Collision warning method and device, electronic equipment, storage medium and vehicle

Abstract

The application discloses a collision warning method and device, electronic equipment, a storage medium and a vehicle, relates to the technical field of vehicle control, and is used for reducing the probability of collision accidents and improving the safety of driving; the method comprises the following steps: acquiring motion data of a target object; determining an expected collision time between the target object and the vehicle based on the motion data; in the case that the expected collision time is less than a preset safety time threshold, adjusting the length of the light belt of the atmosphere lamp of the vehicle which is lighted up based on the expected collision time; wherein the length of the light belt which is lighted up is used for warning the remaining time of the collision.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a collision warning method, device, electronic equipment, storage medium, and vehicle. Background Technology

[0002] With the rapid development of the economy and society and the continuous improvement of people's living standards, automobiles, as a convenient and efficient means of transportation, have been widely used in various scenarios such as daily commuting, family outings, and long-distance travel, greatly satisfying people's travel needs.

[0003] However, with the continuous growth of motor vehicle ownership and the increasing complexity of road traffic environments, safety hazards related to vehicles in scenarios such as driving on the road, parking on the roadside, and temporary alighting / getting off are becoming increasingly prominent. For example, traffic accidents caused by opening vehicle doors (commonly known as "door-opening accidents") occur frequently and have become one of the major risks affecting traffic safety. Therefore, there is an urgent need for a collision warning method that can provide early warnings of potential collision risks, thereby reducing the probability of collision accidents and improving driving safety. Summary of the Invention

[0004] This application provides a collision warning method, device, electronic device, storage medium, and vehicle to reduce the probability of collision accidents and improve driving safety.

[0005] In a first aspect, this application provides a collision warning method, comprising: acquiring motion data of a target object; determining the estimated collision time between the target object and a vehicle based on the motion data; and adjusting the illuminated length of the ambient light strip of the vehicle based on the estimated collision time if the estimated collision time is less than a preset safe time threshold; wherein the illuminated length is used to warn of the remaining time of the collision.

[0006] In this embodiment, by acquiring the motion data of the target object and determining the estimated collision time, a collision risk can be identified if the estimated collision time is less than a preset safe time threshold. Then, the length of the illuminated light strip in the ambient light is dynamically adjusted based on the estimated collision time, so that the occupants can intuitively perceive the remaining time of the collision through the change in the illuminated length, assisting the occupants in making accurate avoidance judgments, thereby reducing the probability of collision accidents and improving driving safety.

[0007] In some possible implementations, adjusting the illuminated length of the vehicle's ambient lighting strip based on the expected collision time includes: determining the proportion of the illuminated length to the total length of the strip based on the ratio between the expected collision time and a preset safety time threshold; and adjusting the illuminated length based on the proportion.

[0008] In some possible implementations, the motion data includes: the relative distance between the target and the vehicle and the relative speed between the target and the vehicle; the estimated collision time is determined based on the ratio of the relative distance to the relative speed.

[0009] In some possible implementations, the method further includes adjusting the display parameters of the ambient light as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

[0010] In some possible implementations, the display parameters include at least one of the following: the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip.

[0011] In some possible implementations, the light flow frequency is determined based on relative velocity, and the light flow frequency is positively correlated with the relative velocity.

[0012] In some possible implementations, the collision includes a collision between a vehicle occupant and a target object when opening a door; the method further includes: controlling the electronic door lock of the door to be in a forced locking state, wherein the forced locking state is used to indicate that the door handle inside the vehicle is disabled.

[0013] In some possible implementations, the method further includes: in response to the expected collision time being greater than or equal to a preset safety time threshold, releasing the forced locking state of the electronic door lock and controlling the length of the light strip that is lit to be the total length of the light strip.

[0014] Secondly, this application provides a collision warning device, comprising: an acquisition module for acquiring motion data of a target object behind the vehicle; a determination module for determining the estimated collision time between the target object and the vehicle based on the motion data; and an adjustment module for adjusting the illuminated length of the ambient light strip of the vehicle based on the estimated collision time when the estimated collision time is less than a preset safe time threshold; wherein the illuminated length is used for the remaining time of the collision warning.

[0015] In some possible implementations, the adjustment module is specifically used to determine the proportion of the illuminated length in the light strip to the total length of the light strip based on the ratio between the expected collision time and the preset safety time threshold; and to adjust the illuminated length in the light strip based on the length proportion.

[0016] In some possible implementations, the motion data includes: the relative distance between the target and the vehicle and the relative speed between the target and the vehicle; the estimated collision time is determined based on the ratio of the relative distance to the relative speed.

[0017] In some possible implementations, the adjustment module is also used to adjust the display parameters of the ambient light as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

[0018] In some possible implementations, the display parameters include at least one of the following: the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip.

[0019] In some possible implementations, the light flow frequency is determined based on relative velocity, and the light flow frequency is positively correlated with the relative velocity.

[0020] In some possible implementations, the collision includes a collision between a vehicle occupant and a target object when opening a vehicle door; the device also includes a control module. The control module is used to control the electronic door locks of the vehicle doors to be in a forced locking state, wherein the forced locking state is used to indicate that the door handles inside the vehicle are disabled.

[0021] In some possible implementations, the control module is also configured to release the forced locking state of the electronic door lock in response to the expected collision time changing to be greater than or equal to a preset safety time threshold, and to control the length of the light strip that is lit to be the total length of the light strip.

[0022] Thirdly, this application provides an electronic device, including: a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; and the processor implements the collision warning method of any of the above embodiments when executing the instructions.

[0023] Fourthly, this application provides a computer-readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to implement the collision warning method of any of the above embodiments.

[0024] Fifthly, this application provides a computer program product including computer program instructions that, when executed by a processor, implement the collision warning method of any of the above embodiments.

[0025] Sixthly, this application provides a vehicle including the electronic device in any of the preceding embodiments; or the computer-readable storage medium in any of the preceding embodiments; or the computer program product in any of the preceding embodiments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in some embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0027] Figure 1 A schematic diagram of the architecture of a collision warning system provided in some embodiments of this application; Figure 2 A visual interaction diagram illustrating an early warning effect provided for some embodiments of this application; Figure 3 A flowchart illustrating a collision warning method provided in some embodiments of this application; Figure 4 A flowchart illustrating another collision warning method provided in some embodiments of this application; Figure 5 A flowchart illustrating yet another collision warning method provided in some embodiments of this application; Figure 6 A schematic diagram illustrating the changing states of a light strip provided in some embodiments of this application; Figure 7 This application provides a schematic diagram illustrating the composition of a collision warning device according to some embodiments. Figure 8 This is a schematic diagram of the structure of an electronic device provided in some embodiments of this application. Detailed Implementation

[0028] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0030] Hereinafter, 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 one or more of that feature.

[0031] In the description of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more.

[0032] With the continuous growth of motor vehicle ownership and the increasing complexity of road traffic environments, safety hazards in scenarios such as parking on the roadside and temporary drop-off / pick-up are becoming increasingly prominent. Among these, traffic accidents caused by opening vehicle doors (commonly known as "door-opening accidents") are showing a frequent trend, becoming one of the significant risks threatening the safety of vulnerable road users such as cyclists and pedestrians. Especially on urban roads with dense mixed traffic flow, non-motorized vehicles and pedestrians frequently cross near parked vehicles, leading to persistent door-opening accidents.

