Vehicle warning method, system, device and storage medium

Abstract

This disclosure relates to the field of vehicle technology, and in particular to a vehicle warning method, system, device, and storage medium. The method includes: acquiring driver behavior data in the blind spot direction of the vehicle; if the behavior data does not meet the blind spot observation requirements, acquiring obstacle zoning information of the vehicle in the blind spot direction; and if the obstacle zoning information meets the collision warning requirements, issuing a collision warning message. This disclosure, employing the above solution, can solve the technical problem in related technologies where vehicles indiscriminately trigger alarms for all obstacles that could potentially collide, resulting in a low effective alarm rate and, under certain circumstances, increasing driver anxiety.

Description

Technical Field

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

[0002] Blind spots, or areas in a vehicle that a driver cannot directly observe from their seat using their direct line of sight or traditional rearview mirrors, are a major source of risk for side and rear collisions. Therefore, it is necessary to utilize technology to detect obstacles in blind spots, thereby anticipating impending danger and alerting the driver to take evasive action. However, current technologies indiscriminately trigger warnings for all potential collision obstacles, resulting in a low effective warning rate and potentially increasing driver anxiety in certain situations. Summary of the Invention

[0003] This disclosure aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the first objective of this disclosure is to propose a vehicle warning method to solve the technical problem in related technologies that vehicles indiscriminately trigger alarms for all obstacles that may cause collisions, resulting in a low effective alarm rate and increasing driver stress under certain circumstances.

[0005] The second objective of this disclosure is to propose a vehicle warning system.

[0006] The third objective of this disclosure is to propose an electronic device.

[0007] The fourth objective of this disclosure is to provide a computer-readable storage medium.

[0008] The fifth objective of this disclosure is to provide a computer program product.

[0009] To achieve the above objectives, a vehicle warning method is proposed in the first aspect of this disclosure, comprising: Acquire driver behavior data in the blind spot direction of the vehicle; If the behavioral data does not meet the blind spot observation requirements, obtain the obstacle zoning information of the vehicle in the blind spot direction; If the obstacle zoning information meets the collision warning requirements, a collision warning message is issued.

[0010] Optionally, the behavioral data includes the duration of non-focusing, and when the behavioral data does not meet the blind spot observation requirements, obtaining obstacle zoning information of the vehicle in the blind spot direction includes: If the duration of non-observation exceeds a threshold, obtain obstacle zoning information for the vehicle in the blind spot direction.

[0011] Optionally, issuing a collision warning when the obstacle partition information meets the collision warning requirements includes: Perform a body condition check on the vehicle to obtain the vehicle's body condition; If the obstacle zone information meets the collision warning requirements and the vehicle body status meets the vehicle body status requirements, a collision warning message is issued. The vehicle body condition requirements include at least one of the following: The human-computer interaction function is in operation; The vehicle's operating status is the functional design operating status; The vehicle body equipment meets driving safety requirements.

[0012] Optionally, the obstacle partition information includes at least one obstacle information, the obstacle information including survival time and collision time, and issuing collision warning information when the obstacle partition information meets the collision warning requirements includes: If at least one first obstacle information exists in the obstacle partition information, a collision warning is issued, wherein the first obstacle information is the obstacle information whose survival time is greater than a first survival time threshold and whose collision time is less than a collision time threshold.

[0013] Optionally, issuing the collision warning information includes: Issue a collision warning for the second obstacle, wherein the second obstacle is the first obstacle with the shortest collision time; or, Issue a collision warning based on the information of the second obstacle and the direction of the blind spot.

[0014] Optionally, issuing the collision warning information includes: A collision warning message is issued, and the duration of the continuous issuance of the collision warning message is greater than a duration threshold.

[0015] Optionally, issuing a collision warning when the obstacle partition information meets the collision warning requirements includes: If the obstacle zone information meets the collision warning requirements, and the time interval between meeting the collision warning requirements and the previous alarm cancellation time is greater than the alarm time interval threshold, a collision warning message is issued.

[0016] Optionally, after issuing the collision warning information, the method further includes: When the alarm corresponding to the collision warning information is cleared, an alarm countdown timer is activated, wherein the start time of the alarm countdown timer is an alarm time interval threshold. If the alarm countdown timer has not finished counting down, stop issuing collision warning messages.

[0017] Optionally, when the behavioral data does not meet the blind spot observation requirements, obtaining obstacle zoning information of the vehicle in the blind spot direction includes: When the behavioral data does not meet the blind spot observation requirements and the camera device in the driver monitoring system is in an unobstructed state, the obstacle zoning information of the vehicle in the blind spot direction is obtained; wherein, the unobstructed state refers to the state when the camera device is not obstructed by the steering wheel; When the camera is obstructed, the alarm countdown timer is reset; wherein, the obstructed state refers to the state when the camera is obstructed by the steering wheel.

[0018] Optionally, before obtaining the obstacle partition information of the vehicle in the blind spot direction, the method further includes: Acquire environmental perception data around the vehicle; Traverse all sensing targets in the environmental sensing data, and if the sensing target meets the obstacle determination requirements, set the sensing target as an obstacle, and sort the obstacle information in the obstacle partition information in ascending order of collision time; Based on the location information of the obstacle, determine the obstacle partition information corresponding to the obstacle, and put the obstacle information corresponding to the obstacle into the obstacle partition information corresponding to the obstacle.

[0019] Optionally, when the perceived target meets the obstacle determination requirements, treating the perceived target as an obstacle includes: If the perceived target meets the first obstacle determination requirement, the perceived target is set as a potential obstacle; wherein the first obstacle determination requirement includes at least one of the following: The type of the perceived target is the target type; The motion distance of the sensed target is greater than the motion distance threshold; The survival time of the perceived target is greater than the second survival time threshold; If the obstacle to be determined meets the second obstacle determination requirement, the obstacle to be determined is set as an obstacle; wherein the second obstacle determination requirement includes at least one of the following: The position angle of the obstacle to be determined relative to the vehicle is within a first angle range; The angle of the direction of motion of the obstacle to be determined relative to the vehicle is within the second angle range; The velocity direction of the obstacle to be determined is the direction that is close to the future trajectory of the vehicle.

[0020] To achieve the above objectives, a second aspect of this disclosure provides a vehicle warning system, comprising: The data acquisition module is used to acquire driver behavior data in the blind spot direction of the vehicle; The data determination module is used to obtain obstacle partitioning information of the vehicle in the blind spot direction when the behavior data does not meet the blind spot observation requirements; The vehicle warning module is used to issue collision warning information when the obstacle zoning information meets the collision warning requirements.

[0021] To achieve the above objectives, a third aspect of this disclosure provides an electronic device, including: a processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method shown in any of the first aspects above.

[0022] To achieve the above objectives, a fourth aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the method shown in any of the first aspects above.

