Vehicle driving safety auxiliary system

Abstract

The invention discloses a vehicle driving safety auxiliary system, and belongs to the technical field of auxiliary driving, and the system comprises a driving track collection unit which is used for collecting the driving track of a preset vehicle on a road where the vehicle is located in real time, and the driving track comprises the GPS positioning, the driving speed and the driving track angle change of the preset vehicle; the driving track acquisition unit comprises an angle deviation calculation module, an image acquisition module and a distance estimation module; the angle deviation acquisition module is used for acquiring angle deviation data of a preset vehicle on the basis of a lane line of a road on which the preset vehicle runs; the driving track angle change of the preset vehicle in the lane line is collected, the distance between the preset vehicle and the edge of the lane line is judged at the same time, so that the safe distance between the preset vehicle and the vehicle behind the side is ensured, and the distance change between the preset vehicle and the front vehicle is collected and judged through multiple collection stages. Therefore, the distance change trend is analyzed more accurately, and the driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of assisted driving, and in particular to a vehicle driving safety assistance system. Background Art

[0002] At present, with the rapid increase in the number of vehicles, the number of rear-end collisions and scratches caused by road congestion and lack of driver experience has also increased. Therefore, in order to improve the safety of vehicle driving, a series of safety assisted driving technologies have been widely used in various vehicles. For example, the lane keeping assist system uses a camera to identify road markings to remind the driver or intervene when the vehicle may deviate from the lane, and then adjust the driving route. The automatic parking assist system can solve the problem of blind spots at the rear of the vehicle and reduce parking accidents. There is also adaptive cruise control that can automatically adjust the speed according to the speed and distance of the vehicle in front, making driving easier. The auxiliary braking system automatically brakes in an emergency to avoid collisions. The curve cruise system helps the driver stay stable on the curve. Modern technology is still constantly committed to improving the safety of vehicle assisted driving. Among them, the technical application number CN201811126995.0 provides a vehicle safety driving assistance system, which includes an image acquisition module, a speed processing module, a central processing module and a warning module. The technical solution helps to improve the safety of vehicle driving with high accuracy.

[0003] Another technical application number CN202410073397.0 provides a vehicle-mounted healthy and safe driving assistance system and method. The technical solution includes a collection module, a labeling module, a processing module, an extraction module, a monitoring module, a warning module and a storage module. The technical solution can facilitate the monitoring of the driver's driving status during driving, thereby preventing the driver from continuing to drive after becoming drowsy and dozing off, thereby ensuring driving safety.

[0004] However, in real life, more traffic accidents occur between vehicles, and rear-end collisions and scratches are more common. The reason is that the existing technology has limited ability to identify vehicles with complex and changeable driving conditions on the road, especially for vehicles driving at low speeds with collision risks. The system may not be able to accurately identify them, resulting in the vehicle's failure to respond in time, and then causing rear-end collisions and / or scratches. The reason for the limited ability to identify vehicles with complex and changeable driving conditions on the road is often due to insufficient data and algorithm optimization, which makes it impossible for vehicles to respond correctly in certain scenarios, such as errors in vehicle speed changes or distance judgments. Summary of the invention

[0005] In view of the above problems existing in the existing field of assisted driving technology, the present invention is proposed.

[0006] Therefore, one of the objects of the present invention is to provide a vehicle driving safety assistance system, which collects the changes in the driving trajectory angle of a preset vehicle within the lane line, and at the same time determines the distance between the preset vehicle and the edge of the lane line to ensure a safe distance between the preset vehicle and the side and rear vehicles, so as to timely warn and intervene in braking when the distance between the preset vehicle and the edge of the lane line tends to decrease at an accelerated rate. At the same time, during the driving process of the preset vehicle, the distance change between the preset vehicle and the vehicle in front can be collected and judged according to the set driving speed before calculation, the driving speed during calculation and the driving speed after calculation, so as to more accurately analyze the distance change trend to ensure driving safety.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0008] The present invention provides a vehicle driving safety assistance system, comprising:

[0009] A driving trajectory acquisition unit, used for real-time acquisition of the driving trajectory of a preset vehicle on the road, wherein the driving trajectory includes the GPS location, driving speed and angle change of the driving trajectory of the preset vehicle, and the driving trajectory acquisition unit includes an angle deviation calculation module, an image acquisition module and a distance estimation module;

[0010] The angle deviation acquisition module is used to collect the angle deviation data of the preset vehicle based on the lane line of the road on which the preset vehicle is traveling, and divide the angle deviation data into left deviation angle data and right deviation angle data;

