Vehicle collision prevention and early warning method and system based on driving recorder

Abstract

The present application relates to a vehicle anti-collision and early warning method and system based on a driving recorder, the method comprising obtaining the front and rear vehicle monitoring videos of the driving recorder, performing video analysis on the front and rear vehicle monitoring videos, obtaining the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle, comprehensively analyzing the collision risks between the vehicle and the front and rear vehicles under the current driving state according to the front and rear vehicle speeds and the front and rear vehicle distances, obtaining the front and rear collision risk data of the vehicle, when the driving recorder analyzes that the vehicle has a driving deviation, obtaining the deviation data of the vehicle and the on / off state of the turn signal, analyzing the side collision risk data of the vehicle according to the deviation data and the corresponding on / off state of the turn signal, comprehensively evaluating the collision risk probability of the vehicle and predicting the vehicle collision time according to the front and rear collision risk data and the side collision risk data, and performing collision early warning processing on the driver of the vehicle within the vehicle collision time. The present application has the effect of improving the accuracy and comprehensiveness of vehicle collision prediction.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle anti-collision, and in particular to a vehicle anti-collision and early warning method and system based on a driving recorder. Background Art

[0002] At present, with the frequent occurrence of vehicle traffic accidents, timely anti-collision detection and early warning of vehicles in motion have become one of the important means to reduce traffic accidents.

[0003] Existing vehicle collision avoidance methods usually identify the surrounding environment through the vehicle's own sensing equipment, and make a forward collision prediction based on the running distance and running speed between the vehicle and the vehicle in front, and make a rear collision prediction based on the running distance and running speed between the vehicle and the vehicle behind. However, the existing vehicle collision avoidance prediction methods cannot comprehensively predict possible collision situations. Therefore, how to comprehensively predict the possibility of vehicle collision during vehicle driving has become a problem to be solved. There is room for further optimization in the above scheme to comprehensively predict the possibility of vehicle collision prediction. Summary of the invention

[0004] In order to improve the accuracy and comprehensiveness of vehicle collision prediction, the present application provides a vehicle collision avoidance and warning method and system based on a driving recorder.

[0005] In the first aspect, the above-mentioned invention objective of the present application is achieved through the following technical solutions:

[0006] A vehicle collision prevention and early warning method based on a driving recorder, comprising:

[0007] Obtaining the front and rear vehicle monitoring videos from the driving recorder, performing video analysis on the front and rear vehicle monitoring videos, and obtaining the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle;

[0008] According to the front and rear vehicle speeds and the front and rear vehicle distances, a comprehensive analysis is performed on the collision risk between the vehicle and the front and rear vehicles in the current driving state to obtain the front and rear collision risk data of the vehicle;

[0009] When the driving recorder analyzes that the vehicle has deviated from the road, the deviation data and the on / off status of the turn signal lamp of the vehicle are obtained, and the side collision risk data of the vehicle is analyzed according to the deviation data and the corresponding on / off status of the turn signal lamp;

[0010] The collision risk probability of the vehicle is comprehensively evaluated and the vehicle collision time is predicted based on the front and rear collision risk data and the lateral collision risk data, and a collision warning is performed on the driver of the vehicle within the vehicle collision time.

[0011] By adopting the above technical solution, combined with the front and rear vehicle monitoring videos recorded by the driving recorder, the front and rear speeds and the front and rear distances between the vehicle and the front and rear vehicles are obtained through video analysis, which helps to monitor the vehicles that may collide with the vehicle in the current lane in real time, and through the collision risk analysis between the vehicle and the front and rear vehicles, the collision risk of the vehicle in the driving direction is controlled, and when driving deviation occurs, the lateral collision risk of the vehicle is analyzed through the deviation data of the vehicle and the on and off status of the turn signal, which helps to control the possible lateral collision risk of the vehicle, and combined with the comprehensive assessment of vehicle collision in multiple dimensions such as front and rear and lateral, it helps to improve the accuracy of vehicle collision risk prediction, and combined with the vehicle collision time in the possible collision direction, timely collision warning processing is performed on the driver of the vehicle, which helps to improve the accuracy of vehicle collision prediction.

[0012] In a preferred example, the present application may be further configured as follows: the collision risk between the vehicle and the front and rear vehicles under the current driving state is comprehensively analyzed according to the front and rear vehicle speeds and the front and rear vehicle distances to obtain the front and rear collision risk data of the vehicle, specifically including:

[0013] According to the front and rear vehicle speeds and the front and rear vehicle distances, respectively analyzing the first collision time and the second collision time between the vehicle and the front vehicle and the vehicle and the rear vehicle;

[0014] When the first collision time is greater than or equal to the second collision time, analyze whether the collision between the vehicle and the rear vehicle will cause a collision with the front vehicle when the second collision time is reached. If so, analyze the rearward minimum lane change time between the vehicle and the rear vehicle;

[0015] When the first collision time is less than the second collision time, analyze whether the collision between the vehicle and the front vehicle will meet the minimum braking distance of the rear vehicle when the first collision time is reached. If so, analyze the forward minimum lane change time between the vehicle and the front vehicle;

[0016] According to the rearward minimum lane change time and the forward minimum lane change time, the collision risks between the vehicle and the front and rear vehicles in the current driving state are comprehensively analyzed to obtain the front and rear collision risk data of the vehicle.

[0017] By adopting the above technical scheme, combined with the front and rear vehicle speeds and the front and rear vehicle distances, the collision time between the vehicle and the front vehicle, and between the vehicle and the rear vehicle are analyzed and calculated respectively. By comparing and analyzing the first collision time and the second collision time, the different collision risks in the front and rear directions are analyzed respectively, which helps to accurately give the vehicle adjustment plan according to the analysis results, and combined with the rear minimum lane change time and the forward minimum lane change time of the vehicle, it is analyzed whether the vehicle can change lanes in time within the minimum lane change time before the collision occurs, so as to obtain the collision risk analysis results between the vehicle and the front and rear vehicles, which helps to improve the assessment accuracy of the front and rear collision risks of the vehicle during driving through the front and rear collision risk data of the vehicle, and helps to improve the risk avoidance warning decision for the vehicle to avoid the front and rear collision risks.