[0023] To achieve the above objectives, a fifth aspect of this disclosure provides a computer program product including a computer program that, when executed by a processor, implements the method shown in any of the first aspects above.

[0024] In summary, the methods, systems, devices, storage media, and program products provided in this disclosure can avoid false alarms about obstacles in the direction of wheel steering and improve the effective alarm rate by providing collision warnings only for obstacle zoning information in the blind spot direction. Secondly, by providing collision warnings only for obstacle zoning information in the blind spot direction when the driver's behavior data in the vehicle's blind spot direction does not meet the blind spot observation requirements, i.e., when the driver has not made effective observations of the blind spot direction, the effective alarm rate can be further improved, unnecessary alarms can be reduced to disturb the user, and the driver's tension can be reduced due to frequent alarms.

[0025] Additional aspects and advantages of this disclosure 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 disclosure. Attached Figure Description

[0026] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 This is a schematic flowchart illustrating a vehicle warning method provided in the first embodiment of this disclosure; Figure 2 A schematic flowchart illustrating a vehicle warning method provided in the second embodiment of this disclosure; Figure 3 This is a schematic diagram of a vehicle body condition inspection process provided in one embodiment of the present disclosure; Figure 4 This is a schematic flowchart illustrating a driver blind spot determination method according to an embodiment of the present disclosure. Figure 5 This is a schematic flowchart illustrating a driver blind spot determination method according to an embodiment of the present disclosure. Figure 6 This is an application flowchart of a vehicle warning method provided in the second embodiment of the present disclosure; Figure 7 This is a schematic flowchart of a scene detection method provided in one embodiment of the present disclosure; Figure 8 A schematic flowchart illustrating a risk selection method provided in one embodiment of this disclosure; Figure 9 This is a schematic diagram of the structure of a vehicle warning system provided in an embodiment of the present disclosure. Detailed Implementation

[0027] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated 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 disclosure, and should not be construed as limiting this disclosure.

[0028] The present disclosure will now be described in detail with reference to specific embodiments.

[0029] In the first embodiment, such as Figure 1 As shown, Figure 1 This is a flowchart illustrating a vehicle warning method provided in the first embodiment of this disclosure. The method can be implemented using a computer program and can run on a vehicle warning system. This computer program can be integrated into an application or run as a standalone utility application.

[0030] The vehicle warning method can be executed by an electronic device. This electronic device can be, for example, a vehicle itself, or a device installed on a vehicle.

[0031] For example, the vehicle warning method includes the following steps: S101, acquire driver behavior data in the blind spot direction of the vehicle.

[0032] According to some embodiments, the steering direction of a vehicle's wheels refers to the direction in which the vehicle's actual driving trajectory deviates from the vehicle's longitudinal centerline, used to characterize whether the vehicle is turning and the lateral tendency of the turn. The blind spot direction is any direction other than the steering direction of the vehicle's wheels.

[0033] According to some embodiments, behavioral data refers to data obtained by detecting the driver's behavior in the blind spot direction of the vehicle.

[0034] In some embodiments, because drivers possess a certain level of memory and predictive ability, they can autonomously determine whether there are obstacles in the blind spot direction. Therefore, by acquiring driver behavior data in the vehicle's blind spot direction, electronic devices can determine whether the driver has effectively observed the blind spot direction, that is, whether the driver has predicted whether there are obstacles in that blind spot direction.

[0035] S102, when the behavioral data does not meet the requirements for blind spot observation, obtain obstacle zoning information of the vehicle in the blind spot direction.

[0036] According to some embodiments, blind spot observation requirements refer to the requirements used by electronic devices to determine whether the driver has made effective observations of the blind spot direction. These blind spot observation requirements are not specific to any one fixed requirement and can be adjusted according to the actual application scenario.

[0037] In some embodiments, the obstacle zoning information includes obstacle information corresponding to obstacles present in the area of ​​the vehicle in the blind spot direction.

[0038] In some embodiments, since the driver maintains effective observation of the steering direction of the wheels while driving the vehicle—for example, the driver maintains effective observation of the left-turn direction while turning left and effective observation of the right-turn direction while turning right—the electronic device can, when it determines that the driver is not effectively observing the blind spot, only acquire obstacle zone information in the blind spot direction to determine whether there is an obstacle within that obstacle zone. This reduces the likelihood of a low effective alarm rate due to the vehicle indiscriminately triggering alarms for all possible collision obstacles.

[0039] S103, if the obstacle zoning information meets the collision warning requirements, issue a collision warning message.

[0040] According to some embodiments, the collision warning requirement refers to the requirement used by electronic devices to determine whether there is a risk of collision between an obstacle and a vehicle. The collision warning requirement does not refer to a specific fixed requirement and can be adjusted according to the actual application scenario.

[0041] In some embodiments, collision warning information is used to indicate a risk of collision between an obstacle and a vehicle.

[0042] In some embodiments, the electronic device only issues a collision warning message when the obstacle zoning information meets the collision warning requirements, which can reduce the occurrence of indiscriminate alarm triggering and improve the effective alarm rate.

[0043] In summary, the method provided in this embodiment, by only targeting obstacle zone information in the blind spot direction, can avoid false alarms for obstacles in the wheel steering direction and improve the effective alarm rate. Secondly, by only targeting obstacle zone information in the blind spot direction when the driver's behavior data in the vehicle's blind spot direction does not meet the blind spot observation requirements, i.e., when the driver has not effectively observed the blind spot direction, the effective alarm rate can be further improved, unnecessary alarms can be reduced to disturb the user, and the driver's tension can be reduced due to frequent alarms.

[0044] To implement the above embodiments, this disclosure also proposes a second embodiment, in which, as shown in the second embodiment... Figure 2 As shown, Figure 2 This is a flowchart illustrating a vehicle warning method according to a second embodiment of this disclosure. The method can be implemented using a computer program and can run on a system that performs vehicle warnings. This computer program can be integrated into an application or run as a standalone utility application.

[0045] The vehicle warning method can be executed by an electronic device. This electronic device can be, for example, a vehicle itself, or a device installed on a vehicle.

[0046] For example, the vehicle warning method includes the following steps: S201, Vehicle body condition inspection.

[0047] It should be noted that this embodiment does not limit the specific manner of step S201 described above.

[0048] According to some embodiments, a vehicle body condition check can be performed to obtain the vehicle body condition; it can be determined whether the body condition meets the body condition requirements; if the body condition meets the body condition requirements, the subsequent vehicle warning process can be executed.

[0049] In some embodiments, when performing a vehicle body condition check, the check includes, but is not limited to, the status of human-machine interaction functions, vehicle operating status, and the status of body equipment.

