CN110816401A - Method and device for warning vehicle sliding of front vehicle, vehicle and storage medium - Google Patents
Method and device for warning vehicle sliding of front vehicle, vehicle and storage medium Download PDFInfo
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- CN110816401A CN110816401A CN201911083776.3A CN201911083776A CN110816401A CN 110816401 A CN110816401 A CN 110816401A CN 201911083776 A CN201911083776 A CN 201911083776A CN 110816401 A CN110816401 A CN 110816401A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9314—Parking operations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a method and a device for warning the sliding of a front vehicle, a vehicle and a storage medium, belonging to the technical field of automobiles, and comprising the steps of obtaining the current speed of the vehicle and judging whether the current speed is zero or not; if the current speed is zero, acquiring image information in front of the vehicle, and judging whether the vehicle is in a road environment; if the vehicle is in the road environment, judging whether other vehicles exist in front; if other vehicles exist in front, acquiring the distance between the vehicle and the other vehicles in front in real time, and judging whether the distance is reduced; if the distance is reduced, the other vehicles in front are determined to roll, and the other vehicles in front are warned. Whether the front vehicle slides can be accurately detected, the front vehicle is warned, the occurrence of traffic accidents is reduced, and the safety of the vehicle, a driver and passengers is guaranteed.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for warning the sliding of a front vehicle, a vehicle and a storage medium.
Background
When a driver is in traffic jam or waits for a red light, the driver is accustomed to converting the gear into the neutral position, and particularly when the driver stops on an unobvious ramp and the hand brake is not tightened, the driver is easy to slide, so that traffic accidents are caused.
In order to improve the situation, in the prior art, the gear and the vehicle speed of the vehicle are detected, when the gear of the vehicle is neutral, whether the vehicle speed is greater than zero is judged, if the vehicle speed is greater than zero, the distance between the vehicle and the surrounding objects is further acquired, and when the distance is smaller than a preset distance threshold, the vehicle is controlled to brake and prompt. However, the above method is directed to the vehicle itself, and it is impossible to detect whether the vehicle ahead is rolling, and when the vehicle is rolling and the driver is not aware of it, traffic accidents are likely to occur.
Disclosure of Invention
The invention aims to provide a method and a device for warning the sliding of a front vehicle, the vehicle and a storage medium, so as to detect whether the front vehicle slides and reduce the occurrence of traffic accidents.
As the conception, the technical scheme adopted by the invention is as follows:
a forward vehicle rolling warning method comprises the following steps:
acquiring the current speed of the vehicle, and judging whether the current speed is zero or not;
if the current speed is zero, acquiring image information in front of the vehicle, and judging whether the vehicle is in a road environment;
if the vehicle is in the road environment, judging whether other vehicles exist in front;
if other vehicles exist in front, acquiring the distance between the vehicle and the other vehicles in front in real time, and judging whether the distance is reduced;
if the distance is reduced, the other vehicles in front are determined to roll, and the other vehicles in front are warned.
Further, the acquiring image information in front of the vehicle and determining whether there is another vehicle includes: and acquiring shape information of all objects in the image information, matching the shape information with pre-stored preset shape information, and determining that other vehicles exist in front if matching is successful.
Further, the preset shape information includes length and width information of the license plate and/or shape information of the vehicle logo.
Further, the acquiring a distance to another vehicle ahead in real time and determining whether the distance decreases includes: marking the distance between the vehicle and other vehicles in front, which is acquired last time, as a first distance; and marking the distance acquired last time with other vehicles in front as a second distance, comparing the first distance with the second distance, and determining that the distance is reduced if the second distance is smaller than the first distance.
Further, after determining that the other vehicle in front rolls, the method further comprises the following steps: and prompting the driver to prompt other vehicles in front to slide.
Further, alerting other vehicles ahead includes: other vehicles in front are warned by the flashing of headlights and/or by whistling.
In order to achieve the above object, the present invention further provides a forward vehicle rolling warning device, including:
the vehicle speed acquisition module is used for acquiring the current vehicle speed of the vehicle;
the image information acquisition module is used for acquiring image information in front of the vehicle;
the distance acquisition module is used for acquiring the distance from other vehicles in front;
the vehicle sliding determining module is used for determining whether other vehicles in front slide according to the current speed of the vehicle, the image information in front and the distance between the other vehicles in front;
and the warning module is used for warning other vehicles in front when the front vehicle is determined to roll back.