[0018] In a preferred example, the present application can be further configured as follows: when the driving recorder analyzes that the vehicle has deviated from the road, the deviation data and the on / off status of the turn signal lamp of the vehicle are obtained, and the side collision risk data of the vehicle is analyzed according to the deviation data and the corresponding on / off status of the turn signal lamp, which specifically includes:

[0019] Analyze whether the vehicle has deviated from the driving recorder based on the video analysis, and if so, obtain the deviation direction and angle of the vehicle and the current on / off status of the vehicle's turn signal;

[0020] When the deviation direction is inconsistent with the on / off state of the turn signal lamp, obtaining a deviation distance between the driving position of the vehicle on the current lane and the deviation lane corresponding to the deviation direction;

[0021] Comprehensively analyzing the time required for the vehicle to deviate from the current driving position to the lane according to the driving position and the deviation distance, combined with the deviation angle and the driving speed of the vehicle;

[0022] The lateral vehicle driving data on the deviated lane is obtained, and it is predicted whether there is a lateral vehicle driving to the deviated position of the vehicle within the deviation time, and the lateral collision risk data of the vehicle is obtained according to the prediction result.

[0023] In a preferred example, the present application may be further configured as follows: the acquisition of the lateral vehicle driving data on the deviated lane, the prediction of whether a lateral vehicle will drive to the deviated position of the vehicle within the deviated time, and the lateral collision risk data of the vehicle are obtained according to the prediction result, specifically including:

[0024] Obtaining the speed of the lateral vehicle on the deviated lane and the deviation distance from the vehicle, and calculating the rear travel time of the lateral vehicle catching up with the rear of the vehicle and the front travel time of the lateral vehicle overtaking the front of the vehicle in combination with the travel speed of the vehicle;

[0025] A safe queue-jumping interval between the lateral vehicle and the vehicle is planned according to the rear-end driving time and the front-end driving time, and lateral collision risk data between the vehicle and the lateral vehicle is analyzed according to the safe queue-jumping interval and the deviation time.

[0026] In a preferred example, the present application may be further configured as follows: after analyzing whether the vehicle deviates according to the video analysis of the driving recorder, and obtaining the deviation direction and deviation angle of the vehicle and the current on / off state of the turn signal of the vehicle when the vehicle deviates, the method further includes:

[0027] When the deviation direction of the vehicle is consistent with the on / off state of the turn signal lamp, the driving distance and driving speed of the front and rear vehicles in the lateral lane corresponding to the deviation direction are obtained to obtain the lateral vehicle driving data of the lateral lane;

[0028] Analyzing the lane changing time required for the vehicle to change from the current lane to the lateral lane according to the lateral vehicle driving data and the deviation angle;

[0029] According to the lane changing time and the front and rear collision risk data, the lane changing speed interval of the vehicle is planned, and the lane changing speed adjustment warning decision processing is performed on the current driving speed of the vehicle according to the lane changing speed interval.

[0030] By adopting the above technical scheme, when the vehicle deviates from the driving state, the correspondence between the on-off state of the turn signal of the vehicle and the deviation direction is used to analyze whether the current deviation is the driver's steering or the driver's fatigue driving, which helps to monitor the driver's driving state in time, and when the deviation direction is inconsistent with the on-off state of the turn signal, the deviation time required for the vehicle to travel to the deviated lane is calculated by the deviation distance between the vehicle's formal position on the current lane and the deviated lane, which helps to analyze the collision risk on the deviated lane during the deviation time, and combined with the lateral vehicle driving data on the deviated lane, it is predicted whether there is a lateral vehicle driving to the deviated lane position currently occupied by the vehicle within the deviation time, thereby predicting the lateral collision risk of the vehicle, which helps to improve the accuracy and comprehensiveness of the collision prediction of the vehicle from multiple dimensions.

[0031] In a preferred example, the present application may be further configured as follows: comprehensively evaluating the collision risk probability of the vehicle and predicting the vehicle collision time based on the front and rear collision risk data and the side collision risk data, and performing collision warning processing on the driver of the vehicle within the vehicle collision time, specifically including:

[0032] Performing a comprehensive collision risk assessment on the current driving state of the vehicle according to the front-rear collision risk data and the lateral collision risk data to obtain a collision risk probability assessment result of the vehicle;

[0033] According to the collision risk probability assessment result, predicting the vehicle collision time of the vehicle in the direction where the collision risk probability exists, and obtaining the vehicle collision time that meets the current collision risk of the vehicle;

[0034] The driving data of the vehicle is adjusted according to the vehicle collision time, and the current driving state of the driver is obtained. According to the current driving state and the driving adjustment data, a collision warning process is performed on the driver of the vehicle within the vehicle collision time.

[0035] By adopting the above technical scheme, combined with the front and rear collision risk data and the lateral collision risk data, a comprehensive assessment is made on the collision risk of the vehicle in the current driving state, which helps to comprehensively consider multiple dimensions of possible collisions, improve the accuracy and authenticity of the collision risk probability assessment results, and predict the vehicle collision time of the vehicle in the direction of the collision risk probability, reasonably avoid the driving state with a high collision risk probability, and adjust the driving data of the vehicle within the vehicle collision time. Combined with the driver's current driving state, a collision warning is processed for the driver of the vehicle within the vehicle collision time, which helps to remind the driver to avoid collision risks in time and improve driving safety.