[0011] The image acquisition module responds to the angle deviation data acquired by the angle deviation acquisition module, and is used to acquire a vehicle image in front of the preset vehicle according to the angle deviation data;

[0012] The distance estimation module is used to estimate the distance between the preset vehicle and the front vehicle, and divide the estimated distance into a safe distance and an unsafe distance, wherein the safe distance is when the distance between the front vehicle and the preset vehicle is ≥3m, and the unsafe distance is when the distance between the front vehicle and the preset vehicle is <3m;

[0013] A distance fusion verification unit, the distance fusion verification unit is used to calculate the distance estimated by the distance estimation module to verify the accuracy of the estimated distance; the distance fusion verification unit includes a calculation module and a determination module;

[0014] The calculation module is used to calculate the estimated distance according to the driving speed of the preset vehicle, and the calculation method includes collecting the driving speed of the preset vehicle in a collection stage of 3 seconds, wherein the first second is marked as the driving speed before calculation, and the distance between the preset vehicle and the front vehicle is calculated according to the driving speed;

[0015] Marking the second second as the driving speed in calculation, analyzing the speed difference between the driving speed and the driving speed before calculation, and analyzing the change in the distance between the preset vehicle and the vehicle in front according to the speed difference;

[0016] The third second is marked as the calculated driving speed, and a new distance between the preset vehicle and the vehicle ahead is obtained according to the driving speed. When the distance is ≥ 3 m, the distance is marked as the defined distance;

[0017] The determination module is used to determine the distance between the preset vehicle and the vehicle in front according to the defined distance, wherein if the speed of the preset vehicle is decreasing, the system determines that the distance between the preset vehicle and the vehicle in front is lower than the defined distance, otherwise, if the calculated speed is the same as or faster than the calculated speed, no determination is made;

[0018] The early warning intervention module is used to calculate the duration of time the distance between the preset vehicle and the vehicle ahead is less than the defined distance when the distance is less than the defined distance. When the duration of time less than the defined distance is greater than 2 seconds, the system issues an early warning and collects the driving speed of the preset vehicle. If the driving speed does not show a decreasing trend, the system determines that the preset vehicle is not in a braking state. In this case, the system intervenes and brakes. Otherwise, no determination is made.

[0019] As a preferred solution of the present invention, in the angle deviation acquisition module, the acquisition method includes presetting an intermediate value in the distance from the lane line to the left front wheel and the right front wheel of the preset vehicle, and collecting the distance data between the left front wheel and the right front wheel of the preset vehicle and the intermediate value in a collection period of 0.2 to 0.5 seconds, and in the distance data, the distance data of the left front wheel of the preset vehicle is marked as G 左 , the preset distance data of the right front wheel of the vehicle is marked as G 右 , when G 左 and / or G 右 When one of them shows a shrinking trend, the system determines that the preset vehicle deviates toward the direction corresponding to the side showing the shrinking trend.

[0020] As a preferred embodiment of the present invention, when G 左 and / or G 右 When one of them changes toward the intermediate value, the distance between the preset vehicle and the vehicle on the corresponding side is obtained, and the driving speed of the preset vehicle is simultaneously obtained when the distance is obtained, and the change of the distance between the preset vehicle and the vehicle on the corresponding side at the driving speed is analyzed.

[0021] As a preferred solution of the present invention, when the driving speed shows an increasing trend, the distance between the front of the preset vehicle and the vehicle on the corresponding side is obtained. When the distance is shrinking but the preset vehicle has not driven out of the lane line, the system does not issue a warning, otherwise, a warning is issued.

[0022] As a preferred solution of the present invention, when the system does not issue a warning, the distance between the front of the preset vehicle and the vehicle on the corresponding side is collected every 0.1 to 0.2 seconds as a collection period. When the driving speed of the preset vehicle collected in three consecutive collection periods is consistent, but the distance between the front of the preset vehicle and the vehicle on the corresponding side is shrinking, the system issues a warning and intervenes in braking.

[0023] As a preferred solution of the present invention, when the system issues a warning and intervenes in braking for 2 seconds, the distance between the front of the preset vehicle and the vehicle on the opposite side is collected. When the distance is not collected, the system cancels the original braking of the preset vehicle. When the distance is collected, the change in the trajectory angle of the preset vehicle is obtained. When the preset vehicle does not exceed the lane line on the opposite side, the system does not issue a warning, otherwise, it issues a warning.

