A hybrid vehicle joint control driving safety warning method and system

Abstract

The present invention relates to the field of intelligent transportation technology, and in particular to a hybrid vehicle joint control driving safety warning method and system, the system includes a data acquisition module for collecting the current vehicle operation data and road condition information, a data processing module for determining the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, thereby determining whether the current vehicle speed meets the standard, if not, calculating the current vehicle driving safety index according to the vehicle operation data; a warning analysis module, including a first analysis unit and a second analysis unit; the first analysis unit is used to determine whether the current driving state is safe, if not, a secondary determination is made on whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground, and the second analysis unit is used to re-determine whether the current driving state is safe according to the speed of the preceding vehicle, and a warning release module is used to issue a warning prompt. The present invention improves the accuracy of warning.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a hybrid vehicle joint control driving safety warning method and system. Background Art

[0002] In today's automobile market, hybrid vehicles are gaining more and more attention from consumers. With the acceleration of urbanization and the increase in the number of cars, frequent traffic accidents have become a problem that needs to be solved urgently.

[0003] Chinese Patent Publication No.: CN117341715B discloses a vehicle driving safety warning method based on joint self-inspection, including a safety warning system entering a working state, a school bus receiving a vehicle use request from a monitoring platform, reading account preset information, and evaluating the driver's current fatigue level based on the collected physiological data and the driver's facial video image. When the driver's fatigue level is awake, the vehicle equipment self-inspection test is started, and the vehicle safety equipment and the vehicle braking equipment are self-inspected respectively to obtain the self-inspection results of the vehicle safety equipment and the vehicle braking equipment, and the self-inspection results of the vehicle safety equipment and the vehicle braking equipment are integrated for decision making to obtain the comprehensive self-inspection results of the vehicle equipment; the monitoring platform outputs control instructions according to the comprehensive self-inspection results of the vehicle equipment, and records and saves fault warning information.

[0004] However, most of the existing traffic accident warning systems rely on a single monitoring method, such as video surveillance or radar speed measurement, and lack comprehensive analysis and in-depth mining of traffic data, resulting in the need to improve the accuracy and timeliness of warnings. Therefore, there is an urgent need for a traffic accident warning system that can comprehensively, real-time, and intelligently analyze traffic data and accurately warn. By monitoring traffic data in real time, analyzing potential risks, and issuing warnings to relevant traffic participants, road traffic safety and traffic efficiency can be improved. Summary of the invention

[0005] To this end, the present invention provides a hybrid vehicle joint control driving safety warning method and system to overcome the problem of insufficient accuracy and timeliness of warning in the prior art.

[0006] To achieve the above objectives, on the one hand, the present invention provides a hybrid vehicle joint control driving safety warning system, comprising:

[0007] The data acquisition module collects the current vehicle operation data and road condition information in real time through the vehicle-mounted sensors; the operation data includes vehicle speed, distance to the vehicle ahead, braking force and adhesion coefficient between the wheels and the ground; the road condition information includes the types of moving objects, as well as the number, moving speed and moving direction of each moving object; the types of moving objects include motor vehicles, non-motor vehicles and pedestrians;

[0008] A data processing module, which is connected to the data acquisition module, is used to determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the vehicle operation data, and modify the driving safety index according to the safety of the current road section;

[0009] An early warning analysis module, which is connected to the data processing module and includes a first analysis unit and a second analysis unit connected to each other;

[0010] The first analysis unit is used to determine whether the current driving state is safe according to the driving safety index, and if not, to make a secondary determination of whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground, and transmit the determination result of whether the current driving state is safe to the early warning release module;

[0011] The second analysis unit is used to re-determine whether the current driving state is safe according to the speed of the preceding vehicle, and transmit the determination result of whether the current driving state is safe to the warning issuing module;

[0012] The warning issuing module is connected to the warning analyzing module and is used to issue warnings according to the instructions of the first analyzing unit and the second analyzing unit.

