Vehicle early warning system and method, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle early warning system and method, a vehicle and a storage medium, the system comprises an acquisition assembly, an expelling module, an early warning module and a control module, and the acquisition assembly comprises a radar module and an infrared thermal imaging module; the expelling module is used for expelling living targets; the early warning module is used for giving an early warning to a driver; and the control module controls the expelling module to expel the living body target according to the data collected by the acquisition assembly, and controls the early warning module to give an early warning to the driver. Therefore, the problem that potential safety hazards are caused due to the fact that active protection for the vehicle bottom and the peripheral close-range area in the static state of the vehicle is lacked in the related technology and animals or pedestrians possibly stay in the dangerous area without perceiving that the vehicle is about to start is solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle early warning system, method, vehicle, and storage medium. Background Technology

[0002] With the rapid development of society and the economy, cars have become an indispensable means of transportation for people's daily travel. However, in the fast-paced urban life, drivers often find it difficult to fully observe the situation under the vehicle and the surrounding nearby areas when they hurriedly start their vehicles in the morning. Especially in complex environments such as residential areas and parking lots, pets such as cats and dogs, or children, are often in the blind spots of vehicles due to their small size and concealed movements. If a vehicle suddenly starts, it can easily cause a run-over accident, resulting in personal injury or death of animals.

[0003] Currently, mainstream vehicle safety assistance systems on the market (such as reversing radar and 360° panoramic imaging) mainly focus on obstacle detection during vehicle movement or reversing. Their perception range and operating logic typically do not cover the underside of the vehicle and adjacent areas at the moment of starting from a stationary position. In addition, existing warning methods mostly rely on audible and visual alarms, which are easily masked by ambient noise, lack effective deterrence of pedestrians or animals, and cause disturbance to neighbors at night, making it difficult to achieve proactive and precise safety protection. Summary of the Invention

[0004] This application provides a vehicle warning system, method, vehicle, and storage medium to address the problem that the technology lacks active protection for the underside and surrounding areas of a stationary vehicle, which may cause animals or pedestrians to remain in dangerous areas without realizing that the vehicle is about to start, leading to safety hazards.

[0005] The first aspect of this application provides a vehicle warning system, including: a data acquisition component, which includes a radar module and an infrared thermal imaging module; a repulsion module, which is used to repel a live target; a warning module, which is used to issue a warning to the driver; and a control module, which controls the repulsion module to repel the live target and controls the warning module to issue a warning to the driver based on the data collected by the data acquisition component.

[0006] Optionally, the radar module is used to acquire data on the underside of the vehicle and moving targets within the vehicle's target range, while the infrared thermal imaging module is used to distinguish live targets.

[0007] Optionally, the expulsion module is an ultrasonic sensor used to emit ultrasonic waves of different frequencies to expel living targets.

[0008] A second aspect of this application provides a vehicle warning method, which is applied to the control module of the vehicle warning system of the first aspect, and includes the following steps: identifying the vehicle state; when the vehicle is in ignition or gear-shifted state, acquiring current radar data and current infrared thermal imaging data from the radar module and the infrared thermal imaging module; detecting the target distance and target type based on the current radar data and the current infrared thermal imaging data; determining an alarm mode based on the target distance and target type; controlling the expulsion module to expel the target based on the alarm mode; and controlling the warning module to issue a warning to the driver.

[0009] Optionally, the target distance is the distance between the target and the vehicle, and the target type includes living targets and non-living targets.

[0010] Optionally, the alarm mode is determined based on the target distance and target type, including: if the target type is a living target and the target distance is greater than a first distance threshold, then the warning mode is determined to be a first alarm mode; if the target type is a living target and the target distance is less than or equal to the first distance threshold, then the warning mode is determined to be a second alarm mode; if the time when the target distance is less than or equal to the first distance threshold is greater than a dwell time threshold, then the warning mode is determined to be a third alarm mode.

[0011] Optionally, the first warning mode triggers a warning on the vehicle's central control screen but does not trigger the expulsion mode; the second alarm mode determines the expulsion mode based on the type of live target, controls the expulsion module to expel the live target according to the above expulsion mode, and simultaneously triggers a warning on the vehicle's central control screen; the third alarm mode delays vehicle start-up, triggers a warning on both the vehicle's central control screen and the mobile app, but does not trigger the expulsion mode.

