Vehicle alert method and vehicle

Abstract

Provided in the embodiments of the present application are a vehicle alert method and a vehicle. During a process in which a relative distance between a vehicle and a movable object continuously decreases, the vehicle can be controlled to activate in-vehicle alerts and out-of-vehicle alerts when at different relative distances, so as to provide targeted alerts for a specific object when at different relative distances, thereby improving timeliness of alerts, and improving driving safety of vehicles. The vehicle alert method comprises: if a movable object is detected during a traveling process of a vehicle, determining a relative distance between the vehicle and the movable object in real time; and if it is determined that there is a decreasing trend in the relative distance, during the decreasing process of the relative distance, providing an in-vehicle alert and an out-of-vehicle alert on the basis of a preset priority, the preset priority being determined on the basis of a target trigger object actively triggering the reduction of the relative distance, and the target trigger object being the vehicle or the movable object.

Description

A reminding method of a vehicle and the vehicle

[0001] The present application claims priority to the Chinese patent application No. 202411072167.9, filed on August 6, 2024, and entitled "A reminding method of a vehicle and the vehicle", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of vehicles, and in particular to a reminding method of a vehicle and the vehicle. BACKGROUND

[0003] At present, in order to ensure driving safety, vehicles are often configured with two reminding methods: the first is to remind the driver during driving, i.e., in-vehicle reminding; the second is to remind the external movable object during driving, i.e., out-of-vehicle reminding.

[0004] In related technologies, in-vehicle reminding and out-of-vehicle reminding are often started at the same time only when the current vehicle is close to the external movable object, which makes the timeliness of reminding poor and cannot make the driver or the external movable object respond in time. SUMMARY

[0005] Embodiments of the present application provide a reminding method of a vehicle and the vehicle, which can control the vehicle to start in-vehicle reminding and out-of-vehicle reminding at different relative distances during the continuous decrease of the relative distance between the vehicle and the movable object, improve the timeliness of reminding, and make it possible to remind specific objects at different relative distances, while improving the driving safety of the vehicle.

[0006] In a first aspect, embodiments of the present application provide a reminding method of a vehicle, applied to the vehicle, and the method comprises:

[0007] If a movable object is detected during driving of the vehicle, the relative distance between the vehicle and the movable object is determined in real time.

[0008] If it is determined that the relative distance has a decreasing trend, in-vehicle reminding and out-of-vehicle reminding are started based on a preset priority during the decrease of the relative distance, the preset priority is determined according to a target triggering object that actively triggers the decrease of the relative distance, and the target triggering object is the vehicle or the movable object.

[0009] In the embodiments of the present application, when the current vehicle detects a movable object and determines that the relative distance between the current vehicle and the movable object is gradually decreasing, the priority of the in-vehicle reminding and the out-of-vehicle reminding of the vehicle can be determined according to the target triggering object triggering the relative distance to decrease, that is, it can be considered that the target triggering object triggering the relative distance to decrease is different, and the determined priority of the reminding is also different. Then, the in-vehicle reminding and the out-of-vehicle reminding are performed according to the determined priority. That is, in a certain specific scenario in which the relative distance between the current vehicle and the movable object is gradually decreasing due to the change of the moving state of the current vehicle or the change of the moving state of the movable object, the in-vehicle reminding and the out-of-vehicle reminding are started at different relative distances, so that the specific object in the specific scenario can be reminded at different relative distances, without waiting until the relative distance is close to start the reminding, thereby improving the timeliness of the reminding and improving the driving safety of the vehicle.

[0010] Optionally, if it is determined that the relative distance has a decreasing trend, the in-vehicle reminding and the out-of-vehicle reminding are performed based on a preset priority during the decrease of the relative distance, including:

[0011] If it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the in-vehicle reminding and the out-of-vehicle reminding are performed in sequence during the decrease of the relative distance.

[0012] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object is gradually decreasing due to the change of the moving state of the movable object, the in-vehicle reminding can be performed preferentially during the gradual decrease of the relative distance, so that the driver of the current vehicle can know the change of the moving state of the surrounding movable object in advance when the relative distance is large, so that the driver can better cope with the change of the moving state of the movable object, that is, the timeliness of reminding the driver in the vehicle is improved when the moving state of the external movable object changes; and the out-of-vehicle reminding is performed secondly, so that the movable object can be reminded in time when the relative distance is small, thereby avoiding traffic accidents due to the close relative distance.

[0013] Optionally, if it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the in-vehicle reminding and the out-of-vehicle reminding are performed in sequence during the decrease of the relative distance, including:

[0014] If it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the in-vehicle reminding is performed when the relative distance is not greater than a first set threshold.

[0015] The vehicle exterior reminding is performed when the relative distance is not greater than a second set threshold, the second set threshold being smaller than the first set threshold.

[0016] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the movable object, two thresholds, a first set threshold and a second set threshold, can be set, and the second set threshold is smaller than the first set threshold. The in-vehicle reminding is performed when the relative distance is not greater than the first set threshold, and the vehicle exterior reminding is performed when the relative distance is not greater than the second set threshold, so that the specific object can be reminded in a targeted manner at different relative distances, the timeliness of the reminding is improved, and the driving safety of the vehicle is also improved.

[0017] Optionally, after the vehicle exterior reminding is performed when the relative distance is not greater than the second set threshold, the method further comprises:

[0018] If it is determined that the relative distance has an increasing trend and the relative distance is not smaller than a third set threshold, the in-vehicle reminding and the vehicle exterior reminding are stopped.

[0019] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually increases to the third set threshold when the in-vehicle reminding and the vehicle exterior reminding are both started, it can be considered that the change of the moving state of the movable object will not cause safety hazards to the current vehicle, and thus the in-vehicle reminding and the vehicle exterior reminding can be stopped.

[0020] Optionally, when the relative distance has a decreasing trend, the movable object performs a lane changing operation, if it is determined that the relative distance has an increasing trend and the relative distance is not smaller than a third set threshold, the in-vehicle reminding and the vehicle exterior reminding are stopped, including:

[0021] If it is determined that the relative distance has an increasing trend, the relative distance is not smaller than the third set threshold, and the vehicle and the movable object are located in different lanes, the in-vehicle reminding and the vehicle exterior reminding are stopped.

