Driving alert method, system, computer device and readable storage medium

Abstract

The application discloses a driving warning method and system, computer equipment and a readable storage medium, and relates to the field of communication. The driving warning method comprises the following steps: obtaining a first instruction or a second instruction. In response to obtaining the first instruction, a second vehicle is determined. Warning information is sent to the second vehicle, so that the second vehicle responds to the warning information and sends a reminder to the driver of the second vehicle. In response to obtaining the second instruction, it is determined whether a third vehicle exists, and the second instruction is forwarded to the third vehicle if it is determined that the third vehicle exists. The application can accurately remind the surrounding vehicles of the first vehicle according to the conditions of the surrounding vehicles of the first vehicle, so as to reduce the influence on the drivers of other vehicles and reduce the pollution to the environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, in particular to a driving warning method and system, a computer device and a readable storage medium. BACKGROUND

[0002] The vehicle networking technology can establish a network connection relationship between vehicles. By identifying vehicle license plates, the vehicles can be positioned, and the relative positions between the vehicles can be determined and directly communicated with the target vehicle in real time.

[0003] However, in the case of a large number of vehicles on the road and heavy traffic, vehicles warn other vehicles that affect their driving by honking and alternating high and low beam lights. Since sound and light have scattering characteristics in open space, the reminded vehicles cannot be accurately positioned, and non-reminded objects will be disturbed. SUMMARY

[0004] The present application is completed to at least partially solve the technical problems that the prior art cannot accurately position the reminded vehicles and will disturb non-reminded objects.

[0005] In view of the above deficiencies of the prior art, the following solutions are provided:

[0006] In a first aspect, the present application provides a driving warning method, comprising: obtaining a first instruction or a second instruction. In response to obtaining the first instruction, determining a second vehicle from the surrounding vehicles of a first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle. And sending a warning information to the second vehicle to make the second vehicle respond to the warning information and send a reminder to the driver of the second vehicle. And, in response to obtaining the second instruction, determining whether a third vehicle exists from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle, and forwarding the second instruction to the third vehicle in the case of determining that the third vehicle exists. In the case of determining that the third vehicle does not exist, sending a reminder to the driver of the first vehicle. Wherein the first instruction is used to instruct the first vehicle to determine the second vehicle. The second vehicle includes a vehicle in the surrounding vehicles of the first vehicle that has a traffic accident risk with the first vehicle. The second instruction is used to instruct the first vehicle to determine whether the third vehicle exists. The third vehicle includes a vehicle in the surrounding vehicles of the first vehicle that affects the normal driving of the first vehicle.

[0007] Optionally, the second vehicle is determined from the surrounding vehicles of the first vehicle according to a positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or a distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or a driving speed of the surrounding vehicles of the first vehicle and a driving speed of the first vehicle, including: determining a vehicle located on both sides of the first vehicle and approaching the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of both sides of the first vehicle and invading a current lane of the first vehicle and having a driving speed in a driving direction of the first vehicle less than a current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of the first vehicle, having a distance between a vehicle tail and a vehicle head of the first vehicle less than a safety distance, and having a driving speed in the driving direction of the first vehicle less than the current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0.

[0008] Optionally, the second vehicle is determined from the surrounding vehicles of the first vehicle according to a positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or a distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or a driving speed of the surrounding vehicles of the first vehicle and a driving speed of the first vehicle, including: determining a vehicle located on both sides of the first vehicle and approaching the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of both sides of the first vehicle and invading a current lane of the first vehicle and having a driving speed in a driving direction of the first vehicle less than a current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of the first vehicle, having a distance between a vehicle tail and a vehicle head of the first vehicle less than a safety distance, and having a driving speed in the driving direction of the first vehicle less than the current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0.

[0009] Optionally, the second vehicle is determined from the surrounding vehicles of the first vehicle according to a positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or a distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or a driving speed of the surrounding vehicles of the first vehicle and a driving speed of the first vehicle, including: determining a vehicle located on both sides of the first vehicle and approaching the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of both sides of the first vehicle and invading a current lane of the first vehicle and having a driving speed in a driving direction of the first vehicle less than a current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0. And / or, determining a vehicle located in front of the first vehicle, having a distance between a vehicle tail and a vehicle head of the first vehicle less than a safety distance, and having a driving speed in the driving direction of the first vehicle less than the current driving speed of the first vehicle as the second vehicle, the driving speed of the first vehicle being greater than 0.

[0010] Optionally, the first instruction is obtained, including: obtaining the first instruction in response to an automatic driving instruction or an operation of the driver.

[0011] Optionally, the acquiring the second instruction comprises: acquiring the second instruction from a fourth vehicle which is located at the back of the first vehicle and is in the static state, when the first vehicle is in the static state.

[0012] Optionally, the acquiring the second instruction comprises: acquiring the second instruction in response to the operation of the driver or in response to the automatic driving instruction, when the time of detecting that the first vehicle is in the static state exceeds the preset time or when the first vehicle is in the static state and has the passing condition.

[0013] Optionally, the determining the third vehicle from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle comprises: determining a vehicle located at the front of the first vehicle and in the static state as the third vehicle, when the first vehicle is in the static state. Optionally, if the number of the second vehicles is determined to be multiple, the warning information is sent to the second vehicles, which comprises: acquiring the warning priority of each of the multiple second vehicles according to the positional relationship between the second vehicles and the first vehicle and / or the distance between the second vehicles and the first vehicle and / or the driving speed of the second vehicles and the driving speed of the first vehicle. And, the warning information is sent to the second vehicles with the corresponding warning priority based on the preset warning rule according to the warning priority of each of the multiple second vehicles, so that each of the second vehicles receiving the warning information responds to the warning information respectively, wherein the preset warning rule contains the corresponding relationship between the warning priority and the warning information sent to the second vehicles with the corresponding warning priority.

[0014] Optionally, if the number of the second vehicles is determined to be multiple, the warning information is sent to the second vehicles, which comprises: sending the warning information to the multiple second vehicles simultaneously.

[0015] In a second aspect, the present application provides a driving warning system, which comprises an instruction obtaining module, a second vehicle determining module, a warning information sending module, a third vehicle obtaining module, a second instruction forwarding module and a reminding module. The instruction obtaining module is configured to obtain a first instruction or a second instruction. The first instruction is used to instruct the first vehicle to determine a second vehicle. The second vehicle comprises a vehicle in the surrounding vehicles of the first vehicle which has a traffic accident risk with the first vehicle. The second instruction is used to instruct the first vehicle to determine whether a third vehicle exists. The third vehicle comprises a vehicle in the surrounding vehicles of the first vehicle which affects the normal driving of the first vehicle. The second vehicle determining module is configured to: in response to obtaining the first instruction, determine the second vehicle from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle. The warning information sending module is configured to: send a warning information to the second vehicle, so that the second vehicle responds to the warning information and sends a reminder to the driver of the second vehicle. The third vehicle determining module is configured to: in response to obtaining the second instruction, determine whether the third vehicle exists from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle. The second instruction forwarding module is configured to: forward the second instruction to the third vehicle in the case of determining that the third vehicle exists. The reminding module is configured to: send a reminder to the driver of the first vehicle in the case of determining that the third vehicle does not exist.

