CN115503602A - Vehicle chassis obstacle early warning method and device, vehicle and storage medium - Google Patents

Abstract

The present application relates to the technical field of early warning of vehicle obstacles, and in particular to a method, device, vehicle and storage medium for early warning of obstacles in the vehicle chassis, wherein a detection piece is provided at the center of the chassis of the vehicle, including: collecting the actual vehicle speed of the current vehicle; When the actual vehicle speed is lower than the preset vehicle speed, control the current vehicle to enter the chassis obstacle warning mode to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; calculate the chassis safety distance of the current vehicle, and when the vertical distance is greater than the chassis safety distance, Control the current vehicle for chassis obstacle warning prompts. According to the early warning method of vehicle chassis obstacles in the embodiment of the present application, by combining the vehicle speed and the detection piece of the vehicle chassis to scan the obstacle information, early warning can be provided for the user, thereby avoiding the user's economic loss, and at the same time ensuring the user's driving Safety.

Description

Early warning method, device, vehicle and storage medium for vehicle chassis obstacles

technical field

The present application relates to the technical field of early warning of vehicle obstacles, in particular to a method, device, vehicle and storage medium for early warning of vehicle chassis obstacles.

Background technique

With the increase in the number of vehicles, it has become an indispensable means of transportation for users to travel, but there are also some roadblocks when driving, for example, during driving, there are raised foreign objects, potholes or road bumps in the middle of the road. When the ups and downs are large, when the vehicle passes through these roadblocks, sometimes the user may not grasp the height and scratch the chassis of the vehicle, which may easily lead to deformation and breakage of the chassis parts. Therefore, it is necessary to test the chassis of the vehicle distance warning.

In related technologies, the user usually checks the surrounding environment of the chassis before starting the vehicle, or judges whether there is any foreign object in the chassis by the user's driving state during driving, and sends the road condition information of the chassis to the cloud computing for early warning to the user.

However, when detecting foreign objects on the vehicle chassis manually, there is a problem of missed detection. Therefore, it will cause potential safety hazards for the vehicle and easily cause traffic accidents, which needs to be solved urgently.

Contents of the invention

The present application provides an early warning method, device, vehicle, and storage medium for vehicle chassis obstacles, so as to solve the problems that the vehicle chassis obstacle detection method in the related art is prone to missed detection, which may lead to traffic safety hazards and other problems.

The embodiment of the first aspect of the present application provides a method for early warning of obstacles in the chassis of a vehicle. A detection part is provided at the center of the chassis of the vehicle, wherein the method includes the following steps: collecting the actual vehicle speed of the current vehicle; when the actual vehicle speed is less than When the vehicle speed is preset, control the current vehicle to enter the chassis obstacle early warning mode to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; and calculate the chassis safety distance of the current vehicle, and When the distance is greater than the chassis safety distance, the current vehicle is controlled to perform a chassis obstacle warning prompt.

According to the above technical means, by detecting the speed of the vehicle and scanning the obstacle information by the laser radar, the detection accuracy can be improved, scratches can be avoided, and driving safety can be ensured.

Further, in an embodiment of the present application, the calculating the chassis safety distance of the current vehicle includes: collecting the vehicle mass of the current vehicle; and matching the chassis safety distance based on the vehicle mass.

According to the above technical means, by collecting the vehicle quality and matching the corresponding chassis safety distance, the user can be given an early warning prompt to avoid the user's economic loss.

Further, in an embodiment of the present application, the controlling the current vehicle to perform a chassis obstacle early warning prompt includes: matching the best reminder method according to the vertical distance; controlling the current vehicle according to the best reminder method At least one acoustic reminder device and/or at least one optical reminder device reminds.

According to the above-mentioned technical means, by matching different reminding methods to the vertical distance between the obstacle and the vehicle chassis, the user can quickly make a judgment, adjust the direction of the vehicle in time, and avoid driving failures.

