CN116331198A - Road early warning system and method for vehicle running - Google Patents

Abstract

The application relates to a road early warning system and method for vehicle driving, wherein the system comprises: a sensor assembly for acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle; the early warning device is used for carrying out early warning and reminding on a driver and/or an outside living body; and the controller is used for determining the actual type of each obstacle based on the millimeter wave radar signals, identifying the collision risk between each obstacle and each obstacle based on the positioning signals, and matching the optimal early warning reminding action according to the positioning signals and the actual type when the collision risk reaches the preset early warning condition, and controlling the early warning device to execute the optimal early warning reminding action. According to the method and the device, the actual type of each obstacle can be determined based on the millimeter wave radar, the influence of extreme weather on the detection effect is avoided, and the optimal early warning reminding action is executed based on the collision risk control early warning device, so that bidirectional avoidance is realized, and the driving safety of a vehicle is improved.

Description

Road early warning system and method for vehicle running

Technical Field

The application relates to the technical field of vehicle driving safety, in particular to a road early warning system and method for vehicle driving.

Background

In the related art, for the technical scheme of the off-vehicle early warning, a scheme of using a camera and an infrared detector is generally adopted, or a road side unit is adopted as a sensor for sensing pedestrians, so that the early warning is carried out based on sensing data of the camera and the infrared detector or the early warning is carried out based on sensing data of the road side unit.

However, firstly, the privacy problem of personnel can be related to the sensing data, and meanwhile, the performances of the camera and the infrared detector can be affected to a certain extent under the night driving condition or extreme weather, so that the safety of the vehicle is reduced; secondly, the perceived data depends on the arrangement of the road side units, but if the road side units are arranged in rural areas widely, the cost is high, the income is low, and the communication with the vehicles is needed to be established, so that the accurate communication can be realized, the cost is high, and the practicability is low; finally, when biological movement around the vehicle is detected, the vehicle is controlled to decelerate, the intelligent level is low, the one-way avoidance still has larger potential safety hazard, the requirements of users cannot be met, the experience is poor, and the improvement is needed.

Disclosure of Invention

The application provides a road early warning system and method for vehicle driving, which aims to solve the technical problems that privacy protection and cost benefit cannot be considered in the related art, and when biological movement around a vehicle is detected, the vehicle can only be controlled to carry out unidirectional avoidance, so that larger potential safety hazard exists.

An embodiment of a first aspect of the present application provides a road warning system for vehicle driving, including: a sensor assembly for acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle; the early warning device is used for carrying out early warning and reminding on a driver and/or an outside living body; and the controller is used for determining the actual type of each obstacle based on the millimeter wave radar signals, identifying the collision risk between each obstacle based on the positioning signals, and controlling the early warning device to execute the optimal early warning action according to the positioning signals and the actual type when the collision risk reaches a preset early warning condition.

According to the technical means, the embodiment of the application can determine the actual type of each obstacle based on the millimeter wave radar, avoid the influence of extreme weather on the detection effect, and judge the collision risk of the vehicle and the obstacle by using the controller, so that the optimal early warning reminding action is executed based on the collision risk control early warning device, the bidirectional avoidance is realized, the driving safety of the vehicle is improved, the driving experience of a user is improved, the cost is lower, the infrastructure construction is not relied on, and the popularization is convenient.

Optionally, in one embodiment of the present application, further includes: the server is used for receiving the millimeter wave radar signals sent by the controller, inputting the millimeter wave radar signals to a pre-built type identification module, outputting the actual type of each obstacle and sending the actual type of each obstacle to the controller.

According to the technical means, the embodiment of the application can judge the type of the obstacle through the server, so that the vehicle running resources are not occupied, and the judging speed is improved.

Optionally, in one embodiment of the present application, the controller is specifically configured to determine whether any obstacle is in a driving direction of the vehicle according to the positioning signal; determining an actual distance between the vehicle and the any obstacle from the millimeter wave radar signal if in the traveling direction; and matching the optimal frequency of the prompt tone of the early warning and prompting action with a prompting target according to the actual distance.