[0033] To address the aforementioned issues, related technologies typically utilize vehicle-mounted radar or cameras to monitor rear blind spots, alerting passengers through visual or auditory signals within the cabin. In particularly dangerous situations, they can forcibly lock the doors to warn of door opening, thus physically ensuring the safety of occupants and pedestrians outside the vehicle. Furthermore, related technologies also provide a vehicle ambient lighting control system and method for door opening warnings. This method includes: a radar detector acquiring distance information between the main vehicle and a target vehicle behind it, as well as the speed information of the target vehicle, and transmitting the acquired data to a first controller in real time; a body controller transmitting the current door status information of the main vehicle to the first controller in real time; and, based on the received distance information between the main vehicle and the target vehicle behind it, the speed information of the target vehicle behind it, and the door status information of the main vehicle, the first controller outputs a corresponding control signal to the ambient lighting to change its operating state. It can be seen that this method can control the operating state of the ambient lighting in different scenarios, thereby directly, effectively, and reliably warning occupants of door opening.

[0034] However, the warning information in the relevant technologies lacks quantitative feedback. That is, the warnings for collisions are limited to changing the working status of the ambient lights, but cannot intuitively show the specific remaining time for safe door opening. As a result, it is difficult for occupants to accurately perceive the urgency of the collision risk, and it still cannot reduce the probability of collision accidents or improve driving safety.

[0035] To address the aforementioned issues, this application provides a collision warning method. This method acquires the motion data of the target object and determines the estimated collision time, transforming the raw motion data into an intuitive and quantifiable indicator (i.e., the estimated collision time). Furthermore, if the estimated collision time is less than a preset safety time threshold, this application can adjust the illuminated length of the vehicle's ambient lighting strip based on the estimated collision time. This achieves precise and deterministic perception of the warning information, linearly mapping the estimated collision time to the strip length. This allows occupants to intuitively perceive the remaining time before the collision via a progress bar, assisting them in making accurate avoidance decisions, thereby reducing the probability of collisions and improving driving safety.

[0036] The collision warning system provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0037] See Figure 1 This is a schematic diagram of the architecture of a collision warning system provided in an embodiment of this application. Figure 1 As shown, the collision warning system 100 includes: a sensor module 10, a central controller 20, and an actuator 30; wherein the central controller 20 is communicatively connected to the sensor module 10 and the actuator 30 respectively.

[0038] Sensor module 10 is used to collect multidimensional data of the inside and outside of the vehicle.

[0039] In some embodiments, the multidimensional data includes at least one of the following: motion data of the target object, the vehicle's own speed, image data of the area surrounding the vehicle, and ambient temperature. The target object can be a target that is about to collide with the vehicle or is at risk of doing so. Exemplarily, the target object can be a pedestrian, a motor vehicle, or a two-wheeled vehicle.

[0040] In some embodiments, the motion data of the target object includes the relative distance between the target object and the vehicle (hereinafter referred to as relative distance) and the relative speed between the target object and the vehicle (hereinafter referred to as relative speed).

[0041] In some embodiments, the sensor module 10 can convert multidimensional data from inside and outside the vehicle into electrical signals and send them to the central controller 20.

[0042] In some embodiments, the sensor module 10 is configured to be deployed inside and / or outside the vehicle.

[0043] In some embodiments, such as Figure 1 As shown, the sensor module 10 includes a millimeter-wave radar 11 and a camera 12.

[0044] Millimeter-wave radar 11 is used to detect moving objects around the vehicle (e.g., to the side and rear of the vehicle) in real time and determine the relative distance and speed between the target and the vehicle. For example, millimeter-wave radar 11 is used to detect moving targets within a 200-meter range to the side and rear of the vehicle in real time, treat the moving target as the target object, and then output the relative distance and speed between the target and the vehicle. For example, when the collision warning system detects that the vehicle is parked or about to park, sensor module 10 is activated, and millimeter-wave radar 11 detects an approaching object within 200 meters to the side and rear of the vehicle, acquiring the relative distance and relative speed.

[0045] Camera 12 is used to classify and identify targets, such as pedestrians, two-wheeled vehicles or motor vehicles, and to assist millimeter-wave radar 11 in verifying the movement trajectory of targets.

[0046] In some embodiments, the sensor module 10 may further include a pressure sensor, a temperature sensor, a position sensor, a wheel speed sensor, etc. The specific composition of the sensor module 10 is not limited in the embodiments of this application.

[0047] The central controller 20 is used to perform logical operations, drive loads, coordinate communication, and schedule resources.

[0048] In some embodiments, the central controller 20 is configured to acquire motion data of the target object from the sensor module 10, determine the estimated collision time between the target object and the vehicle based on the motion data, and then, if the estimated collision time is less than a preset safe time threshold, adjust the length of the illuminated light strip in the vehicle's ambient light based on the estimated collision time.

[0049] In some embodiments, the illuminated length serves as a warning of the remaining time before a collision. For example, the shorter the illuminated length in the light strip, the closer the relative distance between the target and the vehicle and the shorter the expected collision time.

[0050] In some embodiments, the ambient lighting may be dynamic ambient lighting on the door interior panels of the vehicle, or it may be ambient lighting in front of and behind the vehicle seats. This application does not limit this.

[0051] In some embodiments, the central controller 20 is further configured to determine the proportion of the illuminated length in the light strip to the total length of the light strip based on the ratio between the expected collision time and the preset safety time threshold, and then adjust the illuminated length in the light strip based on the proportion.

[0052] In some embodiments, the central controller 20 is also configured to adjust the display parameters of the ambient light as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

[0053] In some embodiments, the display parameters include at least one of the following: the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip.

[0054] In some embodiments, the light flow frequency is determined based on relative velocity, and the light flow frequency is positively correlated with the relative velocity.

[0055] In some embodiments, the central controller 20 is further configured to send a control command to the actuator 30 to cause the actuator 30 to control the electronic door lock of the vehicle door to be in a forced locking state when the expected collision time is less than a preset safety time threshold, wherein the forced locking state is used to indicate that the door handle inside the vehicle is disabled.

[0056] In some embodiments, the central controller 20 is further configured to release the forced locking state of the electronic door lock in response to the expected collision time being greater than or equal to a preset safety time threshold, and to control the length of the light strip that is lit to be the total length of the light strip.

[0057] In some embodiments, such as Figure 1 As shown, the central controller 20 includes a human-machine interface (HMI) and an algorithm processing module 21. The HMI and algorithm processing module 21 are used to receive motion data and determine the estimated collision time based on the motion data and a preset obstacle avoidance model.

[0058] In some embodiments, the HMI and algorithm processing module 21 is further configured to convert the physical level of danger into display parameters at the interactive level. For example, the HMI and algorithm processing module 21 can determine the length of the illuminated light strip based on the expected collision time, determine the direction of light flow in the light strip based on the gradient of relative distance change or the gradient of relative velocity change, and determine the frequency of light flow in the light strip based on the relative velocity.

[0059] In some embodiments, the central controller 20 may be a controller within the central control screen, a cockpit domain controller, or a controller in other locations in the vehicle; this application embodiment does not limit this.

[0060] In some embodiments, the central controller 20 is merely an example provided in this application. In actual implementation, the central controller 20 may also be other hardware devices with control functions, and is not limited to the controller inside the vehicle. This application does not limit this.