[0013] Furthermore, the time complexity is the sum of the product of the number of various moving objects in the collected road condition information and their proportions.

[0014] Furthermore, the data processing module draws a vector diagram according to the speed and direction of the moving object in the collected road condition information, wherein the speed of a single moving object is the magnitude of the corresponding vector, and the moving direction of the moving object is the direction of the corresponding vector;

[0015] The space complexity is the product of the number of directions of the vectors and the mean of the absolute values ​​of the vectors.

[0016] Furthermore, the road condition complexity equivalent is calculated based on the time complexity and the space complexity.

[0017] Furthermore, the data processing module determines whether the current vehicle speed meets the standard based on the road condition complexity equivalent, and controls the warning issuance module to issue a warning when the current vehicle speed does not meet the standard, and calculates the driving safety index of the current vehicle based on the vehicle's operating data.

[0018] Furthermore, the data processing module modifies the driving safety index according to the safety of the current road section;

[0019] If the current road section is an accident-prone section, the data processing module corrects the driving safety index.

[0020] Further, the first analysis unit determines whether the current driving state is safe according to a comparison result between the driving safety index and a preset driving safety comparison number;

[0021] Wherein, if the driving safety index is greater than or equal to a preset second driving safety comparison number, the first analysis unit determines that the current driving state is safe;

[0022] If the driving safety index is greater than or equal to a preset first driving safety comparison number and less than the second driving safety comparison number, the first analysis unit performs a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground;

[0023] If the driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning.

[0024] Further, the first analysis unit obtains the adhesion coefficient between the wheel and the ground, and selects a corresponding correction index according to the adhesion coefficient between the wheel and the ground to correct the driving safety index, and performs a secondary determination on whether the current driving state is safe according to a comparison result between the corrected driving safety index and the second driving safety comparison number;

[0025] Wherein, if the corrected driving safety index is greater than or equal to the second driving safety comparison number, the first analysis unit determines that the current driving state is safe;

[0026] If the corrected driving safety index is greater than or equal to the first driving safety comparison number and less than the second driving safety comparison number, the second analysis unit re-determines whether the current driving state is safe according to the speed of the preceding vehicle;

[0027] If the corrected driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning;

[0028] The correction index is less than 1, and the adhesion coefficient between the wheel and the ground is positively correlated with the correction index.

[0029] Furthermore, the second analysis unit obtains the speed of the preceding vehicle, and re-determines whether the current driving state is safe according to the speed difference between the preceding vehicle speed and the current vehicle speed;

[0030] Wherein, if the speed difference is greater than a preset speed difference, the second analysis unit determines that the current driving state is safe;

[0031] If the speed difference is less than or equal to the preset speed difference, the second analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning;

[0032] The speed difference is the difference between the speed of the preceding vehicle and the current vehicle speed.

[0033] In another aspect, the present invention provides a hybrid vehicle joint control driving safety warning method, comprising:

[0034] Collect the current vehicle operation data and road condition information in real time through on-board sensors;

[0035] Determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the operation data of the vehicle, and modify the driving safety index according to the safety of the current road section;

[0036] Determining whether the current driving state is safe according to the driving safety index, and if not, making a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheels and the ground, and making another determination on whether the current driving state is safe according to the speed of the preceding vehicle;

[0037] Issue a warning based on the current driving status.

[0038] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention calculates the road condition complexity equivalent, which is a representative parameter of the road condition complexity, which is calculated by time complexity and space complexity. The time complexity represents the number and proportion of the current moving objects, and the space complexity represents the moving speed and direction of the moving objects. By calculating the road condition complexity equivalent, the complexity of the current road condition can be accurately reflected, which provides a scientific basis for driving safety warning, thereby improving the accuracy of the warning.

