Warning system

Abstract

A warning system includes a vehicle condition sensor, a neighbor vehicle sensor, and a controller. The vehicle condition sensor detects the operation of the vehicle and acquires first sensing data corresponding to the vehicle's operation. The neighbor vehicle sensor detects the operation of neighboring vehicles and acquires second sensing data corresponding to the neighbor vehicle's operation. The controller is coupled to the vehicle condition sensor and the neighbor vehicle sensor and configured to: generate vehicle speed information and vehicle steering information based on the first sensing data; generate relative position information and speed information of neighboring vehicles based on the second sensing data; and generate a warning message based on any two of the vehicle speed information, vehicle steering information, relative position information, and other vehicle speed information. The warning message is used to alert the vehicle to anticipated events between the vehicle and neighboring vehicles. This improves driving safety.

Description

Warning system The present invention relates to a safety protection technology, and in particular to a warning system. With technological advancements, vehicle safety management systems have become an integral part of modern automobiles. These systems aim to improve driving safety and reduce traffic accidents. However, existing traffic warning systems mostly focus on the distance, speed, and position of the vehicle to provide collision prediction and alerts. These systems fail to fully consider the directional nature of vehicle movement, particularly the inner wheel difference caused by large vehicles turning and the turbulence generated by large vehicles, which are all risk factors for traffic accidents. For example, blind spots: Motorcycles have a blind spot of approximately 30 degrees, which is particularly common when turning. Without turn signals, motorcyclists cannot directly see the vehicle ahead, making collisions more likely. For example, at an intersection, the vehicle ahead might suddenly change lanes, leaving the motorcyclist unable to react in time, resulting in a rear-end collision. Another example is safe distance: This distance is the distance between a motorcyclist and the vehicle ahead, ensuring sufficient space to slow down or stop in an emergency. Without turn signals, motorcyclists may follow too closely and fail to maintain a safe distance. For example, on a highway, if the vehicle ahead suddenly slows down or stops, the motorcyclist may not have time to react, resulting in a rear-end collision. Another example is time lag: This refers to the time it takes a motorcyclist to see the vehicle ahead and take action. Even if a motorcyclist sees the vehicle ahead change lanes or turn, without a turn signal, the motorcyclist may not be able to react in time, leading to a collision. For example, if the vehicle ahead suddenly turns in a traffic jam, the motorcyclist may not be able to react in time, resulting in a rear-end collision. The present invention provides a warning system that addresses the deficiencies of the prior art through a more comprehensive driving safety intelligent detection and warning system. The warning system of an embodiment of the present invention is applicable to a vehicle. The warning system includes a vehicle condition sensor, a neighboring vehicle sensor and a controller. The vehicle condition sensor is used to detect the operation of the vehicle and obtain first sensing data corresponding to the operation of the vehicle. The neighboring vehicle sensor is used to detect the operation of the neighboring vehicle and obtain second sensing data corresponding to the operation of the neighboring vehicle. The controller is coupled to the vehicle condition sensor and the neighboring vehicle sensor, and is configured to: generate the vehicle's speed information and the vehicle's steering information based on the first sensing data; generate the neighboring vehicle's relative position information and the other vehicle's speed information based on the second sensing data; and generate a warning message based on any two of the vehicle's speed information, the vehicle's steering information and the relative position information and the other vehicle's speed information. The vehicle's speed information represents the vehicle's speed, and the vehicle's steering information represents the vehicle's steering behavior. The relative distance information represents the position of the neighboring vehicle relative to the vehicle, and the other vehicle's speed information represents the speed of the neighboring vehicle relative to the vehicle or the speed of the neighboring vehicle. The warning message is used to prompt an expected event between the vehicle and the neighboring vehicle. Based on the above, the warning system of the present invention separately detects the movements of the ego vehicle and neighboring vehicles, converting the resulting sensory data into ego vehicle speed information, ego vehicle steering information, relative position information, and other vehicle speed information, and then generates warning messages corresponding to anticipated events. This system fully considers factors such as vehicle directionality, inner wheel differential, and turbulence, providing more precise warnings to help drivers avoid potential hazards, thereby reducing the chance of accidents caused by neighboring vehicles and improving driving safety. In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below and described in detail with reference to the accompanying drawings. Figure 1 is a block diagram of components of a warning system 1 according to one embodiment of the present invention. Referring to Figure 1 , warning system 1 includes (but is not limited to) a vehicle condition sensor 11, a neighboring vehicle sensor 12, a warning device 13, and a controller 14. Warning system 1 is applicable to various types of vehicles. The vehicle can be a bicycle, motorcycle, scooter, or self-balancing scooter, as well as a car, van, bus, or truck. The vehicle has a body. Referring to Figure 1 , a vehicle condition sensor 11 may be installed on the vehicle body. For example, Figures 2A to 2C are schematic diagrams illustrating a component configuration according to one embodiment of the present invention. Referring to Figure 2A , the vehicle condition sensor 11 may be an electronic control unit (ECU) (or onboard computer) 111. In one embodiment, the vehicle condition sensor 11 is used to detect the operation of the vehicle 2 and obtain first sensing data corresponding to the operation of the vehicle 2. The operation of the vehicle 2 may be, for example, forward movement, reverse movement, or steering. For example, the ECU 111 detects the speed, engine speed, and / or driving direction of the vehicle 2. The first sensing data may be, for example, a speed value, a speed value, or a driving direction angle. When the steering wheel or handle of the vehicle 2 receives a steering operation from the user, a rudder control signal is triggered, and the ECU 111 reads the driving direction (or steering angle, steering direction) indicated by the rudder control signal. At this point, the controller 14 can detect the steering behavior fed back by the ECU 111. Referring to Figure 1 , the neighboring vehicle sensor 12 can be located on the vehicle's body. For example, Figure 2D is a schematic diagram illustrating the sensing range of a camera according to one embodiment of the present invention. Referring to Figures 2A , 2B , and 2D , the neighboring vehicle sensor 12 can be the front camera 121 shown in Figures 2A , 2B , and 2D , or the rear camera 122 shown in Figure 2D . The front camera 121 can be located on the front side of the vehicle 2 as shown in Figures 2A , 2B , and 2D . The front camera 121 has a field of view (FOV) such as shown in Figure 2D (e.g., 60 degrees or 195 degrees, but not limited thereto). That is, the field of view of the front camera 121 corresponds to the environment in front of the vehicle 2 and may also correspond to the environment on the left or right side. The front camera 121 can be located 105 cm above the ground, but not limited thereto. The rear camera 122 can be located on the rear side of the vehicle 2 as shown in Figure 2D . Rear camera 122 has a viewing angle (FOV) such as shown in FIG. 2D (e.g., 195 degrees, but not limited thereto). Specifically, rear camera 122 has a field of view corresponding to the environment behind vehicle 2 and may also correspond to the environment to the left and right of vehicle 2. Rear and rear cameras 122 may be positioned 85 cm above the ground, but are not limited thereto. In other embodiments, the neighboring vehicle sensor 12 may also be a distance sensor, such as a radar, lidar, or time-of-flight sensor. In one embodiment, the neighboring vehicle sensor 12 is used to detect the operation of neighboring vehicles and obtain second sensing data corresponding to the neighboring vehicle's operation. Neighboring vehicles are other vehicles surrounding the vehicle. Based on the detection range of the neighboring vehicle sensor 12, the neighboring vehicle