[0036] In the second aspect, the above invention objective of the present application is achieved through the following technical solutions:

[0037] A vehicle anti-collision and warning system based on a driving recorder, the system is applied to the above-mentioned vehicle anti-collision and warning method based on a driving recorder, the system comprises:

[0038] A data acquisition module is used to acquire the front and rear vehicle monitoring videos of the driving recorder, perform video analysis on the front and rear vehicle monitoring videos, and acquire the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle;

[0039] A front-to-rear collision analysis module is used to comprehensively analyze the collision risk between the vehicle and the front and rear vehicles in the current driving state according to the front and rear vehicle speeds and the front and rear vehicle distances, and obtain the front-to-rear collision risk data of the vehicle;

[0040] A side collision analysis module is used to obtain the deviation data and the on / off status of the turn signal lamp of the vehicle when the driving recorder analyzes that the vehicle has deviated from the vehicle, and analyze the side collision risk data of the vehicle according to the deviation data and the corresponding on / off status of the turn signal lamp;

[0041] The collision warning module is used to comprehensively evaluate the collision risk probability of the vehicle and predict the vehicle collision time based on the front and rear collision risk data and the lateral collision risk data, and to perform collision warning processing on the driver of the vehicle within the vehicle collision time.

[0042] By adopting the above technical solution, combined with the front and rear vehicle monitoring videos recorded by the driving recorder, the front and rear speeds and the front and rear distances between the vehicle and the front and rear vehicles are obtained through video analysis, which helps to monitor the vehicles that may collide with the vehicle in the current lane in real time, and through the collision risk analysis between the vehicle and the front and rear vehicles, the collision risk of the vehicle in the driving direction is controlled, and when driving deviation occurs, the lateral collision risk of the vehicle is analyzed through the deviation data of the vehicle and the on and off status of the turn signal, which helps to control the possible lateral collision risk of the vehicle, and combined with the comprehensive assessment of vehicle collision in multiple dimensions such as front and rear and lateral, it helps to improve the accuracy of vehicle collision risk prediction, and combined with the vehicle collision time in the possible collision direction, timely collision warning processing is performed on the driver of the vehicle, which helps to improve the accuracy of vehicle collision prediction.

[0043] On the third aspect, the above-mentioned purpose of the present application is achieved through the following technical solutions:

[0044] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle collision avoidance and warning method based on a driving recorder are implemented.

[0045] Fourthly, the above-mentioned purpose of the present application is achieved through the following technical solutions:

[0046] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned vehicle collision avoidance and warning method based on a driving recorder.

[0047] In summary, the present application includes at least one of the following beneficial technical effects:

[0048] 1. Combined with the monitoring videos of the front and rear vehicles recorded by the driving recorder, the front and rear speeds and the front and rear distances between the vehicle and the front and rear vehicles are obtained through video analysis, which is helpful for real-time monitoring of vehicles that may collide with the vehicle in the current lane, and through the collision risk analysis between the vehicle and the front and rear vehicles, the collision risk of the vehicle in the driving direction is controlled, and when the vehicle deviates, the side collision risk of the vehicle is analyzed through the deviation data of the vehicle and the on and off status of the turn signal, which is helpful for controlling the possible side collision risk of the vehicle, and combined with the comprehensive assessment of vehicle collision in multiple dimensions such as front and rear and side, it is helpful to improve the accuracy of vehicle collision risk prediction, and combined with the collision time of the vehicle in the possible collision direction, timely collision warning processing is carried out for the driver of the vehicle, which is helpful to improve the accuracy of vehicle collision prediction;

[0049] 2. Combined with the front and rear vehicle speeds and the front and rear vehicle distances, the collision time between the vehicle and the front vehicle and between the vehicle and the rear vehicle is analyzed and calculated respectively. By comparing the first collision time and the second collision time, the different collision risks in the front and rear directions are analyzed respectively, which helps to accurately give the vehicle adjustment plan according to the analysis results. Combined with the rear minimum lane change time and the forward minimum lane change time of the vehicle, it is analyzed whether the vehicle can change lanes in time within the minimum lane change time before the collision occurs, so as to obtain the collision risk analysis results between the vehicle and the front and rear vehicles, which helps to improve the assessment accuracy of the front and rear collision risks of the vehicle during driving through the front and rear collision risk data of the vehicle, and helps to improve the risk avoidance warning decision-making for the vehicle to avoid the front and rear collision risks;

[0050] 3. When the vehicle deviates from the lane, the correspondence between the on-off status of the turn signal of the vehicle and the deviation direction is used to analyze whether the current deviation is caused by the driver's steering or driver fatigue, which helps to monitor the driver's driving status in a timely manner. When the deviation direction is inconsistent with the on-off status of the turn signal, the deviation time required for the vehicle to travel to the deviated lane is calculated based on the deviation distance between the vehicle's formal position on the current lane and the deviated lane, which helps to analyze the collision risk on the deviated lane during the deviation time. Combined with the lateral vehicle driving data on the deviated lane, it is predicted whether there is a lateral vehicle driving to the deviated lane position currently occupied by the vehicle within the deviation time, thereby predicting the lateral collision risk of the vehicle, which helps to improve the accuracy and comprehensiveness of the collision prediction of the vehicle from multiple dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a flow chart of an implementation of a vehicle collision avoidance and warning method based on a driving recorder in this embodiment.

[0052] Figure 2 It is a flow chart for implementing step S20 of the vehicle collision avoidance and warning method of this embodiment.

[0053] Figure 3 It is a flow chart for implementing step S30 of the vehicle collision avoidance and warning method of this embodiment.

[0054] Figure 4 This is a flow chart for implementing step S304 of the vehicle collision avoidance and warning method of this embodiment.

[0055] Figure 5 It is a flow chart of the implementation of lane change warning by the vehicle collision avoidance and warning method of this embodiment.

[0056] Figure 6 It is a flow chart for implementing step S40 of the vehicle collision avoidance and warning method of this embodiment.

[0057] Figure 7It is a structural block diagram of a vehicle collision avoidance and warning system based on a driving recorder in this embodiment.

[0058] Figure 8 It is a schematic diagram of the internal structure of a computer device used to implement a vehicle collision avoidance and early warning method. DETAILED DESCRIPTION

[0059] The present application is further described in detail below in conjunction with the accompanying drawings.