[0061] The actuator 30 is used to perform specific mechanical or electrical actions according to control instructions. For example, the actuator 30 can receive control instructions from the central controller 20 related to the ambient light display parameters based on the expected collision time, and execute the control instructions.

[0062] In some embodiments, such as Figure 1 As shown, the actuator 30 includes an ambient light drive module 31 and an electronic door lock controller 32.

[0063] In some embodiments, the ambient light driving module 31 is used to control the length of the light strip that is illuminated, the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip according to the control instructions sent by the central controller 20.

[0064] For example, Figure 2 This is a visual interaction diagram illustrating a warning effect provided in an embodiment of this application. For example... Figure 2 As shown, the door interior panel 110 is equipped with an ambient lighting strip 120 and an interior door handle 130. The ambient lighting strip 120 is arranged along the contour of the door interior panel 110 and is used to provide occupants with visual collision warning information through its illuminated state. The interior door handle 130 is located in the central area of ​​the door interior panel 110 and is operated by occupants to open the door. The interior door handle 130 is inactive when the electronic door lock is in a forced-lock state. The ambient lighting strip 120 also shows a light flow direction (i.e., a simulated light streamer direction) 200, which is from the rear of the door to the front, used to simulate the movement trend of objects to the side and rear of the vehicle relative to the vehicle. When an object is detected approaching from the side or rear of the vehicle, the ambient light drive module 31 can control the ambient light strip 120 to provide a warning in the form of dynamic flowing light based on the control commands sent by the central controller 20. It can also control the length of the illuminated light strip to gradually shorten as the expected collision time decreases, control the light flow direction 200 to be consistent with the actual approach direction of the object, and control the color of the illuminated light strip 120 and the light flow frequency of the illuminated light strip. This allows the occupants to intuitively perceive the remaining time of the collision and the direction of the object by observing the length of the light strip and the flow of the light.

[0065] In some embodiments, the electronic door lock controller 32 is used to control the electronic door lock to be in a forced locking state or to release the forced locking state of the electronic door lock according to the signal sent by the central controller 20.

[0066] It is understood that the collision warning system provided in this application embodiment linearly maps the expected collision time to the length of the light strip, allowing occupants to intuitively perceive the remaining time before the safe opening of the door through the illuminated length. This transforms vague warnings into definite information displays, thereby achieving precise warning information. Furthermore, this application embodiment, through the illuminated length, makes the locking process of the electronic door lock transparent, transforming the invisible forced waiting into a visible countdown guide. This eliminates blind spots and psychological anxiety for occupants, giving them a clear expectation of when the door can be opened. This prevents occupants from violently pulling on the door handle during forced locking, reducing the risk of damage to the electronic door lock actuator and the mechanical structure of the door handle, and improving the occupant experience.

[0067] It should be noted that the collision warning system provided in this application embodiment does not require the addition of additional hardware display units, such as screens or projection lights. It can achieve quantitative countdown feedback effects simply by upgrading the algorithm logic of the existing ambient light strips, thereby reducing the hardware cost in the cockpit, improving the technological feel and intelligence level of the cockpit, and providing a high-end cockpit interaction experience at a low cost.

[0068] It is understood that the application scenarios of the embodiments of this application are not limited. The system architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture, the improvement of vehicle software or hardware, and the emergence of new business scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0069] The following is combined Figure 3 The collision warning method provided in the embodiments of this application will be described in detail.

[0070] This application provides a collision warning method, which can be executed by the aforementioned central controller 20; such as Figure 3 As shown, the method includes the following steps: S201. Obtain the motion data of the target object.

[0071] In some embodiments, the target object can be a moving object within a preset range around the vehicle that poses a collision risk. For example, when the vehicle is detected to be in a parking or about to park state, one or more moving objects within a preset range to the side and rear of the vehicle can be detected based on the vehicle's millimeter-wave radar, camera, sensors, etc., and the moving object located to the side and rear of the vehicle and moving towards the vehicle, and / or whose relative distance to the vehicle is less than a preset distance threshold, can be identified as the target object.

[0072] In some embodiments, the target object may be other motor vehicles, non-motor vehicles (such as electric bicycles, bicycles), pedestrians, etc.

[0073] In some embodiments, motion data includes the relative distance between the target and the vehicle (hereinafter referred to as relative distance) and the relative speed between the target and the vehicle (hereinafter referred to as relative speed). For example, the relative distance may be 50 meters and the relative speed may be 10 meters per second.

[0074] In some embodiments, motion data can be acquired based on the vehicle's millimeter-wave radar and / or camera. As an example, the millimeter-wave radar can be controlled to emit electromagnetic waves around the vehicle and receive the echoes. The relative distance between the target and the vehicle can be determined based on the time difference between emission and reception, and the relative velocity between the target and the vehicle can be determined based on the Doppler frequency shift. As another example, the camera can be controlled to acquire image sequences containing the target, and the relative distance and relative velocity can be determined based on the change in the target's position in different frame images.

[0075] It is understood that by identifying moving objects located to the side and rear of the vehicle and moving towards the vehicle as targets, this embodiment can accurately lock onto potential objects directly related to the risk of door opening collisions, avoiding the acquisition of motion data for all detected objects, thus improving processing efficiency and the pertinence of warnings.

[0076] Furthermore, compared to related technologies that rely solely on single-dimensional distance or speed information for collision risk warning, this application's embodiments acquire the relative distance and relative speed of the target object using millimeter-wave radar and / or a camera. This provides a reliable data foundation for the accurate calculation of the subsequent estimated collision time, enabling the estimated collision time to more comprehensively reflect the dynamic changes in collision risk and improve the accuracy and timeliness of the warning.

[0077] S202. Based on motion data, determine the estimated collision time between the target object and the vehicle.

[0078] In some embodiments, the estimated time to collision refers to the time required for the target to reach the vehicle's current location (e.g., near a vehicle door) based on the target's current relative speed and relative distance. Alternatively, the estimated time to collision may also refer to the remaining waiting time required for the occupants to safely open the door.

[0079] It is understood that by interpreting the estimated collision time as the remaining waiting time required for the occupant to safely open the door, the embodiments of this application can make the estimated collision time correspond to the actual waiting time of the occupant. This allows the occupant to intuitively understand how long they still need to wait before they can safely open the door by observing the length of the light strip, thus shortening the reaction time from seeing the warning information to making a correct judgment. This helps the occupant make accurate avoidance judgments, thereby reducing the probability of collision accidents and improving driving safety.

[0080] In some embodiments, the estimated time to collision is used to indicate the urgency of a collision or collision risk. For example, a longer estimated time to collision indicates that the target is still far from the vehicle or is approaching at a slow speed, and the risk of collision is low; a shorter estimated time to collision indicates that the target is already close to the vehicle or is approaching at a fast speed, and the risk of collision is high.

[0081] In some embodiments, the estimated time to collision is determined based on the ratio of relative distance to relative velocity. For example, the estimated time to collision (Time to Collision) is... The following relationship must be satisfied: ; Where D is the relative distance between the target and the vehicle, and V is the relative speed between the target and the vehicle.

[0082] For example, if the relative distance is 50 meters and the relative speed is 10 meters per second, the expected collision time is 50 / 10 = 5 seconds.