[0016] Optionally, the second vehicle determining module is configured to: determine that a vehicle located on the left and right sides of the first vehicle and approaching the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0. And / or, determine that a vehicle located in front of the left and right sides of the first vehicle and invading the current lane of the first vehicle and driving in the driving direction of the first vehicle at a speed less than the current driving speed of the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0. And / or, determine that a vehicle located in front of the first vehicle, the distance between the tail of the vehicle and the head of the first vehicle is less than a safe distance, and the driving speed in the driving direction of the first vehicle is less than the current driving speed of the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0.

[0017] Optionally, the second vehicle determining module is configured to determine a vehicle as the second vehicle if the vehicle is located in front of the first vehicle on both sides thereof, the distance from the vehicle to a lane line between the vehicle and the first vehicle is less than a threshold value, and the speed of the vehicle along the driving direction of the first vehicle is less than the current driving speed of the first vehicle. The threshold value is greater than 0, and the driving speed of the first vehicle is greater than 0. And / or, the second vehicle determining module is configured to determine a vehicle as the second vehicle if the vehicle is located in front of the first vehicle on both sides thereof, and the vehicle body of the vehicle is pressed on the lane line between the vehicle and the first vehicle, and the driving speed of the first vehicle is greater than 0. And / or, the second vehicle determining module is configured to determine a vehicle as the second vehicle if the vehicle is located in front of the first vehicle on both sides thereof, and at least part of the vehicle body of the vehicle crosses the lane line between the vehicle and the first vehicle to enter the lane in which the first vehicle is located, and the driving speed of the first vehicle is greater than 0.

[0018] Optionally, the warning information sending module is configured to send the first reminding information to the second vehicle, so that the second vehicle reminds the driver of the second vehicle of the traffic accident risk between the second vehicle and the first vehicle according to the first reminding information. And / or, the warning information sending module is configured to send the second reminding information to the second vehicle, the second reminding information including the positional relationship between the second vehicle and the first vehicle, so that the second vehicle reminds the driver of the second vehicle to pay attention to the first vehicle and the orientation of the first vehicle relative to the second vehicle according to the second reminding information.

[0019] Optionally, the instruction obtaining module is configured to obtain the first instruction in response to the automatic driving instruction or the operation of the driver.

[0020] Optionally, the instruction obtaining module is configured to obtain the second instruction from the fourth vehicle in the case that the first vehicle is in a static state, the fourth vehicle being a vehicle located directly behind the first vehicle and in a static state.

[0021] Optionally, the instruction obtaining module is configured to obtain the second instruction in response to the operation of the driver or in response to the automatic driving instruction, in the case that the time for detecting that the first vehicle is in a static state exceeds a preset time or in the case that the first vehicle is in a static state and has a passing condition.

[0022] Optionally, the third vehicle determining module is configured to determine a vehicle as the third vehicle in the case that the first vehicle is in a static state, the vehicle being located directly in front of the first vehicle and in a static state.

[0023] Optionally, if the number of the second vehicles is determined to be multiple, the warning information sending module is configured to: obtain a warning priority of each of the multiple second vehicles according to a positional relationship between the second vehicle and the first vehicle, and / or a distance between the second vehicle and the first vehicle, and / or a driving speed of the second vehicle and a driving speed of the first vehicle; and send the warning information to the second vehicle with the corresponding warning priority based on a preset warning rule, wherein the preset warning rule comprises a corresponding relationship between the warning priority and the second vehicle with the corresponding warning priority, so that each of the multiple second vehicles responds to the warning information respectively.

[0024] Optionally, if the number of the second vehicles is determined to be multiple, the warning information sending module is configured to: send the warning information to the multiple second vehicles simultaneously.

[0025] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the driving warning method.

[0026] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and when the processor executes the computer program, the processor executes the driving warning method.

[0027] The driving warning method and system provided by the present application have the following advantages: the present application can determine whether the surrounding vehicles of the first vehicle have the risk of traffic accident with the first vehicle or affect the driving of the first vehicle, and can affect the corresponding vehicle drivers, and can not produce sound and light leakage to reduce the pollution to the environment. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 The application scenario diagram of the driving warning method in the embodiment of the present application is shown in the figure;

[0029] Figure 2 The flow chart of the driving warning method in the embodiment of the present application is shown in the figure;

[0030] Figure 3 The application scenario diagram of another driving warning method in the embodiment of the present application is shown in the figure;

[0031] Figure 4 The application scenario diagram of another driving warning method in the embodiment of the present application is shown in the figure;

[0032] Figure 5 The application scenario diagram of another driving warning method in the embodiment of the present application is shown in the figure;

[0033] Figure 6An application scenario diagram of another driving warning method in the embodiment of the present application;

[0034] Figure 7 A flow chart of another driving warning method in the embodiment of the present application;

[0035] Figure 8 A structure diagram of a driving warning system in the embodiment of the present application;

[0036] Figure 9 A structure diagram of a computer device in the embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the skilled in the art better understand the technical solutions of the present application, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0038] It can be understood that the specific embodiments and drawings described herein are only used to explain the present application, but not to limit the present application.

[0039] It can be understood that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0040] It can be understood that, for the convenience of description, only the parts related to the present application are shown in the drawings of the present application, and the parts unrelated to the present application are not shown in the drawings.

[0041] It can be understood that each unit and module involved in the embodiments of the present application can only correspond to one entity structure, or can be composed of multiple entity structures, or multiple units and modules can be integrated into one entity structure.

[0042] It can be understood that the functions and steps marked in the flow chart and block diagram of the present application can occur in an order different from that marked in the drawings without conflict.

[0043] It can be understood that in the flow chart and block diagram of the present application, the system, device, equipment, method according to the embodiments of the present application are shown as the possible implementation architecture, function and operation. Each block in the flow chart or block diagram can represent a unit, module, program segment, code, which contains executable instructions for realizing the specified function. Moreover, each block or combination of blocks in the block diagram and flow chart can be realized by a hardware-based system for realizing the specified function, or by a combination of hardware and computer instructions.

[0044] It can be understood that the units and modules involved in the embodiments of the present application can be realized in the form of software or hardware, for example, the units and modules can be located in a processor.

[0045] Some embodiments of the present application provide a driving warning method, which is applied to the scenario as shown in Figure 1 As can be understood, Figure 1 The vehicle A, the vehicle S1, the vehicle S2, the vehicle S3, the vehicle S4 and the vehicle S5 as shown in Figure 1 As shown in Figure 1 The vehicle A drives in the lane R2 in the direction of the arrow as shown in

[0046] As shown in Figure 1 In the scenario as shown in

[0047] As an example, the application scenario of the driving warning method provided by some embodiments of the present application can not include the lane R3 as shown in Figure 1 The present application is not limited to the application scenario of the driving warning method provided by some embodiments of the present application, and the following embodiments are exemplarily described with reference to the scenario as shown in Figure 1

[0048] As shown in Figure 2 The driving warning method provided by some embodiments of the present application can be applied to a first vehicle (such as the vehicle A in Figure 1 The method includes steps 201 to 203.

[0049] Step 201, acquiring a first instruction or a second instruction.