Further, in an embodiment of the present application, the controlling the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle includes: judging whether the obstacle is in a preset area; if it is in the preset area , the relevant information of the obstacle is collected, otherwise, the obstacle is ignored.

According to the above technical means, by judging whether the obstacle is within the preset area of the vehicle, the calculation efficiency of the obstacle data information is improved.

Further, in one embodiment of the present application, after controlling the current vehicle to give a warning prompt for chassis obstacles, it also includes: detecting whether the obstacle leaves the preset area; , the chassis obstacle warning prompt will stop.

According to the above-mentioned technical means, through the real-time detection of the laser radar, the warning suspension prompt of the chassis obstacle is controlled, and the driving experience of the user is improved.

The embodiment of the second aspect of the present application provides an early warning device for obstacles in the chassis of a vehicle. A detection part is provided at the center of the chassis of the vehicle, including: an acquisition module for acquiring the actual vehicle speed of the current vehicle; a control module for When the actual vehicle speed is less than the preset vehicle speed, control the current vehicle to enter the chassis obstacle warning mode to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; and a calculation module for calculating the chassis safety of the current vehicle distance, and when the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to perform a chassis obstacle warning prompt.

Further, in one embodiment of the present application, the calculation module includes: a first acquisition unit, configured to acquire the vehicle mass of the current vehicle; a first matching unit, configured to match the vehicle weight based on the vehicle mass The chassis safety distance.

Further, in an embodiment of the present application, the calculation module includes: a second matching unit, configured to match the optimal reminder method according to the vertical distance; a control unit, configured to control At least one acoustic reminder device and/or at least one optical reminder device of the current vehicle provide a reminder.

Further, in an embodiment of the present application, the control module includes: a judging unit, configured to judge whether the obstacle is in a preset area; a second acquisition unit, configured to, if it is in the preset area, Then collect the relevant information of the obstacle, otherwise ignore the obstacle.

Further, in an embodiment of the present application, after the current vehicle is controlled to perform a chassis obstacle warning prompt, the calculation module further includes: a detection unit, configured to detect whether the obstacle leaves the preset area ; A stop unit, configured to stop the chassis obstacle warning prompt when it is detected that the vehicle leaves the preset area.

The embodiment of the third aspect of the present application provides a vehicle, including: a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the program to implement the following: The method for early warning of vehicle chassis obstacles described in the above embodiments.

The embodiment of the fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, and the program is executed by a processor, so as to implement the early warning method for vehicle chassis obstacles as described in the above-mentioned embodiments.

In the embodiment of the present application, when the actual vehicle speed of the current vehicle is collected to be lower than the preset vehicle speed, the current vehicle is controlled to enter the chassis obstacle early warning mode, so as to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle and calculate the chassis safety distance of the current vehicle, When the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to give a warning prompt for chassis obstacles. As a result, the problem that the detection method of the vehicle chassis obstacle in the related art is prone to missed detection, which may lead to traffic safety hazards, is solved.

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.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

Fig. 1 is a flow chart of an early warning method for a vehicle chassis obstacle provided according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an overall process according to an embodiment of the present application;

Fig. 3 is a top cross-sectional schematic view according to an embodiment of the present application;

Fig. 4 is a schematic side sectional view according to an embodiment of the present application;

5 is a schematic block diagram of an early warning device for vehicle chassis obstacles according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Explanation of reference numerals: 10-an early warning device for vehicle chassis obstacles; 100-acquisition module, 200-control module, 300-calculation module.

detailed description

Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

The method, device, vehicle and storage medium for early warning of vehicle chassis obstacles according to the embodiments of the present application will be described below with reference to the accompanying drawings. Aiming at the problem that the vehicle chassis obstacle detection method in the related art mentioned in the above background technology is prone to missed detection, which will lead to traffic safety hazards, the present application provides an early warning method for vehicle chassis obstacles. , when the actual speed of the current vehicle is less than the preset speed, the current vehicle is controlled to enter the chassis obstacle warning mode to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle and calculate the chassis safety distance of the current vehicle. When the distance is greater than the chassis safety distance, the current vehicle is controlled to give a warning prompt for chassis obstacles. Thus, it solves the problem that the vehicle chassis obstacle detection method in the related art is prone to missing detection, which will lead to traffic safety hazards. The combination of vehicle speed and detection piece scanning obstacle information at the bottom of the vehicle can provide users with Provide early warning, so as to avoid the user's economic loss, while ensuring the user's driving safety.

