Vehicle safety alarm method and device, vehicle and storage medium

The invention relates to the technical field of intelligent vehicles, in particular to a safety alarm method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps: detecting whether a potential collision risk exists between a current vehicle and a target vehicle, and when the potential collision risk exists, obtaining a driver vehicle control action and/or an expected control instruction of the target vehicle, the expected motion state of the target vehicle is recognized, a first alarm signal for avoiding the target vehicle and a second alarm signal for avoiding the current vehicle are generated in combination with the actual motion state of the target vehicle, the current vehicle is controlled to give an alarm based on the first alarm signal, and/or the second alarm signal is sent to the target vehicle. And controlling the target vehicle to give an alarm based on the second alarm signal. Therefore, the problems that when the vehicle control action or the vehicle runni