[0039] Furthermore, the present invention introduces a driving safety index, which is a parameter representing whether the current vehicle is driving safely. The driving safety index is related to the current vehicle speed, the distance between the current vehicle and the vehicle in front, and the braking force of the current vehicle. The driving safety index is calculated by using three key parameters to provide a quantitative scientific basis for determining whether the current vehicle is driving safely, thereby improving the accuracy of the early warning.

[0040] Furthermore, the present invention modifies the driving safety index according to the safety of the current road section, so that the driving safety index is more suitable for the current road conditions, and the accuracy of the early warning is further improved.

[0041] Furthermore, the present invention makes an accurate judgment on whether the current driving state is safe by setting a first driving safety comparison number and a second driving safety comparison number, thereby further improving the accuracy of the early warning.

[0042] Furthermore, the present invention corrects the driving safety index by the adhesion coefficient between the wheel and the ground, thereby further improving the scientificity and guidance of the driving safety index, thereby further improving the accuracy of the early warning.

[0043] Furthermore, the present invention re-determines whether the current driving state is safe based on the speed of the vehicle in front. This is because when the difference between the speed of the current vehicle and the current speed is greater than a preset speed difference, the distance between the current vehicle and the vehicle in front can be quickly increased, thereby ensuring the safety of the current driving state. Through the above technical scheme, the actual situation during driving is taken into consideration, thereby further improving the accuracy of the early warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural block diagram of a combined control driving safety warning system for a hybrid vehicle according to an embodiment of the present invention;

[0045] Figure 2 It is a structural block diagram of a warning analysis module in a combined control driving safety warning system for a hybrid vehicle according to an embodiment of the present invention;

[0046] Figure 3 A further structural block diagram of the combined control driving safety warning system for hybrid vehicles according to an embodiment of the present invention;

[0047] Figure 4 The present invention is a flowchart of a hybrid vehicle joint control driving safety warning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0050] See also Figure 1-3 As shown, the combined control driving safety warning system of the hybrid vehicle of the present invention comprises:

[0051] The data acquisition module collects the current vehicle operation data and road condition information in real time through the vehicle-mounted sensors; the operation data includes vehicle speed, distance to the vehicle ahead, braking force and adhesion coefficient between the wheels and the ground; the road condition information includes the types of moving objects, as well as the number, moving speed and moving direction of each moving object; the types of moving objects include motor vehicles, non-motor vehicles and pedestrians;

[0052] A data processing module, which is connected to the data acquisition module, is used to determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the vehicle operation data, and modify the driving safety index according to the safety of the current road section;

[0053] An early warning analysis module, which is connected to the data processing module and includes a first analysis unit and a second analysis unit connected to each other;

[0054] The first analysis unit is used to determine whether the current driving state is safe according to the driving safety index, and if not, to make a secondary determination of whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground, and transmit the determination result of whether the current driving state is safe to the early warning release module;

[0055] The second analysis unit is used to re-determine whether the current driving state is safe according to the speed of the preceding vehicle, and transmit the determination result of whether the current driving state is safe to the warning issuing module;

[0056] The warning issuing module is connected to the warning analyzing module and is used to issue warnings according to the instructions of the first analyzing unit and the second analyzing unit.

[0057] Specifically, the time complexity is the sum of the product of the number of various moving objects in the collected road condition information and their proportions.

[0058] Among them, the number of various types of moving objects includes the number of motor vehicles, the number of non-motor vehicles and the number of pedestrians.

[0059] For example, the number of motor vehicles, the number of non-motor vehicles, and the number of pedestrians in the collected road condition information is 40, 35, and 25, then the time complexity is 40×0.4+35×0.35+25×0.25=34.5.

[0060] Specifically, the data processing module draws a vector diagram according to the speed and direction of the moving object in the collected road condition information, wherein the speed of a single moving object is the magnitude of the corresponding vector, and the moving direction of the moving object is the direction of the corresponding vector;

[0061] The space complexity is the product of the number of directions of the vectors and the mean of the absolute values ​​of the vectors.