[0050] In step 201, the first instruction is used to instruct the first vehicle to determine a second vehicle. The second vehicle includes a vehicle in the surrounding vehicles of the first vehicle which has a traffic accident risk with the first vehicle. The second instruction is used to instruct the first vehicle to determine whether there is a third vehicle. The third vehicle includes a vehicle in the surrounding vehicles of the first vehicle which affects the normal driving of the first vehicle.

[0051] In some embodiments, the method for acquiring the first instruction in step 201 can include: in response to an automatic driving instruction or an operation of a driver, acquiring the first instruction. ​

[0052] It can be understood that the automatic driving instruction can be started by the driver of the first vehicle before entering the first vehicle, can be started by the driver of the first vehicle after entering the vehicle, can be started by the driver of the first vehicle during driving, or can be started by the driver of the first vehicle after driving. The present application does not limit the starting time and the starting reason of the automatic driving instruction.

[0053] It can be understood that, in the case of obtaining the automatic driving instruction, the first vehicle can automatically remind the second vehicle according to the situation of the surrounding vehicles. Illustratively, the control system of the first vehicle can generate a first instruction to instruct the first vehicle to automatically determine the second vehicle, so as to accurately remind the second vehicle.

[0054] It can be understood that the driver of the first vehicle can observe the vehicle that has traffic accident risk or affects the normal driving of the first vehicle according to the situation of the surrounding vehicles during driving. At this time, the driver of the first vehicle can make an operation related to the reminder, such as sounding the horn. In this case, the operation of the driver can refer to the operation of the driver sounding the horn, so as to facilitate the driver to use, thereby improving the user experience. Illustratively, an operation button can also be provided on the steering wheel or the control system of the first vehicle, so as to facilitate the use of the operation button to remind the surrounding vehicles of the first vehicle in the case that the first vehicle drives in some areas where sounding the horn is prohibited. In this case, the operation of the driver can be that the driver presses the operation button. It can be understood that the present application does not limit the specific form of the operation of the driver of the first vehicle in step 201, and the following embodiments are exemplarily described by taking the sounding of the horn by the driver of the first vehicle in step 201 as an example.

[0055] It can be understood that, in the case that the driver makes an operation related to the reminder, the control system of the first vehicle can generate a first instruction to instruct the first vehicle to automatically determine the second vehicle, so as to accurately remind the second vehicle.

[0056] In some embodiments, the method of obtaining the second instruction in step 201 can include: in the case that the first vehicle is in a stationary state, obtaining the second instruction from a fourth vehicle, the fourth vehicle being a vehicle located directly behind the first vehicle and in a stationary state.

[0057] It can be understood that, in the case that the first vehicle is in a stationary state, it can be in a lane congestion team or a team waiting for a traffic light. If the first vehicle obtains the second instruction from the fourth vehicle, it means that the fourth vehicle sends a reminder to the first vehicle. In the case that the driver of the first vehicle does not pay attention to the traffic situation in front, the first vehicle can determine whether there is a third vehicle after receiving the second instruction from the fourth vehicle.

[0058] In some embodiments, the method of obtaining the second instruction in step 201 can include: in response to the operation of the driver, or in response to the automatic driving instruction, obtaining the second instruction when it is detected that the first vehicle is in a static state for more than a preset time or when it is detected that the first vehicle is in a static state and has a traffic passing condition.

[0059] It can be understood that the first vehicle is in a static state for more than a preset time, which means that the first vehicle may be in a lane congestion queue or a queue waiting for a red light. Exemplarily, the preset time can be set according to the average waiting time of the red light of the system or the first vehicle location, such as 60 seconds.

[0060] It can be understood that the first vehicle detects a release signal light (such as a green light), or it can also mean that the first vehicle detects that the vehicle in the parallel lane of the lane where the first vehicle is located has started to move forward, which means that the first vehicle has a traffic passing condition, but if the first vehicle is still in a static state, it means that there is very likely to be a vehicle in front of it that affects its normal driving.

[0061] It can be understood that in the case of automatic driving of the vehicle, that is, in response to the automatic driving instruction, the first vehicle can automatically generate the second instruction when it is detected that the first vehicle is in a static state for more than a preset time, or when it is detected that the first vehicle is in a static state and has a traffic passing condition. In the case where the driver makes an operation related to the prompt, the first vehicle can also generate the second instruction in response to the operation of the driver.

[0062] Step 202, in response to obtaining the first instruction, determining the second vehicle and sending a warning information to the second vehicle.

[0063] In step 202, the second vehicle includes a vehicle in the surrounding vehicles of vehicle A that has a traffic accident risk with the first vehicle.

[0064] Exemplarily, Figure 1 In the embodiment, vehicle S1, vehicle S2, vehicle S3, vehicle S4 and vehicle S5 all have a traffic accident risk with vehicle A in the case of improper driving, that is, all may have a traffic accident risk with vehicle A.

[0065] The specific implementation method of determining the second vehicle in step 202 can be: determining the second vehicle from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle.

[0066] Exemplarily, the second vehicle can be determined according to the positional relationship between the surrounding vehicle of the first vehicle and the first vehicle, and / or the distance between the surrounding vehicle of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicle of the first vehicle and the driving speed of the first vehicle. Figure 1 The second vehicle can be determined from the surrounding vehicles of the vehicle A.

[0067] In some embodiments, the vehicle located on the left and right sides of the first vehicle and approaching the first vehicle can be determined as the second vehicle, and the driving speed of the first vehicle is greater than 0.

[0068] It can be understood that, if the lane of a certain vehicle is adjacent to the first vehicle along the driving direction of the first vehicle, and part or all of the body of the certain vehicle is located between the front end of the first vehicle and the rear end of the first vehicle, the certain vehicle is the vehicle located on the left and right sides of the first vehicle.

[0069] It can be understood that, as shown in Figure 1 The vehicle located on the left and right sides of the vehicle A can refer to the vehicles in the lanes adjacent to the left and right sides of the lane R2 of the vehicle A (i.e., the lane R1 and the lane R3), such as the vehicle S2 and the vehicle S5. All the vehicles located in the lanes adjacent to the left and right sides of the lane R2 of the vehicle A and within the range from the rear end of the vehicle A to the front end of the vehicle A can be determined.

[0070] Exemplarily, if the driving speed of the vehicle A is greater than 0, the vehicle S2 is approaching the vehicle A during driving (i.e., the vehicle S2 is approaching the lane line L12 during driving), and the vehicle S5 is not approaching the vehicle A during driving, the vehicle S2 can be determined as the second vehicle. If the driving speed of the vehicle A is greater than 0, the vehicle S2 is not approaching the vehicle A during driving, and the vehicle S5 is approaching the vehicle A during driving (i.e., the vehicle S5 is approaching the lane line L23 during driving), the vehicle S5 can be determined as the second vehicle. If the vehicle S2 and the vehicle S5 are both approaching the vehicle A during driving, the vehicle S2 can be determined as the second vehicle, and the vehicle S5 can also be determined as the second vehicle.

