logic, generating an early-warning instruction matched with the collision early-warning time, and based on the early-warning instruction, triggering an early-warning device to carry out early-warning prompt. According to the early warning method for the vehicle backing scene, the vehicle backing collision risk can be effectively reduced, and the backing experience of a user can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a warning method, device, and vehicle for vehicle reversing scenarios. Background Technology

[0002] For reversing scenarios, the primary method currently used is through a reversing radar system (also known as a parking assist system). When an obstacle exists in the vehicle's reversing path, the reversing radar system warns the driver. Specifically, the reversing radar system calculates the distance between the vehicle and the obstacle based on the obstacle signals detected by sensors, and issues a warning to the driver based on this distance. For example, it warns the driver if the distance between the vehicle and the obstacle is less than or equal to a preset distance threshold.

[0003] The existing distance-based warning method has different effects depending on the reversing speed. For example, when the reversing speed is relatively high, a warning is issued when the distance between the vehicle and the obstacle is less than or equal to a preset distance threshold. Due to the large inertia of the vehicle, there is a relatively high risk of collision between the vehicle and the obstacle. When the reversing speed is relatively low, after the distance-based warning is issued, the distance between the vehicle and the obstacle is relatively far, resulting in a poor user experience. Summary of the Invention

[0004] In view of this, the present invention provides a warning method, device and vehicle for vehicle reversing scenarios. The warning method for vehicle reversing scenarios can determine the collision warning time based on the distance between the vehicle and the obstacle and the reversing speed, and provide the driver with a reversing collision warning based on the collision warning time, which can effectively reduce the risk of vehicle reversing collisions and improve the user's reversing experience.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] In a first aspect, the present invention provides a warning method for vehicle reversing scenarios, comprising:

[0007] After the vehicle enters the reversing scenario, the reversing speed of the vehicle and the distance between the vehicle and the surrounding obstacles are obtained in real time.

[0008] The collision warning time is determined based on the distance between the vehicle and the obstacle and the reversing speed;

[0009] Based on the collision warning time and preset warning logic, a warning command matching the collision warning time is generated, and based on the warning command, the warning device is triggered to issue a warning prompt.

[0010] Optionally, the warning method for vehicle reversing scenarios also includes:

[0011] Determine the position of each obstacle relative to the vehicle;

[0012] The determination of the collision warning time includes:

[0013] For each obstacle, the following operations are performed: based on the reversing speed, calculate the vehicle speed corresponding to the direction of the obstacle; and based on the distance between the vehicle and the obstacle and the vehicle speed corresponding to the obstacle, determine the target warning time corresponding to the obstacle.

[0014] The minimum target warning time among the target warning times corresponding to each obstacle is determined as the collision warning time.

[0015] Optionally, determining the collision warning time includes:

[0016] Determine the vehicle's braking distance corresponding to the reversing speed and the preset safe distance to avoid collision between the braking vehicle and the obstacle;

[0017] The collision warning time at the reversing speed is calculated using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safety distance.

[0018] Optionally, the calculation of the collision warning time at the reversing speed includes:

[0019] Using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safety distance, the reaction distance between the vehicle's current position and the position where the vehicle begins to brake is calculated;

[0020] Using the reaction distance and the reversing speed, the collision warning time at the reversing speed is calculated.

[0021] Optionally, warning methods for vehicle reversing scenarios also include:

[0022] Determine the reaction time required for the driver to apply the brakes;

[0023] The collision warning time is updated by combining the reaction time and the collision warning time;

[0024] The generation of a warning instruction that matches the collision warning time includes: generating a warning instruction that matches the updated collision warning time.

[0025] Optionally, the warning method for vehicle reversing scenarios further includes: if the collision warning time is less than or equal to 3 seconds, performing a step of generating a warning command that matches the collision warning time.

[0026] Optionally, the preset warning logic includes: a mapping relationship between multiple collision warning time ranges and preset multiple distance ranges of warning strategies;

[0027] The generation of the warning instruction matching the collision warning time includes:

[0028] Determine the target collision warning time range to which the collision warning time belongs;

[0029] Based on the mapping relationship, a target warning strategy corresponding to the target distance range that matches the target collision warning time range is determined;

[0030] Based on the target early warning strategy, an early warning instruction is generated.

[0031] Optionally, the warning instruction indicates an audio frequency that matches the collision warning time, wherein the collision warning time and the audio frequency are inversely correlated.

[0032] The triggering of the early warning device to provide an early warning includes: the sound of an alarm triggered by an audio frequency triggering alarm as instructed by the early warning command.

[0033] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a long alarm sound when the collision warning time is less than or equal to 0.8s.

[0034] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a 6Hz alarm sound when the collision warning time is greater than 0.8s and less than or equal to 1.2s.

[0035] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a 5Hz alarm sound when the collision warning time is greater than 1.2s and less than or equal to 1.5s.

[0036] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a 4Hz alarm sound when the collision warning time is greater than 1.5s and less than or equal to 1.8s.

[0037] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a 3Hz alarm sound when the collision warning time is greater than 1.8s and less than or equal to 2.5s.

[0038] Optionally, the sound-triggered alarm device emitting an alarm sound according to the warning instruction includes: triggering the alarm device to emit a 2Hz alarm sound when the collision warning time is greater than 2.5s and less than or equal to 3s.