[0024] As a preferred solution of the present invention, when the system does not issue a warning, the distance between the preset vehicle and the lane line is obtained, and the driving speed of the preset vehicle and the distance between the preset vehicle and the vehicle on the corresponding side are collected every time the distance is reduced by 0.3 to 0.5 cm. When the distance between the preset vehicle and the lane line is reduced, but the distance between the preset vehicle and the vehicle on the corresponding side is not reduced, the system does not issue a warning, otherwise, a warning is issued.

[0025] As a preferred solution of the present invention, when obtaining the driving speed of the preset vehicle, one acquisition period is 0.2 seconds. In three consecutive acquisition periods, if the time taken for the distance between the preset vehicle and the lane line to decrease by 0.3 to 0.5 cm shows an accelerating trend, the system will issue a warning, otherwise, no warning will be issued.

[0026] As a preferred solution of the present invention, when the system issues a warning, the change in the driving trajectory angle of the preset vehicle within the lane line is collected to obtain whether the preset vehicle has corrected the driving trajectory angle. When the driving trajectory angle has not been corrected, the distance between the preset vehicle and the rear vehicle is collected in real time. When the distance is less than 3m, the system issues a warning; conversely, if the driving trajectory angle has been corrected, the distance between the preset vehicle and the rear vehicle is not collected.

[0027] Beneficial effects:

[0028] The present invention can obtain the real-time position of the preset vehicle in the lane line by collecting the change in the driving trajectory angle of the preset vehicle in the lane line, and judge the distance between the preset vehicle and the edge of the lane line according to the real-time position. When the distance is decreasing, the distance between the rear vehicle on the side of the decreasing distance and the preset vehicle is obtained, and early warning and intervention braking are performed to ensure a safe distance between the preset vehicle and the side and rear vehicle. When the driving trajectory of the preset vehicle changes in the opposite direction in order to ensure this safe distance, the distance between other vehicles in the opposite direction and the preset vehicle can be collected, so as to give timely early warning and intervention braking when the distance between the preset vehicle and the edge of the lane line tends to decrease faster. At the same time, during the driving of the preset vehicle, the distance change between the preset vehicle and the vehicle in front can be collected and judged according to the set driving speed before calculation, the driving speed during calculation and the driving speed after calculation, so as to more accurately analyze the distance change trend to ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0030] Figure 1 A schematic diagram of a modular structure of a vehicle driving safety assistance system according to an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of the process structure of an embodiment of the present invention;

[0032] Numbers in the figure: 110 - driving trajectory acquisition unit; 1101 - angle deviation calculation module; 1102 - image acquisition module; 1103 - distance estimation module; 120 - distance fusion verification unit; 1201 - calculation module; 1202 - determination module; 130 - early warning intervention module. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0034] The existing technology has limited ability to identify vehicles with complex and changing driving conditions on the road, especially for vehicles driving at low speeds with a risk of collision. The system may not be able to accurately identify the vehicle, resulting in the vehicle failing to respond in time, and thus causing rear-end collisions and / or scratches. The reason for the limited ability to identify vehicles with complex and changing driving conditions on the road is often due to insufficient data and algorithm optimization, which makes it impossible for the vehicle to respond correctly in certain scenarios, such as errors in vehicle speed changes or distance judgments.

[0035] Based on this, the present invention proposes a vehicle driving safety assistance system, which collects the changes in the driving trajectory angle of a preset vehicle within the lane line, and judges the distance between the preset vehicle and the edge of the lane line to ensure a safe distance between the preset vehicle and the side and rear vehicles, so as to timely warn and intervene in braking when the distance between the preset vehicle and the edge of the lane line tends to decrease at an accelerated rate. At the same time, during the driving process of the preset vehicle, the distance change between the preset vehicle and the vehicle in front can be collected and judged according to the set driving speed before calculation, the driving speed during calculation and the driving speed after calculation, so as to more accurately analyze the distance change trend to ensure driving safety.

