Method and system for warning of overtaking intention of side rear vehicle

Abstract

The invention provides a method and a system for warning a side rear vehicle that an overtaking intention exists, and belongs to the technical field of vehicles. A vehicle comprises an electronic rearview mirror system and an atmosphere lamp system, and the method comprises the steps that the electronic rearview mirror system collects side rear vehicle information through a camera and sends the information to an electronic rearview mirror system controller, and the controller judges whether the side rear vehicle has an overtaking intention or not based on a preset prediction algorithm according to the collected information; the overtaking intention signal is sent to an atmosphere lamp controller in the atmosphere lamp system, the atmosphere lamp controller sends an atmosphere lamp flickering signal to a driving module, and the driving module controls an atmosphere lamp to prompt a driver to pay attention to a vehicle behind the side in a first color. Whether the second vehicle has the overtaking intention or not is judged through the overtaking prediction algorithm preset in the controller, and then the active safety of the vehicle is improved. And the atmosphere lamp system and the electronic rearview mirror system are cooperatively realized, so that the driving assistance function of the atmosphere lamp is greatly enriched.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a method and system for warning a rear vehicle of overtaking intention. Background Art

[0002] In the prior art, the interior ambient light of a car mainly serves a decorative purpose. Some products can adjust the color manually, or use sensors to detect the environment of the vehicle and send the ambient signal to the ambient light controller. The controller sends the corresponding ambient light color signal to the ambient light driver module according to the ambient signal, and the driver module controls the ambient light to switch to the corresponding color. The electronic rearview mirror of the car processes the collected road conditions through the camera, display screen, and controller and presents it on the display screen. Some electronic exterior rearview mirror products have distance measurement functions and can switch the icon color on the display screen to remind the driver to pay attention to the target behind.

[0003] However, the prior art has the following technical defects: 1. Most of the existing in-car ambient light systems only serve a decorative purpose, and there is a lack of full development and utilization of ambient light controllers, such as communicating with electronic rearview mirror systems and developing ambient light driving assistance functions.

[0004] 2. Most existing electronic rearview mirror systems only play a blind spot role, or detect the target distance and switch the icon color on the display screen to remind the driver. The system lacks the prediction function when the rear vehicle has not yet overtaken but has the intention to overtake. In addition, observing the icon display on the display screen requires the driver to look at the display screen of the electronic rearview mirror, which is dangerous during driving.

[0005] The above problems need to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to overcome at least one technical problem existing in the prior art, and to provide a method and system for warning a vehicle behind the vehicle of an overtaking intention.

[0007] On the one hand, an embodiment of the present invention provides a method for warning a vehicle behind a vehicle of an overtaking intention, wherein the vehicle includes an electronic rearview mirror system and an ambient light system, and the method is applied to the electronic rearview mirror system, comprising: S1: receiving a vehicle start signal and controlling the electronic rearview mirror to enter a working state; S2: collecting image information of at least one second vehicle located behind a first vehicle through a camera; S3: recognizing the image information of the second vehicle through an image processing module and calculating in real time the longitudinal distance of the second vehicle relative to the first vehicle ; S4: Determine the longitudinal distance of the second vehicle relative to the first vehicle Is it less than the predicted vehicle distance threshold? ; S5: In response to the longitudinal distance of the second vehicle relative to the first vehicle is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle ; S6: Based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance ; S7: Based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance ; S8: Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle Whether the preset first judgment condition is met; S9: responding to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking ; S10: Determine the predicted driving speed of the second vehicle at this moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time; S11: responding to the predicted driving speed of the second vehicle at this moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If the preset second judgment condition is met at the same time, it is judged that the second vehicle has the intention to overtake; S12: in response to the second vehicle having the intention to overtake, an overtaking intention signal is sent to the ambient light system so that the ambient light prompts with the first color.

[0008] Furthermore, the first vehicle is a detection vehicle located in the front, and the second vehicle is a detected vehicle located on the right side behind the first vehicle and / or a detected vehicle located on the left side behind the first vehicle.

[0009] Furthermore, the step S12 also includes: when the second vehicle is located on the left side behind the first vehicle, the ambient light system controls the ambient light located on the left side of the first vehicle to prompt with the first color; and / or when the second vehicle is located on the right side behind the first vehicle, the ambient light system controls the ambient light located on the right side of the first vehicle to prompt with the first color.