According to the technical means, the collision risk of the obstacle and the vehicle can be judged, and different early warning reminding actions are executed based on the distance between the vehicle and the obstacle.

Optionally, in one embodiment of the present application, further includes: and the braking device is used for calculating the collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle while executing the optimal early warning reminding action, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than a preset probability.

According to the technical means, the vehicle is controlled to decelerate based on the behavior of the obstacle while the optimal early warning reminding action is executed, so that the collision between the vehicle and the obstacle is avoided when the obstacle does not avoid.

Optionally, in one embodiment of the present application, the sensor assembly includes at least one millimeter wave radar and at least one locator.

According to the technical means, millimeter wave radar data can be obtained through the millimeter wave radar, and positioning information can be obtained through the positioner.

An embodiment of a second aspect of the present application provides a road early warning method for vehicle driving, including the following steps: acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle; determining an actual type of each obstacle based on the millimeter wave radar signals, and identifying a collision risk with each obstacle based on the positioning signals; and when the collision risk reaches a preset early warning condition, matching the optimal early warning reminding action according to the positioning signal and the actual type, and controlling the vehicle to execute the optimal early warning reminding action so as to carry out early warning reminding on a driver and/or an outside living body.

Optionally, in an embodiment of the present application, the matching the optimal early warning action according to the positioning signal and the actual type controls the vehicle to execute the optimal early warning action, including: judging whether any obstacle is in the running direction of the vehicle according to the positioning signal; determining an actual distance between the vehicle and the any obstacle from the millimeter wave radar signal if in the traveling direction; and matching the optimal frequency of the prompt tone of the early warning and prompting action with a prompting target according to the actual distance.

Optionally, in an embodiment of the present application, the matching the optimal early warning action according to the positioning signal and the actual type controls the vehicle to execute the optimal early warning action, including: and when the optimal early warning reminding action is executed, calculating collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than a preset probability.

An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the road early warning method for vehicle running according to the embodiment.

The fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the road warning method for vehicle travel as above.

The beneficial effects of the embodiment of the application are that:

(1) According to the method and the device, the actual type of each obstacle can be determined based on the millimeter wave radar, the influence of extreme weather on the detection effect is avoided, and the collision risk of the vehicle and the obstacle is judged by the controller, so that the optimal early warning reminding action is executed based on the collision risk control early warning device, the bidirectional avoidance is realized, the driving safety of the vehicle is improved, the driving experience of a user is improved, the cost is lower, the infrastructure construction is not relied on, and the popularization is convenient.

(2) According to the method and the device for judging the type of the obstacle, the type of the obstacle can be judged through the server, the self-running resources of the vehicle are not occupied, and the judging speed is improved.

(3) According to the method and the device for controlling the vehicle to reduce speed, the optimal early warning reminding action is executed, and meanwhile, the vehicle is controlled to reduce speed based on the action of the obstacle, so that the collision between the vehicle and the obstacle is avoided when the obstacle does not avoid.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of a road early warning system for vehicle running according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a road warning system for driving a vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a controller according to an embodiment of the present application;

FIG. 4 is a flow chart of a road warning system for vehicle travel in accordance with one embodiment of the present application;

FIG. 5 is a flow chart of a road warning system for vehicle travel in accordance with another embodiment of the present application;

fig. 6 is a flowchart of a road early warning method for vehicle driving according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

The system comprises a road early warning system for 10-vehicle running; 100-sensor components, 101-millimeter wave radar modules, 102-positioning modules, 200-reminding components, 201-car body domain reminding modules, 202-cabin domain reminding modules, 300-controllers, 301-signal receiving modules, 302-signal transmitting modules, 303-signal processing modules, 304-power modules, 305-calculation modules, 306-communication modules and 400-servers; 701-memory, 702-processor, 703-communication interface.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

The following describes a road early warning system and a method for vehicle running according to an embodiment of the present application with reference to the accompanying drawings. In the related art mentioned in the background art center, privacy protection and cost benefit cannot be considered, and when biological movement around a vehicle is detected, the vehicle can only be controlled to carry out unidirectional avoidance, and the technical problem of large potential safety hazards exists. Therefore, the technical problems that privacy protection and cost benefit cannot be achieved in the related art, and when biological movement around a vehicle is detected, the vehicle can only be controlled to carry out one-way avoidance, so that a large potential safety hazard exists are solved.