[0062] The number of directions of a vector is the sum of the numbers of directions of each vector. If there are two or more vectors with the same direction, the number of that direction is recorded as 1.

[0063] The median of the absolute values ​​of each vector is obtained by taking the absolute values ​​of each vector to form a set of numbers and taking the median of the set of numbers.

[0064] Specifically, the road complexity equivalent is calculated based on the time complexity and the space complexity.

[0065] The road condition complexity equivalent is calculated according to the following formula:

[0066]

[0067] Among them, X is the road condition complexity equivalent, T is the time complexity, and K is the space complexity.

[0068] The present invention calculates the road condition complexity equivalent, which is a representative parameter of the road condition complexity, and is calculated from the time complexity and space complexity. The time complexity represents the number and proportion of the current moving objects, and the space complexity represents the moving speed and direction of the moving objects. By calculating the road condition complexity equivalent, the complexity of the current road condition can be accurately reflected, which provides a scientific basis for driving safety warning, thereby improving the accuracy of the warning.

[0069] Specifically, the data processing module determines whether the current vehicle speed meets the standard based on the road condition complexity equivalent, and controls the warning issuance module to issue a warning when the current vehicle speed does not meet the standard, and calculates the current vehicle's driving safety index based on the vehicle's operating data.

[0070] Specifically, the data processing module compares the traffic complexity equivalent with a preset first traffic complexity comparison amount and a second traffic complexity comparison amount, and the first traffic complexity comparison amount is smaller than the second traffic complexity comparison amount, wherein:

[0071] If the road condition complexity equivalent is less than the first road condition complexity comparison value, the vehicle speed is limited to be greater than or equal to 60 km / h;

[0072] If the road condition complexity equivalent is greater than or equal to the first road condition complexity comparison value and less than the second road condition complexity comparison value, the vehicle speed is limited to be greater than or equal to 30 km / h and less than 60 km / h;

[0073] If the road condition complexity equivalent is greater than or equal to the second road condition complexity comparison value, the vehicle speed is limited to less than 30 km / h.

[0074] If the current vehicle speed is within the specified range or less than the specified range, the vehicle speed meets the standard; if the current vehicle speed is greater than the specified range, the vehicle speed does not meet the standard.

[0075] When setting the first road condition complexity comparison amount and the second road condition complexity comparison amount, they are determined based on historical data analysis.

[0076] The present embodiment provides a determination method, which obtains road condition complexity equivalent values ​​calculated in several cases to form a road condition complexity equivalent data set, and takes the road condition complexity equivalent as a random variable. The random variable obeys a probability density function, and then a normal distribution curve can be constructed according to the probability density function, and the 95% confidence interval of the normal distribution curve is determined. The road condition complexity equivalent corresponding to the midpoint of the 95% confidence interval is determined as a first road condition complexity comparison amount, and the road condition complexity equivalent corresponding to the lower limit of the 95% confidence interval is determined as a second road condition complexity comparison amount. Constructing a probability density function and constructing a normal distribution curve based on the probability density function are technical means commonly used in statistics, which will not be repeated here.

[0077] Specifically, the data processing module calculates the current vehicle's driving safety index using the following formula:

[0078]

[0079] Among them, F is the driving safety index, V is the vehicle speed, L is the distance to the vehicle in front, and D is the braking force. The unit of vehicle speed is km / h, the unit of distance to the vehicle in front is m, and the unit of braking force is daN. When calculating the driving safety index, each operating data only takes the numerical value for calculation to represent the safety of the current driving state.

[0080] The present invention introduces a driving safety index, which is a parameter representing whether the current vehicle is driving safely. The driving safety index is related to the current vehicle speed, the distance between the current vehicle and the vehicle in front, and the braking force of the current vehicle. The driving safety index is calculated by using three key parameters to provide a quantitative scientific basis for determining whether the current vehicle is driving safely, thereby improving the accuracy of early warning.

