V2v-based vehicle warning system and method

Abstract

The application relates to the field of vehicle early warning technology and discloses a vehicle early warning system and method based on V2V, which comprises a vehicle-mounted client and a server; the server comprises a receiving module, a judging module, a preliminary screening module, a calling module, a matching module, an extracting module and a processing module; the extracting module is used for extracting road section signal lamp information associated with a matching road section from a database according to the matching road section; the processing module is used for acquiring intersection signal lamp information based on the matching road section where the vehicle-mounted client is currently located and corresponding road section signal lamp information, calculating corresponding green light and red light running scene data, processing the data into simulation scene data, and sending the simulation scene data to the vehicle-mounted client; and the vehicle-mounted client is used for receiving the corresponding simulation scene data and displaying the simulation scene data.

Description

Technical Field

[0001] This invention relates to the field of vehicle warning technology, and specifically to a V2V-based vehicle warning system and method. Background Technology

[0002] With the continuous development of the automotive industry, vehicle intelligence has become a popular technology. Through various communication methods such as vehicle-to-vehicle communication and vehicle-to-infrastructure communication, the vehicle's surrounding environment can be acquired and processed intelligently, thereby improving the vehicle's intelligent driving during operation.

[0003] A common scenario for drivers on public roads involves traffic lights. Traffic lights provide instructions on whether vehicles are permitted to proceed and are an indispensable tool in road traffic. In practice, it has been found that some drivers may ignore traffic light instructions due to distraction or carelessness, resulting in illegal driving behaviors such as running red lights, which can easily lead to traffic accidents.

[0004] Therefore, there is an urgent need for a V2V-based vehicle warning system and method that can accurately inform drivers of the traffic light conditions at intersections, thereby improving drivers' understanding of traffic lights at intersections and enabling them to pass through intersections safely and quickly. Summary of the Invention

[0005] One of the objectives of this invention is to provide a V2V-based vehicle warning system and method that can accurately inform drivers of the traffic light conditions at intersections, thereby improving drivers' understanding of traffic lights at intersections and enabling them to pass through intersections safely and quickly.

[0006] To achieve the above objectives, a V2V-based vehicle early warning system is provided, including an in-vehicle client and a server.

[0007] The server includes:

[0008] The receiving module is used to receive service request information sent by the vehicle client, which sends the service request information at a preset frequency.

[0009] The judgment module is used to obtain the first vehicle location information corresponding to the vehicle client when receiving the corresponding service request information, and based on the first vehicle location information, identify the nearest operating service area to the vehicle client, and determine whether the vehicle client is in the operating service area. If so, it is determined that the vehicle client can provide data services with the identified operating service area; otherwise, it is determined that the vehicle client cannot provide data services.

[0010] The initial screening module is used to initially screen all intersection location information centered on the first vehicle location information within the preset initial screening area when the judgment result is that the vehicle client can provide data services with the identified operation service area.

[0011] The retrieval module is used to retrieve the set of road segment coordinates corresponding to each intersection location based on the filtered intersection location information.

[0012] The matching module is used to retrieve the current vehicle location information corresponding to the vehicle client after retrieving the road segment path coordinate point set corresponding to each intersection location information, and to perform road segment matching on the current vehicle location information to generate the matching road segment currently corresponding to the vehicle client.

[0013] The extraction module is used to extract the traffic light information associated with the corresponding matching road segment from the database.

[0014] The processing module is used to obtain the intersection traffic light information based on the matching road segment where the vehicle client is currently located and the corresponding road segment traffic light information, calculate the corresponding green light and red light violation scenario data, process it into simulated scenario data, and send it to the vehicle client;

[0015] The in-vehicle client is used to receive the corresponding simulated scene data and display the simulated scene data.