[0039] Optionally, the warning method for vehicle reversing scenarios further includes: triggering an alarm to emit a long alarm sound when the distance between the vehicle and surrounding obstacles is less than or equal to 36cm.

[0040] Optionally, the triggering of the early warning device to issue an early warning notification may further include: triggering a display device to display early warning notification information.

[0041] Secondly, embodiments of the present invention provide a warning device for vehicle reversing scenarios, the warning device comprising: a monitoring module and a triggering module, wherein,

[0042] The monitoring module is used to acquire the vehicle's reversing speed and the distance between the vehicle and surrounding obstacles in real time after the vehicle enters the reversing scene; and to determine the collision warning time based on the distance between the vehicle and the obstacles and the reversing speed.

[0043] The triggering module is used to generate a warning command that matches the collision warning time according to the collision warning time and a preset warning logic, and to trigger the warning device to issue a warning prompt based on the warning command.

[0044] Thirdly, embodiments of the present invention provide a vehicle, including: the warning device for vehicle reversing scenarios provided in the second aspect embodiment.

[0045] The technical solution of the above invention has the following advantages or beneficial effects:

[0046] The warning method for vehicle reversing scenarios provided in this invention determines the collision warning time by considering the distance between the vehicle and the obstacle, as well as the reversing speed. This ensures that the collision warning time is related not only to the distance between the vehicle and the obstacle but also to the reversing speed, thus more accurately determining the collision warning time. Subsequently, a warning command matching the collision warning time is generated, and based on the warning command, a warning device is triggered to issue a warning. Compared with distance-based warnings, the technical solution provided in this invention can guarantee the accuracy of the warning, avoid warnings that are too early or too late, reduce the risk of vehicle reversing collisions, and improve the user's reversing experience. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of a vehicle reversing scenario provided by an embodiment of the present invention;

[0048] Figure 2This is a schematic diagram of another vehicle reversing scenario provided by an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the main process of a warning method for a vehicle reversing scenario provided by an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of a display interface for a vehicle reversing scenario provided according to an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of a warning device for a vehicle reversing scenario provided in an embodiment of the present invention;

[0052] Figure 6 This is an exemplary vehicle system architecture diagram to which embodiments of the present invention can be applied;

[0053] Figure 7 This is a schematic diagram of the structure of a computer system suitable for implementing a warning method for vehicle reversing scenarios according to embodiments of the present invention. Detailed Implementation

[0054] In many situations, it's necessary to reverse to adjust the vehicle's driving direction or parking position. For example, such as... Figure 1 and Figure 2 As shown, when there is no road in front of the vehicle, reversing is necessary to adjust the vehicle's position and direction. Similarly, during parking, reversing can be used to maneuver the vehicle into a parking space. Regardless of the reversing scenario, it is essential to pay attention to obstacles around the vehicle to avoid collisions. The obstacles mentioned in this embodiment of the invention for reversing scenarios generally refer to objects that affect the vehicle's reversing process. For example, such as... Figure 1 As shown, there are objects B1, B2, and B3 around vehicle V. Object B3 is located in front of the vehicle. Only objects B1 and B2 affect the vehicle's reversing. Therefore, objects B1 and B2 are obstacles in the reversing scenario of vehicle V. Figure 2 As shown, there are objects B3 and B4 around vehicle V. Both objects B3 and B4 are located on the side of the vehicle. Only object B3 affects the vehicle's reversing; therefore, object B3 is an obstacle in the reversing scenario of vehicle V. Understandably, the obstacles in the reversing scenario can change continuously.

[0055] In reversing scenarios, warnings are typically used to alert the driver to avoid collisions. Currently, these warnings are generally based on the distance between the vehicle and obstacles. However, using the same distance for warnings at different reversing speeds leads to low accuracy and a poor user experience. For example, at high reversing speeds, especially at 5 km / h or higher, the braking distance is long, increasing the risk of a collision. Conversely, at low reversing speeds, the braking distance is short. While the warning may prevent a collision, the vehicle may stop far from the obstacle after the warning, making the driver feel the warning doesn't reflect reality and resulting in a poor user experience. To address these issues with distance-based warnings, this invention provides a warning method for reversing scenarios.

[0056] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0057] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0058] Furthermore, the terms "first," "second," etc., included in the terminology of this invention are used to distinguish similar objects and are not necessarily used to describe a specific number or order. It should be understood that such terms can be used interchangeably where appropriate; this is merely a distinguishing method used in the embodiments of this invention when describing objects with the same attributes.

[0059] The vehicles involved in the embodiments of the present invention may be internal combustion engine vehicles that use an engine as a power source, hybrid vehicles that use an engine and an electric motor as power sources, electric vehicles that use an electric motor as a power source, etc.

[0060] Specifically, such as Figure 3 As shown, the early warning method for vehicle reversing scenarios provided in this embodiment of the invention mainly includes the following steps:

[0061] Step S301: After the vehicle enters the reversing scene, the reversing speed of the vehicle and the distance between the vehicle and the surrounding obstacles are obtained in real time.

