CN116704815A - Early warning method, device, server and storage medium for vehicle environment perception - Google Patents

Abstract

The present application relates to the technical field of vehicle environment perception, and in particular to an early warning method, device, server and storage medium for vehicle environment perception, which includes: receiving the movement information, type information and location information of at least one target uploaded by the current vehicle, based on The type information and location information are used to screen out collision targets that meet the first preset collision risk conditions and their corresponding first warning strategies according to the motion information, and send them to the current vehicle to control the current vehicle to perform early warning according to the first warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

Description

Early warning method, device, server and storage medium for vehicle environment perception

technical field

The present application relates to the technical field of vehicle environment perception, and in particular to an early warning method, device, server and storage medium for vehicle environment perception.

Background technique

With the development of vehicle technology, the penetration rate of vehicles is getting higher and higher, and it has become an indispensable means of transportation for people to travel. However, the incidence of traffic accidents is also increasing. Among them, the driver's driving operation is improper. Factors such as road obstacles, vehicle failures, etc. all account for a large proportion. If they cannot be dealt with in time, major accidents are prone to occur on the driving section, thereby causing heavy losses to the lives and properties of users.

In related technologies, the surrounding environment information of the vehicle is collected through traditional sound collection equipment or image collection equipment.

However, only through the collection of the surrounding environment of the vehicle, there is a lag in the early warning and reminder of vehicle driving safety. When a traffic hazard occurs, the user cannot make driving remedial actions in time, which urgently needs to be solved.

Contents of the invention

The present application provides an early warning method, device, server and storage medium for vehicle environment perception, so as to solve the hysteresis of early warning reminders for vehicle driving safety in related technologies, so that when traffic danger occurs, the user cannot make driving remedial actions in time And other issues.

The embodiment of the first aspect of the present application provides an early warning method for vehicle environment perception, including the following steps:

Receive movement information, type information and location information of at least one target uploaded by the current vehicle;

Based on the type information and the position information, according to the motion information, a collision target satisfying a first preset collision risk condition and a first warning strategy corresponding to the collision target are selected; and

Sending the first early warning strategy to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy.

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

judging whether there is a static object among the at least one object according to the motion information, the type information, and the position information;

If the static object exists, the position information corresponding to the static object and the type information corresponding to the static object are sent to the obstacle clearing platform.

According to an embodiment of the present application, after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, further include:

Judging whether the obstacle cleared information sent by the obstacle clearing platform is received;

If the information that the obstacle has been cleared is received, stop controlling the current vehicle to perform early warning according to the first early warning strategy.

According to an embodiment of the present application, after selecting the collision target satisfying the first preset collision risk condition and the first early warning strategy corresponding to the collision target according to the motion information, it further includes:

Obtaining a second early warning strategy corresponding to the remaining vehicles that the current vehicle satisfies the second preset collision risk condition and the remaining vehicles;

Sending the second early warning strategy to the remaining vehicles, so as to control the remaining vehicles to perform early warning according to the second early warning strategy.

According to an embodiment of the present application, the above-mentioned early warning method for vehicle environment perception further includes:

identifying a collision risk level of the collision target;

When the collision risk level is less than or equal to the preset risk level, an early warning is given through a preset acoustic warning device or a preset optical warning device;

When the danger level is greater than the preset danger level, a pre-warning is performed simultaneously through a preset acoustic warning device and a preset optical warning device.

According to the early warning method of vehicle environment perception according to the embodiment of the present application, the motion information, type information and position information of at least one target uploaded by the current vehicle are received, and based on the type information and position information, according to the motion information, the objects satisfying the first preset collision risk are screened out. The conditional collision target and its corresponding first warning strategy are sent to the current vehicle to control the current vehicle to perform early warning according to the first warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

The embodiment of the second aspect of the present application provides an early warning device for vehicle environment perception, including:

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

A screening module, configured to screen, based on the type information and the position information, a collision target satisfying a first preset collision risk condition and a first early warning strategy corresponding to the collision target according to the motion information; and

A control module, configured to send the first early warning strategy to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy.

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

judging whether there is a static object among the at least one object according to the motion information, the type information, and the position information;

If the static object exists, the position information corresponding to the static object and the type information corresponding to the static object are sent to the obstacle clearing platform.

According to an embodiment of the present application, after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module is further configured to:

Judging whether the obstacle cleared information sent by the obstacle clearing platform is received;

If the information that the obstacle has been cleared is received, stop controlling the current vehicle to perform early warning according to the first early warning strategy.