sensor 12 can detect neighboring vehicles within a certain distance. In other words, other vehicles that can be detected by the neighboring vehicle sensor 12 are considered neighboring vehicles. In some embodiments, the definition of a neighboring vehicle may also be related to vehicle distance, direction, vehicle type, or other conditions and can be adjusted according to the needs of the user. The operation of the neighboring vehicle may be, for example, moving forward, backward, or turning. For example, the second sensing data includes the environmental image captured by the front camera 121 or the rear camera 122. Based on image recognition technology (e.g., image feature-based comparison or machine learning-based classifier), the neighboring vehicle's turn signal (e.g., turn signal) or sideways body (e.g., due to the neighboring vehicle turning, part of the neighboring vehicle's body is visible in the environmental image), or the neighboring vehicle's distance (e.g., this distance can be used to estimate the neighboring vehicle's speed relative to the vehicle or the speed of the neighboring vehicle) and relative direction can be identified. Referring to Figure 1 , the warning device 13 can be a light source, a speaker, or a display. For example, Figure 2A shows a display 131 and a speaker 132 installed on the body of vehicle 2. Figure 2B shows the display 131 and a light source 133. The display range SDR of the display 131 is shown in the figure, but the rules are not limited to this. The light source 133 includes a light bar LLF installed on the left front side of the display 131, a light bar LLB installed on the left rear side of the display 131, a light bar LRF installed on the right front side of the display 131, and a light bar LRB installed on the right rear side of the display 131. In one embodiment, the light bars LLF, LLB, LRF, and LRB correspond to the neighboring vehicles in the left front, left rear, right front, and right rear relative to the vehicle 2, respectively. Figure 2C shows the display 131 and the light source 133. The light source 133 includes a windshield warning light 133-1 and a rearview mirror warning light 133-2. It should be noted that the vehicle body shown in FIG. 2A to FIG. 2D is an example of a motorcycle body, but the user may appropriately adjust the location, type and / or quantity of the components according to the vehicle type. In one embodiment, the warning device 13 is used to issue a warning message, which is used to alert others. The presentation of the warning message varies depending on the type of warning device 13. For example, a light source can display different warning messages by varying its position, color, frequency, intensity, or any combination thereof. For example, a display can display a warning message in the form of a graphic, image, video, text, or any combination thereof. For example, a speaker can display a warning message in the form of a voice message, siren, alarm, or other sound. Referring to Figure 1 , a controller 14 is coupled to the vehicle condition sensor 11, the neighboring vehicle sensor 12, and the warning device 13. The controller 14 can be a central processing unit (CPU), a graphics processing unit (GPU), or other programmable general-purpose or special-purpose microprocessor, a digital signal processor (DSP), a programmable controller, a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a neural network accelerator, or other similar components or combinations thereof. In one embodiment, the controller 14 is used to perform all or part of the operations of the warning system 1 and can load and execute program code, software modules, files, and data. Referring to FIG. 2C , depending on different application requirements, in some embodiments, the warning system 1 further includes a microphone 151 (e.g., a bone conduction microphone), a button 152, and a fingerprint recognition device 153. The microphone 151 is used to receive voice commands from the driver / user. The button 152 includes a five-way key 152-1 and a voice input trigger key 152-2. The five-way key 152-1 is used to receive directional operations from the user, causing the cursor on the user interface displayed on the display 131 to move or the options to switch accordingly. The voice input trigger key 152-2 is used to receive voice operations from the user, causing the microphone 151 to activate the recording function to receive voice commands. Hereinafter, the method according to the embodiment of the present invention will be described with reference to various devices, components and modules in the warning system 1. The various processes of the method can be adjusted according to the implementation situation, but are not limited thereto. FIG3 is a flow chart of a warning method according to one embodiment of the present invention. Referring to FIG3 , the controller 14 generates vehicle speed information and vehicle steering information based on the first sensing data (step S310). Specifically, the vehicle speed information represents the speed of the vehicle. The electronic control unit 111 shown in FIG2A can detect the speed of the vehicle 2. The vehicle speed information may include a numerical value of the speed. For example, Figure 4 is a schematic diagram of safety distance information SP1 and SP2 according to one embodiment of the present invention. Referring to Figure 4 , when the vehicle starts, the controller 14 automatically activates the vehicle condition sensor 11 and the neighboring vehicle sensor 12 for detection. When vehicle 2 begins to move, the electronic control unit 111 obtains the real-time speed value (i.e., vehicle speed information), and the camera (e.g., front camera 121 in Figure 2D ) captures the neighboring vehicle 5. The controller 14 uses object recognition technology to identify the neighboring vehicle 5 captured by the camera and, based on this, determines the corresponding safety distance information for the neighboring vehicle 5. "Maintaining a safe distance" means maintaining sufficient distance from vehicles ahead, behind, or on either side while driving. This allows the driver ample time and space to react in an emergency and avoid a collision. Safety distance information is, for example, the distance (in meters) calculated by dividing the vehicle's speed by 2. For example, at a speed of 10 kilometers per hour, a safe distance of 5 meters should be maintained from vehicle 5 ahead (as safety distance information SP1). At a speed of 60 kilometers per hour, a safe distance of 30 meters should be maintained from vehicle 5 ahead (as another safety distance information SP2). The vehicle's steering information represents the steering behavior of vehicle 2. Steering behavior, for example, is the act of changing the direction of vehicle 2 due to a user's steering operation (e.g., a left or right turn) on the vehicle's steering wheel or handle. The vehicle's steering information includes a steering angle or a steering wheel angle. For example, Figure 5 is a schematic diagram illustrating vehicle steering information according to one embodiment of the present invention. Referring to Figure 5 , when vehicle 2 starts moving, controller 14 automatically activates vehicle condition sensor 11 and neighboring vehicle sensor 12 for detection. As vehicle 2 begins to move, electronic control unit 111 obtains the current steering angle (i.e., vehicle steering information), and a camera (e.g., front camera 121 in Figure 2D ) captures neighboring vehicle 5. Controller 14 uses object recognition technology to identify neighboring vehicle 5 captured by the camera and, based on this information, determines the corresponding safety distance information for neighboring vehicle 5. The steering angle SD1 (i.e., the steering angle) shown on the left side of Figure 5 is 0 degrees, and the safety distance information SP1 is 5 meters (corresponding to a speed of 10 kilometers per hour). The controller 14 can define the safety prediction range SR1 based on the safety distance information SP1 and the lane width / vehicle width. For example, the length of the safety prediction range SR1 is 5 meters indicated by the safety distance information SP1, and the width of the safety prediction range SR1 is 3 meters corresponding to the width of the slow lane. The safety prediction range SR1 is set by the warning system 1 with the front end of the vehicle 2 as the starting point. The driving recommendation of the vehicle is to keep a distance from the neighboring vehicle 5 and keep the neighboring vehicle 5 outside the safety prediction range SR1. Furthermore, the steering angle SD2 shown on the right side of FIG5 is 10 degrees, and the safety distance information SP1 is 5 meters (corresponding to a speed of 10 kilometers per hour). The controller 14 can define a safety prediction range SR2 based on the safety distance information SP1, the steering angle, and the lane width / vehicle width. The total length of the safety prediction range SR2 is substantially the same as that of the vehicle 2, but the shape of the safety prediction range SR2 is offset toward the direction of the vehicle 2's steering angle of 10 degrees. Referring to FIG. 3 , the controller 