High speed parallel travel warning control method, system, and vehicle

Abstract

The application discloses a high-speed parallel driving reminding control method, system and vehicle, relates to the technical field of automobile electronic control, and comprises the following steps: acquiring lane and vehicle information of a target driving vehicle; if the speed of the target driving vehicle exceeds a first preset speed, judging whether the target driving vehicle is in an overtaking state or a parallel driving state based on the lane and vehicle information; if the target driving vehicle is in the overtaking state, sending an overtaking reminding information; and if the target driving vehicle is in the parallel driving state, sending a parallel driving reminding information and controlling the target driving vehicle to activate a preset auxiliary driving mode. The application alleviates the technical problem that in the prior art, when parallel driving, vehicles on both sides are prone to entering a rearview mirror blind area and it is difficult to change lanes when an emergency occurs.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automotive electronic control technology, in particular to a high-speed parallel driving reminding control method, system and vehicle. BACKGROUND

[0002] With the rapid growth of the number of cars, the domestic highway, viaduct and other infrastructure is increasingly improved, and the car is more and more frequently used at high speed. The resulting high-speed traffic jams, scratches, and other traffic problems are increasing. As a party to research and development, car manufacturers need to take advantage of the current trend of car intelligence and networking to develop car functions. They not only need to meet user needs, but also need to guide users to develop good driving habits from the design.

[0003] The speed of high-speed driving is high, and the airflow disturbance is abnormal when driving for a long time. The lateral safety distance is small, and small steering wheel action can cause a collision. When parallel driving, the vehicles on both sides are easy to enter the blind area of the rearview mirror, and it is difficult to change lanes in an emergency. In particular, when large vehicles and passenger cars are parallel driving, safety accidents are prone to occur. SUMMARY

[0004] The purpose of the present application is to solve at least one of the above technical problems by providing a high-speed parallel driving reminding control method, system and vehicle.

[0005] In a first aspect, the embodiments of the present application provide a high-speed parallel driving reminding control method applied to a target driving vehicle, comprising: acquiring lane and vehicle information of the target driving vehicle; if the speed of the target driving vehicle exceeds a first preset speed, determining whether the target driving vehicle is in a overtaking state or a parallel driving state based on the lane and vehicle information; if the target driving vehicle is in the overtaking state, issuing an overtaking reminding information; and if the target driving vehicle is in the parallel driving state, issuing a parallel driving reminding information and controlling the target driving vehicle to activate a preset auxiliary driving mode.

[0006] Further, the lane and vehicle information includes: a first similar vehicle type in a nearby lane, a distance between the target driving vehicle and the first similar vehicle in the nearby lane, and a relative speed between the target driving vehicle and the first similar vehicle in the nearby lane.

[0007] Further, based on the lane and vehicle information, determining whether the target driving vehicle is in the overtaking state comprises: determining whether the absolute value of the relative speed between the target driving vehicle and the first similar vehicle in the nearby lane is greater than a second preset speed, and the distance between the target driving vehicle and the first similar vehicle in the nearby lane is less than a first preset distance; if so, it is determined that the target driving vehicle is in the overtaking state.

[0008] Further, the parallel driving state includes a short-time parallel driving state and a long-time parallel driving state; the judging whether the target driving vehicle is in the parallel driving state based on the lane and vehicle information includes: judging whether the distance between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than a second preset distance, and the absolute value of the relative speed between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than a third preset speed, and the duration is not more than a first preset time; if yes, it is determined that the target driving vehicle is in the short-time parallel driving state; judging whether the distance between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than a third preset distance, and the absolute value of the relative speed between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than a fourth preset speed, and the duration is more than a second preset time; wherein the second preset time is greater than the first preset time; if yes, it is determined that the target driving vehicle is in the long-time parallel driving state.

[0009] Further, if the target driving vehicle is in the short-time parallel driving state, the issuing of the parallel driving reminding information and the controlling of the target driving vehicle to activate the preset auxiliary driving mode includes: setting the color changing reminding of the first nearby vehicle; turning on the lane keeping system and the blind area detection system; and turning on the adjacent lane side camera image system.