[0062] The reversing speed of the vehicle can be the speed achieved by the driver through controlling the vehicle's power system, or it can be the speed of the vehicle relative to an obstacle during the reversing process.

[0063] Obstacles around the vehicle generally refer to objects detected by the vehicle's infotainment system from the vehicle's rearview camera and / or radar and / or sensors that enter the monitoring area after the vehicle enters a reversing scenario. This monitoring area can be defined with the rear of the vehicle as a reference point. For example, such as... Figure 2 As shown, the vehicle's infotainment system detects objects B3 and B4 from the vehicle's rearview camera and / or radar and / or sensors. Since only object B3 enters the monitoring area, therefore, in Figure 2 In the reversing scenario shown, the obstacle around vehicle V is B3.

[0064] The distance between a vehicle and its surrounding obstacles generally refers to the straight-line distance between the obstacle and the vehicle in the horizontal direction. For example... Figure 1 As shown, the distance between vehicle V and object B1 is L1, and the distance between vehicle V and object B2 is L2. Figure 2 As shown, the distance between vehicle V and object B3 is L3.

[0065] Step S302: Determine the collision warning time based on the distance between the vehicle and the obstacle and the reversing speed.

[0066] The collision warning time generally refers to the duration from the current moment until the warning device issues a warning. For example, a collision warning time of 6 seconds means that 6 seconds will pass from the current moment before the warning device issues a warning. Another example is a collision warning time of 2 seconds, meaning that 2 seconds will pass from the current moment before the warning device issues a warning.

[0067] Step S303: Based on the collision warning time and preset warning logic, generate a warning command that matches the collision warning time, and trigger the warning device to issue a warning prompt based on the warning command.

[0068] against Figure 3 The illustrated embodiment provides a warning method for vehicle reversing scenarios. It determines the collision warning time based on the distance between the vehicle and the obstacle, as well as the reversing speed. This ensures the collision warning time is related not only to the distance but also to the reversing speed, allowing for a more accurate determination of the collision warning time. Subsequently, a warning command matching the collision warning time is generated, and based on this command, a warning device is triggered to issue a warning. Compared to distance-based warnings, the technical solution provided by this embodiment ensures the accuracy of the warning, avoids warnings that are too early or too late, reduces the risk of collisions while reversing, and improves the user's reversing experience.

[0069] Furthermore, the warning method for vehicle reversing scenarios may also include: locating the position of each obstacle relative to the vehicle. Accordingly, based on locating the position of each obstacle relative to the vehicle, the specific implementation of step S302 may include: for each obstacle, performing the following operations: calculating the vehicle speed corresponding to the obstacle's position based on the reversing speed; determining the target warning time corresponding to the obstacle based on the distance between the vehicle and the obstacle and the vehicle speed corresponding to the obstacle; after determining the target warning time for each obstacle, determining the minimum target warning time among the target warning times for each obstacle as the collision warning time.

[0070] The orientation of an obstacle relative to a vehicle generally refers to the angle of deflection of the obstacle relative to the longitudinal axis of the vehicle.

[0071] The vehicle speed corresponding to the location of the obstacle can be calculated using the following formula (1).

[0072] (1)

[0073] in, Indicates the corresponding obstacle The speed of the vehicle in the direction; Indicates the vehicle's reversing speed; Indicates obstacles The deflection angle relative to the vehicle's longitudinal axis.

[0074] For example, Figure 1 The obstacles shown are B1 and B2. Through the above process, the target warning time corresponding to B1 is determined as t1, and the target warning time corresponding to B2 is determined as t2. Since t2 is less than t1, t2 is determined as the collision warning time.

[0075] It should be noted that there are two specific implementation schemes for determining the target warning time corresponding to the obstacle in step S302 above. The first specific implementation scheme for determining the target warning time corresponding to the obstacle can be: calculated based on the distance between the vehicle and the obstacle and the vehicle's reversing speed. The second specific implementation scheme for determining the target warning time corresponding to the obstacle is: calculated based on the distance between the vehicle and the obstacle and the vehicle's speed relative to the obstacle's orientation.

[0076] The first specific implementation scheme, which determines the target warning time corresponding to the obstacle, simplifies the calculation process and helps reduce computational resource consumption. The second specific implementation scheme, which also simplifies the calculation process, effectively improves calculation accuracy, enabling more precise control of the vehicle's braking during reversing.

[0077] Furthermore, the specific implementation of step S302 above may include: determining the braking distance of the vehicle corresponding to the reversing speed and the preset safe distance to avoid collision between the vehicle and the obstacle; and calculating the collision warning time at the reversing speed using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safe distance.

[0078] The braking distance corresponding to the reversing speed generally refers to the distance the vehicle travels from braking to a complete stop at the reversing speed. This braking distance corresponding to the reversing speed can also be pre-configured in the vehicle's infotainment system. The preset safety distance is a pre-set safe distance to avoid collisions with obstacles; this safety distance is the minimum distance between the vehicle's stopping position and the obstacle. For example, this safety distance can be 0.1m, 0.5m, or 1m, etc.

[0079] In one embodiment, a specific implementation of the above-mentioned calculation of the collision warning time at reversing speed may include: using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and a preset safety distance, to calculate the reaction distance between the vehicle's current position and the position where the vehicle begins to brake (i.e., the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safety distance). ,in, Indicates vehicles and obstacles The distance between them; This indicates the braking distance corresponding to the reversing speed; (Indicates the preset safe distance); calculates the collision warning time at the reversing speed using reaction distance and reversing speed.