To achieve the above object, the present invention also provides a vehicle including:
a driving controller;
the wheel speed sensor is used for detecting the current vehicle speed of the vehicle and sending the current vehicle speed to the driving controller;
the camera device is used for acquiring image information in front of the vehicle and sending the image information to the driving controller;
the radar device is used for acquiring distance information between the radar device and a front vehicle and sending the distance information to the driving controller;
the warning device is used for warning other vehicles in front;
a memory for storing one or more programs;
when the one or more programs are executed by the driving controller, the driving controller is enabled to realize the method for warning the vehicle rolling away of the front vehicle.
To achieve the above object, the present invention further provides a storage medium having a computer program stored thereon, which when executed by a vehicle controller, implements the method for warning of rolling of a preceding vehicle as described above.
The invention has the beneficial effects that:
the invention provides a method and a device for warning the sliding of a front vehicle, the vehicle and a storage medium, which judge whether the current vehicle speed is zero or not by acquiring the current vehicle speed of the vehicle; if the current speed is zero, acquiring image information in front of the vehicle, and judging whether the vehicle is in a road environment; if the vehicle is in the road environment, judging whether other vehicles exist in front; if other vehicles exist in front, acquiring the distance between the vehicle and the other vehicles in front in real time, and judging whether the distance is reduced; if the distance is reduced, the other vehicles in front are determined to roll, and the other vehicles in front are warned. Whether the front vehicle slides can be accurately detected, the front vehicle is warned, the occurrence of traffic accidents is reduced, and the safety of the vehicle, a driver and passengers is guaranteed.
Drawings
Fig. 1 is a flowchart of a method for warning of a forward vehicle rolling in accordance with an embodiment of the present invention;
fig. 2 is a structural diagram of a forward vehicle rolling warning device according to a second embodiment of the present invention;
fig. 3 is a structural diagram of a vehicle according to a third embodiment of the present invention.
In the figure:
110. a vehicle speed obtaining module; 120. an image information acquisition module; 130. a distance acquisition module; 140. a rolling determination module; 150. a warning module;
210. a driving controller; 220. a memory; 230. a wheel speed sensor; 240. a camera device; 250. a radar device 250; 260. an alarm device.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example one
Fig. 1 is a flowchart of a method for warning a forward vehicle rolling away according to this embodiment, where this embodiment is applicable to detecting whether a forward vehicle rolls away and warning the forward vehicle when the forward vehicle rolls away, as shown in fig. 1, this embodiment provides a method for warning a forward vehicle rolling away, including the following steps:
and S1, acquiring the current speed of the vehicle.
And S2, judging whether the current speed of the vehicle is zero, if so, executing S3.
The premise of judging whether the other vehicle in front slips is to determine that the current vehicle speed of the vehicle is zero, which is to use the vehicle as a reference object of the other vehicle in front, if the vehicle speed is not zero and the other vehicle in front is moving, it cannot be accurately judged whether the distance of the vehicle is reduced because the other vehicle in front slips or because the running speed of the vehicle is higher than that of the other vehicle in front, and when the vehicle is in a road environment, no other fixed reference object is detected in the distance detection, so that the vehicle is used as a reference object of whether the other vehicle in front slips. If it is judged that the current vehicle speed of the own vehicle is not zero, that is, the own vehicle is in the process of traveling, it returns to S1.
The current vehicle speed of the vehicle can be detected in real time by the wheel speed sensor 230, and the detection result is sent to the vehicle controller 210, the vehicle controller 210 determines whether the current vehicle speed of the vehicle is zero according to the detection result of the wheel speed sensor 230, and the wheel speed sensor 230 and the vehicle controller 210 are mature prior art and are not described herein again.
And S3, acquiring image information in front of the vehicle.
And S4, judging whether the vehicle is in the road environment, if so, executing S5.
Specifically, whether the vehicle is in the road environment or not is judged through the image information, whether the vehicle is in the road environment or not is judged, whether the image information comprises a lane line, a traffic light, a street lamp and the like or not is judged, and when one or more of the lane line, the traffic light and the street lamp exists in the image information, the vehicle can be determined to be in the road environment. If it is determined that the vehicle is not in the road environment, the process returns to S1.
And S5, judging whether other vehicles exist in front or not, and if so, executing S6.
In order to avoid interference of pedestrians, animals, and the like with the determination of whether another vehicle ahead is rolling, it is necessary to first determine whether another vehicle exists ahead of the own vehicle. Specifically, by acquiring image information of the front of a vehicle, acquiring shape information of all objects in the image information, and matching the acquired shape information of all objects with pre-stored preset shape information, if the matching is successful, it is determined that there are other vehicles in front of the vehicle. If the match is not successful, it is determined that there is no other vehicle in front, at which point it may return to S1.
