Vehicle early warning method, device, system, vehicle and storage medium

Abstract

The present application relates to the technical field of automobile, particularly relates to a vehicle early warning method, device, system, vehicle and storage medium, wherein the method comprises: acquiring the positions and speeds of front traffic participants and side rear vehicles of the vehicle; judging whether there is a collision risk between the front traffic participants and the side rear vehicles according to the positions and speeds of the front traffic participants and the side rear vehicles; if the front traffic participants and the side rear vehicles have a collision risk, warning and reminding the front traffic participants through a preset reminding action, and warning and reminding the side rear vehicles by lighting the same area of the through rear lamp of the vehicle as the position of the front traffic participants. According to the vehicle early warning method, the corresponding area of the through rear lamp of the vehicle tail is lighted to remind the rear traffic participants of the current position of the vehicle head, and at the same time, the traffic participants are reminded to pay attention to the rear vehicle, so that the traffic accidents caused by the visual blind area are effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a vehicle warning method, device, system, vehicle, and storage medium. Background Technology

[0002] As the number of vehicles per capita continues to increase, the probability of traffic accidents is also increasing. When overtaking in different lanes at intersections, vehicles are easily obstructed from the side and front by the overtaking vehicle, creating blind spots. This makes it easy for pedestrians or non-motorized vehicles to suddenly appear, leading to traffic accidents due to insufficient time to avoid them.

[0003] Related technologies utilize vehicle-to-everything (V2X) or vehicle-to-infrastructure (V2I) communication to share information detected by one vehicle with other vehicles, thereby preventing traffic accidents caused by following vehicles not being able to see pedestrians or non-motorized vehicles. However, this method relies on sharing information between vehicles to alert following vehicles. When the V2X system malfunctions, following vehicles will not be able to access the shared information and will be unable to avoid collisions. Summary of the Invention

[0004] In view of this, the present invention aims to propose a vehicle warning method, which can remind traffic participants in vehicles behind the vehicle of the current position of the front of the vehicle by illuminating the area corresponding to the taillights that run through the rear of the vehicle, and at the same time remind traffic participants to pay attention to vehicles coming from behind, effectively reducing traffic accidents caused by blind spots.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A vehicle warning method includes the following steps: acquiring the positions and speeds of the road users in front of the vehicle and the vehicles to the side and rear; determining whether there is a collision risk between the road users in front and the vehicles to the side based on their respective positions and speeds; if there is a collision risk between the road users in front and the vehicles to the side, issuing a warning to the road users in front through a preset reminder action, and issuing a warning to the vehicles to the side and rear by illuminating an area in the vehicle's taillights that is at the same position as the road users in front.

[0007] Further, the step of determining whether there is a collision risk between the forward traffic participant and the side-rear vehicle based on their respective positions and speeds includes: determining a first distance between the forward traffic participant and the vehicle based on the position of the forward traffic participant; determining a second distance between the side-rear vehicle and the vehicle based on the position of the side-rear vehicle; calculating a first time required for the forward traffic participant to appear in the driver's field of vision of the side-rear vehicle based on the first distance and the speed of the forward traffic participant, and calculating a second time required for the side-rear vehicle to appear in the field of vision of the forward traffic participant based on the second distance and the speed of the side-rear vehicle; calculating the difference between the first time and the second time, and determining that there is a collision risk between the forward traffic participant and the side-rear vehicle when the absolute value of the difference is less than a preset time, otherwise determining that there is no collision risk between the forward traffic participant and the side-rear vehicle.

[0008] Furthermore, before calculating the difference between the first duration and the second duration, the method further includes: obtaining the vehicle width and vehicle length; correcting the first duration based on the vehicle width; and correcting the second duration based on the vehicle length.

[0009] Furthermore, the step of determining that there is a collision risk between the front traffic participant and the side-rear vehicle when the absolute value of the difference is less than a preset time period further includes: determining whether the speed of the side-rear vehicle is greater than a first preset speed; if the speed of the side-rear vehicle is greater than the first preset speed, then determining that there is a collision risk between the front traffic participant and the side-rear vehicle.