Specifically, fig. 1 is a schematic structural diagram of a road early warning system for vehicle driving according to an embodiment of the present application.

As shown in fig. 1, the road warning system 10 for vehicle running includes: sensor assembly 100, early warning device 200, and controller 300.

Specifically, the sensor assembly 100 is used for acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle.

In the actual implementation process, the sensor assembly 100 may be used to collect millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle, where the positioning signals are positioning signals of the vehicle, so that detection of the obstacle is achieved under the conditions of blocked vision and poor road working condition, and collision between the vehicle and the obstacle is avoided.

Optionally, in one embodiment of the present application, sensor assembly 100 includes at least one millimeter wave radar and at least one locator.

Wherein the obstacle assembly 100 may include at least one millimeter wave radar for generating millimeter wave radar signals between the at least one obstacle and the vehicle; at least one locator, such as GPS (Global Positioning System, global positioning information), beidou satellite navigation system, etc., the user generates a locating signal for the vehicle.

The early warning device 200 is used for carrying out early warning and reminding on a driver and/or an outside living body.

As a possible implementation manner, the early warning device 200 may implement early warning and reminding for the driver and/or the living body outside the vehicle, where the early warning device 200 may include an optical display device, an acoustic reminding device, and/or a vibration reminding device.

The optical display device can be used for controlling an in-vehicle display screen and an early warning lamp, reminding a driver of nearby obstacle information, and also can be used for controlling a vehicle outline lamp and a headlight, and reminding a living body outside the vehicle to avoid;

the acoustic reminding device can carry out in-vehicle voice broadcasting and early warning sound effect control, remind the obstacle information nearby a driver, and also can carry out external speaker control of the vehicle, remind an external living body to avoid, and avoid the external living body from being able to timely evade due to limited visual field;

the vibration reminding device can perform vibration control on a seat and a steering wheel in a vehicle, and reminds a driver of nearby obstacle information.

The controller 300 is configured to determine an actual type of each obstacle based on the millimeter wave radar signal, identify a collision risk with each obstacle based on the positioning signal, and when the collision risk reaches a preset early warning condition, match an optimal early warning action according to the positioning signal and the actual type, and control the early warning device 200 to execute the optimal early warning action.

Specifically, after determining the actual type of each obstacle based on the millimeter wave radar, the embodiment of the application may determine the collision risk between each obstacle and the vehicle by using the positioning signal and the millimeter wave radar, for example, may determine the collision risk between each obstacle and the vehicle by calculating the collision time, and when the collision risk reaches the preset early warning condition, for example, when the collision time is less than the early warning time, the embodiment of the application may match the optimal warning action according to the positioning signal and the actual type of the obstacle, so as to control the early warning device 200 to early warn the driver and the living body outside the vehicle.

Optionally, in one embodiment of the present application, the road warning system 10 for vehicle driving further includes: and the server is used for receiving the millimeter wave radar signals sent by the controller 300, inputting the millimeter wave radar signals to a pre-constructed type identification module, outputting the actual type of each obstacle and sending the actual type of each obstacle to the controller 300.

In some embodiments, the embodiments of the present application may implement the judgment of the actual type of the obstacle through the server, and the server may receive the millimeter wave radar signal sent by the controller 300, and input the millimeter wave radar signal to the type identification module constructed in advance, so as to output the actual type of each obstacle, and return the judgment result to the controller 300, thereby avoiding occupation of the vehicle running resources, and improving the running and judgment speed.

The pre-constructed type recognition module can recognize that the obstacle is a living body or a static body from the millimeter wave radar, for example, whether the obstacle moves or not is judged, the obstacle material is judged through penetrability of the millimeter wave radar, and the like, and the specific type recognition module can be correspondingly set by a person skilled in the art according to actual conditions, so that specific limitation is not carried out.

