Vehicle driving safety assistance system

Abstract

The present invention discloses a vehicle driving safety assistance system, belonging to the technical field of assisted driving, which includes a driving trajectory acquisition unit for real-time acquisition of the driving trajectory of a preset vehicle on the road where it is located. The driving trajectory includes the GPS positioning, driving speed, and trajectory angle change of the preset vehicle. 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 acquire the angle deviation data of the preset vehicle based on the lane lines of the road on which the preset vehicle travels; the present invention collects the change in the driving trajectory angle of the preset vehicle within the lane lines, and at the same time judges the distance between the preset vehicle and the edge of the lane line to ensure the safety distance between the preset vehicle and the vehicle behind, and collects and judges the change in the distance between the preset vehicle and the vehicle in front through multiple acquisition stages to more accurately analyze the trend of distance change to ensure driving safety.

Description

Technical Field

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

[0002] Currently, with the sharp increase in the number of vehicles, accidents such as vehicle rear-end collisions and scratches caused by reasons such as road congestion and insufficient driver experience have also increased. Therefore, in order to improve the safety of vehicle driving, a series of safety assisted driving technologies have been widely applied to various vehicles. For example, the lane keeping assistance system can identify road markings through a camera and remind the driver or intervene when the vehicle may deviate from the lane, and then adjust the driving route. The automatic parking assistance system can solve the problem of the blind area at the rear of the vehicle and reduce parking accidents. There is also adaptive cruise control that can automatically adjust the vehicle speed according to the speed and distance of the vehicle ahead, making driving easier. The assisted braking system automatically brakes in case of emergency to avoid collisions. The curve cruise system helps the driver maintain stability on curves. And modern technology is still constantly committed to improving the safety assisted driving of vehicles. Among them, the technology with the application number CN201811126995.0 provides a vehicle safety driving assistance system, and this technical solution includes an image acquisition module, a speed processing module, a central processing module, and an early warning module. This technical solution helps to improve the safety of vehicle driving and has high accuracy.

[0003] Another technology with the application number CN202410073397.0 provides an in-vehicle health and safety driving assistance system and method. This technical solution includes an acquisition module, a marking module, a processing module, an extraction module, a monitoring module, an early warning module, and a storage module. This technical solution can facilitate the monitoring of the driver's driving state during driving, so as to prevent the driver from continuing to drive after experiencing drowsiness and dozing, and thus facilitate ensuring driving safety.

[0004] However, in real life, more traffic accidents occur between vehicles, and rear-end collisions and scratches between vehicles are particularly frequent accidents. The reason is that the existing technology has limited ability to identify vehicles with complex and changeable driving states on the road. Especially for low-speed driving vehicles with a risk of collision, the system may not be able to accurately identify them, resulting in the vehicle failing to react in time, and thus causing rear-end collisions and / or scratches. The reason for the limited ability to identify vehicles with complex and changeable driving states on the road is often due to insufficient data and algorithm optimization, which makes the vehicle unable to make correct responses in specific scenarios, such as errors in vehicle speed change or distance judgment. 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 objectives of the present invention is to provide a vehicle driving safety assistance system, which collects the change in the driving trajectory angle of a preset vehicle within the lane line, and at the same time judges the distance between the preset vehicle and the edge of the lane line to ensure the safety distance between the preset vehicle and the vehicle behind. When the distance between the preset vehicle and the edge of the lane line shows a trend of accelerating reduction, timely warning and intervention braking are carried out. At the same time, during the driving process of the preset vehicle, the change in the distance between the preset vehicle and the vehicle in front can be collected and judged according to the driving speed before calculation, the driving speed during calculation, and the driving speed after calculation set, so as to more accurately analyze the trend of distance change to ensure driving safety.

[0007] 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, including:

[0009] A driving trajectory acquisition unit, configured to collect in real time the driving trajectory of a preset vehicle on the road where it is located. The driving trajectory includes the GPS positioning, driving speed, and change in the driving trajectory angle of the preset vehicle. 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 configured to collect the angle deviation data of the preset vehicle based on the lane line of the road on which the preset vehicle travels, 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 collected by the angle deviation acquisition module, and is configured to collect the vehicle image in front of the preset vehicle according to the angle deviation data;

[0012] The distance estimation module is configured to estimate the distance between the preset vehicle and the vehicle in front, and divide the estimated distance into a safe distance and a non-safe distance. Among them, the safe distance is that the interval between the vehicle in front and the preset vehicle is ≥3m, and the non-safe distance is that the interval between the vehicle in front and the preset vehicle is <3m;

[0013] A distance fusion verification unit, which is configured 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 configured to calculate the estimated distance according to the driving speed of the preset vehicle. The calculation method includes collecting the driving speed of the preset vehicle in a collection stage of 3 seconds. Among them, the first second is marked as the driving speed before calculation, and the distance between the preset vehicle and the vehicle in front is calculated according to the driving speed;

