Vehicle warning method and device and vehicle

Abstract

The invention discloses a vehicle warning method and device and a vehicle, specifically, a detection area is identified, and the detection area comprises a vehicle driving area and a surrounding early warning area; identifying a first to-be-warned target in the vehicle driving area and a second to-be-warned target in the surrounding early warning area; identifying a first distance between the first to-be-warned target and the vehicle and a second distance between the second to-be-warned target and the vehicle; determining a first gain value for a sound pressure level value lower limit of the warning sound of the vehicle according to the first distance, and determining a second gain value for the sound pressure level value lower limit according to the second distance; and playing a warning sound according to the first gain value, the second gain value and the lower limit of the sound pressure level value. In other words, different warning effects are adopted according to different danger levels of the target needing to be warned at different positions and different distances between the target and the vehicle, the pertinence of the vehicle warning effect is improved, and traffic safety accidents caused by insufficient warning are effectively reduced.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a vehicle warning method, device, and vehicle. Background Technology

[0002] Currently, the automotive industry is developing rapidly, and the safety of vehicles in road traffic is receiving increasing attention. For pedestrians and cyclists outside the vehicle, reliable warning methods are crucial for ensuring traffic safety. This is especially true for new energy vehicles, which, due to the lack of traditional engine noise, make it more difficult for pedestrians and cyclists to judge the approach of the vehicle, posing a significant safety hazard in the absence of awareness. Therefore, in some countries and regions, vehicle warning systems are typically installed to alert those who need to be warned through audible warnings.

[0003] However, the vehicle warning system installed only shifts the frequency of the warning sound or adjusts the sound pressure level of the warning sound according to the speed change. This kind of warning sound has a poor prompting effect on the target that needs to be warned and can still easily cause significant safety hazards. Summary of the Invention

[0004] This application provides a vehicle warning method, device, vehicle, equipment, storage medium, and program product to reduce safety hazards while driving.

[0005] In a first aspect, embodiments of this application provide a vehicle warning method, comprising: identifying a detection area, the detection area including a vehicle driving area and a surrounding warning area, the vehicle driving area being the area where the vehicle is about to drive, and the surrounding warning area being the area around the vehicle, wherein the surrounding warning area and the vehicle driving area do not overlap; identifying a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area, the first target to be warned being the target closest to the vehicle in the vehicle driving area, and the second target to be warned being the target closest to the vehicle in the surrounding warning area; identifying a first distance between the first target to be warned and the vehicle, and a second distance between the second target to be warned and the vehicle; determining a first gain value for a lower limit of the sound pressure level of a warning sound for the vehicle based on the first distance, and determining a second gain value for the lower limit of the sound pressure level based on the second distance; and playing the warning sound based on the first gain value, the second gain value, and the lower limit of the sound pressure level.

[0006] In one possible implementation, playing the warning sound based on the first gain value, the second gain value, and the lower limit of the sound pressure level includes: determining a playback sound pressure level value based on the first gain value, the second gain value, and the lower limit of the sound pressure level value; playing the warning sound based on the playback sound pressure level value, wherein the playback sound pressure level value is positively correlated with the first gain value and the playback sound pressure level value is positively correlated with the second gain value.

[0007] In one possible implementation, playing a warning sound based on the sound pressure level value includes: acquiring the vehicle's gear position information, a first direction of the first target to be warned relative to the vehicle, or a second direction of the second target to be warned relative to the vehicle; determining one or more playback directions of the warning sound based on the gear position information, the first direction, or the second direction; and playing the warning sound towards the one or more playback directions based on the sound pressure level value.

[0008] In one possible implementation, the vehicle includes multiple playback devices placed at different locations within the vehicle, and the multiple playback devices are used to play sounds in different directions within the vehicle; the step of playing the warning sound in one or more playback directions according to the playback sound pressure level value includes: determining a target playback device among the multiple playback devices, wherein the direction in which the target playback device plays the sound matches the one or more playback directions; and playing the warning sound through the target playback device according to the playback sound pressure level value.

[0009] In one possible implementation, the first distance is less than a first threshold, and the second distance is less than a second threshold.

[0010] In one possible implementation, determining a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the first distance, and determining a second gain value for the lower limit of the sound pressure level based on the second distance, includes: determining a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the first distance and the first threshold, and determining a second gain value for the lower limit of the sound pressure level based on the second distance and the second threshold.

[0011] In one possible implementation, determining the playback sound pressure level value based on the first gain value, the second gain value, and the lower limit of the sound pressure level value includes: determining the playback sound pressure level value based on the product of the first gain value and the first weight, the product of the second gain value and the second weight, and the lower limit of the sound pressure level value.

[0012] In one possible implementation, the identification and detection area includes: acquiring the vehicle's gear position information, the vehicle's steering wheel information, or the vehicle's width information; and identifying the vehicle's driving area within the detection area based on the gear position information, the steering wheel information, or the vehicle width information.

[0013] In one possible implementation, identifying a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area includes: identifying first feature information of the first target to be warned in the vehicle driving area and second feature information of the second target to be warned in the surrounding warning area; using an artificial intelligence (AI) model to infer the first target to be warned in the vehicle driving area based on the first feature information, and using the AI ​​model to infer the second target to be warned in the vehicle driving area based on the second feature information.

[0014] In one possible implementation, identifying the first distance between the first target to be warned and the vehicle, and the second distance between the second target to be warned and the vehicle, includes: identifying the first relative speed and the first initial distance between the first target to be warned and the vehicle, and the second relative speed and the second initial distance between the second target to be warned and the vehicle; correcting the first initial distance based on the first relative speed to determine the first distance; and correcting the second initial distance based on the second relative speed to determine the second distance.