[0050] In some embodiments, vehicle body condition requirements may include at least one of the following: The human-computer interaction function is in operation; The vehicle's operating status is the functional design operating status; The vehicle body equipment meets driving safety requirements.

[0051] In this context, the HMI (Human-Machine Interface) function being active and not malfunctioning indicates that it is operational. This active state can be determined, for example, by the on / off status of the HMI switch. The HMI switch refers to all control switches and buttons in the in-vehicle HMI system used for information and command interaction between the driver and the vehicle. When the HMI switch is on, the HMI function is active.

[0052] Regarding non-faulty states, the problem can be determined by checking whether there is a fault in the vehicle's human-machine interaction system or the human-machine interaction switch. Possible faults include, but are not limited to, touch / virtual switch faults, physical button / hard switch faults, power supply faults, and communication faults.

[0053] In some embodiments, if the in-vehicle human-machine interaction system or the human-machine interaction switch does not have a target fault, the human-machine interaction function can be set to a non-fault state. The target fault does not specifically refer to a certain fixed fault; the target fault can be selected from all possible faults based on the actual application scenario. For example, the target fault may include the first two high-risk faults among all possible faults.

[0054] One approach is to encode different types of faults and quickly determine whether the human-computer interaction function is in a non-faulty state based on the obtained fault codes.

[0055] For example, if the target faults are set as touch / virtual switch fault and power supply fault, and the fault code for touch / virtual switch fault is set as 3-2 and the fault code for power supply fault is set as 3-3, if fault 3-2 and / or fault 3-3 are not obtained, it means that the human-computer interaction function is in a non-fault state.

[0056] The "functional design operating state" refers to the state in which the vehicle's warning function can be activated. This functional design operating state can be adjusted according to the actual application scenario. For example, the functional design operating state can be set to the vehicle being in Drive (D) gear and the vehicle speed being within 0-70 kph.

[0057] Here, "vehicle body equipment" refers to the vehicle's own devices, including but not limited to the four doors and two hoods (left front door, right front door, left rear door, right rear door, engine hood, and trunk lid), seat belts, etc. "Driving safety requirements" refers to the requirements used to determine whether the vehicle body equipment is safe for driving. These driving safety requirements include, but are not limited to, the four doors and two hoods being closed and the seat belts being worn and locked.

[0058] To give an example from a scenario, Figure 3 This is a schematic flowchart illustrating a vehicle body condition check according to one embodiment of this disclosure. Figure 3 As shown, AND logic can be used to check the vehicle body status. During the check, the switch status, gear, and vehicle speed of the human-machine interface switch can be checked first. When the human-machine interface switch is on, the gear is in D gear, and the vehicle speed is within 0-70kph, the four doors, two hoods, and seat belts can be checked. After that, when the four doors and two hoods are closed and the seat belts are in the wearing and locking state, it can be determined that the vehicle body status meets the requirements.

[0059] It should be noted that performing a vehicle condition check during the vehicle warning process can identify basic safety hazards in advance, prevent driving with faults, filter out invalid warnings caused by non-driving dangers such as open doors or unfastened seat belts, improve the accuracy of warnings, reduce false alarms, and increase the effective alarm rate.

[0060] S202, Driver blind spot assessment.

[0061] It should be noted that this embodiment does not limit the specific manner of step S202 described above.

[0062] According to some embodiments, the blind spot direction of a vehicle can be determined by determining the steering direction of the vehicle's wheels; and driver behavior data in the blind spot direction of the vehicle can be obtained to make driver blind spot judgment.

[0063] In some embodiments, the method of determining the wheel steering direction includes, but is not limited to, at least one of the following: Determined based on the wheel steering angle; Determined based on the curvature of the local path; Determined based on the turning intention (left turn or right turn, etc.) given by the local path planner; Determined based on the steering intent given by the vehicle's global path; For example, when determining the wheel steering direction based on the wheel steering angle, the vehicle coordinate system (with the vehicle center as the origin, the positive y-axis to the left, and the positive x-axis forward) can be used as a reference. Relative to the x-axis, when the vehicle's wheel steering angle is less than the right turn angle threshold, the vehicle's wheel steering direction is set to the right turn direction, and its corresponding blind spot direction includes the left side; when the vehicle's wheel steering angle is greater than the left turn angle threshold, the vehicle's wheel steering direction is set to the left turn direction, and its corresponding blind spot direction includes the right side; when the vehicle's wheel steering angle is between the right turn angle threshold and the left turn angle threshold, although there is a wheel steering angle, the vehicle can be considered to be traveling straight. Therefore, the wheel steering direction at this time can be set to the no-deflection direction, i.e., the straight-ahead direction, and its corresponding blind spot direction includes the rear side.

[0064] The right turn angle threshold and the left turn angle threshold are not specific to any fixed threshold and can be adjusted according to the actual application scenario.

[0065] In some embodiments, the wheel steering angle of a vehicle can be determined by acquiring the steering wheel angle, thereby determining the wheel steering direction. The conversion relationship between the steering wheel angle and the wheel steering angle can be adjusted according to the actual application scenario.

[0066] For example, you can set the steering wheel angle to >50° so that the vehicle's wheels turn left; set the steering wheel angle to <-50° so that the vehicle's wheels turn right; and set the steering wheel angle to be between -50° and 50° so that the vehicle's wheels turn in a straight direction or without turning.

[0067] It should be noted that, compared to indirectly calculating the wheel steering direction from vehicle speed, wheel speed, and yaw rate, the wheel steering direction calculated from the steering wheel angle is more reliable.

[0068] According to some embodiments, it is possible to determine whether a driver's blind spot exists by judging whether the behavioral data meets the blind spot observation requirements; wherein, the driver's blind spot refers to the blind spot in which the driver has not made effective observations.

[0069] In some embodiments, behavioral data includes, but is not limited to, non-attention duration, duration of head turning towards the blind spot, and upper body posture. Non-attention duration refers to the cumulative duration during which the driver continuously fails to look towards the blind spot.

[0070] In some embodiments, data on the driver's behavior in the blind spot direction of the vehicle can be acquired through devices such as sensors and cameras.

[0071] According to some embodiments, whether behavioral data meets the blind zone observation requirements can be determined by combining a non-focus duration threshold with the non-focus duration itself. For example, it can be set that behavioral data meets the blind zone observation requirements if the non-focus duration exceeds the non-focus duration threshold.

[0072] In some embodiments, the non-focus duration threshold refers to the threshold used by the electronic device to determine that the driver has not made an effective observation of the blind spot direction. This non-focus duration threshold is not specifically a fixed threshold, and can be adjusted according to the actual application scenario.

[0073] For example, the threshold for the duration of non-observation can be set to 5 seconds. In this case, if the duration of non-observation is greater than 5 seconds, the electronic device can determine that the driver has not made an effective observation of the blind spot direction, thereby obtaining obstacle zoning information of the vehicle in the blind spot direction.