[0081] Specifically, the data processing module modifies the driving safety index according to the safety of the current road section;

[0082] If the current road section is an accident-prone section, the data processing module corrects the driving safety index.

[0083] Specifically, if the current road section is not an accident-prone section, the data processing module does not correct the driving safety index; if the current road section is an accident-prone section, the data processing module uses a correction coefficient i to correct the driving safety index, and the corrected driving safety index is the product of the calculated driving safety index and the correction coefficient i, 0.5<i<1.

[0084] The present invention modifies the driving safety index according to the safety of the current road section, so that the driving safety index is more suitable for the current road conditions, and the accuracy of the early warning is further improved.

[0085] Specifically, the first analysis unit determines whether the current driving state is safe according to a comparison result between the driving safety index and a preset driving safety comparison number;

[0086] Wherein, if the driving safety index is greater than or equal to a preset second driving safety comparison number, the first analysis unit determines that the current driving state is safe;

[0087] If the driving safety index is greater than or equal to a preset first driving safety comparison number and less than the second driving safety comparison number, the first analysis unit performs a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground;

[0088] If the driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning.

[0089] It is understandable that when the first analysis unit determines whether the current driving state is safe based on the driving safety index, if the driving safety index has been corrected according to the safety of the current road section, the first analysis unit determines whether the current driving state is safe based on the corrected driving safety index.

[0090] Specifically, when the first driving safety comparison number and the second driving safety comparison number of this embodiment are determined, the corresponding standard driving safety index is calculated based on the braking force of the current vehicle, the standard vehicle speed and the corresponding braking safety distance. The first driving safety comparison number is the standard driving safety index × 2, and the second driving safety comparison number is the standard driving safety index × 5.

[0091] The standard vehicle speed is the minimum value in the speed limit range determined based on the complexity of the road conditions.

[0092] The present invention makes an accurate judgment on whether the current driving state is safe by setting a first driving safety comparison number and a second driving safety comparison number, thereby further improving the accuracy of early warning.

[0093] Specifically, the first analysis unit obtains the adhesion coefficient between the wheel and the ground, selects a corresponding correction index according to the adhesion coefficient between the wheel and the ground to correct the driving safety index, and performs a secondary determination on whether the current driving state is safe according to a comparison result between the corrected driving safety index and the second driving safety comparison number;

[0094] Wherein, if the corrected driving safety index is greater than or equal to the second driving safety comparison number, the first analysis unit determines that the current driving state is safe;

[0095] If the corrected driving safety index is greater than or equal to the first driving safety comparison number and less than the second driving safety comparison number, the second analysis unit re-determines whether the current driving state is safe according to the speed of the preceding vehicle;

[0096] If the corrected driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning;

[0097] The correction index is less than 1, and the adhesion coefficient between the wheel and the ground is positively correlated with the correction index.

[0098] Specifically, the adhesion coefficient between the wheel and the ground is positively correlated with the correction index, which is expressed as:

[0099] If the adhesion coefficient between the wheel and the ground is greater than or equal to 0.7, there is no need to calibrate the driving safety index;

[0100] If the adhesion coefficient between the wheel and the ground is less than 0.7 and greater than or equal to 0.5, the first analysis unit uses a correction index of 0.9 to correct the driving safety index, and the corrected driving safety index is the product of the driving safety index and the correction index of 0.9;

[0101] If the adhesion coefficient between the wheel and the ground is less than 0.5, the first analysis unit uses a correction index of 0.7 to correct the driving safety index, and the corrected driving safety index is the product of the driving safety index and the correction index of 0.7.

[0102] The present invention corrects the driving safety index by the adhesion coefficient between the wheel and the ground, thereby further improving the scientificity and guidance of the driving safety index, thereby further improving the accuracy of the early warning.