[0022] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object decreases due to the lane changing operation of the movable object, if it is determined that the relative distance between the current vehicle and the movable object increases to be not smaller than the third set threshold and the current vehicle and the movable object are in different lanes when the in-vehicle reminding and the vehicle exterior reminding are both started, it can be considered that the lane changing operation of the movable object is completed, and thus the in-vehicle reminding and the vehicle exterior reminding can be stopped.

[0023] Optionally, if it is determined that the relative distance has a decreasing trend, the in-vehicle reminding and the out-of-vehicle reminding are performed based on a preset priority during the decreasing of the relative distance, including:

[0024] If it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the out-of-vehicle reminding and the in-vehicle reminding are performed in sequence during the decreasing of the relative distance.

[0025] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the current vehicle, the out-of-vehicle reminding can be performed preferentially during the gradual decreasing of the relative distance, so that the movable object can know the change of the moving state of the current vehicle in advance when the distance between the current vehicle and the movable object is far, so that the movable object can better cope with the change of the moving state of the current vehicle, that is, the timeliness of the reminding of the external movable object is improved when the moving state of the current vehicle changes. The in-vehicle reminding is performed secondly, so that the driver operating the current vehicle can be reminded in time when the relative distance is small, and traffic accidents caused by the close relative distance can be avoided.

[0026] Optionally, if it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the out-of-vehicle reminding and the in-vehicle reminding are performed in sequence during the decreasing of the relative distance, including:

[0027] If it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the out-of-vehicle reminding is performed when the relative distance is not greater than a first set threshold.

[0028] The in-vehicle reminding is performed when the relative distance is not greater than a second set threshold, and the second set threshold is smaller than the first set threshold.

[0029] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the current vehicle, two thresholds, the first set threshold and the second set threshold, can be set, and the second set threshold is smaller than the first set threshold. The out-of-vehicle reminding is performed when the relative distance is not greater than the first set threshold, and the in-vehicle reminding is performed when the relative distance is not greater than the second set threshold, so that the specific object can be reminded in different relative distances, the timeliness of the reminding is improved, and the driving safety of the vehicle is also improved.

[0030] Optionally, after the in-vehicle reminding is performed when the relative distance is not greater than the second set threshold, the method further includes:

[0031] If it is determined that the relative distance has a trend of increasing and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped.

[0032] In the embodiments of the present application, in the case that the in-vehicle reminding and the out-vehicle reminding are both started, if it is determined that the relative distance between the current vehicle and the movable object gradually increases to the third set threshold, it can be considered that the movement state change of the current vehicle will not bring safety hazards to the movable object, and at this time, the in-vehicle reminding and the out-vehicle reminding can be stopped.

[0033] Optionally, when the relative distance has a trend of decreasing, the vehicle performs a steering operation, if it is determined that the relative distance has a trend of increasing and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped, including:

[0034] If it is determined that the relative distance has a trend of increasing, the relative distance is not less than the third set threshold, and the moving direction of the vehicle is not the same as the moving direction of the movable object, the in-vehicle reminding and the out-vehicle reminding are stopped.

[0035] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object decreases due to the steering operation of the current vehicle, in the case that the in-vehicle reminding and the out-vehicle reminding are both started, if it is determined that the relative distance between the current vehicle and the movable object increases to be not less than the third set threshold and the moving direction of the current vehicle is not the same as the moving direction of the movable object, it can be considered that the steering of the current vehicle is completed, at this time, the current vehicle will not bring safety hazards to the movable object, and then the in-vehicle reminding and the out-vehicle reminding can be stopped.

[0036] Optionally, the in-vehicle reminding includes voice reminding, picture reminding and text reminding based on the vehicle information and entertainment system.

[0037] In the embodiments of the present application, if the in-vehicle reminding includes multiple forms of reminding, for example, voice reminding, picture reminding and text reminding, it can ensure that the driver in the current vehicle can pay attention to the at least one reminding, so as to ensure the driving safety of the driver.

[0038] Optionally, the display screen of the picture reminding is smaller than the display screen of the display screen of the vehicle information and entertainment system.

[0039] In the embodiments of the present application, when the picture reminding is used, the display screen for the picture reminding is smaller than the display screen of the display screen, so that the driver can view the picture reminding and will not affect the operation of the driver on other functions in the display screen.

[0040] Optionally, the method further includes:

[0041] If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, stop part of the in-vehicle reminder.

[0042] In the embodiments of the present application, in the case that the vehicle performs in-vehicle reminding, if it is determined that the driver does not pay attention to the in-vehicle reminder, the in-vehicle reminding is stopped, thereby avoiding frequent reminding of the driver, and improving the use experience of the driver.

[0043] Optionally, if it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, stop part of the in-vehicle reminder, comprising:

[0044] If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, stop the voice reminder and the picture reminder.

[0045] In the embodiments of the present application, if the in-vehicle reminder includes multiple forms of reminders, such as voice reminders, picture reminders, and text reminders, in the case that it is determined that the driver does not pay attention to the above in-vehicle reminder, part of the in-vehicle reminder can be stopped, for example, the voice reminder and the picture reminder which disturb the driver more can be stopped, and the text reminder which disturbs the driver less is retained, which avoids disturbing the driver, and at the same time, the basic reminding function is retained.

[0046] Optionally, the out-of-vehicle reminder is a reminder through an external display screen.

[0047] In the embodiments of the present application, the external display screen can be used as a medium for the out-of-vehicle reminder, so that the movable object can be reminded individually.

[0048] In a second aspect, the embodiments of the present application provide a vehicle, comprising: a detection unit, an operation unit, and a reminding unit connected in sequence;

[0049] The detection unit is configured to detect external environment data in an external environment, and send the external environment data to the operation unit;

[0050] The operation unit is configured to detect a movable object existing in the external environment according to the external environment data, determine a relative distance between the vehicle and the movable object in real time, and determine whether the relative distance has a decreasing trend; if it is determined that the relative distance has a decreasing trend, send an in-vehicle reminding start instruction and an out-of-vehicle reminding start instruction to the reminding unit based on a preset priority during the decrease of the relative distance, the preset priority is determined according to a target triggering object which actively triggers the decrease of the relative distance, and the target triggering object is the vehicle or the movable object.

