Warning system and warning method for outside rear-view mirror for guiding running route of front wheels of automobile

Abstract

The invention relates to the technical field of automobile auxiliary driving, and discloses an outside rear-view mirror warning system and warning method for guiding an automobile front wheel driving route, the system comprises an image sensor, an image processor and a display screen, two cameras are arranged on an outside rear-view mirror opposite to an automobile driving position, and the two cameras are arranged on the display screen; the front side and the right lower side of the automobile on the side where the outside rear-view mirror is located; the image processor preprocesses collected images through the image preprocessing module, the machine learning module recognizes obstacles and road marking lines, and the guide line generation module generates automobile front wheel guide lines according to the obstacles, the road marking lines and steering wheel angle change information and displays the automobile front wheel guide lines in real-time images of the displayer to assist a driver in operating the automobile. And warning information is sent to a driver through judgment of the safety warning system. By displaying the guide line of the front wheel, a driver accurately controls the driving path of the front wheel of the vehicle, the situation that the direction or position is adjusted repeatedly in the parking process is avoided, and the parking efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assisted driving, and in particular to an exterior rearview mirror warning system and a warning method for guiding a driving route of a front wheel of an automobile. Background Art

[0002] The exterior rearview mirrors of cars are mainly used to provide the driver with a view of the vehicle behind him, blind spot monitoring, reversing assistance and vehicle safety management. In daily driving, especially in complex urban environments, parallel parking is a common and challenging operation. Since the front wheel driving path is difficult to observe directly, and there is an A-pillar blind spot in the driver's field of vision, many drivers find it difficult to accurately judge the distance between the front wheel and the curb or obstacles when parking sideways, resulting in the following technical problems and potential risks:

[0003] 1. Vision limitation caused by the blind spot of the A-pillar

[0004] The A-pillar is a structural support column located at the front of the vehicle. When turning or parking, the A-pillar will block part of the driver's field of vision, especially the area in front of the side. This blind spot may cause the driver to be unable to accurately judge the driving path of the front wheels. The A-pillar blind spot not only affects the judgment of the distance between the vehicle and the curb, but may also cause the driver to be unable to see approaching obstacles or pedestrians in time, increasing the potential risk of collision.

[0005] 2. The front wheel’s driving path is difficult to observe

[0006] When driving at low speed or parking, the driver cannot directly see the driving path of the front wheels, especially when parking sideways, it is difficult to accurately judge the proximity and angle between the front wheels and the curb. If the front wheels are too close to the curb, the wheels may run over the curb or scratch the tires, and even cause damage to the vehicle's suspension system.

[0007] 3. Parallel parking requires high precision

[0008] Parallel parking requires the driver to have high precision and spatial perception. Especially in narrow parking spaces or on the edge of the road, the driver must not only avoid rear wheel collisions, but also pay special attention to the angle and distance control of the front wheels. Traditional exterior rearview mirrors can only provide a limited rear view, which makes it difficult for the driver to determine the precise driving route of the front wheels. Therefore, when parking parallel, the driver often needs to adjust the position and direction of the vehicle multiple times, which increases the complexity and time of the operation.

[0009] 4. Potential risk of running over curbs or obstacles

[0010] Rolling over the curb is a common problem when parking sideways, especially when the driver cannot accurately judge the position of the front wheels, which can easily cause the wheels to contact the curb. This may not only cause damage to the tires and wheels, but also cause the vehicle to lose partial control, especially on high curbs or slippery roads, and there is a risk of the vehicle deviating from control.

[0011] 5. Collision risk at low speed

[0012] During parallel parking, the front wheels may contact obstacles in the parking space, such as the rear bumper of another vehicle or a protruding curb. Since the driving path of the front wheels is difficult to observe directly through the line of sight, the driver often misjudges the distance of obstacles when operating at low speeds, increasing the risk of collision. In addition, if the front wheels collide with obstacles, it may also cause more serious mechanical failures or damage to the appearance of the vehicle.

[0013] The existing Chinese patent document with publication number CN204978412U provides a side parking assistance system for a car, including: a camera arranged below the car's exterior rearview mirror, for photographing scenes on the left and right sides of the car; an image processor connected to the camera, for processing the image signal photographed by the camera; a display screen arranged on the inner side of the car's A-pillar, connected to the image processor, for displaying scenes on the left and right sides of the car to the driver.

