Early warning method and apparatus based on vehicle environment perception, server, and vehicle

Abstract

An early warning method and apparatus based on vehicle environment perception, a server, and a vehicle. The method comprises: receiving type information and position information of at least one target uploaded by the current vehicle (501); on the basis of the type information and the position information of the at least one target, selecting, from the at least one target, a collision target satisfying a first preset collision risk condition and a first early warning strategy corresponding to the collision target (502); and sending the first early warning strategy to the current vehicle so as to control the current vehicle to carry out early warning according to the first early warning strategy (503). Therefore, the present application solves the problem that when a traffic danger occurs, a user cannot promptly make a driving remedial action, etc., due to lag of early warning reminding for vehicle driving safety, thereby reducing the probability of traffic accidents of the current vehicle, improving the driving safety of the current vehicle, and thus protecting the driving safety of a user.

Description

Vehicle environment perception warning method, device, server and vehicle

[0001] This application claims priority to Chinese patent application No. 202310789298.8 filed on June 29, 2023, entitled “Warning method, device, server and storage medium for vehicle environment perception”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle environment perception technology, and in particular to a vehicle environment perception early warning method, device, server and vehicle. Background Art

[0003] With the development of vehicle technology, the penetration rate of vehicles is getting higher and higher. Vehicles have become an indispensable means of transportation for people to travel, but the incidence of traffic accidents is also increasing. Among them, improper driving operations of drivers, road obstacles, vehicle failures and other factors account for a large proportion. If they are not handled in time, major accidents are likely to occur on the driving section, causing significant losses to users' lives and property.

[0004] In the related art, the surrounding environment information of the vehicle is collected by traditional sound collection equipment or image collection equipment, and the vehicle is warned based on the collected information.

[0005] Summary of the Invention

[0006] The present application provides a vehicle environment perception warning method, device, server and vehicle to solve the problem that the warning reminders for vehicle driving safety in related technologies have a lag, so that when traffic hazards occur, users are unable to take timely driving remedial actions.

[0007] In a first aspect, an embodiment of the present application provides a vehicle environment perception warning method, comprising the following steps:

[0008] Receiving motion information, type information, and location information of at least one target uploaded by the current vehicle;

[0009] Based on the type information and the position information, screening out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target according to the motion information; and

[0010] The first warning strategy is sent to the current vehicle to control the current vehicle to perform a warning according to the first warning strategy.

[0011] According to one embodiment of the present application, after receiving the motion information, type information, and location information of at least one target uploaded by the current vehicle, the method further includes:

[0012] determining whether there is a static target in the at least one target according to the motion information, the type information, and the position information;

[0013] If the static target exists, the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.

[0014] According to one embodiment of the present application, after sending the location information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the method further includes:

[0015] Determining whether the obstacle clearing platform has received information indicating that the obstacle has been cleared;

[0016] If the obstacle cleared information is received, the control of the current vehicle to issue an early warning according to the first early warning strategy is stopped.

[0017] According to one embodiment of the present application, after screening out a collision target that meets the first preset collision risk condition and the first warning strategy corresponding to the collision target based on the motion information, the method further includes:

[0018] Obtaining other vehicles that meet a second preset collision risk condition with the current vehicle and a second warning strategy corresponding to the other vehicles;

[0019] The second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0020] According to one embodiment of the present application, the above-mentioned vehicle environment perception warning method further includes:

[0021] identifying a collision risk level of the collision target;

[0022] When the collision risk level is less than or equal to a preset risk level, a warning is issued through a preset acoustic warning device or a preset optical warning device;

[0023] When the danger level is greater than the preset danger level, an early warning is issued simultaneously through a preset acoustic reminder device and a preset optical reminder device.

[0024] According to the vehicle environment perception warning method of the embodiment of the present application, the motion information, type information, and location information of at least one target uploaded by the current vehicle are received. Based on the type information and location information, the method selects collision targets that meet a first preset collision risk condition and their corresponding first warning strategy according to the motion information. The method then sends the information to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy. This method solves the problem of delayed warning reminders for vehicle driving safety in related technologies, which prevents users from taking timely remedial driving actions when traffic hazards occur. Through the coordinated cooperation of the vehicle-side, road management platform, and cloud-based warning system, the environmental perception system detects static and dynamic obstacles around the vehicle in real time, thereby providing road warning information to the user to ensure their driving safety.

[0025] In a second aspect, an embodiment of the present application provides a vehicle environment perception warning device, comprising:

[0026] A receiving module, configured to receive motion information, type information, and location information of at least one target uploaded by the current vehicle;

[0027] a screening module, configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets according to the motion information based on the type information and the position information; and

[0028] A control module is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.

[0029] According to one embodiment of the present application, after receiving the motion information, type information, and location information of at least one target uploaded by the current vehicle, the receiving module is further configured to:

[0030] determining whether there is a static target in the at least one target according to the motion information, the type information, and the position information;

[0031] If the static target exists, the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.

[0032] According to one embodiment of the present application, after sending the location information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module is further configured to:

[0033] Determining whether the obstacle clearing platform has received information indicating that the obstacle has been cleared;

[0034] If the obstacle cleared information is received, the control of the current vehicle to issue an early warning according to the first early warning strategy is stopped.

[0035] According to one embodiment of the present application, after screening out collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets based on the motion information, the screening module is further configured to:

[0036] Obtaining other vehicles that meet a second preset collision risk condition with the current vehicle and a second warning strategy corresponding to the other vehicles;

[0037] The second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0038] According to one embodiment of the present application, the above-mentioned vehicle environment perception warning device is further used to:

[0039] identifying a collision risk level of the collision target;

[0040] When the collision risk level is less than or equal to a preset risk level, a warning is issued through a preset acoustic warning device or a preset optical warning device;

[0041] When the danger level is greater than the preset danger level, an early warning is issued simultaneously through a preset acoustic reminder device and a preset optical reminder device.

[0042] According to the vehicle environment perception warning device of the embodiment of the present application, the device receives motion information, type information, and location information of at least one target uploaded by the current vehicle. Based on the type information and location information, the device selects collision targets that meet a first preset collision risk condition and their corresponding first warning strategy according to the motion information. The device then sends the information to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy. This solves the problem of delayed warning reminders for vehicle driving safety in related technologies, which prevents users from taking timely remedial driving actions when traffic hazards occur. Through the coordinated cooperation of the vehicle-side, road management platform, and cloud-based warning system, the environmental perception system detects static and dynamic obstacles around the vehicle in real time, thereby providing road warning information to the user to ensure their driving safety.