[0080] against Figure 2 As shown, in the reversing scenario, when there is only one obstacle, the collision warning time at the reversing speed is calculated by using the distance L3 between the vehicle and the obstacle, the braking distance L' corresponding to the reversing speed and the preset safety distance L'', and using the calculation formula (2) to calculate the collision warning time at the reversing speed.

[0081] (2)

[0082] in, Indicates the speed at which the vehicle is reversing. The collision warning time is as follows; Indicates the distance between the vehicle and the obstacle; This indicates the braking distance corresponding to the reversing speed; This indicates the preset safe distance.

[0083] against Figure 1As shown, in the case of multiple obstacles in a reversing scenario, the collision warning time at the reversing speed can be calculated using the following calculation formula (3) or calculation formula (4).

[0084] (3)

[0085] (4)

[0086] in, Indicates the speed at which the vehicle is reversing. The collision warning time is as follows; Indicates the distance between the vehicle and B1; Indicates the distance between the vehicle and B2; This indicates the braking distance corresponding to the reversing speed; Indicates the preset safe distance; This indicates the speed corresponding to vehicle B1; This indicates the speed of vehicle B2.

[0087] Furthermore, the aforementioned warning method for vehicle reversing scenarios may also include: determining the reaction time required for the driver to operate the brakes. This reaction time can be preset or obtained based on driver driving data collected.

[0088] Based on the determined reaction time required for the driver to apply the brakes, and combining the reaction time with the collision warning time, the collision warning time is updated (i.e., t'=tt). a Where t' represents the updated collision warning time; t represents the collision warning time at the reversing speed calculated using reaction distance and reversing speed; t a (This refers to the reaction time required for the driver to apply the brakes); accordingly, a specific implementation scheme for generating a warning instruction that matches the collision warning time may include: generating a warning instruction that matches the updated collision warning time.

[0089] Furthermore, in this embodiment of the invention, the aforementioned warning method for vehicle reversing scenarios further includes: when the collision warning time is less than or equal to 3 seconds, executing a step of generating a warning command matching the collision warning time. It can be understood that the collision warning time can be a collision warning time calculated using reaction distance and reversing speed at the reversing speed, or it can be an updated collision warning time. The warning is only issued when the collision warning time is less than or equal to 3 seconds to improve the user's reversing experience.

[0090] In this embodiment of the invention, the preset warning logic may include: configuring a mapping relationship between multiple collision warning time ranges and preset warning strategies for multiple distance ranges; that is, the preset warning logic can be constructed based on the multiple distance range warning strategies already configured in the vehicle's infotainment system, thereby reducing the complexity of the warning logic. By configuring the mapping relationship, the warnings familiar to the user can still be used, improving the user experience.

[0091] Accordingly, a specific implementation plan for generating warning instructions that match the collision warning time may include: determining the target collision warning time range to which the collision warning time belongs; determining a target warning strategy corresponding to the target distance range that matches the target collision warning time range based on the mapping relationship; and generating a warning instruction based on the target warning strategy. By debinding the distance and warning relationship through the mapping relationship and binding the collision warning time and warning relationship together, the driver can be promptly alerted, and differentiated warning instructions can be generated based on different collision warning times. This allows for differentiated warnings through different warning instructions, enabling the driver to react differently to different warnings and reducing the risk of reversing collisions.

[0092] The specific implementation scheme of the warning method may include: the warning command indicating an audio frequency that matches the collision warning time, with the collision warning time and the audio frequency having an inverse correlation. Accordingly, the specific implementation scheme for triggering the warning device to issue a warning prompt may include: triggering the alarm to emit an alarm sound according to the audio frequency indicated by the warning command. That is, the audio frequency is lower when the collision warning time is relatively long, and higher when the collision warning time is relatively short, in order to arouse the driver's alertness.

[0093] For example, if the collision warning time is less than or equal to 0.8 seconds, the alarm will sound a continuous alarm tone; if the collision warning time is greater than 0.8 seconds but less than or equal to 1.2 seconds, the alarm will sound a 6Hz alarm tone; if the collision warning time is greater than 1.2 seconds but less than or equal to 1.5 seconds, the alarm will sound a 5Hz alarm tone; if the collision warning time is greater than 1.5 seconds but less than or equal to 1.8 seconds, the alarm will sound a 4Hz alarm tone; if the collision warning time is greater than 1.8 seconds but less than or equal to 2.5 seconds, the alarm will sound a 3Hz alarm tone; if the collision warning time is greater than 2.5 seconds but less than or equal to 3 seconds, the alarm will sound a 2Hz alarm tone; and if the collision warning time is greater than 3 seconds, the alarm will not be triggered (i.e., no alarm tone). This relationship between collision warning time and sound frequency can effectively improve the driver's reversing experience.

[0094] Warning methods for vehicle reversing scenarios also include triggering a continuous alarm sound when the distance between the vehicle and surrounding obstacles is less than or equal to 36cm. In addition to warning based on collision warning time, warnings can also be issued based on the distance between the vehicle and surrounding obstacles. That is, even if the collision warning time has not been reached, a warning will still be issued if the distance between the vehicle and surrounding obstacles is less than or equal to 36cm, further improving the reliability of reversing warnings.