[0015] Secondly, this application provides a vehicle warning device, comprising: an identification module for identifying a detection area, the detection area including a vehicle driving area and a surrounding warning area, the vehicle driving area being the area where the vehicle is about to drive, and the surrounding warning area being the area around the vehicle, wherein the surrounding warning area and the vehicle driving area do not overlap; identifying a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area; identifying a first distance between the first target to be warned and the vehicle and a second distance between the second target to be warned and the vehicle, wherein the first target to be warned is the closest target to the vehicle in the vehicle driving area that needs to be warned, and the second target to be warned is the closest target to the vehicle in the surrounding warning area that needs to be warned; a determination module for determining a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the first distance, and determining a second gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the second distance; and a playback module for playing the warning sound.

[0016] In one possible implementation, the determining module is specifically used to: determine a playback sound pressure level value based on the first gain value, the second gain value, and the lower limit of the sound pressure level value, wherein the playback sound pressure level value is positively correlated with the first gain value and the playback sound pressure level value is positively correlated with the second gain value; the playback module is specifically used to: play the warning sound based on the playback sound pressure level value.

[0017] In one possible implementation, the playback module is specifically configured to: acquire the vehicle's gear position information, a first direction of the first target to be warned relative to the vehicle, or a second direction of the second target to be warned relative to the vehicle; determine one or more playback directions of the warning sound based on the gear position information, the first direction, or the second direction; and play the warning sound towards the one or more playback directions based on the playback sound pressure level value.

[0018] In one possible implementation, the vehicle includes multiple playback devices placed at different locations within the vehicle, and the multiple playback devices are used to play sound in different directions within the vehicle; the playback module is specifically configured to: determine a target playback device among the multiple playback devices, wherein the direction in which the target playback device plays sound matches one or more playback directions; and play the warning sound through the target playback device according to the playback sound pressure level value.

[0019] In one possible implementation, the first distance is less than a first threshold, and the second distance is less than a second threshold.

[0020] In one possible implementation, the determining module is specifically configured to: determine a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the first distance and the first threshold, and determine a second gain value for the lower limit of the sound pressure level based on the second distance and the second threshold.

[0021] In one possible implementation, the determining module is specifically used to: determine the playback sound pressure level value based on the product of the first gain value and the first weight, the product of the second gain value and the second weight, and the lower limit of the sound pressure level value.

[0022] In one possible implementation, the identification module is specifically used to: acquire the vehicle's gear position information, the vehicle's steering wheel information, or the vehicle's width information; and identify the vehicle's driving area in the detection area based on the gear position information, the steering wheel information, or the vehicle width information.

[0023] In one possible implementation, the identification module is specifically used to: use an artificial intelligence (AI) model to reason based on the first feature information to obtain the first target to be warned in the vehicle driving area, and use the AI ​​model to reason based on the second feature information to obtain the second target to be warned in the vehicle driving area.

[0024] In one possible implementation, the identification module is specifically used to: identify the first relative speed and first initial distance between the first target to be warned and the vehicle, the second relative speed and second initial distance between the second target to be warned and the vehicle, correct the first initial distance based on the first relative speed to determine the first distance, and correct the second initial distance based on the second relative speed to determine the second distance.

[0025] Thirdly, this application provides a vehicle for performing the methods described in the first aspect and any embodiment thereof.

[0026] Fourthly, embodiments of this application also provide a device, which is a computing device, and the computing device may include a processor and a memory:

[0027] The memory is used to store computer programs;

[0028] The processor is configured to execute the method described in the first aspect and any embodiment of the first aspect according to the computer program.

[0029] Fifthly, embodiments of this application also provide a computer-readable storage medium for storing a computer program for performing the methods described in the first aspect and any one of the embodiments of the first aspect.

[0030] In a sixth aspect, embodiments of this application also provide a computer program product including instructions that, when run on a computing device, cause the computing device to perform the method described in the first aspect and any one of the embodiments of the first aspect.

[0031] In the above implementation of this application embodiment, a detection area is identified, which includes a vehicle driving area and a surrounding warning area. The vehicle driving area is the area where the vehicle is about to drive, and the surrounding warning area is the area around the vehicle, and the surrounding warning area and the vehicle driving area do not overlap. Next, a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area are identified, wherein the first target to be warned is the target closest to the vehicle in the vehicle driving area, and the second target to be warned is the target closest to the vehicle in the surrounding warning area. Subsequently, a first distance between the first target to be warned and the vehicle, and a second distance between the second target to be warned and the vehicle are identified. A first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle is determined based on the first distance, and a second gain value for the lower limit of the sound pressure level is determined based on the second distance. Finally, a warning sound is played based on the first gain value, the second gain value, and the lower limit of the sound pressure level. In this way, the area around the vehicle is divided into a vehicle driving area and a surrounding warning area, and the distance between the vehicle and targets that need to be warned, such as pedestrians or non-motorized vehicle riders, is obtained. The vehicle will play a warning sound based on different sound pressure levels depending on the area where the target is located and the different distances between the target and the vehicle. In other words, targets in different areas that need to be alerted will hear warning sounds at different sound pressure levels, and targets at different distances from the vehicle will also hear warning sounds at different sound pressure levels. This means that targeted warnings are given to targets that need to be alerted, thus improving the safety of targets around the vehicle that need to be alerted.

[0032] Furthermore, since the area where the vehicle is about to travel is more dangerous than the surrounding area, and targets closer to the vehicle are also more dangerous, this application distinguishes the degree of danger posed by a moving vehicle to different targets by identifying the area where the target is located and its distance relative to the vehicle, and uses a louder warning sound for targets with a higher degree of danger. By classifying the degree of danger of the target in two dimensions—location and distance—and applying different warning effects to the corresponding degree of danger, the targeted nature of vehicle warnings is improved, reducing safety hazards when there are pedestrians or non-motorized vehicles around the vehicle while it is traveling, and effectively reducing traffic accidents caused by inadequate warnings. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0034] Figure 1 This is a schematic diagram of the architecture of a vehicle according to an embodiment of this application;

[0035] Figure 2 This is a flowchart illustrating a vehicle warning method according to an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the installation of a vehicle playback device according to an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the structure of a vehicle warning device according to an embodiment of this application;

[0038] Figure 5 This is a schematic diagram of the hardware structure of a computing device according to an embodiment of this application. Detailed Implementation

[0039] See Figure 1 This is a schematic diagram of the architecture of a vehicle provided in this application. For example... Figure 1 As shown, vehicle 10 includes processor 100, at least one sensor, and at least one playback device. Figure 1 Taking sensor 201, sensor 202, playback device 301 and playback device 302 as an example, in actual application scenarios, vehicle 10 may include any number of sensors and playback devices.