[0043] In a third aspect, an embodiment of the present application provides a vehicle environment perception warning method, the method comprising:

[0044] Receiving type information and location information of at least one target uploaded by the current vehicle;

[0045] Based on the type information and location information of the at least one target, screening out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target; and

[0046] The first warning strategy is sent to the current vehicle to control the current vehicle to perform a warning according to the first warning strategy.

[0047] In one possible implementation, the screening out, from the at least one target, a collision target that meets a first preset collision risk condition based on the type information and the position information of the at least one target includes:

[0048] Based on the type information of the at least one target, determining a static target in the at least one target, the static target being a target whose type information is a static type;

[0049] According to the position information of the static targets, collision targets that meet a first preset collision risk condition are screened out from the static targets.

[0050] In a possible implementation, screening out collision targets that meet a first preset collision risk condition from the static targets based on the position information of the static targets includes:

[0051] Among the static targets, a static target whose position indicated by position information is located on the driving route of the current vehicle is determined as the collision target.

[0052] In a possible implementation, after receiving the type information and location information of at least one target uploaded by the current vehicle, the method further includes:

[0053] determining whether there is a static target in the at least one target according to the type information of the at least one target;

[0054] If the static target exists, the location information corresponding to the static target is sent to the obstacle clearing platform.

[0055] In a possible implementation, after sending the location information corresponding to the static target to the obstacle clearing platform, the method further includes:

[0056] Determining whether the obstacle clearing platform has received information indicating that the obstacle has been cleared;

[0057] If the obstacle cleared information is received, the control of the current vehicle to issue an early warning according to the first early warning strategy is stopped.

[0058] In a possible implementation, after screening out a collision target that meets a first preset collision risk condition from the at least one target and the first warning strategy corresponding to the collision target, the method further includes:

[0059] Obtaining other vehicles that meet a second preset collision risk condition with the collision target and a second warning strategy corresponding to the other vehicles;

[0060] The second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0061] In one possible implementation, determining a first warning strategy corresponding to the collision target includes:

[0062] identifying a collision risk level of the collision target;

[0063] When the collision risk level is less than or equal to a preset risk level, determining that the first warning strategy is to issue a warning through a preset acoustic warning device or a preset optical warning device;

[0064] When the collision risk level is greater than the preset risk level, the first warning strategy is determined to be to simultaneously issue a warning through a preset acoustic warning device and a preset optical warning device.

[0065] In a possible implementation, the method further includes:

[0066] When a collision target that meets a first preset collision risk condition is screened out from the at least one target, adjusting the driving route of the current vehicle to obtain a first driving route, wherein the first driving route does not pass through the collision target;

[0067] The first driving route is sent to the current vehicle to control the current vehicle to travel according to the first driving route.

[0068] In a fourth aspect, an embodiment of the present application provides a vehicle environment perception warning method, the method comprising:

[0069] Obtaining type information and location information of at least one target;

[0070] Based on the type information and location information of the at least one target, screening out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target;

[0071] An early warning is issued according to the first early warning strategy.

[0072] In a possible implementation, after obtaining the type information and location information of at least one target, the method further includes:

[0073] Sending the type information and location information of the at least one target to the server, where the type information and location information of the at least one target are used by the server to screen out, from the at least one target, collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets based on the type information and location information of the at least one target;

[0074] Receive the first early warning strategy returned by the server.

[0075] In a fifth aspect, an embodiment of the present application provides a vehicle environment perception warning device, the device comprising:

[0076] A receiving module, configured to receive type information and location information of at least one target uploaded by the current vehicle;

[0077] a screening module, configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target based on the type information and location information of the at least one target; and

[0078] A control module is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.

[0079] In one possible implementation, the screening module is used to determine a static target among the at least one target based on the type information of the at least one target, where the static target is a target whose type information is a static type; and to screen out collision targets that meet a first preset collision risk condition among the static targets based on the position information of the static target.

[0080] In a possible implementation, the screening module is configured to determine, among the static targets, a static target whose position indicated by position information is located on the driving route of the current vehicle as the collision target.

[0081] In a possible implementation, the apparatus further includes:

[0082] The sending module is used to determine whether there is a static target among the at least one target according to the type information of the at least one target; if the static target exists, the position information corresponding to the static target is sent to the obstacle clearing platform.

[0083] In a possible implementation, the control module is further configured to determine whether obstacle clearing information from the obstacle clearing platform is received; if the obstacle clearing information is received, stop controlling the current vehicle to issue an early warning according to the first early warning strategy.

[0084] In a possible implementation, the screening module is further configured to obtain other vehicles that meet a second preset collision risk condition with the collision target and a second warning strategy corresponding to the other vehicles;

[0085] The control module is further configured to send the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0086] In one possible implementation, the screening module is used to identify the collision hazard level of the collision target; when the collision hazard level is less than or equal to a preset hazard level, the first warning strategy is determined to be to issue a warning through a preset acoustic reminder device or a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, the first warning strategy is determined to be to issue a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.

[0087] In a possible implementation, the apparatus further includes:

[0088] an adjustment module, configured to, when a collision target that satisfies a first preset collision risk condition is screened out from the at least one target, adjust the driving route of the current vehicle to obtain a first driving route, wherein the first driving route does not pass through the collision target;

[0089] A sending module is used to send the first driving route to the current vehicle to control the current vehicle to travel according to the first driving route.

[0090] In a sixth aspect, an embodiment of the present application provides a vehicle environment perception warning device, the device comprising:

[0091] an acquisition module, configured to acquire type information and location information of at least one target;

[0092] a screening module, configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target based on the type information and location information of the at least one target;

[0093] A control module is used to issue an early warning according to the first early warning strategy.

[0094] In a possible implementation, the apparatus further includes:

[0095] a sending module, configured to send the type information and location information of the at least one target to a server, wherein the type information and location information of the at least one target are used by the server to screen out, from the at least one target, collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets based on the type information and location information of the at least one target;

[0096] A receiving module is used to receive the first warning strategy returned by the server.

[0097] In the seventh aspect, an embodiment of the present application provides a server, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in the above embodiment.

[0098] In an eighth aspect, an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in the above embodiment.

[0099] In a ninth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle environment perception warning method as described in the above embodiment.

[0100] In the tenth aspect, an embodiment of the present application provides a computer program product, in which at least one computer instruction is stored. The at least one computer instruction is loaded and executed by a processor to enable the computer to implement the vehicle environment perception warning method described in the above embodiment.

[0101] The method provided in an embodiment of the present application, when determining that at least one target contains a collision target that threatens the safe driving of the current vehicle, transmits a first warning strategy corresponding to the collision target to the current vehicle, causing the current vehicle to issue a warning according to the first warning strategy. This warning method can provide an early warning to the current vehicle, allowing the driver to take timely remedial driving actions, allowing the current vehicle to avoid the collision target in a timely manner, reducing the probability of the current vehicle being involved in a traffic accident, thereby improving the current vehicle's driving safety and avoiding significant loss of life and property to the user.