According to an embodiment of the present application, after filtering out collision targets satisfying the first preset collision risk condition and the first warning strategy corresponding to the collision targets according to the motion information, the screening module further Used for:

Obtaining a second early warning strategy corresponding to the remaining vehicles that the current vehicle satisfies the second preset collision risk condition and the remaining vehicles;

Sending the second early warning strategy to the remaining vehicles, so as to control the remaining vehicles to perform early warning according to the second early warning strategy.

According to an embodiment of the present application, the above-mentioned early warning device for vehicle environment perception is also used for:

identifying a collision risk level of the collision target;

When the collision risk level is less than or equal to the preset risk level, an early warning is given through a preset acoustic warning device or a preset optical warning device;

When the danger level is greater than the preset danger level, a pre-warning is performed simultaneously through a preset acoustic warning device and a preset optical warning device.

According to the early warning device for vehicle environment perception according to the embodiment of the present application, it receives the motion information, type information, and location information of at least one target uploaded by the current vehicle, and based on the type information and location information, screens out objects that meet the first preset collision risk according to the motion information. The conditional collision target and its corresponding first warning strategy are sent to the current vehicle to control the current vehicle to perform early warning according to the first warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

The embodiment of the third aspect of the present application provides a server, 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 early warning method of vehicle environment perception described in the above embodiments.

The embodiment of the fourth aspect of the present application provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the early warning of vehicle environment perception as described in the above-mentioned embodiments method.

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 vehicle environment perception provided according to an embodiment of the present application;

FIG. 2 is a schematic diagram of communication of an environment perception system provided according to an embodiment of the present application;

FIG. 3 is an example diagram of an early warning device for vehicle environment perception according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a server provided according to an embodiment of the present application.

Detailed ways

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 following describes the early warning method, device, server and storage medium for vehicle environment perception according to the embodiments of the present application with reference to the accompanying drawings. In view of the hysteresis of early warning reminders for vehicle driving safety mentioned in the background technology center mentioned above, the user cannot make timely driving remedial actions when traffic hazards occur. This application provides a vehicle environment awareness Early warning method, in this method, receiving the movement information, type information and position information of at least one target uploaded by the current vehicle, based on the type information and position information, according to the movement information, the collision target meeting the first preset collision risk condition and the It corresponds to the first early warning strategy and sends it to the current vehicle to control the current vehicle to perform early warning according to the first early warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

Specifically, before introducing the embodiment of the present application, first introduce the relevant system modules involved in the embodiment of the present application, mainly including the vehicle environment perception module, the communication module and the cloud early warning system.

Among them, the vehicle environment perception module is used to realize the target detection and recognition of the vehicle's traveling direction, such as millimeter wave radar, camera, etc.; the communication module is used to realize the reporting of target information and the reception of cloud early warning information; the cloud early warning system is used to receive The perception target information sent by the vehicle end is processed to determine whether the target will cause danger to the vehicles passing behind, and inform the road management department to deal with it in a timely manner.

Specifically, FIG. 1 is a schematic flow chart of a vehicle environment perception early warning method provided in an embodiment of the present application.

As shown in Figure 1, the early warning method for vehicle environment perception includes the following steps:

In step S101, the movement information, type information and location information of at least one target uploaded by the current vehicle are received.

Specifically, in the embodiment of the present application, during the current driving process of the vehicle, based on the environment perception module such as the millimeter-wave radar or the camera at the vehicle end, the target in the current direction of the vehicle is detected and identified, such as the target information obtained through the millimeter-wave radar and the information obtained through the camera. The obtained target information is compensated, deduplicated and fitted, so as to obtain various accurate information of targets on the road. Among them, the millimeter-wave radar can mainly obtain moving target information, including target type information, location information, motion information, speed, heading angle, etc.; The type information, location information, movement information, vehicle license plate and other information of motor vehicles and/or pedestrians, so as to obtain more accurate targets around the current vehicle, and output the movement information, type information and location information of at least one target, and pass the communication module Upload the movement information, type information and location information of at least one target to the cloud early warning system.

According to an embodiment of the present application, after receiving the motion information, type information, and location information of at least one object uploaded by the current vehicle, it further includes: judging whether there is a static object in the at least one object according to the motion information, type information, and location information; If there is a static target, the position information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.