[0051] The reminding unit is configured to perform in-vehicle reminding in response to the in-vehicle reminding start instruction, and perform out-of-vehicle reminding in response to the out-of-vehicle reminding start instruction.

[0052] Optionally, the operation unit is specifically configured to:

[0053] If it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the operation unit is configured to:

[0054] The reminder unit is specifically configured to:

[0055] in response to the in-vehicle reminder opening instruction, perform in-vehicle reminding; and in response to the out-of-vehicle reminder opening instruction, perform out-of-vehicle reminding.

[0056] Optionally, the operation unit is specifically configured to:

[0057] If it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the operation unit is configured to: send the in-vehicle reminder opening instruction to the reminder unit when the relative distance is not greater than a first set threshold; and send the out-of-vehicle reminder opening instruction to the reminder unit when the relative distance is not greater than a second set threshold.

[0058] Optionally, the operation unit is further configured to:

[0059] If it is determined that the relative distance has an increasing trend and the relative distance is not less than a third set threshold, the operation unit is configured to: send the in-vehicle reminder closing instruction and the out-of-vehicle reminder closing instruction to the reminder unit.

[0060] The reminder unit is further configured to:

[0061] in response to the in-vehicle reminder closing instruction, close the in-vehicle reminder;

[0062] in response to the out-of-vehicle reminder closing instruction, close the out-of-vehicle reminder.

[0063] Optionally, when the relative distance has a decreasing trend, the movable object performs a lane change operation, and the operation unit is specifically configured to:

[0064] If it is determined that the relative distance has an increasing trend, the relative distance is not less than the third set threshold, and the vehicle and the movable object are located in different lanes, the operation unit is configured to: send the in-vehicle reminder closing instruction and the out-of-vehicle reminder closing instruction to the reminder unit.

[0065] Optionally, the operation unit is specifically configured to:

[0066] if it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the operation unit is configured to send the vehicle-outside reminding opening instruction and the vehicle-inside reminding opening instruction to the reminding unit in sequence during the decreasing of the relative distance;

[0067] The reminding unit is specifically configured to:

[0068] respond to the vehicle-outside reminding opening instruction to perform vehicle-outside reminding, and respond to the vehicle-inside reminding opening instruction to perform vehicle-inside reminding.

[0069] Optionally, the operation unit is specifically configured to:

[0070] if it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the operation unit is configured to send the vehicle-outside reminding opening instruction to the reminding unit when the relative distance is not greater than a first set threshold;

[0071] send the vehicle-inside reminding opening instruction to the reminding unit when the relative distance is not greater than a second set threshold, and the second set threshold is less than the first set threshold.

[0072] Optionally, the operation unit is further configured to:

[0073] if it is determined that the relative distance has an increasing trend and the relative distance is not less than a third set threshold, send the vehicle-inside reminding closing instruction and the vehicle-outside reminding closing instruction to the reminding unit;

[0074] The reminding unit is further configured to:

[0075] stop the vehicle-inside reminding in response to the vehicle-inside reminding closing instruction;

[0076] stop the vehicle-outside reminding in response to the vehicle-outside reminding closing instruction.

[0077] Optionally, when the relative distance has a decreasing trend, the vehicle performs a steering operation, and the operation unit is specifically configured to:

[0078] if it is determined that the relative distance has an increasing trend, the relative distance is not less than the third set threshold, and the moving direction of the vehicle is not the same as the moving direction of the movable object, send the vehicle-inside reminding closing instruction and the vehicle-outside reminding closing instruction to the reminding unit.

[0079] Optionally, the vehicle-inside reminding includes voice reminding, picture reminding and text reminding based on the in-vehicle infotainment system.

[0080] Optionally, the display screen of the picture reminding is smaller than the display screen of the in-vehicle infotainment system.

[0081] Optionally, the operation unit is further configured to:

[0082] if it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, send an in-vehicle reminder part-off instruction to the reminding unit;

[0083] The reminding unit is further configured to:

[0084] stop part of the in-vehicle reminder in response to the in-vehicle reminder part-off instruction.

[0085] Optionally, the operation unit is specifically configured to:

[0086] if it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, send a voice reminder-off instruction and a picture reminder-off instruction to the reminding unit;

[0087] The reminding unit is specifically configured to:

[0088] stop the voice reminder in response to the voice reminder-off instruction;

[0089] stop the picture reminder in response to the picture reminder-off instruction.

[0090] Optionally, the out-of-vehicle reminder is a reminder through an external display screen.

[0091] In a third aspect, an embodiment of the present application provides a computer readable storage medium, which is used to store computer instructions, and the computer instructions make a computer execute steps of the method according to any embodiment of the first aspect when the computer runs.

[0092] It should be understood that the second aspect to the third aspect of the embodiments of the present application are consistent with the technical solution of the first aspect of the embodiments of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be described in detail. BRIEF DESCRIPTION OF DRAWINGS

[0093] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0094] FIG. 1 is a flowchart of a reminding method of a vehicle according to an embodiment of the present application;

[0095] FIG. 2 is a flowchart of an in-vehicle reminding and out-of-vehicle reminding method according to a preset priority according to an embodiment of the present application;

[0096] FIG. 3 is a flowchart of a method for reminding inside and outside a vehicle according to a preset priority according to an embodiment of the present application;

[0097] FIG. 4 is a flowchart of a method for reminding inside and outside a vehicle according to a preset priority according to an embodiment of the present application;

[0098] FIG. 5 is a flowchart of a method for reminding inside and outside a vehicle according to a preset priority according to an embodiment of the present application;

[0099] FIG. 6(a)-(c) is a schematic diagram of a change of reminding inside a vehicle according to an embodiment of the present application;

[0100] FIG. 7 is a schematic diagram of a movable object actively changing lanes according to an embodiment of the present application;

[0101] FIG. 8 is a schematic diagram of a current vehicle actively turning according to an embodiment of the present application;

[0102] FIG. 9 is a schematic diagram of a structure of a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION

[0103] In order to better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the drawings.

[0104] It should be clear that the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0105] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The singular forms "a", "an" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0106] At present, in order to ensure driving safety during driving, vehicles are often configured with two reminding modes: the first is to remind the driver during driving, i.e. reminding inside a vehicle; the second is to remind the external movable object during driving, i.e. reminding outside a vehicle.