[0010] Furthermore, before acquiring the positions and speeds of the road users in front of the vehicle and the vehicles to the side and rear, the method further includes: determining whether the vehicle meets the warning conditions; if the vehicle meets the warning conditions, acquiring the positions and speeds of the road users in front of the vehicle and the vehicles to the side and rear; otherwise, not triggering the warning function of the vehicle for the road users in front of the vehicle and the vehicles to the side and rear.

[0011] Furthermore, the warning conditions include one or more of the following: the vehicle's speed is less than the speed of the vehicle to its side and rear; the presence of both the road user in front and the vehicle to its side and rear; and the road user in front and the vehicle to its side and rear being located on different sides of the vehicle.

[0012] Furthermore, the preset reminder actions include one or more of the following: sound warning, light warning, and projection warning.

[0013] Compared with existing technologies, the vehicle early warning method of the present invention has the following advantages:

[0014] The vehicle warning method described in this invention can identify the relative speed of traffic participants in front of the vehicle and vehicles to the side and rear. If the relative speed of the two is relatively high, the vehicle's taillights are illuminated and the horn is sounded to remind traffic participants. This achieves the goal of reminding other vehicles and traffic participants to pay attention and avoid the accident by using the vehicle's own warning system, thereby reducing the probability of traffic accidents.

[0015] Another objective of this invention is to provide a vehicle warning device that, after a traffic participant appears in front of the vehicle, determines the speed of the traffic participant and the vehicle to the side and rear, as well as the time when the traffic participant appears in the vehicle to the side and rear. If it is determined that a danger is likely to occur, the vehicle illuminates its rear taillights to remind the vehicle to the side and rear, and automatically reminds the traffic participant, thereby reducing the probability of traffic accidents.

[0016] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0017] A vehicle warning device includes: an acquisition module for acquiring the positions and speeds of road users in front of the vehicle and vehicles to its side and rear; a judgment module for judging whether there is a collision risk between the road users in front and vehicles to its side based on their respective positions and speeds; and a reminder module for issuing a warning to the road users in front by means of a preset reminder action if there is a collision risk between the road users in front and vehicles to its side, and issuing a warning to the vehicles to its side by illuminating an area in the vehicle's taillights that is at the same position as the road users in front.

[0018] Furthermore, the determination module is further configured to: determine a first distance between the front traffic participant and the vehicle based on the position of the front traffic participant; determine a second distance between the side-rear vehicle and the vehicle based on the position of the side-rear vehicle; calculate a first time required for the front traffic participant to appear in the driver's field of vision of the side-rear vehicle based on the first distance and the speed of the front traffic participant, and calculate a second time required for the side-rear vehicle to appear in the field of vision of the front traffic participant based on the second distance and the speed of the side-rear vehicle; calculate the difference between the first time and the second time, and determine that there is a collision risk between the front traffic participant and the side-rear vehicle when the absolute value of the difference is less than a preset time, otherwise determine that there is no collision risk between the front traffic participant and the side-rear vehicle.

[0019] Furthermore, it also includes: a correction module, used to obtain the vehicle width and vehicle length of the vehicle before calculating the difference between the first duration and the second duration; correct the first duration according to the vehicle width, and correct the second duration according to the vehicle length.

[0020] Furthermore, the judgment module is further used to: determine whether the speed of the vehicle behind the side is greater than a first preset speed; if the speed of the vehicle behind the side is greater than the first preset speed, then it is determined that there is a collision risk between the traffic participant in front and the vehicle behind the side.

[0021] Furthermore, it also includes: a first judgment module, used to determine whether the vehicle meets the warning conditions before acquiring the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear; if the vehicle meets the warning conditions, then acquire the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear of the vehicle; otherwise, the warning function of the vehicle for the traffic participants in front of the vehicle and the vehicles to the side and rear of the vehicle is not triggered.