[0074] In some embodiments, the duration of the driver's unfocused time in the blind spot direction of the vehicle can be obtained by detecting the driver's field of vision area in real time.

[0075] It should be noted that determining whether a driver has effectively observed the blind spot direction based on the duration of non-focus is more correlated with driver attention than data such as actions and postures, better reflects the degree of attention commitment, and the data is easier to quantify, more resistant to interference, and has a lower false detection rate. Furthermore, this implementation method does not limit the specific method for determining whether behavioral data meets the blind spot observation requirements; other methods besides non-focus duration can also be used to determine whether behavioral data meets the blind spot observation requirements.

[0076] In some embodiments, because a camera (e.g., a video camera) in a Driver Monitoring System (DMS) needs to be installed behind the steering wheel, turning the steering wheel to a certain angle can obstruct the camera, rendering the DMS's output signal invalid. Therefore, to reduce the frequency of alarms, the vehicle warning function can be suppressed when the camera is detected to be obstructed by the steering wheel.

[0077] In other words, during the driver's blind spot judgment process, the subsequent vehicle warning process can be executed if the behavioral data does not meet the blind spot observation requirements and the camera device in the driver monitoring system is in an unobstructed state; if the camera device is in an obstructed state, the driver monitoring system signal is considered unreliable, the vehicle warning function is suppressed, and false alarms are avoided.

[0078] The unobstructed state refers to the state when the camera is not obstructed by the steering wheel; the obstructed state refers to the state when the camera is obstructed by the steering wheel.

[0079] In some embodiments, the occlusion status of the camera device can be determined based on the steering wheel angle.

[0080] For example, if the steering wheel angle is within the obstruction angle range, it can be determined that the camera device is in an obstructed state; if the steering wheel angle is not within the obstruction angle range, it can be determined that the camera device is in an unobstructed state.

[0081] The obstruction angle range is not a fixed interval; it can be determined based on the actual application scenario. For example, the steering wheel angle can be set to be within the obstruction angle range when the remainder after dividing the absolute value of the steering wheel angle by 360° is in the range of 40° to 320°, thus obstructing the camera device.

[0082] To give an example from a scenario, Figure 4 This is a schematic flowchart illustrating a driver blind spot determination method according to an embodiment of this disclosure. Figure 4 As shown, when determining the driver's blind spot, firstly, the steering direction of the wheels can be determined. If the steering wheel angle is greater than 50°, it is determined to be a left turn; if the steering wheel angle is less than -50°, it is determined to be a right turn. Next, when the driver monitoring system is unobstructed (i.e., the camera is in an unobstructed state), if the driver is not paying attention to the left blind spot for more than 5 seconds when the steering direction is right, the driver's blind spot direction is determined to be the left blind spot direction and the left blind spot direction is output. When the driver monitoring system is unobstructed, if the driver is not paying attention to the right blind spot for more than 5 seconds when the steering direction is left, the driver's blind spot direction is determined to be the right blind spot direction and the right blind spot direction is output.

[0083] S203, Blind Spot Target Risk Inspection.

[0084] It should be noted that this embodiment does not limit the specific manner of step S203 described above.

[0085] According to some embodiments, obstacle partition information of the vehicle in the blind spot direction can be obtained, and blind spot target risk checks can be performed on the obstacle partition information.

[0086] In some embodiments, the obstacle partitioning information includes at least one obstacle information. The obstacle information includes, but is not limited to, life time and time-to-collision (TTC). Blind spot target risk detection can be achieved by checking whether first obstacle information exists in the obstacle partitioning information. The first obstacle information is obstacle information whose life time is greater than a first life time threshold and whose collision time is less than a collision time threshold.

[0087] Survival time refers to the length of time a target remains detectable after it has been detected; a longer survival time indicates higher target reliability. The first survival time threshold refers to the survival time threshold used when determining the first obstacle information. This first survival time threshold is not a fixed threshold and can be adjusted according to the actual application scenario; for example, it can be 0.4 seconds. By using survival time as a judgment factor, transient interference can be filtered out, improving the accuracy and reliability of blind spot target risk detection.

[0088] In some embodiments, collision time refers to the time required for a collision to occur between the vehicle and the obstacle while the vehicle is in motion, triggered by the current relative positional relationship between the vehicle and the obstacle, and continuing to move according to the current motion state (vehicle speed, acceleration, heading angle, yaw rate, etc.). The collision time threshold is not a fixed threshold; it can be adjusted according to the actual application scenario. It can be a preset fixed value or a dynamically changing value. For example, the collision time threshold can be dynamically adjusted according to the relative speed between the vehicle and the obstacle; the higher the relative speed, the lower the collision time threshold. This can be achieved by setting a parameter correspondence table between relative speed and the collision time threshold. Furthermore, the collision time thresholds on the left and right sides can be configured differently; for example, the collision time threshold on the left side can be configured to be greater than that on the right side.

[0089] According to some embodiments, in order to improve inspection efficiency, the obstacle information in the obstacle partition information can be sorted, for example, the obstacle information in the obstacle partition information can be sorted in ascending order of collision time; then, when performing blind spot target risk inspection, only a preset number of obstacle information can be inspected; the preset number can be adjusted according to the actual application scenario, for example, the preset number can be 2.

[0090] Alternatively, when performing blind spot target risk checks, only obstacle information with collision times less than a collision time check threshold can be checked. This collision time check threshold is greater than the collision time threshold.

[0091] In some embodiments, if multiple first obstacle information is detected, in order to improve the accuracy of the warning, the first obstacle information with the shortest collision time can be selected from the multiple first obstacle information, and the first obstacle information with the shortest collision time can be output for subsequent vehicle warning processes.

[0092] To give an example from a scenario, Figure 5 This is a schematic flowchart illustrating a driver blind spot determination method according to an embodiment of this disclosure. Figure 5As shown, during the blind spot risk check, firstly, the obstacle zone information of the vehicle in the blind spot direction can be checked. For the scenario of the vehicle turning right, the left blind spot target is checked, and for the scenario of the vehicle turning left, the right blind spot target is checked. Next, the two obstacles with the shortest collision time in the obstacle zone information can be checked. The risk condition check is performed using AND logic, that is, if the survival time is greater than 0.4s and the collision time is less than the collision time threshold, the obstacle information with the shortest collision time is output.

[0093] S204: If the triggering conditions of S201, S202, and S203 are all met, a collision warning message is issued.

[0094] It should be noted that this embodiment does not limit the specific manner of step S204 described above.

[0095] According to some embodiments, S201, S202, and S203 all meet the triggering conditions, which means that the vehicle body status meets the vehicle body status requirements, the behavior data does not meet the blind spot observation requirements, and the obstacle zoning information meets the collision warning requirements.

