Warning method, device, storage medium and vehicle for vehicle emergency steering

Abstract

The present disclosure relates to an early warning method, device, storage medium and vehicle for emergency steering of a vehicle. The early warning method comprises: obtaining the current vehicle speed and the current steering state information of the vehicle steering wheel; when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining whether the vehicle is in an emergency steering state according to a comparison result of the magnitude relationship between the steering state information and a preset threshold corresponding to the steering state information; when the vehicle is in the emergency steering state, sending an early warning instruction to the vehicle's headlight system for early warning, thereby solving the problem that it is impossible to provide an early warning prompt for the rear vehicle when the vehicle undergoes emergency lateral movement, and at the same time effectively reducing the risk of rear-end collision caused by the emergency steering of the vehicle, thereby improving driving safety.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a warning method, device, storage medium and vehicle for emergency steering of a vehicle. Background Art

[0002] In recent years, with the improvement of people's living standards, the number of cars in my country has further increased. On the other hand, the improvement of road conditions has also made cars travel faster and faster. Facing an increasingly complex driving environment, especially in an environment prone to traffic accidents such as highways, driving safety issues are particularly important.

[0003] In the related art, during driving, when the leading vehicle suddenly slows down or brakes suddenly, a warning light will be displayed to alert the vehicle following behind. This system is reflected in the longitudinal motion control of the vehicle.

[0004] However, if the vehicle makes an emergency turn due to road conditions, vehicle conditions or driver error, if the vehicle behind is not paying attention, in heavy traffic or high-speed driving, the vehicle's emergency turn may bring the risk of a rear-end collision. Summary of the invention

[0005] The purpose of the present disclosure is to provide a warning method, device, storage medium and vehicle for vehicle emergency steering, which solves the problem that a warning prompt cannot be provided to the rear vehicle when the vehicle undergoes emergency lateral movement, and reduces the risk of rear-end collision caused by emergency steering of the vehicle.

[0006] In order to achieve the above objectives, in a first aspect, the present disclosure provides a warning method for emergency steering of a vehicle, the warning method comprising:

[0007] Get the current speed of the vehicle and the current steering state information of the vehicle's steering wheel;

[0008] When the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold corresponding to the steering state information;

[0009] When the vehicle is in an emergency turning state, a warning instruction is sent to the vehicle's lighting system for warning.

[0010] Optionally, the steering state information includes steering wheel force information, and accordingly, determining whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information includes:

[0011] When the steering wheel force information is continuously less than a first preset force threshold within a preset time period, it is determined that the vehicle is in an emergency steering state.

[0012] Optionally, the steering state information further includes steering wheel speed information. Accordingly, determining whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information includes:

[0013] When the steering wheel force information is greater than or equal to a second preset force threshold, and the steering wheel speed information is greater than or equal to a preset speed threshold, it is determined that the vehicle is in an emergency steering state.

[0014] Optionally, the method further comprises:

[0015] Obtaining current vehicle motion state information of the vehicle;

[0016] The determining whether the vehicle is in an emergency steering state according to a comparison result between the steering state information and a preset threshold value corresponding to the steering state information comprises:

[0017] When the steering wheel force information is greater than or equal to a second preset force threshold, the steering wheel speed information is greater than or equal to a preset speed threshold, and the whole vehicle motion state information is greater than or equal to a preset threshold corresponding to the whole vehicle motion state information, it is determined that the vehicle is in an emergency steering state.

[0018] Optionally, the whole vehicle motion state information includes at least one of yaw angular velocity, lateral acceleration and roll angle.

[0019] In a second aspect, the present disclosure provides a warning device for emergency steering of a vehicle, the warning device comprising:

[0020] A first acquisition module is used to acquire the current speed of the vehicle and the current steering state information of the vehicle steering wheel;

[0021] a determination module, configured to determine whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information when the current vehicle speed is greater than or equal to a preset vehicle speed threshold;

[0022] The early warning module is used to send an early warning instruction to the vehicle's lighting system for early warning when the vehicle is in an emergency turning state.

[0023] Optionally, the determination module includes a first determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold and the steering wheel force information is continuously less than a first preset force threshold within a preset time period.

[0024] Optionally, the determination module includes a second determination submodule, used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, and when the steering wheel force information is greater than or equal to a second preset force threshold, and the steering wheel speed information is greater than or equal to a preset speed threshold.