[0040] The processor 100, sensor 201, sensor 202, playback device 301 and playback device 302 can be connected via a bus, such as a peripheral component interconnect express (PCIe) bus.

[0041] The processor 100 refers to a device with computing capabilities, such as a central processing unit (CPU), a microprocessor (MPU), or an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), etc., without limitation.

[0042] Sensor 201 (similar to sensor 202) refers to a device with environmental perception and data acquisition capabilities. For example, it can be a radar, camera, or ultrasonic sensor mounted on a vehicle. The radar can be a lidar or millimeter-wave radar, and the camera can be a monocular or multi-view camera. There are no restrictions on this.

[0043] Playback device 301 (playback device 302 is similar) refers to a device capable of playing sound, such as a speaker mounted on a vehicle, and is not limited thereto.

[0044] In practical applications, to prevent traffic accidents, vehicles typically need to warn pedestrians and non-motorized vehicle riders while in motion. This is to avoid potential safety hazards caused by the vehicles failing to detect their approach. Generally, the roar of a car engine can provide a basic warning effect, but for new energy vehicles without engines, it is difficult for targets to perceive their presence. Therefore, some countries or regions require new energy vehicles to be equipped with vehicle warning systems to achieve a warning effect by playing audible alerts.

[0045] Generally, vehicle warning systems adjust the sound pressure level of the warning sound based on the minimum sound pressure level requirements stipulated by laws and regulations, combined with the vehicle's speed. This method has a similar warning effect to the roar of a car engine, merely representing the vehicle's speed. Relying solely on speed information to differentiate warning levels is ineffective in conveying the danger of approaching vehicles. This is because for vehicles traveling at the same speed, pedestrians or cyclists in different areas around the vehicle hear the same sound pressure level, and the same sound pressure level is also heard by targets at different distances. This means that for targets needing to be warned, the warning sound lacks specificity depending on the area or distance, leaving the safety hazard still relatively high.

[0046] Based on this, in the vehicle 10 provided in this application, the processor 100 identifies a detection area. For example, it can acquire images of the area surrounding the vehicle 10 via a camera and determine the detection area based on the images. The detection area includes the vehicle's driving area and a surrounding warning area. The vehicle's driving area refers to the area where the vehicle is about to travel, such as an area within 20 meters of the vehicle's current driving road. The surrounding warning area refers to the area surrounding the vehicle 10, and the surrounding warning area and the vehicle's driving area do not overlap; for example, all areas outside the vehicle's driving area within the detection area can be considered as the surrounding warning area. The processor 100 identifies a first target to be warned in the vehicle's driving area and a second target to be warned in the surrounding warning area. For example, the first target to be warned and the second target to be warned can be determined based on the acquired images. The first target to be warned is the target closest to the vehicle 10 in the vehicle's driving area, and the second target to be warned is the target closest to the vehicle 10 in the surrounding warning area. The processor 100 also identifies a first distance between the first target to be warned and the vehicle 10, and a second distance between the second target to be warned and the vehicle 10, which can be determined based on the acquired images. Based on the identified first distance, the processor 100 determines a first gain value for the lower limit of the sound pressure level (SPL) of the warning sound for the vehicle 10. The lower SPL refers to the minimum SPL value of the warning sound determined according to regulatory requirements and the speed of the vehicle 10. Furthermore, the processor 100 determines a second gain value for the lower SPL based on the identified second distance. Finally, the processor 100 controls the playback device to play the warning sound based on the determined first and second gain values, combined with the lower SPL. For example, the processor 100 can calculate the playback SPL value based on the first gain value, the second gain value, and the lower SPL, and control the playback device 301 to play the warning sound according to the playback SPL value.

[0047] Because the processor 100 divides the area around the vehicle 10 into a vehicle driving area and a surrounding warning area, and determines the gain value for the lower limit of the sound pressure level when playing the warning sound based on the distance between the target to be warned in the vehicle driving area and the vehicle, and the distance between the target to be warned in the surrounding warning area and the vehicle, the vehicle 10 can play warning sounds based on different sound pressure levels depending on the location of the target to be warned in different areas around the vehicle 10 and the different distances between the target and the vehicle 10. For example, targets located in the vehicle driving area hear a louder warning sound than targets in the surrounding warning area, i.e., a higher sound pressure level; targets closer to the vehicle 10 also hear a louder warning sound, i.e., a higher sound pressure level. In this way, targeted warnings can be given to targets based on their location in different areas and their different distances from the vehicle 10, thereby improving the safety of targets to be warned around the vehicle.

[0048] Furthermore, the processor 100 determines two different gain values ​​for the vehicle's driving area and the surrounding warning area. This is because the area the vehicle is about to pass through poses a higher risk to pedestrians or non-motorized vehicle riders compared to the area surrounding the vehicle 10. In other words, different levels of danger are distinguished based on the target's location. Simultaneously, the processor 100 also identifies the distance between the target and the vehicle 10 and determines a corresponding gain value based on this distance. Targets closer to the vehicle also pose a higher risk. Again, different levels of danger are distinguished based on the distance between the target and the vehicle 10. Based on the different levels of danger, the processor 100 controls the playback device 301 to play warning sounds at different sound pressure levels. In other words, the processor 100 quantifies the level of danger for pedestrians or non-motorized vehicle riders in both location and distance dimensions and applies different warning effects accordingly. This improves the targeted nature of the vehicle 10's warning effect, reduces potential safety hazards when pedestrians or non-motorized vehicles are present during driving, and minimizes traffic accidents caused by inadequate warnings.

[0049] Understandable, Figure 1 The architecture of vehicle 10 shown is merely an example of an architecture provided in this application embodiment. Other possible vehicles may include a greater number of sensors, a greater number of playback devices, or a greater number of processors, etc.