[0107] In the related art, the reminding inside a vehicle and the reminding outside a vehicle are often simultaneously started when the current vehicle is close to the external movable object, so that the timeliness of the reminding is poor, and the driver or the external movable object cannot respond in time.

[0108] In view of this, the application provides a reminding method of a vehicle, in which, in a certain specific scenario in which the relative distance between the vehicle and a movable object gradually decreases due to the change of the moving state of the vehicle or the change of the moving state of the movable object, the in-vehicle reminding and the out-of-vehicle reminding are respectively started at different relative distances with preset priorities, so that the specific object in the specific scenario can be reminded at different relative distances, without waiting until the relative distance is close to start the reminding, the timeliness of the reminding is improved, and the driving safety of the vehicle is improved.

[0109] The technical solutions provided by the embodiments of the application will be described below with reference to the drawings.

[0110] Referring to FIG. 1, it is a flowchart of a reminding method of a vehicle provided by an embodiment of the application. The method can be applied to a vehicle, and the flow of the method is described as follows.

[0111] Step 10: If a movable object is detected during the driving of the vehicle, the relative distance between the vehicle and the movable object is determined in real time.

[0112] In the embodiments of the application, during the driving of the vehicle, the image data of the surrounding environment is collected by a surround-view camera (such as a monocular camera, a binocular camera or an RGB-D camera). After the surround-view camera collects the image data, the image data can be transmitted to the vehicle machine. The vehicle machine can perform preprocessing operations such as denoising, distortion correction and grayscale on the image data, so as to improve the efficiency and accuracy of subsequent processing. On this basis, the vehicle machine can extract key points (feature points) and descriptors from the preprocessed image, and perform feature matching between different images. By using the matched feature points, the motion (position and pose) of the camera is estimated by minimizing the re-projection error or the photometric error. Then, the camera pose and the map point are globally optimized by using the visual odometry results at different times and combining loop detection information, so as to improve the accuracy and robustness of the SLAM system. Common optimization methods include extended Kalman filter (EKF) and nonlinear optimization. Finally, according to the estimated camera trajectory and feature point position, a map of the environment is constructed. The map can be sparse (only containing feature points) or dense (containing more environmental details).

[0113] In the above local map constructed based on Simultaneous Localization and Mapping (SLAM), an object detection algorithm (such as a deep learning-based algorithm) is used to identify objects around. These algorithms can identify movable objects of predefined categories, such as pedestrians, vehicles, etc. Of course, the vehicle can also transmit the features extracted from the image data to the cloud to construct a SLAM-based local map and determine movable objects using the higher computing power and more advanced algorithms of the cloud, which is not particularly limited in this application.

[0114] If the vehicle detects a movable object, it can be considered that the relative distance between the vehicle and the movable object at this time reaches the wake-up threshold. On this basis, the vehicle can detect the relative distance between the vehicle and the movable object in real time through the configured ranging radar, and transmit the real-time detected relative distance to the vehicle machine.

[0115] Step 20: If it is determined that the relative distance has a decreasing trend, the in-vehicle reminder and the out-of-vehicle reminder are performed based on the preset priority during the relative distance decreasing process.

[0116] In the embodiments of the present application, if the vehicle machine determines that the relative distance between the current vehicle and the movable object around in the above constructed SLAM-based local map has a decreasing trend over time, the priority of the in-vehicle reminder and the out-of-vehicle reminder in the vehicle can be determined according to the target triggering object that actively triggers the above relative distance reduction, that is, it can be considered that the target triggering object that actively triggers the relative distance reduction is different, and the determined priority of the reminder is also different. Then, the in-vehicle reminder and the out-of-vehicle reminder are performed according to the determined priority order. Here, the judgment that the relative distance between the current vehicle and the movable object has a decreasing trend can be made by the vehicle machine, of course, it can also be first judged by the cloud, and then the vehicle machine is notified, which is not particularly limited in this application.

[0117] It should be understood that the above target triggering object can be the current vehicle or the detected movable object. Then in a certain specific scenario where the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the current vehicle or the change of the moving state of the movable object, the in-vehicle reminder and the out-of-vehicle reminder will be started at different relative distances, so that the specific object in the above specific scenario can be reminded at different relative distances, without waiting until the relative distance is close to start the reminder, improving the timeliness of the reminder, and also improving the driving safety of the vehicle.

[0118] It is worth noting that the in-vehicle reminder includes but is not limited to voice reminder, picture reminder and text reminder based on the vehicle information entertainment system, wherein the voice reminder can be output through the audio output device in the vehicle information entertainment system, the picture reminder and the text reminder can be output through the center display screen in the vehicle information entertainment system, and the specific reminder content is determined according to the actual scene, which is not particularly limited in the present application. And in order to ensure that the driver does not affect the use of other functions of the center display screen when viewing the above picture reminder through the above center display screen, the display picture of the above picture reminder should be smaller than the display picture of the center display screen, for example, the display picture of the picture reminder is one half, or one fourth, or one eighth of the display picture of the center display screen, the display picture size of the picture reminder can be set according to the size of the center display screen, which is not particularly limited in the present application. The external reminder can output the reminder of the related content through the external display screen of the vehicle, for example, the external display screen can be a light emitting diode (LED) screen, an organic light emitting diode (OLED) screen, or a liquid crystal display screen. The external display screen can be installed at the tail of the vehicle or other positions, and the type and installation position of the external display screen are not particularly limited in the present application. Of course, the external reminder can also be reminded by a pedestrian alarm, for example, when the movable object is a pedestrian, the external reminder can also be reminded by a pedestrian alarm.

[0119] The in-vehicle reminder and the external reminder according to different preset priorities when the target triggering object is different are described in detail below.

[0120] Case 1: The target triggering object is a movable object.

[0121] Please refer to FIG. 2, which is a flowchart of a method for in-vehicle reminder and external reminder according to preset priorities provided by an embodiment of the present application. Step 20 can be realized by executing sub-step 201.

[0122] Step 201: If it is determined that the relative distance has a decreasing trend and the relative distance decrease is triggered by the movable object, the in-vehicle reminder and the external reminder are performed in turn during the relative distance decrease.

