# US 2021/0276586 A1 · Vehicle warning method and related apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276586 A1 - Document ID: US20210276586A1 - Status: Published application - Kind: A1 - Application number: 17/329,860 - Filed: 2021-05-25 - Published: 2021-09-09 - Earliest claimed: 2018-11-26 - Assignees: Huawei Technologies Co., Ltd. - Applicants: Huawei Technologies Co., Ltd. - Inventors: Xiaoguang CHEN - Web page: https://patentgrep.com/patent/US20210276586A1 ## CPC - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - G08G 1/163: {involving continuous checking} - B60W 40/12: related to parameters of the vehicle itself {, e.g. tyre models} - G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)} - G07C 5/0816: {Indicating performance data, e.g. occurrence of a malfunction} - G08G 1/161: {Decentralised systems, e.g. inter-vehicle communication} - G08G 1/164: {Centralised systems, e.g. external to vehicles} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - H04W 4/90: Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS] - B60W 2050/146: {Display means} - B60W 2554/4041: Position - B60W 2556/65: Data transmitted between vehicles - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A vehicle warning method, to avoid misjudgment caused by factors such as map precision and lane infringement of a vehicle, thereby improving warning accuracy. The method includes: A vehicle-to-everything V2X device receives a V2X message corresponding to a first vehicle. The V2X device determines, based on the V2X message, whether the first vehicle is in a warning area. The warning area is determined based on vehicle information of a second vehicle. The vehicle information includes at least position information of the second vehicle and a vehicle size of the second vehicle. The V2X device outputs warning information corresponding to the first vehicle to the second vehicle. ## Claims ### Claim 1 A vehicle warning method, comprising: receiving, by a vehicle-to-everything (V2X) device, a V2X message corresponding to a first vehicle; determining, by the V2X device, a warning area based on vehicle information of a second vehicle, wherein the vehicle information comprises position information of the second vehicle and a vehicle size of the second vehicle; determining, by the V2X device based on the V2X message, whether the first vehicle is in the warning area; and outputting, by the V2X device, warning information corresponding to the first vehicle to the second vehicle. ### Claim 2 (depends on 1) The method according to claim 1, wherein the warning area comprises a left blind spot warning area or a right blind spot warning area, the vehicle size comprises a vehicle length and a vehicle width, and the vehicle information further comprises a driver seat position, the method further comprising; the responsive to the driver seat position being on a left side in the second vehicle, the left blind spot warning area being behind a left B-pillar of the second vehicle, positively correlating a length of the left blind spot warning area with the vehicle length; positively correlating a width of the left blind spot warning area with the vehicle width, the right blind spot warning area being behind a right rear view mirror of the second vehicle; positively correlating a length of the right blind spot warning area with the vehicle length; and positively correlating a width of the right blind spot warning area with the vehicle width; and responsive to the driver seat position being on a right side in the second vehicle, the right blind spot warning area being behind a right B-pillar of the second vehicle; positively correlating the length of the right blind spot warning area with the vehicle length; positively correlating the width of the right blind spot warning area with the vehicle width, the left blind spot warning area being behind a left rear view mirror of the second vehicle; positively correlating the length of the left blind spot warning area with the vehicle length; and positively correlating the width of the left blind spot warning area with the vehicle width. ### Claim 3 (depends on 2) The method according to claim 2, wherein the V2X message comprises position information of the first vehicle and an orientation of the first vehicle; the determining, by the V2X device based on the V2X message, whether the first vehicle is in the warning area comprises: determining, by the V2X device, a current spatial position of the first vehicle based on the position information of the first vehicle, and responsive to the current spatial position of the first vehicle being in the left blind spot warning area or the right blind spot warning area, and the orientation of the first vehicle is the same as an orientation of the second vehicle, determining, by the V2X device, that the first vehicle is in the left blind spot warning area or the right blind spot warning area; and indicating, based on the warning information, the first vehicle is in the left blind spot warning area or the right blind spot warning area. ### Claim 4 (depends on 1) The method according to claim 1, wherein the warning area comprises a forward collision warning area, the vehicle size comprises a vehicle width, and the vehicle information further comprises a vehicle speed; and the forward collision warning area is located in front of the second vehicle, a width of the forward collision warning area is positively correlated with the vehicle width, and a length of the forward collision warning area is positively correlated with the vehicle speed. ### Claim 5 (depends on 4) The method according to claim 4, wherein the V2X message comprises position information of the first vehicle; the determining, by the V2X device based on the V2X message, whether the first vehicle is in the warning area comprises: determining, by the V2X device, a current spatial position of the first vehicle based on the position information of the first vehicle, and responsive to the current spatial position