[0014] The defect of this prior art is that it only provides dual-camera monitoring, and cannot provide auxiliary guidance for the driver in the car when driving, and cannot better assist the driver in the next step of vehicle control operations. At the same time, when driving forward and parking in the forward side position, the exterior rearview mirror does not include a safety warning system that can provide sufficient information to ensure that there is a road curb on the side, especially when driving forward sideways and parking, it is easy to roll over the road curb and other unsafe situations. Summary of the invention

[0015] In order to overcome or alleviate one or more of the above technical problems, the purpose of the present invention is to provide an exterior rearview mirror warning system and warning method for guiding the driving route of the front wheels of a car. Through an image processor and a display screen, the guiding line of the driving route of the front wheels of the car is calculated and displayed, which effectively improves the driver's road perception ability and reduces the blind spot range of the A-pillar field of vision, helping to avoid collisions and unsafe driving behaviors. When parking sideways, the guiding line can accurately guide the driver's car's front wheel driving path to avoid rolling over road curbs and other obstacles. It provides a variety of guidance modes and warning functions to improve driving safety and convenience.

[0016] The present invention provides the following technical solutions:

[0017] In the first aspect, the present invention provides an exterior rearview mirror warning system for guiding the driving route of the front wheels of a car, comprising an image sensor, an image processor and a display screen, wherein the image sensor comprises two cameras, which are arranged on the exterior rearview mirror opposite to the driving seat of the car, facing the front side and directly below the side of the car where the exterior rearview mirror is located, respectively, and the images of the two cameras are connected or crossed; the image processor comprises an image preprocessing module, a machine learning module, a guide line generation module and a safety warning system; the collected image is preprocessed by the image preprocessing module, the machine learning module identifies obstacles and road markings, and the guide line generation module generates a guide line for the front wheels of the car according to obstacles, road markings and steering wheel angle change information and displays it in the real-time image of the display screen to assist the driver in operating the vehicle, and when the safety warning system determines that there is a potential obstacle collision risk or the distance of rolling over the curb exceeds a preset safety distance threshold, it is determined that there is a potential risk and a warning message is sent to the driver.

[0018] According to some embodiments, the image preprocessing module optimizes the quality of the original image by denoising, white balance adjustment, brightness / contrast enhancement and distortion correction.

[0019] According to some embodiments, the machine learning and deep learning module uses a convolutional neural network (CNN) training model to identify road markings and obstacles based on the images processed by the image preprocessing module.

[0020] According to some implementation schemes, the guide line generation module is used for vehicle model construction, path prediction and guide line generation, dynamic correction and adaptation, specifically:

[0021] Vehicle model construction is to build a mathematical model that includes vehicle size, turning radius, and front wheel position information to assist in real-time calculation of the vehicle's front wheel trajectory;

[0022] Path prediction and guide line generation are based on the parameters of the vehicle's current speed, steering angle, and steering wheel position. The Kalman filter algorithm or Bezier curve algorithm is used to predict the movement trajectory of the front wheel and generate dynamic guide lines in the image. Analyze the minimum edge distance between the vehicle body and the curb or obstacle: Calculate the minimum edge distance between each part of the vehicle body and the obstacle or curb through the vehicle model.

[0023] Dynamic correction and adaptation is to dynamically adjust the position and curvature of the virtual guide line based on the real-time image information obtained by the camera and the road markings and obstacles identified by the machine learning and deep learning modules, so that it can reflect the changes in the vehicle's driving status in real time and help the driver accurately judge the driving path.

[0024] According to some embodiments, the display screen is an interactive display screen, which includes a user control module for allowing the driver to select different guidance modes, including route projection, distance measurement and dynamic guide lines, and set warning trigger parameters of distance or dynamic guide line style as needed. The user control module is embedded in the display screen or other embedded automobile devices for interaction.