[0022] Furthermore, the warning conditions include the vehicle's speed being less than the speed of the vehicle to its side and rear and / or the presence of both the traffic participant in front and the vehicle to its side and rear.

[0023] The vehicle warning device and the vehicle warning method described above have the same advantages over the prior art, and will not be repeated here.

[0024] Another objective of this invention is to provide a vehicle warning system, comprising: a warning device and a through taillight, wherein the through taillight can illuminate any area individually; a detection device for detecting the position and speed of a road user in front and a vehicle to the side and rear; a processor for determining whether there is a collision risk between the road user in front and the vehicle to the side and rear based on their respective positions and speeds; if there is a collision risk between the road user in front and the vehicle to the side and rear, controlling the warning device to perform a preset warning action to warn the road user in front, and illuminating the area of ​​the through taillight that is at the same position as the road user in front to warn the vehicle to the side and rear.

[0025] The vehicle warning system and the vehicle warning method described above have the same advantages over the prior art, and will not be repeated here.

[0026] Another objective of this invention is to provide a vehicle that can provide early warnings to road users ahead and vehicles to the side and rear, thereby reducing the probability of traffic accidents.

[0027] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0028] A vehicle is equipped with a vehicle warning system as described in the above embodiments.

[0029] The vehicle described herein has the same advantages over the prior art as the vehicle warning method described above, and will not be repeated here.

[0030] Another object of the present invention is to provide a computer-readable storage medium that can implement the above-described vehicle warning method, thereby providing warning reminders to road users ahead and vehicles to the side and rear.

[0031] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0032] A computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement a vehicle warning method as described in the above embodiments.

[0033] The computer-readable storage medium and the aforementioned vehicle warning method have the same advantages over the prior art, and will not be repeated here. Attached Figure Description

[0034] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0035] Figure 1 This is a flowchart of the vehicle early warning method according to an embodiment of the present invention;

[0036] Figure 2 This is a flowchart illustrating the vehicle early warning method according to an embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram illustrating a specific implementation of the vehicle early warning method according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of a vehicle warning device according to an embodiment of the present invention;

[0039] Figure 5 This is a schematic diagram of a vehicle warning system according to an embodiment of the present invention. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0041] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0042] Figure 1 This is a flowchart of a vehicle warning method according to an embodiment of the present invention.

[0043] like Figure 1 As shown, the vehicle warning method of this embodiment includes the following steps:

[0044] Step S101: Obtain the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear.

[0045] Among them, traffic participants in front can include pedestrians, cyclists, animals, etc.; vehicles to the side and rear can include vehicles to the left and / or right.

[0046] It is understood that embodiments of the present invention can simultaneously acquire the position and speed of traffic participants in front and vehicles to the side and rear, and can acquire the position and speed through various methods, without specific limitations. Specifically, embodiments of the present invention can acquire the position of traffic participants in front and vehicles to the side and rear through a vehicle's image acquisition device, such as an in-vehicle camera; embodiments of the present invention can acquire the speed of traffic participants in front and vehicles to the side and rear through a vehicle's radar sensor, such as a lidar sensor or a millimeter-wave radar sensor.

[0047] Step S102: Determine whether there is a risk of collision between the traffic participants in front and the vehicles to the side and rear based on their respective positions and speeds.

[0048] It is understood that the embodiments of the present invention can predict whether a collision will occur based on the respective positions and speeds of the traffic participants in front and the vehicles to the side and rear. If a collision is calculated to occur at a future time based on the positions and speeds, it is determined that there is a collision risk between the traffic participants in front and the vehicles to the side and rear; otherwise, it is determined that there is no collision risk.