Specifically, FIG. 1 is a schematic flowchart of a method for early warning of vehicle chassis obstacles provided by an embodiment of the present application.

As shown in Figure 1, a detection part is arranged at the central position of the chassis of the vehicle, wherein the early warning method of the vehicle chassis obstacle comprises the following steps:

In step S101, the actual vehicle speed of the current vehicle is collected.

Specifically, as shown in Figure 2, in the embodiment of the present application, when the vehicle encounters an abnormal situation during the driving process of the user, for example, when the vehicle passes through an unavoidable road condition such as a road with obstacles or a bump on the road, at this time, it is necessary to The actual speed of the current vehicle is collected through the speed sensor in the vehicle to determine whether there is an obstacle at the bottom of the vehicle.

In step S102, when the actual vehicle speed is lower than the preset vehicle speed, the current vehicle is controlled to enter the chassis obstacle warning mode, so as to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle.

Wherein, the preset vehicle speed may be a speed threshold set by the user, or a threshold obtained by computer simulations for many times, which is not specifically limited here.

Preferably, the detection device in the embodiment of the present application can be a laser radar, and one or more laser radars can be installed in the center of the vehicle chassis to scan the obstacle information of the vehicle chassis to improve detection accuracy.

Specifically, if the actual speed of the current vehicle is less than the preset speed (such as 30km/h), it is determined that there is an obstacle at the bottom of the vehicle. At this time, the laser radar intervenes to detect the obstacle and controls the current vehicle to enter the chassis obstacle early warning system. Mode, to avoid the situation that the front end of the vehicle can pass normally but the rear chassis of the vehicle will hit the obstacle due to the tilt angle of the vehicle when the user passes through the obstacle, thus causing economic losses to the user.

Further, in one embodiment of the present application, the control detection part collects the vertical distance of the obstacle at the bottom of the vehicle, including: judging whether the obstacle is in a preset area; if it is in a preset area, collecting information about the obstacle , otherwise the obstacle is ignored.

Wherein, as shown in FIG. 3 , the preset area is the remaining vehicle area of the entire vehicle chassis except four tires.

Further, when the vehicle passes through an obstacle, the obstacle data information is scanned by the laser radar, and it is judged whether the obstacle is in the preset area, and if the obstacle is in the preset area, the vertical distance between the obstacle and the vehicle chassis is calculated. If the obstacle is not within the preset area, it means that the obstacle cannot touch the vehicle chassis. At this time, the data information of the obstacle is removed and the obstacle is ignored to improve the calculation efficiency.

In step S103, the chassis safety distance of the current vehicle is calculated, and when the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to perform a chassis obstacle warning prompt.

Further, in an embodiment of the present application, calculating the chassis safety distance of the current vehicle includes: collecting the vehicle mass of the current vehicle; and matching the chassis safety distance based on the vehicle mass.

Specifically, as shown in Figure 4, before collecting the current vehicle mass, the embodiment of the present application first constructs a relationship mapping model between the vehicle mass and the vehicle chassis safety distance; The calculation of vehicle mass matches the corresponding chassis safety distance in the relational mapping model. Wherein, the whole vehicle quality may include the vehicle quality and the quality of the front row users and/or the rear row users inside the vehicle, and the relationship mapping model between the whole vehicle quality and the safety distance of the vehicle chassis can be determined by those skilled in the art according to the models and uses of different vehicles. It is not specifically limited here.