[0083] It is understandable that relative distance and relative speed are two core dimensions for measuring collision risk. This application embodiment obtains the relative distance and relative speed between the target object and the vehicle, and determines the estimated collision time based on the ratio of the two. This allows the determined estimated collision time to accurately reflect the urgency of the collision risk, improving the accuracy and reliability of the warning.

[0084] S203. If the estimated collision time is less than a preset safe time threshold, adjust the illuminated length of the ambient light strip in the vehicle based on the estimated collision time; wherein the illuminated length is used to warn of the remaining time before the collision.

[0085] In some embodiments, the length of the illuminated light also indicates the remaining waiting time required for the occupant to safely open the door.

[0086] In some embodiments, the preset safety time threshold can be determined based on the actual application scenario or other factors. For example, the preset safety time threshold can be 3 seconds.

[0087] In some embodiments, when the estimated collision time is greater than or equal to a preset safety time threshold, it indicates that the current collision risk is low, and the ambient light strip can maintain its original display effect. When the estimated collision time is less than the preset safety time threshold, it indicates that there is a collision risk. In this case, the length of the illuminated portion of the light strip can be adjusted based on the decrease in the estimated collision time (the illuminated length is based on a visual definition and dynamically shortens as the estimated collision time decreases), thereby indicating the remaining time before the collision.

[0088] In some embodiments, the expected collision time can be indicated to occupants through segmented mapping by varying the length of the illuminated light strip. For example, multiple time intervals can be preset, each corresponding to a preset illumination length. For instance, when the expected collision time is in the first interval (e.g., 2 seconds ≤ expected collision time < 3 seconds), the illuminated length of the light strip can be controlled to be 2 / 3 of the total length; when the expected collision time is in the second interval (e.g., 1 second ≤ expected collision time < 2 seconds), the illuminated length of the light strip can be controlled to be 1 / 3 of the total length, and so on.

[0089] It should be noted that the number and range of the above time intervals can be flexibly determined according to actual needs, and this application embodiment does not limit them here.

[0090] Understandably, compared to related technologies that only use flashing ambient lights to warn occupants of potential danger when a door is opened, failing to provide occupants with the specific estimated collision time or the remaining time for safe door opening, and thus preventing occupants from accurately perceiving the duration of the light strip indicating safe door opening, this embodiment addresses this issue by linearly mapping the estimated collision time to the illuminated length. This allows the illuminated length in the light strip to dynamically shorten as the estimated collision time decreases. This transforms the abstract estimated collision time into a visual progress bar, enabling occupants to intuitively perceive the precise remaining time until safe door opening through the real-time changes in the illuminated length. This shift from qualitative warning to quantitative feedback, along with the process of transforming ambiguous warnings into definitive information, allows occupants to accurately determine how much longer they need to wait before the door can be safely opened. This reduces occupants' anxiety caused by unclear warning information and improves the comprehensibility of the warning information and the certainty of cabin interaction.

[0091] In some embodiments, such as Figure 4 As shown, adjusting the illuminated length of the ambient light strip in the vehicle based on the expected collision time can be specifically achieved through steps S301-S302.

[0092] S301. Based on the ratio between the expected collision time and the preset safety time threshold, determine the proportion of the illuminated length in the light strip to the total length of the light strip.

[0093] In some embodiments, the expected ratio between the collision time and a preset safe time threshold is equal to the length ratio. For example, the length ratio can be determined as the ratio between the preset collision time and the preset safe time threshold.

[0094] S302. Adjust the illuminated length of the light strip based on the length ratio.

[0095] In some embodiments, the physical form of the ambient light strip on the door panel inside the vehicle cabin can be quantitatively mapped based on the specific value and proportional relationship of the expected collision time. By adjusting the length of the illuminated part of the light strip, the ambient light strip can be defined as a visual progress bar.

[0096] For example, based on the proportional relationship between the expected collision time and the preset safety time threshold, and the equality of the length ratio, a linear function relationship can be established between the expected collision time and the length of the light strip illuminated. For example, the length of the light strip illuminated... The following relationship must be satisfied:

[0097] in, This is the total length of the light strip. To estimate the collision time, This is a preset safety time threshold.

[0098] As can be seen, as the target approaches, the estimated collision time continues to decrease, and the length of the illuminated light strip also continues to decrease. At this time, the illuminated length of the light strip can be driven to shorten dynamically according to the length ratio, thereby quantitatively displaying the remaining collision time (or, in this way, quantitatively displaying the remaining waiting time required for safe door opening).

[0099] For example, if the expected collision time is 5 seconds and the preset safety time threshold is 10 seconds, the length of the light strip that is lit will account for half of the total length of the light strip. As the target object approaches, the expected collision time will continue to decrease, and the system will drive the length of the light strip to shorten dynamically in proportion.

[0100] In some embodiments, the illuminated length of the light strip initially decreases and then increases. For example, a vehicle is parked on the side of the road, and an electric bicycle rapidly approaches from behind. Initially, the estimated time to collision (TTC) is 8 seconds, the preset safe time threshold is 8 seconds, and the illuminated length of the ambient light strip is 100% of its total length (lower risk, longer length). As the electric bicycle continues to accelerate and approach, the TTC gradually decreases from 8 seconds to 2 seconds, and the illuminated length of the light strip correspondingly shortens from 100% to 25% (length decreases initially). Subsequently, the electric bicycle rider notices the parked vehicle ahead, begins emergency braking and deceleration, and the TTC gradually recovers from 2 seconds to 4 seconds, while the illuminated length of the light strip increases in the opposite direction from 25% to 50% (length increases later). Finally, the electric bicycle overtakes the vehicle and continues forward; at this point, there is no longer a risk of collision, and the TTC recovers to over 8 seconds, with the illuminated length of the light strip returning to 100%. Throughout the process, the light strip length exhibits a trend of "initially shortening as danger approaches, and then increasing as danger moves away."

[0101] In some embodiments, the illuminated length of the light strip does not start from the maximum illuminateable length. For example, a vehicle is parked on the side of a road, with an intersection approximately 15 meters behind it. Initially, no moving targets are detected within a preset area to the side and rear of the vehicle, the ambient lighting is at its normal state (length 100%), and the preset safe time threshold is 10 seconds. At this time, an electric bicycle turns from the intersection into the lane behind the vehicle. Due to the obstruction of the turn, the sensor only detects the target after the electric bicycle enters the straight section, at which point the distance between it and the vehicle is only 15 meters, its speed is 3 meters per second, and the corresponding estimated time of collision (TTC) is 5 seconds. At this point, based on TTC = 5 seconds, the illuminated length of the light strip is determined to be 50% of the total length (rather than gradually decreasing from 100% of the total length). As the electric bicycle continues to approach the vehicle, the TTC further decreases to 1 second, and the light strip length shortens to 10% of the total length.

[0102] Understandably, the length of the illuminated light strip in the dynamically changing light strip conforms to human perception of the passage of physical time. By using the length of the illuminated light strip to warn of the remaining time before a collision, the warning information can be understood by the occupants without undergoing complex logical transformations, thus shortening the reaction delay from receiving the warning to taking safe evasive action and improving driving safety.