[0071] In some embodiments, the vehicle located in front of the left and right sides of the first vehicle and approaching the current lane of the first vehicle and having a driving speed less than the current driving speed of the first vehicle along the driving direction of the first vehicle can be determined as the second vehicle, and the driving speed of the vehicle A is greater than 0.

[0072] It can be understood that, if the rear end of a certain vehicle is in front of the front end of the first vehicle along the driving direction of the first vehicle, the certain vehicle is the vehicle located in front of the left and right sides of the first vehicle.

[0073] For example, as shown in FIG. 1, the vehicles located in front of the first vehicle A on the left and right sides thereof can refer to the vehicles located in front of the first vehicle A on the left and right sides thereof in the lanes (i.e., the lane R1 and the lane R3) adjacent to the lane R2 in which the first vehicle A is located, such as the vehicles S1 and S4. Figure 1

[0074] In some embodiments, a vehicle located in front of the first vehicle A on the left and right sides thereof, and having a distance from an edge of a body of the vehicle to a lane line between the vehicle and the first vehicle less than a threshold value and a driving speed along a driving direction of the first vehicle less than a current driving speed of the first vehicle can be determined as a second vehicle. The threshold value is greater than 0. The driving speed of the first vehicle is greater than 0.

[0075] It can be understood that the threshold value can be set according to a size of the vehicle A, such as 20 cm.

[0076] For example, as shown in FIG. 1, the vehicles located in front of the first vehicle A on the left and right sides thereof can refer to the vehicles located in front of the first vehicle A on the left and right sides thereof in the lanes (i.e., the lane R1 and the lane R3) adjacent to the lane R2 in which the first vehicle A is located, such as the vehicles S1 and S4. Figure 3

[0077] It can be understood that if the vehicle S1 is opposite to the driving direction of the first vehicle, the driving speed of the vehicle S1 along the driving direction of the first vehicle is negative, i.e., less than the current driving speed of the first vehicle. Therefore, regardless of whether the driving direction of the vehicle S1 is the same as the driving direction of the first vehicle, if the vehicle S1 is located in front of the first vehicle A on the left and right sides thereof, and a distance from an edge of a body of the vehicle S1 to a lane line L12 is less than a threshold value, and a driving speed of the vehicle S1 along a driving direction of the first vehicle A is less than a current driving speed of the first vehicle A, the vehicle S1 can be determined as a second vehicle.

[0078] In some embodiments, a vehicle located in front of the first vehicle A on the left and right sides thereof and having a body pressed on a lane line between the vehicle and the first vehicle can be determined as a second vehicle. The driving speed of the first vehicle is greater than 0.

[0079] For example, as shown in FIG. 1, if the left body of the vehicle S4 is pressed on the lane line L23, and a driving speed of the vehicle S4 along a driving direction of the first vehicle A is less than a current driving speed of the first vehicle A, the first vehicle A is likely to have a scratch or a collision with the vehicle S4 in a short time without deceleration, i.e., the vehicle S4 has a risk of having a traffic accident with the first vehicle A. That is, the vehicle S4 can be determined as a second vehicle. Figure 4

[0080] ​​​In some embodiments, the second vehicle can be determined as a vehicle located in front of the first vehicle, with a part of the vehicle body crossing a lane line into a lane where the first vehicle is located, and a driving speed of the first vehicle being greater than 0.

[0081] For example, as shown in FIG. 4, if a part of the vehicle S4 crosses the lane line L23 into the lane R2, and the driving speed of the vehicle S4 in the driving direction of the vehicle A is less than the current driving speed of the vehicle A, the vehicle A is likely to collide with the vehicle S4 in a short time without deceleration, i.e., the vehicle S4 has a risk of traffic accident with the vehicle A. Thus, the vehicle S4 can be determined as the second vehicle. Figure 5

[0082] In some embodiments, the second vehicle can be determined as a vehicle located in front of the first vehicle, with a distance between the tail of the vehicle and the head of the first vehicle being less than a safety distance, and a driving speed of the vehicle in the driving direction of the first vehicle being less than the current driving speed of the first vehicle, and a driving speed of the first vehicle being greater than 0.

[0083] For example, as shown in FIG. 4, if a part of the vehicle S4 crosses the lane line L23 into the lane R2, and the driving speed of the vehicle S4 in the driving direction of the vehicle A is less than the current driving speed of the vehicle A, the vehicle A is likely to collide with the vehicle S4 in a short time without deceleration, i.e., the vehicle S4 has a risk of traffic accident with the vehicle A. Thus, the vehicle S4 can be determined as the second vehicle. Figure 1

[0084] It can be understood that the safety distance refers to that if a distance between any edge of a certain vehicle and the vehicle A is less than the safety distance, and the certain vehicle instantaneously stops, and the vehicle A cannot decelerate or change the driving direction in time, the vehicle A is likely to collide with the certain vehicle. The safety distance can be uniformly set according to the actual situation, or can be set according to the parameters of the first vehicle, for example, can be set according to the braking force coefficient of the vehicle A.

[0085] For example, if the driving speed of the vehicle A is greater than 0, the distance between the tail of the vehicle S3 and the head of the vehicle A is within the safety distance, and the driving speed of the vehicle S3 in the driving direction of the vehicle A is lower than the driving speed of the vehicle A, the vehicle A is likely to collide with the vehicle S3 in a short time without deceleration, i.e., the vehicle S3 has a risk of traffic accident with the vehicle A. Thus, the vehicle S3 can be determined as the second vehicle.

[0086] In step 202, the warning information is sent to the second vehicle, so that the second vehicle responds to the warning information and sends a reminder to the driver of the second vehicle.

[0087] ​​In some embodiments, the method of sending the warning information to the second vehicle in step 202 can include sending first reminder information to the second vehicle, so that the second vehicle reminds the driver of the second vehicle of the traffic accident risk between the second vehicle and the first vehicle according to the first reminder information.

[0088] For example, the first reminder information can include the warning state of the second vehicle. For example, as shown in Figure 1 , when the vehicle S2 is determined as the second vehicle, the first reminder information can include the text information: "first warning state". As shown in Figure 3 , when the vehicle S1 is determined as the second vehicle, the first reminder information can include the text information: "second warning state". As shown in Figure 4 , when the vehicle S4 is determined as the second vehicle, the first reminder information can include the text information: "third warning state". As shown in Figure 5 , when the vehicle S4 is determined as the second vehicle, the first reminder information can include the text information: "fourth warning state". In this way, the driver of the vehicle S2 can pay attention to the distance between the vehicle S2 and the vehicles running on the left and right lanes of the lane where the vehicle S2 is located when receiving the first reminder information.

[0089] For example, the first reminder information can not include the warning state of the second vehicle, and the specific form can be to instruct the second vehicle to issue a prompt sound inside the second vehicle. For example, when the vehicle S2 is determined as the second vehicle, after the vehicle S2 receives the first reminder information, the first reminder information can instruct the vehicle S2 to issue a prompt sound, such as a beep, inside the vehicle S2. In this way, the driver of the vehicle S2 can pay attention to the distance between the vehicle S2 and the vehicles running around the vehicle S2 after hearing the beep inside the vehicle S2.