[0010] Further, if the target driving vehicle is in the long-time parallel driving state, the issuing of the parallel driving reminding information and the controlling of the target driving vehicle to activate the preset auxiliary driving mode includes: setting the color changing reminding of the first nearby vehicle, turning on the lane keeping system and the blind area detection system, and turning on the adjacent lane side camera image system; judging whether the type of the first nearby vehicle in the adjacent lane is a large vehicle; if yes, torque parallel compensation is performed, and active disengagement parallel reminding information is issued.

[0011] In the second aspect, the embodiments of the present application further provide a high-speed parallel driving reminding control system applied to a target driving vehicle, which includes an acquisition module, a detection module and a reminding and control module; wherein the acquisition module is used to acquire the lane and vehicle information of the target driving vehicle; the detection module is used to judge whether the target driving vehicle is in an overtaking state or a parallel driving state based on the lane and vehicle information if the speed of the target driving vehicle exceeds a first preset speed; the reminding and control module is used to issue overtaking reminding information if the target driving vehicle is in the overtaking state; and the reminding and control module is further used to issue parallel driving reminding information and control the target driving vehicle to activate a preset auxiliary driving mode if the target driving vehicle is in the parallel driving state.

[0012] Further, the lane and vehicle information comprises: a first similar vehicle type in a nearby lane, a vehicle distance between the target vehicle and the first similar vehicle in the nearby lane, and a relative speed between the target vehicle and the first similar vehicle in the nearby lane; and the detection module is further configured to: determine whether an absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is greater than a second preset speed, and the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane is less than a first preset distance; and if yes, determine that the target vehicle is in the overtaking state.

[0013] Further, the parallel driving state comprises a short-time parallel driving state and a long-time parallel driving state; and the detection module is further configured to: determine whether the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane is less than a second preset distance, and an absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is less than a third preset speed, and a duration is not more than a first preset time; and if yes, determine that the target vehicle is in the short-time parallel driving state; determine whether the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane is less than a third preset distance, and the absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is less than a fourth preset speed, and the duration is more than a second preset time; and if yes, determine that the target vehicle is in the long-time parallel driving state.

[0014] In a third aspect, an embodiment of the present application further provides a high-speed parallel driving reminding control vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method in the first aspect.

[0015] The embodiment of the present application provides a high-speed parallel driving reminding control method, system and vehicle, in high speed, the first similar vehicle related information in the nearby lane is acquired, it is judged to be in the overtaking state, the short-time parallel driving state, the long-time parallel driving state, aiming at the different state of judgment, the vehicle is controlled to remind the driver, and the auxiliary driving related function is opened; simultaneously, in order to avoid long-time parallel driving with big vehicle, the power system is controlled to intelligently compensate partial torque, to achieve the purpose of getting rid of parallel driving; the technical problems that the vehicles on both sides are easy to enter the blind area of rearview mirror when parallel driving, and it is difficult to change lane when emergency occurs in the prior art are alleviated. BRIEF DESCRIPTION OF DRAWINGS

[0016] The drawings constituting a part of the specification of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0017] Figure 1 A flow chart of a high-speed parallel driving reminding control method according to an embodiment of the present application is provided;

[0018] Figure 2 A compensation torque diagram according to an embodiment of the present application is provided;

[0019] Figure 3 A schematic diagram of a high-speed parallel driving reminding control system according to an embodiment of the present application is provided;

[0020] Figure 4 An execution logic diagram of a reminding and control module according to an embodiment of the present application is provided;

[0021] Figure 5 A schematic diagram of another high-speed parallel driving reminding control system according to an embodiment of the present application is provided. DETAILED DESCRIPTION

[0022] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0023] The following detailed description is exemplary and is intended to provide further detailed description of the present application. Unless otherwise specified, all technical terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs. The terms used in the present application are only for the purpose of describing the specific embodiments and are not intended to limit the exemplary embodiments according to the present application.

[0024] Embodiment One

[0025] Figure 1 A flow chart of a high-speed parallel driving reminding control method according to an embodiment of the present application is provided, which is applied to a target driving vehicle. As shown in Figure 1 the method specifically includes the following steps:

[0026] Step S102, obtaining lane and vehicle information of the target driving vehicle.