[0016] The principle and effect of this solution: In this solution, the in-vehicle client is first installed on the corresponding user's vehicle. As the user drives on the road, the in-vehicle client sends service request information to the outside world at a preset frequency. When the vehicle reaches a certain location, it is received by the server. At this time, the server will interact with the in-vehicle client. First, it obtains the vehicle's current location information. Based on this location information, it determines the nearest operating service area to the in-vehicle client and whether it is within the corresponding operating service area. If it is not within the operating service area, no data service will be provided. If it is within the operating service area, data service will be provided. Only when it is within the operating service area, it will filter out all intersection points within the preset filtering area centered on the vehicle's current location information. This initially filters out the intersections around the user, allowing the server to use the information from these intersection points... The system retrieves the corresponding road segment coordinates from the database, thus knowing the information corresponding to each road segment. Then, it re-acquires the location information of the vehicle client to determine if the client's location has changed. Based on the current vehicle location information, it performs road segment matching to identify the currently matched road segment. Then, it extracts the traffic light information for that matched road segment, thus knowing the corresponding intersection traffic light information and calculating the corresponding green light and red light violation scenario data. This data is then processed to form simulated scenario data for easy viewing by the user. Finally, the vehicle client displays this scenario data, showing the traffic light status of the current location's road segment. This allows for early warning of traffic light conditions at intersections, better ensuring the user's safety when driving through intersections.

[0017] Furthermore, the server also includes:

[0018] The distance calculation module is used to determine the set of road segment coordinate points corresponding to the current matching road segment based on the set of road segment path coordinate points, and to calculate the distance from the current position to the intersection stop line and the time to reach the intersection based on the current vehicle position information; the intersection stop line is the last point in the set of road segment coordinate points.

[0019] The extraction module is also used to retrieve first data information associated with the matched road segment based on the matched road segment, the first data information including traffic event data and sign data;

[0020] The identification module is used to identify the first data information that is effective on the matching road segment based on the first data information, and to calculate the distance from the effective first data information to the stop line of the intersection.

[0021] The comparison module is used to compare the values ​​corresponding to the distance from the current location to the intersection stop line and the distance from the effective first data information to the intersection stop line. It determines whether the distance from the effective first data information to the intersection stop line is greater than or equal to the distance from the current location to the intersection stop line. If so, the corresponding effective first data information is sent to the vehicle client.

[0022] Beneficial effects: In this solution, by comparing the distance from the current location to the intersection stop line with the distance from the effective first data information to the intersection stop line, the positional relationship between the effective first data information, the vehicle client, and the intersection stop line can be accurately determined. Once the vehicle client is between the effective first data information and the intersection stop line, the corresponding effective first data information will be sent to the vehicle client, allowing the user to easily view and understand the traffic event information and sign data corresponding to the first data, which helps the user drive better and safer on that road segment.

[0023] Furthermore, the server also includes:

[0024] The verification module is used to obtain the cloud service address information, account password information and device unique identifier corresponding to the vehicle client when the corresponding service request information is received, and to determine whether the vehicle owner client is a legitimate device and whether the corresponding service request information is legitimate. If so, the judgment module is executed.

[0025] Beneficial effects: In this solution, the legitimacy of the in-vehicle client is judged when a service request is made, thereby greatly improving the security of the entire system.

[0026] Furthermore, the server also includes:

[0027] The traffic warning module is used to determine the distance from the current position to the intersection stop line. If the distance from the current position to the intersection stop line is greater than the preset maximum threshold, or less than the preset minimum threshold, then it is determined that no green light traffic warning will be issued; otherwise, it is determined that a green light traffic warning can be issued.

[0028] The query module is used to determine the travel direction phase ID of the corresponding intersection in the road segment by matching the road segment when the judgment result is that a green light warning can be issued. Then, it searches for the current light status data associated with the phase ID in the road segment traffic light information. The current light status data includes the current green light status and green light timing information.

[0029] The analysis module is used to determine the current state of the green light based on the current green light status and green light timing information, and based on the corresponding state and the preset passage policy, generate the corresponding passage requirement information and send it to the vehicle client.

[0030] Beneficial effects: In this scheme, the current green light status and green light timing information are used to determine the status of the green light at the current intersection, thereby calculating the corresponding traffic requirements and guiding vehicles to pass through the intersection safely and quickly.