[0102] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0104] FIG1 is a schematic diagram of an implementation environment of a vehicle environment perception warning method provided according to an embodiment of the present application;

[0105] FIG2 is a flow chart of a vehicle environment perception warning method according to an embodiment of the present application;

[0106] FIG3 is a communication diagram of an environment perception system according to an embodiment of the present application;

[0107] FIG4 is an exemplary diagram of a vehicle environment perception warning device provided according to an embodiment of the present application;

[0108] FIG5 is a flow chart of a vehicle environment perception warning method according to an embodiment of the present application;

[0109] FIG6 is a flow chart of a vehicle environment perception warning method according to an embodiment of the present application;

[0110] FIG7 is a flow chart of a vehicle environment perception warning method according to an embodiment of the present application;

[0111] FIG8 is a schematic structural diagram of a vehicle environment perception warning device according to an embodiment of the present application;

[0112] FIG9 is a schematic structural diagram of a vehicle environment perception warning device according to an embodiment of the present application;

[0113] FIG10 is a schematic diagram of the structure of a server provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0114] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0115] With the development of vehicle technology, the penetration rate of vehicles is getting higher and higher. Vehicles have become an indispensable means of transportation for people to travel, but the incidence of traffic accidents is also increasing. Among them, improper driving operations of drivers, road obstacles, vehicle failures and other factors account for a large proportion. If they are not handled in time, major accidents are likely to occur on the driving section, causing significant losses to users' lives and property.

[0116] In the related art, the surrounding environment information of the vehicle is collected by traditional sound collection equipment or image collection equipment, and the vehicle is warned based on the collected information.

[0117] However, there is a lag in the early warning reminder for vehicle driving safety by only collecting information from the vehicle's surrounding environment. When traffic hazards occur, users cannot take timely driving remedial actions, resulting in poor vehicle driving safety.

[0118] The following describes, with reference to the accompanying drawings, a vehicle environment perception warning method, device, server, and vehicle according to embodiments of the present application. To address the aforementioned issue of delayed warnings for vehicle driving safety in related technologies, which prevents users from taking timely remedial driving actions when a traffic hazard occurs, the present application provides a vehicle environment perception warning method. In this method, motion information, type information, and location information of at least one target uploaded by a current vehicle are received. Based on the type information and location information, collision targets that meet a first preset collision risk condition and their corresponding first warning strategies are screened based on the motion information and sent to the current vehicle to control the current vehicle to issue warnings according to the first warning strategy. This solves the aforementioned issue of delayed warnings for vehicle driving safety, which prevents users from taking timely remedial driving actions when a traffic hazard occurs. By collaborating with the vehicle, the road management platform, and the cloud-based warning system, the vehicle's environment perception system detects static and dynamic obstacles around the vehicle in real time, thereby providing road warning information to the user to ensure their driving safety.

[0119] As shown in Figure 1, this is a schematic diagram of the implementation environment of a vehicle environment perception warning method provided in an embodiment of the present application. The implementation environment includes a vehicle 101 and a server 102. The vehicle environment perception warning method provided in the embodiment of the present application can be executed by the vehicle 101 or realized by the interaction between the vehicle 101 and the server 102. The embodiment of the present application does not limit this.

[0120] The vehicle 101 may be any vehicle including an in-vehicle terminal.

[0121] Server 102 is a single server, a server cluster consisting of multiple servers, or any of a cloud computing platform and a virtualization center, which are not limited in this embodiment of the present application. For example, server 102 is a cloud-based early warning system. Server 102 is directly or indirectly connected to vehicle 101 via wired or wireless communication. Server 102 has data receiving, data processing, and data transmission functions. Of course, server 102 may also have other functions, which are not limited in this embodiment of the present application.

[0122] Those skilled in the art should understand that the above-mentioned vehicle 101 and server 102 are merely examples, and other existing or future vehicles or servers, if applicable to this application, should also be included in the scope of protection of this application and are incorporated herein by reference.

[0123] Specifically, before introducing the embodiments of the present application, we will first introduce the relevant system modules involved in the embodiments of the present application, which mainly include a vehicle environment perception module, a communication module and a cloud warning system.

[0124] Among them, the vehicle environment perception module is used to realize target detection and identification in the direction of vehicle travel, such as the vehicle environment perception module is millimeter wave radar, camera, etc.; the communication module is used to realize the reporting of target information and the reception of cloud warning information; the cloud warning system is used to receive and process the perceived target information sent by the vehicle end, determine whether the target will pose a danger to the vehicles passing behind, and inform the road management department to deal with it in time.

[0125] Specifically, FIG2 is a flow chart of a vehicle environment perception warning method provided in an embodiment of the present application.

[0126] As shown in FIG2 , the vehicle environment perception warning method includes the following steps:

[0127] In step S201 , motion information, type information, and location information of at least one target uploaded by the current vehicle are received.

[0128] In an embodiment of the present application, during the current vehicle's travel, an environmental perception module such as a millimeter-wave radar or camera on the vehicle side detects and identifies targets in the current vehicle's direction of travel. For example, target information obtained by the millimeter-wave radar and target information obtained by the camera are compensated, deduplicated, and fitted, thereby obtaining various accurate information about targets on the road. Among them, the millimeter-wave radar can mainly obtain information about moving targets, including target type information, position information, motion information, speed, heading angle, etc.; the camera is the most frequently used in the environmental perception system, thereby obtaining information such as the type, position information, motion information, and vehicle license plate of the current vehicle, non-motor vehicle, and / or pedestrian, thereby obtaining more accurate targets around the current vehicle, and outputting motion information, type information, and position information of at least one target. The motion information, type information, and position information of at least one target are then uploaded to the cloud-based early warning system via the communication module.

[0129] According to one embodiment of the present application, after receiving the motion information, type information and position information of at least one target uploaded by the current vehicle, it also includes: judging whether there is a static target in at least one target based on the motion information, type information and position information; if there is a static target, the position information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.

[0130] In an embodiment of the present application, after the cloud-based early warning system receives the motion information, type information and position information of at least one target, it determines whether there is a static target in the at least one target based on the received motion information, type information and position information. For example, whether there are spilled objects, faulty vehicles that cannot move, or other target obstacles in front of the current vehicle. If there is a static target, the position information and type information corresponding to the static target are uploaded to the cloud-based early warning system through the communication module, and the position information and type information corresponding to the static target are sent to the obstacle clearing platform.

[0131] In step S202, based on the type information and the position information, collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets are screened according to the motion information.