[0123] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the movable object, the in-vehicle reminding can be performed preferentially during the gradual decrease of the relative distance, so that the driver of the current vehicle can know the change of the moving state of the movable object when the relative distance is large, so as to better cope with the change of the moving state of the movable object. Then, the out-of-vehicle reminding is performed, so as to timely remind the movable object when the relative distance is small, and avoid traffic accidents due to the close relative distance.

[0124] In some embodiments, when the in-vehicle reminding and the out-of-vehicle reminding are performed according to the preset priority, the reminding time can be associated with the relative distance, so as to further improve the pertinence of the reminding.

[0125] Referring to FIG. 3, it is a flowchart of a method for performing in-vehicle reminding and out-of-vehicle reminding according to a preset priority provided by the embodiments of the present application. Step 201 can be implemented by performing sub-step 2011 to sub-step 2012:

[0126] Step 2011: If it is determined that the relative distance has a decreasing trend and the decrease of the relative distance is triggered by the movable object, the in-vehicle reminding is performed when the relative distance is not greater than a first set threshold.

[0127] Step 2012: The out-of-vehicle reminding is performed when the relative distance is not greater than a second set threshold.

[0128] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the moving state of the movable object, two thresholds, the first set threshold and the second set threshold, can be set, and the second set threshold is less than the first set threshold. Here, the specific values of the first set threshold and the second set threshold can be determined according to the actual scene, which is not particularly limited in the present application. When the relative distance is not greater than the first set threshold, the in-vehicle reminding is performed. When the relative distance is not greater than the second set threshold, the out-of-vehicle reminding is performed, so that the specific object can be reminded pertinently at different relative distances, avoiding that the vehicle starts the two reminding modes when the relative distance is small, improving the timeliness of the reminding, and improving the driving safety of the vehicle.

[0129] In some embodiments, when the in-vehicle reminding and the out-of-vehicle reminding are both started, if it is determined that the relative distance between the current vehicle and the movable object has an increasing trend and the relative distance is not less than a third set threshold, it can be considered that the change of the moving state of the movable object will not bring safety hazards to the current vehicle, and at this time, the in-vehicle reminding and the out-of-vehicle reminding can be stopped.

[0130] Further, if the relative distance between the current vehicle and the movable object is triggered to decrease due to the lane changing operation of the movable object, and the in-vehicle warning and the off-vehicle warning are both turned on, if it is determined that the relative distance between the current vehicle and the movable object has a trend of increasing, the relative distance is not less than the third set threshold, and the current vehicle and the movable object are in different lanes, it can be considered that the lane changing of the movable object is completed, at this time the movable object will not bring safety hazards to the current vehicle, and then the in-vehicle warning and the off-vehicle warning can be stopped.

[0131] Case 2: The target triggering object is the current vehicle.

[0132] Please refer to FIG. 4, which is a flowchart of a method for performing off-vehicle warning and in-vehicle warning according to a preset priority provided by an embodiment of the present application. Step 20 can be implemented by executing sub-step 202.

[0133] Step 202: If it is determined that the relative distance has a trend of decreasing and the decrease of the relative distance is triggered by the vehicle actively, the off-vehicle warning and the in-vehicle warning are performed in turn in the process of the decrease of the relative distance.

[0134] In the embodiment of the present application, if the relative distance between the current vehicle and the movable object is triggered to gradually decrease due to the change of the moving state of the current vehicle, the off-vehicle warning can be performed preferentially in the process of the gradual decrease of the relative distance, so that the movable object can know the change of the moving state of the current vehicle in advance when the distance between the movable object and the current vehicle is far, so that the movable object can better cope with the change of the moving state of the current vehicle; and the in-vehicle warning is performed secondly, so that the driver of the current vehicle can be reminded in time when the relative distance is small, and traffic accidents caused by the close relative distance can be avoided.

[0135] In some embodiments, when the off-vehicle warning and the in-vehicle warning are performed according to the preset priority respectively, the reminding time can be associated with the relative distance, so as to further improve the pertinence of the reminding.

[0136] Please refer to FIG. 5, which is a flowchart of a method for performing off-vehicle warning and in-vehicle warning according to a preset priority provided by an embodiment of the present application. Step 202 can be implemented by executing sub-step 2021 to sub-step 2022.

[0137] Step 2021: If it is determined that the relative distance has a trend of decreasing and the decrease of the relative distance is triggered by the vehicle actively, the off-vehicle warning is performed when the relative distance is not greater than the first set threshold.

[0138] Step 2022: The in-vehicle warning is performed when the relative distance is not greater than the second set threshold.

[0139] In the embodiments of the present application, if the relative distance between the current vehicle and the movable object gradually decreases due to the change of the current vehicle movement state, two threshold values can be set: a first set threshold value and a second set threshold value, and the second set threshold value is smaller than the first set threshold value. Here, the specific values of the first set threshold value and the second set threshold value can be determined according to the actual scene, and the present application does not make special limitations. When the relative distance is not greater than the first set threshold value, the outside vehicle reminder is performed; when the relative distance is not greater than the second set threshold value, the inside vehicle reminder is performed, so that the specific object can be reminded in different relative distances, avoiding the vehicle to start the two reminder modes when the relative distance is small, improving the timeliness of the reminder, and also improving the vehicle driving safety.

[0140] In some embodiments, in the case where the inside vehicle reminder and the outside vehicle reminder are both started, if it is determined that the relative distance between the current vehicle and the movable object has a trend of increasing, and the relative distance is not less than a third set threshold value, it can be considered that the change of the movement state of the current vehicle will no longer bring safety hazards to the movable object, at which time the inside vehicle reminder and the outside vehicle reminder can be stopped.

[0141] Further, if the relative distance between the current vehicle and the movable object decreases due to the steering operation of the current vehicle, in the case where the inside vehicle reminder and the outside vehicle reminder are both started, if it is determined that the relative distance between the current vehicle and the movable object has a trend of increasing, the current relative distance is not less than the third set threshold value, and the moving direction of the current vehicle is different from that of the movable object, it can be considered that the steering of the current vehicle is completed, at which time the current vehicle will no longer bring safety hazards to the movable object, so the inside vehicle reminder and the outside vehicle reminder can be stopped.