[0031] Furthermore, the passage strategy includes a first strategy and a second strategy, wherein the first strategy includes the following steps:

[0032] When the current green light status is not green, the speed requirement for the first passage is:

[0033]

[0034]

[0035] If V min ≤V limit The speed range for passing through a green light is: [V min ,min(V limit V max )];

[0036] If V min >V limit To calculate the speed requirement for passing through the nth green light, use the following formula:

[0037]

[0038]

[0039] Δt=Trs2-Tre1,Tr=Tre2-Trs2

[0040] If at this time, V min >V limit n = n + 1, then continue iteratively calculating V max V min until V min ≤V limit Up to this point, the speed range for vehicles traveling under a green light is: [V min ,min(V limit V max )];

[0041] In the formula: the countdown timer for the green light is: first time: [Trs1,Tre1], second time: [Trs2,Tre2], D HV V represents the distance from the current location to the stop line at the intersection. limit The maximum allowed speed for the currently matched road segment is denoted by n, and the number of green lights is denoted by n.

[0042] Beneficial effects: In this solution, the speed of vehicles equipped with the vehicle client is calculated when the light is not green. By determining the various speed conditions, the safe and fast passage of vehicles is achieved, which greatly improves the customer experience.

[0043] Furthermore, the second strategy includes the following steps:

[0044] When the current green light status is green, the minimum speed requirement for the first passage is:

[0045]

[0046] If V min ≤V limit The speed range for passing under a green light is [V]. min V limit ];

[0047] If V min >V limit To calculate the speed requirement for passing through the nth green light, use the following formula:

[0048]

[0049]

[0050] Δt=Trs2-Tre1,Tr=Tre2-Trs2

[0051] If at this time, V min >V limit n = n + 1, then continue iteratively calculating V max V min until V min ≤V limit Up to this point, the speed range for vehicles traveling under a green light is: [V min ,min(V limit V max )).

[0052] Furthermore, the vehicle client is also used to send a data sharing request to other vehicle clients when receiving the corresponding simulated scene data, and after the other vehicle clients receive the corresponding data analysis request, determine whether the distance difference between the current vehicle location information and the location information corresponding to other vehicle clients is less than a preset difference. If so, the other vehicle clients share the corresponding simulated scene data.

[0053] Beneficial effects: In this solution, communication between vehicles is achieved through data sharing, thereby enabling more vehicles and their corresponding users to understand the situation at the intersection as quickly as possible, which greatly improves the efficiency of early warning.

[0054] The present invention also provides a V2V-based vehicle warning method, which uses the above-mentioned V2V-based vehicle warning system. Attached Figure Description

[0055] Figure 1 This is a logic block diagram of the V2V-based vehicle warning system in Embodiment 1 of the present invention. Detailed Implementation

[0056] The following detailed description illustrates the specific implementation method:

[0057] Example 1

[0058] A V2V-based vehicle warning system, basically as follows: Figure 1 As shown, it includes the vehicle client and server;

[0059] The server includes:

[0060] The receiving module is used to receive service request information sent by the vehicle client, which sends the service request information at a preset frequency.

[0061] The server also includes:

[0062] The verification module is used to obtain the cloud service address information, account password information and device unique identifier corresponding to the vehicle client when the corresponding service request information is received, and to determine whether the vehicle owner client is a legitimate device and whether the corresponding service request information is legitimate. If so, the judgment module is executed.

[0063] The judgment module is used to obtain the first vehicle location information corresponding to the vehicle client when receiving the corresponding service request information, and based on the first vehicle location information, identify the nearest operating service area to the vehicle client, and determine whether the vehicle client is in the operating service area. If so, it is determined that the vehicle client can provide data services with the identified operating service area; otherwise, it is determined that the vehicle client cannot provide data services.

[0064] The initial screening module is used to initially screen all intersection point information centered on the first vehicle location information within the preset initial screening area when the judgment result indicates that the vehicle client can provide data services with the identified operating service area. In this embodiment, specifically, it obtains all intersection point information within a nine-square grid with coordinates centered on the first vehicle location information.

[0065] The retrieval module is used to retrieve the set of road segment coordinates corresponding to each intersection location based on the filtered intersection location information.

[0066] The matching module is used to retrieve the road segment coordinate point set corresponding to each intersection location information, re-obtain the current vehicle location information corresponding to the vehicle client, and perform road segment matching on the current vehicle location information to generate the matching road segment corresponding to the vehicle client. In this embodiment, in addition to matching the road segment, the corresponding intersection ID is also obtained, that is, the ID of the intersection that the vehicle is going to pass through. The corresponding device information can be queried based on this intersection ID later.