14 generates relative position information and other vehicle speed information of the neighboring vehicle 5 based on the second sensing data (step S320). Specifically, the relative position information represents the position of the neighboring vehicle relative to the vehicle (in which the warning system 1 is configured). The relative position information may include, for example, coordinates, relative distance, relative direction, or a combination thereof. Furthermore, the other vehicle speed information represents the speed of the neighboring vehicle relative to the vehicle or the speed of the neighboring vehicle. The other vehicle speed information may include a numerical value of the speed. Figure 6 is a schematic diagram of environmental images EI1 and EI2 according to one embodiment of the present invention. Referring to Figure 6 , for example, the environmental image EI1 captured by the field of view CDR of the front camera 121 in Figure 2D includes a body image CB1 and a license plate image CL1 of a neighboring vehicle 51 (using a car as an example). The monitoring area CD1 of the neighboring vehicle 51 encompasses both the body image CB1 and the license plate image CL1. The controller 14 can use image recognition technology to determine whether the body image CB1 represents a four-wheeled vehicle image and continuously track the monitoring area CD1 corresponding to the four-wheeled vehicle image. Furthermore, for example, the environmental image EI2 captured by the field of view CDR of the front camera 121 in FIG2D includes the body image CB2 and license plate image CL2 of the neighboring vehicle 52 (using a motorcycle as an example). The monitoring area CD2 of the neighboring vehicle 52 encompasses both the body image CB2 and the license plate image CL2. The controller 14 can use image recognition technology to determine whether the body image CB2 represents a four-wheeled vehicle and stop or discontinue tracking the monitoring area CD2 corresponding to the two-wheeled vehicle image. FIG7 is a flowchart illustrating a safety distance determination process according to one embodiment of the present invention. Referring to FIG7 , the controller 14 may determine safety distance information based on the vehicle's speed information (step S710). As shown in FIG4 , the speed of vehicle 2 (obtained from the vehicle's speed information) divided by 2 represents the safety distance information. However, the function corresponding to the values ​​of the vehicle's speed information and the safety distance information is not limited to the example above. In one embodiment, the relative position information includes relative distance information. The relative distance information represents the relative distance between vehicle 2 and neighboring vehicle 5. The controller 14 may determine whether the relative distance information is less than the safety distance information (step S720). The controller 14 may determine the relative distance information by comparing the values ​​of the two distance information. When the relative distance information is less than the safety distance information, the controller 14 determines that vehicle 2 and neighboring vehicle 5 are not "maintaining a safe distance." When the relative distance information is greater than or equal to the safety distance information, the controller 14 determines that vehicle 2 and neighboring vehicle 5 are "maintaining a safe distance." Referring to Figure 3 , the controller 14 generates a warning message based on any two of the vehicle's speed information, the vehicle's steering information, the relative position information, and the other vehicle's speed information (step S330). Specifically, the warning message serves to alert vehicle 2 to an anticipated event between the neighboring vehicle 5 and the neighboring vehicle 5. Examples of anticipated events include, but are not limited to, failure to maintain a safe distance, the neighboring vehicle turning, or a collision. By simultaneously considering multiple pieces of information, specific anticipated events can be detected. FIG8 is a schematic diagram illustrating a warning decision regarding steering according to an embodiment of the present invention. Referring to FIG8 , the controller 14 may generate steering information of the neighboring vehicle 5 based on the second sensing data obtained by the neighboring vehicle sensor 12 (step S810). Specifically, the steering information represents the steering behavior of the neighboring vehicle 5. Steering behavior is, for example, the behavior of the vehicle 5 changing its driving direction due to the steering wheel or handle receiving a user's steering operation (e.g., a left turn or a right turn operation). The steering information of the neighboring vehicle includes a steering angle or a steering rudder angle. In one embodiment, the second sensory data includes an environmental image captured by a camera (e.g., front camera 121 or rear camera 122 in FIG. 2D ). The controller 14 can identify the turn signal area within the environmental image. The turn signal is triggered by the turn signal of a neighboring vehicle. When the driver of the neighboring vehicle 5 performs a right or left turn instruction operation on the turn signal controller (e.g., by turning on the turn signal), the corresponding turn signal will illuminate or flash. For example, Figure 9 is a schematic diagram illustrating turn detection according to an embodiment of the present invention. Referring to Figure 9 , environmental image EI3 includes a body image CB1 and a license plate image CL1 of a neighboring vehicle 5 (using a car as an example). Furthermore, environmental image EI4 includes a body image CB1 and a license plate image CL1 of a neighboring vehicle 5 (using a car as an example). Monitoring area CD1 of neighboring vehicle 5 encompasses both body image CB1 and license plate image CL1. The controller 14 can use image recognition technology to identify turn signals and define an indication area IA corresponding to the turn signals. For example, indication area IA encompasses the left turn signal of neighboring vehicle 5. Similarly, there may also be an indication area corresponding to the right turn signal (not shown and not described in detail). Indication area IA is used to determine whether turn indicator signal 901 is triggered. At this point, the left turn signal of neighboring vehicle 5 is on. The controller 14 can identify the turn signal signal 901 corresponding to the turn signal signal appearing in indication area IA of environmental image EI4. Furthermore, the controller 14 can also determine whether turn indicator signal 901 is flashing. The turn signal 901 is used to indicate the turning behavior of the neighboring vehicle 5. As shown in the figure, the neighboring vehicle 5 turns left. At this time, the controller 14 can predict that the driving direction PD1 of the neighboring vehicle 5 corresponds to a left turn or a left curve. Referring to Figure 8 , when the controller 14 detects that the other vehicle's steering information is triggered by a turn indicator signal and the relative distance information is less than the safe distance information, the controller 14 generates a warning message via the warning device 13 (step S820 ). Specifically, the scenario shown on the right side of Figure 9 is an event in which only the other vehicle's steering information is detected as triggered by a turn indicator signal 901 . However, since the left turn does not involve the safe prediction range SR1 , no warning message is generated. Figure 10 is a schematic diagram illustrating a turn signal warning according to an embodiment of the present invention. Referring to Figure 10 , the environmental image EI5 includes the body image CB1 and license plate image CL1 of the neighboring vehicle 5 (using a car as an example). Furthermore, the environmental image EI6 includes the body image CB1 and license plate image CL1 of the neighboring vehicle 5 (using a car as an example). The monitoring area CD1 of the neighboring vehicle 5 encompasses the body image CB1 and license plate image CL1. The controller 14 can use image recognition technology to identify turn signals and define an indication area IA corresponding to the turn signals. For example, the indication area IA encompasses the right turn signal of the neighboring vehicle 5. The indication area IA is used to determine whether the turn signal 902 is triggered. At this point, the right turn signal of the neighboring vehicle 5 is on. The controller 14 can identify the turn signal 902 corresponding to the turn signal appearing in the indication area IA of the environmental image EI6. Furthermore, the controller 14 can determine whether the turn signal 902 is flashing. The turn signal 902 is used to indicate the neighboring vehicle 5's turn behavior. As shown in the figure, the neighboring vehicle 5 is turning right. At this time, the controller 14 may predict that the driving direction PD2 of the neighboring vehicle 5 corresponds to a right turn or a right curve. Furthermore, the right turn involves the safety prediction range SR1 (corresponding to a scenario where the vehicle's steering information indicates