[0095] Triggering warning devices to issue warning prompts also includes triggering display devices to display warning prompt information, such as displaying "Caution: Collision Notice" or warning symbols, so that drivers can receive warnings visually and improve user experience.

[0096] Furthermore, in this embodiment of the invention, the triggering of the warning device to issue a warning may further include: displaying a reversing safety boundary determined based on distance on the display interface of the display device, and dynamically adjusting the reversing safety boundary during the vehicle's reversing process; dynamically adjusting the rendering color of the boundary segment corresponding to the obstacle in the reversing safety boundary according to the relative positional relationship between the reversing safety boundary and the obstacle when an obstacle enters the reversing safety boundary; and rendering the border color of the display interface based on a warning command matched with the collision warning time. For example, as shown... Figure 4As shown, in a reversing scenario, the display interface IB shows the vehicle model and the reversing safety boundary BL surrounding the vehicle model. Specifically, the distance D between the reversing safety boundary BL displayed on the display interface and the vehicle model is mapped based on the actual distance from the vehicle to the determined reversing safety boundary. The actual reversing safety boundary can be set according to actual needs (e.g., 1 meter, 0.7 meters, 0.5 meters, etc.). Based on the mapping relationship between the distance D between the reversing safety boundary BL and the vehicle model displayed on the display interface IB and the actual distance from the reversing safety boundary to the vehicle (e.g., 1 meter of the actual reversing safety boundary BL is mapped to 5 centimeters, 0.7 meters to 3 centimeters, 0.5 meters to 1 centimeter, etc., then for a determined actual reversing safety boundary to the vehicle distance of 0.7 meters, the specific value of distance D can be 3 centimeters), and based on this specific value of distance D (e.g., 3 centimeters), the reversing safety boundary BL is rendered around the vehicle model on the display interface IB. This reversing safety boundary BL can be a frame structure of any color, such as blue, green, etc. Generally, the actual distance from the reversing safety boundary to the vehicle is determined based on the safe distance between the vehicle and the obstacle. For example, if the safe distance is 0.7 meters, the actual distance from the reversing safety boundary to the vehicle is 0.7 meters; if the safe distance is 1.2 meters, the actual distance from the reversing safety boundary to the vehicle is 1.2 meters, and so on. Furthermore, as the vehicle moves while reversing, this actual reversing safety boundary also moves with the vehicle. That is, the reversing safety boundary is dynamically adjusted during the reversing process, ensuring that the relative positional relationship between the actual reversing safety boundary and the vehicle remains unchanged. Therefore, in a reversing scenario, if the obstacle is located outside the area of ​​the actual reversing safety boundary, the relative position of the reversing safety boundary BL rendered on the display interface does not change with the vehicle's reversing speed. In other words, the reversing safety boundary BL is rendered based on the safe distance, and this reversing safety boundary BL does not change with the vehicle's reversing speed. Further, based on the reversing safety boundary BL and the vehicle model rendered on the display interface, such as... Figure 4 As shown, the interface border (IB) will also be rendered synchronously on the display screen. During reversing, the rendering color of the interface border (IB) will be adjusted based on the warning command, that is, based on the collision warning time, to visually remind the driver according to the collision warning time. (Still using...) Figure 4 For example, if a vehicle enters a reversing scenario but the collision warning time has not yet been reached, the display on the device's screen will show something like this. Figure 4 In the R1 interface, the interface border (IB) is rendered in blue, and the reversing safety boundary (BL) is rendered as a closed blue line around the vehicle model. This warning remains displayed on the interface until the vehicle reaches the collision warning timeout period. Figure 4 In the R1 interface, after the collision warning time is reached, the rendering color of the interface border IB is adjusted to red (e.g.,Figure 4 The system includes R2, R3, and R4 interfaces to alert the driver of potential collision risks. Furthermore, while adjusting the rendering color of the interface border IB, if an obstacle enters the actual reversing safety boundary, the displayed reversing safety boundary BL is adjusted accordingly. Figure 4 For example, in the R2 interface, after the collision warning time is reached, the rendering color of the interface border IB is adjusted to red. At this time, since the obstacle has not yet entered the actual reversing safety boundary, the displayed reversing safety boundary BL does not change. As the vehicle continues to reverse, the obstacle begins to enter the actual reversing safety boundary, and the display changes as shown below. Figure 4 In the R3 interface, the reversing safety boundary BL corresponds to the position of the obstacle with a slight deformation, and the color of the deformed line also changes. As the vehicle continues to reverse, the obstacle enters the actual reversing safety boundary more deeply, as shown in the following display. Figure 4 In the R4 interface, the reversing safety boundary BL shows greater deformation at the location corresponding to the obstacle, and the color of the deformed lines also changes. It's worth noting that the rendered color described above is just an example; any color can be set as needed, and flashing alerts can also be configured. By using the rendered colors of the reversing safety boundary BL and the interface border IB, a dual visual warning based on safe distance and collision warning time is achieved, providing a more intuitive reminder to the driver and improving the reversing experience.