[0012] Optionally, the live target type includes animal type and human type, and the expulsion mode is determined according to the live target type, including: if the live target type is animal type, the expulsion mode is a first expulsion mode, in which animal-sensitive ultrasonic waves are emitted according to the animal type; if the live target type is human type, the expulsion mode is a second expulsion mode, in which human-audible sound waves are emitted.

[0013] A third aspect of this application provides a vehicle including the vehicle warning system of the first aspect.

[0014] A fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed, implement the vehicle warning method of the second aspect.

[0015] Therefore, this application has the following beneficial effects: This embodiment of the application can collect radar data and infrared thermal imaging data through a data acquisition component when the vehicle is in ignition or gear-shifted. Based on the data collected by the acquisition component, the control module controls the expulsion module to expel living targets and the warning module to issue a warning to the driver. This solves the problem of related technologies lacking active protection for the underside of the vehicle and surrounding close-range areas when the vehicle is stationary, where animals or pedestrians may remain in dangerous areas without realizing the vehicle is about to start, leading to safety hazards.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a block diagram of a vehicle warning system according to an embodiment of this application; Figure 2 This is a flowchart illustrating the operation of a vehicle warning system according to an embodiment of this application. Figure 3 This is a flowchart illustrating the vehicle warning method provided according to an embodiment of this application. Detailed Implementation

[0018] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0019] The vehicle warning system, method, vehicle, and storage medium of this application are described below with reference to the accompanying drawings. Addressing the problem mentioned in the background art of lacking active protection for the underside and surrounding areas of a stationary vehicle, where animals or pedestrians may remain in dangerous areas unaware of the vehicle's impending start, leading to safety hazards, this application provides a vehicle warning system. In this system, when the vehicle is ignited or in gear, radar data and infrared thermal imaging data are collected by a data acquisition component. Based on the data collected by the acquisition component, the control module controls the expulsion module to expel living targets and the warning module to issue a warning to the driver. This solves the problem of the related art lacking active protection for the underside and surrounding areas of a stationary vehicle, where animals or pedestrians may remain in dangerous areas unaware of the vehicle's impending start, leading to safety hazards.

[0020] Specifically, Figure 1This is a block diagram of a vehicle warning system provided in an embodiment of this application.

[0021] like Figure 1 As shown, the vehicle warning system includes: a data acquisition component 101, a radar module 1011, an infrared thermal imaging module 1012, a repulsion module 102, a warning module 103, and a control module 104.

[0022] The acquisition component 101 includes a radar module 1011 and an infrared thermal imaging module 1012; the expulsion module 102 is used to expel live targets; the warning module 103 is used to issue a warning to the driver; and the control module 104 controls the expulsion module 102 to expel live targets and controls the warning module 103 to issue a warning to the driver based on the data collected by the acquisition component 101.

[0023] Among them, radar module 1011 refers to a sensing device based on the principle of radio wave detection. By emitting high-frequency electromagnetic waves and receiving the echo reflected from the target, it can accurately measure the distance, orientation, speed and other information of objects in the vehicle's bottom and surrounding close area. Infrared thermal imaging module 1012 refers to an imaging device that uses an infrared detector to capture the thermal radiation emitted by the target itself and convert it into a visible thermal image. Since living targets (such as people, cats, dogs, etc.) have a body temperature that is significantly higher than that of the environment, this module can effectively identify whether there are living beings under the vehicle or in blind spots. It has excellent perception capabilities, especially in complex environments such as night, rain, fog or low light.

[0024] It is understood that, in this embodiment of the application, the acquisition component 101, including the radar module 1011 and the infrared thermal imaging module 1012, monitors living targets around the vehicle in real time. After comprehensive analysis by the control module 104, the drive-away module 102 is linked to actively drive away the targets, and the driver is promptly reminded by the warning module 103, thereby effectively preventing crushing accidents caused by blind spots before the vehicle starts.

[0025] In this embodiment, the radar module 1011 is used to collect data on the underside of the vehicle and moving targets within the target range of the vehicle, and the infrared thermal imaging module 1012 is used to distinguish live targets.