Further, in the embodiment of the present application, a coordinate system is established based on the laser radar in the center of the vehicle chassis, and the center of the laser radar is used as the origin of the coordinates. The coordinate system divides the vehicle chassis plane into 4 regions, corresponding to the 4 quadrants of the coordinate axes; Secondly, the obstacle data information collected by the lidar is fed back to the vehicle's computing center, and the angle and length corresponding to the obstacle and the lidar can be obtained through the received multiple feedback information; finally, according to the obstacle and the lidar The angle of the obstacle can be obtained corresponding to the coordinate quadrant of the vehicle chassis where the obstacle falls. At the same time, according to the angle between the obstacle and the lidar, the specific coordinate information of the x and y axes corresponding to the obstacle can be calculated through trigonometric functions. The coordinate calculation formula as follows:

X=L*sinα;

Y=L*cosα;

Among them, α is the angle between the obstacle and the lidar, and L is the distance between the obstacle and the lidar.

Furthermore, in the embodiment of the present application, after obtaining the coordinate information corresponding to the obstacle, it is further judged whether the obstacle is within the preset area of the vehicle chassis, and if it is within the preset area of the vehicle chassis, then the laser radar scan can be used to obtain The straight-line distance and angle between the obstacle and the laser radar, and through the straight-line distance and angle, the vertical distance between the obstacle and the vehicle chassis is obtained through a trigonometric function, and the calculation formula is as follows:

H=L*sinα;

Among them, H is the vertical distance between the obstacle and the vehicle chassis.

Further, the embodiment of the present application compares the obtained vertical distance between the obstacle and the chassis of the vehicle with the chassis safety distance of the current vehicle, and if the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to perform a chassis obstacle warning prompt.

Further, in an embodiment of the present application, controlling the current vehicle to perform early warning prompts of chassis obstacles includes: matching the optimal reminder mode according to the vertical distance; controlling at least one acoustic reminder device and/or at least one acoustic reminder device of the current vehicle according to the optimal reminder mode An optical reminder device for reminder.

Wherein, the acoustic reminder device can be a car horn, sound system, siren or other reminder equipment with an acoustic reminder function; the optical reminder device can be an LED (light emitting diode, light emitting diode) display, a liquid crystal display or other devices with optical The display device of the function is not specifically limited here.

Specifically, when the vertical distance between the obstacle and the vehicle chassis is greater than or equal to the chassis safety distance, at least one acoustic warning device is matched to remind, for example, the sound system sends out "Please note that there is an obstacle in the vehicle chassis, please be careful." Driving" and other reminder information; when the vertical distance between the obstacle and the vehicle chassis is less than the chassis safety distance, it means that the obstacle has the risk of scratching the vehicle chassis, at this time, at least one acoustic reminder device and/or at least one optical reminder can be used The device reminds, for example, through the sound system to send out "Please note that there are obstacles in the vehicle chassis, please adjust the angle of the vehicle and drive carefully to avoid scratches" and by displaying "Please note that there are obstacles in the vehicle chassis" on the LED display. Obstacles, please adjust the vehicle angle and drive carefully to avoid scratches" and other reminders.

It should be noted that when there is an obstacle in the chassis of the vehicle, an appropriate reminder device can be selected through the vertical distance between the obstacle and the vehicle chassis, such as an acoustic reminder device or an optical reminder device, or an acoustic and optical reminder device. The reminder is performed in a combined manner, which is not specifically limited here.

Further, in one embodiment of the present application, after controlling the current vehicle to perform the early warning prompt of the chassis obstacle, it also includes: detecting whether the obstacle leaves the preset area; and stopping the early warning prompt of the chassis obstacle when it is detected that the vehicle leaves the preset area .

Specifically, in the embodiment of the present application, after the current vehicle is controlled to provide early warning of chassis obstacles, the user adjusts the vehicle angle through the obstacle information detected by the laser radar and the obtained obstacle position. During the adjustment process, the obstacle is detected in real time through the laser radar. Whether the object leaves the preset area, and when the obstacle is detected to leave the preset area, it means that the vehicle can return to the normal driving state. At this time, the chassis obstacle warning prompt will stop.