Specifically, in the embodiment of the present application, after the cloud early warning system receives the movement information, type information and location information of at least one target, it judges whether there is static state in at least one target according to the received movement information, type information and location information. Targets, such as whether there are spilled objects in the vehicle in front of the current vehicle, a vehicle that cannot be moved due to a fault, or other target obstacles, etc. If there is a static target, the location information and type information corresponding to the static target will be uploaded to the cloud early warning system through the communication module , while sending the location information and type information corresponding to the static target to the obstacle clearing platform.

In step S102, based on the type information and location information, the collision targets satisfying the first preset collision risk condition and the first early warning strategy corresponding to the collision targets are screened out according to the motion information.

Wherein, the first preset collision risk condition and the first early warning strategy may be related collision risk conditions and early warning strategies determined by those skilled in the art based on actual perceived risks, which are not specifically limited here.

Specifically, as shown in Figure 2, after receiving the motion information, type information, and location information of at least one target, the embodiment of the present application calculates the corresponding position of the received target based on the cloud computing power and perception algorithm model of the cloud early warning system. The information and type information are reanalyzed, and it is judged whether the target will cause danger to the current vehicle. If there is danger, the collision target that meets the first preset collision risk condition and the first collision target corresponding to the collision target are screened out according to the movement information of the target. Early warning strategy to warn current vehicle users to make route planning in advance to prevent traffic accidents.

In step S103, the first early warning strategy is sent to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy.

Specifically, in the embodiment of the present application, when it is judged that the target will pose a danger to the current vehicle, the first warning strategy is sent to the current vehicle. The current vehicle makes an early warning reminder that there is a collision target on the road ahead. After the current vehicle receives the early warning information, the early warning information is synchronized to the car-end intelligent driving assistance system, so that the current vehicle can re-plan the driving path according to the collision target to help users. Carry out emergency avoidance and improve driving safety.

According to an embodiment of the present application, after screening out the collision target meeting the first preset collision risk condition and the first warning strategy corresponding to the collision target according to the motion information, it further includes: obtaining the vehicle that meets the second preset collision risk The remaining vehicles of the condition and the second early warning strategy corresponding to the remaining vehicles; sending the second early warning strategy to the remaining vehicles to control the remaining vehicles to perform early warning according to the second early warning strategy.

Wherein, the second preset collision risk condition and the second early warning strategy may be related collision risk conditions and early warning strategies determined by those skilled in the art based on actual perceived risks, which are not specifically limited here.

Specifically, as shown in FIG. 2 , in the embodiment of the present application, after the collision target meeting the first preset collision risk condition and the first warning strategy corresponding to the collision target are screened out according to the movement information of the target, it can also be based on the cloud warning system. After the cloud computing power and perception algorithm model reanalyze the location information and type information corresponding to the received target, it is judged whether the target will cause danger to other vehicles that need to pass. If there is danger, it will be screened according to the target's motion information Generate the other vehicles that meet the second preset collision risk conditions and the second early warning strategy corresponding to the other vehicles, and send the second early warning strategy to the remaining vehicles. After the other vehicles receive the early warning information, the early warning information is synchronized to the vehicle terminal The driving assistance system is used to control the remaining vehicles to perform early warning according to the second early warning strategy, so as to warn the users of the remaining vehicles to make route planning in advance to prevent traffic accidents.

For example, in the embodiment of the present application, when it is judged that the target will cause danger to other vehicles that need to pass, it can also broadcast early warning information to other vehicles through the car horn, or make a forward warning to other vehicles through early warning devices such as buzzers. There is an early warning reminder of a collision target on the road. After other vehicles receive the early warning information, the early warning information is synchronized to the vehicle-end intelligent driving assistance system, so that the remaining vehicles can re-plan the driving path according to the collision target to prevent traffic accidents.

According to an embodiment of the present application, after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, it further includes: judging whether the obstacle cleared information sent by the obstacle clearing platform is received; If the obstacle has been cleared information is received, stop controlling the current vehicle and perform early warning according to the first early warning strategy.

Specifically, in the embodiment of the present application, after the current vehicle and other vehicles receive the warning information of the static target, the warning information is synchronized to the vehicle-side intelligent driving assistance system, and at the same time, the cloud warning system notifies the obstacle clearing platform to timely To deal with obstacles, after the obstacle clearing platform clears the obstacles, the obstacle clearing platform will feed back the information that the collision has been cleared and the cancellation of the obstacle warning to the current vehicle and other vehicles.