[0015] Mark the second second as the driving speed during 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 ahead according to the speed difference;

[0016] Mark the third second as the driving speed after calculation, obtain the new distance between the preset vehicle and the vehicle ahead according to the driving speed, and when the distance ≥ 3m, mark the distance as the defined distance;

[0017] The determination module is used to determine the distance between the preset vehicle and the vehicle ahead according to the defined distance. Among them, if the driving speed of the preset vehicle shows a decreasing trend, the system determines that the distance between the preset vehicle and the vehicle ahead will be lower than the defined distance. On the contrary, if the driving speed after calculation is the same as or faster than the driving speed during calculation, no determination is made;

[0018] The warning intervention module is used to calculate the duration of being lower than the distance when the distance between the preset vehicle and the vehicle ahead is lower than the defined distance. When the duration of being lower than the distance is greater than 2 seconds, the system issues a 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, wherein: in the angle deviation acquisition module, the acquisition method includes presetting an intermediate value within 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 at intervals of 0.2 to 0.5 seconds. In the distance data, mark the distance data of the left front wheel of the preset vehicle as G 左 , mark the distance data of the right front wheel of the preset vehicle 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 with the shrinking trend.

[0020] As a preferred solution of the present invention, wherein: when G 左 and / or G 右 When one of them changes towards the intermediate value, obtain the distance between the preset vehicle and the vehicle on the corresponding side, and synchronously obtain the driving speed of the preset vehicle when obtaining the distance, and analyze the change in the distance between the preset vehicle and the vehicle on the corresponding side at the driving speed.

[0021] As a preferred embodiment 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 in a shrinking state but the preset vehicle has not exited the lane line, the system does not issue a warning; otherwise, a warning is issued.

[0022] As a preferred embodiment 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 - 0.2 seconds as a collection period. When the driving speed of the preset vehicle collected in three consecutive collection periods is the same but the distance between the front of the preset vehicle and the vehicle on the corresponding side is in a shrinking state, the system issues a warning and intervenes in braking.

[0023] As a preferred embodiment of the present invention, when 2 seconds after the system issues a warning and intervenes in braking, 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 intervention in braking for the preset vehicle; when the distance is collected, the change in the trajectory angle of the preset vehicle's travel is obtained. When the preset vehicle has not exceeded the lane line on the opposite side, the system does not issue a warning; otherwise, a warning is issued.

[0024] As a preferred embodiment 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 when the distance shrinks by 0.3 - 0.5 cm each time, the driving speed of the preset vehicle and its distance from the vehicle on the corresponding side are collected. When the distance between the preset vehicle and the lane line is in a shrinking state but the distance between the preset vehicle and the vehicle on the corresponding side does not shrink, the system does not issue a warning; otherwise, a warning is issued.

[0025] As a preferred embodiment of the present invention, when obtaining the driving speed of the preset vehicle, with every 0.2 seconds as an acquisition period, in three consecutive acquisition periods, if the time taken for the distance between the preset vehicle and the lane line to shrink by 0.3 - 0.5 cm shows an accelerating trend, the system issues a warning; otherwise, no warning is issued.

[0026] As a preferred embodiment 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 corrects its driving trajectory angle. When the driving trajectory angle is not corrected, the distance between the preset vehicle and the vehicle behind is collected in real time. When the distance < 3 m, the system issues a warning; otherwise, if the driving trajectory angle has been corrected, the distance between the preset vehicle and the vehicle behind is not collected.

[0027] Beneficial effects:

[0028] By collecting the change in the driving trajectory angle of a preset vehicle within the lane line, the present invention can obtain the real-time position of the preset vehicle within its lane line, judge the distance between the preset vehicle and the edge of the lane line according to this real-time position. When the distance shows a shrinking trend, the distance between the vehicle behind on the side where the distance shrinks and the preset vehicle is obtained, and early warning and intervention braking are performed to ensure the safety distance between the preset vehicle and the vehicle behind on the side. When the driving trajectory of the preset vehicle changes in the opposite direction to ensure this safety distance, the distance between the preset vehicle and other vehicles in the opposite direction can be collected to give an early warning and intervene in braking in time when the distance between the preset vehicle and the edge of the lane line shows an accelerating shrinking trend. At the same time, during the driving process of the preset vehicle, the change in the distance between the preset vehicle and the vehicle in front can be collected and judged according to the preset 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. Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings. Among them:

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

[0031] Figure 2 It is a process structure schematic diagram according to the embodiment of the present invention;

[0032] Reference numerals 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 Embodiments

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention with reference to the drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present invention.