[0027] Step S104, if the vehicle speed of the target driving vehicle exceeds a first preset vehicle speed, determining whether the target driving vehicle is in a overtaking state or a parallel driving state based on the lane and vehicle information.

[0028] Step S106, if the target driving vehicle is in the overtaking state, issuing an overtaking reminding information.

[0029] Step S108, if the target driving vehicle is in the parallel driving state, issuing a parallel driving reminding information and controlling the target driving vehicle to activate a preset auxiliary driving mode.

[0030] Preferably, the lane and vehicle information comprises: a first similar vehicle type in a nearby lane, a vehicle distance between the target vehicle and the first similar vehicle in the nearby lane, and a relative speed between the target vehicle and the first similar vehicle in the nearby lane. The first similar vehicle in the nearby lane refers to a vehicle closest to the target vehicle in a lane adjacent to the lane where the target vehicle is located.

[0031] Specifically, the lane and vehicle information in step S102 is mainly from a lane and vehicle perception system of an auxiliary driving module. The lane and vehicle perception system of the auxiliary driving module (hereinafter referred to as ADS) in the present application can obtain lane and vehicle information (such as the first similar vehicle type in the nearby lane, the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane, and the relative speed between the target vehicle and the first similar vehicle in the nearby lane) through radar, camera and other vehicle-mounted devices. It should be noted that the present application only takes the information of the auxiliary driving module as the signal source, and the identification process of the lane and vehicle information will not be described here.

[0032] Specifically, the high-speed parallel driving reminding control method provided by the embodiment of the present application is performed when the vehicle speed of the target vehicle exceeds a first preset vehicle speed, wherein the first preset vehicle speed is a settable vehicle speed of the target vehicle in a high-speed driving state.

[0033] Specifically, in step S104, based on the lane and vehicle information, it is determined whether the target vehicle is in a overtaking state, comprising:

[0034] whether the absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is greater than a second preset vehicle speed, and the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane is less than a first preset distance;

[0035] If yes, it is determined that the target vehicle is in an overtaking state.

[0036] Specifically, the scenarios of the overtaking state include that the target vehicle is about to overtake the first similar vehicle in the nearby lane, and the first similar vehicle in the nearby lane is about to overtake the target vehicle.

[0037] In the embodiment of the present application, the parallel driving state includes a short-time parallel driving state and a long-time parallel driving state.

[0038] Specifically, in step S104, based on the lane and vehicle information, it is determined whether the target vehicle is in a parallel driving state, comprising:

[0039] whether the vehicle distance between the target vehicle and the first similar vehicle in the nearby lane is less than a second preset distance, and the absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is less than a third preset vehicle speed, and the duration is not more than a first preset time;

[0040] If yes, it is determined that the target driving vehicle is in a short-time parallel driving state.

[0041] It should be noted that when the first nearby vehicle in the adjacent lane is replaced, the ADS should inform the parallel driving reminding and control module, and the duration timer is reset; when the absolute value of the relative speed between the target driving vehicle and the first nearby vehicle in the adjacent lane is greater than or equal to the third preset speed, the duration timer is reset; when the distance between the target driving vehicle and the first nearby vehicle in the adjacent lane is greater than or equal to the second preset distance, the duration timer is reset.

[0042] It is determined whether the distance between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than the third preset distance, and the absolute value of the relative speed between the target driving vehicle and the first nearby vehicle in the adjacent lane is less than the fourth preset speed, and the duration exceeds the second preset time; wherein the second preset time is greater than the first preset time;

[0043] If yes, it is determined that the target driving vehicle is in a long-time parallel driving state.

[0044] It should be noted that when the first nearby vehicle in the adjacent lane is replaced, the ADS should inform the parallel driving reminding and control module, and the duration timer is reset; when the absolute value of the relative speed between the target driving vehicle and the first nearby vehicle in the adjacent lane is greater than or equal to the fourth preset speed, the duration timer is reset; when the distance between the target driving vehicle and the first nearby vehicle in the adjacent lane is greater than or equal to the third preset distance, the duration timer is reset.