[0132] Among them, the first preset collision risk condition and the first warning strategy can be relevant collision risk conditions and warning strategies determined by those skilled in the art based on the actual perceived risks, and are not specifically limited here.

[0133] Specifically, as shown in Figure 3, after receiving the motion information, type information and location information of at least one target, the embodiment of the present application re-analyzes and processes the location information and type information corresponding to the received target based on the cloud computing power and perception algorithm model of the cloud-based early warning system, and determines whether the target will pose a danger to the current vehicle. If a danger occurs, the collision target that meets the first preset collision risk condition and the first early warning strategy corresponding to the collision target are screened out according to the motion information of the target, so as to warn the user of the current vehicle to make route planning in advance to prevent traffic accidents.

[0134] In step S203, the first warning strategy is sent to the current vehicle to control the current vehicle to perform a warning according to the first warning strategy.

[0135] When the embodiment of the present application determines that the target will pose a danger to the current vehicle, a first warning strategy is sent to the current vehicle. For example, a warning message can be broadcast to the current vehicle through the vehicle-mounted speaker or a warning reminder can be made to the current vehicle through warning devices such as a buzzer that there is a collision target on the road ahead. After the current vehicle receives the warning message, the warning message is synchronized to the vehicle-side intelligent driving assistance system, so that the current vehicle replans the driving path according to the collision target, so as to help users perform emergency avoidance and improve driving safety.

[0136] According to one embodiment of the present application, after screening out the collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets based on the motion information, it also includes: obtaining the remaining vehicles that meet the second preset collision risk condition with the current vehicle and the second warning strategy corresponding to the remaining vehicles; sending the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0137] Among them, the second preset collision risk condition and the second warning strategy can be relevant collision risk conditions and warning strategies determined by those skilled in the art based on the actual perceived risks, and are not specifically limited here.

[0138] Specifically, as shown in Figure 3, after the embodiment of the present application screens out the collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets based on the motion information of the target, it can also re-analyze and process the received position information and type information corresponding to the target based on the cloud computing power and perception algorithm model of the cloud warning system, and judge whether the target will pose a danger to other vehicles that need to pass. If there is a danger, the remaining vehicles that meet the second preset collision risk condition and the second warning strategy corresponding to the remaining vehicles are screened out based on the motion information of the target, and the second warning strategy is sent to the remaining vehicles. After the remaining vehicles receive the warning information, the warning information is synchronized to the vehicle-side intelligent driving assistance system to control the remaining vehicles to issue warnings according to the second warning strategy, so as to warn the users of the remaining vehicles to make route planning in advance to prevent traffic accidents.

[0139] For example, when the embodiment of the present application determines that the target will pose a danger to other vehicles that need to pass, it can also broadcast warning information to other vehicles through the vehicle-mounted horn, or use warning devices such as buzzers to warn other vehicles that there is a collision target on the road ahead. After the other vehicles receive the warning information, the warning information is synchronized to the vehicle-side intelligent driving assistance system, so that the other vehicles can re-plan their driving routes according to the collision target to prevent traffic accidents.

[0140] According to one embodiment of the present application, after the location information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform, it also includes: judging whether the obstacle cleared information sent by the obstacle clearing platform is received; if the obstacle cleared information is received, stopping controlling the current vehicle to issue an early warning according to the first early warning strategy.

[0141] In an embodiment of the present application, after the current vehicle and the remaining vehicles receive the warning information of the static target, the warning information is synchronized to the vehicle-side intelligent driving assistance system. At the same time, the obstacle clearing platform is notified through the cloud warning system to deal with the obstacle in time. After the obstacle clearing platform clears the obstacle, the obstacle clearing platform feeds back to the current vehicle and the remaining vehicles the information that the collision object has been cleared and the information that the obstacle warning has been lifted.

[0142] According to one embodiment of the present application, the above-mentioned vehicle environment perception warning method also includes: identifying the collision risk level of the collision target; when the collision risk level is less than or equal to the preset risk level, issuing a warning through a preset acoustic reminder device or a preset optical reminder device; when the risk level is greater than the preset risk level, issuing a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.

[0143] Among them, the preset danger level, preset acoustic reminder device and preset optical reminder device can be the relevant collision danger level, acoustic reminder device or optical reminder device set by technical personnel in this field according to the collision risk of the vehicle, and are not specifically limited here.

[0144] After receiving the motion information, type information, and location information of at least one target, the embodiments of the present application reanalyze and process the received location information and type information corresponding to the target based on the cloud computing power and perception algorithm model of the cloud-based early warning system, identify the collision risk level of the target, and set a corresponding early warning strategy based on the collision risk level. For example, when the collision risk level is less than or equal to a preset risk level, an early warning is issued through a preset acoustic warning device or a preset optical warning device; when the risk level is greater than the preset risk level, an early warning is issued through both the preset acoustic warning device and the preset optical warning device.

[0145] For example, when the collision risk level of the identified collision target is less than or equal to the preset risk level, an early warning can be issued to the current vehicle and other vehicles through a buzzer or an on-board display screen. When the collision risk level of the identified collision target is greater than the preset risk level, an early warning can be issued to the current vehicle and other vehicles through a buzzer and an on-board display screen at the same time to alert users to avoid collision risks and improve driving safety.

[0146] In summary, the vehicle environment perception warning method of the embodiment of the present application has the following beneficial effects:

[0147] (1) Provide early warning of road conditions ahead to improve driving safety;

[0148] (2) Collaborate with the vehicle terminal, platform and road management department to improve the efficiency of warning cancellation;

[0149] (3) Strong functional scalability;

[0150] (4) Low cost and easy to promote and use on a large scale.

[0151] According to the vehicle environment perception warning method of the embodiment of the present application, the motion information, type information, and location information of at least one target uploaded by the current vehicle are received. Based on the type information and location information, the method selects collision targets that meet a first preset collision risk condition and their corresponding first warning strategy according to the motion information. The method then sends the information to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy. This method solves the problem of delayed warning reminders for vehicle driving safety in related technologies, which prevents users from taking timely remedial driving actions when traffic hazards occur. Through the coordinated cooperation of the vehicle-side, road management platform, and cloud-based warning system, the environmental perception system detects static and dynamic obstacles around the vehicle in real time, thereby providing road warning information to the user to ensure their driving safety.

[0152] 4 , an embodiment of the present application provides a vehicle environment perception warning device, which includes the following contents.

[0153] FIG4 is a block diagram of a vehicle environment perception warning device provided in an embodiment of the present application.

[0154] As shown in FIG4 , the vehicle environment perception warning device 10 includes: a receiving module 100 , a screening module 200 and a control module 300 .