[0026] It is understood that the radar module 1011 in this application embodiment is used to collect data on moving targets under the vehicle and within the target range of the vehicle, and to initially perceive dynamic objects in the potential danger zone; the infrared thermal imaging module 1012 further performs biometric identification on these targets, specifically used to distinguish whether they are live targets. The two work together to provide highly reliable multimodal perception data for subsequent early warning and expulsion decisions.

[0027] In this embodiment, the expulsion module 102 is an ultrasonic sensor used to emit ultrasonic waves of different frequencies to expel living targets.

[0028] The expulsion module 102 is an active intervention device based on the principle of ultrasonic sound generation. Specifically, it is implemented using an ultrasonic sensor. The expulsion module 102 can directionally emit ultrasonic signals of different frequencies (usually high-frequency, inaudible to the human ear but with a repelling effect on animals). By utilizing the sensitivity and discomfort of living targets (such as cats, dogs and other small animals) to specific sound frequencies, it prompts them to actively leave the underside of the vehicle or the surrounding dangerous area, thereby achieving non-contact and harmless safe expulsion.

[0029] It is understood that the expulsion module 102 in this application embodiment is an ultrasonic sensor used to emit ultrasonic waves of different frequencies to expel living targets. When the control module determines that there is a risk of living beings under the vehicle, the expulsion module 102 is activated. By intelligently adjusting the ultrasonic frequency and intensity, it effectively drives away the target and improves the safety protection capability before the vehicle starts.

[0030] It should be noted that the control module 104 in this embodiment of the application also deploys a deep learning algorithm model. This model is used to perform fusion analysis and intelligent discrimination on the data acquired by the acquisition component 101. Specifically, the deep learning algorithm model can identify whether there are living targets under the vehicle and in the surrounding area based on temporal and spatial features, and further distinguish the target type (such as cats, dogs, humans, etc.), judge its behavioral state (stationary, moving, etc.) and risk level. In some preferred embodiments, a lightweight YOLO (You Only Look Once) model can be used to balance recognition accuracy and inference efficiency, ensuring that the system completes a highly reliable decision in a short time before the vehicle starts, and triggers the corresponding actions of the expulsion module 102 and / or the warning module 103 accordingly.

[0031] The vehicle warning system proposed in this application can collect radar data and infrared thermal imaging data through a data acquisition component when the vehicle is in ignition or gear-shifted. The control module controls the expulsion module to expel living targets based on the data collected by the data acquisition component, and controls the warning module to issue a warning to the driver. This achieves active protection of the underside of the vehicle and the surrounding close-range area when the vehicle is stationary, driving away animals or pedestrians who are unaware that the vehicle is about to start, and reducing safety hazards.

[0032] The vehicle warning system is further described below through a specific embodiment.

[0033] The system composition of this embodiment is as follows: The data acquisition components include a radar module, i.e., millimeter-wave radar, used to detect the distance and speed of moving targets within a 0.5-3 meter range under and around the vehicle; and an infrared thermal imaging module, used to identify live targets (distinguishing between animals and pedestrians). The expulsion module, also known as an ultrasonic sensor, emits high-frequency sound waves (20-60kHz) in a directional manner for target expulsion.

[0034] The control module is used to fuse sensor data and determine the target type and threat level through deep learning algorithms (such as the YOLO model); at the same time, it dynamically adjusts the ultrasonic frequency, intensity and emission direction.

[0035] The warning module is used to issue warnings to the driver, including displaying warning information on the vehicle's central control screen and simultaneously issuing voice prompts through the vehicle's speakers (such as "The vehicle is about to start, please stay away").

[0036] The workflow of this embodiment is as follows: Figure 2 As shown, specifically, it includes: 1. Target detection phase: When the vehicle is started or in gear, the data acquisition component is activated to scan the underside of the vehicle and the surrounding area.

[0037] 2. Threat assessment phase: If no live target is detected, the vehicle will start normally; if a live target is detected, the central control unit will analyze the target's location, movement trajectory, and type (animal / pedestrian).