[0025] Optionally, the device comprises:

[0026] The second acquisition module is used to obtain the current vehicle motion state information of the vehicle.

[0027] The determination module includes a third determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, and when the steering wheel force information is greater than or equal to a second preset force threshold, the steering wheel speed information is greater than or equal to a preset speed threshold, and the whole vehicle motion state information is greater than or equal to a preset threshold corresponding to the whole vehicle motion state information.

[0028] Optionally, the whole vehicle motion state information includes at least one of yaw angular velocity, lateral acceleration and roll angle.

[0029] In a third aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the steps of the early warning method described in the first aspect are implemented.

[0030] In a fourth aspect, the present disclosure provides a vehicle, comprising a warning device for emergency steering of the vehicle, wherein the warning device is used to execute the steps of the warning method described in the first aspect.

[0031] By adopting the above technical solution, the current speed of the vehicle and the current steering state information of the vehicle steering wheel are obtained; when the current speed is greater than or equal to the preset speed threshold, whether the vehicle is in an emergency steering state is determined based on the comparison result of the size relationship between the steering state information and the preset threshold corresponding to the steering state information; when the vehicle is in the emergency steering state, a warning instruction is sent to the vehicle's headlight system for warning, which solves the problem that the rear vehicle cannot be warned when the vehicle undergoes emergency lateral movement (turning), and at the same time effectively reduces the risk of rear-end collision caused by emergency steering of the vehicle, thereby improving driving safety.

[0032] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0034] Figure 1 It is a flowchart of a warning method for vehicle emergency steering provided by an exemplary embodiment of the present disclosure.

[0035] Figure 2 It is another flowchart diagram of a warning method for vehicle emergency steering provided by an exemplary embodiment of the present disclosure.

[0036] Figure 3 It is a structural schematic diagram of a warning device for vehicle emergency steering provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0038] First, the application scenario of the present disclosure is described. In the related art, in the existing longitudinal motion control of the vehicle, the sudden deceleration and emergency braking of the vehicle will prompt the following vehicle. However, when the vehicle is driving at high speed, the lateral motion control of the vehicle lacks the prompt to the rear vehicle when the vehicle makes an emergency turn, resulting in the risk of rear-end collision and other collisions.

[0039] Based on this, the present disclosure provides a warning method, device, storage medium and vehicle for vehicle emergency steering, which can be used to take certain measures when the vehicle is in lateral motion control and an emergency situation occurs, so as to avoid the vehicle making operations such as emergency steering and causing a rear-end collision.

[0040] The present disclosure is further explained below in conjunction with the accompanying drawings.

[0041] Figure 1 This is a flow chart of a warning method for emergency steering of a vehicle provided by an exemplary embodiment of the present disclosure. The warning method can be applied to the electric power steering system of a vehicle, or to the vehicle control unit of a vehicle, which is not limited in this embodiment. The following further describes this case by taking the electric power steering system as the execution subject of the warning method. Figure 1 As shown, the early warning method includes:

[0042] Step S101, obtaining the current speed of the vehicle and the current steering state information of the vehicle steering wheel.

[0043] It should be noted that the steering status information may be information indicating whether the vehicle will make an emergency turn, such as steering wheel speed information; the steering status information may also be information indicating that the vehicle may encounter an emergency and need to warn the vehicle behind, such as steering wheel force information.

[0044] It should be understood that excessive steering wheel speed information may indicate an emergency turn of the vehicle.

[0045] It should be understood that the steering wheel force information refers to the driver's grip strength on the steering wheel. If the steering wheel force information is too small, it can reflect from the side that the driver's hands may have left the steering wheel. At this time, an early warning can be given to the vehicle behind to reduce the risk of rear-end collision.

[0046] Step S102, when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining whether the vehicle is in an emergency steering state based on a comparison result of the magnitude relationship between the steering state information and a preset threshold corresponding to the steering state information.

[0047] It should be understood that the current speed of the vehicle is lower than the preset speed threshold, indicating that the vehicle is in a slow-moving state. It can be further understood that the vehicle behind is also in a slow-moving state. In other words, even if the front vehicle makes an emergency turn, a rear-end collision will not occur due to the slow movement of the vehicle. Therefore, only when the vehicle speed reaches a certain threshold (i.e., when the vehicle is moving fast), it is necessary to use the headlight system to issue an early warning when the vehicle is in an emergency turn state.

[0048] The preset vehicle speed threshold may be set according to actual conditions, and this embodiment does not limit this.