[0067] The extraction module is used to extract the traffic light information associated with the corresponding matching road segment from the database.

[0068] The processing module is used to obtain the intersection traffic light information based on the matching road segment where the vehicle client is currently located and the corresponding road segment traffic light information, calculate the corresponding green light and red light violation scenario data, process it into simulated scenario data, and send it to the vehicle client; in this embodiment, the corresponding simulated scenario data can be a three-dimensional scene simulation of the corresponding intersection, that is, an online simulation of a real intersection scene.

[0069] The vehicle-mounted client is used to receive and display the corresponding simulated scene data. When receiving the simulated scene data, the vehicle-mounted client also sends a data sharing request to other vehicle-mounted clients. After other vehicle-mounted clients receive the corresponding data analysis request, they determine whether the distance difference between the current vehicle's location information and the location information of other vehicle-mounted clients is less than a preset difference. If so, the other vehicle-mounted clients share the corresponding simulated scene data. In this implementation, specifically, when vehicles in the four directions of the current vehicle have not yet obtained the corresponding simulated scene data, the simulated scene data of one vehicle is used to enable multiple vehicles to access the data, allowing these vehicles that have not yet obtained the corresponding data to gain a relative understanding of the intersection situation.

[0070] The server also includes:

[0071] The distance calculation module is used to determine the set of road segment coordinate points corresponding to the current matching road segment based on the set of road segment path coordinate points, and to calculate the distance from the current position to the intersection stop line and the time to reach the intersection based on the current vehicle position information; the intersection stop line is the last point in the set of road segment coordinate points.

[0072] The extraction module is also used to retrieve first data information associated with the matched road segment based on the matched road segment, the first data information including traffic event data and sign data;

[0073] The identification module is used to identify the first data information that is effective on the matching road segment based on the first data information, and to calculate the distance from the effective first data information to the stop line of the intersection.

[0074] The comparison module is used to compare the values ​​corresponding to the distance from the current location to the intersection stop line and the distance from the effective first data information to the intersection stop line. It determines whether the distance from the effective first data information to the intersection stop line is greater than or equal to the distance from the current location to the intersection stop line. If so, the corresponding effective first data information is sent to the vehicle client.

[0075] The server also includes:

[0076] The traffic warning module is used to determine the distance from the current position to the intersection stop line. If the distance from the current position to the intersection stop line is greater than the preset maximum threshold, or less than the preset minimum threshold, then it is determined that no green light traffic warning will be issued; otherwise, it is determined that a green light traffic warning can be issued.

[0077] In this embodiment, the preset minimum threshold and the preset maximum threshold are dynamically changed. Specifically, before making a judgment, the model of the vehicle corresponding to the vehicle client is identified, and the current weather conditions are also obtained. The threshold is dynamically adjusted according to the vehicle model and the current weather conditions.

[0078] The query module is used to determine the travel direction phase ID of the corresponding intersection in the road segment by matching the road segment when the judgment result is that a green light warning can be issued. Then, it searches for the current light status data associated with the phase ID in the road segment traffic light information. The current light status data includes the current green light status and green light timing information.

[0079] The analysis module determines the current state of the green light based on its status and timing, and generates corresponding traffic requirements based on a preset traffic strategy, sending this information to the vehicle client. In this implementation, the speed requirement calculation is performed for vehicles traveling straight through the intersection. However, it can also predict the user's intended travel direction in advance to achieve comprehensive speed calculations and improve the overall system's warning capabilities.

[0080] The passage strategy includes a first strategy and a second strategy, wherein the first strategy includes the following steps:

[0081] When the current green light status is not green, the speed requirement for the first passage is:

[0082]

[0083]

[0084] If V min ≤V limit The speed range for passing through a green light is: [V min ,min(V limit V max )];

[0085] If V min >V limit To calculate the speed requirement for passing through the nth green light, use the following formula:

[0086]

[0087]

[0088] Δt=Trs2-Tre1,Tr=Tre2-Trs2

[0089] If at this time, V min >V limit n = n + 1, then continue iteratively calculating V max V min until V min ≤V limit Up to this point, the speed range for vehicles traveling under a green light is: [V min ,min(V limit V max )];

[0090] In the formula: the countdown timer for the green light is: first time: [Trs1,Tre1], second time: [Trs2,Tre2], D HV V represents the distance from the current location to the stop line at the intersection. limit The maximum allowed speed for the currently matched road segment is denoted by n, and the number of green lights is denoted by n.