[0025] On the other hand, the present invention provides a warning method of the above-mentioned exterior rearview mirror warning system for guiding the driving route of the front wheels of the automobile, characterized in that it comprises the following steps:

[0026] S1: Image information acquisition, when the driver shifts into the forward gear and the vehicle speed is low, the camera starts to capture the real-time image of the outer side of the front wheel;

[0027] S2: Image information transmission, the analog or digital image signal collected by the camera is transmitted to the image processor through a wiring harness;

[0028] S3: Image information processing, image preprocessing, machine learning, guide line generation and safety warning are performed in sequence; the collected image is preprocessed by the image preprocessing module, the machine learning module identifies obstacles and road markings, and the guide line generation module generates guide lines according to obstacles, road markings and steering wheel angle change information and displays them in the real-time image of the display screen to assist the driver in operating the vehicle. When the safety warning system calculates the potential obstacle collision risk or the distance of rolling over the curb exceeds the preset safety distance threshold, it is determined that there is a potential risk and a warning message is sent to the driver;

[0029] S4: Image information display, the processed guide line is presented in real time through the display screen, helping the driver to observe the situation outside the front wheel more clearly; the image information is displayed on the display screen, and fisheye correction is performed at the same time; the image distortion caused by the wide-angle lens is corrected by fisheye correction to make the picture look more natural; the guide line generation module calculates according to the change information of the steering wheel angle collected in the image and displays the dynamic guide line on the display screen to help the driver estimate the driving path of the front wheel;

[0030] S5: Distance determination: the safety warning system determines whether the distance between the vehicle body and the obstacle is less than the set safety distance threshold. If so, the process proceeds to S6; otherwise, the process returns to S7;

[0031] S6: Sending a warning message, sending a warning message to the display screen and / or the sound module, and the display screen and / or the sound module displays or sends the warning message;

[0032] S7: The warning ends, and the process returns to S1 until the exterior rearview mirror warning system guiding the driving route of the front wheels of the vehicle is closed.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The invention provides an exterior rearview mirror warning system and a warning method for guiding the driving route of the front wheels of an automobile. The warning system effectively improves the safety and accuracy of the automobile driving process and side parking, as follows:

[0035] 1. Compensation for blind spots: The real-time image collected by the camera installed on the driver's seat opposite the exterior rearview mirror is transmitted to the display screen for real-time display. It can display the driving path and environmental information of the front wheels in real time, helping the driver to obtain accurate front wheel position information within the A-pillar blind spot and reduce safety hazards caused by blind spots.

[0036] 2. Real-time guidance of the front wheel driving route: Based on sensor data and vehicle driving status, the image processor calculates and displays the guide lines for guiding the front wheel's driving path on the display screen in real time, guiding the driver to accurately control the vehicle's driving direction to avoid rolling over curbs or colliding with obstacles.

[0037] 3. Safety warning system: This system integrates collision and curb-running warning functions. When the sensor detects that the front wheel is about to contact an obstacle or curb, it will issue an audible and visual alarm to prompt the driver to adjust the driving path in time to avoid accidents.

[0038] 4. Improved parking accuracy: Through the guide line display of the car's front wheels, the driver can control the driving path of the vehicle's front wheels more accurately, avoiding multiple adjustments to the direction or position during parking, and improving parking efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of a virtual guide line for a car provided in an embodiment of the present invention.

[0040] Figure 2 A schematic structural diagram of an exterior rearview mirror warning system for guiding the driving route of the front wheels of a vehicle provided in an embodiment of the present invention.

[0041] Figure 3 A flow chart of a warning method of an exterior rearview mirror warning system for guiding the driving route of the front wheels of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with the embodiments and drawings, but it should be understood that the embodiments and drawings are only used to exemplify the present invention and do not constitute any limitation on the protection scope of the present invention. All reasonable changes and combinations within the scope of the inventive concept of the present invention fall within the protection scope of the present invention.

[0043] The present invention discloses an exterior rearview mirror warning system for guiding the driving route of the front wheels of a car, which has the following characteristics:

[0044] Function of generating virtual guidance route for the front wheels of the car: The exterior rearview mirror has a built-in high-resolution camera and image processing unit, which can capture the road conditions ahead in real time and project the virtual route information of the front wheels onto the display screen visible to the driver, such as Figure 1 Display information on the display.

[0045] Real-time route updates: The route guidance function of the exterior mirror displays guide lines on a map that is updated in real time, and also makes dynamic adjustments based on the actual driving route of the front wheels.