According to the early warning method for vehicle chassis obstacles proposed in the embodiment of the present application, when the actual vehicle speed of the current vehicle is collected to be lower than the preset vehicle speed, the current vehicle is controlled to enter the chassis obstacle early warning mode, so as to control the detection part to collect the detection of obstacles at the bottom of the vehicle The vertical distance is calculated and the chassis safety distance of the current vehicle is calculated. When the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to give a chassis obstacle warning prompt. Thus, it solves the problem that the vehicle chassis obstacle detection method in the related art is prone to missed detection, which will lead to traffic safety hazards. The combination of vehicle speed and vehicle chassis detection piece scanning obstacle information can provide users with Provide early warning, so as to avoid the user's economic loss, while ensuring the user's driving safety.

Next, an early warning device for vehicle chassis obstacles proposed according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 5 is a schematic block diagram of an early warning device for vehicle chassis obstacles according to an embodiment of the present application.

As shown in FIG. 5 , a detection part is provided at the center of the chassis of the vehicle. The vehicle chassis obstacle warning device 10 includes: a collection module 100 , a control module 200 and a calculation module 300 .

Wherein, the collection module 100 is used to collect the actual vehicle speed of the current vehicle;

The control module 200 is used to control the current vehicle to enter the chassis obstacle warning mode when the actual vehicle speed is lower than the preset vehicle speed, so as to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; and

The calculation module 300 is used to calculate the chassis safety distance of the current vehicle, and when the vertical distance is greater than the chassis safety distance, control the current vehicle to perform a chassis obstacle warning prompt.

Further, in an embodiment of the present application, the calculation module 300 includes: a first acquisition unit and a first matching unit.

Wherein, the first collection unit is used to collect the vehicle quality of the current vehicle;

The first matching unit is used for matching the chassis safety distance based on the vehicle quality.

Further, in an embodiment of the present application, the computing module 300 includes: a second matching unit and a control unit.

Wherein, the second matching unit is used to match the best reminder method according to the vertical distance;

The control unit is used to control at least one acoustic reminder device and/or at least one optical reminder device of the current vehicle to remind according to the optimal reminder method.

Further, in an embodiment of the present application, the control module 200 includes: a judging unit and a second collecting unit.

Wherein, the judging unit is used to judge whether the obstacle is in the preset area;

The second collection unit is used to collect relevant information of the obstacle if it is in the preset area, otherwise ignore the obstacle.

Further, in an embodiment of the present application, after the current vehicle is controlled to perform a chassis obstacle warning prompt, the calculation module 300 further includes: a detection unit and a stop unit.

Wherein, the detection unit is used to detect whether the obstacle leaves the preset area;

The stop unit is configured to stop the chassis obstacle warning prompt when it is detected that the vehicle leaves the preset area.

According to the vehicle chassis obstacle early warning device proposed in the embodiment of the present application, when the actual vehicle speed of the current vehicle is collected to be lower than the preset vehicle speed, the current vehicle is controlled to enter the chassis obstacle early warning mode, so as to control the detection part to collect the detection of the obstacle at the bottom of the vehicle The vertical distance is calculated and the chassis safety distance of the current vehicle is calculated. When the vertical distance is greater than the chassis safety distance, the current vehicle is controlled to give a chassis obstacle warning prompt. Thus, it solves the problem that the vehicle chassis obstacle detection method in the related art is prone to missed detection, which will lead to traffic safety hazards. The combination of vehicle speed and vehicle chassis detection piece scanning obstacle information can provide users with Provide early warning, so as to avoid the user's economic loss, while ensuring the user's driving safety.

FIG. 6 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. The vehicle can include:

A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

When the processor 602 executes the program, the method for early warning of the vehicle chassis obstacle provided in the above-mentioned embodiments is implemented.

Further, the vehicle also includes:

The communication interface 603 is used for communication between the memory 601 and the processor 602 .