[0010] Further, the step S6: based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance include: ; ; The step S7: based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance include: ; ; Where t is the prediction time, , T is the total prediction time, The duration of each prediction.

[0011] Further, the step S9: responding to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking include: .

[0012] Furthermore, the preset second judgment condition is: ; ; ; In the formula, is the default value, take -0.5m / s, The value is , The value is , The value is .

[0013] Furthermore, the step S12: in response to the second vehicle having an overtaking intention, sending an overtaking intention signal to the ambient light system so that the ambient light prompts with the first color includes: S1201: after receiving the overtaking intention signal, the ambient light system obtains the existence time of the overtaking intention signal and the existence time of the second vehicle; S1202: judging the existence time of the overtaking intention signal, the existence time of the second vehicle, and the longitudinal acceleration of the second vehicle , speed of the second vehicle and the first vehicle speed Whether the preset third judgment condition is met at the same time; S1203: In response to the existence time of the overtaking intention signal, the existence time of the second vehicle, and the longitudinal acceleration of the second vehicle , speed of the second vehicle and the first vehicle speed At the same time, if the preset third judgment condition is met, the ambient light is controlled to give a prompt in the first color.

[0014] Furthermore, the preset third judgment condition is: The duration of the overtaking intention signal is longer than the preset first time threshold ; The presence time of the second vehicle is greater than the preset second time threshold ; At t=0, the acceleration of the second vehicle Greater than the preset acceleration threshold ; At t=0, the speed of the second vehicle Greater than the preset speed threshold ; At t=0, the speed of the first vehicle Greater than 0.

[0015] Furthermore, the method also includes: S1204: obtaining the prompt duration of controlling the atmosphere light to prompt with the first color; S1205: when the prompt duration is greater than the preset first time threshold, if the conditions of step S1202 in the prompt process are not all met, controlling the atmosphere light to stop prompting.

[0016] In the second aspect, an embodiment of the present invention provides a system for warning a vehicle behind a side vehicle of an overtaking intention, the system adopts the method for warning a vehicle behind a side vehicle of an overtaking intention as described above, the system includes an electronic rearview mirror system and an ambient light system, the electronic rearview mirror system includes a display screen, a camera and an electronic rearview mirror controller, the ambient light system includes an ambient light, an ambient light controller and a drive module disposed inside the ambient light controller; the camera is used to collect image information of at least one second vehicle located behind a first vehicle; the electronic rearview mirror controller internally integrates an image processing module, a first judgment module, a driving information acquisition module, a first calculation module, a second judgment module, a second calculation module, a third judgment module, a module for generating an overtaking intention signal and a signal output module; the image processing module is used to recognize the image information of the second vehicle, and calculate in real time the longitudinal distance of the second vehicle relative to the first vehicle. The first judgment module is used to judge the longitudinal distance of the second vehicle relative to the first vehicle. Is it less than the predicted vehicle distance threshold? The driving information acquisition module is used to respond to the longitudinal distance of the second vehicle relative to the first vehicle is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle The first calculation module is used to calculate the longitudinal acceleration of the first vehicle based on the longitudinal acceleration of the first vehicle. and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance The second judgment module is used to determine the longitudinal acceleration of the second vehicle based on the longitudinal acceleration of the second vehicle. and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance ; Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle whether the preset first judgment condition is met; the second calculation module is used to respond to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking The third judgment module is used to judge the predicted driving speed of the second vehicle at this moment. , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time; the module for generating the overtaking intention signal is used to respond to the predicted driving speed of the second vehicle at that moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If a preset second judgment condition is met at the same time, it is judged that the second vehicle has the intention to overtake; the signal output module is used to send an overtaking intention signal to the atmosphere light system in response to the second vehicle having the intention to overtake; the display screen is used to display the road condition picture; the atmosphere light controller is used to judge whether the atmosphere light flashing condition is met based on the overtaking intention signal; the driving module is used to control the atmosphere light to prompt with a first color when the overtaking intention signal meets the atmosphere light flashing condition.

[0017] On the other hand, the present invention further provides a computer-readable storage medium, wherein one or more instructions are stored in the computer-readable storage medium, and the computer instructions are used to enable the computer to execute the above-mentioned method for warning the rear vehicle on the side that there is an intention to overtake.