[0097] Furthermore, embodiments of the present invention provide a warning device for vehicle reversing scenarios. For example... Figure 5 As shown, the warning device 500 for vehicle reversing scenarios may include: a monitoring module 501 and a triggering module 502, wherein,

[0098] The monitoring module 501 is used to acquire the vehicle's reversing speed and the distance between the vehicle and surrounding obstacles in real time after the vehicle enters the reversing scene; and to determine the collision warning time based on the distance between the vehicle and the obstacles and the reversing speed.

[0099] The trigger module 502 is used to generate a warning command that matches the collision warning time according to the collision warning time and the preset warning logic, and to trigger the warning device to provide a warning based on the warning command.

[0100] In this embodiment of the invention, the monitoring module 501 is further configured to locate the position of each obstacle relative to the vehicle; for each obstacle, the following operations are performed: based on the reversing speed, the vehicle speed corresponding to the position of the obstacle is calculated; and based on the distance between the vehicle and the obstacle and the vehicle speed corresponding to the obstacle, the target warning time corresponding to the obstacle is determined; and the minimum target warning time among the target warning times corresponding to each obstacle is determined as the collision warning time.

[0101] In this embodiment of the invention, the monitoring module 501 is further used to determine the braking distance of the vehicle corresponding to the reversing speed and the preset safe distance to avoid collision between the vehicle and the obstacle; and to calculate the collision warning time at the reversing speed using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed and the preset safe distance.

[0102] In this embodiment of the invention, the monitoring module 501 is further configured to calculate the reaction distance between the vehicle's current position and the position where the vehicle begins to brake, using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and a preset safety distance; and to calculate the collision warning time at the reversing speed using the reaction distance and the reversing speed.

[0103] In this embodiment of the invention, the monitoring module 501 is further configured to determine the reaction time required for the driver to operate the brakes; and to update the collision warning time by combining the reaction time and the collision warning time.

[0104] Trigger module 502 is further used to generate a warning command that matches the updated collision warning time.

[0105] In this embodiment of the invention, the triggering module 502 is further configured to execute a step of generating a warning command that matches the collision warning time when the collision warning time is less than or equal to 3 seconds.

[0106] In this embodiment of the invention, the preset warning logic includes: configuring a mapping relationship between multiple collision warning time ranges and preset multiple distance ranges of warning strategies; correspondingly, the triggering module 502 is further used to determine the target collision warning time range to which the collision warning time belongs; according to the mapping relationship, determine the target warning strategy corresponding to the target distance range that matches the target collision warning time range; and generate a warning instruction according to the target warning strategy.

[0107] In this embodiment of the invention, the warning command indicates an audio frequency that matches the collision warning time, and the collision warning time and the audio frequency are inversely correlated. Accordingly, the triggering module 502 is further configured to trigger the alarm to emit an alarm sound according to the audio frequency indicated by the warning command.

[0108] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a long alarm sound when the collision warning time is less than or equal to 0.8s.

[0109] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a 6Hz alarm sound when the collision warning time is greater than 0.8s and less than or equal to 1.2s.

[0110] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a 5Hz alarm sound when the collision warning time is greater than 1.2s and less than or equal to 1.5s.

[0111] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a 4Hz alarm sound when the collision warning time is greater than 1.5s and less than or equal to 1.8s.

[0112] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a 3Hz alarm sound when the collision warning time is greater than 1.8s and less than or equal to 2.5s.

[0113] In this embodiment of the invention, the trigger module 502 is further configured to trigger the alarm to emit a 2Hz alarm sound when the collision warning time is greater than 2.5s and less than or equal to 3s.

[0114] In this embodiment of the invention, the triggering module 502 is further configured to trigger the alarm to emit a long alarm sound when the monitoring module 501 determines that the distance between the vehicle and the surrounding obstacles is less than or equal to 36cm.

[0115] In this embodiment of the invention, the trigger module 502 is further used to trigger the display device to display warning information.

[0116] Furthermore, embodiments of the present invention provide a warning electronic device for vehicle reversing scenarios. This warning electronic device for vehicle reversing scenarios may include:

[0117] One or more processors;

[0118] Storage device for storing one or more programs.

[0119] When the one or more programs are executed by the one or more processors, the one or more processors implement the warning method for vehicle reversing scenarios provided in any of the above embodiments.

[0120] This invention also provides a vehicle that may include the warning device 500 for vehicle reversing scenarios or the warning electronic device for vehicle reversing scenarios provided in the above embodiments.

[0121] Figure 6 An exemplary vehicle system architecture 600 is shown, to which the warning method or warning device for a vehicle reversing scenario can be applied according to embodiments of the present invention.

[0122] like Figure 6As shown, the vehicle system architecture 600 may include various systems, such as a driving control system 601, a power system 602, a sensor system 603, a control system 604, one or more peripheral devices 605, a power supply 606, a computer system 607, and a user interface 608. The warning method for vehicle reversing scenarios provided in this embodiment can be implemented through interaction with the aforementioned systems. Optionally, the vehicle system architecture 600 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 600 can be interconnected via wired or wireless means.