[0036] The present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0037] Reference Figure 1 to Figure 2 , is an embodiment of the present invention, which provides a vehicle driving safety assistance system, including:

[0038] The driving trajectory acquisition unit 110 is used to collect the driving trajectory of the preset vehicle on the road in real time. The driving trajectory includes the GPS location, driving speed and angle change of the driving trajectory of the preset vehicle. The driving trajectory acquisition unit 110 includes an angle deviation calculation module 1101, an image acquisition module 1102 and a distance estimation module 1103;

[0039] The angle deviation acquisition module 1101 is used to collect angle deviation data of a preset vehicle based on the lane line of the road on which the preset vehicle is traveling, and divide the angle deviation data into left deviation angle data and right deviation angle data;

[0040] It should be noted that in the present embodiment, in the angle deviation acquisition module, the acquisition method includes presetting an intermediate value in the distance between the lane line and the left front wheel and the right front wheel of the preset vehicle, and collecting the distance data between the left front wheel and the right front wheel of the preset vehicle and the intermediate value in a collection period of 0.2 to 0.5 seconds. In the distance data, the distance data of the left front wheel of the preset vehicle is marked as G. 左 , mark the preset vehicle right front wheel spacing data as G 右 , when G 左 and / or G 右When one of them shows a shrinking trend, the system determines that the preset vehicle deviates in the direction corresponding to the side showing the shrinking trend;

[0041] At the same time, when G 左 and / or G 右 When one of them changes toward the middle value, the distance between the preset vehicle and the corresponding vehicle on the side is obtained, and the travel speed of the preset vehicle is obtained simultaneously when the distance is obtained, and the change of the distance between the preset vehicle and the corresponding vehicle on the side under the travel speed is analyzed;

[0042] In this embodiment, when the driving speed is increasing, the distance between the front of the preset vehicle and the vehicle on the corresponding side is obtained. When the distance is decreasing but the preset vehicle has not driven out of the lane line, the system does not issue a warning. Otherwise, a warning is issued.

[0043] On the basis of the above, when the system does not issue an early warning, the present embodiment collects the distance between the front of the preset vehicle and the vehicle on the corresponding side every 0.1 to 0.2 seconds as a collection period. When the driving speed of the preset vehicle collected in three consecutive collection periods is consistent, but the distance between the front of the preset vehicle and the vehicle on the corresponding side is reduced, the system issues an early warning and intervenes in braking.

[0044] The image acquisition module 1102 responds to the angle deviation data acquired by the angle deviation acquisition module 1101 and is used to acquire a vehicle image in front of a preset vehicle according to the angle deviation data;

[0045] The distance estimation module 1103 is used to estimate the distance between the preset vehicle and the front vehicle, and divide the estimated distance into a safe distance and an unsafe distance, wherein the safe distance is when the distance between the front vehicle and the preset vehicle is ≥3m, and the unsafe distance is when the distance between the front vehicle and the preset vehicle is <3m;

[0046] The distance fusion verification unit 120 is used to calculate the distance estimated by the distance estimation module 1103 to verify the accuracy of the estimated distance; the distance fusion verification unit 120 includes a calculation module 1201 and a determination module 1202;

[0047] The calculation module 1201 is used to calculate the estimated distance according to the driving speed of the preset vehicle, and the calculation method includes collecting the driving speed of the preset vehicle in a collection stage of 3 seconds, wherein the first second is marked as the driving speed before calculation, and the distance between the preset vehicle and the front vehicle is calculated according to the driving speed;

[0048] Mark the second second as the driving speed in calculation, analyze the speed difference between the driving speed and the driving speed before calculation, and analyze the change in the distance between the preset vehicle and the vehicle in front according to the speed difference;

[0049] The third second is marked as the calculated driving speed, and the distance between the new preset vehicle and the vehicle in front is obtained according to the driving speed. When the distance is ≥ 3m, the distance is marked as the defined distance;

[0050] The determination module 1202 is used to determine the distance between the preset vehicle and the vehicle in front according to the defined distance, wherein if the speed of the preset vehicle is decreasing, the system determines that the distance between the preset vehicle and the vehicle in front is lower than the defined distance, otherwise, if the calculated speed is the same as or faster than the calculated speed, no determination is made;

[0051] The early warning intervention module 130 is used to calculate the duration of the distance below the defined distance when the distance between the preset vehicle and the vehicle ahead is below the defined distance. When the duration of the distance below the defined distance is greater than 2 seconds, the system issues an early warning and collects the driving speed of the preset vehicle. If the driving speed does not show a decreasing trend, the system determines that the preset vehicle is not in a braking state. In this case, the system intervenes and brakes. Otherwise, no determination is made.