[0060] In one embodiment, if Figure 1 As shown, the present application discloses a vehicle collision prevention and warning method based on a driving recorder, which specifically includes the following steps:

[0061] S10: Obtaining the front and rear vehicle monitoring videos from the driving recorder, performing video analysis on the front and rear vehicle monitoring videos, and obtaining the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle.

[0062] Specifically, during the driving of the vehicle, the dashcam probes installed on the front, rear, left and right sides of the vehicle are used to obtain the front and rear vehicle surveillance videos of the vehicle, and the front and rear vehicle surveillance videos are analyzed in real time to obtain the front and rear vehicle distances and front and rear vehicle speeds between the vehicle and the front and rear vehicles.

[0063] S20: Based on the front and rear vehicle speeds and the front and rear vehicle distances, a comprehensive analysis is performed on the collision risk between the vehicle and the front and rear vehicles in the current driving state to obtain the front and rear collision risk data of the vehicle.

[0064] Specifically, Figure 2 As shown, step S20 includes:

[0065] S201: Analyze the first collision time and the second collision time between the vehicle and the front vehicle, and between the vehicle and the rear vehicle, respectively, based on the front and rear vehicle speeds and the front and rear vehicle distances.

[0066] Specifically, according to the front and rear vehicle speeds and the front and rear vehicle distances, the first collision time and the second collision time between the vehicle and the front vehicle and the vehicle and the rear vehicle are analyzed respectively, wherein the first collision time is calculated by formula (1), which is as follows:

[0067]

[0068] Among them, t1 represents the first collision time between the vehicle and the preceding vehicle, S 前 Indicates the relative distance between the vehicle and the vehicle ahead detected by the driving recorder in real time, |V 本 -V 前 | indicates the vehicle's speed V 本 The speed of the vehicle ahead is V 前 The speed difference between .

[0069] The second collision time is calculated by formula (2), which is as follows:

[0070]

[0071] Where t2 represents the second collision time between the vehicle and the following vehicle, S 后 Indicates the relative distance between the vehicle and the following vehicle detected by the driving recorder in real time, |V 本 -V 后 | indicates the vehicle's speed V 本 The speed of the following vehicle V 后 The speed difference between .

[0072] S202: When the first collision time is greater than or equal to the second collision time, analyzing whether the collision between the vehicle and the rear vehicle will cause a collision with the front vehicle when the second collision time is reached, and if so, analyzing the rear minimum lane change time between the vehicle and the rear vehicle.

[0073] Specifically, when the first collision time is greater than or equal to the second collision time, the distance and relative movement speed between the vehicle and the front vehicle are calculated when the second collision time is reached. Through the pre-trained big data model, combined with the speed of the vehicle and the speed of the rear vehicle, the impact on the vehicle caused by the collision between the vehicle and the rear vehicle is previewed, and it is judged whether the acceleration and sliding distance of the vehicle after the impact meet the relative distance between the vehicle and the front vehicle at this time. If so, it means that the probability of the collision between the vehicle and the rear vehicle causing the collision with the front vehicle is small. If not, it means that the probability of the collision between the vehicle and the rear vehicle causing the collision with the front vehicle is large. Therefore, when there is a risk of chain collision, it is necessary to further analyze the rearward minimum lane change time between the vehicle and the rear vehicle, that is, the safe lane change time for changing the vehicle to other lanes before the second collision time arrives. At this time, it is necessary to conduct a comprehensive analysis based on the driving reaction speed of the driver of the vehicle and whether the vehicle condition of the adjacent lane is suitable for lane change.

[0074] S203: When the first collision time is less than the second collision time, analyzing whether the collision between the vehicle and the front vehicle will satisfy the minimum braking distance of the rear vehicle when the first collision time is reached, and if so, analyzing the forward minimum lane change time between the vehicle and the front vehicle.

[0075] Specifically, when the first collision time is less than the second collision time, the relative distance and relative movement speed between the vehicle and the rear vehicle are calculated when the first collision time is reached. Through the pre-trained big data model, combined with the collision speed of the vehicle, the driving speed of the rear vehicle and the relative distance between the rear vehicle and the vehicle, the road congestion caused by the collision between the vehicle and the front vehicle is previewed, and it is judged whether the current speed of the rear vehicle can successfully brake and decelerate within the relative distance. The minimum braking distance is the distance from the front of the rear vehicle to the parking space of the vehicle that has been crashed. That is, when the vehicle collides with the front vehicle, whether the rear vehicle can brake in time is analyzed. If the minimum braking distance is met, the time taken for the vehicle to change lanes to the adjacent lane is set as the forward minimum lane change time before the minimum braking distance of the rear vehicle is reached.

[0076] S204: Based on the rear minimum lane change time and the forward minimum lane change time, a comprehensive analysis is performed on the collision risk between the vehicle and the front and rear vehicles in the current driving state to obtain the front and rear collision risk data of the vehicle.

[0077] Specifically, based on the rear minimum lane change time and the forward minimum lane change time, a comprehensive analysis is made of the collision risks between the vehicle and the front and rear vehicles under the current driving state. That is, when the relative driving distance and the relative driving speed between the vehicle and the front and rear vehicles both meet the rear minimum lane change time and the forward minimum lane change time, it is determined that the collision risk between the vehicle and the front and rear vehicles is small, and it is safe driving. If the relative driving distance and the relative driving speed between the vehicle and the front and rear vehicles do not meet the rear minimum lane change time or the forward minimum lane change time, it is determined that the collision risk between the vehicle and the front and rear vehicles is large, and it is dangerous driving. The driver of the vehicle needs to be given a collision warning, thereby obtaining the front and rear collision risk data of the vehicle.

[0078] S30: When the driving recorder analyzes that the vehicle has deviated from the road, the deviation data and the on / off status of the turn signal lamp of the vehicle are obtained, and the side collision risk data of the vehicle is analyzed according to the deviation data and the corresponding on / off status of the turn signal lamp.

[0079] Specifically, Figure 3 As shown, step S30 includes:

[0080] S301: Analyze whether the vehicle has deviated from the vehicle based on the video analysis of the driving recorder, and if the vehicle has deviated from the vehicle, obtain the deviation direction and angle of the vehicle and the current on / off status of the turn signal of the vehicle.