[0123] The vehicle system architecture 600 includes a driving control system 601, which can be in a fully or partially automated driving mode. For example, the driving control system 601 can automatically control the vehicle to brake or reduce the reversing speed based on warning signals or warning commands provided by a warning device for a reversing scenario, without human interaction. The driving control system 601 can also control the reversing vehicle to brake or reduce the reversing speed with human interaction.

[0124] The powertrain 602 may include components that provide power to the vehicle. For example, the powertrain 602 may include an engine, an energy source, a transmission, wheels, tires, etc. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy to supply the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other electrical sources. The energy source may also provide energy to other systems in the vehicle. Furthermore, the transmission may include a gearbox, a differential, a drive shaft, and a clutch, etc.

[0125] Sensor system 603 may include sensors for sensing the vehicle's surrounding environment and pressure sensors for sensing whether there are occupants in the seats. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), a camera, and capacitive sensors. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects or obstacles in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or direction of travel of objects.

[0126] To detect environmental information and objects outside the vehicle, cameras can be configured at appropriate locations on the vehicle's exterior. For example, to acquire environmental images of the vehicle's sides, a camera can be mounted on the side mirror. The camera can be a still or video camera.

[0127] The control system 604 may include software systems for implementing vehicle driving control, such as systems for analyzing the vehicle's surrounding environment, pretensioning seat belts, route planning, obstacle avoidance, and image analysis. The control system 604 may also include hardware systems such as an accelerator, steering wheel, seat belt, and airbag systems. Furthermore, the control system 604 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be omitted.

[0128] Furthermore, as described above, the control system 604 can further adjust the reversing speed of the vehicle, etc., based on the aforementioned warning method for vehicle reversing scenarios.

[0129] Additionally, the control system 604 can interact with external sensors, other autonomous driving devices, other computer systems, or users via peripheral devices 605. Peripheral devices 605 may include wireless communication systems, on-board computers, microphones, and / or speakers.

[0130] In some embodiments, peripheral device 605 provides a means for user interaction with the control system 604 via a user interface. For example, an onboard computer may provide information to a user of the vehicle. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 604. Similarly, a speaker may output audio to a user of the control system 604.

[0131] Wireless communication systems can communicate wirelessly with one or more devices, either directly or via a communication network. For example, wireless communication systems can use networks such as cellular networks, WiFi, and wireless local area networks (WLANs), or they can use infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols include those used in various autonomous driving communication systems.

[0132] The power source 606 can provide power to various components of the vehicle. The power source 606 can be a rechargeable lithium-ion or lead-acid battery.

[0133] The computer system 607 controls some or all of the functions for providing warnings in vehicle reversing scenarios. The computer system 607 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as memory. The computer system 607 provides the aforementioned control system with execution code for implementing warnings in vehicle reversing scenarios.

[0134] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory can be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0135] User interface 608 is used to provide information to or receive information from users of the vehicle. Optionally, user interface 608 may include one or more input / output devices within a set of peripheral devices 605, such as wireless communication systems, on-board computers, microphones, and speakers.

[0136] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 6 This should not be construed as a limitation on the embodiments of this application.

[0137] The following is for reference. Figure 7 It shows a schematic diagram of the structure of a computer system 700 suitable for implementing a warning method for a vehicle reversing scenario according to an embodiment of the present invention. Figure 7 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0138] like Figure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 702 or programs loaded from storage section 708 into random access memory (RAM) 703. The RAM 703 also stores various programs and data required for the operation of the system 700. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0139] The following components are connected to I / O interface 705: an input section 706; an output section 707 including devices such as cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; a storage section 708 including devices such as hard disks; and a communication section 709 including network interface cards such as LAN cards and modems. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to I / O interface 705 as needed. A removable medium 711, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 710 as needed so that computer programs read from it can be installed into storage section 708 as needed.

[0140] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs the functions defined above in the system of this invention.

[0141] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0142] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0143] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor can be described as including the aforementioned monitoring module and triggering module. The names of these modules or units do not necessarily limit the module or unit itself; for example, a triggering module can also be described as "a module or unit that triggers an early warning device to provide an early warning notification."

[0144] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs, which, when executed by the device, cause the device to: after a vehicle enters a reversing scenario, acquire in real time the vehicle's reversing speed and the distance between the vehicle and surrounding obstacles; determine a collision warning time based on the distance between the vehicle and the obstacles and the reversing speed; generate a warning command matching the collision warning time according to the collision warning time and preset warning logic; and trigger a warning device to issue a warning based on the warning command.

[0145] According to the technical solution of the present invention, the collision warning time is determined by the distance between the vehicle and the obstacle and the reversing speed. This makes the collision warning time related not only to the distance between the vehicle and the obstacle but also to the reversing speed, so as to determine the collision warning time more accurately. Subsequently, a warning command matching the collision warning time is generated, and the warning device is triggered to issue a warning based on the warning command. Compared with distance-based warnings, the technical solution provided by the present invention can ensure the accuracy of the warning, avoid the warning time being too early or too late, reduce the risk of vehicle reversing collisions, and improve the user's reversing experience.

[0146] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A warning method for vehicle reversing scenarios, characterized in that, include: After the vehicle enters the reversing scenario, the reversing speed of the vehicle and the distance between the vehicle and the surrounding obstacles are obtained in real time. The collision warning time is determined based on the distance between the vehicle and the obstacle and the reversing speed; Based on the collision warning time and preset warning logic, a warning command matching the collision warning time is generated, and based on the warning command, the warning device is triggered to issue a warning prompt.