[0038] 3. Tiered response mechanism: The threat level of the target is determined, and corresponding early warning and expulsion actions are taken, specifically: Level 1 Response (Non-Emergency): If the target is outside a safe distance (>1.5 meters), only the central control screen will be alerted; Level 2 Response (Emergency): When a target enters the danger zone (<1.5 meters), initiate directional ultrasonic wave transmission (animals: 25-40kHz, pedestrians: 18-22kHz audible sound warning). Level 3 Response (Continuing Threat): If the target remains for more than 5 seconds, the vehicle will be delayed in starting and an alarm message will be sent to the owner's mobile app simultaneously.

[0039] 4. Data storage and learning: The system records event data to optimize target identification and response strategies.

[0040] Next, the vehicle warning method proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0041] Figure 3 This is a flowchart illustrating a vehicle warning method according to an embodiment of this application. This method is applied to the control module of the aforementioned vehicle warning system, such as... Figure 3 As shown, the vehicle warning method includes the following steps: In step S201, the vehicle status is identified. When the vehicle is in ignition or gear-shifted state, the current radar data and current infrared thermal imaging data of the radar module and infrared thermal imaging module are acquired.

[0042] Among them, vehicle status refers to the current operating mode or operation stage of the vehicle, mainly including states such as engine off and stationary, ignition ready to go, and geared driving, which can usually be obtained through vehicle bus, ignition signal, gear position sensor, etc.

[0043] It is understood that the embodiments of this application first identify the vehicle status in real time; when the vehicle is detected to be in ignition or gear-shifted state, it is determined that the vehicle is about to move, and the safety monitoring process is triggered: the control module immediately acquires the current radar data output by the radar module to perceive the position and dynamic information of moving or stationary obstacles under the vehicle and around it, and the current infrared thermal imaging data output by the infrared thermal imaging module to determine whether there are living targets with body temperature characteristics. By fusing these two types of multimodal sensor data, an intelligent assessment of the dangerous area can be completed before the vehicle moves, and a warning or drive-away mechanism can be activated in time, thereby effectively preventing the occurrence of crushing accidents.

[0044] In step S202, the target distance and target type are detected based on the current radar data and the current infrared thermal imaging data.

[0045] It is understood that the control module in this application embodiment performs multimodal fusion analysis based on the current radar data and the current infrared thermal imaging data. First, it uses the radar data to accurately calculate the target distance between the target and the vehicle to determine whether it is located within the preset safety warning area. At the same time, it combines the temperature characteristics and morphological information in the infrared thermal imaging data to determine the target type, providing a highly reliable decision basis for triggering the expulsion module or the early warning module.

[0046] In this embodiment of the application, the target distance is the distance between the target and the vehicle, and the target type includes living targets and non-living targets.

[0047] Among them, target distance refers to the physical distance between the target and the vehicle body. It is usually based on the sensor installation position as a reference point and is measured in centimeters or meters. It is used to determine whether the target is in a dangerous area that may cause it to be run over when the vehicle starts or moves (such as under the vehicle or within 0.5 meters in front and behind).

[0048] It is understood that the embodiments of this application calculate the target distance, i.e. the distance between the target and the vehicle, by fusing radar and infrared thermal imaging data, in order to assess its risk.

[0049] In step S203, the alarm mode is determined based on the target distance and target type.

[0050] It is understood that the embodiments of this application use target distance and target type as decision-making criteria to achieve intelligent hierarchical classification of alarm strategies, specifically: In this embodiment of the application, the alarm mode is determined based on the target distance and the target type, including: if the target type is a living target and the target distance is greater than a first distance threshold, then the warning mode is determined to be a first alarm mode; if the target type is a living target and the target distance is less than or equal to the first distance threshold, then the warning mode is determined to be a second alarm mode; if the time when the target distance is less than or equal to the first distance threshold is greater than a dwell time threshold, then the warning mode is determined to be a third alarm mode.

[0051] The first distance threshold is a preset safety critical distance (e.g., 0.5 meters). When a living target enters within this distance, it is considered to have a potential risk of being crushed. The first distance threshold is set according to actual needs and is not specifically limited here.