[0045] Preferably, if the target driving vehicle is in a overtaking state, the color of the first nearby vehicle in the adjacent lane is changed on the large screen through the control of the cabin domain controller (IC: Intelligent Cabin), and a sound and text reminder is given.

[0046] Preferably, if the target driving vehicle is in a short-time parallel driving state, then:

[0047] The color change of the first nearby vehicle is set as a reminder;

[0048] The lane keeping system (LKA: Lane Keeping Assist) and the blind area detection system (BSD: Blind Spot Detection) are turned on;

[0049] The side camera image system in the adjacent lane is turned on.

[0050] Preferably, if the target driving vehicle is in a long-time parallel driving state, then:

[0051] The color change of the first nearby vehicle is set as a reminder, the lane keeping system and the blind area detection system are turned on, and the side camera image system in the adjacent lane is turned on.

[0052] determining whether the first nearby vehicle type of the adjacent lane is a large vehicle;

[0053] If yes, torque parallel compensation is performed, and active parallel separation reminding information is sent out.

[0054] Specifically, the average accelerator opening A1 within 1 second of long-time parallel driving is calculated before the current time. If the LKA lane keeping system and the blind area detection system are not turned on at present, the LKA and BSD are requested to be turned on. The adjacent lane side camera image system is turned on. In the case that the accelerator opening does not change (within A1±3%) at the current time, the wheel end torque is reduced, and the torque reduction mode is linearly reduced to a certain value in a compensatory manner. Figure 2 is a compensation torque diagram provided by an embodiment of the present application, as shown in Figure 2 The compensation torque is subtracted from the current driver demand torque, and the compensation torque has a maximum limit. The driver is reminded that long-time parallel driving with a large vehicle is detected, and the active parallel driving separation is performed for the driver. Until the long-time parallel driving condition is not met and the parallel vehicle is a large vehicle type, the parallel driving compensation is reversely increased to the normal value in a linear increasing manner. If the accelerator is increased by more than A1+3% during the torque compensation reduction process, the parallel driving compensation is increased to the normal value in a linear reverse increasing manner to drive the vehicle to normally drive.

[0055] It should be noted that the torque compensation in the long-time parallel driving state and the first nearby vehicle of the adjacent lane being a large vehicle type in the present application is linear compensation, which is only one of the many active controls mentioned for describing the present application, and other curve types can also be used for torque compensation.

[0056] As can be seen from the above description, the embodiment of the present application provides a high-speed parallel driving reminding control method. In high-speed driving, the first nearby vehicle related information of the adjacent lane is obtained, the current state is determined to be overtaking, short-time parallel driving or long-time parallel driving, the vehicle is controlled to remind the driver and turn on the auxiliary driving related function according to different states, the power system is controlled to intelligently compensate part of the torque to achieve the purpose of separating parallel driving, and the technical problem that the vehicles on both sides easily enter the blind area of the rearview mirror in the prior art when parallel driving, and it is difficult to change lanes when an emergency occurs is solved.

[0057] Embodiment two

[0058] Figure 3 is a schematic diagram of a high-speed parallel driving reminding control system according to an embodiment of the present application. The system is applied to a target driving vehicle. As shown in Figure 3 The system comprises an acquisition module 10, a detection module 20 and a reminding and control module 30.

[0059] Specifically, the acquisition module 10 is configured to acquire lane and vehicle information of the target vehicle.

[0060] The detection module 20 is configured to determine whether the target vehicle is in a passing state or a parallel driving state based on the lane and vehicle information if the speed of the target vehicle exceeds the first preset speed.

[0061] The reminding and control module 30 is configured to output a passing reminder if the target vehicle is in the passing state.

[0062] The reminding and control module 40 is further configured to output a parallel driving reminder and control the target vehicle to activate a preset auxiliary driving mode if the target vehicle is in the parallel driving state.

[0063] Specifically, the lane and vehicle information includes a first nearby vehicle type, a distance between the target vehicle and the first nearby vehicle, and a relative speed between the target vehicle and the first nearby vehicle.

[0064] The detection module 20 is further configured to determine whether the absolute value of the relative speed between the target vehicle and the first nearby vehicle is greater than a second preset speed and the distance between the target vehicle and the first nearby vehicle is less than a first preset distance.