[0049] In practical applications, the positions and speeds of road users ahead and vehicles to the sides and rear can be transmitted to the multimedia host HUT. The HUT can then automatically determine whether there is a risk of collision between road users ahead and vehicles to the sides and rear. The specific determination method is as follows:

[0050] Determining whether there is a collision risk between the road user in front and the vehicle behind based on their respective positions and speeds includes: determining a first distance between the road user in front and the vehicle based on the position of the road user in front; determining a second distance between the vehicle behind and the vehicle behind based on the position of the vehicle behind; calculating a first time required for the road user in front to appear in the driver's field of vision of the vehicle behind based on the first distance and the speed of the road user in front, and calculating a second time required for the vehicle behind to appear in the driver's field of vision of the road user in front based on the second distance and the speed of the vehicle behind; calculating the difference between the first time and the second time, and determining that there is a collision risk between the road user in front and the vehicle behind if the absolute value of the difference is less than a preset time, otherwise determining that there is no collision risk between the road user in front and the vehicle behind.

[0051] The first distance is the distance between the vehicle and the road users in front, which is the lateral distance; the second distance is the distance between the vehicle and the vehicle to the side and rear, which is the longitudinal distance; the preset duration can be set according to the specific situation and is not limited thereto, for example, the preset duration can be 0.5s or 1s.

[0052] The specific calculation method can be as follows: First duration = First distance ÷ Speed ​​of traffic participants, Second duration = Second distance ÷ Speed ​​of vehicles to the side and rear.

[0053] With a preset duration of 0.5s, this embodiment of the invention can calculate the first duration required for the road user in front to appear in the driver's field of vision of the vehicle behind the side based on the first distance and the speed of the road user in front, and calculate the second duration required for the vehicle behind the side to appear in the field of vision of the road user in front based on the second distance and the speed of the vehicle behind the side. If the absolute value of the difference between the first duration and the second duration is less than the preset duration, i.e. less than 0.5s, it is determined that there is a collision risk between the road user in front and the vehicle behind the side. If the preset duration is greater than or equal to 0.5s, it is determined that there is no collision risk between the road user in front and the vehicle behind the side.

[0054] In this embodiment of the invention, before calculating the difference between the first duration and the second duration, the method further includes: obtaining the vehicle width and vehicle length of the vehicle; correcting the first duration based on the vehicle width; and correcting the second duration based on the vehicle length.

[0055] It is understood that the embodiments of the present invention can modify the first duration and the second duration based on the vehicle's width and length to ensure the accuracy of subsequent determination of the collision risk between the traffic participants in front and the vehicles on the side and rear, thereby reducing the possibility of traffic accidents.

[0056] In this embodiment of the invention, determining that there is a collision risk between the traffic participant in front and the vehicle to the side and rear when the absolute value of the difference is less than a preset time period further includes: determining whether the speed of the vehicle to the side and rear is greater than a first preset speed; if the speed of the vehicle to the side and rear is greater than the first preset speed, then determining that there is a collision risk between the traffic participant in front and the vehicle to the side and rear.

[0057] The first preset vehicle speed can be set to 15km / h or 20km / h, without any specific limitation.

[0058] It is understood that in this embodiment of the invention, if the speed of a vehicle to the side and rear is greater than a first preset speed, it is determined that there is a risk of collision between the traffic participant in front and the vehicle to the side and rear, and the vehicle issues a warning.

[0059] In this embodiment of the invention, before obtaining the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear, the method further includes: determining whether the vehicle meets the warning conditions; if the vehicle meets the warning conditions, then obtaining the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear; otherwise, the warning function of the vehicle for the traffic participants in front of the vehicle and the vehicles to the side and rear is not triggered.

[0060] The warning conditions include the vehicle's speed being less than the speed of the vehicle to its side and rear and / or the presence of both a road user in front and a vehicle to its side and rear.

[0061] It is understood that, in this embodiment of the invention, the vehicle's warning function will only be triggered when the vehicle meets the warning conditions; otherwise, it will not be triggered.

[0062] Step S103: If there is a risk of collision between the road user in front and the vehicle to the side and rear, a warning is given to the road user in front through a preset reminder action, and a warning is given to the vehicle to the side and rear by illuminating the area in the vehicle's taillights that is in the same position as the road user in front.