no turn or straight travel). Therefore, the controller 14 also determines whether the relative distance information D1 of the neighboring vehicle 5 is less than the safety distance information SP1. When the relative distance information D1 of the neighboring vehicle 5 is less than the safety distance information SP1, as shown in the figure, the display 131 may display a warning symbol and text message (i.e., a warning message), and the windshield warning light 133-1 and the rearview mirror warning light 133-2 corresponding to the driving direction PD2 (e.g., the light on the right side flashes) may flash the corresponding yellow light (i.e., a warning message). FIG11 is a flowchart illustrating a warning decision for a safe driving zone without an indicator signal according to an embodiment of the present invention. Referring to FIG11 , the controller 14 may determine whether the relative position information indicates that the neighboring vehicle 5 has entered the safe driving zone of the vehicle 2 (step S1110). This safe behavior zone is determined based on the safety distance information. For example, FIG12 is a schematic diagram illustrating zone detection according to an embodiment of the present invention. Referring to FIG12 , a safe prediction range SR1 is defined based on the safety distance information SP1. The safe prediction range SR1 may be converted into a safe behavior zone SA (corresponding to a scenario where the vehicle's steering information indicates no turn or straight driving). The controller 14 may define a corresponding monitoring vehicle zone MAC corresponding to the neighboring vehicle 5. From a bird's-eye view, when the monitoring vehicle zone MAC overlaps with the safe behavior zone SA, the controller 14 may determine that the neighboring vehicle 5 has entered the safe driving zone SA of the vehicle 2. When the monitoring vehicle zone MAC does not overlap with the safe behavior zone SA, the controller 14 may determine that the neighboring vehicle 5 has not entered the safe driving zone SA of the vehicle 2. Referring to Figure 11 , the controller 14 can generate steering information of the neighboring vehicle based on the second sensing data (step S1120 ). In addition to detecting the triggering of the turn indicator signal as described above, steering information of the neighboring vehicle can also be detected by identifying whether the body image CB1 of the neighboring vehicle 5 corresponds to a steering maneuver. Taking Figure 12 as an example, the environmental image EI7 includes the body image CB1 and license plate image CL1 of the neighboring vehicle 5 (using a car as an example). The monitoring area CD1 of the neighboring vehicle 5 encompasses the body image CB1 and license plate image CL1. Furthermore, the environmental image EI8 includes the body image CB1 and license plate image CL1 of the neighboring vehicle 5 (using a car as an example). The controller 14 can use image recognition technology to identify whether the body image CB1 corresponds to a steering maneuver. When a steering maneuver occurs, the body image CB1 captured by the environmental image EI8 includes a portion of the vehicle's side and rear. The controller 14 can determine whether the vehicle's side is detected by identifying the vehicle door, and accordingly determine whether a steering maneuver has occurred. At this time, the controller 14 recognizes that the left vehicle body is sideways, and therefore determines that the driving direction PD3 of the neighboring vehicle 5 corresponds to a left turn or a left curve. Figure 13 is a schematic diagram illustrating turn and area detection according to an embodiment of the present invention. Referring to Figure 13 , environmental image EI9 includes body image CB1 and license plate image CL1 of neighboring vehicle 5 (using a car as an example). Furthermore, environmental image EI10 includes body image CB1 and license plate image CL1 of neighboring vehicle 5 (using a car as an example). Monitoring area CD1 of neighboring vehicle 5 encompasses both body image CB1 and license plate image CL1. At this point, controller 14 recognizes the right side of the vehicle and therefore determines that neighboring vehicle 5's driving direction PD4 corresponds to a right turn or right curve. Please refer to Figure 11. When the controller 14 detects that the steering information of the other vehicle is an event in which the turn indicator signal is not triggered and the relative position information is that the neighboring vehicle has entered the safe driving area of ​​the vehicle, the controller 14 generates a warning message through the warning device 13 (step S1130). As shown in Figures 9 and 10, the turn indicator signals 901 and 902 are used to prompt the neighboring vehicle 5 of the turning behavior. However, some drivers may forget to actively initiate the turn indicator signal or do not have the habit of initiating the turn indicator signal. As shown in Figures 12 and 13, at this time, the steering information of the other vehicle is an event in which the turn indicator signal is not triggered. That is, the controller 14 did not detect that the steering information of the other vehicle was an event in which the turn indicator signal was triggered. However, the controller 14 can still predict the driving directions PD3 and PD4 of the neighboring vehicle 5 by identifying the vehicle body part captured by the vehicle body image. As shown in FIG13 , based on the predicted driving direction PD4 , when the neighboring vehicle 5 enters the safe driving area (e.g., the predicted safe range SR1 ) of the vehicle 2 , the display 131 may display a warning symbol and text message (i.e., a warning message). Furthermore, the windshield warning light 133 - 1 and the rearview mirror warning light 133 - 2 (e.g., the right light flashes) corresponding to the driving direction PD4 may flash their corresponding red lights (i.e., a warning message). Furthermore, the speaker 132 may sound an alarm, and the controller 14 may save an image or video of the illegal lane change captured by the front camera 121 . FIG14 is a flow chart illustrating a safe driving zone warning decision process with an indicator signal according to one embodiment of the present invention. Referring to FIG14 , the controller 14 determines whether the relative position information indicates that a neighboring vehicle has entered the safe driving zone of the vehicle (step S1410 ). Please refer to the description of step S1110 above and will not be repeated here. The vehicle's steering information includes a turn signal activation signal. After the driver of vehicle 2 performs a right or left turn indication operation on the turn indicator controller (e.g., by turning on the turn signal), the turn signal activation signal causes the corresponding turn signal to illuminate or flash. At this time, the electronic control unit 111 can detect the turn signal activation signal. When the turn signal activation signal is detected to be triggered, the controller 14 can change the safe driving area based on the vehicle 2's turning behavior to create a new safe area (step S1420). The safe driving area SA shown in Figure 12 is suitable for a scenario in which vehicle 2 is traveling straight. However, when vehicle 2 is expected to turn, the shape of the safe driving area SA will be adjusted accordingly to suit the turning situation. For example, Figure 15 is a schematic diagram illustrating area detection according to an embodiment of the present invention. Referring to Figure 15 , when the controller 14 detects that the turn signal activation signal DL corresponding to a right turn has been triggered, the controller 14 changes the safe driving area SA to a new safe area NSA. The shape of the new safe area NSA corresponds to the direction indicated by the turn signal activation signal DL. As shown, the new safe area NSA curves to the right compared to the safe driving area SA. However, the new safe area NSA does not overlap with the monitored vehicle area of ​​the neighboring vehicle 5. Therefore, the controller 14 prohibits / does not issue a warning message. For another example, Figure 16 is a schematic diagram illustrating turn and area detection according to an embodiment of the present invention. Referring to Figure 16 , when the controller 14 detects that the turn signal activation signal DL corresponding to a left turn is triggered, the controller 14 changes the safe driving area SA to a new safe area NSA. The shape of the new safe area NSA corresponds to the direction indicated by the turn signal activation signal DL. As shown in the figure, the new safe area NSA curves to the left compared to the safe driving area SA. At this point, the new safe area NSA overlaps the monitored vehicle area of ​​the neighboring vehicle 5. Therefore, the controller 14 issues a warning message via the warning device 13. For example, the display 131 may display a warning symbol and text message (i.e., a warning message), and the windshield warning light 133-1 and the rearview mirror warning light 133-2 (e.g., the left light flashes) corresponding to the direction indicated by the turn signal activation signal DL may flash a