[0103] It is understood that this application embodiment determines the proportion of the illuminated length in the light strip to the total length of the light strip based on the ratio between the expected collision time and a preset safe time threshold, and adjusts the illuminated length of the light strip accordingly, thus achieving a linear mapping between the expected collision time and the light strip length. Occupants can intuitively perceive the proportion of the expected collision time within the safe time threshold through the illumination ratio of the light strip, obtaining accurate and quantitative warning information, further improving the readability and intuitiveness of the warning information.

[0104] In some embodiments, the method further includes adjusting the display parameters of the ambient light as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

[0105] In some embodiments, in addition to adjusting the length of the illuminated light strip to quantitatively display warning information, the display parameters of the ambient light can also be adjusted based on changes in the expected collision time (or the gradient of the expected collision time), changes in relative speed (or the gradient of the relative speed), or changes in relative distance (or the gradient of the relative distance).

[0106] It is understood that the embodiments of this application adjust the display parameters of the ambient light according to the changes in the expected collision time, relative distance or relative speed, so that the feedback of the ambient light can be dynamically updated in real time to follow the changes in the motion state of the target object, ensuring the real-time and continuous nature of the warning information, enabling occupants to perceive the dynamic changes in collision risk in a timely manner, thereby reducing the risk of collision and improving driving safety.

[0107] In some embodiments, the display parameters include at least one of the following (1)-(4): (1) The color of the light in the length of the light strip that is lit.

[0108] In some embodiments, the color of the illuminated portion of the light strip can be dynamically transitioned within a preset color range based on the gradient of changes in relative distance or estimated collision time. For example, when the gradient of changes in estimated collision time or relative distance is large, it indicates that the target object is rapidly approaching and the urgency of collision is drastically increasing. In this case, the light color is controlled to transition towards the red range to enhance the warning effect. When the gradient of changes in estimated collision time or relative distance is small, it indicates that the target object is approaching at a relatively gentle speed and the urgency of collision is not changing significantly. In this case, the light color is controlled to remain in the yellow or orange range to remind the occupants that they are still in a state requiring attention.

[0109] It is understood that by associating the change in light color with the gradient of the change in relative distance or the expected collision time, the dynamic transition of color can reflect the rate of change of collision risk, providing occupants with qualitative warnings in addition to the length of the light strip (quantitative information), realizing visual feedback that integrates quantitative and qualitative information, further enriching the dimensions of warning information, and enhancing occupants' comprehensive perception of collision risk.

[0110] (2) The brightness of the length of the light strip that is lit.

[0111] In some embodiments, the brightness of the illuminated length in the light strip can be adjusted based on changes in the expected collision time (or the gradient of the expected collision time), changes in relative velocity (or the gradient of the relative velocity), or changes in relative distance (or the gradient of the relative distance).

[0112] As an example, the brightness of the illuminated section of the light strip can be adjusted based on changes in the estimated collision time (or the gradient of the estimated collision time). For instance, when the estimated collision time is long, indicating a low collision risk, the brightness of the illuminated section of the light strip can be set to a lower level to provide a mild warning; when the estimated collision time is short, indicating a high collision risk, the brightness of the illuminated section of the light strip can be set to a higher level to draw the occupants' full attention.

[0113] As another example, the brightness of the illuminated length in the light strip is positively correlated with the relative speed, and the brightness of the illuminated length can be adjusted according to the magnitude of the relative speed. For instance, when the relative speed is high, the brightness of the illuminated length in the light strip is increased accordingly to alert the occupant that the current target is approaching at a faster speed and the risk of collision is more urgent; when the relative speed is low, the brightness of the illuminated length in the light strip is decreased accordingly.

[0114] For example, when the relative speed is less than 1 m / s, the brightness of the illuminated length is 5% of the maximum brightness of the light strip (only a faint indication); when the relative speed is in the range of 1-5 m / s, the brightness of the illuminated length is 60% of the maximum brightness of the light strip; when the relative speed is greater than 5 m / s, the brightness of the illuminated length jumps directly to the maximum brightness of the light strip and remains at the maximum brightness.

[0115] In some embodiments, the brightness of the illuminated length of the light strip is environment-dependent. For example, at night, the brightness of the illuminated length of the light strip is half of the maximum brightness of the light strip; during the day, the brightness of the illuminated length of the light strip is the maximum brightness of the light strip.

[0116] It is understood that the embodiments of this application can dynamically adjust the brightness of the illuminated length of the light strip based on different parameters, so that the brightness changes with the risk of collision, thereby further enhancing the warning of collision.

[0117] (3) The direction of light flow in the length of the illuminated light strip.

[0118] In some embodiments, the light flow direction is used to simulate the movement direction of a target object relative to the vehicle. For example, the light flow direction is from the rear of the vehicle door towards the front, to simulate the movement trend of a target object located to the side and rear of the vehicle approaching from behind the vehicle and moving laterally. When the target object is located to the side and rear of the vehicle, the light flow direction is from the rear end of the door trim panel to the front end; when the target object is located to the side and front of the vehicle, the light flow direction is from the front end of the door trim panel to the rear end.

[0119] It is understood that by aligning the direction of light flow with the actual direction of movement of the target object, the embodiments of this application enable occupants to intuitively determine from which direction the target object is approaching by the direction of the light flow in the light strip, thereby further enhancing the occupants' perception of the collision warning.

[0120] In some embodiments, the direction of light flow can also be used to indicate the relative motion trend of a target object relative to the vehicle. For example, when the relative distance decreases over time, the direction of light flow is towards the door handle; when the relative distance increases over time, the direction of light flow is away from the door handle. In this way, occupants can intuitively judge whether a target object is approaching or moving away by the direction of light flow.

[0121] (4) The frequency of light flow in the length of the light strip that is lit.

[0122] In some embodiments, the light flow frequency is used to simulate the speed at which a target object approaches.

[0123] As an example, the light flow frequency is determined based on relative speed, and the light flow frequency is positively correlated with relative speed. That is, the greater the relative speed of the target object, the higher the light flow frequency and the faster the light flows in the light strip; the smaller the relative speed of the target object, the lower the light flow frequency and the slower the light flows in the light strip.

[0124] For example, the light flow frequency f satisfies the following relationship: ; Where α is the flow velocity weighting coefficient, β is the preset basic flow frequency, and V is the relative velocity.

[0125] For example, when the relative speed is high, the light flow frequency is high, and the light in the light strip flows quickly, which can simulate the sense of urgency of the target object approaching quickly; when the relative speed is low, the light flow frequency is low, and the light in the light strip flows slowly, which can simulate the gentle state of the target object approaching slowly.

[0126] As another example, the light flow frequency can be determined based on the expected collision time, and the light flow frequency is negatively correlated with the expected collision time. That is, the shorter the expected collision time, the higher the light flow frequency and the faster the light stream; the longer the expected collision time, the lower the light flow frequency and the slower the light stream.

[0127] It is understood that the embodiments of this application correlate the dynamic changes of the lights with the speed of the target object or the expected collision time, so that the light flow frequency (the speed of the light flow) can simulate the speed of the target object's approach. This allows the occupants to intuitively perceive the speed of the target object's approach from the flowing light frequency, thereby more accurately judging the urgency of the collision risk, shortening the reaction time from perceiving the warning information to making a safe avoidance decision, and improving the effectiveness of the warning.