[0046] Multiple Guidance Modes: Drivers can choose from different guidance modes, including route projection, distance measurement and dynamic guide lines, to meet different driving and parking needs.

[0047] Safety Warning: The system also has a safety warning function. When a potential risk of collision or rolling over a road curb is detected, an alarm will be issued to remind the driver to take appropriate action.

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] Example 1

[0050] like Figure 2 The present embodiment provides an exterior rearview mirror warning system for guiding the driving route of the front wheels of a car, which includes an image sensor, an image processor and a display screen. The image sensor includes two cameras. When the driver's seat is on the left, the two cameras are set on the right exterior rearview mirror, facing the front side and directly below the car on the side where the exterior rearview mirror is located, and the images of the two cameras are crossed. When the driver's seat is on the right, the two cameras are set on the left exterior rearview mirror; the image processor is used to process the images collected by the camera, and calculate and generate a virtual front wheel guide line based on the collected images. The image processor includes a safety warning system, which is used to determine whether there is a potential collision risk or the probability of rolling over the curb, and assist the driver in operating the vehicle. When the image processor calculates that the collision risk is high, an alarm message is displayed on the display screen or an alarm sound is emitted. The image processor may also optionally include a user control module to allow the driver to select different guidance modes, including route projection, distance measurement, and dynamic guide lines, and set warning trigger parameters such as distance or dynamic guide line style as needed, thereby triggering the sending of warning information. The user control module is embedded in the display screen or other embedded automotive devices for interaction, and the display screen may be an interactive display screen.

[0051] Specifically,

[0052] Image sensor location: A groove or bracket is designed on the inside or bottom of the exterior mirror base to accommodate the image sensor. This location needs to be as close to the front of the car and the outermost side of the exterior mirror as possible to better capture the motion image of the outer side of the car's front wheels.

[0053] Image sensor type: A high-resolution camera sensor with low-light performance is used to ensure that the outside of the front wheels of the car can be effectively captured in all lighting conditions. In addition, dust-resistant encapsulation can be added to protect the sensor from dust and dirt.

[0054] Image sensor fixing: Fix the image sensor in a groove or bracket with an adjustable support structure to allow fine-tuning when necessary. Ensure the stability of the sensor to avoid vibration and shock that may affect image quality.

[0055] Protective cover: Install a transparent protective cover in front of the sensor to prevent dust, water droplets and physical damage. This can effectively reduce the impact of the external environment on the sensor.

[0056] Connecting cable: Connects the sensor to the vehicle's electronic system to transmit image data and control signals. The cable can be routed along the exterior mirror arm or base into the vehicle interior to reduce external exposure.

[0057] Display: In the car, the display screen is installed on the dashboard or in the navigation system to show the driving route of the front wheels of the car. The image processor transmits the processed image data to the display screen.

[0058] User control module: Provides a user interface to allow the driver to select different guidance modes (such as route projection, distance measurement and dynamic guide lines) and set the distance or dynamic guide line style as needed to trigger the safety warning system. This user interface can be implemented through buttons or touch screens on the vehicle dashboard.

[0059] Virtual guide line display: The virtual guide front wheel driving route is displayed in real time on the display screen, prompting the driver through visual effects such as color, shape, and transparency.

[0060] Multi-mode switching function: allows the driver to select different display modes, such as normal mode, high-brightness mode, night mode, etc., to adapt to driving needs in different lighting conditions and environments. Or display in the form of route projection, distance measurement and dynamic guide lines.

[0061] Image processor: includes image preprocessing module, machine learning module, guide line generation module and safety warning system, which is used to process the image data captured by the image sensor. Specifically:

[0062] Image preprocessing module is used for denoising, white balance adjustment, brightness / contrast enhancement and distortion correction to optimize the quality of the original image and lay the foundation for subsequent image analysis. Distortion correction is a real-time correction of the optical distortion of different camera lenses (such as fisheye correction, barrel distortion, pincushion distortion) to ensure that the objects and road contours in the image are not distorted.

[0063] The machine learning module uses deep neural networks (such as convolutional neural networks (CNN)) to train models to identify important information such as road markings and obstacles.

[0064] The guideline generation module is used for vehicle model construction, path prediction and guideline generation, dynamic correction and adaptation, as follows:

[0065] Vehicle model construction: A mathematical model containing information such as vehicle size, turning radius, and front wheel position is stored inside the image processor to calculate the driving trajectory of the vehicle's front wheels in real time.