[0142] In some embodiments, whether it is the above-mentioned case 1 or case 2, after the inside vehicle reminder is started, the driver may not pay much attention to the inside vehicle reminder, therefore, in the embodiments of the present application, after the inside vehicle reminder is started, if it is detected that the user does not pay attention to the above-mentioned inside vehicle reminder, part of the inside vehicle reminder can be stopped, so as to avoid frequent reminders to the driver, and improve the driver experience.

[0143] As a possible implementation, if it is determined that the driver does not pay attention to the above-mentioned inside vehicle reminder, part of the inside vehicle reminder can be stopped, for example, the voice reminder and the picture reminder which disturb the driver more can be stopped, and the text reminder which disturbs the driver less is retained, so as to avoid disturbing the driver, and at the same time, the basic reminding function is retained.

[0144] It should be understood that whether the driver pays attention to the inside vehicle reminder can be detected by the driver monitoring system (DMS) whether the driver pays attention to the center screen, or whether the driver pays attention to the inside vehicle reminder according to the touch operation of the center screen.

[0145] Please refer to FIG. 6, which is a schematic diagram of the in-vehicle reminding change provided by an embodiment of the present application. Taking the active lane change of the movable object behind the current vehicle as an example, i.e., the movable object is a rear vehicle compared with the current vehicle, as shown in FIG. 6(a), if the relative distance between the current vehicle and the movable object is not greater than the wake-up threshold and is greater than the first set threshold, the current vehicle does not start the in-vehicle reminding, at this time, the center display screen does not perform any picture reminding and text reminding, of course, the audio output device also does not output the voice reminding; as shown in FIG. 6(b), if the relative distance between the current vehicle and the movable object is not greater than the first set threshold and is greater than the second set threshold, the current vehicle starts the in-vehicle reminding, at this time, the center display screen can perform the picture reminding through the small window located at the upper left corner of the navigation interface, i.e., the picture reminding is “displaying the real-time picture of the rear vehicle changing the lane”, and displays the text reminding in the status bar, i.e., the text reminding is “rear vehicle changing the lane”, at this time, the audio output device can output the corresponding voice reminding; as shown in FIG. 6(c), if it is detected that the driver does not pay attention to the above in-vehicle reminding, the window displaying the picture of the rear vehicle changing the lane is closed, only the text reminding in the status bar is reserved, and the preset warning symbol is displayed in the status bar, for example, the warning symbol is the combination of the triangle and the exclamation mark.

[0146] It should be understood that when the current vehicle changes the moving state, the change process of the in-vehicle reminding is similar to the above-mentioned change process of the movable object, which will not be described here.

[0147] The scheme of the present application will be described below in combination with specific scenarios.

[0148] Scenario 1: the movable object changing the lane scenario.

[0149] Please refer to FIG. 7, which is a schematic diagram of active lane changing of a movable object according to an embodiment of the present application. As shown in FIG. 7, the A vehicle is the current vehicle. If the A vehicle detects the B vehicle at position 1 during driving, it can be considered that the relative distance between the A vehicle and the B vehicle at position 1 reaches the wake-up threshold. On this basis, the A vehicle can obtain the relative distance between the A vehicle and the B vehicle in real time. If the A vehicle determines that the relative distance has a decreasing trend, when the relative distance between the A vehicle and the B vehicle decreases to be not greater than a first set threshold, for example, when the B vehicle is at position 2, the relative distance between the A vehicle and the B vehicle decreases to be not greater than the first set threshold. Since the decrease of the relative distance is caused by the lane changing of the B vehicle, the A vehicle first performs in-vehicle reminding, for example, reminding the driver of the A vehicle through voice that there is a B vehicle behind the A vehicle performing lane changing operation into the lane where the A vehicle is located, and the B vehicle lane changing picture prompt and lane changing text prompt will also be displayed on the center control display screen of the A vehicle. If the relative distance between the A vehicle and the B vehicle further decreases to be not greater than a second set threshold, for example, when the B vehicle is at position 3, the relative distance between the A vehicle and the B vehicle decreases to be not greater than the second set threshold. At this time, the A vehicle performs out-vehicle reminding, for example, displaying the text or image of “too close, be careful” on the external LED display screen to remind the rear vehicle to pay attention to maintaining the distance. After the in-vehicle reminding and the out-vehicle reminding are performed respectively, if it is determined that the relative distance between the A vehicle and the B vehicle has an increasing trend, during the increasing of the relative distance, if the relative distance between the A vehicle and the B vehicle is not less than a third set threshold, and the A vehicle and the B vehicle are in different lanes, for example, when the B vehicle is at position 4, the relative distance between the A vehicle and the B vehicle increases to be not less than the third set threshold, and the A vehicle and the B vehicle are in different lanes. At this time, it can be considered that the lane changing operation triggered by the B vehicle actively will not cause safety hazards to the A vehicle, and then the A vehicle can turn off the in-vehicle reminding and the out-vehicle reminding.

[0150] Scenario 2: current vehicle turning scenario

[0151] Please refer to FIG. 8, which is a schematic diagram of active steering of a current vehicle according to an embodiment of the present application. As shown in FIG. 8, vehicle A is the current vehicle. If vehicle A detects vehicle B at position 1 during driving, it can be considered that the relative distance between vehicle A at position 1 and vehicle B reaches the wake-up threshold. On this basis, vehicle A can obtain the relative distance between vehicle A and vehicle B in real time. If vehicle A determines that the relative distance has a decreasing trend, when the relative distance between vehicle A and vehicle B decreases to not more than a first set threshold, for example, when vehicle A is at position 2, the relative distance between vehicle A and vehicle B decreases to not more than the first set threshold. Since the decrease of the relative distance is caused by active steering of vehicle A, vehicle A first performs an out-of-vehicle reminder, for example, displays the text or image of “vehicle turning, please be careful” on an external LED display screen to remind surrounding vehicles. If the relative distance between vehicle A and vehicle B further decreases to not more than a second set threshold, for example, when vehicle A is at position 3, the relative distance between vehicle A and vehicle B decreases to not more than the second set threshold. At this time, vehicle A performs an in-vehicle reminder, for example, reminds the driver of vehicle A of “the turning radius is too large, please be careful of collision with surrounding vehicles” through voice, and at the same time, a picture of moving direction is briefly popped up on the display screen of vehicle A to prompt the driver to control the distance. After the in-vehicle reminder and the out-of-vehicle reminder are performed respectively, if it is determined that the relative distance between vehicle A and vehicle B has an increasing trend, when the relative distance increases, if the relative distance between vehicle A and vehicle B is not less than a third set threshold, and the moving directions of vehicle A and vehicle B are different, for example, when vehicle A is at position 4, the relative distance between vehicle A and vehicle B increases to not less than the third set threshold, and vehicle A and vehicle B have different moving directions. At this time, it can be considered that the steering operation triggered by vehicle A actively will not cause safety hazards to vehicle B any more, and then vehicle A can turn off the in-vehicle reminder and the out-of-vehicle reminder.