[0090] In some embodiments, the method of sending the warning information to the second vehicle in step 202 can include sending second reminder information to the second vehicle, the second reminder information including the positional relationship between the second vehicle and the first vehicle, so that the second vehicle reminds the driver of the second vehicle to pay attention to the first vehicle and the orientation of the first vehicle relative to the second vehicle according to the second reminder information.

[0091] For example, as shown in Figure 4 or Figure 5 , when the vehicle S4 is determined as the second vehicle, the second reminder information can include: "pay attention to the left rear vehicle". For example, the driver of the vehicle S4 can remind the driver of the vehicle S4 through voice broadcast after receiving the second reminder information.

[0092] Step 203, in response to obtaining the second instruction, determining whether there is a third vehicle, and forwarding the second instruction to the third vehicle if it is determined that there is a third vehicle; and issuing a reminder to the driver of the first vehicle if it is determined that there is no third vehicle.

[0093] In step 203, the specific implementation of determining whether there is a third vehicle can be: determining whether there is a third vehicle from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle.

[0094] In some embodiments, in the case that the first vehicle is in a stationary state, the vehicle located in front of the first vehicle and in a stationary state is determined to be the third vehicle.

[0095] It can be understood that the scenario corresponding to the case that the first vehicle and the third vehicle are both in a stationary state can be that the first vehicle and the third vehicle are both waiting for a red light or are parked and waiting due to congestion in the lane where they are located, and if the vehicle in front does not respond to the traffic light in time or the vehicle in front does not find that the congestion has been relieved and can continue to drive, the vehicle behind can give a reminder.

[0096] For example, if vehicle A and vehicle S3 are both in a stationary state (for example, vehicle A and vehicle S3 are both waiting for a red light to turn green or are parked and waiting due to congestion on lane R2), in this case, if vehicle S3 does not start to move forward, vehicle S3 will affect the normal driving of vehicle A. That is, vehicle S3 can be determined to be the third vehicle.

[0097] It can be understood that according to the related description of the second instruction in step 201, the first vehicle can determine whether there is a third vehicle in response to automatically generating the second instruction or in response to receiving the second instruction from the fourth vehicle. If it is determined that there is a third vehicle, it means that there is still a lane congestion team or a team waiting for a red and green light in front of the first vehicle, and the second instruction needs to be forwarded forward until it reaches the vehicle at the front of the team, so as to remind the driver of the vehicle at the front of the team. If there is no third vehicle, it means that there is no lane congestion team or team waiting for a red and green light in front of the first vehicle (i.e., the first vehicle is the vehicle at the front of the team), so the driver of the first vehicle can be reminded, so that the driver of the vehicle at the front of the lane congestion team or the team waiting for a red and green light can be reminded accurately.

[0098] It can be understood that the way of reminding the driver of the vehicle at the front of the team can refer to the method of issuing warning information to the second vehicle, which will not be described here.

[0099] For example, as shown in FIG. 2, the first vehicle is vehicle A, the second vehicle is vehicle S2, and the third vehicle is vehicle S3. Figure 6In the illustrated scenario, the lane R2 is congested and the congestion in front of the vehicle S7 has been relieved. Since the driver of the vehicle S6 has not had time to find out that the congestion has been relieved, the vehicle A (the first vehicle), the vehicle S3 (the third vehicle) located immediately in front of the first vehicle, and the vehicle S6 located immediately in front of the vehicle S3 are all in a stationary state. In this case, even if the vehicle A reminds the vehicle S3, the vehicle S3 and the vehicle A cannot normally travel without the vehicle S6 starting. In this case, the vehicle A can forward the second instruction to the vehicle S3, so that after the vehicle S3 receives the second instruction from the vehicle A, the vehicle S3 determines whether there is a vehicle (for example, the vehicle S6) in front of the vehicle S3 that affects the normal travel of the vehicle S3. If the vehicle S6 has not started, the vehicle S3 can forward the second instruction to the vehicle S6, so that after the vehicle S6 receives the second instruction from the vehicle S3, the vehicle S6 determines whether there is a vehicle in front of the vehicle S6 that affects the normal travel of the vehicle S6. If the vehicle S7 in front of the vehicle S6 is not in a stationary state, the vehicle S6 can determine that there is no vehicle in front of the vehicle S6 that affects the normal travel of the vehicle S6, and the reason why the vehicle S6 has not started can be that the driver of the vehicle S6 has not noticed that there is no vehicle in front of the vehicle S6 that affects the normal travel of the vehicle S6. At this time, the vehicle S6 can honk or remind the driver of the vehicle S6 in the form of voice information that the vehicle S6 can continue to travel.

[0100] It can be understood that if the vehicle S7 in front of the vehicle S6 is also in a stationary state, the vehicle S6 can forward the second instruction to the vehicle S7, so that the vehicle that is ultimately reminded in response to the second instruction is the vehicle located at the head of the vehicle queue that is in a stationary state. It can be understood that through the method in step 202, one second vehicle can be determined, or multiple second vehicles can be determined.

[0101] In some embodiments, if it is determined that the number of second vehicles is multiple, as illustrated in Figure 7 the implementation method of step 202 for sending warning information to the second vehicle can include steps 2021 to 2022.

[0102] Step 2021, obtaining the warning priority of each second vehicle in the multiple second vehicles.

[0103] The implementation of step 2021 can be specifically: obtaining the warning priority of each second vehicle in the multiple second vehicles according to the positional relationship between the second vehicle and the first vehicle, and / or the distance between the second vehicle and the first vehicle, and / or the driving speed of the second vehicle and the driving speed of the first vehicle.

[0104] Exemplarily, the situation of the second vehicle can be classified according to the method of determining the second vehicle in step 202, and the warning state of the second vehicle relative to the first vehicle is set so as to set the warning priority of the second vehicle. For the purpose of illustration, the warning state of the second vehicle is used to illustrate the warning state of the second vehicle relative to the first vehicle in the following embodiments.

[0105] For example, in the case that the driving speed of the first vehicle is greater than 0, the warning state of the vehicle located on the left and right sides of the first vehicle and approaching the first vehicle can be set as the first warning state. The warning state of the vehicle located in front of the left and right sides of the first vehicle, the distance from the edge of the vehicle body to the lane line between the vehicle and the first vehicle being less than a threshold value (the threshold value being greater than 0), and the driving speed in the driving direction of the first vehicle being less than the current driving speed of the first vehicle can be set as the second warning state. The warning state of the vehicle located in front of the left and right sides of the first vehicle, the vehicle body being pressed on the lane line between the vehicle and the first vehicle can be set as the third warning state. The warning state of the vehicle located in front of the left and right sides of the first vehicle, at least part of the vehicle body crossing the lane line between the vehicle and the first vehicle into the lane of the first vehicle can be set as the fourth warning state. The warning state of the vehicle located in front of the first vehicle, the distance between the tail of the vehicle and the head of the first vehicle being less than a safety distance, and the driving speed in the driving direction of the first vehicle being less than the current driving speed of the first vehicle can be set as the fifth warning state. Understandably, the warning priority of the second vehicle can be set according to the risk of the second vehicle having an accident with the first vehicle or the urgency of warning the second vehicle. Exemplarily, the warning priority of the second vehicle can be set according to the warning state of the second vehicle. For example, the warning priority of the second vehicle with the first warning state and the warning priority of the second vehicle with the third warning state can be set as the first level, the warning priority of the second vehicle with the second warning state and the warning priority of the second vehicle with the fourth warning state can be set as the second level, and the warning priority of the second vehicle with the fifth warning state can be set as the third level. The first level is the highest priority, and the third level is the lowest priority.