[0052] It is understood that the alarm mode is dynamically determined based on the target distance and target type in this application embodiment. Specifically, if the target type is a living target and its target distance is greater than the first distance threshold, it is determined to be a potential risk at a distance, and the system activates the first alarm mode to issue a mild warning to the driver. If the target type is a living target and its target distance is less than or equal to the first distance threshold, it is considered to have entered a dangerous area, and the system upgrades to the second alarm mode to trigger a more significant audible, visual, or tactile alarm. Furthermore, if the living target stays in the area where the target distance is less than or equal to the first distance threshold for a period of time exceeding the dwelling threshold, the system will determine it to be a high-risk emergency and automatically switch to the third alarm mode. While strengthening the warning, it will also link the expulsion module to actively intervene. If necessary, it can also send a suggestion to postpone the start to the vehicle control unit, thereby achieving graded, precise, and efficient safety protection.

[0053] In this embodiment, the first warning mode is to trigger a warning on the vehicle's central control screen without triggering the expulsion mode; the second alarm mode is to determine the expulsion mode based on the type of live target, control the expulsion module to expel the live target according to the above expulsion mode, and trigger a warning on the vehicle's central control screen at the same time; the third alarm mode is to delay vehicle start-up, trigger a warning on both the vehicle's central control screen and the mobile phone software at the same time, and not trigger the expulsion mode.

[0054] It is understood that the embodiments of this application adopt a graded early warning and response mechanism based on the risk level. When the first early warning mode is determined, only the vehicle central control screen is triggered to issue an early warning, and the expulsion module is not activated, which is used for a gentle reminder of living targets at a distance. When the second alarm mode is entered, the system triggers the central control screen warning and, based on the identified type of living target, intelligently determines the corresponding expulsion strategy and controls the expulsion module to emit ultrasonic waves of a specific frequency according to the expulsion mode, so as to achieve targeted and non-invasive active expulsion. When the system detects that the time a living target stays in the danger zone exceeds the threshold and enters the third alarm mode, the highest level of protection measures are taken, the vehicle start is delayed, and an emergency warning is issued simultaneously through the vehicle central control screen and the mobile phone software, but the expulsion module is not triggered, so as to avoid causing additional risks to life forms that may be trapped or unable to move, and to ensure the humanization and effectiveness of safety intervention.

[0055] It should be noted that, in this embodiment of the application, while triggering the warning on the central control screen, further warnings can also be issued through the vehicle speaker system. The specific settings can be configured according to actual needs, and no specific limitations are made here.

[0056] In this application embodiment, the live target type includes animal type and human type. Determining the expulsion mode according to the live target type includes: if the live target type is animal type, the expulsion mode is a first expulsion mode, which is to emit animal-sensitive ultrasonic waves according to the animal type; if the live target type is human type, the expulsion mode is a second expulsion mode, which is to emit human-audible sound waves.

[0057] It is understood that the embodiments of this application intelligently select the corresponding repulsion mode according to the identified type of live target. If the live target is determined to be an animal (such as a cat or dog), the first repulsion mode is activated, and the repulsion module is controlled to emit ultrasonic signals (such as high-frequency, inaudible sound waves) that are sensitive to the behavior of such animals, so as to achieve harmless repulsion by utilizing their natural avoidance reaction. If the live target is determined to be a human (such as a crouching child or a pedestrian near a vehicle), the second repulsion mode is switched to emit human-audible sound waves (such as clear voice or warning sound) to attract its attention and prompt it to leave in a gentle manner, avoiding the use of ultrasonic waves to cause discomfort or ineffective intervention to people. This differentiated repulsion strategy takes into account safety, effectiveness and human care, and significantly improves adaptability and reliability in complex urban environments.

[0058] In step S204, the alarm mode control expulsion module expels the target, and the control warning module issues a warning to the driver.

[0059] It is understood that, according to the alarm mode determined by comprehensive judgment, the control module of this application coordinates the expulsion module and the early warning module to perform corresponding safety response actions. When in the first early warning mode, only the early warning module issues a visual warning on the vehicle's central control screen, without activating the expulsion function. When entering the second alarm mode, on the one hand, the expulsion module is controlled to execute the corresponding expulsion strategy according to the type of live target (animal or human), and on the other hand, the early warning module is simultaneously triggered to issue a central control screen warning to the driver. In the third alarm mode, life safety is prioritized, and the early warning module issues an emergency warning on both the vehicle's central control screen and the user's mobile phone software at the same time, and delays the vehicle start command, ensuring reasonable intervention for live targets in different risk scenarios and providing accurate and graded early warning prompts to the driver.