[0091] The second strategy includes the following steps:

[0092] When the current green light status is green, the minimum speed requirement for the first passage is:

[0093]

[0094] If V min ≤V limit The speed range for passing under a green light is [V]. min V limit ];

[0095] If V min >V limit To calculate the speed requirement for passing through the nth green light, use the following formula:

[0096]

[0097]

[0098] Δt=Trs2-Tre1,Tr=Tre2-Trs2

[0099] If at this time, V min >V limit n = n + 1, then continue iteratively calculating V max V min until V min ≤V limit Up to this point, the speed range for vehicles traveling under a green light is: [V min ,min(V limit V max )).

[0100] Of course, in this embodiment, in addition to providing warnings for proceeding through a green light, it also includes warnings for starting on a green light, running a red light, speed limits, and warnings based on in-vehicle signs and road hazard conditions. Specifically,

[0101] When D HV >100m,D HV When the time is less than 0m, no green light start warning is issued. Conversely, the current forward light status is judged, just like the green wave communication. When the time is not green, a green light start warning is issued if the countdown time is ≤5s. When the time is green, no start warning is issued.

[0102] When issuing a red-light warning, it is only necessary to determine the current red light or the upcoming first red light time; it is not necessary to extend the warning to subsequent red lights. Specifically, when D... HV >100m,D HV If the distance is less than 0m, no green light start warning will be issued; otherwise, the current position and the time required to reach the intersection at the current speed will be determined.

[0103]

[0104] When the light is not green, if Trs1>T HV Then T HV A red light warning is issued when the light is red, and no warning is issued otherwise. When the light is green, if Trs2 > T HV >Tre1, then T HV A red light warning will be issued if the light is red; otherwise, no warning will be issued. (V) HV This represents the current vehicle speed corresponding to the current in-vehicle client.

[0105] When issuing warnings for in-vehicle signs and road hazards, the system retrieves the required signs and traffic events on the currently matched road segment and determines the relative distance between the in-vehicle client and the corresponding signs and traffic events.

[0106] When D HV <D RSI No warning is issued at that time.

[0107] When D HV ≥D RSI When calculating the relative distance between the two: Δd = D HV -D RSI .

[0108] If Δd > 100m, no warning will be issued.

[0109] If Δd≤100m, then proceed with the subsequent early warning process.

[0110] Calculate the matched RSI and the estimated arrival time of the access point, ΔT = Δd ÷ V HV Among them, D RSI The distance from the effective signs and traffic incidents to the stop line at the intersection.

[0111] This embodiment also discloses a V2V-based vehicle warning method, which uses the aforementioned V2V-based vehicle warning system.