[0106] In step 2022, the preset warning rule includes the corresponding relationship between the warning priority of the second vehicle and the warning information sent to the second vehicle with the corresponding warning priority, so that each second vehicle receiving the warning information responds to the warning information respectively.

[0107] In step 2022, the preset warning rule includes the corresponding relationship between the warning priority of the second vehicle and the warning information sent to the second vehicle with the corresponding warning priority, so that each second vehicle receiving the warning information responds to the warning information respectively.

[0108] Exemplarily, the preset alerting rule can be to send the alerting information to each of the plurality of second vehicles in turn according to the priority of each of the plurality of second vehicles from high to low.

[0109] Exemplarily, the preset alerting rule can also be to send the alerting information to only the second vehicles with higher priority according to the priority of each of the plurality of second vehicles.

[0110] Exemplarily, the implementation of step 2022 can also be to send the alerting information to the second vehicles with corresponding alerting priority according to the alerting priority of each of the plurality of second vehicles based on the preset alerting rule in response to the operation of the driver. For example, the driver of the first vehicle performs the horn operation once, and the alerting information can be sent to only the vehicles with alerting priority of level one (i.e. the vehicles with the first alerting state). However, the driver of the first vehicle performs the horn operation twice continuously, and the alerting information can be sent to the vehicles with alerting priority of level one and level two at the same time.

[0111] It can be understood that the way of sending the alerting information to the second vehicles with corresponding alerting priority according to the alerting priority of each of the plurality of second vehicles can remind the second vehicles according to the risk of the accident or the degree of emergency of the reminder, so as to achieve accurate reminding and reduce the risk of traffic accidents on the road.

[0112] In some embodiments, if it is determined that the number of second vehicles is a plurality, the implementation method of sending the alerting information to the second vehicles in step 202 can be to send the alerting information to the plurality of second vehicles at the same time.

[0113] It can be understood that the way of sending the alerting information to the plurality of second vehicles at the same time can also achieve accurate reminding.

[0114] In some embodiments, the third vehicle can also be set with the alerting state and the alerting priority, and the following examples can be referred to in the case where the first vehicle needs to send the reminder to the third vehicle and / or the plurality of second vehicles.

[0115] The following example is a specific example provided by some embodiments of the present application. The application scenario of the example is that the driver of vehicle A sends the reminder information to the driver of vehicle B (for example, which can be one or more of vehicle S1, vehicle S2, vehicle S3, vehicle S4 and vehicle S5) around vehicle A. The basic method is as follows: Figure 1

[0116] 1. Vehicle A calculates whether the motion state of vehicle B around itself is an alerting state.

[0117] · Vehicle B around vehicle A includes: ​

[0118] [1] All vehicles in the immediate vicinity of the current lane of vehicle A, from the edge of the rear of vehicle A to the edge of the front of vehicle A, i.e. the range on both sides of vehicle A.

[0119] [2] All vehicles in the immediate vicinity of the current lane of vehicle A, from the edge of the front of vehicle A to the safe distance in front of vehicle A, i.e. the range in front of vehicle A.

[0120] [3] All vehicles in the current lane of vehicle A, from the edge of the front of vehicle A to the safe distance in front of vehicle A, i.e. the range directly in front of vehicle A.

[0121] - Safe distance: the distance less than which, at the current speed of vehicle A, if the vehicle in the safe distance instantaneously stops, vehicle A will inevitably collide with it.

Related to the braking coefficient of the vehicle.

[0122] • Warning state, including:

[0123] [1] Vehicle B in the range on both sides of vehicle A: whether it is approaching vehicle A.

[0124] [2] Vehicle B in the range in front of vehicle A: whether it is invading the current lane of vehicle A,

[0125] and the speed in the driving direction of vehicle A is less than the current speed of vehicle A.

[0126] - Oncoming vehicle: the speed in the driving direction of vehicle A is negative because it is opposite to vehicle A, so it must be less than the current speed of vehicle A.

[0127] - Invading the current lane of vehicle A includes:

[0128] a) The distance between the edge of the body of vehicle B and the lane line is less than the threshold value.

[0129] Lane line: the lane line between the lane of vehicle A and the lane of vehicle B, the same below.

[0130] Threshold value: for example, 20 cm.

[0131] b) The body of vehicle B is pressing the lane line.

[0132] c) Part of the body of vehicle B crosses the lane line and enters the current lane of vehicle A.

[0133] [3] Vehicle B in the range directly in front of vehicle A:

[0134] a) whether the speed in the driving direction of vehicle A is less than the current speed of vehicle A;

[0135] b) vehicle A is stationary, and vehicle B is stationary.

[0136] • Alert level, the alert priority set for the above alert state. The higher the alert level, the more priority the alert information is sent. Specifically:

[0137] - Alert state [1]: high

[0138] - Alert state [2] a): medium

[0139] - Alert state [2] b): high

[0140] - Alert state [2] c): medium

[0141] - Alert state [3] a): low

[0142] - Alert state [3] b): low

[0143] 2. When the driver honks, vehicle A and vehicle B perform the following operations in turn:

[0144] [1] Check if there is a vehicle B in the alert state, if so,

[0145] [2] Send an alert message to vehicle B, optionally, the message also includes:

[0146] a) The current alert state. For example, the alert state of vehicle B relative to vehicle A is "alert state [1]".

[0147] b) The position of vehicle A relative to vehicle B, for example, vehicle A is on the left side of vehicle B.

[0148] [3] After vehicle B receives the alert message:

[0149] a) If the alert message does not contain the alert state, a prompt sound is emitted in vehicle B, for example, the car speaker emits a honking sound to simulate the sound effect outside the car.

[0150] b) If the alert message contains the alert state, then:

[0151] - When the alert state is other than "alert state [3] b)", first emit a prompt sound, then emit a voice prompt according to the alert state. For example, if the alert state is "alert state [1]", the voice prompt is: pay attention to the vehicle on the right side.

[0152] - When the alert state is "alert state [3] b)", check if there is a vehicle C relative to vehicle B also in "alert state [3] b)", if so, forward the alert message to vehicle C, if not, emit a prompt sound and then emit a voice prompt according to the alert state.

[0153] Note: Forward to vehicle C, the corresponding scenario is that when multiple vehicles are queuing for traffic, the front vehicle does not respond to the traffic light in time, and the rear vehicle gives a prompt. The vehicle C that finally receives the warning message and issues a prompt sound is actually the first vehicle in the queue. That is, only the first vehicle in the queue is reminded.

[0154] 3. If multiple vehicles B are in the warning state at the same time:

[0155] The warning information can be sent to all vehicles B in the warning state at the same time.

[0156] Alternatively, the warning information can be sent in order from high to low according to the warning level. For example:

[0157] The driver performs a horn operation once (presses the horn once), and only sends warning information to vehicles in the warning state of "high".