[0155] The receiving module 100 is configured to receive motion information, type information, and location information of at least one target uploaded by the current vehicle;

[0156] A screening module 200 is configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets based on the type information and the position information according to the motion information; and

[0157] The control module 300 is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.

[0158] According to one embodiment of the present application, after receiving the motion information, type information, and location information of at least one target uploaded by the current vehicle, the receiving module 100 is further configured to:

[0159] determining whether there is a static target among at least one target according to the motion information, the type information, and the position information;

[0160] If there is a static target, the location information and type information corresponding to the static target are sent to the obstacle clearing platform.

[0161] According to one embodiment of the present application, after sending the location information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module 100 is further configured to:

[0162] Determine whether the obstacle clearing platform has received the obstacle clearing information;

[0163] If the obstacle has been cleared information is received, the control of the current vehicle is stopped and the warning is issued according to the first warning strategy.

[0164] According to one embodiment of the present application, after screening out collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets based on the motion information, the screening module 200 is further configured to:

[0165] Obtaining a second warning strategy corresponding to other vehicles that meet a second preset collision risk condition with the current vehicle and other vehicles;

[0166] The second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0167] According to one embodiment of the present application, the above-mentioned vehicle environment perception warning device 10 is further used to:

[0168] Identify the collision risk level of the collision target;

[0169] When the collision risk level is less than or equal to the preset risk level, a warning is issued through a preset acoustic warning device or a preset optical warning device;

[0170] When the danger level is greater than the preset danger level, an early warning is issued simultaneously through the preset acoustic reminder device and the preset optical reminder device.

[0171] According to the vehicle environment perception warning device of the embodiment of the present application, the device receives motion information, type information, and location information of at least one target uploaded by the current vehicle. Based on the type information and location information, the device selects collision targets that meet a first preset collision risk condition and their corresponding first warning strategy according to the motion information. The device then sends the information to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy. This solves the problem of delayed warning reminders for vehicle driving safety in related technologies, which prevents users from taking timely remedial driving actions when traffic hazards occur. Through the coordinated cooperation of the vehicle-side, road management platform, and cloud-based warning system, the environmental perception system detects static and dynamic obstacles around the vehicle in real time, thereby providing road warning information to the user to ensure their driving safety.

[0172] FIG5 is a vehicle environment perception warning method provided in an embodiment of the present application. The method can be executed by the server 102 in the implementation environment shown in FIG1 . As shown in FIG5 , the method includes the following steps 501 to 503 .

[0173] In step 501, type information and location information of at least one target uploaded by the current vehicle are received.

[0174] In an exemplary embodiment of the present application, the at least one target is a target included in the direction of travel of the current vehicle. The current vehicle includes a vehicle environment perception module, which may be a millimeter-wave radar, a camera, or other module capable of perceiving the vehicle environment, and is not limited in this embodiment of the present application. The current vehicle invokes the vehicle environment perception module to identify the direction of travel of the current vehicle and obtain type information and location information of the at least one target included in the direction of travel.

[0175] Among them, the type information of the target can be a static type or a dynamic type. A static type target refers to an immovable target, for example, a static type target is an item spilled by the vehicle in front, or a static type target is a vehicle that cannot move due to a malfunction. A dynamic type target refers to a movable target, for example, a dynamic type target is a pedestrian, or a dynamic type target is a vehicle moving in front. Of course, static type targets and dynamic type targets can also be other, and the embodiments of the present application do not limit this. The location information of the target refers to the information of the location of the target, that is, the location information of the target is used to indicate the location of the target.

[0176] Optionally, the vehicle environment perception module is a millimeter-wave radar. The millimeter-wave radar identifies the current vehicle's direction of travel, obtains the type information and position information of at least one target included in the direction of travel, and can also obtain the target's speed and heading angle. However, due to the lack of texture information in the millimeter-wave type, the type information of the target may be misjudged. Therefore, a camera is generally used to identify the current vehicle's direction of travel to obtain the type information and position information of at least one target included in the direction of travel.

[0177] In one possible implementation, after the current vehicle obtains the type information and location information of at least one target, it sends the type information and location information of the at least one target to a server, so that the server also obtains the type information and location information of the at least one target. Optionally, the current vehicle includes a communication module, and the current vehicle sends the type information and location information of the at least one target to the server via the communication module.

[0178] In step 502, based on the type information and location information of at least one target, collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets are screened out from the at least one target.

[0179] In one possible implementation, based on the type information and position information of at least one target, the process of screening out collision targets that meet the first preset collision risk condition from at least one target includes: based on the type information of at least one target, determining a static target from at least one target, where the static target is a target whose type information is a static type; and based on the position information of the static target, screening out collision targets that meet the first preset collision risk condition from the static targets.

[0180] The static targets that meet the first preset collision risk condition are those located in the current vehicle's travel path. Furthermore, the static targets that meet the first preset collision risk condition are those located in the current vehicle's travel path and in the current vehicle's direction of travel.

[0181] Optionally, at least one target whose corresponding type information indicates a static type is determined as a static target. The process of screening the static targets for collision targets that meet a first preset collision risk condition based on the position information of the static targets includes: determining as collision targets static targets whose position information indicates a location within the current vehicle's travel path. Furthermore, determining as collision targets static targets whose position information indicates a location within the current vehicle's travel path and in the current vehicle's forward direction.

[0182] If a static target is located in the current vehicle's path, it could threaten the vehicle's movement, increasing the probability of a traffic accident and compromising driving safety. Therefore, an early warning is needed to allow the vehicle to avoid the collision target, thereby reducing the probability of a traffic accident and improving driving safety.

[0183] Before determining the collision target in the static target, the current vehicle's route needs to be obtained. Optionally, the server stores the identifiers of each vehicle and the routes of each vehicle, and the current vehicle's route is determined based on the identifier of the current vehicle and the identifiers and routes of each vehicle.

[0184] Alternatively, the server may obtain the current vehicle's driving route by interacting with the current vehicle. That is, the server may send a driving route acquisition request to the current vehicle, and the current vehicle, after receiving the driving route acquisition request, may send the current vehicle's driving route to the server, so that the server may obtain the current vehicle's driving route.

[0185] In one possible implementation, the process of determining the first warning strategy corresponding to the collision target includes: identifying the collision hazard level of the collision target; when the collision hazard level is less than or equal to the preset hazard level, determining the first warning strategy to be a warning through a preset acoustic reminder device or a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, determining the first warning strategy to be a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.

[0186] The preset danger level is set based on experience or adjusted according to the implementation environment, which is not limited in the present embodiment.

[0187] Optionally, the process of identifying the collision risk level of the collision target includes: storing correspondences between various targets and risk levels in the current vehicle, and determining the collision risk level of the collision target according to the collision target and the correspondences between various targets and risk levels.