Optionally, in one embodiment of the present application, the controller 300 is specifically configured to determine whether any obstacle is in a driving direction of the vehicle according to the positioning signal; determining an actual distance between the vehicle and any obstacle from the millimeter wave radar signal if in the direction of travel; and matching the optimal frequency of the prompt tone of the early warning and reminding action and the reminding target according to the actual distance.

In this embodiment of the present application, the controller 300 may be further configured to determine whether any obstacle is in the driving direction of the vehicle according to the positioning signal, that is, determine the driving direction of the vehicle according to the positioning signal, so as to determine the relative direction between any obstacle and the vehicle based on the millimeter wave radar signal, so as to determine whether any obstacle is in the driving direction of the vehicle.

If any obstacle is in the running direction of the vehicle, the embodiment of the application can determine that the actual distance between the vehicle and any obstacle is matched with the optimal frequency of the prompt tone of the early warning prompt action and the prompt target, and if the actual distance is far and exceeds 10 meters, the prompt tone frequency of the embodiment of the application is relaxed, if the actual distance is sounded once every 2s, and the prompt target at the moment is an outside living body; when the actual distance is smaller than or equal to 10 meters, the prompt tone frequency of the embodiment of the application is compact, for example, the prompt tone frequency sounds once every 1s, and at the moment, the prompt target is a driver in the vehicle and a living body outside the vehicle.

In addition, when any obstacle is not in the running direction of the vehicle, the embodiment of the application can judge whether collision can occur between the vehicle and the obstacle based on the positioning information and the millimeter wave radar information, and can remind the inside and the outside of the vehicle simultaneously through the prompt tone when collision can occur.

Optionally, in one embodiment of the present application, the road warning system 10 for vehicle driving further includes: and the braking device is used for calculating the collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle while executing the optimal early warning reminding action, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than the preset probability.

In the actual execution process, the embodiment of the application can also realize that the vehicle is controlled to brake when the vehicle executes the optimal early warning reminding action through the braking device so as to avoid collision between the vehicle and the obstacle when the avoidance of the external living obstacle fails.

Specifically, the embodiment of the application can calculate the collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle, namely, predict the movement direction of the living obstacle through the millimeter wave radar signal, determine the collision probability based on the movement direction, the movement speed, the actual speed of the vehicle and the positioning signal of the living obstacle, and control the vehicle to decelerate based on a preset braking strategy when the collision probability is greater than a preset probability, such as 60%.

The method and the device can monitor the living body obstacle in real time and acquire the response of the living body obstacle after receiving the early warning reminding information of the vehicle, so that the vehicle can be further controlled to brake and avoid according to the action of the living body obstacle, and part of living bodies are prevented from being out of control after hearing the reminding sound and are instead collided with the vehicle.

It should be noted that, the preset braking policy may be a deceleration braking implemented based on an actual vehicle speed of the vehicle on the premise that the vehicle does not collide with the living obstacle in the embodiment of the present application, and may be specifically set by those skilled in the art according to actual situations, which is not specifically limited herein.

The working principle of the road early warning system for vehicle running according to the embodiment of the present application will be described in detail with reference to fig. 2 to 5.

As shown in fig. 2 and 3, the road warning system 10 for vehicle running according to the embodiment of the present application may include: sensor assembly 100, millimeter wave radar module 101, positioning module 102, alert assembly 200, body area alert module 201, cabin area alert module 202, controller 300, signal receiving module 301, signal transmitting module 302, signal processing module 303, power module 304, computing module 305, communication module 306, and server 400.

The sensor assembly 100 includes, among other things, a millimeter wave radar module 101 and a positioning module 102.

The reminder assembly 200 includes a body domain reminder module 201 and a cabin domain reminder module 202.

The controller 300 includes a signal receiving module 301, a signal transmitting module 302, a signal processing module 303, a power module 304, a computing module 305, and a communication module 306.

The server 400 may be a cloud server or a cloud platform.

As shown in fig. 4, an embodiment of the present application may include the following steps:

step S401: the driver actively turns on the switch of the night driving early warning system.