[0065] If yes, it is determined that the target vehicle is in the passing state.

[0066] Specifically, the parallel driving state includes a short-time parallel driving state and a long-time parallel driving state.

[0067] The detection module 20 is further configured to determine whether the distance between the target vehicle and the first nearby vehicle is less than a second preset distance, the absolute value of the relative speed between the target vehicle and the first nearby vehicle is less than a third preset speed, and the duration is less than a first preset time.

[0068] If yes, it is determined that the target vehicle is in the short-time parallel driving state.

[0069] The detection module 20 is further configured to determine whether the distance between the target vehicle and the first nearby vehicle is less than a third preset distance, the absolute value of the relative speed between the target vehicle and the first nearby vehicle is less than a fourth preset speed, and the duration is greater than a second preset time.

[0070] If yes, it is determined that the target vehicle is in the long-time parallel driving state.

[0071] Figure 4 The execution logic of the reminding and control module is shown in FIG. 2.Figure 4 As shown, specifically, the reminding and control module 30 is further used for:

[0072] If the target driving vehicle is in a short-time parallel driving state, then:

[0073] a first nearby vehicle color-changing reminding is set;

[0074] a lane keeping system and a blind area detection system are opened;

[0075] a nearby lane side camera image system is opened.

[0076] If the target driving vehicle is in a long-time parallel driving state, then:

[0077] a first nearby vehicle color-changing reminding is set, a lane keeping system and a blind area detection system are opened, and a nearby lane side camera image system is opened;

[0078] whether a first nearby vehicle type of a nearby lane is a large vehicle is judged; for example, the large vehicle is a truck;

[0079] if yes, torque parallel compensation is performed, and active disengagement parallel reminding information is sent.

[0080] Figure 5 Fig. 2 is a schematic diagram of another high-speed parallel driving reminding control system provided by an embodiment of the present application. As shown, Figure 5 the high-speed parallel driving reminding control system 100 is connected with an auxiliary driving module 200, a display driver 300, an intelligent integrated braking system 400 and a micro control unit 500 of a target driving vehicle respectively.

[0081] Specifically, the high-speed parallel driving reminding control system 100 acquires vehicle speed information through the intelligent integrated braking system 400, acquires lane and vehicle information through the auxiliary driving module 200, then judges whether the target driving vehicle is in a parallel driving state or a passing state, finally sends reminding information through the display driver 300, opens a lane keeping system and a blind area detection system through the auxiliary driving module 200, opens a nearby lane side camera image system, and sends torque request through the micro control unit 500.

[0082] The embodiment of the present application further provides a high-speed parallel driving reminding control vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor implements the method in the above-mentioned embodiment one when executing the computer program.

[0083] It is apparent that the application can be implemented in a variety of other forms, without departing from the spirit or essential characteristics thereof. The disclosed embodiments are to be considered in all respects only as illustrative and not restrictive. The scope of the application is indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are intended to be embraced therein.

[0084] Those skilled in the art will appreciate that embodiments of the application can be devised for a method, a system, or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer-readable program code.