According to an embodiment of the present application, the above-mentioned early warning method for vehicle environment awareness further includes: identifying the collision risk level of the collision target; when the collision risk level is less than or equal to the preset risk level, using a preset The optical warning device provides early warning; when the danger level is greater than the preset danger level, the preset acoustic warning device and the preset optical warning device simultaneously give early warning.

Wherein, the preset danger level, the preset acoustic reminder device and the preset optical reminder device can be the relevant collision risk level, acoustic reminder device or optical reminder device set by those skilled in the art according to the collision risk of the vehicle, and will not be described in detail here. limited.

Specifically, after receiving the movement information, type information, and location information of at least one target in the embodiment of the present application, based on the cloud computing power and perception algorithm model of the cloud early warning system, the location information and type information corresponding to the received target are reconstructed. Analyze and process, identify the collision risk level of the collision target, and set corresponding early warning strategies according to the collision risk level. For example, when the collision risk level is less than or equal to the preset risk level, the preset acoustic reminder device or the preset optical reminder device is used for early warning; The reminding device carries out early warning simultaneously.

For example, when the collision risk level of the identified collision target is less than or equal to the preset risk level, an early warning can be given to the current vehicle and other vehicles through the buzzer or the on-board display; when the collision risk level of the identified collision target is greater than When the danger level is preset, the buzzer and the on-board display will give an early warning to the current vehicle and other vehicles at the same time, so as to warn the user to avoid the risk of collision and improve driving safety.

In summary, the early warning method for vehicle environment perception in the embodiment of the present application has the following beneficial effects:

(1) Early warning of the road conditions ahead of the vehicle to improve driving safety;

(2) Collaborate with vehicle terminals, platforms and road management departments to improve the efficiency of early warning cancellation;

(3) Strong functional scalability;

(4) The cost is low and it is easy to popularize and use on a large scale.

According to the early warning method of vehicle environment perception according to the embodiment of the present application, the motion information, type information and position information of at least one target uploaded by the current vehicle are received, and based on the type information and position information, according to the motion information, the objects satisfying the first preset collision risk are screened out. The conditional collision target and its corresponding first warning strategy are sent to the current vehicle to control the current vehicle to perform early warning according to the first warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

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

FIG. 3 is a schematic block diagram of an early warning device for vehicle environment perception according to an embodiment of the present application.

As shown in FIG. 3 , the early warning device 10 for vehicle environment awareness includes: a receiving module 100 , a screening module 200 and a control module 300 .

Wherein, the receiving module 100 is used to receive the motion information, type information and position information of at least one target uploaded by the current vehicle;

The screening module 200 is configured to screen, based on type information and location information, a collision target that meets a first preset collision risk condition and a first early warning strategy corresponding to the collision target according to motion information; and

The control module 300 is configured to send the first early warning strategy to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy.

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

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

If there is a static target, the position information corresponding to the static target and the type information corresponding to the static target are sent to the obstacle clearing platform.

According to an embodiment of the present application, after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module 100 is further configured to:

Judging whether to receive the obstacle cleared information sent by the obstacle clearing platform;

If the obstacle has been cleared information is received, stop controlling the current vehicle and perform early warning according to the first early warning strategy.

According to an embodiment of the present application, after screening out the collision target satisfying the first preset collision risk condition and the first warning strategy corresponding to the collision target according to the motion information, the screening module 200 is further configured to:

Obtaining the second early warning strategy corresponding to the remaining vehicles and the remaining vehicles that the current vehicle meets the second preset collision risk condition;

Send the second early warning strategy to other vehicles, so as to control the remaining vehicles to perform early warning according to the second early warning strategy.

According to an embodiment of the present application, the above-mentioned early warning device 10 for vehicle environment awareness is also used for:

Identify the collision risk level of the collision target;

When the collision risk level is less than or equal to the preset risk level, an early warning is given through a preset acoustic warning device or a preset optical warning device;

When the danger level is greater than the preset danger level, an early warning is given simultaneously through the preset acoustic warning device and the preset optical warning device.

According to the early warning device for vehicle environment perception according to the embodiment of the present application, it receives the motion information, type information, and location information of at least one target uploaded by the current vehicle, and based on the type information and location information, screens out objects that meet the first preset collision risk according to the motion information. The conditional collision target and its corresponding first warning strategy are sent to the current vehicle to control the current vehicle to perform early warning according to the first warning strategy. As a result, it solves the problem of hysteresis in early warning reminders for vehicle driving safety in related technologies, so that when traffic hazards occur, users cannot make timely driving remedial actions, etc. , Based on the environment perception system, real-time detection of static obstacles and dynamic obstacles around the vehicle, so as to make road warning information to the user to ensure the driving safety of the user.