[0188] The pre-set acoustic reminder device may play a warning message through a pre-set acoustic reminder device (such as a speaker device). The pre-set optical reminder device may display a warning message on a pre-set optical reminder device (such as a display screen).

[0189] In one possible implementation, after receiving the type information and location information of at least one target included in the current vehicle's driving direction uploaded by the current vehicle, it is determined whether there is a static target among the at least one target based on the type information of the at least one target; if there is a static target, the location information corresponding to the static target is sent to the obstacle clearing platform. The obstacle clearing platform refers to a platform used to display information so that staff can clear obstacles. After the obstacle clearing platform receives the location information corresponding to the static target, the staff clears the static target to remove the static target. After the static target has been cleared, the obstacle clearing platform sends obstacle cleared information to the server, and the obstacle cleared information is used to indicate that the static target has been cleared. If the obstacle cleared information is received, the server stops controlling the current vehicle to issue an early warning according to the first early warning strategy.

[0190] Optionally, if the server receives information indicating that the obstacle has been cleared, it sends a stop message to the current vehicle, where the stop message is used to instruct the current vehicle to stop issuing an early warning according to the first early warning strategy.

[0191] The obstacle cleared information is information indicating that the static target has been cleared, and the stop information is information indicating that the warning according to the first warning strategy has been stopped. The embodiments of the present application do not limit the content of the obstacle cleared information and the stop information.

[0192] In one possible implementation, the server further obtains the remaining vehicles that meet the second preset collision risk condition with the collision target and the corresponding second warning strategies for the remaining vehicles; transmits the second warning strategy to the remaining vehicles, thereby controlling the remaining vehicles to issue warnings according to the second warning strategy. When the collision target threatens the normal driving of a particular vehicle, the particular vehicle is identified as one of the remaining vehicles that meet the second preset collision risk condition with the collision target. The process for determining the second warning strategy is the same as that for determining the first warning strategy. The second warning strategy and the first warning strategy are identical.

[0193] In one possible implementation, after selecting a collision target that meets a first preset collision risk condition from at least one target, the server may further adjust the current vehicle's route to obtain a first route that does not pass through the collision target. The server then transmits the first route to the current vehicle to control the current vehicle to travel according to the first route. Because the first route does not pass through the collision target, the current vehicle can avoid the collision target, thereby reducing the probability of a traffic accident involving the current vehicle and improving the current vehicle's driving safety.

[0194] Among them, the process of adjusting the current vehicle's driving route to obtain the first driving route includes: determining multiple optional routes based on the current location of the current vehicle and the end point of the current vehicle's driving route; determining a target route among the multiple optional routes, where the target route does not pass through a collision target; and determining the first driving route based on the target route.

[0195] For example, the starting point of any optional route is the current location of the current vehicle, and the end point is the end point of the current vehicle's route. Determining the first route based on the target route includes: determining the target route as the first route based on the number of target routes being one; determining the length of each target route based on the number of target routes being multiple; and determining the target route whose length meets the length requirement as the first route. Meeting the length requirement means having the shortest length, which expedites the current vehicle's arrival at the end point of the current vehicle's route.

[0196] In one possible implementation, the server may further adjust the routes of the remaining vehicles to obtain a second route, and transmit the second route to the remaining vehicles to control the remaining vehicles to travel according to the second route. The process by which the server adjusts the routes of the remaining vehicles to obtain the second route is similar to the process by which the server adjusts the route of the current vehicle to obtain the first route, and is not further described in this embodiment of the present application.

[0197] In step 503, the first warning strategy is sent to the current vehicle to control the current vehicle to perform a warning according to the first warning strategy.

[0198] In one possible implementation, after determining the first warning strategy corresponding to the collision target in step 502, the first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy. In other words, after receiving the first warning strategy, the current vehicle issues a warning according to the first warning strategy.

[0199] For example, the first warning strategy is to issue a warning through a preset acoustic warning device or a preset optical warning device. Therefore, the current vehicle issues a warning through the preset acoustic warning device or the preset optical warning device.

[0200] For another example, the first warning strategy is to simultaneously issue a warning through a preset acoustic warning device and a preset optical warning device. Therefore, the current vehicle issues a warning through the preset acoustic warning device and the preset optical warning device at the same time.

[0201] After receiving the type and location information of at least one target uploaded by the current vehicle, the method then determines, based on the type and location information of the at least one target, a first warning strategy corresponding to the collision target, if a collision target is determined to be a threat to the safe driving of the current vehicle. The method then transmits the first warning strategy to the current vehicle, prompting the current vehicle to issue a warning based on the first warning strategy. This warning method can provide the current vehicle with an early warning, allowing the driver to take timely remedial driving actions, allowing the current vehicle to avoid the collision target, reducing the probability of the current vehicle being involved in a traffic accident, and thereby improving the current vehicle's driving safety and preventing significant damage to the user's life and property.

[0202] FIG6 is a vehicle environment perception warning method provided in an embodiment of the present application. The method can be executed by the vehicle 101 in the implementation environment shown in FIG1 . As shown in FIG6 , the method includes the following steps 601 to 603 .

[0203] In step 601, type information and location information of at least one target are obtained.

[0204] Exemplarily, the at least one target is a target included in the current traveling direction of the vehicle.

[0205] In one possible implementation, the process of the current vehicle acquiring the type information and location information of at least one target has been described in the above step 501. For details, please refer to the relevant content of the above step 501, and the embodiment of the present application will not be repeated here.

[0206] In step 602, based on the type information and position information of at least one target, collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets are screened out from the at least one target.

[0207] In one possible implementation, based on the type information and location information of at least one target, the process of screening out collision targets that meet the first preset collision risk condition and the first warning strategy corresponding to the collision targets from at least one target has been described in the above step 502. For details, see the content of the above step 502, and the embodiment of the present application will not be repeated here.

[0208] In step 603, an early warning is issued according to the first early warning strategy.

[0209] In a possible implementation, the process of the current vehicle performing an early warning according to the first early warning strategy has been described in the above step 503. For details, please refer to the content of the above step 503, and the embodiment of the present application will not be repeated here.

[0210] Optionally, based on the first warning strategy sent by the server received by the current vehicle, the current vehicle can also adjust the current vehicle's driving route to obtain a first driving route. The starting point of the first driving route is the current location of the current vehicle, and the end point is the end point of the current vehicle's driving route, and the first driving route does not pass through the collision target.

[0211] Among them, the process of the current vehicle adjusting the driving route of the current vehicle to obtain the first driving route is similar to the process of the server adjusting the driving route of the current vehicle to obtain the first driving route in the above step 502. For details, please see the relevant content of the above step 502, and the embodiment of this application will not be repeated here.