[0018] On the other hand, the present invention provides an electronic device, comprising: a memory and a processor; the memory stores at least one program instruction; the processor implements the above-mentioned method for warning the rear vehicle of the overtaking intention by loading and executing the at least one program instruction.

[0019] The beneficial effects of the present invention are: (1) The present invention provides a method for warning a side rear vehicle of an overtaking intention, so that when the side rear vehicle has an overtaking intention but has not yet overtaken, it is detected by the first vehicle and the driver is informed. In view of this, the present invention uses an overtaking prediction algorithm preset in the controller to determine whether the second vehicle has an overtaking intention, thereby improving the active safety of the automobile.

[0020] (2) The present invention provides a system for warning the side rear vehicle of the intention to overtake, which is implemented by the coordinated efforts of the ambient light system and the electronic rearview mirror system. The electronic rearview mirror system collects the information of the side rear vehicle through the camera. The controller determines whether the rear vehicle has the intention to overtake based on the collected image information and the prediction algorithm program, and then sends the overtaking intention signal to the ambient light controller. The controller sends a flashing ambient light signal to the drive module, and the drive module controls the ambient light on that side to flash red to warn the driver to pay attention to the vehicle that is about to overtake on that side rear, thereby greatly enriching the driving assistance function of the ambient light. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 This is a flow chart of a method for warning a vehicle behind you of an overtaking intention, provided in Embodiment 1 of the present invention.

[0023] Figure 2 This is another method flow chart provided in Embodiment 1 of the present invention for warning a vehicle behind the vehicle to overtake.

[0024] Figure 3 It is a schematic diagram of the structure of a system for warning a vehicle behind the vehicle that it intends to overtake, provided in Embodiment 2 of the present invention.

[0025] Figure 4 This is a partial block diagram of an electronic device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0026] It should be mentioned before discussing the exemplary embodiments in more detail that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations as sequential processes, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0027] It should be understood that, although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are used only to distinguish one unit from another unit. For example, without departing from the scope of the exemplary embodiments, the first unit may be referred to as the second unit, and similarly the second unit may be referred to as the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0028] The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only illustrates the basic structure of the present invention in a schematic manner, and therefore only shows the components related to the present invention.

[0029] Example 1 For ease of understanding, the following is an overall description of the invention concept before describing the embodiments of the present invention in detail: the electronic rearview mirror system collects side and rear vehicle information through a camera and sends it to the electronic rearview mirror system controller. The controller determines whether the side and rear vehicle has the intention to overtake with the help of a prediction algorithm based on the collected information, and sends the overtaking intention signal to the atmosphere light controller. The atmosphere light controller sends a flashing atmosphere light signal to the drive module, and the start module controls the atmosphere light on that side to flash red to alert the driver to pay attention to the side and rear vehicle. Specifically, after the vehicle is started, the electronic rearview mirror enters the working state, and the perception cameras fixed on both sides of the vehicle body are started and collect image information on both sides behind the vehicle; during driving, if there is a side and rear vehicle in one lane, the perception camera on that side of the vehicle captures the side and rear vehicle information, and then uses the image processing module in the electronic rearview mirror system controller to perform recognition processing, and calculates the longitudinal distance of the side and rear vehicle relative to the vehicle in real time. and the longitudinal acceleration of the vehicle behind ,speed ; The controller judges based on the collected information Whether the overtaking prediction range is reached .like < , it is judged whether the rear vehicle has the intention to overtake from the current moment within the time t = 0 ~ T; when the rear vehicle has the intention to overtake, the overtaking intention signal is sent to the atmosphere light controller in the atmosphere light system to make it judge whether the atmosphere light flashing condition is met, and if so, the red atmosphere light on that side is controlled to flash. On the one hand, the overtaking prediction algorithm in the electronic rearview mirror system can effectively judge whether the rear vehicle has the intention to overtake, thereby ensuring the safety of driving. On the other hand, by linking the electronic rearview mirror system and the atmosphere light system, the atmosphere light can be used for alarm prompts without using the warning light on the dashboard for alarm prompts, thus avoiding the unsafe behavior caused by the user's need to distract attention to observe the prompt information of the dashboard warning light during driving.