[0049] Step S103, when the vehicle is in an emergency turning state, a warning instruction is sent to the vehicle's lighting system for warning.

[0050] By adopting the above technical scheme, the electric power steering system can obtain steering status information that characterizes whether the vehicle has made an emergency turn (including emergency situations such as the driver leaving the steering wheel), and when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determine whether the vehicle is in an emergency turning state based on a comparison result of the size relationship between the steering status information and the preset threshold corresponding to the steering status information, and when the vehicle is in an emergency turning state, use the vehicle's lighting system to issue an early warning, and issue an early warning prompt to the rear vehicle, so that when the vehicle makes an emergency turn, the rear vehicle can be prompted by the taillights, thereby reducing the risk of rear-end collision caused by emergency steering of the vehicle and improving driving safety.

[0051] In some embodiments, the vehicle lighting system serves as an execution system for the early warning prompt. When the vehicle lighting system receives the early warning instruction, it can, for example, use the taillights of the vehicle to control the working state of the taillights to provide early warning prompts.

[0052] It is worth noting that the working state of the taillights controlled by the vehicle light system may be, for example, controlling the taillights to double flash, or controlling the taillights to remain on continuously, which is not limited in this embodiment.

[0053] In the following, the steering state information includes at least one of the steering wheel speed information and the steering wheel force information. Figure 1 How to determine whether the vehicle is in an emergency steering state in step S102 shown in FIG. 1 is further described.

[0054] When the steering state information includes steering wheel force information, determining whether the vehicle is in an emergency steering state based on the comparison result between the steering state information and a preset threshold corresponding to the steering state information in the above step S102 may include: when the steering wheel force information is continuously less than the first preset force threshold within a preset time period, determining that the vehicle is in an emergency steering state.

[0055] In the present disclosure, it is considered that if the driver's grip force on the steering wheel is too small, it reflects that the driver may have disengaged from the steering wheel. At this time, if the current speed of the vehicle is greater than the preset speed threshold, the driver's disengagement from the steering wheel is likely to cause a rear-end collision. Therefore, in this case, it is necessary to issue an early warning to the rear vehicle. Furthermore, in order to improve the accuracy of detection and prevent misjudgment, the vehicle is determined to be in an emergency steering state only when the steering wheel force information is continuously less than the first preset force threshold within a preset time period. It should be noted that determining that the vehicle is in an emergency steering state at this time is to determine that the vehicle is in an emergency state that requires an early warning to the rear vehicle.

[0056] The first preset force threshold may be calibrated according to actual conditions, and this embodiment does not limit this.

[0057] When the steering status information includes steering wheel speed information and steering wheel force information, determining whether the vehicle is in an emergency steering state based on the comparison result between the steering status information and a preset threshold corresponding to the steering status information in the above step S102 may include: when the steering wheel force information is greater than or equal to a second preset force threshold, and the steering wheel speed information is greater than or equal to the preset speed threshold, determining that the vehicle is in an emergency steering state.

[0058] In the present disclosure, in order to improve the reliability and accuracy of the early warning method, the electric power steering system can combine the steering wheel speed information and the steering wheel force information to judge whether the vehicle is in an emergency steering state. Only when the steering wheel speed information and the steering wheel force information meet the corresponding conditions respectively, it is determined that the vehicle is in an emergency steering state, thereby avoiding the false triggering of the early warning prompt due to the false detection of one of the steering wheel speed information and the steering wheel force information.

[0059] The preset speed threshold may be calibrated according to actual conditions, and this embodiment does not limit this.

[0060] Optionally, the steering wheel speed information may be detected by a steering wheel angle sensor; the steering wheel force information may be detected by a pressure detector (eg, a pressure sensor) disposed on the steering wheel.

[0061] It should be noted that the first preset force threshold is much smaller than the second preset force threshold. The first preset force threshold and the second preset force threshold can be calibrated according to actual conditions, and this embodiment does not limit this.

[0062] Figure 2 is another flow chart of a warning method for emergency steering of a vehicle provided by an exemplary embodiment of the present disclosure, such as Figure 2 As shown, the early warning method includes:

[0063] Step S201, obtaining the current vehicle motion state information.

[0064] Step S202, obtaining the current speed of the vehicle and the current steering state information of the vehicle steering wheel.

[0065] Step S203, determining whether the current vehicle speed is greater than or equal to a preset vehicle speed threshold. If the current vehicle speed is greater than or equal to the preset vehicle speed threshold, executing step S204.