[0128] Furthermore, this application embodiment enriches the feedback dimensions of ambient lighting by setting the display parameters to at least one of light color, brightness, flow direction, and flow frequency. Occupants can not only obtain quantitative information from the length of the illuminated light strip, but also comprehensively perceive collision risks through multi-dimensional visual changes such as color, brightness, flow direction, and frequency, thus improving the accuracy and comprehensiveness of the warning.

[0129] In some embodiments, the collision includes a collision between a vehicle occupant and an object when the occupant opens a vehicle door; such as Figure 5 As shown, the above method also includes steps S401-S402.

[0130] S401, The electronic door lock controlling the vehicle door is in a forced locking state.

[0131] In some embodiments, the forced locking state indicates that the door handles inside the vehicle are disabled. That is, when the electronic door lock is in the forced locking state, occupants inside the vehicle cannot open the door by pulling the door handle. For example, when the expected collision time is less than a preset safe time threshold (e.g., 3 seconds), it indicates that an object is approaching from the side and rear. If an occupant opens the door at this time, a collision may occur. In this case, a locking command can be sent to the electronic door lock controller to switch the electronic door lock to the forced locking state, disabling the door handles and preventing the door from being opened by the occupant.

[0132] In some embodiments, during the period when the electronic door lock is in a forced locking state, the light strip remains illuminated, and the illuminated length of the light strip continues to dynamically shorten as the expected collision time decreases (i.e., the ambient light is in warning mode during the period when the electronic door lock is in a forced locking state). Thus, although occupants cannot open the door, they can clearly understand the current waiting time and how long they need to wait by observing the quantitative change in the illuminated length of the light strip, thereby transforming the blind waiting during forced locking into quantifiable warning information.

[0133] It is understood that the embodiments of this application control the electronic door lock to be in a forced locking state when the expected collision time is less than a preset safety time threshold, thereby disabling the door handle and physically preventing the occupants from opening the door. This avoids collision accidents caused by occupants misjudging or ignoring warning information and forcibly opening the door, further improving safety in door opening scenarios.

[0134] Furthermore, in this embodiment, during the period when the electronic door lock is in a forced locking state, the ambient light provides a warning through the length of illumination, light color, and frequency, which can reduce the waiting and interaction anxiety of passengers when the door is locked. In other words, this embodiment makes the locking process of the electronic door lock transparent by utilizing the length of illumination, which can transform the invisible forced waiting into a visible "countdown" guidance, giving passengers a clear psychological expectation and avoiding the problem of insufficient trust in the warning information inside the vehicle caused by the lack of transparency in the interaction logic, thereby improving the certainty of cabin interaction.

[0135] In addition, the embodiments of this application can reduce the anxiety of passengers and effectively protect the mechanical structure of the door, preventing passengers from violently pulling during the locking period due to waiting anxiety, and reducing the risk of damage to the electronic door lock actuator and the mechanical structure of the door handle.

[0136] S402. In response to the expected collision time changing to be greater than or equal to a preset safety time threshold, the forced locking state of the electronic door lock is released, and the length of the light strip that is lit is controlled to be the total length of the light strip.

[0137] In some embodiments, when the expected collision time is again greater than or equal to a preset safe time threshold, it indicates that the target object has passed or moved away from the vehicle, and there is no longer a collision risk for the current occupants to open the door. At this time, an unlocking command can be sent to the electronic door lock controller to release the forced locking state of the electronic door lock and restore the door handle function. At the same time, the illuminated length of the light strip can also be controlled to return to the total length of the light strip, that is, to indicate to the occupants that the current state is safe and the door can be opened normally by illuminating all the lights.

[0138] Understandably, this embodiment of the application utilizes the length of the illuminated light strip to provide occupants with a progress bar-like prompt, making the locking process of the electronic door lock transparent. It transforms the invisible forced waiting into a visible countdown guide, eliminating blind spots and psychological anxiety for occupants, giving them clear psychological expectations, fundamentally avoiding anxiety, and preventing occupants from violently pulling during the locking process, thus reducing the risk of damage to the electronic door lock actuator and the mechanical structure of the door handle. Furthermore, this embodiment of the application automatically releases the lock and restores the light strip to its full length when the expected collision time is again greater than or equal to the safety threshold. Occupants can immediately see that the danger has passed and the lock has been released, allowing them to exit the vehicle normally. This achieves seamless visual feedback from "danger waiting" to "safety confirmation," further enhancing the trust in cabin interaction and user experience.

[0139] To facilitate understanding, the collision warning method provided in the embodiments of this application will be further explained below with examples.

[0140] Example 1: Door opening warning based on ambient lighting. When the vehicle is parked or about to park, and a target is approaching from the side and rear of the vehicle, the occupants can determine the remaining time of the collision based on the length of the illuminated ambient light strip.

[0141] Initially, motion data of the target object is acquired. Based on this data, the estimated collision time is determined. If the estimated collision time is less than a preset safety time threshold, the display parameters for the ambient lighting (including the illuminated length) are determined. Then, based on these parameters, the ambient lighting is driven to display the remaining collision time in the form of dynamic flowing light and a progress bar, while the electronic door locks are kept in the locked state. Next, it is determined whether the estimated collision time exceeds the preset safety time threshold. If so, the electronic door locks are engaged, the ambient lighting returns to normal mode, and the process ends. If not, the acquisition of motion data of the target object continues.

[0142] In some embodiments, when the expected collision time is less than a preset safe time threshold, the remaining time of the collision can also be referred to as the remaining waiting time required to safely open the door.

[0143] For example, Figure 6 This is a schematic diagram illustrating the changing states of a light strip provided in an embodiment of this application. Figure 6 As shown, assuming a preset safety time threshold of 3 seconds, in this embodiment, based on the expected collision time, the length of the illuminated portion of the ambient light strip on the door trim panel is defined as a visual safety door opening countdown progress bar. The illuminated portion of the light strip shortens proportionally as the expected collision time decreases, specifically including states 1 to 3: State 1: Countdown begins (TTC=3s). At this time, the estimated collision time equals the preset safe time threshold, and the collision risk has just reached the warning trigger condition. The length of the illuminated light strip equals the total length of the light strip (i.e., the progress bar is full), and the full progress bar indicates to the occupants that the countdown has started and there is still sufficient safe waiting time.

[0144] State 2: Countdown in progress (TTC=1.5s). The estimated collision time has decreased from 3s to 1.5s. The target object continues to approach, and the collision risk gradually increases. The illuminated length of the light strip has shortened to half its total length (progress bar halved), indicating that more than half of the remaining waiting time for safe door opening has passed, and occupants must continue to wait. Simultaneously, the light color in the light strip dynamically transitions from yellow to orange or red according to a preset range, and the light flow frequency increases with relative speed, visually reinforcing the urgency of the collision risk.

[0145] State 3: Countdown Ends (TTC=0s). At this point, the estimated collision time is close to zero, the target object is about to reach the side of the vehicle, and the risk of collision is highest. The illuminated length of the light strip is close to zero, meaning the progress bar is completely off, indicating that the remaining time for safely opening the door has expired. The door remains in a forced-lock state with the electronic door lock, the interior handle remains ineffective, and occupants cannot open the door. After the target object passes, the illuminated length of the light strip is zero, the forced-lock state of the electronic door lock is automatically released (progress bar empty, door lock unlocked), and the light strip is restored to full illumination (i.e., the progress bar returns to State 1) to indicate to occupants that the situation is now safe and the door can be opened normally.

