Backward crossing early warning method and system and vehicle

The invention discloses a backward traversing early warning method and system and a vehicle, and the method comprises the steps: obtaining detection data of a reversing radar on the vehicle, the detection data comprises object information of an object located in a radar detection range, the object information comprises motion information of the object and position information of the object, determining an alarm region matched with a parking angle of the vehicle, determining a target object which is located in the alarm area and has the highest collision risk with the vehicle in the objects based on the detection data, determining whether the target object meets an alarm condition or not based on object information of the target object, giving an alarm when the target object meets the alarm condition, and giving an alarm when the target object does not meet the alarm condition. And no alarm is given. The adaptive alarm area is determined according to the parking angle of the vehicle, so that the backward trave