[0052] In this embodiment, when the system issues an early warning and intervenes in braking for 2 seconds, the distance between the front of the preset vehicle and the vehicle on the opposite side is collected. If the distance is not collected, the system cancels the original intervention of the braking of the preset vehicle; when the distance is collected, the angle change of the trajectory of the preset vehicle is obtained. If the preset vehicle does not exceed the lane line on the opposite side, the system does not issue an early warning, otherwise, an early warning is issued;

[0053] At the same time, further, when the system does not issue a warning, the distance between the preset vehicle and the lane line is obtained, and the travel speed of the preset vehicle and the distance between it and the vehicle on the corresponding side are collected every time the distance is reduced by 0.3 to 0.5 cm. When the distance between the preset vehicle and the lane line is reduced, but the distance between the preset vehicle and the vehicle on the corresponding side is not reduced, the system does not issue a warning, otherwise, a warning is issued;

[0054] In addition, when acquiring the travel speed of the preset vehicle, the present embodiment uses 0.2 seconds as one acquisition period. In three consecutive acquisition periods, if the time taken for the distance between the preset vehicle and the lane line to decrease by 0.3 to 0.5 cm is accelerating, the system issues a warning. Otherwise, no warning is issued.

[0055] On the basis of the above, when the system issues a warning, this embodiment collects the change in the driving trajectory angle of the preset vehicle within the lane line to obtain whether the preset vehicle has corrected the driving trajectory angle. When the driving trajectory angle is not corrected, the distance between the preset vehicle and the rear vehicle is collected in real time. When the distance is less than 3m, the system issues a warning; conversely, if the driving trajectory angle has been corrected, the distance between the preset vehicle and the rear vehicle is not collected.

[0056] In summary, by collecting the angular changes of the driving trajectory of the preset vehicle within the lane line, the real-time position of the preset vehicle within the lane line to which it belongs can be obtained, and the distance between the preset vehicle and the edge of the lane line can be judged according to the real-time position. When the distance is decreasing, the distance between the rear vehicle on the side of the decreasing distance and the preset vehicle is obtained, and early warning and intervention braking are performed to ensure a safe distance between the preset vehicle and the side and rear vehicle. When the driving trajectory of the preset vehicle changes in the opposite direction in order to ensure this safe distance, the distance between other vehicles in the opposite direction and the preset vehicle can be collected, so as to give timely early warning and intervention braking when the distance between the preset vehicle and the edge of the lane line tends to decrease faster. At the same time, during the driving of the preset vehicle, the distance change between the preset vehicle and the vehicle in front can be collected and judged according to the set driving speed before calculation, the driving speed during calculation and the driving speed after calculation, so as to more accurately analyze the trend of distance change to ensure driving safety.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A vehicle driving safety assistance system, characterized in that: include: A driving trajectory acquisition unit, used for real-time acquisition of the driving trajectory of a preset vehicle on the road, wherein the driving trajectory includes the GPS location, driving speed and angle change of the driving trajectory of the preset vehicle, and the driving trajectory acquisition unit includes an angle deviation calculation module, an image acquisition module and a distance estimation module; The angle deviation acquisition module is used to collect the angle deviation data of the preset vehicle based on the lane line of the road on which the preset vehicle is traveling, and divide the angle deviation data into left deviation angle data and right deviation angle data; The image acquisition module responds to the angle deviation data acquired by the angle deviation acquisition module, and is used to acquire a vehicle image in front of the preset vehicle according to the angle deviation data; The distance estimation module is used to estimate the distance between the preset vehicle and the front vehicle, and divide the estimated distance into a safe distance and an unsafe distance, wherein the safe distance is when the distance between the front vehicle and the preset vehicle is ≥3m, and the unsafe distance is when the distance between the front vehicle and the preset vehicle is <3m; A distance fusion verification unit, the distance fusion verification unit is used to calculate the distance estimated by the distance estimation module to verify the accuracy of the estimated distance; the distance fusion verification unit includes a calculation module and a determination module; The calculation module is used to calculate the estimated distance according to the driving speed of the preset vehicle, and the calculation method includes collecting the driving speed of the preset vehicle in a collection stage of 3 seconds, wherein the first second is marked as the driving speed before calculation, and the distance between the preset vehicle and the front vehicle is calculated according to the driving speed; Marking the second second as the driving speed in calculation, analyzing the speed difference between the driving speed and the driving speed before calculation, and analyzing the change in the distance between the preset vehicle and the vehicle in front according to the speed difference; The third second is marked as the calculated driving speed, and a new distance between the preset vehicle and the vehicle ahead is obtained according to the driving speed. When the distance is ≥ 3 m, the distance is marked as the defined distance; The determination module is used to determine the distance between the preset vehicle and the vehicle in front according to the defined distance, wherein if the speed of the preset vehicle is decreasing, the system determines that the distance between the preset vehicle and the vehicle in front is lower than the defined distance, otherwise, if the calculated speed is the same as or faster than the calculated speed, no determination is made; The early warning intervention module is used to calculate the duration of time the distance between the preset vehicle and the vehicle ahead is less than the defined distance when the distance is less than the defined distance. When the duration of time less than the defined distance is greater than 2 seconds, the system issues an early warning and collects the driving speed of the preset vehicle. If the driving speed does not show a decreasing trend, the system determines that the preset vehicle is not in a braking state. In this case, the system intervenes and brakes. Otherwise, no determination is made.