[0050] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, various non-limiting embodiments of the present application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0051] See Figure 2 , Figure 2 This paper illustrates a flowchart of a vehicle warning method according to an embodiment of the present application. This method can be applied to… Figure 1 The vehicle 10 shown may also be applicable to other suitable vehicles, as described below. Figure 1 The following explanation uses vehicle 10 as an example to illustrate vehicle warning functionality. Figure 2 As shown, the method may specifically include the following steps.

[0052] S201: The processor 100 identifies the detection area, which includes the vehicle driving area and the surrounding warning area. The vehicle driving area is the area where the vehicle is about to drive, and the surrounding warning area is the area around the vehicle. The surrounding warning area and the vehicle driving area do not overlap.

[0053] During vehicle operation, the processor 100 identifies the range of the detection area in order to subsequently identify targets that need to be warned within the detection area. The range of the detection area can be a preset range centered on the vehicle 10, covering a certain area around the vehicle 10. This area is a region where there may be danger for the targets that need to be warned. For example, it can be a rectangular area formed by a certain distance in front of, behind, and to the sides of the vehicle 10 in the direction of travel.

[0054] The detection area includes the vehicle driving area and the surrounding warning area. The vehicle driving area is the area that vehicle 10 will soon pass through, while the surrounding warning area is the area around vehicle 10 that will not be passed through but still poses a danger. The two areas do not overlap. In actual driving, the area that is about to be passed through poses a greater safety risk than the surrounding area. By distinguishing between different areas, different warning measures can be effectively taken subsequently based on the level of safety risk in different areas.

[0055] As one implementation example, the processor 100 can identify the detection area using different methods. The sensor 201 can be a camera, and the processor 100 identifies the detection area based on the image captured by the sensor 201. The processor 100 can acquire real-time images from the sensor 201, and through an artificial intelligence (AI) model combined with the camera's parameter information, the processor 100 can convert the two-dimensional image into three-dimensional spatial information about the vehicle's surroundings. This allows the processor to calculate the distance between each point in the image and the vehicle 10, thus obtaining the range of the preset detection area. Alternatively, the sensor 201 can be a radar, and the processor 100 identifies the detection area based on the point cloud data from the sensor 201. The processor 100 generates high-precision point cloud data using the time difference between the pulse signal emitted and the signal returned by the sensor 201. This point cloud data also provides three-dimensional spatial information about the vehicle's surroundings, allowing the processor to obtain the range of the preset detection area.

[0056] It is worth noting that the above-described methods for identifying detection areas are merely illustrative examples. In practical applications, the processor 100 may also identify detection areas using other methods, and this is not a limitation.

[0057] Furthermore, the processor 100 can identify the vehicle's driving area by acquiring the gear position information, steering wheel information, and width information of the vehicle 10. The gear position information indicates the current forward direction of the vehicle 10, allowing the processor to identify the driving area based on a certain distance traveled in either the forward or backward direction, combined with the width information. Generally, considering rearview mirrors and recognition errors, the width of the driving area can be slightly larger than the width of the vehicle 10. In addition, the steering wheel information reveals the current steering state of the vehicle 10, enabling a more precise determination of the driving area. For example, when the vehicle 10 is traveling straight, the driving area can be a rectangular area; when the vehicle 10 is turning, the driving area can be a fan-shaped area matching the turning radius.

[0058] In other implementation examples, the processor 100 can also identify the vehicle's driving area based on some of the information from the gear position, steering wheel, and width of the vehicle 10, such as identifying the vehicle's driving area based only on the gear position and width information of the vehicle 10, which will not be elaborated here.

[0059] S202: The processor 100 identifies a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area. The first target to be warned is the target closest to the vehicle 10 in the vehicle driving area, and the second target to be warned is the target closest to the vehicle 10 in the surrounding warning area.

[0060] Once the range of the vehicle's driving area and the surrounding warning area are obtained, the processor 100 will identify targets that need to be warned in both areas. These targets include, but are not limited to, pedestrians, non-motorized vehicles (and non-motorized vehicle riders), animals that may cause traffic hazards, and other external targets. Through subsequent warning operations, the targets that need to be warned can respond to the vehicle's warnings in a timely manner to avoid traffic accidents.

[0061] When multiple targets requiring warning exist in the surrounding warning area or vehicle driving area, preferably, the processor 100 identifies the target closest to the vehicle 10 within the corresponding area based on the information acquired by the sensor 201. That is, for multiple targets existing in the surrounding warning area or vehicle driving area, the danger level of the closest target is used to represent the danger level of the multiple targets requiring warning within the corresponding area.

[0062] As an example, processor 100 can utilize an AI model to identify targets requiring warning using different methods. For instance, sensor 201 can be a camera; processor 100 acquires real-time images from sensor 201, extracts feature information from the images, and uses the AI ​​model and feature information for inference to identify targets requiring warning in the images. Similarly, sensor 201 can be radar; processor 100 acquires real-time point cloud data from sensor 201, extracts feature information from the point cloud data, and uses the AI ​​model and feature information for inference to identify targets requiring warning in the images. Combining the three-dimensional spatial information around the vehicle in S201, the processor can select the nearest target requiring warning within the surrounding warning area or the vehicle's driving area, or it can extract feature information and identify targets from near to far within the surrounding warning area or the vehicle's driving area; there are no limitations on this.

[0063] It is worth noting that the above-described methods of identifying targets that need to be alerted through different sensors 201 are only illustrative examples. In actual applications, the processor 100 may also identify targets that need to be alerted based on other methods, and this is not limited.

[0064] S203: The processor 100 identifies the first distance between the first target to be warned and the vehicle 10, and the second distance between the second target to be warned and the vehicle 10.

[0065] For the first target to be warned in the vehicle's driving area and the second target to be warned in the surrounding warning area, the distance between the target and the vehicle 10 is directly proportional to the degree of danger of the target; the closer the target is, the greater the degree of danger. Combining the three-dimensional spatial information around the vehicle in S201, the processor 100 can identify the distances between the first target to be warned and the second target to be warned and the vehicle 10, respectively.