[0081] Specifically, by analyzing the driving video of the vehicle collected by the driving recorder, it is determined whether the driving distance between the vehicle and the two sides of the lane is the same in adjacent unit times. If there are two consecutive deviations in the same direction, it is determined that the vehicle has driving deviation. When the vehicle deviates, the deviation direction of the vehicle, such as left deviation or right deviation, and the deviation angle, that is, the angle between the vehicle's deviation direction and the current lane axis, are obtained through video analysis data. When the vehicle deviates, if the corresponding turn signal of the vehicle in the deviation direction is on, it indicates that the driver has changed lanes. If the turn signal in the deviation direction is not on, it indicates that the driver has driven incorrectly and there is a possibility of fatigue driving.

[0082] S302: When the deviation direction is inconsistent with the on / off state of the turn signal lamp, a deviation distance between the driving position of the vehicle in the current lane and the deviation lane corresponding to the deviation direction is obtained.

[0083] Specifically, when the deviation direction is inconsistent with the on-off status of the turn signal, that is, the current deviation is caused by incorrect driving, the driving position of the vehicle in the current lane and the deviation distance between the deviated lanes corresponding to the deviation direction are obtained by analyzing the images around the vehicle through the driving recorder. The deviation distance is the cosine value of the vertical distance between the current position of the vehicle and the deviated lane.

[0084] S303: Based on the driving position and the deviation distance, combined with the deviation angle and the driving speed of the vehicle, a comprehensive analysis is performed on the deviation time required for the vehicle to deviate from the current driving position to deviate from the lane.

[0085] Specifically, the time required to travel from the current driving position to the deviated lane is calculated based on the driving position and the deviation distance, that is, the time it takes for the vehicle to change lanes from the current driving position to the adjacent deviated lane. In this embodiment, the quotient of the deviation distance and the vehicle's driving speed is used as the deviation time.

[0086] S304: Acquire the lateral vehicle driving data on the deviated lane, predict whether there is a lateral vehicle driving to the deviated position of the vehicle within the deviation time, and obtain the lateral collision risk data of the vehicle according to the prediction result.

[0087] Specifically, if the vehicle does not collide with a side vehicle during the process of changing lanes to deviating from the lane, it means that the vehicle has no side collision risk, and the side collision wind direction data of the vehicle is thus obtained.

[0088] In this embodiment, Figure 4 As shown, step S304 includes:

[0089] S3041: Obtain the speed of the lateral vehicle on the deviated lane and the deviation distance from the vehicle, and calculate the rear end travel time of the lateral vehicle to catch up with the rear end of the vehicle and the front end travel time to surpass the front end of the vehicle in combination with the travel speed of the vehicle.

[0090] Specifically, when the vehicle gradually changes lanes from the current lane to the adjacent deviated lane, the driving data of the lateral vehicle in the deviated lane is obtained through the driving recorder, and it is predicted whether there is a vehicle behind the deviated lane that drives to the position where the vehicle is about to change lanes within the deviation time, or whether there is a vehicle in front of the deviated lane with a driving speed lower than that of the vehicle and a relative position less than the deviation distance, so as to predict whether there is a lateral vehicle that drives to the deviated position of the vehicle within the deviation time, including the relative position change between the vehicle and the vehicle in front of the deviated lane and the rear vehicle during the lane changing process. The rear vehicle in the deviated lane is used as an example for explanation. Combined with the driving speed difference between the vehicle and the lateral rear vehicle, the rear end driving time of the lateral rear vehicle to catch up with the parking space of the vehicle is calculated, as well as the time when the lateral rear vehicle runs parallel to the vehicle until it surpasses the front of the vehicle. The parking space driving time of the lateral vehicle to catch up with the parking space of the vehicle and the front driving time of the vehicle to surpass the front of the vehicle are counted.

[0091] S3042: Plan a safe queue-jumping interval between the side vehicle and the vehicle based on the rear end driving time and the front end driving time, and analyze the side collision risk data between the vehicle and the side vehicle based on the safe queue-jumping interval and the deviation time.

[0092] Specifically, according to the rear driving time and the front driving time of the vehicle, a safe queue-cutting interval between the lateral vehicle and the vehicle is planned. If it is less than the rear driving time or greater than the front driving time, and according to the safe queue-cutting interval and the deviation time of the vehicle changing lanes to the deviated lane, the lateral collision risk between the vehicle and the lateral vehicle is analyzed. If it is within the safe queue-cutting interval, the collision risk is small, and if it is outside the safe queue-cutting interval, the collision risk is large, thereby obtaining the lateral collision risk data between the vehicle and the lateral vehicle.

[0093] In this embodiment, Figure 5 As shown, after step S301, the following further includes:

[0094] S305: When the deviation direction of the vehicle is consistent with the on / off state of the turn signal lamp, the driving distance and driving speed of the front and rear vehicles in the lateral lane corresponding to the deviation direction are obtained to obtain the lateral vehicle driving data of the lateral lane.

[0095] Specifically, when the deviation direction of the vehicle is consistent with the on / off status of the turn signal, it means that the deviation of the vehicle is caused by the driver's normal lane change. The vehicle driving video of the lateral lane is collected through the vehicle's driving recorder during the lane change process, and the driving distance and driving speed of the front and rear vehicles in the lateral lane corresponding to the deviation direction are analyzed to obtain, thereby obtaining the lateral vehicle driving data of the lateral lane.

[0096] S306: Analyze the lane changing time required for the vehicle to change from the current lane to the lateral lane based on the lateral vehicle driving data and the deviation angle.