The image information can be obtained by the camera 240, such as a 360 ° panoramic image system, and the camera 240 is a mature technology in the prior art and is not described herein again.
And S6, acquiring the distance to other vehicles in front in real time, judging whether the distance is reduced, and if so, executing S7.
When the speed of the vehicle is zero and other vehicles exist in front of the vehicle, taking the vehicle as a reference, acquiring the distance between the vehicle and the other vehicles in front of the vehicle in real time, and marking the distance acquired last time from the other vehicles in front as a first distance; and marking the distance acquired last time with other vehicles in front as a second distance, comparing the first distance with the second distance, and determining that the distance is reduced if the second distance is smaller than the first distance. If the second distance is not less than the first distance, indicating that the other vehicle ahead has not rolled, it may return to S1.
The above-mentioned real-time acquisition of distance can be obtained through radar device 250 arranged in the vehicle, and radar device 250 is a mature prior art and is not described herein again.
And S8, determining the other vehicles in front to roll.
And S9, warning other vehicles in front.
When the speed of the vehicle is zero, another vehicle exists in front of the vehicle, and the distance between the another vehicle and the vehicle is reduced, it is determined that the another vehicle in front rolls, and at this time, the driving controller 210 may warn the another vehicle in front through the warning device 260, for example, warn the another vehicle in front through a manner of flashing headlights and/or whistling. Meanwhile, the driver of the vehicle can be prompted to prompt other vehicles ahead to slide, and the driver can choose to avoid in a backing mode.
The invention provides a warning method for the vehicle sliding of a front vehicle, which comprises the steps of obtaining the current vehicle speed of the vehicle and judging whether the current vehicle speed is zero or not; if the current speed is zero, acquiring image information in front of the vehicle, and judging whether the vehicle is in a road environment; if the vehicle is in the road environment, judging whether other vehicles exist in front; if other vehicles exist in front, acquiring the distance between the vehicle and the other vehicles in front in real time, and judging whether the distance is reduced; if the distance is reduced, the other vehicles in front are determined to roll, and the other vehicles in front are warned. Whether the front vehicle slides can be accurately detected, the front vehicle is warned, the occurrence of traffic accidents is reduced, and the safety of the vehicle, a driver and passengers is guaranteed.
Example two
Fig. 2 is a structural diagram of a forward vehicle rolling warning device according to a second embodiment of the present invention, which can execute the forward vehicle rolling warning method according to the second embodiment of the present invention, specifically, the device includes:
a vehicle speed obtaining module 110, configured to obtain a current vehicle speed of a vehicle;
an image information acquiring module 120 for acquiring image information in front of the vehicle;
a distance acquisition module 130 for acquiring distances to other vehicles ahead;
a rolling determination module 140 for determining whether the other vehicle in front rolls according to the current speed of the vehicle, the image information of the front and the distance to the other vehicle in front;
and the warning module 150 is used for warning other vehicles in front when determining that the other vehicles in front roll.
Further, the rolling determination module 140 includes a vehicle speed determination unit, a road environment determination unit and a vehicle determination unit, wherein the vehicle speed determination unit is configured to determine whether the current vehicle speed is zero; the road environment determining unit is used for determining whether the vehicle is in the road environment according to the image information; the vehicle determination unit is configured to determine whether there is another vehicle ahead according to the image information.
The warning device for the vehicle sliding ahead provided by the second embodiment of the invention can execute the warning method for the vehicle sliding ahead provided by the second embodiment of the invention, and has corresponding functions and beneficial effects.
EXAMPLE III
Fig. 3 is a structural diagram of a vehicle according to a third embodiment of the present invention, and specifically, referring to fig. 3, the vehicle includes: the driving controller 210, the memory 220, the wheel speed sensor 230, the camera 240, the radar device 250 and the warning device 260 may be connected by a bus or other means. Fig. 3 illustrates a bus connection. The wheel speed sensor 230 is configured to obtain a current vehicle speed of the vehicle, and send the current vehicle speed to the driving controller 210. And the camera 240 is used for acquiring image information in front of the vehicle and transmitting the image information to the driving controller 210. And a radar device 250 for acquiring a distance to other vehicles in front and transmitting the distance to the driving controller 210. The warning device 260 is configured to warn other vehicles ahead when it is determined that the other vehicles ahead roll, specifically, the warning device 260 includes a headlight of the vehicle and/or a horn of the vehicle, but may also be other lighting devices or audio devices disposed on the vehicle.