[0096] In some embodiments, the execution order of S201, S202, and S203 is not limited. For example, S201, S202, and S203 can be executed simultaneously or in a specific order.

[0097] For example, driver behavior data in the blind spot direction can be acquired first. If the duration of non-attention exceeds the non-attention duration threshold, obstacle zone information in the blind spot direction can be obtained. Then, the vehicle body status can be checked to obtain the vehicle body status. Finally, if the obstacle zone information meets the collision warning requirements and the vehicle body status meets the vehicle body status requirements, a collision warning message can be issued.

[0098] For example, the system can first acquire driver behavior data in the blind spot direction of the vehicle. If the duration of non-attention exceeds the non-attention duration threshold, it can then acquire obstacle partitioning information in the blind spot direction. Next, if the behavior data does not meet the blind spot observation requirements and the camera in the driver monitoring system is unobstructed, it can acquire obstacle partitioning information in the blind spot direction. Finally, if the obstacle partitioning information meets the collision warning requirements and the vehicle body condition meets the vehicle body condition requirements, it can issue a collision warning.

[0099] According to some embodiments, when issuing a collision warning, the corresponding collision warning can be issued based on the driver's blind spot direction output in step S202 and the first obstacle information with the shortest collision time output in step S203, thereby improving the accuracy and clarity of vehicle warning.

[0100] In other words, a collision warning can be issued for the second obstacle; or, a collision warning can be issued for both the second obstacle and the blind spot direction. The second obstacle is the first obstacle with the shortest collision time. The terms "first" and "second" in "second obstacle" and "first obstacle" have no special meaning and are used only to distinguish them.

[0101] For example, the following collision warning information can be issued: warning_req = 1 warning_left / right = 1 Here, warning_req = 1 indicates that the warning function is officially activated; warning_left / right = 1 indicates the direction of the warning target, warning_left = 1 means the warning target is on the left, and warning_right = 1 means the warning target is on the right.

[0102] For example, obstacle information can also include obstacle identity (ID). When issuing a collision warning, a collision warning message that includes the obstacle identity can be issued.

[0103] According to some embodiments, when a collision warning message is issued, the duration of the continuous issuance of the warning message can exceed a duration threshold. Therefore, situations where the alarm time is too short or the alarm switches frequently can be avoided, thereby improving the user experience.

[0104] In some embodiments, the duration threshold does not specifically refer to a fixed threshold; the duration threshold can be adjusted according to the actual application scenario. For example, the duration threshold can be 3 seconds.

[0105] For example, the collision warning information can be a voice prompt. If the triggering conditions of S201, S202, and S203 are all met, a voice broadcast with a duration of 3 seconds can be issued.

[0106] According to some embodiments, during the process of issuing a collision warning message, it can be further determined whether S201, S202, and S203 all meet the triggering conditions; if S201, S202, and S203 still meet the triggering conditions, then the collision warning message continues to be issued; if any of S201, S202, and S203 does not meet the triggering conditions, then the issuance of the collision warning message stops and the alarm is deactivated.

[0107] In some embodiments, if any of S201, S202, and S203 fails to meet the triggering condition, the collision warning information can be stopped and the alarm can be cleared if the duration of the collision warning information exceeds the duration threshold.

[0108] S205, when the alarm corresponding to the collision warning information is cleared, the alarm countdown timer is activated.

[0109] It should be noted that this embodiment does not limit the specific manner of step S205 described above.

[0110] According to some embodiments, the start time of the alarm countdown timer is the alarm time interval threshold. This alarm time interval threshold does not specifically refer to a fixed threshold. The alarm time interval threshold can be adjusted according to the actual application scenario. For example, the alarm time interval threshold can be 700ms.

[0111] In some embodiments, collision warning information is stopped from being issued if the alarm countdown timer has not finished counting down. That is, even if the triggering conditions are met in S201, S202, and S203 for the second time, collision warning information will not be issued if the alarm countdown timer has not finished counting down.

[0112] It should be noted that by setting an alarm countdown timer, early warning and anti-shake measures can be implemented, reducing the frequency of alarms and thus alleviating driver tension.

[0113] According to some embodiments, in the case mentioned in step S202 where the camera device is detected to be obstructed by the steering wheel, the vehicle warning function can be suppressed by resetting the alarm countdown timer when the camera device is obstructed.

[0114] S206, If the alarm countdown timer ends, wait for step S204 to be triggered again.

[0115] It should be noted that this embodiment does not limit the specific manner of step S206 described above.

[0116] According to some embodiments, the alarm countdown ending countdown means that the alarm countdown timer counts down from the alarm time interval threshold to 0; for example, the alarm countdown timer counts down from 700ms to 0.

[0117] It should be noted that an alarm countdown timer can also be omitted, and the determination of whether to issue a collision warning message can be made by judging the time interval between two instances where the triggering conditions are met.

[0118] For example, a collision warning can be issued if the obstacle zone information meets the collision warning requirements and the time interval between meeting the collision warning requirements and the previous alarm cancellation time is greater than the alarm time interval threshold.

[0119] To give an example from a scenario, Figure 6 This is an application flowchart of a vehicle warning method provided in the second embodiment of this disclosure. Figure 6 As shown, the electronic device can use a state machine to execute steps S201 to S206. First, the STANDBY state machine waits for trigger conditions, that is, it checks whether the three core activation conditions—vehicle status check, driver blind spot judgment, and blind spot target risk check—are all satisfied using AND logic. Next, if all trigger conditions are satisfied, the ACTIVE state machine is controlled to issue an alarm. Then, it checks whether any of the three core activation conditions have changed to unsatisfied trigger conditions using OR logic. If any release condition is satisfied, the WAIT state machine begins a 700ms countdown, and reactivation is prohibited until the countdown reaches 0. Finally, after 700ms, before the countdown reaches 0, the system returns to the STANDBY state machine.

[0120] It should be noted that the vehicle warning method involved in the embodiments of this disclosure may include at least one of steps S101 to S103 and steps S201 to S206. For example, steps S101 to S103 may be implemented as independent embodiments, steps S201 to S204 may be implemented as independent embodiments, and steps S201 to S206 may be implemented as independent embodiments, but are not limited thereto.

[0121] In some embodiments, steps S201, S205, and S206 are optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0122] For example, if step S201 is omitted, step S204 can be adjusted to issue a collision warning message when both S202 and S203 meet the triggering conditions. That is, even if the behavioral data does not meet the blind spot observation requirements, obstacle partition information of the vehicle in the blind spot direction can be obtained; and if at least one first obstacle information exists in the obstacle partition information, a collision warning message can be issued.