[0112] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in combination with their own capabilities. Some typical well-known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A V2V-based vehicle early warning system, characterized in that: Including in-vehicle client and server; The server includes: The receiving module is used to receive service request information sent by the vehicle client, which sends the service request information at a preset frequency. The judgment module is used to obtain the first vehicle location information corresponding to the vehicle client when receiving the corresponding service request information, and based on the first vehicle location information, identify the nearest operating service area to the vehicle client, and determine whether the vehicle client is in the operating service area. If so, it is determined that the vehicle client can provide data services with the identified operating service area; otherwise, it is determined that the vehicle client cannot provide data services. The initial screening module is used to initially screen all intersection location information centered on the first vehicle location information within the preset initial screening area when the judgment result is that the vehicle client can provide data services with the identified operation service area. The retrieval module is used to retrieve the set of road segment coordinates corresponding to each intersection location based on the filtered intersection location information. The matching module is used to retrieve the current vehicle location information corresponding to the vehicle client after retrieving the road segment path coordinate point set corresponding to each intersection location information, and to perform road segment matching on the current vehicle location information to generate the matching road segment currently corresponding to the vehicle client. The extraction module is used to extract the traffic light information associated with the corresponding matching road segment from the database. The distance calculation module is used to determine the set of road segment coordinate points corresponding to the current matching road segment based on the set of road segment path coordinate points, and to calculate the distance from the current position to the intersection stop line and the time to reach the intersection based on the current vehicle position information; the intersection stop line is the last point in the set of road segment coordinate points. The extraction module is also used to retrieve first data information associated with the matched road segment based on the matched road segment, the first data information including traffic event data and sign data; The identification module is used to identify the first data information that is effective on the matching road segment based on the first data information, and to calculate the distance from the effective first data information to the stop line of the intersection. The comparison module is used to compare the value corresponding to the distance from the current position to the intersection stop line and the distance from the effective first data information to the intersection stop line, and to determine whether the distance from the effective first data information to the intersection stop line is greater than or equal to the distance from the current position to the intersection stop line. If so, the corresponding effective first data information is sent to the vehicle client. The processing module is used to obtain the intersection traffic light information based on the matching road segment where the vehicle client is currently located and the corresponding road segment traffic light information, calculate the corresponding green light and red light violation scenario data, process it into simulated scenario data, and send it to the vehicle client; The vehicle-mounted client is used to receive the corresponding simulated scene data and display the simulated scene data.

2. The V2V-based vehicle early warning system according to claim 1, characterized in that: The server also includes: The verification module is used to obtain the cloud service address information, account password information and device unique identifier corresponding to the vehicle client when the corresponding service request information is received, and to determine whether the vehicle client is a legitimate device and whether the corresponding service request information is legitimate. If so, the judgment module is executed.

3. The V2V-based vehicle early warning system according to claim 2, characterized in that: The server also includes: The traffic warning module is used to determine the distance from the current position to the intersection stop line. If the distance from the current position to the intersection stop line is greater than the preset maximum threshold, or less than the preset minimum threshold, then it is determined that no green light traffic warning will be issued; otherwise, it is determined that a green light traffic warning can be issued. The query module is used to determine the travel direction phase ID of the corresponding intersection in the road segment by matching the road segment when the judgment result is that a green light warning can be issued. Then, it searches for the current light status data associated with the phase ID in the road segment traffic light information. The current light status data includes the current green light status and green light timing information. The analysis module is used to determine the current state of the green light based on the current green light status and green light timing information, and based on the corresponding state and the preset passage policy, generate the corresponding passage requirement information and send it to the vehicle client.

4. The V2V-based vehicle warning system according to claim 3, characterized in that: The passage strategy includes a first strategy and a second strategy, wherein the first strategy includes the following steps: When the current green light status is not green, the speed requirement for the first passage is: like The speed range for passing under a green light is: [ ,min( , )]; like Then, to calculate the speed requirement for passing through the nth green light, the following formula is used: If at this time, , n=n+1, and then continue iterative calculation , ,until Up to this point, the speed range for vehicles traveling under a green light is: [ ,min( , )]; In the formula: the green light countdown seconds are: first time: [Trs1,Tre1], second time: [Trs2,Tre2]. This is the distance from the current location to the stop line at the intersection. The maximum allowed speed for the currently matched road segment is denoted by n, and the number of green lights is denoted by n.

5. The V2V-based vehicle early warning system according to claim 4, characterized in that: The second strategy includes the following steps: When the current green light status is green, the minimum speed requirement for the first passage is: like The speed range for passing under a green light is [ , ]; like Then, to calculate the speed requirement for passing through the nth green light, the following formula is used: If at this time, , n=n+1, and then continue iterative calculation , ,until Up to this point, the speed range for vehicles traveling under a green light is: [ ,min( , )).

6. The V2V-based vehicle warning system according to claim 5, characterized in that: The vehicle client is also used to send a data sharing request to other vehicle clients when receiving the corresponding simulated scene data, and after the other vehicle clients receive the corresponding data analysis request, determine whether the distance difference between the current vehicle location information and the location information corresponding to other vehicle clients is less than a preset difference. If so, the other vehicle clients share the corresponding simulated scene data.

7. A vehicle early warning method based on V2V, characterized in that: Use the V2V-based vehicle warning system as described in any one of claims 1-6.

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