[0030] The specific implementation is as follows: like Figure 1 As shown, it is a flow chart of a method provided by the present invention for warning a vehicle behind the vehicle to have an overtaking intention.

[0031] As an example, the vehicle includes an electronic rearview mirror system 1 and an ambient light system 2, and the method is applied to the electronic rearview mirror system 1, including: S1: Receive the vehicle start signal and control the electronic rearview mirror to enter the working state.

[0032] S2: Collecting image information of at least one second vehicle located behind the first vehicle through a camera.

[0033] S3: Identify the image information of the second vehicle through the image processing module and calculate the longitudinal distance of the second vehicle relative to the first vehicle in real time .

[0034] S4: Determine the longitudinal distance of the second vehicle relative to the first vehicle Is it less than the predicted vehicle distance threshold? .

[0035] S5: In response to the longitudinal distance of the second vehicle relative to the first vehicle is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle .

[0036] S6: Based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance .

[0037] S7: Based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance .

[0038] S8: Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle Whether the preset first judgment condition is met.

[0039] S9: Responding to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking .

[0040] S10: Determine the predicted driving speed of the second vehicle at this moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time.

[0041] S11: responding to the predicted driving speed of the second vehicle at that moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If the preset second judgment condition is met at the same time, it is determined that the second vehicle has the intention to overtake.

[0042] S12: In response to the second vehicle having an overtaking intention, sending an overtaking intention signal to the ambient light system so that the ambient light gives a prompt in a first color.

[0043] Preferably, the first vehicle is a detection vehicle located in the front, and the second vehicle is a detected vehicle located on the right side behind the first vehicle and / or a detected vehicle located on the left side behind the first vehicle.

[0044] Preferably, step S12 further includes: when the second vehicle is located on the left side behind the first vehicle, the ambient light system controls the ambient light on the left side of the first vehicle to give a prompt in the first color; and / or when the second vehicle is located on the right side behind the first vehicle, the ambient light system controls the ambient light on the right side of the first vehicle to give a prompt in the first color. That is, in order to facilitate the user to intuitively observe whether there is a pre-overtaking vehicle on the left or right side behind, the alarm can be directly given by flashing a red light on the ambient light on the corresponding side of the first vehicle.

[0045] Preferably, the step S6: based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance include: ; ; The step S7: based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance include: ; ; Where t is the prediction time, , T is the total prediction time, The duration of each prediction.

[0046] Specifically, the controller determines based on the collected information Whether the overtaking prediction range is reached .like < , then it is judged whether the rear vehicle has the intention to overtake within the time t=0-T from the current moment. Among them, each prediction time is defined as , the maximum number of predictions is To ensure safety, the default distance traveled by the vehicle behind the vehicle at the start of the prediction, i.e., t=0, is Not 0, but = >0 as safety margin.

[0047] Preferably, the step S9: in response to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking include: ; Among them, the first judgment condition is , t=0-T, that is, when If the time is 0, it means that the vehicle behind you has overtaken in the prediction step, and the prediction time is recorded at the same time. Predicted rear vehicle speed , when the following three conditions are met at the same time, it can be judged that the vehicle behind has the intention to overtake. The following three conditions are: ; ; ; In the formula, is the preset value, take -0.5m / s, The value is , The value is , The value is By judging whether there is an overtaking intention based on the three judgment conditions again on the basis of judging whether there is an overtaking action, the overtaking intention of the rear vehicle can be predicted more accurately, avoiding the inaccurate judgment result caused by judging only based on the relative distance between the first vehicle and the second vehicle.

[0048] Preferably, Figure 2 As shown, the step S12: in response to the second vehicle having an overtaking intention, sending an overtaking intention signal to the ambient light system so that the ambient light prompts with the first color includes: S1201: after receiving the overtaking intention signal, the ambient light system obtains the existence time of the overtaking intention signal and the existence time of the second vehicle; S1202: judging the existence time of the overtaking intention signal, the existence time of the second vehicle, and the longitudinal acceleration of the second vehicle , speed of the second vehicle and the first vehicle speed Whether the preset third judgment condition is met at the same time; S1203: In response to the existence time of the overtaking intention signal, the existence time of the second vehicle, and the longitudinal acceleration of the second vehicle , speed of the second vehicle and the first vehicle speed If the preset third judgment condition is met at the same time, the atmosphere light is controlled to prompt with the first color. Wherein, the preset third judgment condition is: The duration of the overtaking intention signal is longer than the preset first time threshold ; The presence time of the second vehicle is greater than the preset second time threshold ; At t=0, the acceleration of the second vehicle Greater than the preset acceleration threshold ; At t=0, the speed of the second vehicle Greater than the preset speed threshold ; At t=0, the speed of the first vehicle Greater than 0.