[0123] In summary, the method provided in this embodiment achieves multi-dimensional detection of vehicle warnings by combining vehicle status, driver, and risk dimensions. Furthermore, it uses multiple types of data for fusion judgment in each dimension, which can accurately detect blind spot risks and obstacles that the driver has not noticed, thereby improving the effective alarm rate, reducing unnecessary alarms that interfere with the user, and reducing the driver's stress caused by frequent alarms.

[0124] To implement the above embodiments, this disclosure also proposes a third embodiment. In this third embodiment, the vehicle warning method can be implemented using a computer program and can run on a system that performs vehicle warnings. This computer program can be integrated into an application or run as a standalone utility application.

[0125] The vehicle warning method can be executed by an electronic device. This electronic device can be, for example, a vehicle itself, or a device installed on a vehicle.

[0126] For example, the vehicle warning method includes the following steps: S301 performs scene detection to achieve a lenient screening of obstacles, ensuring that no potential risk targets are missed.

[0127] It should be noted that this embodiment does not limit the specific manner of step S301 described above.

[0128] According to some embodiments, during the loose screening of obstacles, environmental perception data around the vehicle can be acquired; all perception targets in the environmental perception data are traversed, and if the perception target meets the obstacle determination requirements, the perception target is set as an obstacle; obstacle partition information corresponding to the obstacle is determined according to the location information of the obstacle, the obstacle information corresponding to the obstacle is placed into the obstacle partition information corresponding to the obstacle, and the obstacle information in the obstacle partition information is sorted in ascending order of collision time.

[0129] In some embodiments, environmental perception data refers to a set of objective parameters obtained after being collected and processed by the vehicle, representing the surrounding road conditions, obstacle information, traffic participant status, traffic signs and markings, and driving environment, including but not limited to target location, distance, relative speed, trajectory, lane boundaries, traffic signals, ambient light, weather conditions, etc., thereby providing environmental basis for vehicle early warning, decision-making and control.

[0130] In some embodiments, the aforementioned environmental perception data can be obtained by collecting raw signals from vehicle-mounted sensing devices such as vehicle-mounted cameras, millimeter-wave radar, lidar, ultrasonic radar, positioning modules, and inertial measurement units, and then processing them through analysis, fusion, and identification; or by receiving environmental information transmitted by roadside facilities and other traffic participants via a network to form complete environmental perception data.

[0131] According to some embodiments, in the process of setting a perceived target as an obstacle when the perceived target meets the obstacle determination requirements, the perceived target can be set as a pending obstacle if the perceived target meets the first obstacle determination requirements; and the pending obstacle can be set as an obstacle if the pending obstacle meets the second obstacle determination requirements.

[0132] In some embodiments, the first obstacle determination requirement includes at least one of the following: The type of the perceived target is the target type; The perceived target's movement distance is greater than the movement distance threshold; The survival time of the perceived target is greater than the second survival time threshold.

[0133] The target type refers to the type used when determining whether a perceived target is a potential obstacle. This target type is not specific to any particular type and can be adjusted according to the actual application scenario. For example, the target type may include, but is not limited to, vehicles, two-wheeled vehicles, etc.

[0134] The motion distance threshold does not refer to a specific fixed threshold. It can be adjusted according to the actual application scenario. For example, the motion distance threshold can be 5m.

[0135] The second survival time threshold refers to the survival time threshold used to determine whether a perceived target is a pending obstacle. The terms "first" and "second" in the first survival time threshold have no special meaning and are used only to distinguish them. The second survival time threshold is not a fixed threshold and can be adjusted according to the actual application scenario; for example, it could be 4 seconds.

[0136] In some embodiments, the second obstacle determination requirement includes at least one of the following: The position and angle of the obstacle relative to the vehicle are within the first angle range; The angle of the direction of motion of the obstacle relative to the vehicle is within the second angle range; The velocity direction of the obstacle to be determined is the direction that is close to the future trajectory of the vehicle.

[0137] The first angle interval refers to the range used when checking the position angle. This first angle interval is not a specific fixed range; it can be adjusted according to the actual application scenario. For example, the first angle interval can be within ±50°.

[0138] The second angle interval refers to the range used when checking the direction of motion. The terms "first" and "second" in the first and second angle intervals have no special meaning and are used only for distinction. The second angle interval does not refer to a specific fixed range; it can be adjusted according to the actual application scenario. For example, the second angle interval can be within ±50°.

[0139] According to some embodiments, the position angle, motion direction angle, and velocity direction of the unknown obstacle can be calculated relative to the vehicle using the vehicle coordinate system (with the vehicle center as the origin, the positive y-axis to the left, and the positive x-axis to the front).

[0140] In some embodiments, based on the vehicle's own vehicle coordinate system, with the origin of the own vehicle coordinate system as the center, the spatial area around the vehicle can be divided along the coordinate azimuth angle to obtain multiple obstacle zones.

[0141] For example, the positive half-axis region of the y-axis can be set as the obstacle zone on the left, and the negative half-axis region of the y-axis can be set as the obstacle zone on the right.

[0142] To give an example from a scenario, Figure 7 This is a schematic flowchart illustrating a scene detection method provided in one embodiment of this disclosure. Figure 7As shown, the electronic device can use a scenario analysis layer (Situation layer) for scenario detection. During scenario detection, all perceived targets are first traversed to perform basic scenario checks for the first obstacle determination. These checks include target type checks, movement distance checks, and survival time checks. Then, if all conditions are met—that is, the perceived target type is a vehicle or a two-wheeled vehicle, the movement distance is >5m, and the survival time is >4s—an obstacle check is performed to achieve the second obstacle determination. This check includes position angle checks, movement direction angle checks, and speed direction checks. Next, if all conditions are met—namely, the position angle is within ±50°, the motion direction angle is within ±50°, and the velocity direction is close to the vehicle's future trajectory—the obstacle zone is determined. If the obstacle's y-coordinate (dist_y) in the vehicle's coordinate system is greater than 0, the obstacle is in the left obstacle zone, and its corresponding obstacle information is stored in the left obstacle zone information. If the obstacle's y-coordinate (dist_y) in the vehicle's coordinate system is less than 0, the obstacle is in the right obstacle zone, and its corresponding obstacle information is stored in the right obstacle zone information. Then, the obstacle information in each obstacle zone is sorted in ascending order by collision time, using a bubble sort method. Finally, the two obstacles with the smallest collision times in each obstacle zone are output.

[0143] Alternatively, the system can output information on obstacles in each obstacle partition where the collision time is less than the collision time check threshold.

[0144] S302 performs risk selection, rigorously verifies obstacles, and ensures that alarms are only triggered for truly risky targets.

[0145] It should be noted that this embodiment does not limit the specific manner of step S302 described above.

[0146] According to some embodiments, step S302 can be achieved by executing steps S101 to S103, or by executing steps S201 to S206.