corresponding yellow light (i.e., a warning message). FIG17 is a flow chart illustrating a safe driving zone warning decision based on a rudder control signal according to one embodiment of the present invention. Referring to FIG17 , the controller 14 determines whether the relative position information indicates that a neighboring vehicle has entered the safe driving zone (step S1710). Please refer to the description of step S1110 above and will not be repeated here. On the other hand, the vehicle steering information includes a rudder control signal. When the steering wheel or handle of vehicle 2 receives a steering operation from the user, the rudder control signal is triggered, and the electronic control unit 111 reads the driving direction (or steering angle, steering) indicated by the rudder control signal. At this time, the controller 14 can detect the steering behavior fed back by the electronic control unit 111. When the controller 14 detects that the rudder control signal is triggered, the controller 14 can change the safe driving area according to the steering behavior of vehicle 2 to generate a new safe area (step S1720). The safe driving area SA shown in Figure 12 is consistent with the vehicle 2 in a straight-driving situation. However, when it is expected that vehicle 2 will turn, the shape of the safe driving area SA will be adjusted accordingly to meet the turning situation. For example, Figure 18 is a schematic diagram illustrating area detection according to an embodiment of the present invention. Referring to Figure 18 , when the controller 14 detects that the rudder control signal corresponding to a right turn has been triggered, the controller 14 changes the safe driving area SA to a new safe area NSA. The shape of the new safe area NSA corresponds to the direction indicated by the rudder control signal. As shown, compared to the safe driving area SA, the new safe area NSA curves to the right in the direction of the steering angle SD3 of vehicle 2. However, the new safe area NSA does not overlap with the monitored vehicle area of ​​neighboring vehicle 5. Therefore, the controller 14 prohibits / does not issue a warning message. For example, Figure 19 is a schematic diagram illustrating turn and area detection according to an embodiment of the present invention. Referring to Figure 19 , when the controller 14 detects that a rudder control signal corresponding to a left turn has been triggered, the controller 14 changes the safe driving area SA to a new safe area NSA. The shape of the new safe area NSA corresponds to the direction indicated by the rudder control signal. As shown, compared to the safe driving area SA, the new safe area NSA curves leftward in the direction of the steering angle SD4 of vehicle 2. At this point, the new safe area NSA overlaps the monitored vehicle area of ​​the neighboring vehicle 5. Therefore, the controller 14 issues a warning message via the warning device 13. For example, the display 131 may display a warning symbol and text message (i.e., a warning message), and the windshield warning light 133-1 and the rearview mirror warning light 133-2 (e.g., the left light flashes) may flash corresponding red lights (i.e., a warning message) corresponding to the direction indicated by the turn signal activation signal DL. Furthermore, the speaker 132 may sound an alarm. In one embodiment, when the other vehicle's speed information corresponds to a rapid deceleration or acceleration scenario, the controller 14 may detect that the neighboring vehicle 5's deceleration or change in deceleration is less than a corresponding threshold, or detect that the neighboring vehicle 5's acceleration or change in acceleration is greater than a corresponding threshold. Furthermore, if the controller 14 also detects that the other vehicle's steering information indicates a turn signal triggering an event and the relative distance information is less than the safe distance information, the controller 14 may generate a warning message. Alternatively, if the controller 14 also detects that the neighboring vehicle 5 has entered the safe driving area of ​​the vehicle 2, the controller 14 may generate a warning message. Figure 20 is a flowchart based on the overall system architecture according to an embodiment of the present invention. Referring to Figure 20, the front camera 121 can obtain an environmental image (step S201). The controller determines the environmental image corresponding to the front field of view (step S202) and detects the risk of an accident (step S203). For example, it is detected that the neighboring vehicle 5 enters the safe driving area of ​​the vehicle 2, the speed information of the other vehicle corresponds to a rapid deceleration or rapid acceleration situation, or the steering information of the other vehicle is an event in which the turn indicator signal is triggered. On the other hand, the electronic control unit 111 detects the speed, engine speed and / or driving direction (for example, steering wheel / leading steering angle) of the vehicle 2 (step S204). The controller 14 and the electronic control unit 111 cross-compare the first sensing data corresponding to the vehicle 2 and the second sensing data corresponding to the neighboring vehicle 5 (step S205). If the warning condition is not met (e.g., the aforementioned embodiment involves prohibiting / not generating a warning message), the controller 14 prohibits / does not generate a warning message (step S206). The vehicle condition sensor 11 continuously detects the operation of the vehicle 2, and the neighboring vehicle sensor 12 continuously detects the operation of the neighboring vehicle 5 (step S207). On the other hand, if the warning condition is met (e.g., the scenario involving generating a warning message in the aforementioned embodiment), the controller 14 determines whether it is necessary to issue a warning message (step S208). If it is necessary to issue a warning message, the light source 133 may illuminate or flash, and the display 131 may display a warning symbol and text (i.e., the warning device 13 issues a warning message) (step S209). Next, the controller 14 detects the driver's reaction to the vehicle 2 (step S210). Examples of such reactions include braking, deceleration, stopping the steering wheel, or disabling the alarm. If any of these reactions are detected (step S211), the vehicle condition sensor 11 continuously monitors the operation of the vehicle 2, and the neighboring vehicle sensor 12 continuously monitors the operation of the neighboring vehicle 5 (step S207). On the other hand, if these reaction behaviors are not detected (step S212), in addition to the display 131 and light source 133, the speaker 132 also sounds an alarm (step S213). The controller 14 then continues to detect the reaction behaviors of the driver of vehicle 2. If these reaction behaviors are detected (step S214), the vehicle condition sensor 11 continues to detect the operation of vehicle 2, and the neighboring vehicle sensor 12 continues to detect the operation of neighboring vehicle 5 (step S207). FIG21 is a schematic diagram illustrating a warning message of the display 131 and the light source 133 according to an embodiment of the present invention. Referring to FIG21 , when an accident risk is detected, in addition to a warning message, an early warning message may also be issued based on the level of the accident. Compared to a warning message, an early warning message corresponds to a lower level of risk or urgency. For example, in the case of a frontal collision, the early warning message is that the windshield warning lights 133-1 on both sides are continuously illuminated, the display 131 screen displays a warning symbol such as L1, and the speaker 132 does not sound. The warning message is that the windshield warning lights 133-1 on both sides flash, the display 131 screen displays a warning symbol such as L2, and the speaker 132 sounds. In the scenario where vehicle 2 enters the inner wheel difference area of ​​neighboring vehicle 5, the warning message on the left side is that the left side windshield warning light 133-1 flashes, the screen of display 131 displays a warning symbol such as L3, and the speaker 132 emits a sound; the warning message on the right side is that the right side windshield warning light 133-1 flashes, the screen of display 131 displays a warning symbol such as L4, and the speaker 132 emits a sound. For the rear-end collision scenario, the warning message is that the rear turn signal light 133 - 3 flashes, the screen of the display 131 displays a warning symbol such as L5, and the speaker 132 emits a sound. For the rear / side lane change scenario, the warning message on the left side is that the left windshield warning light 133-1 is continuously on, the screen of the display 131 displays a warning symbol such as L6, and the horn 132 does not sound; the warning message on the right side is that the right windshield warning light 133-1 is continuously on, the screen of the display 131 displays a warning symbol such as L4, and the horn 132 does not sound; the warning message on the left side is that the left windshield warning light 133-1 flashes, the