[0066] In this embodiment, the following implementation examples of processor 100 recognition distance are provided.

[0067] In the first implementation example, the processor 100 first identifies whether the range within the vehicle's driving area where the distance to the vehicle 10 is less than a first threshold includes a target that needs to be warned. If so, the processor 100 identifies the nearest target that needs to be warned and determines the first distance based on the nearest target. Similarly, the processor 100 first identifies whether the range within the surrounding warning area where the distance to the vehicle 10 is less than a second threshold includes a target that needs to be warned. If so, the processor 100 identifies the nearest target that needs to be warned and determines the second distance based on the nearest target. That is, the first distance between the first target to be warned and the vehicle 10 is less than the first threshold, and the second distance between the second target to be warned and the vehicle 10 is less than the second threshold.

[0068] Even if the target requiring warning is within the detection area, the danger level is relatively low for targets beyond a certain distance from vehicle 10, and the warning sound attenuates significantly at long distances, resulting in a less noticeable warning effect. Furthermore, distance recognition is more accurate the closer the actual distance, and targets beyond a certain distance are prone to significant recognition errors, leading to false warnings from vehicle 10. Therefore, the first distance between the first target to be warned and vehicle 10 is effective when it is less than a first threshold, and the second distance between the second target to be warned and vehicle 10 is effective when it is less than a second threshold. Only when both distances are valid will subsequent warnings be issued to the target requiring warning.

[0069] Furthermore, the distance range defined by the first threshold and the second threshold is not equivalent to the range of the detection area, and the first threshold and the second threshold may be the same or different. Preferably, the first threshold is greater than the second threshold because, at the same distance, targets in the vehicle's driving area have a higher degree of danger than targets in the surrounding warning area. Targets in the vehicle's driving area that are more than the second threshold but less than the first threshold from the vehicle 10 also need to be warned. For example, the first threshold could be 20 meters, and the second threshold could be 10 meters.

[0070] It should be noted that the first and second thresholds mentioned above can both be pre-configured in the processor 100 by technicians. In practical applications, technicians can measure the first and second thresholds in an experimental environment so that the processor 100 can limit the range of target distances based on the first and second thresholds. Furthermore, when there are no targets requiring warning in the vehicle's driving area or surrounding warning area, it is assumed that the first distance equals the first threshold and the second distance equals the second threshold, and no further warning operation is required.

[0071] In the second implementation example, the processor 100 first identifies the first relative speed and first initial distance between the first target to be warned and the vehicle 10, and the second relative speed and second initial distance between the second target to be warned and the vehicle 10. Then, it corrects the first initial distance based on the first relative speed to determine the first distance, and corrects the second initial distance based on the second relative speed to determine the second distance. The methods for obtaining the first and second initial distances are similar to those for obtaining the first or second distance, and will not be elaborated here. When there is a relative speed between the vehicle 10 and the target to be warned, the identified initial distance is prone to error due to unavoidable constraints such as recognition time, and the magnitude of the error is proportional to the magnitude of the relative speed.

[0072] For example, consider a camera as sensor 201. When vehicle 10 and a non-motorized vehicle rider requiring warning are traveling towards each other in the vehicle's travel area, there is a significant initial relative speed between vehicle 10 and the non-motorized vehicle rider. However, there is an unavoidable recognition time between sensor 201 acquiring the real-time image and processor 100 using an AI model to determine the distance. When the initial relative speed is high, the distance between vehicle 10 and the non-motorized vehicle rider will decrease significantly after a certain recognition time, resulting in a high error between the initial distance and the actual distance. Therefore, by combining the initial relative speed and the recognition time, the initial distance can be corrected, resulting in a lower error between the calculated initial distance and the actual distance.

[0073] In practical applications, the second distance can also be determined by correcting the second initial distance with the second relative velocity for other sensors 201 and the second target to be warned in a similar manner, which will not be elaborated here.

[0074] S204: The processor 100 determines a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle 10 based on the first distance, and determines a second gain value for the lower limit of the sound pressure level based on the second distance.

[0075] The first distance between the first target to be warned and the vehicle 10 represents the degree of danger of the target in the vehicle's driving area. Based on the degree of danger, the sound pressure level of the warning sound can be adjusted accordingly to achieve targeted warning. Therefore, the processor 100 can determine a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle 10 based on the first distance. Similarly, the processor 100 can determine a second gain value for the lower limit of the sound pressure level based on a second distance. The magnitude of the first gain value is positively correlated with the degree of danger of the first target to be warned, and the magnitude of the second gain value is positively correlated with the degree of danger of the second target to be warned.

[0076] It should be noted that the lower limit of the sound pressure level of the warning sound of vehicle 10 can be pre-configured in the processor 100 by technicians. In practical applications, technicians can measure and evaluate the ideal sound pressure level of vehicle 10 at different speeds in an experimental environment, and combine it with the minimum sound pressure level requirements for vehicle warning sounds in traffic regulations to derive the lower limit of the sound pressure level corresponding to different speeds, so that the processor 100 can play the warning sound based on the lower limit of the sound pressure level.

[0077] As one implementation example, the processor 100 can determine a first gain value for the lower limit of the sound pressure level based on a first distance and a first threshold, and determine a second gain value for the lower limit of the sound pressure level based on a second distance and a second threshold. When the first distance between the first target to be warned and the vehicle 10 increases, the degree of danger decreases, and the magnitude of the first gain value decreases accordingly. Referring to the relevant description in step S203, when the first distance increases to be equal to the first threshold, the magnitude of the first gain value decreases to 0. Similarly, when the second distance increases to be equal to the second threshold, the magnitude of the second gain value also decreases to 0.

[0078] Preferably, the processor 100 can calculate the magnitude of the first gain value and the second gain value based on the following formulas (1) and (2).

[0079]

[0080] Where Δ1 is the first gain value, r1 is the first distance, and r y Δ2 is the first threshold, Δ2 is the second gain value, r2 is the second distance, and r s This is the second threshold.