[0060] According to the vehicle warning method proposed in this application, when the vehicle is in ignition or gear-shifted state, radar data and infrared thermal imaging data can be collected by the acquisition component. The control module controls the expulsion module to expel living targets based on the data collected by the acquisition component, and controls the warning module to issue a warning to the driver. This achieves active protection of the underside of the vehicle and the surrounding close-range area when the vehicle is stationary, driving away animals or pedestrians who are unaware that the vehicle is about to start, and reducing safety hazards.

[0061] It should be noted that the foregoing explanation of the vehicle warning system embodiment also applies to the vehicle warning method of this embodiment, and will not be repeated here.

[0062] This application also provides a vehicle including the vehicle warning system described above.

[0063] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed, implements the vehicle warning method described above.

[0064] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0067] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0068] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0069] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A vehicle warning system, characterized by, The application relates to a vehicle early warning system and a vehicle early warning method. The system comprises a collection component, an expelling component, an early warning component and a control component. The collection component comprises a radar module and an infrared thermal imaging module. The expelling component is an ultrasonic sensor for emitting ultrasonic waves of different frequencies to expel the living target. The early warning component is used for issuing early warnings to the driver.

2. The vehicle warning system of claim 1, wherein The control component controls the expelling component to expel the living target and controls the early warning component to issue early warnings to the driver according to the data collected by the collection component.

3. The vehicle warning system of claim 1, wherein The radar module is used for collecting moving targets on the vehicle bottom and in the target range of the vehicle, and the infrared thermal imaging module is used for distinguishing the living target.

4. A vehicle warning method characterized by, The expelling component is an ultrasonic sensor for emitting ultrasonic waves of different frequencies to expel the living target. The method is applied to the control component of the vehicle early warning system according to any one of claims 1-3, and the method comprises the following steps: Identifying the vehicle state, and acquiring current radar data and current infrared thermal imaging data of the radar module and the infrared thermal imaging module when the vehicle is in an ignition state or a gear state; Detecting target distance and target type according to the current radar data and the current infrared thermal imaging data; Determining an alarm mode according to the target distance and the target type; 5. The vehicle warning method according to claim 4, characterized by, Controlling the expelling component to expel the target and controlling the early warning component to issue early warnings to the driver according to the alarm mode.

6. The vehicle warning method according to claim 4, characterized by The target distance is the distance of the target from the vehicle, and the target type comprises a living target and a non-living target. The method for determining the alarm mode according to the target distance and the target type comprises the following steps: If the target type is the living target and the target distance is greater than a first distance threshold, the early warning mode is determined as a first alarm mode; If the target type is the living target and the target distance is less than or equal to the first distance threshold, the early warning mode is determined as a second alarm mode; 7. The vehicle warning method according to claim 6, characterized by, If the time when the target distance is less than or equal to the first distance threshold is greater than a retention threshold, the early warning mode is determined as a third alarm mode.

8. The vehicle warning method according to claim 7, characterized by, The first early warning mode is to trigger the vehicle central control screen early warning without triggering the expelling mode; the second alarm mode is to determine the expelling mode according to the living target type, control the expelling component to expel the living target according to the expelling mode, and trigger the vehicle central control screen early warning; and the third alarm mode is to delay the vehicle start, trigger the vehicle central control screen and mobile phone software early warning, and not trigger the expelling mode. The living target type comprises an animal type and a human type, and the method for determining the expelling mode according to the living target type comprises the following steps: If the living target type is the animal type, the expelling mode is a first expelling mode, and the first expelling mode is to emit animal-sensitive ultrasonic waves according to the animal type; 9. A vehicle characterized by comprising: If the living target type is the human type, the expelling mode is a second expelling mode, and the second expelling mode is to emit human audible sound waves.

10. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The application also relates to a vehicle early warning system. The computer program or instructions are executed to realize the vehicle early warning method according to any one of claims 4-8.

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