screen of the display 131 displays a warning symbol such as L8, and the horn 132 does not sound; the warning message on the right side is that the right windshield warning light 133-1 flashes, the screen of the display 131 displays a warning symbol such as L9, and the horn 132 does not sound. For the situation where the recognition function is insufficient, the warning message is that the screen of the display 131 displays warning symbols such as L10 and / or L11, and the speaker 132 does not make any sound. FIG22A is a schematic diagram illustrating a first scenario according to an embodiment of the present invention. Referring to FIG22A , the first scenario is a front rear-end collision hazard warning. The corresponding prompts for the possibility of a front rear-end collision when a vehicle 2 (using a motorcycle as an example) is traveling are as follows: 1. Detection is initiated when vehicle 2 is traveling at a speed exceeding 30 kilometers per hour; 2. The width SW1 of the safety clearance area in front of vehicle 2 is 1.75 meters; 3. A warning message is issued when the following objects are detected in the safety clearance area: A. Large vehicles: including large trucks, buses, articulated vehicles, special vehicles, and other motor vehicles; B. Small vehicles: including cars, SUVs, vans, motorcycles, and other motor vehicles; 4. The upper safety speed limit is 90 kilometers per hour. When the speed of vehicle 2 exceeds the upper safety speed limit, a low-function warning is issued; 5. When the speed of vehicle 2 exceeds the upper safety speed limit, the warning behavior is calculated based on 90 kilometers per hour. The safe driving area includes a safety warning area A11 and a safety early warning area A12. Safety warning area A11 corresponds to the detection of target object 54 within a one-second moving distance range. Safety early warning area A12 corresponds to the detection of target object 54 within a two-second to one-second moving distance range. The moving distance is calculated using the following formula: …(1), and Table (1) is the corresponding example: Table (1) The warning message includes a first message and a second message. The first message is generated when the controller 14 detects that the neighboring vehicle 5 (e.g., target object 54) has entered the safety warning area A11. The second message is generated when the controller 14 detects that the neighboring vehicle 5 (e.g., target object 54) has entered the safety warning area A12. For example, the aforementioned warning message is generated. FIG22B is a schematic diagram illustrating a second scenario according to an embodiment of the present invention. Referring to FIG22B , the second scenario is a warning about the danger of entering a turbulent zone for large vehicles. The corresponding prompts for the possible entry of a vehicle 2 (using a motorcycle as an example) into dangerous areas such as turbulent flow and blind spots of neighboring vehicles 5 in front and to the left or right of the vehicle 2 are as follows: 1. Detection is initiated when a neighboring vehicle 5 (e.g., target object 54) traveling at a speed of more than 50 kilometers per hour is detected in front of the left or right side of the vehicle 2; 2. Target object 54 is a large vehicle, including large trucks, buses, articulated vehicles, special vehicles, and other motor vehicles; 3. The width SW1 of the safe clearance area (e.g., 1.75 meters) is expanded to 3 meters to the left and right to serve as the prompt width SW2; 4. Neighboring vehicles 5 in the same direction: the prompt is based on the principle of the left legend; 5. Neighboring vehicles 5 in the opposite direction: the prompt is based on the two-second movement distance of the vehicle. The warning message includes a third message and a fourth message. The controller 14 can identify the driving direction information of the neighboring vehicle 5 in the ambient image. For example, if the rear of the neighboring vehicle 5 is identified, the driving direction information indicates that the neighboring vehicle 5 is heading in the same direction as the vehicle 2; if the front of the neighboring vehicle 5 is identified, the driving direction information indicates that the neighboring vehicle 5 is heading in the opposite direction of the vehicle 2. If the controller 14 detects that the driving direction information indicates that the neighboring vehicle is heading in the same direction as the vehicle, the controller 14 may generate the third message. If the controller 14 detects that the driving direction information indicates that the neighboring vehicle is heading in the opposite direction of the vehicle, the controller 14 may generate the fourth message. For example, a warning message is generated when the rear distance between vehicle 2 and target object 54 on either side is less than 10 meters, corresponding to safety warning area A22. A same-direction warning message (i.e., the third message) is generated when vehicle 2 enters the side of target object 54 on either side, corresponding to safety warning area A21. A reverse-direction warning message (i.e., the fourth message) is generated when vehicle 2 enters safety warning area A31. Warning / alert messages can be annotated as either left-front or right-front events to facilitate signal differentiation. For example, left-side windshield warning light 133-1 corresponds to a left-front event, and right-side windshield warning light 133-1 corresponds to a right-front event. FIG22C is a schematic diagram illustrating a third scenario according to an embodiment of the present invention. Referring to FIG22C , the third scenario is a warning of danger of entering the inner wheel difference area of ​​a large vehicle. The corresponding prompts are made for the possibility that a vehicle 2 (using a motorcycle as an example) may enter dangerous areas such as turbulence and blind spots of a neighboring vehicle 5 (e.g., target object 54) while driving. The behavior specifications are as follows: 1. Vehicle 2 initiates detection while stationary or moving; 2. Target object 54 is a large vehicle, including large trucks, buses, articulated vehicles, special vehicles, and other motor vehicles; 3. The width SW1 of the safe clearance area (e.g., 1.75 meters) is expanded to 3 meters to the left and right to serve as the prompt width SW2. Warning message: This message is generated when vehicle 2 is located to the side of a neighboring vehicle 5 (e.g., a large vehicle) with a turning intent (corresponding to safety warning area A41) and the speed of neighboring vehicle 5 is greater than zero. The warning message can be annotated as a left-front event or a right-front event to facilitate signal differentiation. For example, the left windshield warning light 133-1 corresponds to a left-front event, and the right windshield warning light 133-1 corresponds to a right-front event. FIG22D is a schematic diagram illustrating a fourth scenario according to an embodiment of the present invention. Referring to FIG22D , the fourth scenario is a rear-end collision hazard warning. The corresponding prompts issued in response to a vehicle 2 (using a motorcycle as an example) potentially being rear-ended by a neighboring vehicle 5 while driving are as follows: 1. Vehicle 2 initiates detection while stationary or moving; 2. A warning is initiated when a neighboring vehicle 5 (using a target object 54 as an example) traveling at a relative speed exceeding 50 kilometers per hour is detected within a 30-meter safety clearance zone behind vehicle 2; 2. The width SW1 of the safety clearance zone behind vehicle 2 is 1.75 meters; 3. A warning message is issued when the following objects are detected within the safety clearance zone: A. Large vehicles: including large trucks, buses, articulated vehicles, special vehicles, and other motor vehicles; B. Small vehicles: including cars, SUVs, vans, motorcycles, and other motor vehicles. A warning message is generated when a neighboring vehicle 5 is detected at a relative speed exceeding 50 kilometers per hour in a safety clearance zone within 30 meters behind vehicle 2 (i.e., safety warning zone A52). A warning message is generated when a neighboring vehicle 5 is detected at a relative speed exceeding 30 kilometers per hour in a safety clearance zone within 15 meters behind vehicle 2 (i.e., safety warning zone A51). FIG22E is a schematic diagram illustrating a fifth scenario according to an embodiment of the present invention. Referring to FIG22E , the fifth scenario is a rear / lateral hazard warning for lane changes. The following behavior is used to indicate that a vehicle 2 (using a motorcycle as an example) may be rear-ended by neighboring vehicles 5 on either side while driving: 1. Vehicle 2 initiates detection when traveling at a speed above 0 kilometers per hour; 2. A warning message is issued when the following objects are detected in the safe clearance area: A. Large vehicles: including large trucks, buses, articulated vehicles, special vehicles, and other motor vehicles; B. Small vehicles: including cars, SUVs, vans, motorcycles, and other motor vehicles; 3. The width SW1 of the safe clearance area (e.g., 1.75 meters) is