[0147] It should be noted that when step S302 is implemented by executing steps S101 to S103, or steps S201 to S206, step S302 can be executed before "obtaining obstacle partition information of the vehicle in the blind spot direction". For the steps before "obtaining obstacle partition information of the vehicle in the blind spot direction", there is no restriction on the execution order between them and step S301.

[0148] According to some embodiments, risk selection can also be performed by employing a decision execution layer. Figure 8This is a flowchart illustrating a risk selection method provided in one embodiment of this disclosure. Figure 8 As shown, the electronic device employs a decision execution layer for risk selection. During this process, the driver's blind spot direction is first determined by the steering wheel angle, the duration of unattended blind spot, and the driver monitoring system. The specific process can be found in step S202. Next, the obstacle zone information corresponding to the driver's blind spot direction is traversed for risk condition checks; specifically, the obstacle zone information on the right side is checked for the right blind spot, and the obstacle zone information on the left side is checked for the left blind spot. Then, obstacle information that satisfies a survival time > 0.4s and a collision time < a collision time threshold is recorded. Finally, the obstacle information with the shortest collision time is selected, and its corresponding obstacle identification is output, triggering a collision warning for that obstacle identification.

[0149] In some embodiments, when performing risk condition checks by traversing obstacle partition information corresponding to the driver's blind spot direction, it is possible to traverse only the obstacle information in each obstacle partition information output in step S301.

[0150] In summary, the method provided in this embodiment targets blind spot risks and obstacles that drivers may not notice. It employs a tiered screening process combining the vehicle's environmental perception and risk assessment capabilities. First, scene detection is performed to achieve a lenient screening of obstacles, ensuring no potential risks are missed. Then, risk selection is performed to achieve rigorous verification of obstacles, ensuring that alarms are only triggered for truly risky targets. Therefore, this improves the effective alarm rate, reduces unnecessary alarms that disturb the user, and minimizes driver stress caused by frequent alarms.

[0151] To implement the above embodiments, this disclosure also proposes a vehicle warning system.

[0152] For example, Figure 9 This is a schematic diagram of the structure of a vehicle warning system provided in an embodiment of this disclosure. Figure 9 As shown, the vehicle warning system 900 includes: The data acquisition module 901 is used to acquire driver behavior data in the blind spot direction of the vehicle; The data determination module 902 is used to obtain obstacle partitioning information of the vehicle in the blind spot direction when the behavior data does not meet the blind spot observation requirements; The vehicle warning module 903 is used to issue collision warning information when the obstacle zoning information meets the collision warning requirements.

[0153] Optionally, the behavioral data includes the duration of non-focusing. When the behavioral data does not meet the blind spot observation requirements, the data determination module 902, when acquiring obstacle zoning information for the vehicle in the blind spot direction, is specifically used for: Obtain obstacle zoning information for the vehicle in the blind spot direction when the duration of non-observation exceeds the non-observation duration threshold.

[0154] Optionally, the vehicle warning module 903 is used to issue a collision warning message when the obstacle zoning information meets the collision warning requirements, specifically for: Perform a vehicle body condition check to obtain the vehicle's body condition; If the obstacle zone information meets the collision warning requirements and the vehicle body status meets the vehicle body status requirements, a collision warning message will be issued. The vehicle body condition requirements include at least one of the following: The human-computer interaction function is in operation; The vehicle's operating status is the functional design operating status; The vehicle body equipment meets driving safety requirements.

[0155] Optionally, the obstacle partition information includes at least one obstacle information, which includes survival time and collision time. The vehicle warning module 903 is used to issue a collision warning when the obstacle partition information meets the collision warning requirements. Specifically, it is used for: If at least one first obstacle is present in the obstacle partition information, a collision warning is issued. The first obstacle is an obstacle whose survival time is greater than a first survival time threshold and whose collision time is less than a collision time threshold.

[0156] Optionally, when issuing collision warning information, the vehicle warning module 903 is specifically used for: Issue a collision warning for the second obstacle, where the second obstacle is the first obstacle with the shortest collision time; or, Issue collision warnings for the second obstacle and the direction of the blind spot.

[0157] Optionally, when issuing collision warning information, the vehicle warning module 903 is specifically used for: A collision warning message is issued, and the duration of the continuous issuance of the collision warning message exceeds the duration threshold.

[0158] Optionally, the vehicle warning module 903 is used to issue a collision warning message when the obstacle zoning information meets the collision warning requirements, specifically for: A collision warning is issued when the obstacle zone information meets the collision warning requirements and the time interval between meeting the collision warning requirements and the previous alarm cancellation time is greater than the alarm time interval threshold.

[0159] Optionally, after issuing a collision warning, the vehicle warning module 903 is also used to: When the alarm corresponding to the collision warning information is cleared, the alarm countdown timer is activated, where the start time of the alarm countdown timer is the alarm time interval threshold. Stop issuing collision warning messages before the alarm countdown timer has finished counting down.

[0160] Optionally, the data determination module 902 is used to obtain obstacle zoning information of the vehicle in the blind spot direction when the behavior data does not meet the blind spot observation requirements. Specifically, it is used for: When the behavioral data does not meet the requirements for blind spot observation and the camera device in the driver monitoring system is in an unobstructed state, the obstacle zoning information of the vehicle in the blind spot direction is obtained; where the unobstructed state refers to the state when the camera device is not obstructed by the steering wheel. The vehicle warning module 903 is also used to reset the alarm countdown timer when the camera device is obstructed; the obstructed state refers to the state when the camera device is obstructed by the steering wheel.

[0161] Optionally, before acquiring obstacle partitioning information of the vehicle in the blind spot direction, the data acquisition module 901 is also used for: Acquire environmental perception data around the vehicle; Iterate through all the sensing targets in the environmental perception data, and set the sensing target as an obstacle if it meets the obstacle determination requirements; Based on the location information of the obstacle, determine the obstacle zone information corresponding to the obstacle, put the obstacle information corresponding to the obstacle into the obstacle zone information corresponding to the obstacle, and sort the obstacle information in the obstacle zone information in ascending order of collision time.

[0162] Optionally, the data acquisition module 901 is used to treat the perceived target as an obstacle when the perceived target meets the obstacle determination requirements, specifically for: If the perceived target meets the first obstacle determination requirement, the perceived target is set as a potential obstacle; wherein the first obstacle determination requirement includes at least one of the following: The type of the perceived target is the target type; The perceived target's movement distance is greater than the movement distance threshold; The survival time of the perceived target is greater than the second survival time threshold; If the obstacle to be determined meets the second obstacle determination requirement, the obstacle to be determined is set as an obstacle; wherein the second obstacle determination requirement includes at least one of the following: The position and angle of the obstacle relative to the vehicle are within the first angle range; The angle of the direction of motion of the obstacle relative to the vehicle is within the second angle range; The velocity direction of the obstacle to be determined is the direction that is close to the future trajectory of the vehicle.