[0152] Please refer to FIG. 9, based on the same inventive concept, an embodiment of the present application provides a vehicle, which comprises a detection unit 301, an operation unit 302 and a reminding unit 303 connected in sequence.

[0153] The detection unit 301 is configured to detect external environment data in an external environment and send the external environment data to the operation unit 302.

[0154] The operation unit 302 is configured to detect a movable object existing in the external environment according to the external environment data, determine a relative distance between the vehicle and the movable object in real time, and determine whether the relative distance has a decreasing trend; if it is determined that the relative distance has a decreasing trend, send a vehicle interior reminding opening instruction and a vehicle exterior reminding opening instruction to the reminding unit 303 based on a preset priority during the decreasing of the relative distance, and the preset priority is determined according to a target triggering object which actively triggers the decreasing of the relative distance, and the target triggering object is the vehicle or the movable object.

[0155] The reminding unit 303 is configured to perform vehicle interior reminding in response to the vehicle interior reminding opening instruction, and perform vehicle exterior reminding in response to the vehicle exterior reminding opening instruction.

[0156] Optionally, the operation unit 302 is specifically configured to:

[0157] If it is determined that the relative distance has a decreasing trend, and the decreasing of the relative distance is actively triggered by the movable object, the vehicle interior reminding opening instruction and the vehicle exterior reminding opening instruction are sequentially sent to the reminding unit 303 during the decreasing of the relative distance.

[0158] The reminding unit 303 is specifically configured to:

[0159] The reminding unit 303 is specifically configured to:

[0160] Optionally, the operation unit 302 is specifically configured to:

[0161] If it is determined that the relative distance has a decreasing trend, and the decreasing of the relative distance is actively triggered by the movable object, the vehicle interior reminding opening instruction is sent to the reminding unit 303 when the relative distance is not greater than a first set threshold, and the vehicle exterior reminding opening instruction is sent to the reminding unit when the relative distance is not greater than a second set threshold, and the second set threshold is smaller than the first set threshold.

[0162] Optionally, the operation unit 302 is further configured to:

[0163] If it is determined that the relative distance has an increasing trend, and the relative distance is not less than a third set threshold, the vehicle interior reminding closing instruction and the vehicle exterior reminding closing instruction are sent to the reminding unit 303.

[0164] The reminding unit 303 is further configured to:

[0165] The reminding unit 303 is further configured to:

[0166] The reminding unit 303 is further configured to:

[0167] Optionally, when the relative distance has a decreasing trend, the movable object performs a lane changing operation, and the operation unit 302 is specifically configured to:

[0168] If it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the operation unit 302 sends the reminding unit 303 the vehicle-outside reminding opening instruction and the vehicle-inside reminding opening instruction in turn during the decreasing of the relative distance.

[0169] Optionally, the operation unit 302 is specifically configured to:

[0170] If it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the operation unit 302 sends the reminding unit 303 the vehicle-outside reminding opening instruction and the vehicle-inside reminding opening instruction in turn during the decreasing of the relative distance.

[0171] The reminding unit 303 is specifically configured to:

[0172] The reminding unit 303 performs the vehicle-outside reminding in response to the vehicle-outside reminding opening instruction and performs the vehicle-inside reminding in response to the vehicle-inside reminding opening instruction in turn.

[0173] Optionally, the operation unit 302 is specifically configured to:

[0174] If it is determined that the relative distance has a decreasing trend and the decreasing of the relative distance is triggered by the vehicle actively, the operation unit 302 sends the reminding unit 303 the vehicle-outside reminding opening instruction when the relative distance is not greater than the first set threshold.

[0175] The operation unit 302 sends the reminding unit 303 the vehicle-inside reminding opening instruction when the relative distance is not greater than the second set threshold, and the second set threshold is smaller than the first set threshold.

[0176] Optionally, the operation unit 302 is further configured to:

[0177] If it is determined that the relative distance has an increasing trend and the relative distance is not smaller than the third set threshold, the operation unit 302 sends the reminding unit 303 the vehicle-inside reminding closing instruction and the vehicle-outside reminding closing instruction.

[0178] The reminding unit 303 is further configured to:

[0179] The reminding unit 303 stops the vehicle-inside reminding in response to the vehicle-inside reminding closing instruction.

[0180] The reminding unit 303 stops the vehicle-outside reminding in response to the vehicle-outside reminding closing instruction.

[0181] Optionally, when the relative distance has a decreasing trend, the vehicle performs the steering operation, and the operation unit 302 is specifically configured to:

[0182] If it is determined that the relative distance has an increasing trend, the relative distance is not smaller than the third set threshold, and the moving direction of the vehicle is not the same as the moving direction of the movable object, the operation unit 302 sends the reminding unit 303 the vehicle-inside reminding closing instruction and the vehicle-outside reminding closing instruction.

[0183] Optionally, the in-vehicle reminder comprises a voice reminder, a picture reminder and a text reminder based on the vehicle information entertainment system.

[0184] Optionally, the display screen of the picture reminder is smaller than the display screen of the display screen of the vehicle information entertainment system.

[0185] Optionally, the operation unit 302 is further configured to:

[0186] If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, send an in-vehicle reminder part-off instruction to the reminding unit 303;

[0187] The reminding unit 303 is further configured to:

[0188] In response to the in-vehicle reminder part-off instruction, stop part of the in-vehicle reminder.

[0189] Optionally, the operation unit 302 is specifically configured to:

[0190] If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminder, send a voice reminder-off instruction and a picture reminder-off instruction to the reminding unit 303;

[0191] The reminding unit 303 is specifically configured to:

[0192] In response to the voice reminder-off instruction, stop the voice reminder;

[0193] In response to the picture reminder-off instruction, stop the picture reminder.