[0158] The driver performs a horn operation twice in a row (presses the horn twice), and sends warning information to vehicles in the warning state of "high" and "medium" at the same time.

[0159] Some embodiments of the present application provide a driving warning system, as shown in Figure 8 The driving warning system 800 includes an instruction obtaining module 801, a second vehicle determining module 802, and a warning information sending module 803, a third vehicle obtaining module 804, a second instruction forwarding module 805, and a reminding module 806.

[0160] The instruction obtaining module 801 is configured to obtain a first instruction or a second instruction. The first instruction is used to instruct the first vehicle to determine a second vehicle. The second vehicle includes a vehicle in the first vehicle's surrounding vehicles that has a traffic accident risk with the first vehicle. The second instruction is used to instruct the first vehicle to determine whether there is a third vehicle. The third vehicle includes a vehicle in the first vehicle's surrounding vehicles that affects the normal driving of the first vehicle.

[0161] The second vehicle determining module 802 is configured to: in response to obtaining the first instruction, determine the second vehicle from the first vehicle's surrounding vehicles according to the positional relationship between the first vehicle's surrounding vehicles and the first vehicle, and / or the distance between the first vehicle's surrounding vehicles and the first vehicle, and / or the driving speed of the first vehicle's surrounding vehicles and the driving speed of the first vehicle.

[0162] The warning information sending module 803 is configured to send warning information to the second vehicle, so that the second vehicle responds to the warning information and issues a reminder to the driver of the second vehicle.

[0163] The third vehicle determining module 804 is configured to determine whether there is a third vehicle from the surrounding vehicles of the first vehicle according to the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle, in response to obtaining the second instruction.

[0164] The second instruction forwarding module 805 is configured to forward the second instruction to the third vehicle in the case that the third vehicle is determined to exist.

[0165] The reminding module 806 is configured to issue a reminder to the driver of the first vehicle in the case that the third vehicle is determined to not exist.

[0166] In some embodiments, the second vehicle determining module 802 is configured to determine that a vehicle located on the left and right sides of the first vehicle and approaching the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0. And / or, determine that a vehicle located in front of the left and right sides of the first vehicle and approaching the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0. And / or, determine that a vehicle located in front of the first vehicle, the distance between the vehicle tail and the vehicle head of the first vehicle is less than a safety distance, and the driving speed in the driving direction of the first vehicle is less than the current driving speed of the first vehicle, and the driving speed of the first vehicle is greater than 0.

[0167] In some embodiments, the second vehicle determining module 802 is configured to determine that a vehicle located in front of the left and right sides of the first vehicle, and the distance from the edge of the vehicle body to the lane line between the vehicle and the first vehicle is less than a threshold value, and the driving speed in the driving direction of the first vehicle is less than the current driving speed of the first vehicle, and the driving speed of the first vehicle is greater than 0. The threshold value is greater than 0. And / or, determine that a vehicle located in front of the left and right sides of the first vehicle and pressing the vehicle body on the lane line between the vehicle and the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0. And / or, determine that a vehicle located in front of the left and right sides of the first vehicle and at least partially crossing the lane line between the vehicle and the first vehicle into the lane of the first vehicle is the second vehicle, and the driving speed of the first vehicle is greater than 0.

[0168] In some embodiments, the warning information sending module 803 is configured to send a first reminder information to the second vehicle, so that the second vehicle reminds the driver of the second vehicle of the traffic accident risk between the second vehicle and the first vehicle according to the first reminder information. And / or, send a second reminder information to the second vehicle, the second reminder information including the positional relationship between the second vehicle and the first vehicle, so that the second vehicle reminds the driver of the second vehicle to pay attention to the first vehicle and the position of the first vehicle relative to the second vehicle according to the second reminder information.

[0169] In some embodiments, the instruction obtaining module 801 is configured to obtain the first instruction in response to the automatic driving instruction or the operation of the driver.

[0170] Optionally, the instruction obtaining module 801 is configured to obtain the second instruction from the fourth vehicle in the case that the first vehicle is in the static state, the fourth vehicle being a vehicle located immediately behind the first vehicle and in the static state.

[0171] In some embodiments, the instruction obtaining module 801 is configured to obtain the second instruction in response to the operation of the driver or in response to the automatic driving instruction, in the case that the time for detecting that the first vehicle is in the static state exceeds a preset time or in the case that the first vehicle is in the static state and has the passing condition.

[0172] In some embodiments, the third vehicle determining module 804 is configured to determine, in the case that the first vehicle is in the static state, the vehicle located immediately in front of the first vehicle and in the static state as the third vehicle.

[0173] In some embodiments, if the number of the second vehicles is determined to be a plurality, the warning information sending module 803 is configured to obtain a warning priority of each of the plurality of the second vehicles according to the positional relationship between the second vehicle and the first vehicle, and / or the distance between the second vehicle and the first vehicle, and / or the driving speed of the second vehicle and the driving speed of the first vehicle, and send the warning information to the second vehicle with the corresponding warning priority based on a preset warning rule, the preset warning rule comprising a corresponding relationship between the warning priority and the second vehicle with the corresponding warning priority, so that each of the second vehicles receiving the warning information responds to the warning information respectively.

[0174] In some embodiments, if the number of the second vehicles is determined to be a plurality, the warning information sending module 803 is configured to send the warning information to the plurality of the second vehicles simultaneously.

[0175] The specific scheme and beneficial effects of the driving warning system provided by the embodiments of the present application can refer to the related description of the driving warning method provided by the embodiments of the present application, which will not be repeated here.

[0176] The embodiments of the present application provide a computer device, as shown in the accompanying drawings, Figure 9 The computer device 900 includes a memory 901 and a processor 902, and the memory 901 stores a computer program, and when the processor 902 runs the computer program stored in the memory 901, the processor 902 executes the driving warning method described above.

[0177] The specific scheme and beneficial effects of the computer device provided by the embodiments of the present application can refer to the related description of the driving warning method provided by the embodiments of the present application, which will not be repeated here.

[0178] The embodiments of the present application provide a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor executes the driving warning method.

[0179] The specific scheme and beneficial effects of the computer readable storage medium provided by the embodiments of the present application can refer to the related description of the driving warning method provided by the embodiments of the present application, which will not be repeated here.

[0180] Those skilled in the art can understand that all or some steps in the above disclosed method, the function modules / units in the system and the device can be implemented as software, firmware, hardware and appropriate combinations thereof. In the hardware implementation, the division between the function modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be executed by several physical components in cooperation. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. In addition, as known to those skilled in the art, communication media generally includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transmission mechanisms, and can include any information delivery medium.

[0181] It can be understood that the above embodiments are only exemplary embodiments adopted to illustrate the principles of the present application, and the present application is not limited thereto. Various modifications and improvements can be made by those skilled in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered to be within the protection scope of the present application.