[0049] That is, if all the conditions in the third judgment condition are met, the ambient light controller sends an ambient light flashing signal to the driving module, and the driving module controls the ambient light on that side of the first vehicle to flash red, alerting the driver to the vehicle coming from behind. It should be noted that the first color is not limited here, that is, the ambient light can also be controlled to flash green for prompting.

[0050] Preferably, the method further includes: S1204: obtaining the prompt duration of controlling the atmosphere light to prompt in the first color; S1205: when the prompt duration is greater than the preset first time threshold, if the conditions of step S1202 are not all met during the prompt process, controlling the atmosphere light to stop prompting. That is, if the conditions of step S1202 are not all met during the flashing process, the flashing is terminated, but the flashing duration must be greater than or equal to ,in, is the preset time threshold.

[0051] In the above embodiment, on the one hand, the overtaking prediction algorithm in the electronic rearview mirror system can effectively determine whether the rear vehicle has the intention to overtake, thereby ensuring driving safety. On the other hand, by linking the electronic rearview mirror system with the ambient light system, an alarm can be given through the ambient light without using the warning light on the instrument panel, thereby avoiding unsafe behaviors caused by the user having to distract his attention to observe the prompt information of the warning light on the instrument panel during driving.

[0052] Example 2 See also Figure 3 This embodiment provides a schematic diagram of a system structure for warning a vehicle behind a vehicle of overtaking intention. The system adopts the method for warning a vehicle behind a vehicle of overtaking intention described in Example 1. As an example, the system includes an electronic rearview mirror system 1 and an ambient light system 2, wherein the electronic rearview mirror system 1 includes a display screen 100, a camera 110 and an electronic rearview mirror controller 120, and the ambient light system 2 includes an ambient light 200, an ambient light controller 210 and a driving module 2101 disposed inside the ambient light controller; The camera 110 is used to collect image information of at least one second vehicle located at the rear side of the first vehicle.

[0053] The electronic rearview mirror controller 120 internally integrates an image processing module 1201, a first judgment module 1202, a driving information acquisition module 1203, a first calculation module 1204, a second judgment module 1205, a second calculation module 1206, a third judgment module 1207, a module for generating an overtaking intention signal 1208 and a signal output module 1209.

[0054] The image processing module 1201 is used to recognize the image information of the second vehicle and calculate the longitudinal distance of the second vehicle relative to the first vehicle in real time. .

[0055] The first determining module 1202 is used to determine the longitudinal distance of the second vehicle relative to the first vehicle. Is it less than the predicted vehicle distance threshold? .

[0056] The driving information acquisition module 1203 is used to respond to the longitudinal distance of the second vehicle relative to the first vehicle. is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle .

[0057] The first calculation module 1204 is used to calculate the longitudinal acceleration of the first vehicle based on the longitudinal acceleration of the first vehicle. and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance .

[0058] The second judgment module 1205 is used to determine the longitudinal acceleration of the second vehicle based on the longitudinal acceleration of the second vehicle. and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance ; Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle Whether the preset first judgment condition is met.

[0059] The second calculation module 1206 is used to respond to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking .

[0060] The third judgment module 1207 is used to judge the predicted driving speed of the second vehicle at this moment. , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time.

[0061] The module 1208 for generating the overtaking intention signal is used to respond to the predicted driving speed of the second vehicle at that moment. , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If the preset second judgment condition is met at the same time, it is determined that the second vehicle has the intention to overtake.

[0062] The signal output module 1209 is used for sending an overtaking intention signal to the ambient light system in response to the second vehicle having an overtaking intention.

[0063] The display screen 100 is used to display road condition images.

[0064] The ambient light controller 210 is used to determine whether an ambient light flashing condition is met based on the overtaking intention signal.