Step S402: the millimeter wave radar module 101 starts to work, the power supply module 304 in the controller 300 starts to supply power, the signal transmitting module 302 and the signal receiving module 301 transmit and receive millimeter wave radar signals, the received source signals are sent to the signal processing module 303, the signal processing module 303 processes original signals and then sends the processed signals to the calculating module 305, the calculating module 305 calculates the processed signals, and the calculated results are sent to the controller 300 through the communication module 306.

Step S403: the controller 300 transmits a signal of the radar module to the server 400.

Step S404: the server 400 makes a decision as to whether the signal is human or animal, and feeds back the decision result to the controller 300 in real time.

Step S405: the controller 300 determines whether to perform the early warning according to the result. If the decision result is that the early warning is performed, the controller 300 notifies the car body domain reminding module 201 and the cabin domain reminding module 202 to perform early warning operation in the respective domains, the car sends out a prompt tone to remind the pedestrian or the animal, and the cabin domain reminding module 202 sends out a sound to remind the driver of paying attention to the pedestrian or the animal.

Further, as shown in fig. 5, the frequency of the alert sound in the embodiment of the present application may be changed according to different driving situations, and specifically may include the following steps:

step S501: if the vehicle needs to give an early warning to the inside and the outside of the vehicle.

Step S502: the controller 300 first determines whether it is in the traveling direction of the vehicle based on the direction in which the person or animal detected by the millimeter wave radar is located and the traveling direction detected by the vehicle positioning module 102. If not, the process proceeds to step S503, otherwise, the process proceeds to step S504.

Step S503: if the vehicle is not in the traveling direction of the vehicle, a gentle prompt tone is given to the driver in the vehicle and the living body outside the vehicle.

Step S504: if it is in the running direction of the vehicle, then the arrival time is calculated according to the distance detected by the millimeter wave radar and the running speed obtained by the positioning module 102, and it is determined whether the arrival time is short. If yes, go to step S505, otherwise go to step S506.

Step S505: if the arrival time is longer, a lower-frequency prompt tone is sent to represent general early warning.

Step S506: if the arrival time is short, a prompt tone with higher frequency is sent out to indicate serious early warning.

According to the road early warning system for vehicle running provided by the embodiment of the application, the actual type of each obstacle can be determined based on the millimeter wave radar, the influence of extreme weather on the detection effect is avoided, and the collision risk of the vehicle and the obstacle is judged by the controller, so that the optimal early warning reminding action is executed based on the collision risk control early warning device, the bidirectional avoidance is realized, the running safety of the vehicle is improved, the driving experience of a user is improved, the cost is lower, the infrastructure construction is not relied on, and the popularization is convenient. Therefore, the technical problems that privacy protection and cost benefit cannot be achieved in the related art, and when biological movement around a vehicle is detected, the vehicle can only be controlled to carry out one-way avoidance, so that a large potential safety hazard exists are solved.

Next, a road early warning method for vehicle running according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 6 is a flowchart of a road warning method for vehicle running according to an embodiment of the present application.

As shown in fig. 6, the road early warning method for vehicle running includes the following steps:

in step S601, millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle are acquired.

In step S602, the actual type of each obstacle is determined based on the millimeter wave radar signal, and the risk of collision with each obstacle is identified based on the positioning signal.

In step S603, when the collision risk reaches the preset early warning condition, the optimal early warning and reminding action is matched according to the positioning signal and the actual type, and the vehicle is controlled to execute the optimal early warning and reminding action, so that the driver and/or the living body outside the vehicle can carry out early warning and reminding.

Optionally, in an embodiment of the present application, matching the optimal early warning action according to the positioning signal and the actual type controls the vehicle to execute the optimal early warning action, including: judging whether any obstacle is in the running direction of the vehicle according to the positioning signal; determining an actual distance between the vehicle and any obstacle from the millimeter wave radar signal if in the direction of travel; and matching the optimal frequency of the prompt tone of the early warning and reminding action and the reminding target according to the actual distance.

Optionally, in an embodiment of the present application, matching the optimal early warning action according to the positioning signal and the actual type controls the vehicle to execute the optimal early warning action, including: and when the optimal early warning reminding action is executed, calculating the collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than the preset probability.

It should be noted that the foregoing explanation of the embodiment of the road early warning system for vehicle driving is also applicable to the road early warning for vehicle driving in this embodiment, and will not be repeated here.