[0066] Step S204, when the steering wheel force information is greater than or equal to the second preset force threshold, the steering wheel speed information is greater than or equal to the preset speed threshold, and the whole vehicle motion state information is greater than or equal to the preset threshold corresponding to the whole vehicle motion state information, it is determined that the vehicle is in an emergency steering state.

[0067] Step S205, when the vehicle is in an emergency turning state, a warning instruction is sent to the vehicle's lighting system for warning.

[0068] In the present disclosure, the whole vehicle motion state information is used as auxiliary information for detecting whether the vehicle is in an emergency state, and is combined with the steering state information (including steering wheel force information and steering wheel speed information) as information for detecting whether the vehicle is in an emergency state. This avoids the problem of false triggering of warning instructions by the electric power steering system due to excessive sensitivity of the vehicle steering wheel system, which in turn causes false warnings of the headlight system, thereby effectively improving the reliability of the warning method.

[0069] In step S201, it is worth noting that the whole vehicle motion state information includes at least one of yaw angular velocity, lateral acceleration and roll angle.

[0070] The yaw rate is the angular velocity of the vehicle mass around the vertical axis of the center of gravity. The magnitude of this angular velocity represents the stability of the vehicle. The greater the yaw rate, the more the rear end of the vehicle deflects when driving. Therefore, it can be used as a parameter to determine whether the vehicle is in an emergency turn. The yaw rate can be detected by a yaw angle sensor.

[0071] Lateral acceleration is the acceleration in the vertical direction of the vehicle, and the magnitude of this acceleration represents the stability of the vehicle. The greater the acceleration, the greater the steering of the vehicle. Therefore, it can be used as a parameter to determine whether the vehicle is in an emergency turn. The lateral acceleration can be calculated from the vehicle speed and the instantaneous turning radius. The ratio of the square of the vehicle speed to the instantaneous turning radius is the lateral acceleration.

[0072] The roll angle is the maximum angle between the vehicle body plane and the ground that the vehicle can withstand when the vehicle body tilts when turning sharply to one side at a certain speed. The larger the angle, the more likely the vehicle is to roll over. Therefore, it can be used as a parameter to determine whether the vehicle is in an emergency turn.

[0073] Step S202 and Figure 1 The process is similar to step S101 in the embodiment, and will not be described in detail in this embodiment.

[0074] In step S204, during specific implementation, at least one of the yaw rate, lateral acceleration and roll angle and the steering state information can be used to determine whether the vehicle is in an emergency steering state, and this embodiment does not limit this. The following takes the vehicle motion state information including the yaw rate, lateral acceleration and roll angle, and the steering state information including the steering wheel force information and the steering wheel speed information as an example to further illustrate step S204. Specifically:

[0075] When the yaw angular velocity is greater than or equal to a preset angular velocity, the lateral acceleration is greater than or equal to a preset acceleration, the roll angle is greater than or equal to a preset roll angle, the steering wheel speed information is greater than or equal to a preset speed threshold, and the steering wheel force information is greater than or equal to a second preset force threshold, it is determined that the vehicle is in an emergency steering state.

[0076] Among them, the preset angular velocity, preset acceleration and preset inclination angle can be set according to actual conditions, and this embodiment does not impose any limitation on this.

[0077] Step S205 and Figure 1 The process is similar to step S103 in the embodiment, and will not be described in detail in this embodiment.

[0078] By adopting the above technical solution, two kinds of information representing the steering state and the whole vehicle motion state information are combined to judge whether the vehicle is in an emergency steering state, thereby improving the reliability of the entire warning system.

[0079] In some implementations, the execution order of the above step S201 and step S202 is not limited, and they may be executed simultaneously, or one of them may be executed preferentially.

[0080] It is understandable that since it is necessary to determine whether the vehicle is in an emergency steering state only when the vehicle's current speed is greater than a preset speed threshold, in order to reduce unnecessary power consumption caused by the electric power steering system obtaining unnecessary information, the current steering state information of the vehicle steering wheel and / or the whole vehicle movement state information may be further obtained only when the current vehicle speed is greater than a preset speed threshold.