2. The early warning method for vehicle reversing scenarios according to claim 1, characterized in that, Also includes: Determine the position of each obstacle relative to the vehicle; The determination of the collision warning time includes: For each obstacle, the following operations are performed: based on the reversing speed, calculate the vehicle speed corresponding to the direction of the obstacle; and based on the distance between the vehicle and the obstacle and the vehicle speed corresponding to the obstacle, determine the target warning time corresponding to the obstacle. The minimum target warning time among the target warning times corresponding to each obstacle is determined as the collision warning time.

3. The early warning method for vehicle reversing scenarios according to claim 1, characterized in that, The determination of the collision warning time includes: Determine the vehicle's braking distance corresponding to the reversing speed and the preset safe distance to avoid collision between the braking vehicle and the obstacle; The collision warning time at the reversing speed is calculated using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safety distance.

4. The early warning method for vehicle reversing scenarios according to claim 3, characterized in that, The calculation of the collision warning time at the reversing speed includes: Using the distance between the vehicle and the obstacle, the braking distance corresponding to the reversing speed, and the preset safety distance, the reaction distance between the vehicle's current position and the position where the vehicle begins to brake is calculated; Using the reaction distance and the reversing speed, the collision warning time at the reversing speed is calculated.

5. The early warning method for vehicle reversing scenarios according to any one of claims 1 to 4, characterized in that, Also includes: Determine the reaction time required for the driver to apply the brakes; The collision warning time is updated by combining the reaction time and the collision warning time; The generation of a warning instruction that matches the collision warning time includes: generating a warning instruction that matches the updated collision warning time.

6. The early warning method for vehicle reversing scenarios according to claim 1, characterized in that, The warning method for vehicle reversing scenarios also includes: when the collision warning time is less than or equal to 3 seconds, executing the step of generating a warning command that matches the collision warning time; And / or, The preset warning logic includes: a mapping relationship between multiple collision warning time ranges and preset warning strategies with multiple distance ranges; The generation of the warning instruction matching the collision warning time includes: Determine the target collision warning time range to which the collision warning time belongs; Based on the mapping relationship, a target warning strategy corresponding to the target distance range that matches the target collision warning time range is determined; Based on the target early warning strategy, an early warning instruction is generated.

7. The early warning method for vehicle reversing scenarios according to claim 1, characterized in that, The warning instruction indicates an audio frequency that matches the collision warning time, and the collision warning time and the audio frequency are inversely correlated. The triggering of the early warning device to provide an early warning includes: the sound of an alarm triggered by an audio frequency triggering alarm as instructed by the early warning command.

8. The early warning method for vehicle reversing scenarios according to claim 7, characterized in that, The sound-triggered alarm, triggered according to the warning instruction, emits an alarm sound, including: If the collision warning time is less than or equal to 0.8 seconds, the alarm will be triggered to emit a long alarm sound. And / or, If the collision warning time is greater than 0.8s and less than or equal to 1.2s, the alarm will be triggered to emit a 6Hz alarm sound. And / or, If the collision warning time is greater than 1.2s and less than or equal to 1.5s, the alarm will be triggered to emit a 5Hz alarm sound. And / or, If the collision warning time is greater than 1.5s and less than or equal to 1.8s, the alarm will be triggered to emit a 4Hz alarm sound. And / or, If the collision warning time is greater than 1.8s and less than or equal to 2.5s, the alarm will be triggered to emit a 3Hz alarm sound. And / or, If the collision warning time is greater than 2.5s and less than or equal to 3s, the alarm will be triggered to emit a 2Hz alarm sound. And / or, The warning method for vehicle reversing scenarios also includes: triggering an alarm to emit a long alarm sound when the distance between the vehicle and surrounding obstacles is less than or equal to 36cm. And / or, The triggering of the early warning device to provide an early warning also includes: triggering a display device to display the early warning information; And / or, The triggering of the early warning device to provide early warning also includes: The display interface of the display device displays a reversing safety boundary for the vehicle based on distance, and dynamically adjusts the reversing safety boundary during the reversing process of the vehicle; When an obstacle around the vehicle enters the reversing safety boundary, the rendering color of the boundary segment corresponding to the obstacle in the reversing safety boundary is dynamically adjusted according to the relative positional relationship between the reversing safety boundary and the obstacle. Based on the warning instruction that matches the collision warning time, the border color of the display interface is rendered.

9. A warning device for vehicle reversing scenarios, characterized in that, The early warning device includes: a monitoring module and a triggering module, wherein, The monitoring module is used to acquire the vehicle's reversing speed and the distance between the vehicle and surrounding obstacles in real time after the vehicle enters the reversing scene; and to determine the collision warning time based on the distance between the vehicle and the obstacles and the reversing speed. The triggering module is used to generate a warning command that matches the collision warning time according to the collision warning time and a preset warning logic, and to trigger the warning device to issue a warning prompt based on the warning command.

10. A vehicle, characterized in that, include: The warning device for vehicle reversing scenarios as described in claim 9.

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