2. A vehicle driving safety assistance system as claimed in claim 1, characterized in that: In the angle deviation acquisition module, the acquisition method includes presetting an intermediate value within the distance from the lane line to the left front wheel and the right front wheel of the preset vehicle, and collecting the distance data between the left front wheel and the right front wheel of the preset vehicle and the intermediate value in a collection period of 0.2 to 0.5 seconds. In the distance data, the distance data of the left front wheel of the preset vehicle is marked as G 左 , the preset distance data of the right front wheel of the vehicle is marked as G 右 , when G 左 and / or G 右 When one of them shows a shrinking trend, the system determines that the preset vehicle deviates in the direction of the side corresponding to the shrinking trend.

3. A vehicle driving safety assistance system as claimed in claim 2, characterized in that: When G 左 and / or G 右 When one of them changes toward the intermediate value, the distance between the preset vehicle and the vehicle on the corresponding side is obtained, and the driving speed of the preset vehicle is simultaneously obtained when the distance is obtained, and the change of the distance between the preset vehicle and the vehicle on the corresponding side at the driving speed is analyzed.

4. A vehicle driving safety assistance system as claimed in claim 3, characterized in that: When the driving speed is increasing, the distance between the front of the preset vehicle and the vehicle on the corresponding side is obtained. When the distance is decreasing but the preset vehicle has not driven out of the lane line, the system will not issue a warning. Otherwise, a warning will be issued.

5. A vehicle driving safety assistance system as claimed in claim 4, characterized in that: When the system does not issue a warning, the distance between the front of the preset vehicle and the vehicle on the corresponding side is collected every 0.1 to 0.2 seconds. When the driving speed of the preset vehicle collected in three consecutive collection periods is consistent, but the distance between the front of the preset vehicle and the vehicle on the corresponding side is shrinking, the system issues a warning and intervenes in braking.

6. A vehicle driving safety assistance system as claimed in claim 5, characterized in that: When the system issues a warning and intervenes in braking for 2 seconds, it collects the distance between the front of the preset vehicle and the vehicle on the opposite side. When the distance is not collected, the system cancels the original braking of the preset vehicle. When the distance is collected, the change in the trajectory angle of the preset vehicle is obtained. When the preset vehicle does not exceed the lane line on the opposite side, the system does not issue a warning, otherwise it will issue a warning.

7. A vehicle driving safety assistance system as claimed in claim 6, characterized in that: When the system does not issue a warning, the distance between the preset vehicle and the lane line is obtained, and the driving speed of the preset vehicle and the distance between the preset vehicle and the vehicle on the corresponding side are collected every time the distance is reduced by 0.3 to 0.5 cm. When the distance between the preset vehicle and the lane line is reduced, but the distance between the preset vehicle and the vehicle on the corresponding side is not reduced, the system does not issue a warning, otherwise, a warning is issued.

8. A vehicle driving safety assistance system as claimed in claim 7, characterized in that: When obtaining the driving speed of the preset vehicle, one acquisition period is 0.2 seconds. In three consecutive acquisition periods, if the time taken for the distance between the preset vehicle and the lane line to decrease by 0.3 to 0.5 cm shows an accelerating trend, the system will issue a warning, otherwise, no warning will be issued.

9. A vehicle driving safety assistance system as claimed in claim 8, characterized in that: When the system issues an early warning, the change in the driving trajectory angle of the preset vehicle in the lane line is collected to obtain whether the preset vehicle has corrected the driving trajectory angle. If the driving trajectory angle is not corrected, the distance between the preset vehicle and the rear vehicle is collected in real time. When the distance is less than 3m, the system issues an early warning; On the contrary, if the driving trajectory angle has been corrected, the distance between the preset vehicle and the rear vehicle is not collected.

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