[0103] Specifically, the second analysis unit obtains the speed of the preceding vehicle, and re-determines whether the current driving state is safe according to the speed difference between the preceding vehicle speed and the current vehicle speed;

[0104] Wherein, if the speed difference is greater than a preset speed difference, the second analysis unit determines that the current driving state is safe;

[0105] If the speed difference is less than or equal to the preset speed difference, the second analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning;

[0106] The speed difference is the difference between the speed of the preceding vehicle and the current vehicle speed.

[0107] The preset speed difference is related to the current vehicle speed and the distance to the preceding vehicle.

[0108] The present invention re-determines whether the current driving state is safe based on the speed of the vehicle in front. This is because when the difference between the speed of the current vehicle and the current speed is greater than the preset speed difference, the distance between the current vehicle and the vehicle in front can be quickly increased, thereby ensuring the safety of the current driving state. Through the above technical scheme, the actual situation during driving is taken into consideration, thereby further improving the accuracy of the early warning.

[0109] Specifically, the second analysis unit collects pre-lane change information when determining that the current driving state is unsafe, and the second analysis unit adjusts the driving strategy according to the pre-lane change information;

[0110] The pre-change lane information includes whether there is a moving vehicle in the pre-change lane, the position of the moving vehicle, and the moving speed and moving acceleration of the moving vehicle.

[0111] Specifically, the second analysis unit adjusts the driving strategy according to the pre-lane change information, including:

[0112] If the moving vehicle does not exist in the pre-change lane, controlling the warning issuing module to issue a lane change prompt;

[0113] If the vehicle is in the lane to be changed, the second analysis unit determines lane change or deceleration according to the moving speed and moving acceleration of the vehicle.

[0114] Specifically, when there is the moving vehicle in the pre-change lane, if the second analysis unit determines that the current distance to the moving vehicle is greater than the preset safety distance and the current speed is greater than the speed of the moving vehicle, then the warning issuance module is controlled to issue a lane change prompt;

[0115] Otherwise, the second analysis unit controls the warning issuing module to issue a deceleration prompt.

[0116] The present invention increases the driver's options for solving problems when the current driving state is unsafe by adding and adjusting the driving strategy, thereby improving driving safety.

[0117] See also Figure 4As shown, the hybrid vehicle joint control driving safety warning method of the present invention includes:

[0118] Collect the current vehicle operation data and road condition information in real time through on-board sensors;

[0119] Determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the operation data of the vehicle, and modify the driving safety index according to the safety of the current road section;

[0120] Determining whether the current driving state is safe according to the driving safety index, and if not, making a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheels and the ground, and making another determination on whether the current driving state is safe according to the speed of the preceding vehicle;

[0121] Issue a warning based on the current driving status.

[0122] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0123] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A combined control driving safety warning system for a hybrid vehicle, characterized in that: include: The data acquisition module collects the current vehicle operation data and road condition information in real time through the vehicle-mounted sensors; the operation data includes vehicle speed, distance to the vehicle ahead, braking force and adhesion coefficient between the wheels and the ground; the road condition information includes the types of moving objects, as well as the number, moving speed and moving direction of each moving object; the types of moving objects include motor vehicles, non-motor vehicles and pedestrians; A data processing module, which is connected to the data acquisition module, is used to determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the vehicle operation data, and modify the driving safety index according to the safety of the current road section; An early warning analysis module, which is connected to the data processing module and includes a first analysis unit and a second analysis unit connected to each other; The first analysis unit is used to determine whether the current driving state is safe according to the driving safety index, and if not, to make a secondary determination of whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground, and transmit the determination result of whether the current driving state is safe to the early warning release module; The second analysis unit is used to re-determine whether the current driving state is safe according to the speed of the preceding vehicle, and transmit the determination result of whether the current driving state is safe to the warning issuing module; The warning issuing module is connected to the warning analyzing module and is used to issue warnings according to the instructions of the first analyzing unit and the second analyzing unit; The time complexity is the sum of the product of the number of various moving objects and their proportions in the collected road condition information; The data processing module draws a vector diagram according to the speed and direction of the moving object in the collected road condition information, wherein the speed of a single moving object is the magnitude of the corresponding vector, and the moving direction of the moving object is the direction of the corresponding vector; The spatial complexity is the product of the number of directions of the vectors and the mean of the absolute values ​​of the vectors; The road condition complexity equivalent is calculated according to the time complexity and the space complexity; The road condition complexity equivalent is calculated according to the following formula: Among them, X is the road condition complexity equivalent, T is the time complexity, and K is the space complexity.