FIG. 4 is a schematic structural diagram of a server provided by an embodiment of the present application. This server can include:

A memory 401 , a processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

When the processor 402 executes the program, the early warning method of the vehicle environment perception provided in the above-mentioned embodiments is realized.

Further, the server also includes:

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

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

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

If the memory 401, the processor 402, and the communication interface 403 are independently implemented, the communication interface 403, the memory 401, and the processor 402 may be connected to each other through a bus to complete mutual communication. The bus may be an Industry Standard Architecture (Industry Standard Architecture, ISA for short) bus, a Peripheral Component Interconnect (PCI for short) bus, or an Extended Industry Standard Architecture (EISA for short) bus. 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. 4 , but it does not mean that there is only one bus or one type of bus.

Optionally, in specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on one chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through the internal interface.

The processor 402 may be a central processing unit (Central Processing Unit, referred to as CPU), or a specific integrated circuit (Application Specific Integrated Circuit, referred to as ASIC), or configured to implement one or more of the embodiments of the present application integrated circuit.

This embodiment 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 environment perception 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.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment for use. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connection with one or N wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and 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 may be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable means if necessary. Processing to obtain programs electronically and store them in computer memory.

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 (PGA), Field Programmable Gate Arrays (FPGA), 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.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like. 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. An early warning method for vehicle environment perception, characterized in that, comprising the following steps: Receive movement information, type information and location information of at least one target uploaded by the current vehicle; Based on the type information and the position information, according to the motion information, a collision target satisfying a first preset collision risk condition and a first warning strategy corresponding to the collision target are selected; and Sending the first early warning strategy to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy. 2. The method according to claim 1, wherein after receiving the movement information, type information and position information of at least one target uploaded by the current vehicle, further comprising: judging whether there is a static object among the at least one object according to the motion information, the type information, and the position information; If the static object exists, the position information corresponding to the static object and the type information corresponding to the static object are sent to the obstacle clearing platform. 3. The method according to claim 2, wherein after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, further comprising: Judging whether the obstacle cleared information sent by the obstacle clearing platform is received; If the information that the obstacle has been cleared is received, stop controlling the current vehicle to perform early warning according to the first early warning strategy. 4. The method according to claim 1, characterized in that, after the collision target satisfying the first preset collision risk condition and the first early warning strategy corresponding to the collision target are screened out according to the motion information ,Also includes: Obtaining a second early warning strategy corresponding to the remaining vehicles that the current vehicle satisfies the second preset collision risk condition and the remaining vehicles; Sending the second early warning strategy to the remaining vehicles, so as to control the remaining vehicles to perform early warning according to the second early warning strategy. 5. The method according to claim 1, further comprising: identifying a collision risk level of the collision target; When the collision risk level is less than or equal to the preset risk level, an early warning is given through a preset acoustic warning device or a preset optical warning device; When the danger level is greater than the preset danger level, a pre-warning is performed simultaneously through a preset acoustic warning device and a preset optical warning device. 6. An early warning device for vehicle environment perception, characterized in that it comprises: A receiving module, configured to receive movement information, type information and location information of at least one target uploaded by the current vehicle; A screening module, configured to screen, based on the type information and the position information, a collision target satisfying a first preset collision risk condition and a first early warning strategy corresponding to the collision target according to the motion information; and A control module, configured to send the first early warning strategy to the current vehicle, so as to control the current vehicle to perform early warning according to the first early warning strategy. 7. The device according to claim 6, wherein after receiving the movement information, type information and position information of at least one target uploaded by the current vehicle, the receiving module is further configured to: judging whether there is a static object among the at least one object according to the motion information, the type information, and the position information; If the static object exists, the position information corresponding to the static object and the type information corresponding to the static object are sent to the obstacle clearing platform. 8. The device according to claim 7, wherein after sending the position information corresponding to the static target and the type information corresponding to the static target to the obstacle clearing platform, the receiving module further Used for: Judging whether the obstacle cleared information sent by the obstacle clearing platform is received; If the information that the obstacle has been cleared is received, stop controlling the current vehicle to perform early warning according to the first early warning strategy. 9. A server, 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 of vehicle environment perception 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 method for vehicle environment perception as claimed in any one of claims 1-5 .