[0081] The relationship between the first distance and the first gain value is not linear. For example, assuming the first threshold for the first target to be warned is 10 meters, in practical applications, the change in danger level is significantly greater when the first distance changes from 2 meters to 4 meters compared to when it changes from 8 meters to 10 meters. That is to say, the smaller the first distance, the more sensitive the change in danger level, and correspondingly, the more obvious the change in the first gain value will be. Therefore, through the nonlinear calculation of formula (1), the first gain value for the lower limit of the sound pressure level can be determined more realistically. Similarly, through the nonlinear calculation of formula (2), the second gain value for the lower limit of the sound pressure level can be determined more realistically.

[0082] It is worth noting that the above implementation methods using formulas (1) and (2) are only illustrative examples. In actual applications, the processor 100 may also identify targets that need to be alerted based on other methods, and this is not limited.

[0083] S205: The processor 100 controls the playback device 301 to play an alarm sound based on the first gain value, the second gain value, and the lower limit of the sound pressure level value.

[0084] Through steps S201 to S204, the processor 100 quantifies the degree of danger of the targets that need to be warned in the vehicle driving area and the surrounding warning area into a first gain value and a second gain value. Combined with the lower limit of the sound pressure level value, the processor 100 can control the playback device 301 to play a warning sound to achieve the effect of targeted warning to the first and second targets to be warned.

[0085] In this embodiment, the following implementation examples of a processor controlling the playback device 301 to play warning sounds are provided.

[0086] In the first implementation example, the processor 100 determines the playback sound pressure level (SPL) value based on the first gain value, the second gain value, and the lower limit of the SPL value; and controls the playback device 301 to play a warning sound based on the playback SPL value. The playback SPL value is positively correlated with both the first and second gain values. In other words, the processor 100 combines the first gain value, the second gain value, and the lower limit of the SPL value to quantify the overall danger level of the vehicle 10 in the current detection area, derives the playback SPL value, and controls the playback device 301 to play a warning sound based on the playback SPL value, thus providing a targeted warning. The magnitude of the playback SPL value is positively correlated with the overall danger level of the current detection area.

[0087] Specifically, the processor 100 determines the playback sound pressure level value based on the product of the first gain value and the first weight, the product of the second gain value and the second weight, and the lower limit of the sound pressure level value.

[0088] As clearly stated in step S201, the vehicle driving area and the surrounding warning area within the detection area have different levels of danger for the targets requiring warning. Therefore, when determining the sound pressure level value, the processor 100 needs to add different weights to the first gain value and the second gain value to distinguish the different levels of danger between the vehicle driving area and the surrounding warning area, since the sound pressure level value is positively correlated with the overall level of danger in the current detection area. That is, the first gain value corresponds to the first weight, and the second gain value corresponds to the second weight. In practical applications, since the level of danger for targets requiring warning located within the vehicle driving area is usually higher than that for targets requiring warning located within the surrounding warning area, the value of the first weight can be larger than the value of the second weight. For example, the first weight can be 0.7, and the second weight can be 0.3.

[0089] Preferably, the processor 100 can calculate the playback sound pressure level value based on the following formula (3).

[0090] L=L0+k1Δ1+k2Δ2 Formula (3)

[0091] Where L is the playback sound pressure level value, L0 is the lower limit of the sound pressure level value, k1 is the first weight, Δ1 is the first gain value, k2 is the second weight, and Δ2 is the second gain value.

[0092] It should be noted that the specific values ​​of the first and second weights can be pre-configured in the processor 100 by technicians. In practical applications, technicians can measure and evaluate the ideal values ​​of the first and second weights in an experimental environment, based on the maximum sound pressure level requirements for vehicle warning sounds according to traffic regulations, combined with the first gain value, the second gain value, and the lower limit of the sound pressure level value at different distances, so as to ensure that the played sound pressure level value does not exceed the maximum sound pressure level requirement. Furthermore, the played sound pressure level value can also be proportionally limited, similarly ensuring that the played sound pressure level value does not exceed the maximum sound pressure level requirement. The limiting ratio can again be measured by technicians in an experimental environment and pre-configured in the processor 100.

[0093] It is worth noting that the above implementation method using formula (3) is only an example. In actual application, the processor 100 can also calculate the playback sound pressure level value based on other methods, and there is no limitation on this.

[0094] In the second implementation example, vehicle 10 can play a warning sound in more than one direction. Processor 100 first acquires the gear position information of vehicle 10, and a first direction of the first target to be warned relative to vehicle 10, or a second direction of the second target to be warned relative to vehicle 10. Then, based on the acquired gear position information and the first or second direction, processor 100 can determine one or more directions in which to play the warning sound. Finally, vehicle 10 can play the warning sound in one or more of these directions.

[0095] Specifically, the processor 100 can obtain the gear position information of the vehicle 10 to determine the current direction of travel of the vehicle 10, enabling the vehicle 10 to play a warning sound in the direction of travel. Furthermore, to increase the targeting of targets that need to be warned in different directions, by combining the three-dimensional spatial information around the vehicle in S201, the processor 100 can obtain the specific direction of the first or second target to be warned relative to the vehicle 10, thereby enabling the vehicle 10 to play a warning sound in the direction of the target to be warned.

[0096] It should be noted that, for both the first and second targets to be warned simultaneously, warning sounds can be played simultaneously in their respective first and second directions. The sound pressure level (SPL) values ​​of the warning sounds played in both directions can be the same as those in the second implementation example. Considering that playing warning sounds at the same SPL values ​​simultaneously would increase the overall SPL value emitted by vehicle 10, potentially exceeding the maximum SPL value required by regulations, the values ​​of the first and second weights of the SPL value can be adjusted, or the SPL value can be proportionally limited, according to the method mentioned in the first implementation example. The SPL values ​​of the warning sounds played in the first and second directions can also be different. For example, a warning sound with a SPL value equal to the lower limit of the SPL value plus the product of the first gain and the first weight can be played in the first direction, and a warning sound with a SPL value equal to the lower limit of the SPL value plus the product of the second gain and the second weight can be played in the second direction. This allows both the first and second targets to hear a more targeted warning sound.