[0063] The preset reminder actions include one or more of the following: sound warning, light warning, and projection warning; the taillights are smart LEDs that can be individually illuminated in any area.

[0064] It is understood that, after determining that there is a risk of collision with the road users in front and the vehicles to the side and rear, the embodiments of the present invention can remind the road users in front by sound, such as honking the horn, and illuminate the area of ​​the vehicle's taillights corresponding to the position of the road users in front, and provide light and projection reminders to the vehicles to the side and rear.

[0065] The vehicle warning method of this invention will be described below through specific embodiments, taking pedestrians as the traffic participants in front, a preset duration of 0.5 seconds, and a first preset vehicle speed of 20 km / h as an example. Figure 2 As shown, it includes the following steps:

[0066] (1) Obtain the speed and position of the pedestrian in front, the speed of the vehicle behind and the distance between the two vehicles through radar, transmit the information to HUT, and calculate the time when the pedestrian appears in the driver's field of vision.

[0067] (2) If the time is less than 0.5 seconds and the speed of the vehicle behind is greater than 20 km / h, a dangerous situation is detected, triggering a vehicle alert. The taillights illuminate the corresponding position of the pedestrian in front and move with the pedestrian's position to warn oncoming vehicles. The vehicle also automatically sounds its horn to alert the pedestrian. If the time is greater than or equal to 0.5 seconds and the speed of the vehicle behind is less than or equal to 20 km / h, the vehicle alert is triggered. The specific implementation diagram of the vehicle alert is shown below. Figure 3 As shown.

[0068] According to the vehicle warning method of the present invention, the relative speed of the road users in front of the vehicle and the vehicles to the side and rear can be identified. If the relative speed of the two is high, the taillights are turned on and the warning is given to the road users. This realizes that the vehicle itself can give warnings to other vehicles and road users to pay attention and avoid the road, thereby reducing the possibility of traffic accidents.

[0069] Furthermore, such as Figure 4 As shown, an embodiment of the present invention also discloses a vehicle warning device 10, which includes: an acquisition module 11, a judgment module 12, and an alert module 13.

[0070] Specifically, such as Figure 4 As shown, the acquisition module 11 is used to acquire the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear; the judgment module 12 is used to judge whether there is a collision risk between the traffic participants in front and the vehicles to the side and rear based on their respective positions and speeds; the reminder module 13 is used to provide a warning to the traffic participants in front by using a preset reminder action if there is a collision risk between the traffic participants in front and the vehicles to the side and rear, and to provide a warning to the vehicles to the side and rear by illuminating the area in the vehicle's through taillights that is in the same position as the traffic participants in front.

[0071] In this embodiment of the invention, the determination module 12 is further configured to: determine a first distance between the front traffic participant and the vehicle based on the position of the front traffic participant; determine a second distance between the side-rear vehicle and the vehicle based on the position of the side-rear vehicle; calculate a first time required for the front traffic participant to appear in the driver's field of vision of the side-rear vehicle based on the first distance and the speed of the front traffic participant, and calculate a second time required for the side-rear vehicle to appear in the field of vision of the front traffic participant based on the second distance and the speed of the side-rear vehicle; calculate the difference between the first time and the second time, and determine that there is a collision risk between the front traffic participant and the side-rear vehicle when the absolute value of the difference is less than a preset time, otherwise determine that there is no collision risk between the front traffic participant and the side-rear vehicle.

[0072] In this embodiment of the invention, the device 10 further includes a correction module.

[0073] The correction module is used to obtain the vehicle width and length before calculating the difference between the first duration and the second duration; correct the first duration based on the vehicle width; and correct the second duration based on the vehicle length.

[0074] In this embodiment of the invention, the determination module 12 is further configured to: determine whether the speed of the vehicle behind the side is greater than the first preset speed; if the speed of the vehicle behind the side is greater than the first preset speed, then determine that there is a collision risk between the traffic participant in front and the vehicle behind the side.