According to the road early warning that the vehicle was driven according to the embodiment of the application provided, can confirm the actual type of every barrier based on millimeter wave radar, avoid extreme weather to the influence of detection effect to utilize the controller to judge the collision risk of vehicle and barrier, thereby carry out best early warning action based on collision risk control early warning device, in order to realize two-way dodging, improve the driving safety of vehicle, improve user's driving experience, and the cost is lower, does not rely on infrastructure construction, facilitate promotion. Therefore, the technical problems that privacy protection and cost benefit cannot be achieved in the related art, and when biological movement around a vehicle is detected, the vehicle can only be controlled to carry out one-way avoidance, so that a large potential safety hazard exists are solved.

Fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:

memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.

The processor 702 implements the road warning method for vehicle running provided in the above embodiment when executing the program.

Further, the vehicle further includes:

a communication interface 703 for communication between the memory 701 and the processor 702.

Memory 701 for storing a computer program executable on processor 702.

The memory 701 may include a high-speed RAM memory or may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.

If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.

The processor 702 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the road warning method of vehicle travel as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.

The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. A road warning system for vehicle travel, comprising:

a sensor assembly for acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle;

the early warning device is used for carrying out early warning and reminding on a driver and/or an outside living body; and

the controller is used for determining the actual type of each obstacle based on the millimeter wave radar signals, identifying the collision risk between each obstacle based on the positioning signals, and controlling the early warning device to execute the optimal early warning and reminding action according to the positioning signals and the actual type when the collision risk reaches a preset early warning condition.

2. The system of claim 1, further comprising:

the server is used for receiving the millimeter wave radar signals sent by the controller, inputting the millimeter wave radar signals to a pre-built type identification module, outputting the actual type of each obstacle and sending the actual type of each obstacle to the controller.

3. The system of claim 1, wherein the controller is specifically configured to:

judging whether any obstacle is in the running direction of the vehicle according to the positioning signal;

determining an actual distance between the vehicle and the any obstacle from the millimeter wave radar signal if in the traveling direction;

and matching the optimal frequency of the prompt tone of the early warning and prompting action with a prompting target according to the actual distance.

4. A system according to claim 3, further comprising:

and the braking device is used for calculating the collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle while executing the optimal early warning reminding action, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than a preset probability.

5. The system of claim 1, wherein the sensor assembly comprises at least one millimeter wave radar and at least one locator.

6. A road warning method for vehicle travel, characterized in that a road warning system for vehicle travel according to any one of claims 1 to 5 is employed, wherein the method comprises the steps of:

acquiring millimeter wave radar signals and positioning signals between at least one obstacle around the vehicle and the vehicle;

determining an actual type of each obstacle based on the millimeter wave radar signals, and identifying a collision risk with each obstacle based on the positioning signals; and

when the collision risk reaches a preset early warning condition, the optimal early warning reminding action is matched according to the positioning signal and the actual type, and the vehicle is controlled to execute the optimal early warning reminding action so as to carry out early warning reminding on a driver and/or an outside living body.

7. The method of claim 6, wherein said matching the optimal early warning alert action based on the positioning signal and the actual type, controlling the vehicle to perform the optimal early warning alert action, comprises:

judging whether any obstacle is in the running direction of the vehicle according to the positioning signal;

determining an actual distance between the vehicle and the any obstacle from the millimeter wave radar signal if in the traveling direction;

and matching the optimal frequency of the prompt tone of the early warning and prompting action with a prompting target according to the actual distance.

8. The method of claim 7, wherein said matching the optimal early warning alert action based on the positioning signal and the actual type, controlling the vehicle to perform the optimal early warning alert action, comprises:

and when the optimal early warning reminding action is executed, calculating collision probability with any obstacle according to the millimeter wave radar signal, the positioning signal and the actual speed of the vehicle, and controlling the vehicle to decelerate based on a preset braking strategy when the collision probability is larger than a preset probability.

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the road warning method of vehicle travel of any one of claims 6-8.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing the road warning system method of vehicle travel according to any one of claims 6-8.

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