[0194] Optionally, the out-of-vehicle reminder is a reminder through an external display screen.

[0195] It is worth noting that in the above embodiments, the detection unit 301 can include a surround view camera (monocular camera, binocular camera, RGB-D camera, etc.) and a laser radar; the operation unit 302 can include any one or a combination of multiple of a central processing unit (CPU), a graphics processing unit (GPU), a neural-network processing unit (NPU), and a field programmable gate array (FPGA); the reminding unit 303 includes an in-vehicle reminding subunit and an out-of-vehicle reminding subunit, wherein the in-vehicle reminding subunit can include an audio output device (such as a sound system, etc.) and a center display screen; the out-of-vehicle reminding subunit can include an out-of-vehicle display screen arranged at the rear of the vehicle, for example, the out-of-vehicle display screen can be an LED display screen, an OLED display screen, or a liquid crystal display screen, etc. The number and size of the out-of-vehicle display screen are not particularly limited in the present application. It should be understood that the operation unit 302 and the reminding unit 303 can communicate through a gateway (not shown in the figure).

[0196] The embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores computer instructions, when the computer instructions run on a computer, the computer executes the method of FIGS. 1-5.

[0197] The above only represents the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A reminding method of a vehicle, characterized by, The method is applied to a vehicle and comprises: If a movable object is detected during driving of the vehicle, a relative distance between the vehicle and the movable object is determined in real time; If it is determined that the relative distance has a decreasing trend, in-process of the relative distance decreasing, in-vehicle reminding and out-vehicle reminding are performed based on preset priorities, the preset priorities being determined according to a target triggering object which actively triggers the relative distance to decrease, the target triggering object being the vehicle or the movable object.

2. The method of claim 1, wherein, If it is determined that the relative distance has a decreasing trend, in-process of the relative distance decreasing, in-vehicle reminding and out-vehicle reminding are performed based on preset priorities, comprising: If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the movable object, in-process of the relative distance decreasing, the in-vehicle reminding and the out-vehicle reminding are performed in sequence.

3. The method of claim 2, wherein, If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the movable object, in-process of the relative distance decreasing, the in-vehicle reminding and the out-vehicle reminding are performed in sequence, comprising: If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the movable object, when the relative distance is not greater than a first set threshold, the in-vehicle reminding is performed; When the relative distance is not greater than a second set threshold, the out-vehicle reminding is performed, the second set threshold being smaller than the first set threshold.

4. The method of claim 3, wherein, After the out-vehicle reminding is performed when the relative distance is not greater than the second set threshold, the method further comprises: If it is determined that the relative distance has an increasing trend and the relative distance is not smaller than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped.

5. The method of claim 4, wherein, When the relative distance has a decreasing trend and the movable object performs a lane changing operation, if it is determined that the relative distance has an increasing trend and the relative distance is not smaller than the third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped, comprising: If it is determined that the relative distance has an increasing trend, the relative distance is not smaller than the third set threshold, and the vehicle and the movable object are located in different lanes respectively, the in-vehicle reminding and the out-vehicle reminding are stopped.

6. The method of claim 1, wherein, If it is determined that the relative distance has a decreasing trend, in-process of the relative distance decreasing, in-vehicle reminding and out-vehicle reminding are performed based on preset priorities, comprising: If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the vehicle, in-process of the relative distance decreasing, the out-vehicle reminding and the in-vehicle reminding are performed in sequence.

7. The method of claim 6, wherein, If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the vehicle, in-process of the relative distance decreasing, the out-vehicle reminding and the in-vehicle reminding are performed in sequence, comprising: If it is determined that the relative distance has a decreasing trend and the relative distance decreasing is actively triggered by the vehicle, when the relative distance is not greater than a first set threshold, the out-vehicle reminding is performed; When the relative distance is not greater than a second set threshold, the in-vehicle reminding is performed, the second set threshold being smaller than the first set threshold.

8. The method of claim 7, wherein, When the relative distance is not greater than a second set threshold, after the in-vehicle reminding is performed, the method further comprises: If it is determined that the relative distance has a trend of increasing, and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped.

9. The method of claim 8, wherein, When the relative distance has a trend of decreasing, the vehicle performs a steering operation, and if it is determined that the relative distance has a trend of increasing, and the relative distance is not less than a third set threshold, the in-vehicle reminding and the out-vehicle reminding are stopped, comprising: If it is determined that the relative distance has a trend of increasing, the relative distance is not less than the third set threshold, and the moving direction of the vehicle is not the same as the moving direction of the movable object, the in-vehicle reminding and the out-vehicle reminding are stopped.

10. The method according to any one of claims 1 to 9, characterized in that, The in-vehicle reminding comprises a voice reminding, a picture reminding and a text reminding based on a vehicle information entertainment system.

11. The method of claim 10, wherein, The display picture of the picture reminding is smaller than the display picture of a display screen in the vehicle information entertainment system.

12. The method of claim 11, wherein, The method further comprises: If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, part of the in-vehicle reminding is stopped.

13. The method of claim 12, wherein, If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, part of the in-vehicle reminding is stopped, comprising: If it is determined that the driver of the vehicle does not pay attention to the in-vehicle reminding, the voice reminding and the picture reminding are stopped.

14. The method according to any one of claims 1-9, characterized in that, The out-vehicle reminding is performed by an external display screen.

15. A vehicle characterized by comprising: The vehicle comprises a detection unit, an operation unit and a reminding unit connected in sequence; The detection unit is configured to detect external environment data in an external environment, and send the external environment data to the operation unit; The operation unit is configured to detect a movable object existing in the external environment according to the external environment data, determine a relative distance between the vehicle and the movable object in real time, and determine whether the relative distance has a trend of decreasing; if it is determined that the relative distance has a trend of decreasing, during the process of decreasing the relative distance, an in-vehicle reminding start instruction and an out-vehicle reminding start instruction are sent to the reminding unit based on a preset priority, the preset priority is determined according to a target triggering object which actively triggers to decrease the relative distance, and the target triggering object is the vehicle or the movable object; The reminding unit is configured to perform in-vehicle reminding in response to the in-vehicle reminding start instruction, and perform out-vehicle reminding in response to the out-vehicle reminding start instruction.

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