expanded to 3 meters to the left and right to serve as the warning width SW2; 4. No warning is given to neighboring vehicles 5 parked on the roadside or traveling in the opposite direction. A warning message is generated when a vehicle is detected within the safety clearance zone (i.e., safety warning zone A62) on either side of vehicle 2 and within 10 meters behind it. A warning message is generated when a neighboring vehicle 5 is detected within the safety clearance zone (i.e., safety warning zone A61) on either side of vehicle 2. Warning / warning messages can be annotated as either a left-front event or a right-front event to facilitate signal differentiation. For example, the left windshield warning light 133-1 corresponds to a left-front event, and the right windshield warning light 133-1 corresponds to a right-front event. For the aforementioned scenarios, the detection results of the embodiments of the present invention may achieve a certain accuracy rate (eg, greater than 95%) and / or a certain recall rate (eg, greater than 98%). FIG23 is a flowchart illustrating image recognition decision-making according to one embodiment of the present invention. Referring to FIG23 , a camera (e.g., front camera 121 and / or rear camera 122 in FIG2D ) may malfunction, resulting in a loss of quality in the ambient image, thereby affecting image recognition. The controller 14 may determine the weather conditions corresponding to the ambient image (step S2310). For example, through image feature comparison or classifier identification, such as rainy days (for example, raindrops falling on the lens, causing the image to be blurred or obscured), dusty roads (for example, dust in a sandstorm or dry environment covers the lens), muddy roads (for example, mud or sludge splashed from puddles covers the lens), insect impacts (for example, flying insects collide with and attach to the lens), leaves and debris (for example, wet fallen leaves attached to the lens), strong light and glare (for example, glare caused by direct or reflected sunlight affects image quality), fog (for example, temperature difference or humidity causes the lens to fog, affecting image clarity), condensation (for example, when moving from a cold environment to a warm environment, water vapor may be generated on the lens surface) or abnormal conditions. The controller 14 may determine the recognition level based on the weather conditions (step S2320). For example, if the aforementioned abnormal weather conditions are identified, the controller 14 may determine that the recognition level is low or insufficient. The controller 14 may further assign a lower value to the low or insufficient recognition level. If the aforementioned abnormal weather conditions are not identified, the controller 14 may determine that the recognition level is normal. The controller 14 may further assign a higher value to the normal recognition level. When the recognition level falls below the threshold, the controller 14 may generate a recognition abnormality event (step S2330). Low or insufficient recognition levels fall below the threshold. At this point, the controller 14 may issue a warning message indicating the recognition abnormality. For example, the display 131 may display a warning symbol and text indicating the recognition level. In summary, the warning system of the embodiment of the present invention provides a front vehicle turn signal recognition and collision warning application, allowing the driver to use the front camera, radar and other sensors to capture the vehicle's speed information, vehicle steering information, relative position information and other vehicle speed information in real time while driving a vehicle. Then, based on this information, the neighboring vehicle's lane change intention, turning intention, etc. can be calculated. At the same time, the embodiment of the present invention can determine whether there is a collision risk based on the driving direction and speed of its own vehicle. When it detects that the vehicle in front has dangerous behaviors such as changing lanes or turning, the system will issue a warning sound or warning light to alert the driver. In this way, the embodiment of the present invention can help the driver predict dangers in advance and take measures to avoid collisions. Although the present invention has been disclosed above with reference to the embodiments, they are not intended to limit the present invention. Anyone with ordinary skill in the art may make slight changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope of the appended patent applications. 1: Warning system 11: Vehicle condition sensor 12: Neighboring vehicle sensor 13: Warning device 14: Controller 2: Vehicle 5: Neighboring vehicle 111: Electronic control unit 121: Front camera 122: Rear camera 131: Display 132: Speaker 133: Light source LLF, LLB, LRF and LRB: Light bar 133-1: Windshield warning light 133-2: and rearview mirror warning light 151: Microphone 152: Button 153: and fingerprint recognition device 152-1: Five-way key 152-2: Voice input trigger key S310~S330, S710~S720, S810~S820, S1110~S1130, S1410~S1420, S1710~S1720, S201~S214, S2310~S 2330: Steps SP1, SP2: Safety distance information SR1, SR2: Safety prediction range SD1~SD4: Steering angle SA: Safe behavior area MAC: Monitoring vehicle area EI1~EI10: Environmental images CB1, CB2: Vehicle body images CL1, CL2: and license plate images CD1, CD2: Monitoring areas 901, 902: Turn signal PD1~PD4: Driving direction NSA: New safety area D1: Relative distance information L1~L6, L8~L10: Screen displays warning symbols 133-3: Rear direction light SW1: Width 54: Target object A11, A21, A31, A41, A51, A61: Safety warning area A12, A22, A52, A62: Safety warning area SW2: Prompt width FIG1 is a block diagram of components of a warning system according to an embodiment of the present invention. FIG2A through FIG2C are schematic diagrams of component configurations according to an embodiment of the present invention. FIG2D is a schematic diagram of the sensing range of a camera according to an embodiment of the present invention. FIG3 is a flow chart of a warning method according to an embodiment of the present invention. FIG4 is a schematic diagram of safety distance information according to an embodiment of the present invention. FIG5 is a schematic diagram of vehicle turning information according to an embodiment of the present invention. FIG6 is a schematic diagram of an environmental image according to an embodiment of the present invention. FIG7 is a flow chart illustrating safety distance decision making according to an embodiment of the present invention. FIG8 is a schematic diagram illustrating warning decision making related to turning according to an embodiment of the present invention. FIG9 is a schematic diagram illustrating turning detection according to an embodiment of the present invention. FIG10 is a schematic diagram illustrating turning warning according to an embodiment of the present invention. FIG11 is a flow chart illustrating warning decision making for a safe driving zone without an indicator signal according to an embodiment of the present invention. FIG12 is a schematic diagram illustrating zone detection according to an embodiment of the present invention. FIG13 is a schematic diagram illustrating turning and zone detection according to an embodiment of the present invention. FIG14 is a flow chart illustrating warning decision making for a safe driving zone with an indicator signal according to an embodiment of the present invention. FIG15 is a schematic diagram illustrating zone detection according to an embodiment of the present invention. Figure 16 is a schematic diagram illustrating steering and area detection according to an embodiment of the present invention. Figure 17 is a flowchart illustrating a warning decision for a safe driving area with a rudder control signal according to an embodiment of the present invention. Figure 18 is a schematic diagram illustrating area detection according to an embodiment of the present invention. Figure 19 is a schematic diagram illustrating steering and area detection according to an embodiment of the present invention. Figure 20 is a flowchart illustrating an overall system architecture according to an embodiment of the present invention. Figure 21 is a schematic diagram illustrating a warning message for a display and a light source according to an embodiment of the present invention. Figure 22A is a schematic diagram illustrating a first scenario according to an embodiment of the present invention. Figure 22B is a schematic diagram illustrating a second scenario according to an embodiment of the present invention. Figure 22C is a schematic diagram illustrating a third scenario according to an embodiment of the present invention. Figure 22D is a schematic diagram illustrating a fourth scenario according to an embodiment of the present invention. Figure 22E is a schematic diagram illustrating a fifth scenario according to an embodiment of the present invention. Figure 23 is a flowchart illustrating an image recognition decision according to an embodiment of the present invention. S310~S330: Steps