The memory 601 is used to store computer programs that can run on the processor 602 .

The memory 601 may include a high-speed RAM (Random Access Memory, random access memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

If the memory 601, the processor 602, and the communication interface 603 are implemented independently, the communication interface 603, the memory 601, and the processor 602 may be connected to each other through a bus to complete mutual communication. The bus may be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component, external device interconnection) bus, or an EISA (Extended Industry Standard Architecture, extended industry standard architecture) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 6 , but it does not mean that there is only one bus or one type of bus.

Optionally, in specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on one chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through the internal interface.

The processor 602 may be a CPU (Central Processing Unit, central processing unit), or an ASIC (Application Specific Integrated Circuit, specific integrated circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the above method for early warning of vehicle chassis obstacles is realized.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or N embodiments or examples in an appropriate manner. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing a custom logical function or step of a process , and the scope of preferred embodiments of the present application includes additional implementations in which functions may be performed out of the order shown or discussed, including in substantially simultaneous fashion or in reverse order depending on the functions involved, which shall It should be understood by those skilled in the art to which the embodiments of the present application belong.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the above embodiments, the N steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, etc.

Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed , including one or a combination of the steps of the method embodiment.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A method for early warning of vehicle chassis obstacles, characterized in that the central position of the chassis of the vehicle is provided with a detection piece, wherein the method comprises the following steps: Collect the actual speed of the current vehicle; When the actual vehicle speed is less than the preset vehicle speed, control the current vehicle to enter the chassis obstacle warning mode, so as to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; and Calculate the chassis safety distance of the current vehicle, and when the vertical distance is greater than the chassis safety distance, control the current vehicle to perform a chassis obstacle warning prompt. 2. The method according to claim 1, wherein the calculating the chassis safety distance of the current vehicle comprises: Collect the vehicle mass of the current vehicle; The chassis safety distance is matched based on the vehicle mass. 3. The method according to claim 1, wherein the controlling the current vehicle to perform a chassis obstacle warning prompt comprises: matching the best reminder method according to the vertical distance; Controlling at least one acoustic reminder device and/or at least one optical reminder device of the current vehicle to remind according to the optimal reminder method. 4. The method according to claim 1, wherein the controlling the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle comprises: judging whether the obstacle is in a preset area; If it is in the preset area, collect relevant information of the obstacle, otherwise ignore the obstacle. 5. The method according to claim 4, further comprising: after controlling the current vehicle to perform chassis obstacle warning prompts: Detecting whether the obstacle leaves the preset area; When it is detected to leave the preset area, the chassis obstacle warning prompt is stopped. 6. An early warning device for obstacles in the chassis of a vehicle, characterized in that the central position of the chassis of the vehicle is provided with a detection piece, including: The collection module is used to collect the actual speed of the current vehicle; A control module, configured to control the current vehicle to enter the chassis obstacle warning mode when the actual vehicle speed is lower than the preset vehicle speed, so as to control the detection part to collect the vertical distance of the obstacle at the bottom of the vehicle; and The calculation module is used to calculate the chassis safety distance of the current vehicle, and when the vertical distance is greater than the chassis safety distance, control the current vehicle to perform a chassis obstacle warning prompt. 7. The device according to claim 6, wherein the computing module comprises: a collection unit, configured to collect the vehicle mass of the current vehicle; A first matching unit, configured to match the chassis safety distance based on the vehicle mass. 8. The device according to claim 6, wherein the computing module comprises: The second matching unit is used to match the best reminder method according to the vertical distance; A control unit, configured to control at least one acoustic reminder device and/or at least one optical reminder device of the current vehicle to remind according to the optimal reminder method. 9. A vehicle, characterized in that it comprises: a memory, a processor, and a computer program stored on the memory and operable on the processor, the processor executes the program, so as to realize the The early warning method for vehicle chassis obstacles described in any one of 1-5. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the early warning of obstacles in the vehicle chassis as claimed in any one of claims 1-5 method.

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