[0163] It should be noted that the foregoing explanation of the vehicle warning method embodiment also applies to the vehicle warning system of this embodiment, and will not be repeated here.

[0164] In summary, the system provided in this disclosure can avoid false alarms about obstacles in the direction of wheel steering by only issuing collision warnings for obstacle zoning information corresponding to the blind spot direction, thereby improving the effective alarm rate. Secondly, issuing collision warnings for obstacle zoning information corresponding to the blind spot direction only when the driver's behavior data in the blind spot direction of the vehicle does not meet the blind spot observation requirements, i.e., when the driver has not made effective observations of the blind spot direction, can further improve the effective alarm rate, reduce unnecessary alarms that interfere with the user, and reduce the situation where frequent alarms increase the driver's tension.

[0165] To implement the above embodiments, this disclosure also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided in the foregoing embodiments.

[0166] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods provided in the foregoing embodiments.

[0167] To implement the above embodiments, this disclosure also proposes a computer program product, including a computer program that, when executed by a processor, implements the methods provided in the foregoing embodiments.

[0168] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this disclosure all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0169] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0170] This disclosure is intended to provide implementation schemes for users to selectively prevent the use or access to their personal information data. Specifically, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information is de-identified to protect user privacy.

[0171] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this disclosure. 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.

[0172] 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 disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0173] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of this disclosure 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 will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0174] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disks (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, fiber optic devices, and compact disc read-only memory (CDROM). Additionally, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0175] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple 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 one or a combination of the following techniques known in the art: 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 (PGAs), field-programmable gate arrays (FPGAs), etc.

[0176] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0177] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0178] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A vehicle early warning method, characterized in that, include: Acquire driver behavior data in the blind spot direction of the vehicle; If the behavioral data does not meet the blind spot observation requirements, obtain the obstacle zoning information of the vehicle in the blind spot direction; If the obstacle zoning information meets the collision warning requirements, a collision warning message is issued.

2. The method according to claim 1, characterized in that, The behavioral data includes the duration of non-focusing. When the behavioral data does not meet the blind spot observation requirements, obtaining obstacle zoning information for the vehicle in the blind spot direction includes: If the duration of non-observation exceeds a threshold, obtain obstacle zoning information for the vehicle in the blind spot direction.

3. The method according to claim 1, characterized in that, When the obstacle partition information meets the collision warning requirements, issuing a collision warning message includes: Perform a body condition check on the vehicle to obtain the vehicle's body condition; If the obstacle zone information meets the collision warning requirements and the vehicle body status meets the vehicle body status requirements, a collision warning message is issued. The vehicle body condition requirements include at least one of the following: The human-computer interaction function is in operation; The vehicle's operating status is the functional design operating status; The vehicle body equipment meets driving safety requirements.

4. The method according to claim 1, characterized in that, The obstacle partition information includes at least one obstacle information, the obstacle information including survival time and collision time, and the step of issuing collision warning information when the obstacle partition information meets the collision warning requirements includes: If at least one first obstacle information exists in the obstacle partition information, a collision warning is issued, wherein the first obstacle information is the obstacle information whose survival time is greater than a first survival time threshold and whose collision time is less than a collision time threshold.

5. The method according to claim 4, characterized in that, The issuance of collision warning information includes: Issue a collision warning for the second obstacle, wherein the second obstacle is the first obstacle with the shortest collision time; or, Issue a collision warning based on the information of the second obstacle and the direction of the blind spot.

6. The method according to claim 1, characterized in that, The issuance of collision warning information includes: A collision warning message is issued, and the duration of the continuous issuance of the collision warning message is greater than a duration threshold.

7. The method according to claim 1, characterized in that, When the obstacle partition information meets the collision warning requirements, issuing a collision warning message includes: If the obstacle zone information meets the collision warning requirements, and the time interval between meeting the collision warning requirements and the previous alarm cancellation time is greater than the alarm time interval threshold, a collision warning message is issued.

8. The method according to claim 1, characterized in that, After issuing the collision warning information, the method further includes: When the alarm corresponding to the collision warning information is cleared, an alarm countdown timer is activated, wherein the start time of the alarm countdown timer is an alarm time interval threshold. If the alarm countdown timer has not finished counting down, stop issuing collision warning messages.

9. The method according to claim 8, characterized in that, When the behavioral data does not meet the blind spot observation requirements, obtaining obstacle zoning information for the vehicle in the blind spot direction includes: When the behavioral data does not meet the blind spot observation requirements and the camera device in the driver monitoring system is in an unobstructed state, the obstacle zoning information of the vehicle in the blind spot direction is obtained; wherein, the unobstructed state refers to the state when the camera device is not obstructed by the steering wheel; When the camera is obstructed, the alarm countdown timer is reset; wherein, the obstructed state refers to the state when the camera is obstructed by the steering wheel.

10. The method according to claim 1, characterized in that, Before acquiring obstacle partition information of the vehicle in the blind spot direction, the method further includes: Acquire environmental perception data around the vehicle; Iterate through all the sensing targets in the environmental sensing data, and set the sensing target as an obstacle if the sensing target meets the obstacle determination requirements; Based on the location information of the obstacle, determine the obstacle partition information corresponding to the obstacle, put the obstacle information corresponding to the obstacle into the obstacle partition information corresponding to the obstacle, and sort the obstacle information in the obstacle partition information in ascending order of collision time.

11. The method according to claim 10, characterized in that, The step of treating the perceived target as an obstacle when the perceived target meets the obstacle determination requirements includes: If the perceived target meets the first obstacle determination requirement, the perceived target is set as a potential obstacle; wherein the first obstacle determination requirement includes at least one of the following: The type of the perceived target is the target type; The motion distance of the sensed target is greater than the motion distance threshold; The survival time of the perceived target is greater than the second survival time threshold; If the obstacle to be determined meets the second obstacle determination requirement, the obstacle to be determined is set as an obstacle; wherein the second obstacle determination requirement includes at least one of the following: The position angle of the obstacle to be determined relative to the vehicle is within a first angle range; The angle of the direction of motion of the obstacle to be determined relative to the vehicle is within the second angle range; The velocity direction of the obstacle to be determined is the direction that is close to the future trajectory of the vehicle.

12. A vehicle warning system, characterized in that, include: The data acquisition module is used to acquire driver behavior data in the blind spot direction of the vehicle; The data determination module is used to obtain obstacle partitioning information of the vehicle in the blind spot direction when the behavior data does not meet the blind spot observation requirements; The vehicle warning module is used to issue collision warning information when the obstacle zoning information meets the collision warning requirements.

13. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 11.

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