of the first vehicle being in the forward collision warning area, determining, by the V2X device, that the first vehicle is in the forward collision warning area; and indicating, based on the warning information, the first vehicle is in the forward collision warning area. ### Claim 6 (depends on 4) The method according to claim 4, wherein the warning area further comprises an emergency electronic brake light area; the emergency electronic brake light area is located in front of the second vehicle, a width of the emergency electronic brake light area is equal to the width of the forward collision warning area, a length of the emergency electronic brake light area is positively correlated with the length of the forward collision warning area, and the emergency electronic brake light area comprises the forward collision warning area. ### Claim 7 (depends on 1) The method according to claim 1, wherein the warning area comprises a left do-not-pass warning area or a right do-not-pass warning area, and the vehicle size comprises a vehicle width and a vehicle length; the left do-not-pass warning area is located in left front of a left side of a head of the second vehicle, a length of a left do-not-pass area is positively correlated with the vehicle length, a width of the left do-not-pass area is positively correlated with the vehicle width, and the length of the left do-not-pass area is greater than the width of the left do-not-pass area; and the right do-not-pass warning area is located in right front of a right side of the head of the second vehicle, a length of a right do-not-pass area is positively correlated with the vehicle length, a width of the right do-not-pass area is positively correlated with the vehicle width, and the length of the right do-not-pass area is greater than the width of the right do-not-pass area. ### Claim 8 (depends on 1) The method according to claim 1, wherein the warning area comprises a left intersection movement assist area or a right intersection movement assist area, and the vehicle size comprises a vehicle width and a vehicle length; the left intersection movement assist area is located in left front of a left side of a head of the second vehicle, a length of the left intersection movement assist area is positively correlated with the vehicle length, and a width of the left intersection movement assist area is positively correlated with the vehicle width; and a right assist area is located in right front of a right side of the head of the second vehicle, a length of the right intersection movement assist area is positively correlated with the vehicle length, and a width of the right intersection movement assist area is positively correlated with the vehicle width. ### Claim 9 (depends on 1) The method according to claim 1, wherein the position information comprises: a GPS measurement result and at least one of the following: a GPS antenna position or GPS measurement precision. ### Claim 10 (depends on 9) The method according to claim 9, wherein the V2X device is a vehicle-mounted device; and before the determining, by the V2X device based on the V2X message, whether the first vehicle is in the warning area, the method further comprises: determining, by the V2X device, a current spatial position of the second vehicle based on the position information of the second vehicle and the vehicle size, and determining, by the V2X device, the warning area based on the current spatial position of the second vehicle and the vehicle size. ### Claim 11 A vehicle-mounted device, comprising: a memory configured to store a program; and a processor configured to execute the program, when the program is executed by the processor, the processor causes the vehicle-mounted device to: receive, by a vehicle-to-everything (V2X) device, a V2X message corresponding to a first vehicle; determine, based on vehicle information of a second vehicle and the vehicle information comprises at least position information of the second vehicle and a vehicle size of the second vehicle, a warning area; determine, by the V2X device based on the V2X message, whether the first vehicle is in the warning area, and output, by the V2X device, warning information corresponding to the first vehicle to the second vehicle. ### Claim 12 (depends on 11) The vehicle-mounted device according to claim 11, wherein: the warning area comprises a left blind spot warning area or a right blind spot warning area, the vehicle size comprises a vehicle length and a vehicle width, and the vehicle information further comprises a driver seat position; responsive to the driver seat position being located on a left side in the second vehicle, the left blind spot warning area being located behind a left B-pillar of the second vehicle, positively correlate a length of the left blind spot warning area with the vehicle length; positively correlate a width of the left blind spot warning area with the vehicle width, the right blind spot warning area is located behind a right rear view mirror of the second vehicle; positively correlate a length of the right blind spot warning area with the vehicle length, and positively correlate a width of the right blind spot warning area with the vehicle width; and responsive to the driver seat position being on a right side in the second vehicle, the right blind spot warning area is located behind a right B-pillar of the second vehicle, positively correlate the length of the right blind spot warning area with the vehicle length; positively correlate the width of the right blind spot warning area with the vehicle width, the left blind spot warning area is located behind a left rear view mirror of the second vehicle; positively correlate the length of the left blind spot warning area with the vehicle length, and positively correlate the width of the left blind spot warning area with the vehicle width. ### Claim 13 (depends on 12) The vehicle-mounted device according to claim 12, wherein the V2X message comprises position information of