[0097] Specifically, the lane changing time required for the vehicle to change from the current lane to the lateral lane is analyzed based on the lateral vehicle driving data and the deviation angle. If the lateral vehicle is driving in the lane changing zone of the vehicle, it is necessary to wait and change lanes after the lateral vehicle overtakes the vehicle, or it is necessary to accelerate in the current lane and overtake the vehicle in the lateral lane before changing lanes. The lane changing time at this time is the sum of the waiting time or the speeding time and the time taken by the vehicle to change lanes. In the absence of interference from the lateral vehicle, the lane changing time required for the vehicle to change from the current lane to the lateral lane is the quotient between the deviation distance and the current driving speed of the vehicle.

[0098] S307: According to the lane change time and the front and rear collision risk data, the lane change speed interval of the vehicle is planned, and the lane change speed adjustment warning decision processing is performed on the current driving speed of the vehicle according to the planned lane change speed interval.

[0099] Specifically, according to the lane change time and the front and rear collision risk data, the lane change speed range of the vehicle is planned. Within the risk avoidance range of the front and rear collision risks, the current driving speed of the vehicle is adjusted to meet the lane change speed range, so that the lane change speed can meet the requirement of not colliding with the front or rear vehicle in the current lane during the lane change process, thereby obtaining the lane change speed adjustment warning decision of the vehicle.

[0100] S40: Based on the front and rear collision risk data and the lateral collision risk data, comprehensively evaluate the collision risk probability of the vehicle and predict the vehicle collision time, and perform collision warning processing on the driver of the vehicle within the vehicle collision time.

[0101] Specifically, Figure 6 As shown, step S40 includes:

[0102] S401: Perform a comprehensive collision risk assessment on the current driving state of the vehicle based on the front and rear collision risk data and the lateral collision risk data to obtain a collision risk probability assessment result of the vehicle.

[0103] Specifically, based on the front and rear collision risk data and the lateral collision risk data, a comprehensive assessment is made of the collision risks of the vehicle's current driving state in the front, rear, left and right directions. When each direction is within the safe collision range, it means that the collision risk of the vehicle is low. When there is a point such as forward or rearward that exceeds the safe collision range, it means that the collision risk of the vehicle is high, thereby obtaining the collision risk probability assessment result of the vehicle.

[0104] S402: According to the collision risk probability assessment result, predict the vehicle collision time of the vehicle in the direction where the collision risk probability exists, and obtain the vehicle collision time that meets the current collision risk of the vehicle.

[0105] Specifically, based on the collision risk probability assessment result, the vehicle collision time of the vehicle in the direction where there is a collision risk probability, such as the forward direction, is predicted. That is, a collision rehearsal is performed based on the vehicle driving speed in the risk direction and the vehicle driving speed of the vehicle as well as the relative distance between the two. The vehicle collision time when the front of the vehicle reaches the parking space of the forward vehicle is calculated, thereby obtaining the vehicle collision time that meets the current collision risk of the vehicle.

[0106] S403: adjusting the driving data of the vehicle according to the vehicle collision time, obtaining the current driving state of the driver, and performing collision warning processing on the driver of the vehicle within the vehicle collision time according to the current driving state and the driving adjustment data.

[0107] Specifically, according to the vehicle collision time, the driving data of the vehicle, mainly the vehicle driving speed, is adjusted. When the collision cannot be avoided by adjusting the driving speed, the vehicle changes lanes and obtains the driver's current driving status. The driver's facial expression and eye movement status are collected through a camera installed at the driving position to determine whether the driver is fatigued. Based on the current driving status and driving adjustment data, the driver of the vehicle is given a collision warning within the vehicle collision time, so that the driver can drive safely in time.

[0108] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0109] In one embodiment, a vehicle anti-collision and warning system based on a driving recorder is provided, and the vehicle anti-collision and warning system based on a driving recorder corresponds one-to-one to the vehicle anti-collision and warning method based on a driving recorder in the above embodiment. Figure 7 As shown, the vehicle anti-collision and warning system based on the driving recorder includes a data acquisition module, a front and rear collision analysis module, a side collision analysis module and a collision warning module. The detailed description of each functional module is as follows:

[0110] The data acquisition module is used to obtain the front and rear vehicle monitoring videos of the driving recorder, perform video analysis on the front and rear vehicle monitoring videos, and obtain the front and rear vehicle speeds and front and rear vehicle distances of the vehicle.

[0111] The front and rear collision analysis module is used to comprehensively analyze the collision risk between the vehicle and the front and rear vehicles under the current driving state according to the front and rear vehicle speeds and the front and rear vehicle distances, and obtain the front and rear collision risk data of the vehicle.

[0112] The side collision analysis module is used to obtain the deviation data and the on / off status of the turn signal light of the vehicle when the driving recorder analyzes that the vehicle has deviated from the vehicle, and analyze the side collision risk data of the vehicle based on the deviation data and the corresponding on / off status of the turn signal light.

[0113] The collision warning module is used to comprehensively evaluate the collision risk probability of the vehicle and predict the vehicle collision time based on the front and rear collision risk data and the lateral collision risk data, and to provide collision warning to the driver of the vehicle within the vehicle collision time.

[0114] Preferably, the front and rear collision analysis module specifically includes:

[0115] The time calculation submodule is used to analyze the first collision time and the second collision time between the vehicle and the front vehicle and between the vehicle and the rear vehicle respectively according to the front and rear vehicle speeds and the front and rear vehicle distances;

[0116] The collision analysis submodule is used to analyze whether the collision between the vehicle and the rear vehicle will cause a collision with the front vehicle when the second collision time is reached when the first collision time is greater than or equal to the second collision time. If so, the rear minimum lane change time between the vehicle and the rear vehicle is analyzed.

[0117] The braking analysis submodule is used to analyze whether the collision between the vehicle and the front vehicle will meet the minimum braking distance of the rear vehicle when the first collision time is reached when the first collision time is less than the second collision time. If so, the forward minimum lane change time between the vehicle and the front vehicle is analyzed.

[0118] The comprehensive analysis submodule is used to comprehensively analyze the collision risk between the vehicle and the front and rear vehicles under the current driving state according to the rear minimum lane change time and the forward minimum lane change time, and obtain the front and rear collision risk data of the vehicle.