[0212] In a possible implementation, when the current vehicle receives a stop message sent by the server, it stops issuing warnings according to the first warning strategy.

[0213] After obtaining the type and location information of at least one target, the method then determines, based on the type and location information of the at least one target, a first warning strategy corresponding to the collision target, if a collision target is determined to pose a threat to the safe driving of the current vehicle. The method then issues a warning based on the first warning strategy. This warning method allows the current vehicle to receive an early warning, enabling the driver to take timely remedial action, allowing the current vehicle to avoid the collision target, reducing the probability of a traffic accident, and thereby improving the current vehicle's driving safety and preventing significant loss of life and property to the user.

[0214] Figure 7 is a flowchart of a vehicle environment perception warning method provided in an embodiment of the present application. The method can be implemented by the interaction between the current vehicle 101 and the server 102 in the implementation environment shown in Figure 1. As shown in Figure 7, the method includes the following steps.

[0215] In step 701, the current vehicle identifies the driving direction of the current vehicle and obtains type information and position information of at least one target included in the driving direction.

[0216] In one possible implementation, the process of the current vehicle identifying the driving direction of the current vehicle and obtaining the type information and location information of at least one target included in the driving direction has been described in the above step 501. For details, please see the content of the above step 501 and will not be repeated here.

[0217] In step 702 , the current vehicle sends type information and location information of at least one target to a server.

[0218] In a possible implementation, the process of the current vehicle sending the type information and location information of at least one target to the server has been described in the above step 501. Please refer to the content of the above step 501 for details and will not be repeated here.

[0219] In step 703 , the server receives type information and location information of at least one target sent by the current vehicle, and based on the type information and location information of the at least one target, selects a collision target that meets a first preset collision condition from the at least one target.

[0220] In one possible implementation, the process of the server screening out collision targets that meet the first preset collision condition from at least one target based on the type information and location information of at least one target has been described in the above step 502. For details, please see the content of the above step 502 and will not be repeated here.

[0221] In step 704 , the server determines a first warning strategy corresponding to the collision target.

[0222] In a possible implementation, the process of the server determining the first warning strategy corresponding to the collision target has been described in the above step 502. For details, please refer to the content of the above step 502 and will not be repeated here.

[0223] In step 705 , the server sends a first warning strategy to the current vehicle.

[0224] In a possible implementation, the process of the server sending the first warning strategy to the current vehicle has been described in the above step 503. Please refer to the content of the above step 503 for details, and will not be repeated here.

[0225] In step 706 , the current vehicle receives the first warning strategy and issues a warning according to the first warning strategy.

[0226] In a possible implementation, the current vehicle receives the first warning strategy, and the process of issuing a warning according to the first warning strategy has been described in the above step 503. For details, please refer to the content of the above step 503, which will not be repeated here.

[0227] In step 707, the server adjusts the current driving route of the vehicle to obtain a first driving route.

[0228] In a possible implementation, the server adjusts the current vehicle's driving route to obtain the first driving route, which has been described in step 502 above. For details, please refer to step 502 above, which will not be repeated here.

[0229] In step 708 , the server sends the first driving route to the current vehicle.

[0230] In a possible implementation, the process of the server sending the first driving route to the current vehicle has been described in the above step 502. Please refer to the content of the above step 502 for details, and will not be repeated here.

[0231] In step 709 , the current vehicle receives the first driving route and drives according to the first driving route.

[0232] In a possible implementation, the current vehicle receives the first driving route, and the process of driving according to the first driving route has been described in the above step 502. Please refer to the content of the above step 502 for details, which will not be repeated here.

[0233] FIG8 is a schematic structural diagram of a vehicle environment perception warning device provided in an embodiment of the present application. As shown in FIG8 , the device includes the following contents.

[0234] The receiving module 801 is configured to receive type information and location information of at least one target uploaded by the current vehicle;

[0235] A screening module 802 is configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target based on type information and location information of the at least one target; and

[0236] The control module 803 is used to send the first warning strategy to the current vehicle to control the current vehicle to perform a warning according to the first warning strategy.

[0237] In one possible implementation, the screening module 802 is used to determine a static target among at least one target based on type information of at least one target, where the static target is a target whose type information is a static type; and screen out collision targets that meet a first preset collision risk condition among the static targets based on position information of the static target.

[0238] In a possible implementation, the screening module 802 is configured to determine, among the static targets, a static target whose position indicated by position information is located on the current vehicle's driving route as a collision target.

[0239] In a possible implementation, the apparatus further includes:

[0240] The sending module is used to determine whether there is a static target among the at least one target based on the type information of the at least one target; if there is a static target, the position information corresponding to the static target is sent to the obstacle clearing platform.

[0241] In a possible implementation, the control module 803 is further configured to determine whether obstacle clearing information sent by the obstacle clearing platform is received; if the obstacle clearing information is received, stop controlling the current vehicle to issue an early warning according to the first early warning strategy.

[0242] In a possible implementation, the screening module 802 is further configured to obtain the remaining vehicles that meet the second preset collision risk condition with the collision target and the second warning strategy corresponding to the remaining vehicles;

[0243] The control module 803 is further configured to send the second warning strategy to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

[0244] In one possible implementation, the screening module 802 is used to identify the collision hazard level of the collision target; when the collision hazard level is less than or equal to the preset hazard level, the first warning strategy is determined to be to issue a warning through a preset acoustic reminder device or a preset optical reminder device; when the collision hazard level is greater than the preset hazard level, the first warning strategy is determined to be to issue a warning through a preset acoustic reminder device and a preset optical reminder device at the same time.

[0245] In a possible implementation, the apparatus further includes:

[0246] an adjustment module, configured to adjust the current driving route of the vehicle to obtain a first driving route when a collision target that meets a first preset collision risk condition is screened out from at least one target, wherein the first driving route does not pass through the collision target;

[0247] The sending module is used to send the first driving route to the current vehicle to control the current vehicle to travel according to the first driving route.

[0248] After receiving the type and location information of at least one target uploaded by the current vehicle, the device determines, based on the type and location information of the at least one target, a first warning strategy corresponding to the collision target, if a collision target is determined to be a threat to the safe driving of the current vehicle. The device then transmits the first warning strategy to the current vehicle, causing the current vehicle to issue a warning according to the first warning strategy. This warning method can provide an early warning to the current vehicle, allowing the driver to take timely remedial driving actions, allowing the current vehicle to avoid the collision target in a timely manner, reducing the probability of the current vehicle being involved in a traffic accident, and thereby improving the current vehicle's driving safety and preventing significant damage to the user's life and property.

