An on-board apparatus for object warning, comprising: an acquiring module configured to acquire object information on one or more objects surrounding the vehicle and traffic rule information including one or more traffic rules associated with locations of the vehicle and the one or more objects; a processing module configured to determine, based on the object information and the traffic rule information, whether any object currently violates any traffic rule; whether any object will violate any traffic rule when the vehicle passes the object; and whether the object would endanger the vehicle passing by the object, and to generate a warning instruction if at least one of aforementioned three determinations is affirmative; and an outputting module configured to output the warning instruction to a human-machine interface (HMI) of the vehicle to trigger the HMI to warn a human driver of presence of the object, or to an automatic driving (AD) control unit of the vehicle so that the AD control unit executes automatic driving manipulations based on the warning instruction, characterized in that , the processing module is further configured to: determine a risk level representing a degree that the object endangers the vehicle based on the determinations; if the vehicle is driven by the human driver, determine a warning mode, the warning's intensiveness and frequency being increased when the risk level is increased; and if the vehicle is in an automatic driving mode, determine a control strategy of automatic driving based on the risk level such that the automatic driving manipulations correspond to the risk level. an acquiring module configured to acquire object information on one or more objects surrounding the vehicle and traffic rule information including one or more traffic rules associated with locations of the vehicle and the one or more objects; a processing module configured to determine, based on the object information and the traffic rule information, whether any object currently violates any traffic rule; whether any object will violate any traffic rule when the vehicle passes the object; and whether the object would endanger the vehicle passing by the object, and to generate a warning instruction if at least one of aforementioned three determinations is affirmative; and an outputting module configured to output the warning instruction to a human-machine interface (HMI) of the vehicle to trigger the HMI to warn a human driver of presence of the object, or to an automatic driving (AD) control unit of the vehicle so that the AD control unit executes automatic driving manipulations based on the warning instruction, characterized in that , the processing module is further configured to: determine a risk level representing a degree that the object endangers the vehicle based on the determinations; if the vehicle is driven by the human driver, determine a warning mode, the warning's intensiveness and frequency being increased when the risk level is increased; and if the vehicle is in an automatic driving mode, determine a control strategy of automatic driving based on the risk level such that the automatic driving manipulations correspond to the risk level. determine a risk level representing a degree that the object endangers the vehicle based on the determinations; if the vehicle is driven by the human driver, determine a warning mode, the warning's intensiveness and frequency being increased when the risk level is increased; and if the vehicle is in an automatic driving mode, determine a control strategy of automatic driving based on the risk level such that the automatic driving manipulations correspond to the risk level. <EOS>