Prompting method and device, vehicle and storage medium

The invention discloses a prompting method and device, a vehicle and a readable storage medium, and the method comprises the steps: obtaining a detection result of a sensor of a target vehicle for an interference vehicle entering an intersection from other roads before the target vehicle enters the intersection; if the interference vehicle driving into the intersection from other roads is detected, determining a first duration for the target vehicle to arrive at a first target position in the intersection and a second duration for the interference vehicle to arrive at a second target position in the intersection; determining a target prompting mode according to the detection result, the first duration and the second duration; and outputting the prompt information in the target prompt mode. According to the method and the device, the situation that prompt information is not output in time due to the fact that one or more sensors used for detecting the interference vehicle in the target vehicle do not detect th