[0097] Furthermore, vehicle 10 includes multiple playback devices, such as playback device 301 and playback device 302, which are used to play sound in different directions of vehicle 10. Processor 100 determines a target playback device among the multiple playback devices, wherein the direction in which the target playback device plays sound matches one or more playback directions. Finally, processor 100 controls the target playback device to play a warning sound according to the playback sound pressure level value.

[0098] Specifically, the first direction of the target to be warned relative to vehicle 10 could be any direction around vehicle 10, theoretically with countless possible orientation angles. However, vehicle 10 can only be equipped with a limited number of playback devices. Therefore, in practical applications, when playing a warning sound towards the first target, the processor 100 should control the playback device matching the first direction to play the sound; that is, from multiple playback devices, the target playback device matching the first direction should be selected to play the warning sound. A similar approach can be used for the first direction of the second target to be warned, and will not be elaborated upon here.

[0099] See Figure 3 This is a schematic diagram of the installation of a vehicle playback device in this embodiment. The diagram illustrates possible installation methods when multiple playback devices are installed in the vehicle 10. The gray rectangular blocks represent the playback devices.

[0100] The matching relationship between the playback device and the first or second direction can be either fixed or dynamic. For example, with a fixed matching method, it can be pre-defined that playback device 301 will play a warning sound for the first target to be warned in the vehicle's driving area, and playback device 302 will play a warning sound for the second target to be warned in the surrounding warning area. Alternatively, with a dynamic matching method, the playback device whose orientation angle is closest to the first or second direction can be selected, and the warning sound will be played using that closest playback device.

[0101] It should be noted that since there are one or more playback directions, the target playback devices will also include one or more playback devices accordingly. When the processor 100 controls the target playback devices to play the warning sound, the sound pressure level (SPL) values ​​of the warning sounds played by different playback devices can all be the same, or they can be different SPL values. Specifically, a method similar to that mentioned in this implementation example when playing warning sounds in one or more playback directions can be used, which will not be elaborated here.

[0102] In this embodiment, the processor 100 can use the steps described in steps S201 to S205 above to continuously identify the detection range and the target that needs to be warned and play a warning sound to ensure that the vehicle warning can continue to operate normally and avoid traffic safety accidents due to inadequate warning.

[0103] Furthermore, this application also provides a vehicle warning device. (See also...) Figure 4 , Figure 4 This paper shows a schematic diagram of the structure of a vehicle warning device according to an embodiment of the present application. Figure 4 The vehicle warning device 400 shown includes:

[0104] The identification module 401 is used to identify a detection area, which includes a vehicle driving area and a surrounding warning area. The vehicle driving area is the area where the vehicle is about to drive, and the surrounding warning area is the area around the vehicle, and the surrounding warning area does not overlap with the vehicle driving area. The module identifies a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area. It also identifies a first distance between the first target to be warned and the vehicle, and a second distance between the second target to be warned and the vehicle. The first target to be warned is the closest target to the vehicle in the vehicle driving area that needs to be warned, and the second target to be warned is the closest target to the vehicle in the surrounding warning area that needs to be warned.

[0105] The determining module 402 is used to determine a first gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the first distance, and to determine a second gain value for the lower limit of the sound pressure level of the warning sound for the vehicle based on the second distance;

[0106] The playback module 403 is used to play the warning sound.

[0107] In one possible implementation, the determining module is specifically used to: determine a playback sound pressure level value based on the first gain value, the second gain value, and the lower limit of the sound pressure level value, wherein the playback sound pressure level value is positively correlated with the first gain value and the playback sound pressure level value is positively correlated with the second gain value; the playback module is specifically used to: play the warning sound based on the playback sound pressure level value.

[0108] In one possible implementation, the playback module 403 is specifically used for:

[0109] Obtain the gear position information of the vehicle, the first direction of the first target to be warned relative to the vehicle, or the second direction of the second target to be warned relative to the vehicle;

[0110] One or more playback directions of the warning sound are determined based on the gear position information, the first direction, or the second direction;

[0111] The warning sound is played in one or more playback directions according to the playback sound pressure level value.

[0112] In one possible implementation, the vehicle includes a plurality of playback devices placed at different locations within the vehicle, the plurality of playback devices being used to play sound in different directions within the vehicle;

[0113] Playback module 403 is specifically used for:

[0114] A target playback device is determined among the plurality of playback devices, wherein the direction in which the target playback device plays sound matches one or more playback directions;

[0115] The warning sound is played by the target playback device according to the playback sound pressure level value.

[0116] In one possible implementation, the first distance is less than a first threshold, and the second distance is less than a second threshold.

[0117] In one possible implementation, the determining module 402 is specifically used for:

[0118] A first gain value is determined based on the first distance and the first threshold to set a lower limit for the sound pressure level of the warning sound for the vehicle, and a second gain value is determined based on the second distance and the second threshold to set a lower limit for the sound pressure level.

[0119] In one possible implementation, the determining module 402 is specifically used for:

[0120] The playback sound pressure level is determined based on the product of the first gain value and the first weight, the product of the second gain value and the second weight, and the lower limit of the sound pressure level value.

[0121] In one possible implementation, the identification module 401 is specifically used for:

[0122] Obtain the vehicle's gear position information, steering wheel information, or vehicle width information;

[0123] The vehicle driving area in the detection area is identified based on the gear position information, the steering wheel information, or the vehicle width information.

[0124] In one possible implementation, the identification module 401 is specifically used for:

[0125] The first warning target in the vehicle's driving area is obtained by reasoning based on the first feature information using an artificial intelligence (AI) model, and the second warning target in the vehicle's driving area is obtained by reasoning based on the second feature information using the AI ​​model.

[0126] In one possible implementation, the identification module 401 is specifically used for:

[0127] The system identifies the first relative speed and first initial distance between the first target to be warned and the vehicle, the second relative speed and second initial distance between the second target to be warned and the vehicle, and determines the first distance by correcting the first initial distance based on the first relative speed, and determines the second distance by correcting the second initial distance based on the second relative speed.