[0075] In this embodiment of the invention, the device 10 further includes a first determination module.

[0076] The first judgment module is used to determine whether the vehicle meets the warning conditions before acquiring the positions and speeds of the traffic participants in front of the vehicle and the vehicles to the side and rear. If the vehicle meets the warning conditions, the position and speed of the traffic participants in front of the vehicle and the vehicles to the side and rear are acquired; otherwise, the warning function of the vehicle for the traffic participants in front of the vehicle and the vehicles to the side and rear is not triggered.

[0077] In this embodiment of the invention, the warning conditions include the vehicle's speed being less than the speed of the vehicle to its side and rear and / or the simultaneous presence of a traffic participant in front and a vehicle to its side and rear.

[0078] It should be noted that the specific implementation of the vehicle warning device in this embodiment of the invention is similar to the specific implementation of the vehicle warning method, and will not be described in detail here in order to reduce redundancy.

[0079] According to the vehicle warning device of the present invention, the vehicle can identify the relative speed of traffic participants in front of the vehicle and vehicles to the side and rear. If the relative speed of the two is high, the taillights are illuminated and a warning is issued to traffic participants. This realizes that the vehicle itself can warn other vehicles and traffic participants to pay attention and avoid the accident, thereby reducing the occurrence of traffic accidents caused by blind spots.

[0080] Furthermore, such as Figure 5 As shown, an embodiment of the present invention discloses a vehicle warning system 20, including: a warning device 21, a through taillight 22, a detection device 23, and a processor 24.

[0081] Specifically, such as Figure 5 As shown, the detection device 23 is used to detect the position and speed of the traffic participants in front and the vehicles to the side and rear; the processor 24 is used to determine whether there is a collision risk between the traffic participants in front and the vehicles to the side and rear based on their respective positions and speeds; if there is a collision risk between the traffic participants in front and the vehicles to the side and rear, the processor controls the warning device to perform a preset warning action to warn the traffic participants in front and to warn the vehicles to the side and rear by illuminating the area in the taillight that is in the same position as the traffic participants in front.

[0082] The taillights can be illuminated individually in any area; the detection device can be an image acquisition device and a radar sensor, such as an in-vehicle camera and lidar or millimeter-wave radar.

[0083] It is understood that in this embodiment of the invention, the detection device is used to detect the position and speed of the traffic participants in front and the vehicles to the side and rear. The processor is used to calculate whether there is a collision risk between the traffic participants in front and the vehicles to the side and rear based on the position and speed detected by the detection device. If there is a collision risk, the control and warning device is used to warn the traffic participants in front and the vehicles to the side and rear. The device can sound a horn to warn the traffic participants in front and warn the vehicles to the side and rear by illuminating the area of ​​the taillight that is in the same position as the traffic participants in front.

[0084] It should be noted that the specific implementation of the vehicle warning system in this embodiment of the invention is similar to the specific implementation of the vehicle warning method, and will not be described in detail here in order to reduce redundancy.

[0085] According to the vehicle warning system of the present invention, the vehicle detection device can detect the position and speed of traffic participants in front of the vehicle and vehicles to the side and rear. After calculation by the processor, it can determine whether there is a risk of collision between the traffic participants in front and the vehicles to the side and rear. If there is, the vehicle will issue a warning, thereby avoiding traffic accidents to a certain extent and reducing the possibility of traffic accidents.

[0086] Furthermore, embodiments of the present invention disclose a vehicle equipped with the vehicle warning system described in the above embodiments. Because of this system, the vehicle can provide early warnings to road users ahead and vehicles to the side and rear, reducing the probability of traffic accidents.