[0119] Preferably, the side collision analysis module specifically includes:

[0120] The deviation analysis submodule is used to analyze whether the vehicle has deviation based on the video analysis of the driving recorder, and when there is deviation, obtain the deviation direction and deviation angle of the vehicle and the current on / off status of the vehicle's turn signal.

[0121] The deviation data acquisition submodule is used to obtain the deviation distance between the driving position of the vehicle on the current lane and the deviation lane corresponding to the deviation direction when the deviation direction is inconsistent with the on / off state of the turn signal lamp.

[0122] The deviation time analysis submodule is used to comprehensively analyze the deviation time required for the vehicle to deviate from the current driving position to the lane according to the driving position and deviation distance, combined with the deviation angle and the driving speed of the vehicle.

[0123] The collision prediction submodule is used to obtain the lateral vehicle driving data on the deviated lane, predict whether there is a lateral vehicle driving to the deviated position of the vehicle within the deviation time, and obtain the lateral collision risk data of the vehicle based on the prediction results.

[0124] Preferably, the collision prediction submodule specifically includes:

[0125] The data calculation unit is used to obtain the speed of the lateral vehicle on the deviated lane and the deviation distance from the vehicle, and calculate the rear end travel time of the lateral vehicle to catch up with the rear end of the vehicle and the front end travel time to surpass the front end of the vehicle in combination with the travel speed of the vehicle.

[0126] The queue-jumping planning unit is used to plan a safe queue-jumping interval between the lateral vehicle and the vehicle according to the rear-end driving time and the front-end driving time, and to analyze the lateral collision risk data between the vehicle and the lateral vehicle according to the safe queue-jumping interval and the deviation time.

[0127] In this embodiment, after the deviation analysis submodule, the following is further included:

[0128] The lateral driving analysis submodule is used to obtain the driving distance and driving speed of the front and rear vehicles in the lateral lane corresponding to the deviation direction when the deviation direction of the vehicle is consistent with the on-off state of the turn signal, and obtain the lateral vehicle driving data of the lateral lane.

[0129] The lane change planning submodule is used to analyze the lane change time required for the vehicle to change from the current lane to the lateral lane based on the lateral vehicle driving data and deviation angle.

[0130] The adjustment warning submodule is used to plan the lane change speed range of the vehicle according to the lane change time and the front and rear collision risk data, and to make lane change speed adjustment warning decision processing for the current driving speed of the vehicle according to the programmed lane change speed range.

[0131] Preferably, the collision warning module specifically includes:

[0132] The risk assessment submodule is used to conduct a comprehensive collision risk assessment on the current driving state of the vehicle based on the front and rear collision risk data and the lateral collision risk data to obtain a collision risk probability assessment result of the vehicle.

[0133] The collision prediction submodule is used to predict the vehicle collision time of the vehicle in the direction where there is a collision risk probability according to the collision risk probability assessment result, and obtain the vehicle collision time that meets the current collision risk of the vehicle.

[0134] The collision warning submodule is used to adjust the vehicle driving data according to the vehicle collision time, obtain the driver's current driving state, and perform collision warning processing on the driver of the vehicle within the vehicle collision time according to the current driving state and driving adjustment data.

[0135] For the specific definition of the vehicle anti-collision and warning system based on the driving recorder, please refer to the definition of the vehicle anti-collision and warning method based on the driving recorder above, which will not be repeated here. Each module in the above-mentioned vehicle anti-collision and warning system based on the driving recorder can be implemented in whole or in part through software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0136] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle anti-collision warning data based on a driving recorder. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle anti-collision and warning method based on a driving recorder is implemented.

[0137] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of a vehicle collision avoidance and warning method based on a driving recorder are implemented.

[0138] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0139] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0140] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle collision prevention and warning method based on a driving recorder, characterized in that: include: Obtaining the front and rear vehicle monitoring videos from the driving recorder, performing video analysis on the front and rear vehicle monitoring videos, and obtaining the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle; According to the front and rear vehicle speeds and the front and rear vehicle distances, a comprehensive analysis is performed on the collision risk between the vehicle and the front and rear vehicles in the current driving state to obtain the front and rear collision risk data of the vehicle; When the driving recorder analyzes that the vehicle has deviated from the road, the deviation data and the on / off status of the turn signal lamp of the vehicle are obtained, and the side collision risk data of the vehicle is analyzed according to the deviation data and the corresponding on / off status of the turn signal lamp; Comprehensively assess the collision risk probability of the vehicle and predict the vehicle collision time based on the front and rear collision risk data and the side collision risk data, and perform collision warning processing on the driver of the vehicle within the vehicle collision time; Wherein, the front-to-rear collision risk between the vehicle and the front and rear vehicles in the current driving state is comprehensively analyzed according to the front and rear vehicle speeds and the front and rear vehicle distances to obtain the front-to-rear collision risk data of the vehicle, specifically including: According to the front and rear vehicle speeds and the front and rear vehicle distances, respectively analyzing the first collision time and the second collision time between the vehicle and the front vehicle and the vehicle and the rear vehicle; When the first collision time is greater than or equal to the second collision time, analyze whether the collision between the vehicle and the rear vehicle will cause a collision with the front vehicle when the second collision time is reached. If so, analyze the rearward minimum lane change time between the vehicle and the rear vehicle; When the first collision time is less than the second collision time, analyze whether the collision between the vehicle and the front vehicle will meet the minimum braking distance of the rear vehicle when the first collision time is reached. If so, analyze the forward minimum lane change time between the vehicle and the front vehicle; According to the rearward minimum lane change time and the forward minimum lane change time, the collision risks between the vehicle and the front and rear vehicles in the current driving state are comprehensively analyzed to obtain the front and rear collision risk data of the vehicle.