[0128] It should be noted that the information interaction and execution process between the modules and units of the above-mentioned device are based on the same concept as the method embodiment in this application, and the resulting technical effects are the same as those in the method embodiment in this application. For details, please refer to the description in the method embodiment shown above in this application, and it will not be repeated here.

[0129] Furthermore, embodiments of this application also provide a device. This device is a computing device, which can be a component in a vehicle or can be configured on a vehicle. See also... Figure 5 , Figure 5 A schematic diagram of the hardware structure of a device according to an embodiment of this application is shown. Figure 5 As shown, computing device 500 may include processor 501 and memory 502.

[0130] The memory 502 is used to store computer programs;

[0131] The processor 501 is configured to execute the vehicle warning method described in the above method embodiments according to the computer program.

[0132] In addition, this application embodiment also provides a vehicle for performing the vehicle warning method described in the above method embodiments.

[0133] In addition, this application embodiment also provides a computer-readable storage medium for storing a computer program for executing the vehicle warning method described in the above method embodiment.

[0134] In addition, this application also provides a computer program product containing instructions that, when run on a computing device, causes the computing device to execute the vehicle warning method described in the above method embodiments.

[0135] In the embodiments of this application, the "first" in names such as "first target to be warned," "first distance," and "first threshold" is only used for name identification and does not represent the first in order. This rule also applies to "second," "third," etc.

[0136] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0137] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The device embodiments described above are merely illustrative. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0138] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A vehicle warning method characterized by, The method comprises: identifying a detection area, the detection area comprising a vehicle driving area and a surrounding warning area, the vehicle driving area being an area where the vehicle is about to drive, and the surrounding warning area being an area surrounding the vehicle, and the surrounding warning area not overlapping with the vehicle driving area; identifying a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area, the first target to be warned being a target closest to the vehicle in the vehicle driving area, and the second target to be warned being a target closest to the vehicle in the surrounding warning area; identifying a first distance between the first target to be warned and the vehicle and a second distance between the second target to be warned and the vehicle; determining a first gain value of a sound pressure level lower limit of a warning sound for the vehicle according to the first distance, and determining a second gain value of the sound pressure level lower limit according to the second distance; playing the warning sound according to the first gain value, the second gain value, and the sound pressure level lower limit.

2. The method of claim 1, wherein, The playing of the warning sound according to the first gain value, the second gain value, and the sound pressure level lower limit comprises: determining a playing sound pressure level according to the first gain value, the second gain value, and the sound pressure level lower limit; playing the warning sound according to the playing sound pressure level, the playing sound pressure level being positively correlated with the first gain value, and the playing sound pressure level being positively correlated with the second gain value.

3. The method of claim 2, wherein, The playing of the warning sound according to the playing sound pressure level comprises: obtaining gear information of the vehicle, a first direction of the first target to be warned relative to the vehicle, or a second direction of the second target to be warned relative to the vehicle; determining one or more playing directions of the warning sound according to the gear information, the first direction, or the second direction; playing the warning sound according to the playing sound pressure level towards the one or more playing directions.

4. The method of claim 3, wherein, The vehicle comprises a plurality of playing devices, the plurality of playing devices being placed at different positions of the vehicle, and the plurality of playing devices being configured to play sound towards different directions of the vehicle. The playing of the warning sound according to the playing sound pressure level towards the one or more playing directions comprises: determining a target playing device in the plurality of playing devices, the target playing device playing sound towards a direction matching the one or more playing directions; playing the warning sound according to the playing sound pressure level through the target playing device.

5. The method of claim 2, wherein, The determination of the playing sound pressure level according to the first gain value, the second gain value, and the sound pressure level lower limit comprises: determining the playing sound pressure level according to a product of the first gain value and a first weight, a product of the second gain value and a second weight, and the sound pressure level lower limit.

6. The method of claim 1, wherein, The identification of the detection area comprises: obtaining gear information of the vehicle, steering wheel information of the vehicle, or vehicle width information; identifying a vehicle driving area in the detection area according to the gear information, the steering wheel information, or the vehicle width information.

7. The method of claim 1, wherein, The identifying the first target to be warned in the vehicle driving area and the second target to be warned in the surrounding warning area comprises: identifying first feature information of the first target to be warned in the vehicle driving area and second feature information of the second target to be warned in the surrounding warning area; using an artificial intelligence (AI) model to infer the first target to be warned in the vehicle driving area according to the first feature information and using the AI model to infer the second target to be warned in the vehicle driving area according to the second feature information.

8. The method of claim 1, wherein, The identifying the first distance between the first target to be warned and the vehicle and the second distance between the second target to be warned and the vehicle comprises: identifying a first relative speed and a first initial distance between the first target to be warned and the vehicle and a second relative speed and a second initial distance between the second target to be warned and the vehicle; correcting the first initial distance according to the first relative speed to determine the first distance and correcting the second initial distance according to the second relative speed to determine the second distance.

9. A vehicle warning device, characterized by The device comprises: an identifying module configured to identify a detection area, the detection area comprising a vehicle driving area and a surrounding warning area, the vehicle driving area being an area where a vehicle is about to drive, the surrounding warning area being an area around the vehicle, and the surrounding warning area not overlapping with the vehicle driving area; identify a first target to be warned in the vehicle driving area and a second target to be warned in the surrounding warning area; identify a first distance between the first target to be warned and the vehicle and a second distance between the second target to be warned and the vehicle, the first target to be warned being a target closest to the vehicle in the vehicle driving area that needs to be warned, and the second target to be warned being a target closest to the vehicle in the surrounding warning area that needs to be warned; a determining module configured to determine a first gain value of a sound pressure level lower limit of a warning sound for the vehicle according to the first distance and a second gain value of the sound pressure level lower limit of the warning sound for the vehicle according to the second distance; a playing module configured to play the warning sound.

10. A vehicle characterized by comprising: The vehicle is configured to perform the method of any one of claims 1-8.

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