[0087] Furthermore, embodiments of the present invention disclose a computer-readable storage medium storing a computer program that is executed by a processor to implement the vehicle warning method described in the above embodiments.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle early warning method, characterized in that, Includes the following steps: Obtain the position and speed of traffic participants in front of the vehicle and vehicles to its side and rear; Determining whether there is a collision risk between the front traffic participant and the side-rear vehicle based on their respective positions and speeds includes: determining a first distance between the front traffic participant and the vehicle based on the position of the front traffic participant, wherein the first distance is a lateral distance; The second distance between the vehicle on the side and rear is determined based on the position of the vehicle on the side and rear, and the second distance is a longitudinal distance; The first duration required for the traffic participant in front to appear in the driver's field of vision of the vehicle behind the side is calculated based on the first distance and the speed of the traffic participant in front, and the second duration required for the vehicle behind the side to appear in the field of vision of the traffic participant in front is calculated based on the second distance and the speed of the vehicle behind the side. Calculate the difference between the first duration and the second duration. If the absolute value of the difference is less than a preset duration, it is determined that there is a collision risk between the traffic participant in front and the vehicle to the side and rear. Otherwise, it is determined that there is no collision risk between the traffic participant in front and the vehicle to the side and rear. If there is a risk of collision between the road user in front and the vehicle to the side and rear, a pre-set warning action is used to warn the road user in front, and the vehicle to the side and rear is warned by illuminating the area of ​​the vehicle's taillights that is in the same position as the road user in front. The area of ​​the taillights that is in the same position as the road user in front moves with the position of the road user in front.

2. The vehicle early warning method according to claim 1, characterized in that, Before calculating the difference between the first duration and the second duration, the method further includes: Get the width and length of this vehicle; The first duration is adjusted based on the vehicle width, and the second duration is adjusted based on the vehicle length.

3. The vehicle early warning method according to claim 1, characterized in that, The step of determining a collision risk between the traffic participant in front and the vehicle to the side and rear when the absolute value of the difference is less than a preset time period also includes: Determine whether the speed of the vehicle behind the side is greater than a first preset speed; If the speed of the vehicle behind the vehicle is greater than the first preset speed, it is determined that there is a risk of collision between the traffic participant in front and the vehicle behind the vehicle.

4. The vehicle early warning method according to claim 1, characterized in that, Before obtaining the positions and speeds of traffic participants in front of and vehicles to the sides and rear of the vehicle, the following is also included: Determine whether the vehicle meets the warning conditions; If the vehicle meets the warning conditions, it acquires the position and speed of the road users in front of it and the vehicles to its side and rear; otherwise, it does not trigger the warning function of the vehicle for the road users in front of it and the vehicles to its side and rear.

5. The vehicle early warning method according to claim 4, characterized in that, The warning conditions include the vehicle's speed being less than the speed of the vehicle to its side and / or the presence of both the road user in front and ...

6. A vehicle warning device, characterized in that, For implementing the vehicle warning method as described in any one of claims 1-5, the apparatus comprises: The acquisition module is used to acquire the position and speed of traffic participants in front of the vehicle and vehicles to the side and rear. The judgment module is used to determine whether there is a risk of collision between the traffic participants in front and the vehicles to the side and rear based on their respective positions and speeds. The warning module is used to issue a warning to the road user in front and the vehicle behind and to the side if there is a risk of collision between the road user in front and the vehicle behind and to the side and to ...

7. A vehicle early warning system, characterized in that, For implementing the vehicle warning method as described in any one of claims 1-5, the system comprises: The device includes a warning device and a continuous taillight, wherein the continuous taillight can be individually illuminated in any area. The detection device is used to detect the position and speed of traffic participants in front and vehicles to the side and rear. The processor is configured to determine whether there is a collision risk between the traffic participant in front and the vehicle to the side and rear based on their respective positions and speeds; if there is a collision risk between the traffic participant in front and the vehicle to the side and rear, the processor controls the warning device to perform a preset warning action to warn the traffic participant in front and to warn the vehicle to the side and rear by illuminating the area in the through taillight that is at the same position as the traffic participant in front.

8. A vehicle, characterized in that, Including the vehicle warning system as described in claim 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle warning method as described in any one of claims 1-5.

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