[0065] The driving module 2101 is used to control the ambient light 200 to give a prompt in a first color when the overtaking intention signal meets the ambient light flashing condition.

[0066] It is not difficult to find that this embodiment is a method embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0067] It is worth mentioning that all modules involved in this embodiment are logical units. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in this embodiment.

[0068] Example 3 The embodiment of the present invention further provides a storage medium, on which a method for warning a vehicle behind a vehicle of overtaking intention is stored, and when the program for warning a vehicle behind a vehicle of overtaking intention is executed by a processor, the steps of the method for warning a vehicle behind a vehicle of overtaking intention as described above are implemented. Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0069] Example 4 See also Figure 4An embodiment of the present invention further provides an electronic device, comprising: a memory and a processor; the memory stores at least one program instruction; the processor implements the method provided in Embodiment 1 for warning a vehicle behind the vehicle of an overtaking intention by loading and executing the at least one program instruction.

[0070] The memory 702 and the processor 701 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 701 and the memory 702 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 701 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 701.

[0071] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 702 can be used to store data used by the processor 701 when performing operations.

[0072] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can know all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the scope of protection of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A method for warning a vehicle behind you that it intends to overtake, characterized in that: The vehicle includes an electronic rearview mirror system and an ambient light system, and the method is applied to the electronic rearview mirror system, including: S1: Receive the vehicle start signal and control the electronic rearview mirror to enter the working state; S2: collecting image information of at least one second vehicle located behind the first vehicle through a camera; S3: Identify the image information of the second vehicle through the image processing module and calculate the longitudinal distance of the second vehicle relative to the first vehicle in real time ; S4: Determine the longitudinal distance of the second vehicle relative to the first vehicle Is it less than the predicted vehicle distance threshold? ; S5: In response to the longitudinal distance of the second vehicle relative to the first vehicle is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle ; S6: Based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance ; S7: Based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance ; S8: Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle Whether the preset first judgment condition is met; S9: Responding to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking ; S10: Determine the predicted driving speed of the second vehicle at this moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time; S11: responding to the predicted driving speed of the second vehicle at that moment , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If the preset second judgment condition is met at the same time, it is judged that the second vehicle has the intention to overtake; S12: In response to the second vehicle having an overtaking intention, sending an overtaking intention signal to the ambient light system so that the ambient light gives a prompt in a first color.

2. The method for warning a vehicle behind the vehicle of an overtaking intention according to claim 1, characterized in that: The first vehicle is a detection vehicle located in front, and the second vehicle is a detected vehicle located on the right side behind the first vehicle and / or a detected vehicle located on the left side behind the first vehicle.

3. The method for warning a vehicle behind the vehicle of an overtaking intention according to claim 2, characterized in that: The step S12 further includes: when the second vehicle is located on the left side behind the first vehicle, the ambient light system controls the ambient light located on the left side of the first vehicle to prompt with the first color; and / or When the second vehicle is located on the right side behind the first vehicle, the ambient light system controls the ambient light located on the right side of the first vehicle to give a prompt with the first color.

4. The method for warning a vehicle behind the vehicle of an overtaking intention according to claim 1, characterized in that: The step S6: based on the longitudinal acceleration of the first vehicle and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance include: ； ； The step S7: based on the longitudinal acceleration of the second vehicle and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance include: ； ； Where t is the prediction time, , T is the total prediction time, The duration of each prediction.

5. The method for warning a vehicle behind the vehicle of overtaking intention according to claim 4, characterized in that: The step S9: responding to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking include: 。 6. The method for warning a vehicle behind the vehicle of an overtaking intention according to claim 5, characterized in that: The preset second judgment condition is: ； ； ； In the formula, is the default value, take -0.5m / s, The value is , The value is , The value is .

7. The method for warning a vehicle behind the vehicle of overtaking intention according to claim 1, characterized in that: The step S12: in response to the second vehicle having an overtaking intention, sending an overtaking intention signal to the ambient light system so that the ambient light prompts with the first color includes: S1201: after receiving the overtaking intention signal, the ambient light system obtains the existence time of the overtaking intention signal and the existence time of the second vehicle; S1202: Determine the duration of the overtaking intention signal, the duration of the second vehicle, and the longitudinal acceleration of the second vehicle. , speed of the second vehicle and the first vehicle speed Whether the preset third judgment condition is met at the same time; S1203: In response to the duration of the overtaking intention signal, the duration of the second vehicle, and the longitudinal acceleration of the second vehicle , speed of the second vehicle and the first vehicle speed At the same time, if the preset third judgment condition is met, the ambient light is controlled to give a prompt in the first color.