[0066] Path prediction and guide line generation: Based on the vehicle's current speed, steering angle, steering wheel position and other parameters, the Kalman filter algorithm or Bezier curve algorithm is used to predict the movement trajectory of the front wheel and generate dynamic guide lines in the image. Analysis of the minimum edge distance between the vehicle body and the curb or obstacle: Through the vehicle model, the minimum edge distance between each part of the vehicle body (such as the front bumper, side, wheel) and the obstacle or curb is calculated.

[0067] Dynamic correction and adaptation: Based on the real-time image information obtained by the camera, the position and curvature of the virtual guide line are dynamically adjusted so that it can reflect changes in the vehicle's driving status in real time and help the driver accurately judge the driving path.

[0068] Safety warning system: To ensure driving safety, a safety warning system is integrated into the image processor. It determines the potential risk of collision or curb rolling based on the sensor data detection signal after image processing. When the safety warning system determines that the risk of collision or rolling is higher than the threshold, it sends an alarm or warning message to the driver, reminding the driver to take corresponding actions in the form of sound or image.

[0069] This embodiment fully considers the safety and stability of the device function, ensuring that the image sensor is not easily affected by the external environment or collision. At the same time, a user-friendly interface and safety warning system are provided to improve the safety and convenience of driving.

[0070] like Figure 3 This embodiment also provides a warning method for an exterior rearview mirror warning system for guiding the driving route of the front wheels of a vehicle, comprising the following steps:

[0071] S1: Image information collection. When the driver shifts into the forward gear (D gear) and the vehicle speed is slow (such as 30km / h), the imaging system is automatically activated and the camera starts to capture the real-time image of the outer side of the front wheel.

[0072] S2: Image signal transmission: the analog or digital image signal collected by the camera is transmitted to the image processor through the wiring harness.

[0073] S3: Image information processing,

[0074] The steps include image preprocessing, machine learning, guide line generation and safety warning. The collected images are preprocessed by the image preprocessing module, the machine learning module identifies obstacles and road markings, and the guide line generation module generates guide lines according to obstacles, road markings and steering wheel angle change information and displays them in the real-time image of the display screen to assist the driver in operating the vehicle. When the safety warning system determines that there is a potential obstacle collision risk or the distance of rolling over the curb exceeds a preset safety distance threshold, it is determined that there is a potential risk and a warning message is sent to the driver.

[0075] S4: Image information display, the processed guide line is presented in real time through the display screen, helping the driver to observe the situation outside the front wheel more clearly; the image information is displayed on the display screen, and fisheye correction is performed at the same time; the image distortion caused by the wide-angle lens is corrected by fisheye correction to make the picture look more natural; the guide line generation module calculates according to the change information of the steering wheel angle collected in the image and displays the dynamic guide line on the display screen to help the driver estimate the driving path of the front wheel; dynamic guide line: the guide line is displayed on the screen according to the change of the steering wheel angle to help the driver estimate the driving path of the front wheel.

[0076] Fisheye Correction: Corrects image distortion caused by wide-angle lenses to make the picture look more natural.

[0077] S5: Distance determination: the safety warning system determines whether the distance between the vehicle body and the obstacle is less than the set safety distance threshold. If so, the process proceeds to S6; otherwise, the process returns to S7;

[0078] S6: Sending a warning message, sending a warning message to the display screen and / or the sound module, and the display screen and / or the sound module displays or sends the warning message;

[0079] S7: The warning ends, and the process returns to S1 until the exterior rearview mirror warning system guiding the driving route of the front wheels of the vehicle is closed.

[0080] The above embodiments are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A rearview mirror warning system for guiding the driving route of the front wheels of a car, comprising an image sensor, an image processor and a display screen, characterized in that: The image sensor includes two cameras, which are arranged on the outside rearview mirror opposite the driving seat of the car, facing the front side and directly below the car on the side where the outside rearview mirror is located, respectively, and the images of the two cameras are connected or crossed; the image processor includes an image preprocessing module, a machine learning module, a guide line generation module and a safety warning system; the collected images are preprocessed by the image preprocessing module, the machine learning module identifies obstacles and road markings, and the guide line generation module generates a guide line for the front wheels of the car according to obstacles, road markings and steering wheel angle change information and displays it in the real-time image of the display screen to assist the driver in operating the vehicle. When the safety warning system determines that there is a potential obstacle collision risk or the distance of rolling over the curb exceeds a preset safety distance threshold, it is determined that there is a potential risk and a warning message is sent to the driver.