[0085] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0086] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0088] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit it. Although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or replaced equivalently without departing from the spirit and scope of the present application, and any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A high-speed parallel travel warning control method characterized by comprising: The application is applied to a target driving vehicle and comprises: acquiring lane and vehicle information of the target driving vehicle; if the speed of the target driving vehicle exceeds a first preset speed, judging whether the target driving vehicle is in a passing state or a parallel driving state based on the lane and vehicle information; if the target driving vehicle is in the passing state, issuing a passing reminder information; if the target driving vehicle is in the parallel driving state, issuing a parallel driving reminder information and controlling the target driving vehicle to activate a preset auxiliary driving mode; the lane and vehicle information comprises a first similar vehicle type in a nearby lane, a distance between the target driving vehicle and the first similar vehicle in the nearby lane and a relative speed between the target driving vehicle and the first similar vehicle in the nearby lane; the parallel driving state comprises a short-time parallel driving state and a long-time parallel driving state; judging whether the target driving vehicle is in the parallel driving state based on the lane and vehicle information comprises: judging whether the distance between the target driving vehicle and the first similar vehicle in the nearby lane is less than a second preset distance, the absolute value of the relative speed between the target driving vehicle and the first similar vehicle in the nearby lane is less than a third preset speed and the duration is not more than a first preset time; if yes, determining that the target driving vehicle is in the short-time parallel driving state; judging whether the distance between the target driving vehicle and the first similar vehicle in the nearby lane is less than a third preset distance, the absolute value of the relative speed between the target driving vehicle and the first similar vehicle in the nearby lane is less than a fourth preset speed and the duration is more than a second preset time; wherein the second preset time is greater than the first preset time; if yes, determining that the target driving vehicle is in the long-time parallel driving state; if the target driving vehicle is in the short-time parallel driving state, the parallel driving reminder information is issued and the target driving vehicle is controlled to activate the preset auxiliary driving mode, which comprises: setting a first similar vehicle color-changing reminder; turning on a lane keeping system and a blind area detection system; turning on a nearby lane side camera image system; if the target driving vehicle is in the long-time parallel driving state, the parallel driving reminder information is issued and the target driving vehicle is controlled to activate the preset auxiliary driving mode, which comprises: setting a first similar vehicle color-changing reminder, turning on a lane keeping system and a blind area detection system and turning on a nearby lane side camera image system; judging whether the first similar vehicle type in the nearby lane is a large vehicle; if yes, performing a torque parallel compensation and issuing an active parallel separation reminder information.

2. The high-speed parallel travel warning control method according to claim 1, characterized by, judging whether the target driving vehicle is in the passing state based on the lane and vehicle information comprises: judging whether the absolute value of the relative speed between the target driving vehicle and the first similar vehicle in the nearby lane is greater than a second preset speed and the distance between the target driving vehicle and the first similar vehicle in the nearby lane is less than a first preset distance; if yes, determining that the target driving vehicle is in the passing state.

3. A high-speed parallel travel warning control system for implementing the high-speed parallel travel warning control method according to claim 1 or 2, characterized by The application is applied to a target driving vehicle and comprises a detection module and a reminding and control module. The acquisition module is configured to acquire lane and vehicle information of the target vehicle; The detection module is configured to, if the speed of the target vehicle exceeds a first preset speed, determine whether the target vehicle is in a passing state or a parallel driving state based on the lane and vehicle information; The reminding and control module is configured to, if the target vehicle is in the passing state, send a passing reminder. The reminding and control module is further configured to, if the target vehicle is in the parallel driving state, send a parallel driving reminder and control the target vehicle to activate a preset auxiliary driving mode.

4. The high-speed parallel travel warning control system according to claim 3, characterized by The lane and vehicle information includes a first similar vehicle type in a nearby lane, a distance between the target vehicle and the first similar vehicle in the nearby lane, and a relative speed between the target vehicle and the first similar vehicle in the nearby lane. The detection module is further configured to: determine whether an absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is greater than a second preset speed, and whether the distance between the target vehicle and the first similar vehicle in the nearby lane is less than a first preset distance; and 5. The high-speed parallel travel warning control system of claim 4, wherein if so, determine that the target vehicle is in the passing state. The parallel driving state includes a short-time parallel driving state and a long-time parallel driving state. The detection module is further configured to: determine whether the distance between the target vehicle and the first similar vehicle in the nearby lane is less than a second preset distance, whether an absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is less than a third preset speed, and whether a duration is not more than a first preset time; and if so, determine that the target vehicle is in the short-time parallel driving state; 6. A high-speed parallel travel warning control vehicle characterized by comprising: determine whether the distance between the target vehicle and the first similar vehicle in the nearby lane is less than a third preset distance, whether an absolute value of the relative speed between the target vehicle and the first similar vehicle in the nearby lane is less than a fourth preset speed, and whether a duration is more than a second preset time; and if so, determine that the target vehicle is in the long-time parallel driving state. The computer program is stored in the memory and executable on the processor, and the processor executes the computer program to implement the high-speed parallel driving reminding and control method. The computer program is stored in the memory and executable on the processor, and the processor executes the computer program to implement the high-speed parallel driving reminding and control method.

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