8. The method for warning a vehicle behind the vehicle of an overtaking intention according to claim 7, characterized in that: The preset third judgment condition is: The duration of the overtaking intention signal is longer than the preset first time threshold ; The presence time of the second vehicle is greater than the preset second time threshold ; At t=0, the acceleration of the second vehicle Greater than the preset acceleration threshold ; At t=0, the speed of the second vehicle Greater than the preset speed threshold ; At t=0, the speed of the first vehicle Greater than 0.

9. The method for warning a vehicle behind the vehicle of overtaking intention according to claim 7, characterized in that: The method further comprises: S1204: Obtaining a prompting duration for controlling the atmosphere light to be prompted in the first color; S1205: When the prompt duration is longer than the preset first time threshold, if the conditions of step S1202 in the prompt process are not all met, the atmosphere light is controlled to stop prompting.

10. A system for warning a vehicle behind a vehicle of overtaking intention, the system adopting the method for warning a vehicle behind a vehicle of overtaking intention as claimed in any one of claims 1 to 9, characterized in that: The system includes an electronic rearview mirror system and an ambient light system, wherein the electronic rearview mirror system includes a display screen, a camera and an electronic rearview mirror controller, and the ambient light system includes an ambient light, an ambient light controller and a driving module disposed inside the ambient light controller; The camera is used to collect image information of at least one second vehicle located at the rear side of the first vehicle; The electronic rearview mirror controller internally integrates an image processing module, a first judgment module, a driving information acquisition module, a first calculation module, a second judgment module, a second calculation module, a third judgment module, a module for generating an overtaking intention signal, and a signal output module; The image processing module is used to identify the image information of the second vehicle and calculate the longitudinal distance of the second vehicle relative to the first vehicle in real time. ; The first judgment module is used to judge the longitudinal distance of the second vehicle relative to the first vehicle. Is it less than the predicted vehicle distance threshold? ; The driving information acquisition module is used to respond to the longitudinal distance of the second vehicle relative to the first vehicle. is less than the predicted vehicle distance threshold , read the driving information of the first vehicle at the current moment, the driving information includes the longitudinal acceleration of the first vehicle and the speed of the first vehicle , the longitudinal acceleration of the second vehicle is obtained by recognizing and calculating through the image processing module and the speed of the second vehicle ; The first calculation module is used for calculating the longitudinal acceleration of the first vehicle based on the longitudinal acceleration of the first vehicle. and the speed of the first vehicle , calculate the predicted driving speed of the first vehicle within the prediction time Predicted driving distance ; The second judgment module is used for determining the longitudinal acceleration of the second vehicle based on the longitudinal acceleration of the second vehicle. and the speed of the second vehicle , calculate the predicted driving speed of the second vehicle within the prediction time Predicted driving distance ; Determine the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle Whether the preset first judgment condition is met; The second calculation module is used to respond to the predicted driving distance of the first vehicle Predicted driving distance to the second vehicle When the first judgment condition is met, record the moment Predicted driving speed of the second vehicle , and calculate the predicted time of overtaking ; The third judgment module is used to judge the predicted driving speed of the second vehicle at this moment. , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking Whether the preset second judgment condition is met at the same time; The module for generating the overtaking intention signal is used to respond to the predicted driving speed of the second vehicle at that moment. , the speed of the first vehicle , the speed of the second vehicle and the predicted time of overtaking If the preset second judgment condition is met at the same time, it is judged that the second vehicle has the intention to overtake; The signal output module is used for sending an overtaking intention signal to the ambient light system in response to the second vehicle having an overtaking intention; The display screen is used to display the road condition picture; The ambient light controller is used to determine whether the ambient light flashing condition is met based on the overtaking intention signal; The driving module is used to control the ambient light to prompt with a first color when the overtaking intention signal meets the ambient light flashing condition.

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