[0249] FIG9 is a schematic structural diagram of a vehicle environment perception warning device provided in an embodiment of the present application. As shown in FIG9 , the device includes the following contents.

[0250] An acquisition module 901 is configured to acquire type information and location information of at least one target;

[0251] A screening module 902 is configured to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target based on type information and location information of the at least one target;

[0252] The control module 903 is configured to issue an early warning according to the first early warning strategy.

[0253] In a possible implementation, the apparatus further includes:

[0254] a sending module, configured to send type information and location information of at least one target to a server, wherein the type information and location information of the at least one target are used by the server to screen out collision targets that meet a first preset collision risk condition and a first warning strategy corresponding to the collision targets from the at least one target based on the type information and location information of the at least one target;

[0255] The receiving module is used to receive the first warning strategy returned by the server.

[0256] After obtaining the type and location information of at least one target, the device determines, based on the type and location information of the at least one target, a first warning strategy corresponding to the collision target, if a collision target is determined to pose a threat to the safe driving of the current vehicle, and issues a warning based on the first warning strategy. This warning method enables the current vehicle to receive an early warning, allowing the driver to take timely remedial driving action, allowing the current vehicle to avoid the collision target, reducing the probability of the current vehicle being involved in a traffic accident, thereby improving the current vehicle's driving safety and preventing significant loss of life and property to the user.

[0257] FIG10 is a schematic diagram of the structure of a server provided in an embodiment of the present application. The server may include:

[0258] Memory 401 , processor 402 , and computer programs stored in the memory 401 and executable on the processor 402 .

[0259] When the processor 402 executes the program, the early warning method for vehicle environment perception provided in the above embodiment is implemented.

[0260] Furthermore, the server further includes:

[0261] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0262] The memory 401 is used to store computer programs that can be run on the processor 402 .

[0263] The memory 401 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0264] If the memory 401, processor 402, and communication interface 403 are implemented independently, the communication interface 403, memory 401, and processor 402 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of illustration, FIG10 shows only one thick line, but this does not mean that there is only one bus or only one type of bus.

[0265] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0266] The processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0267] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle environment perception warning method.

[0268] An embodiment of the present application also provides a computer program product, in which at least one computer instruction is stored. The at least one computer instruction is loaded and executed by a processor to enable the computer to implement the above-mentioned vehicle environment perception warning method.

[0269] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0270] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0271] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the 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 (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then storing it in a computer memory.

[0272] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0273] Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above-mentioned embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0274] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0275] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle environment perception warning method, wherein: The method comprises: Receiving type information and location information of at least one target uploaded by the current vehicle; Based on the type information and the position information of the at least one target, screening out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target; and The first warning strategy is sent to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.

2. The method according to claim 1, wherein: The step of screening out a collision target that meets a first preset collision risk condition from the at least one target based on the type information and the position information of the at least one target includes: Based on the type information of the at least one target, determining a static target in the at least one target, the static target being a target whose type information is a static type; According to the position information of the static targets, collision targets that meet a first preset collision risk condition are screened out from the static targets.

3. The method according to claim 2, wherein: Screening out collision targets that meet a first preset collision risk condition from the static targets according to the position information of the static targets includes: Among the static targets, the static target whose position indicated by the position information is located on the driving route of the current vehicle is determined as the collision target.

4. The method according to claim 1, wherein: After receiving the type information and location information of at least one target uploaded by the current vehicle, the method further includes: Determining whether there is a static target among the at least one target according to the type information of the at least one target; If the static target exists, the position information corresponding to the static target is sent to the obstacle clearing platform.

5. The method according to claim 4, wherein: After sending the location information corresponding to the static target to the obstacle clearing platform, the method further includes: Determining whether obstacle clearing information sent by the obstacle clearing platform is received; If the obstacle cleared information is received, then the control of the current vehicle to issue a warning according to the first warning strategy is stopped.

6. The method according to claim 1, wherein: After the collision target satisfying the first preset collision risk condition and the first warning strategy corresponding to the collision target are screened out from the at least one target, the method further includes: Acquire other vehicles that meet a second preset collision risk condition with the collision target and a second warning strategy corresponding to the other vehicles; The second warning strategy is sent to the remaining vehicles to control the remaining vehicles to issue warnings according to the second warning strategy.

7. The method according to claim 1, wherein: Determining a first warning strategy corresponding to the collision target includes: identifying a collision risk level of the collision target; When the collision risk level is less than or equal to a preset risk level, determining that the first warning strategy is to issue a warning through a preset acoustic reminder device or a preset optical reminder device; When the collision risk level is greater than the preset risk level, the first warning strategy is determined to be to simultaneously issue a warning through a preset acoustic reminder device and a preset optical reminder device.

8. The method according to claim 1, wherein: Also includes: When a collision target that meets a first preset collision risk condition is screened out from the at least one target, adjusting the driving route of the current vehicle to obtain a first driving route, wherein the first driving route does not pass through the collision target; The first driving route is sent to the current vehicle to control the current vehicle to travel according to the first driving route.

9. A vehicle environment perception warning method, wherein: The method comprises: Obtaining type information and location information of at least one target; Based on the type information and the location information of the at least one target, the at least one target is screened. Selecting a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target; An early warning is issued according to the first early warning strategy.

10. The method according to claim 9, wherein: After obtaining the type information and location information of at least one target, the method further includes: Sending the type information and the location information of the at least one target to the server, where the type information and the location information of the at least one target are used by the server to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target based on the type information and the location information of the at least one target; Receive the first early warning strategy returned by the server.

11. A vehicle environment perception warning device, wherein: The device comprises: A receiving module, used to receive type information and location information of at least one target uploaded by the current vehicle; a screening module, configured to screen out, from the at least one target, a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target based on the type information and the position information of the at least one target; and A control module is used to send the first warning strategy to the current vehicle to control the current vehicle to issue a warning according to the first warning strategy.

12. A vehicle environment perception warning device, wherein: The device comprises: An acquisition module, used to acquire type information and location information of at least one target; a screening module, configured to screen out a collision target that meets a first preset collision risk condition and a first warning strategy corresponding to the collision target from the at least one target based on the type information and the position information of the at least one target; A control module is used to issue an early warning according to the first early warning strategy.

13. A server, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in any one of claims 1 to 8.

14. A vehicle, wherein: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle environment perception warning method as described in any one of claims 9 to 10.

15. A computer-readable storage medium having a computer program stored thereon, wherein: The computer program is executed by a processor to implement the vehicle environment perception warning method as described in any one of claims 1-10.

16. A computer program product, wherein: The computer program product stores at least one computer instruction, and the at least one computer instruction is loaded and executed by a processor so that the computer implements the vehicle environment perception warning method as described in any one of claims 1-10.

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