[0146] In some embodiments, after the target object passes the vehicle, if the expected collision time exceeds a preset safe time threshold again, a control command can be sent to the electronic door lock controller to unlock the electronic door lock and restore the function of the door handle. The ambient light strip color will be restored to the normal ambient color or green to indicate that it is safe to open the door at this time.

[0147] Example 2: A highly dangerous scenario, such as a rapidly approaching electric vehicle behind the vehicle, with a relative speed of... relative distance The estimated collision time at this point The preset safety time threshold is 3 seconds. Next, the central controller determines the danger level to be high. The color of the illuminated portion of the ambient light strip is immediately switched to dark red, the light flow frequency is set to high frequency, the electronic door locks are forcibly locked, and the door handles become ineffective. At this time, the illuminated portion of the light strip shortens from its full length to 2 / 3 of its total length, and quickly returns to zero as the target object approaches.

[0148] Example 3: In a typical warning scenario, if a pedestrian is slowly approaching from behind the vehicle, with a relative speed of V=2m / s, a relative distance of D=10m, an estimated collision time TTC=5s, and a preset safe time threshold of 3s, the estimated collision time is greater than the preset safe time threshold. In this case, the ambient light strip will light up in yellow or orange, without triggering the electronic door locks of the vehicle doors to lock. The light strip will remain lit for its entire length, and the light flow frequency will be set to low frequency to simulate the pedestrian passing by and to provide a warning.

[0149] It is understandable that in the field of automotive intelligent cockpit interaction and assisted driving safety technology, the relevant technologies have the following shortcomings in terms of actual human-computer interaction and user experience: (1) The warning information lacks quantitative feedback and the perception dimension is singular. Although the relevant technologies have calculated TTC data, their feedback form is limited to the lighting and flashing of ambient lights. This qualitative warning method only informs the occupants that there is danger, but cannot intuitively show the specific remaining time for safe door opening, resulting in ambiguity in the transmission of warning information; (2) The anxiety of the occupants caused by the disconnection of the interaction logic. During the period when the electronic door lock is forcibly locked due to safety risks, the relevant technologies cannot provide quantitative countdown guidance. The occupants are in an invisible waiting state. The lack of information causes the occupants to misjudge the door malfunction, which in turn causes anxiety, leading to violent pulling behavior, damaging the trust in cockpit interaction, and may also cause physical damage to the door lock hardware; (3) The visual feedback is disconnected from the physical dynamic process. Simple light flashing or color switching cannot simulate the continuous physical dynamics of the target object approaching. There is a lack of visual morphological evolution strongly related to the progress of time, such as length changes. It is difficult to establish the occupants' accurate obstacle avoidance psychological expectation, resulting in weak intuition of the warning logic.

[0150] Based on the above problems, this application embodiment obtains the motion data of the target object and determines the estimated collision time. When the estimated collision time is less than a preset safe time threshold, the illuminated length of the ambient light strip is adjusted based on the estimated collision time, and this length is used for the remaining time of the warning collision. It can be seen that this application embodiment can transform the abstract estimated collision time into a visual progress bar information through the dynamic change of the illuminated length of the light strip, providing clear quantitative feedback to the occupants and reducing the ambiguity of information caused by qualitative warnings in related technologies. At the same time, during the forced locking of the electronic door lock, this application embodiment can make the invisible waiting process transparent through the countdown guidance of the illuminated length of the light strip, giving the occupants a clear psychological expectation and effectively avoiding anxiety and violent pulling behavior caused by the lack of warning information. In addition, the dynamic change of the illuminated length of the light strip continuously shortening with the estimated collision time can simulate the physical dynamic process of the target object approaching the vehicle, helping the occupants to establish accurate psychological expectations for obstacle avoidance and improving the intuition and effectiveness of the warning.

[0151] The foregoing mainly describes the solutions of the embodiments of this application from a methodological perspective. It is understood that, in order to achieve the above functions, the collision warning device includes at least one of the hardware structures and software modules corresponding to each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0152] This application embodiment can divide the collision warning device into functional modules according to the above method embodiment. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one functional module. The integrated module can be implemented in hardware or software. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following description uses the example of dividing each functional module according to each function.

[0153] Figure 7 This is a schematic diagram illustrating the composition of a collision warning device provided in an embodiment of this application, as shown below. Figure 7 As shown, the collision warning device 300 includes: an acquisition module 301, a determination module 302, and an adjustment module 303; the acquisition module 301 is used to acquire motion data of the target object. The determination module 302 is used to determine the estimated collision time between the target object and the vehicle based on the motion data. The adjustment module 303 is used to adjust the illuminated length of the ambient light strip of the vehicle based on the estimated collision time, provided that the estimated collision time is less than a preset safety time threshold. The illuminated length is used to determine the remaining time for warning of a collision.

[0154] In some embodiments, the adjustment module 303 is specifically used to determine the length ratio of the illuminated length to the total length of the light strip based on the ratio between the expected collision time and the preset safety time threshold; and to adjust the illuminated length of the light strip based on the length ratio.

[0155] In some embodiments, motion data includes the relative distance between the target and the vehicle and the relative speed between the target and the vehicle; the estimated collision time is determined based on the ratio of the relative distance to the relative speed.

[0156] In some embodiments, the adjustment module 303 is also configured to adjust the display parameters of the ambient light as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

[0157] In some embodiments, the parameters include at least one of the following: the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip.

[0158] In some embodiments, the light flow frequency is determined based on relative velocity, and the light flow frequency is positively correlated with the relative velocity.

[0159] In some embodiments, the collision includes a collision between a vehicle occupant and a target object when the occupant opens the vehicle door; the device further includes: a control module 304; the control module 304 is used to control the electronic door lock of the vehicle door to be in a forced locking state, wherein the forced locking state is used to indicate that the door handle inside the vehicle is disabled.

[0160] In some embodiments, the control module 304 is further configured to release the forced locking state of the electronic door lock in response to the expected collision time changing to be greater than or equal to a preset safety time threshold, and to control the length of the light strip that is lit to be the total length of the light strip.

[0161] In the case of implementing the functions of the integrated modules described above in hardware, this application provides a possible structure for the electronic device involved in the above embodiments.

[0162] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device 400 includes: a processor 401, a memory 402, a storage device 403, a communication interface 404, and a bus 405. The storage device 403 stores a computer program.

[0163] As the core node in the vehicle's electronic and electrical architecture, the electronic device 400 is internally connected to the processor 401, memory 402, and communication interface 404 via a bus 405.

[0164] The processor 401 has floating-point arithmetic capabilities, supports quantitative algorithms for estimated collision time and visual rendering, and is connected to the vehicle's millimeter-wave radar and electronic door lock controller via bus 405 to ensure millisecond-level real-time performance of estimated collision time calculation data and locking commands.

[0165] The processor 401 is connected to the vehicle's camera via bus 405 and transmits high-definition video streams via RTP (Real-time Transport Protocol) / RTCP (Real-time Transport Control Protocol). It supports semantic recognition of target objects based on AI (Artificial Intelligence) algorithms and supports independent addressing of hundreds of LED (Light Emitting Diode) pixels in the ambient light strip, enabling high-frequency refresh and smooth transition of quantitative progress bar animation effects.