Claims

1. A warning system applicable to a vehicle, the warning system comprising: A vehicle condition sensor is used to detect the operation of the vehicle and obtain first sensing data corresponding to the operation of the vehicle. A neighbor vehicle sensor is used to detect the operation of a neighbor vehicle and obtain second sensing data corresponding to the operation of the neighbor vehicle; and a controller is coupled to the vehicle condition sensor and the neighbor vehicle sensor and configured to: generate vehicle speed information and vehicle steering information of the vehicle based on the first sensing data, wherein the vehicle speed information represents the speed of the vehicle and the vehicle steering information represents the steering behavior of the vehicle; generate relative position information and other vehicle speed information of the neighbor vehicle based on the second sensing data, wherein the relative position information represents the position of the neighbor vehicle relative to the vehicle and the other vehicle speed information represents the speed of the neighbor vehicle relative to the vehicle or the speed of the neighbor vehicle; and generate a warning message based on any two of the vehicle speed information, the vehicle steering information, the relative position information, and the other vehicle speed information, wherein the warning message is used to indicate an expected event between the vehicle and the neighbor vehicle, the relative position information includes relative distance information, and the vehicle steering information includes a turn signal activation signal or a steering wheel control signal; and determine a safe distance information based on the vehicle speed information. Determine whether the relative distance information is less than the safe distance information; determine whether the relative position information is a safe driving area for the neighboring vehicle to enter the vehicle, wherein the safe driving area is determined based on the safe distance information; and when the vehicle's steering information is detected to be triggered, change the safe driving area according to the vehicle's steering behavior to generate a new safe area.

2. The warning system as claimed in claim 1, wherein the controller is further configured to: generate other vehicle turning information of the neighboring vehicle based on the second sensing data, wherein the other vehicle turning information represents the turning behavior of the neighboring vehicle; and generate the warning message when the other vehicle turning information is detected as an event that triggers a turn indication signal and the relative distance information is less than the safe distance information, wherein the turn indication signal is used to indicate the turning behavior of the neighboring vehicle.

3. The warning system as claimed in claim 1, wherein the controller is further configured to: generate other vehicle turning information of the neighboring vehicle based on the second sensing data, wherein the other vehicle turning information represents the turning behavior of the neighboring vehicle; and generate the warning message when the other vehicle turning information is detected as an event in which a turn indicator signal is not triggered and the relative position information is that the neighboring vehicle has entered the safe driving area of ​​the vehicle, wherein the turn indicator signal is used to prompt the turning behavior of the neighboring vehicle.

4. The warning system as claimed in claim 1, wherein the controller is further configured to: generate the warning message when the relative position information is detected to indicate that the neighboring vehicle has entered the new safe area.

5. The warning system as described in claim 1 or 3, wherein the controller is further configured to: determine a monitored vehicle area corresponding to the neighboring vehicle based on the relative position information, wherein the monitored vehicle area represents the position of the neighboring vehicle and is used to determine whether the neighboring vehicle has entered the safe driving area.

6. The warning system as described in any one of claims 2 to 3, wherein the second sensing data includes an environmental image, and the controller is further configured to: identify an indication area of ​​the turn signal in the environmental image, wherein the indication area is used to determine whether the turn signal is triggered.

7. The warning system as described in claim 1 or 3, wherein the safe driving area includes a safety warning area and a safety alert area, the safety alert area being closer to the vehicle than the safety warning area, the warning message including a first message and a second message, and the controller is further configured to: generate the first message when the relative position information is detected to indicate that a neighboring vehicle has entered the safety warning area; and generate the second message when the relative position information is detected to indicate that a neighboring vehicle has entered the safety alert area.

8. The warning system as claimed in claim 1, wherein the second sensing data includes an environmental image, the warning message includes a third message and a fourth message, and the controller is further configured to: identify driving direction information of the adjacent vehicle in the environmental image; generate the third message when the driving direction information is detected to indicate that the adjacent vehicle is traveling in the same direction as the vehicle; and generate the fourth message when the driving direction information is detected to indicate that the adjacent vehicle is traveling in the opposite direction to the vehicle.

9. The alert system as claimed in claim 1, wherein the second sensing data includes an environmental image, and the controller is further configured to: determine a weather state corresponding to the environmental image; determine a recognition level based on the weather state; and generate a recognition anomaly event when the recognition level is below a threshold value.

10. The alert system as described in claim 1, further comprising: An alert device is communicatively connected to the controller, wherein the controller is further configured to: issue an alert message through the alert device, wherein the alert message is used to remind others.

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