[0081] Based on the same inventive concept, the present disclosure also provides a warning device for emergency steering of a vehicle. Figure 3 is a schematic diagram of a structure of a warning device for vehicle emergency steering provided by an exemplary embodiment of the present disclosure, such as Figure 3 As shown, the early warning device 300 includes:

[0082] The first acquisition module 301 is used to acquire the current speed of the vehicle and the current steering state information of the vehicle steering wheel;

[0083] The determination module 302 is used to determine whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information when the current vehicle speed is greater than or equal to a preset vehicle speed threshold;

[0084] The warning module 303 is used to send a warning instruction to the vehicle's lighting system for warning when the vehicle is in an emergency turning state.

[0085] Optionally, the determination module 302 includes a first determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold and the steering wheel force information is continuously less than a first preset force threshold within a preset time period.

[0086] Optionally, the determination module 302 includes a second determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, and when the steering wheel force information is greater than or equal to a second preset force threshold, and the steering wheel speed information is greater than or equal to a preset speed threshold.

[0087] Optionally, the device 300 includes:

[0088] The second acquisition module is used to obtain the current vehicle motion state information of the vehicle.

[0089] The determination module 302 includes a third determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, and when the steering wheel force information is greater than or equal to a second preset force threshold, the steering wheel speed information is greater than or equal to a preset speed threshold, and the whole vehicle motion state information is greater than or equal to a preset threshold corresponding to the whole vehicle motion state information.

[0090] Optionally, the whole vehicle motion state information includes at least one of yaw angular velocity, lateral acceleration and roll angle.

[0091] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0092] Based on the same inventive concept, the present disclosure also provides a computer-readable storage medium including program instructions, which, when executed by a processor, implements the steps of the warning method for vehicle emergency steering described in the above method embodiment.

[0093] Based on the same inventive concept, the present disclosure also provides a vehicle, which includes the warning device for vehicle emergency steering described in the above device embodiment.

[0094] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0095] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0096] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A warning method for emergency steering of a vehicle, characterized in that: The early warning method comprises: Get the current speed of the vehicle and the current steering state information of the vehicle's steering wheel; When the current vehicle speed is greater than or equal to a preset vehicle speed threshold, determining whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold corresponding to the steering state information; When the vehicle is in an emergency turning state, sending a warning instruction to the vehicle's lighting system for warning; The steering state information includes steering wheel force information and steering wheel speed information. Accordingly, determining whether the vehicle is in an emergency steering state based on a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information includes: When the steering wheel force information is continuously less than a first preset force threshold within a preset time period, determining that the vehicle is in an emergency steering state; When the steering wheel force information is greater than or equal to a second preset force threshold, and the steering wheel speed information is greater than or equal to a preset speed threshold, it is determined that the vehicle is in an emergency steering state.

2. The early warning method according to claim 1, characterized in that: The method further comprises: Obtaining current vehicle motion state information of the vehicle; The determining whether the vehicle is in an emergency steering state according to a comparison result between the steering state information and a preset threshold value corresponding to the steering state information comprises: When the steering wheel force information is greater than or equal to a second preset force threshold, the steering wheel speed information is greater than or equal to a preset speed threshold, and the whole vehicle motion state information is greater than or equal to a preset threshold corresponding to the whole vehicle motion state information, it is determined that the vehicle is in an emergency steering state.

3. The early warning method according to claim 2, characterized in that: The whole vehicle motion state information includes at least one of yaw angular velocity, lateral acceleration and roll angle.

4. A warning device for emergency steering of a vehicle, characterized in that: The early warning device comprises: A first acquisition module is used to acquire the current speed of the vehicle and the current steering state information of the vehicle steering wheel; a determination module, configured to determine whether the vehicle is in an emergency steering state according to a comparison result of a magnitude relationship between the steering state information and a preset threshold value corresponding to the steering state information when the current vehicle speed is greater than or equal to a preset vehicle speed threshold; An early warning module, used for sending an early warning instruction to the vehicle's lighting system for early warning when the vehicle is in an emergency steering state; The determination module includes a first determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold and the steering wheel force information is continuously less than a first preset force threshold within a preset time period; The determination module includes a second determination submodule, which is used to determine that the vehicle is in an emergency steering state when the current vehicle speed is greater than or equal to a preset vehicle speed threshold, when the steering wheel force information is greater than or equal to a second preset force threshold, and when the steering wheel speed information is greater than or equal to a preset speed threshold.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the early warning method described in any one of claims 1 to 3 are implemented.

6. A vehicle, characterized in that: It comprises a warning device for emergency steering of a vehicle, wherein the warning device is used to execute the steps of the warning method as claimed in any one of claims 1 to 3.

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