2. The vehicle collision prevention and warning method based on the driving recorder according to claim 1 is characterized in that: When the driving recorder analyzes that the vehicle has deviated from the road, the deviation data and the on / off status of the turn signal lamp of the vehicle are obtained, and the side collision risk data of the vehicle is analyzed according to the deviation data and the corresponding on / off status of the turn signal lamp, which specifically includes: Analyze whether the vehicle has deviated from the driving recorder based on the video analysis, and if so, obtain the deviation direction and angle of the vehicle and the current on / off status of the vehicle's turn signal; When the deviation direction is inconsistent with the on / off state of the turn signal lamp, obtaining a deviation distance between the driving position of the vehicle on the current lane and the deviation lane corresponding to the deviation direction; Comprehensively analyzing the time required for the vehicle to deviate from the current driving position to the lane according to the driving position and the deviation distance, combined with the deviation angle and the driving speed of the vehicle; The lateral vehicle driving data on the deviated lane is obtained, and it is predicted whether there is a lateral vehicle driving to the deviated position of the vehicle within the deviation time, and the lateral collision risk data of the vehicle is obtained according to the prediction result.

3. The vehicle collision prevention and early warning method based on a driving recorder according to claim 2 is characterized in that: The step of obtaining the lateral vehicle driving data on the deviated lane, predicting whether a lateral vehicle will drive to the deviated position of the vehicle within the deviated time, and obtaining the lateral collision risk data of the vehicle according to the prediction result specifically includes: Obtaining the speed of the lateral vehicle on the deviated lane and the deviation distance from the vehicle, and calculating the rear travel time of the lateral vehicle catching up with the rear of the vehicle and the front travel time of the lateral vehicle overtaking the front of the vehicle in combination with the travel speed of the vehicle; A safe queue-jumping interval between the lateral vehicle and the vehicle is planned according to the rear-end driving time and the front-end driving time, and lateral collision risk data between the vehicle and the lateral vehicle is analyzed according to the safe queue-jumping interval and the deviation time.

4. The vehicle collision prevention and early warning method based on a driving recorder according to claim 2 is characterized in that: After analyzing whether the vehicle deviates according to the video analysis of the driving recorder, and obtaining the deviation direction and deviation angle of the vehicle and the current on / off state of the turn signal of the vehicle when the vehicle deviates, the method further includes: When the deviation direction of the vehicle is consistent with the on / off state of the turn signal lamp, the driving distance and driving speed of the front and rear vehicles in the lateral lane corresponding to the deviation direction are obtained to obtain the lateral vehicle driving data of the lateral lane; Analyzing the lane changing time required for the vehicle to change from the current lane to the lateral lane according to the lateral vehicle driving data and the deviation angle; The lane changing speed interval of the vehicle is planned according to the lane changing time and the front and rear collision risk data, and a lane changing speed adjustment warning decision is performed on the current driving speed of the vehicle according to the lane changing speed interval.

5. The vehicle collision prevention and warning method based on a driving recorder according to claim 1, characterized in that: The method of comprehensively evaluating the collision risk probability of the vehicle and predicting the vehicle collision time according to the front and rear collision risk data and the side collision risk data, and performing collision warning processing on the driver of the vehicle within the vehicle collision time specifically includes: Performing a comprehensive collision risk assessment on the current driving state of the vehicle according to the front-rear collision risk data and the lateral collision risk data to obtain a collision risk probability assessment result of the vehicle; According to the collision risk probability assessment result, predicting the vehicle collision time of the vehicle in the direction where the collision risk probability exists, and obtaining the vehicle collision time that meets the current collision risk of the vehicle; The driving data of the vehicle is adjusted according to the vehicle collision time, and the current driving state of the driver is obtained. According to the current driving state and the driving adjustment data, a collision warning process is performed on the driver of the vehicle within the vehicle collision time.

6. A vehicle collision prevention and warning system based on a driving recorder, characterized in that: The system is applied to the vehicle collision avoidance and warning method based on the driving recorder according to any one of claims 1 to 5 above, and the system comprises: A data acquisition module is used to acquire the front and rear vehicle monitoring videos of the driving recorder, perform video analysis on the front and rear vehicle monitoring videos, and acquire the front and rear vehicle speeds and the front and rear vehicle distances of the vehicle; A front-to-rear collision analysis module is used to comprehensively analyze the collision risk between the vehicle and the front and rear vehicles in the current driving state according to the front and rear vehicle speeds and the front and rear vehicle distances, and obtain the front-to-rear collision risk data of the vehicle; A side collision analysis module is used to obtain the deviation data and the on / off status of the turn signal lamp of the vehicle when the driving recorder analyzes that the vehicle has deviated from the vehicle, and analyze the side collision risk data of the vehicle according to the deviation data and the corresponding on / off status of the turn signal lamp; A collision warning module is used to comprehensively evaluate the collision risk probability of the vehicle and predict the vehicle collision time according to the front and rear collision risk data and the side collision risk data, and to perform collision warning processing on the driver of the vehicle within the vehicle collision time; Wherein, the front and rear collision analysis module specifically includes: A time calculation submodule, for analyzing the first collision time and the second collision time between the vehicle and the preceding vehicle, and between the vehicle and the following vehicle, respectively, according to the preceding and following vehicle speeds and the preceding and following vehicle distances; A collision analysis submodule is used to analyze whether the collision between the vehicle and the rear vehicle will cause a collision with the front vehicle when the second collision time is reached when the first collision time is greater than or equal to the second collision time. If so, analyze the rearward minimum lane change time between the vehicle and the rear vehicle; The braking analysis submodule is used to analyze whether the collision between the vehicle and the front vehicle will meet the minimum braking distance of the rear vehicle when the first collision time is reached when the first collision time is less than the second collision time. If so, the minimum forward lane change time between the vehicle and the front vehicle is analyzed; The comprehensive analysis submodule is used to comprehensively analyze the collision risk between the vehicle and the front and rear vehicles in the current driving state according to the rear minimum lane change time and the forward minimum lane change time, and obtain the front and rear collision risk data of the vehicle.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the vehicle collision avoidance and warning method based on the driving recorder as claimed in any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the steps of the vehicle collision avoidance and warning method based on the driving recorder as claimed in any one of claims 1 to 5 are implemented.

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