2. The rearview mirror warning system for guiding the driving route of the front wheels of a vehicle according to claim 1, characterized in that: The image preprocessing module optimizes the quality of the original image through denoising, white balance adjustment, brightness / contrast enhancement and distortion correction.

3. The rearview mirror warning system for guiding the driving route of the front wheels of a vehicle according to claim 2 is characterized in that: The machine learning and deep learning module uses a convolutional neural network (CNN) training model to identify road markings and obstacles based on the images processed by the image preprocessing module.

4. The rearview mirror warning system for guiding the driving route of the front wheels of a vehicle according to claim 3 is characterized in that: The guide line generation module is used for vehicle model construction, path prediction and guide line generation, dynamic correction and adaptation, specifically: Vehicle model construction is to build a mathematical model that includes vehicle size, turning radius, and front wheel position information to assist in real-time calculation of the vehicle's front wheel trajectory; Path prediction and guide line generation are based on the vehicle's current speed, steering angle, and steering wheel position parameters. Through the Kalman filter algorithm or Bezier curve algorithm, the motion trajectory of the front wheel is predicted and a dynamic guide line is generated in the image. Analyze the minimum edge distance between the vehicle body and the curb or obstacle: Calculate the minimum edge distance between each part of the vehicle body and the obstacle or curb through the vehicle model; Dynamic correction and adaptation is to dynamically adjust the position and curvature of the virtual guide line based on the real-time image information obtained by the camera and the road markings and obstacles identified by the machine learning and deep learning modules, so that it can reflect the changes in the vehicle's driving status in real time and help the driver accurately judge the driving path.

5. The rearview mirror warning system for guiding the driving route of the front wheels of a vehicle according to claim 4 is characterized in that: The display screen is an interactive display screen, which includes a user control module for allowing the driver to select different guidance modes, including route projection, distance measurement and dynamic guide lines, and set warning trigger parameters of distance or dynamic guide line style as needed. The user control module is embedded in the display screen or other embedded automobile devices for interaction.

6. A warning method for the exterior rearview mirror warning system for guiding the driving route of the front wheels of a vehicle according to claim 1, characterized in that: The following steps are involved: S1: Image information acquisition, when the driver shifts into the forward gear and the vehicle speed is low, the camera starts to capture the real-time image of the outer side of the front wheel; S2: Image information transmission, the analog or digital image signal collected by the camera is transmitted to the image processor through a wiring harness; S3: Image information processing, image preprocessing, machine learning, guide line generation and safety warning are performed in sequence; the collected image is preprocessed by the image preprocessing module, the machine learning module identifies obstacles and road markings, and the guide line generation module generates guide lines according to obstacles, road markings and steering wheel angle change information and displays them in the real-time image of the display screen to assist the driver in operating the vehicle. When the safety warning system calculates the potential obstacle collision risk or the distance of rolling over the curb exceeds the preset safety distance threshold, it is determined that there is a potential risk and a warning message is sent to the driver; S4: Image information display, the processed guide line is presented in real time through the display screen, helping the driver to observe the situation outside the front wheel more clearly; the image information is displayed on the display screen, and fisheye correction is performed at the same time; the image distortion caused by the wide-angle lens is corrected by fisheye correction to make the picture look more natural; the guide line generation module calculates according to the change information of the steering wheel angle collected in the image and displays the dynamic guide line on the display screen to help the driver estimate the driving path of the front wheel; S5: Distance determination: the safety warning system determines whether the distance between the vehicle body and the obstacle is less than the set safety distance threshold. If so, the process proceeds to S6; otherwise, the process returns to S7; S6: Sending a warning message, sending a warning message to the display screen and / or the sound module, and the display screen and / or the sound module displays or sends the warning message; S7: The warning ends, and the process returns to S1 until the exterior rearview mirror warning system guiding the driving route of the front wheels of the vehicle is closed.

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