the first vehicle and an orientation of the first vehicle; the determination, by the V2X device based on the V2X message, whether the first vehicle is in the warning area comprises: determine, by the V2X device, a current spatial position of the first vehicle based on the position information of the first vehicle, and responsive to the current spatial position of the first vehicle being in the left blind spot warning area or the right blind spot warning area, and the orientation of the first vehicle is the same as an orientation of the second vehicle, determine, by the V2X device, that the first vehicle is in the left blind spot warning area or the right blind spot warning area; and indicate, based on the warning information, the first vehicle is in the left blind spot warning area or the right blind spot warning area. ### Claim 14 (depends on 11) The vehicle-mounted device according to claim 11, wherein the warning area comprises a forward collision warning area, the vehicle size comprises a vehicle width, and the vehicle information further comprises a vehicle speed; and the forward collision warning area is located in front of the second vehicle, a width of the forward collision warning area is positively correlated with the vehicle width, and a length of the forward collision warning area is positively correlated with the vehicle speed. ### Claim 15 (depends on 14) The vehicle-mounted device according to claim 14, wherein the V2X message comprises position information of the first vehicle; the determination, by the V2X device based on the V2X message, whether the first vehicle is in the warning area comprises: determine, by the V2X device, a current spatial position of the first vehicle based on the position information of the first vehicle, and responsive to the current spatial position of the first vehicle being in the forward collision warning area, determine, by the V2X device, that the first vehicle is in the forward collision warning area; and indicate, based on the warning information, the first vehicle is in the forward collision warning area. ### Claim 16 (depends on 14) The vehicle-mounted device according to claim 14, wherein the warning area further comprises an emergency electronic brake light area; the emergency electronic brake light area is located in front of the second vehicle, a width of the emergency electronic brake light area is equal to the width of the forward collision warning area, a length of the emergency electronic brake light area is positively correlated with the length of the forward collision warning area, and the emergency electronic brake light area comprises the forward collision warning area. ### Claim 17 (depends on 14) The vehicle-mounted device according to claim 14, wherein the warning area comprises a left do-not-pass warning area or a right do-not-pass warning area, and the vehicle size comprises a vehicle width and a vehicle length; the left do-not-pass warning area is located in left front of a left side of a head of the second vehicle, a length of a left do-not-pass area is positively correlated with the vehicle length, a width of the left do-not-pass area is positively correlated with the vehicle width, and the length of the left do-not-pass area is greater than the width of the left do-not-pass area; and the right do-not-pass warning area is located in right front of a right side of the head of the second vehicle, a length of a right do-not-pass area is positively correlated with the vehicle length, a width of the right do-not-pass area is positively correlated with the vehicle width, and the length of the right do-not-pass area is greater than the width of the right do-not-pass area. ### Claim 18 (depends on 11) The vehicle-mounted device according to claim 11, wherein the warning area comprises a left intersection movement assist area or a right intersection movement assist area, and the vehicle size comprises a vehicle width and a vehicle length; the left intersection movement assist area is located in left front of a left side of a head of the second vehicle, a length of the left intersection movement assist area is positively correlated with the vehicle length, and a width of the left intersection movement assist area is positively correlated with the vehicle width; and a right assist area is located in right front of a right side of the head of the second vehicle, a length of the right intersection movement assist area is positively correlated with the vehicle length, and a width of the right intersection movement assist area is positively correlated with the vehicle width. ### Claim 19 (depends on 11) The vehicle-mounted device according to claim 11, wherein prior to the determination, by the V2X device based on the V2X message, whether the first vehicle is in the warning area: determine, by the V2X device, a current spatial position of the second vehicle based on the position information of the second vehicle and the vehicle size, and determine, by the V2X device, the warning area based on the current spatial position of the second vehicle and the vehicle size. ### Claim 20 A server for vehicle warning, comprising: a processor; and a memory including computer-executable instructions which, when executed by the processor, cause the processor to: receive vehicle information of a second vehicle sent by a vehicle-mounted device, wherein the vehicle information comprises at least position information of the second vehicle and a vehicle size of the second vehicle; determine a current spatial position of the second vehicle based on the position information of the second vehicle, and determine a warning area of the second vehicle based on the current spatial position of the second vehicle and the vehicle size; and transmit the warning area to the vehicle-mounted device, so that the vehicle-mounted device is enabled to determine, based on a vehicle-to-everything V2X message of a first vehicle, whether the first vehicle is the warning area, and output warning information.