[0166] Processor 401 may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this application. Processor 401 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this application. Processor 401 may also be a combination that implements computing functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0167] Communication interface 404 is used to connect to other devices via a communication network. This communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0168] Memory 402 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0169] In one possible implementation, the memory 402 can exist independently of the processor 401. The memory 402 can be connected to the processor 401 via a bus 405 and is used to store instructions or program code. When the processor 401 calls and executes the instructions or program code stored in the memory 402, it can implement the collision warning method provided in this embodiment. In another possible implementation, the memory 402 can also be integrated with the processor 401.

[0170] Bus 405 can be an extended industry standard architecture (EISA) bus, etc. Bus 405 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0171] Some embodiments of this application provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) storing computer program instructions that, when executed on a processor, cause the processor to perform a collision warning method as described in any of the above embodiments.

[0172] For example, the aforementioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this application may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0173] This application provides a computer program product containing instructions that, when run on a processor, cause the processor to execute the collision warning method of any of the above embodiments.

[0174] This application provides a vehicle, including the electronic device in any of the preceding embodiments; or the computer-readable storage medium in any of the preceding embodiments; or the computer program product in any of the preceding embodiments.

[0175] The vehicle provided in this application can be a passenger vehicle or a freight vehicle, and can be an electric vehicle or a hybrid vehicle. This application does not limit the specific purpose or power type of the vehicle; the choice can be made according to actual needs. The vehicle includes a body and wheels. The body is used for passengers and for carrying goods, while the wheels are mounted under the body to support the body and enable it to roll on the road surface to propel the vehicle.

[0176] In some possible examples, the vehicle is equipped with a control system, which typically adopts a layered distributed architecture. From the bottom layer to the top layer, it can be roughly divided into a perception layer, a control layer, a coordination layer, and an interaction layer. The layers communicate with each other through an in-vehicle network.

[0177] The perception layer mainly consists of various sensors distributed inside and outside the vehicle, including but not limited to external environment cameras, millimeter-wave radar, lidar, ultrasonic sensors, in-vehicle driver monitoring cameras, microphone arrays, and various vehicle status sensors (such as wheel speed sensors, inertial measurement units, temperature sensors, etc.). The perception layer is responsible for collecting multi-dimensional data such as the vehicle's own operating status, driver behavior, and external driving environment in real time.

[0178] The control layer consists of dozens to hundreds of electronic control units (ECUs), distributed across multiple functional domains including powertrain, chassis, body, intelligent driving, and infotainment. Each ECU embeds real-time control software that performs closed-loop control of the vehicle's actuators based on preset control strategies or upper-level commands, and generates corresponding alarm signals when abnormal conditions are detected. Typical ECUs include the engine control unit, transmission control unit, brake control unit, steering control unit, vehicle stability control unit, airbag control unit, intelligent driving domain controller, and in-vehicle infotainment unit.

[0179] The coordination layer typically exists in the form of a domain controller or a central computing platform, responsible for cross-domain data fusion, global state management, and collaborative decision-making. The coordination layer centrally processes and schedules the sensing data and control commands that were originally scattered across various functional domains, connecting downwards to various electronic control units and supporting human-machine interaction functions upwards.

[0180] The interaction layer mainly includes in-cabin display devices (such as instrument panel, central control screen, head-up display), voice interaction system, haptic feedback device, etc., which are responsible for presenting vehicle status, warning information and driving suggestions to the driver in the form of visual, auditory or tactile, while receiving the driver's touch, voice and other input commands.

[0181] Data transmission and interaction between different layers are achieved through the vehicle bus network. Common vehicle bus protocols include CAN (Controller Area Network), CAN FD (CAN with Flexible Data-Rate), LIN (Local Interconnect Network), FlexRay, and vehicle Ethernet, which supports high-bandwidth data transmission. Among these, CAN and CAN FD buses are widely used for communication in real-time control domains such as powertrain and chassis, while vehicle Ethernet is gradually being applied to high-bandwidth sensor data transmission in the intelligent driving domain and multimedia interaction scenarios in the cockpit domain.

[0182] In some possible examples, the intelligent driving domain controller, as the core of the in-vehicle computing platform, is equipped with a processor and memory to execute the collision warning method provided in the embodiments of this application.

[0183] For example, the electronic device of this application is arranged in an intelligent driving domain controller.

[0184] For example, the intelligent driving domain controller has multiple functional modules deployed to perform the various method steps.

[0185] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A collision warning method, characterized in that, The method includes: Acquire motion data of the target object; Based on the motion data, the estimated collision time between the target object and the vehicle is determined; If the estimated collision time is less than a preset safety time threshold, the illuminated length of the ambient light strip in the vehicle is adjusted based on the estimated collision time; wherein the illuminated length is used to warn of the remaining time before a collision.

2. The method according to claim 1, characterized in that, The step of adjusting the illuminated length of the ambient light strip in the vehicle based on the estimated collision time includes: Based on the ratio between the expected collision time and the preset safety time threshold, the proportion of the illuminated length in the light strip to the total length of the light strip is determined. Based on the aforementioned length ratio, the length of the light strip that is illuminated is adjusted.

3. The method according to claim 1, characterized in that, The motion data includes: the relative distance between the target and the vehicle and the relative speed between the target and the vehicle; the estimated collision time is determined based on the ratio of the relative distance to the relative speed.

4. The method according to claim 3, characterized in that, The method further includes: The display parameters of the ambient light are adjusted as the expected collision time changes, or as the relative distance changes, or as the relative speed changes.

5. The method according to claim 4, characterized in that, The display parameters include at least one of the following: the color of the light in the illuminated length of the light strip, the brightness of the illuminated length of the light strip, the direction of light flow in the illuminated length of the light strip, and the frequency of light flow in the illuminated length of the light strip.

6. The method according to claim 5, characterized in that, The light flow frequency is determined based on the relative velocity, and the light flow frequency is positively correlated with the relative velocity.

7. The method according to claim 1, characterized in that, The collision includes a collision between a vehicle occupant and the target object when the vehicle door is opened; the method further includes: The electronic door lock controlling the vehicle door is in a forced locking state, wherein the forced locking state is used to indicate that the door handles inside the vehicle are disabled.

8. The method according to claim 7, characterized in that, The method further includes: In response to the expected collision time changing to be greater than or equal to the preset safety time threshold, the forced locking state of the electronic door lock is released, and the length of the light strip that is lit is controlled to be the total length of the light strip.

9. A collision warning device, characterized in that, The device includes: The acquisition module is used to acquire the motion data of the target object; A determination module is used to determine the estimated collision time between the target object and the vehicle based on the motion data; An adjustment module is used to adjust the illuminated length of the ambient light strip of the vehicle based on the estimated collision time, provided that the estimated collision time is less than a preset safety time threshold; wherein the illuminated length is used to warn of the remaining time before a collision.

10. An electronic device, characterized in that, The electronic device includes: a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; when the processor executes the instructions, it performs the collision warning method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the collision warning method as described in any one of claims 1 to 8.

12. A computer program product, characterized in that, It includes a computer program; when the computer program is executed, it is capable of implementing the collision warning method as described in any one of claims 1 to 8.

13. A vehicle, characterized in that, This includes the electronic device as claimed in claim 10; or the computer-readable storage medium as claimed in claim 11; or the computer program product as claimed in claim 12.

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