Claims

1. A driving warning method, characterized in that, Applied to a first vehicle, the method includes: Obtain a first instruction or a second instruction; the first instruction is used to instruct the first vehicle to identify a second vehicle; the second vehicle includes vehicles in the vicinity of the first vehicle that pose a risk of traffic accident to the first vehicle; the second instruction is used to instruct the first vehicle to determine whether a third vehicle exists; the third vehicle includes vehicles in the vicinity of the first vehicle that affect the normal driving of the first vehicle. In response to receiving the first instruction, based on the positional relationship between the first vehicle and its surrounding vehicles, and / or the distance between the first vehicle and its surrounding vehicles, and / or the speed of the surrounding vehicles and the speed of the first vehicle, a second vehicle is identified from the surrounding vehicles of the first vehicle, and a warning message is issued to the second vehicle, causing the second vehicle to respond to the warning message and remind its driver; wherein issuing the warning message to the second vehicle includes: issuing a first reminder message to the second vehicle, causing the second vehicle to remind its driver of the potential traffic accident risk between the second vehicle and the first vehicle based on the first reminder message; and In response to receiving the second instruction, based on the positional relationship between the first vehicle and the surrounding vehicles and the first vehicle, and / or the driving speed of the surrounding vehicles and the driving speed of the first vehicle, determine whether there is a third vehicle among the surrounding vehicles of the first vehicle, and if the existence of the third vehicle is determined, forward the second instruction to the third vehicle; if the absence of the third vehicle is determined, issue a reminder to the driver of the first vehicle.

2. The driving warning method according to claim 1, characterized in that, Determining the second vehicle from the surrounding vehicles of the first vehicle based on the positional relationship between the second vehicle and the surrounding vehicles, and / or the distance between the second vehicle and the surrounding vehicles, and / or the speed of the surrounding vehicles and the speed of the first vehicle, includes: The vehicles located to the left and right of the first vehicle and approaching the first vehicle are identified as the second vehicle; the first vehicle's speed is greater than 0; and / or The vehicle located to the left and right front of the first vehicle, encroaching on the first vehicle's current lane and traveling at a speed less than the first vehicle's current speed in its direction of travel, is identified as the second vehicle; the first vehicle's speed is greater than 0; and / or The vehicle located directly in front of the first vehicle, with its rear end less than the front of the first vehicle, and its speed along the direction of travel of the first vehicle less than the current speed of the first vehicle, is identified as the second vehicle; the first vehicle's speed is greater than 0.

3. The driving warning method according to claim 2, characterized in that, The vehicle located to the left and right front of the first vehicle, which is encroaching on the first vehicle's current lane and traveling at a speed less than the first vehicle's current speed in the direction of travel, is identified as the second vehicle. The speed of the first vehicle is greater than 0, including: The vehicle located to the left and right front of the first vehicle, whose distance from its own edge to the lane line between it and the first vehicle is less than a threshold value, and whose speed along the first vehicle's direction of travel is less than the first vehicle's current speed, is identified as the second vehicle; the threshold value is greater than 0; the first vehicle's speed is greater than 0; and / or The vehicle located to the left and right front of the first vehicle, with its body lying on the lane line between it and the first vehicle, is identified as the second vehicle; the first vehicle's speed is greater than 0; and / or The vehicle located on the left and right front of the first vehicle, and whose at least part of its body crosses the lane line between itself and the first vehicle to enter the lane where the first vehicle is located, is identified as the second vehicle; the first vehicle's speed is greater than 0.

4. The driving warning method according to any one of claims 1 to 3, characterized in that, The step of sending a warning message to the second vehicle also includes: A second reminder message is sent to the second vehicle, the second reminder message including the positional relationship between the second vehicle and the first vehicle, so that the second vehicle can remind its driver to pay attention to the first vehicle and the position of the first vehicle relative to the second vehicle based on the second reminder message.

5. The driving warning method according to any one of claims 1 to 3, wherein obtaining the first instruction includes: In response to autonomous driving commands or driver actions, obtain the first command.

6. The driving warning method according to claim 1, characterized in that, The acquisition of the second instruction includes: While the first vehicle is stationary, a second instruction is received from a fourth vehicle, which is located directly behind the first vehicle and is itself stationary.

7. The driving warning method according to claim 1, characterized in that, The acquisition of the second instruction includes: In response to the driver's operation or in response to an autonomous driving command, a second command is obtained when the first vehicle has been stationary for more than a preset time or when the first vehicle is stationary and the conditions for passage are met.

8. The driving warning method according to claim 6 or 7, characterized in that, The step of determining a third vehicle from the surrounding vehicles of the first vehicle based on the positional relationship between the first vehicle and the surrounding vehicles, and / or the driving speed of the surrounding vehicles and the driving speed of the first vehicle, includes: when the first vehicle is stationary, determining a vehicle located directly in front of the first vehicle that is itself stationary as the third vehicle.

9. The driving warning method according to claim 1, characterized in that, If it is determined that there are multiple second vehicles, then issuing a warning message to the second vehicles includes: The warning priority of each of the multiple second vehicles is obtained based on the positional relationship between the second vehicle and the first vehicle, and / or the distance between the second vehicle and the first vehicle, and / or the travel speed of the second vehicle and the travel speed of the first vehicle; and Based on preset warning rules, warning information is sent to the second vehicles with corresponding warning priorities according to the warning priority of each of the multiple second vehicles, so that each second vehicle receiving the warning information responds to the warning information respectively. The preset warning rules include the correspondence between the warning priorities of the second vehicles and the warning information sent to the second vehicles with corresponding warning priorities.

10. The driving warning method according to claim 1, characterized in that, If it is determined that there are multiple second vehicles, then issuing warning information to the second vehicles includes issuing warning information to multiple second vehicles simultaneously.

11. A driving warning system, characterized in that, include: The instruction acquisition module is configured to acquire either a first instruction or a second instruction; the first instruction is used to instruct a first vehicle to identify a second vehicle; the second vehicle includes vehicles in the vicinity of the first vehicle that pose a risk of traffic accident to the first vehicle; the second instruction is used to instruct the first vehicle to identify whether a third vehicle exists; the third vehicle includes vehicles in the vicinity of the first vehicle that affect the normal driving of the first vehicle. The second vehicle determination module is configured to: in response to receiving the first instruction, determine a second vehicle from the surrounding vehicles of the first vehicle based on the positional relationship between the surrounding vehicles of the first vehicle and the first vehicle, and / or the distance between the surrounding vehicles of the first vehicle and the first vehicle, and / or the driving speed of the surrounding vehicles of the first vehicle and the driving speed of the first vehicle. The warning information sending module is configured to: send a warning information to the second vehicle so that the second vehicle responds to the warning information and reminds the driver of the second vehicle; including: sending a first reminder information to the second vehicle so that the second vehicle reminds the driver of the second vehicle of the risk of a traffic accident between the second vehicle and the first vehicle based on the first reminder information; The third vehicle determination module is configured to: in response to receiving the second instruction, determine whether a third vehicle exists among the vehicles surrounding the first vehicle based on the positional relationship between the first vehicle and the surrounding vehicles, and / or the driving speed of the surrounding vehicles and the driving speed of the first vehicle. The second instruction forwarding module is configured to: forward the second instruction to the third vehicle if the existence of the third vehicle is determined; and The reminder module is configured to issue a reminder to the driver of the first vehicle if it is determined that the third vehicle does not exist.

12. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the driving warning method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the processor performs the driving warning method according to any one of claims 1 to 10.

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