The memory 220 is a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the method for warning of rolling away of a preceding vehicle in the embodiment of the present invention. The driving controller 210 executes various functional applications and data processing of the vehicle by running software programs, instructions and modules stored in the memory 220, so as to implement the method for warning the rolling away of the vehicle ahead according to the above embodiment.
The memory 220 mainly includes a storage program area and a storage data area, wherein the storage program area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 220 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 220 may further include memory located remotely from the vehicle controller 210, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The vehicle provided by the third embodiment of the present invention and the method for warning the forward vehicle rolling down provided by the foregoing embodiments belong to the same inventive concept, and the technical details that are not described in detail in the present embodiment can be referred to the foregoing embodiments, and the present embodiment has the same beneficial effects as the method for warning the forward vehicle rolling down.
Example four
The fourth embodiment of the present invention further provides a storage medium, on which a computer program is stored, where the computer program, when executed by the vehicle controller 210, implements the method for warning of rolling of a vehicle ahead according to the above-mentioned embodiments of the present invention.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the operations in the method for warning the rolling away of the front vehicle described above, and may also perform the related operations in the method for warning the rolling away of the front vehicle provided by the embodiments of the present invention, and has corresponding functions and advantages.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. A method for warning of forward vehicle rolling is characterized by comprising the following steps:
acquiring the current speed of the vehicle, and judging whether the current speed is zero or not;
if the current speed is zero, acquiring image information in front of the vehicle, and judging whether the vehicle is in a road environment;
if the vehicle is in the road environment, judging whether other vehicles exist in front;
if other vehicles exist in front, acquiring the distance between the vehicle and the other vehicles in front in real time, and judging whether the distance is reduced;
if the distance is reduced, the other vehicles in front are determined to roll, and the other vehicles in front are warned.
2. The forward vehicle rolling warning method according to claim 1, wherein the acquiring image information forward of the vehicle and determining whether there is another vehicle includes: and acquiring shape information of all objects in the image information, matching the shape information with pre-stored preset shape information, and determining that other vehicles exist in front if matching is successful.
3. The forward vehicle rolling warning method according to claim 2, wherein the preset shape information includes length and width information of a license plate and/or shape information of a vehicle logo.
4. The forward vehicle rolling warning method according to claim 1, wherein the obtaining a distance to another vehicle ahead in real time and determining whether the distance decreases comprises: marking the distance between the vehicle and other vehicles in front, which is acquired last time, as a first distance; and marking the distance acquired last time with other vehicles in front as a second distance, comparing the first distance with the second distance, and determining that the distance is reduced if the second distance is smaller than the first distance.
5. The forward vehicle roll warning method according to claim 1, further comprising, after determining that another forward vehicle rolls: and prompting the driver to prompt other vehicles in front to slide.
6. The forward vehicle rolling warning method according to claim 1, wherein warning of other forward vehicles includes: other vehicles in front are warned by the flashing of headlights and/or by whistling.
7. A preceding vehicle swift current car warning device which characterized in that includes:
the vehicle speed acquisition module is used for acquiring the current vehicle speed of the vehicle;
the image information acquisition module is used for acquiring image information in front of the vehicle;
the distance acquisition module is used for acquiring the distance from other vehicles in front;
the vehicle sliding determining module is used for determining whether other vehicles in front slide according to the current speed of the vehicle, the image information in front and the distance between the other vehicles in front;
and the warning module is used for warning other vehicles in front when the front vehicle is determined to roll back.
8. A vehicle, characterized by comprising:
a driving controller;
the wheel speed sensor is used for detecting the current vehicle speed of the vehicle and sending the current vehicle speed to the driving controller;
the camera device is used for acquiring image information in front of the vehicle and sending the image information to the driving controller;
the radar device is used for acquiring distance information between the radar device and a front vehicle and sending the distance information to the driving controller;
the warning device is used for warning other vehicles in front;
a memory for storing one or more programs;
when the one or more programs are executed by the drive train controller, the drive train controller is caused to implement the forward vehicle roll warning method of any one of claims 1-6.
9. A storage medium on which a computer program is stored, characterized in that the program, when executed by a vehicle controller, implements a forward vehicle roll warning method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911083776.3A CN110816401A (en) | 2019-11-07 | 2019-11-07 | Method and device for warning vehicle sliding of front vehicle, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911083776.3A CN110816401A (en) | 2019-11-07 | 2019-11-07 | Method and device for warning vehicle sliding of front vehicle, vehicle and storage medium |
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| CN110816401A true CN110816401A (en) | 2020-02-21 |
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| CN201911083776.3A Pending CN110816401A (en) | 2019-11-07 | 2019-11-07 | Method and device for warning vehicle sliding of front vehicle, vehicle and storage medium |
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