2. The hybrid vehicle joint control driving safety warning system according to claim 1, characterized in that: The data processing module determines whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and controls the warning issuance module to issue a warning when the current vehicle speed does not meet the standard, and calculates the current vehicle's driving safety index according to the vehicle's operating data.

3. The hybrid vehicle joint control driving safety warning system according to claim 2, characterized in that: The data processing module amends the driving safety index according to the safety of the current road section; If the current road section is an accident-prone section, the data processing module corrects the driving safety index.

4. The hybrid vehicle joint control driving safety warning system according to claim 3, characterized in that: The first analysis unit determines whether the current driving state is safe according to a comparison result between the driving safety index and a preset driving safety comparison number; Wherein, if the driving safety index is greater than or equal to a preset second driving safety comparison number, the first analysis unit determines that the current driving state is safe; If the driving safety index is greater than or equal to a preset first driving safety comparison number and less than the second driving safety comparison number, the first analysis unit performs a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheel and the ground; If the driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning.

5. The hybrid vehicle joint control driving safety warning system according to claim 4, characterized in that: The first analysis unit obtains the adhesion coefficient between the wheel and the ground, selects a corresponding correction index according to the adhesion coefficient between the wheel and the ground to correct the driving safety index, and performs a secondary determination on whether the current driving state is safe according to a comparison result between the corrected driving safety index and the second driving safety comparison number; Wherein, if the corrected driving safety index is greater than or equal to the second driving safety comparison number, the first analysis unit determines that the current driving state is safe; If the corrected driving safety index is greater than or equal to the first driving safety comparison number and less than the second driving safety comparison number, the second analysis unit re-determines whether the current driving state is safe according to the speed of the preceding vehicle; If the corrected driving safety index is less than the first driving safety comparison number, the first analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning; The correction index is less than 1, and the adhesion coefficient between the wheel and the ground is positively correlated with the correction index.

6. The hybrid vehicle joint control driving safety warning system according to claim 5, characterized in that: The second analysis unit obtains the speed of the preceding vehicle, and re-determines whether the current driving state is safe according to the speed difference between the preceding vehicle speed and the current vehicle speed; Wherein, if the speed difference is greater than a preset speed difference, the second analysis unit determines that the current driving state is safe; If the speed difference is less than or equal to the preset speed difference, the second analysis unit determines that the current driving state is unsafe, and controls the warning issuance module to issue a warning; The speed difference is the difference between the speed of the preceding vehicle and the current vehicle speed.

7. A hybrid vehicle joint control driving safety warning method, applicable to the system according to any one of claims 1 to 6, characterized in that: Collect the current vehicle operation data and road condition information in real time through on-board sensors; Determine the time complexity and space complexity of the current road condition according to the collected road condition information to calculate the road condition complexity equivalent, determine whether the current vehicle speed meets the standard according to the road condition complexity equivalent, and if not, calculate the driving safety index of the current vehicle according to the operation data of the vehicle, and modify the driving safety index according to the safety of the current road section; Determining whether the current driving state is safe according to the driving safety index, and if not, making a secondary determination on whether the current driving state is safe according to the adhesion coefficient between the wheels and the ground, and making another determination on whether the current driving state is safe according to the speed of the preceding vehicle; Issue a warning based on the current driving status.

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