[0034] Due to the limited ability of existing technologies to identify vehicles with complex and variable driving states on the road, especially low-speed driving vehicles at risk of collision, the system may not be able to accurately identify them, resulting in the vehicle failing to react in time, and thus causing rear-end collisions and / or scratches. The reason for the limited ability to identify vehicles with complex and variable driving states on the road is often due to insufficient data and algorithm optimization, which causes the vehicle to be unable to make correct responses in specific 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. By collecting the change in the driving trajectory angle of a preset vehicle within the lane line and simultaneously judging the distance between the preset vehicle and the edge of the lane line, it ensures the safety distance between the preset vehicle and the vehicle behind. When the distance between the preset vehicle and the edge of the lane line shows a trend of accelerating reduction, it gives a timely warning and intervenes in braking. At the same time, during the driving process of the preset vehicle, it can collect and judge the change in the distance between the preset vehicle and the vehicle in front according to the driving speed before calculation, the driving speed during calculation, and the driving speed after calculation set, and then can more accurately analyze the trend of distance change to ensure driving safety.

[0036] The following further specifically describes this solution through embodiments in conjunction with the drawings.

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

[0038] A driving trajectory acquisition unit 110, configured to collect in real time the driving trajectory of a preset vehicle on the road where it is located. The driving trajectory includes the GPS positioning, driving speed, and change in the driving trajectory angle 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 configured to collect the angle deviation data of the preset vehicle based on the lane line of the road on which the preset vehicle travels, and divide the angle deviation data into left deviation angle data and right deviation angle data;

[0040] It should be noted in this embodiment that in the angle deviation acquisition module, the acquisition method includes presetting an intermediate value within 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 at intervals 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 , and the distance data of the right front wheel of the preset 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 corresponding to the side with the shrinking trend;

[0041] Meanwhile, when G 左 and / or G 右 When one of them changes towards 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 synchronously obtained when obtaining the distance, and the change in the distance between the preset vehicle and the vehicle on the corresponding side at the driving speed is analyzed;

[0042] In this embodiment, further, 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 shows a shrinking state 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] Based on the above, in this embodiment, 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 with a collection period of every 0.1 - 0.2 seconds. When the driving speed of the preset vehicle collected in three consecutive collection periods is the same but the distance between the front of the preset vehicle and the vehicle on the corresponding side shows a shrinking state, the system issues a warning and intervenes in braking;

[0044] The image acquisition module 1102 responds to the angle deviation data collected by the angle deviation acquisition module 1101 and is used to acquire the vehicle image in front of the 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 vehicle in front, and classify the estimated distance into a safe distance and a non - safe distance. Among them, the safe distance is that the interval between the vehicle in front and the preset vehicle is ≥3m, and the non - safe distance is that the interval between the vehicle in front 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. The calculation method includes collecting the driving speed of the preset vehicle with a 3 - second collection stage. Among them, the driving speed before calculation is marked at the 1st second, and the distance between the preset vehicle and the vehicle in front is calculated according to the driving speed;

[0048] The driving speed at the 2nd second is marked as the driving speed during calculation, and the speed difference between the driving speed during calculation and the driving speed before calculation is analyzed, and the change in the distance between the preset vehicle and the vehicle in front is analyzed according to the speed difference;

[0049] Mark the speed at the 3rd second as the calculated driving speed. Obtain the new preset distance between the vehicle and the vehicle ahead according to the driving speed. When the distance ≥ 3m, mark the distance as the defined distance;

[0050] The determination module 1202 is used to determine the distance between the preset vehicle and the vehicle ahead according to the defined distance. Among them, if the driving speed of the preset vehicle shows a decreasing trend, the system determines that the distance between the preset vehicle and the vehicle ahead will be lower than the defined distance. On the contrary, if the calculated driving speed is the same as or faster than the driving speed during calculation, no determination is made;

[0051] The warning intervention module 130 is used to calculate the duration of being lower than the distance when the distance between the preset vehicle and the vehicle ahead is lower than the defined distance. When the duration of being lower than the distance is greater than 2 seconds, the system issues a 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. On the contrary, no determination is made;

[0052] In this embodiment, 2 seconds after the system issues a warning and intervenes to brake, collect 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 intervention braking of the preset vehicle; when the distance is collected, obtain the change in the trajectory angle of the preset vehicle's travel. When the preset vehicle does not exceed the lane line on the opposite side, the system does not issue a warning. On the contrary, a warning is issued;

[0053] At the same time, further, when the system does not issue a warning, obtain the distance between the preset vehicle and the lane line, and collect the driving speed of the preset vehicle and its distance from the vehicle on the corresponding side every time the distance shrinks by 0.3 - 0.5 cm. When the distance between the preset vehicle and the lane line is shrinking, but the distance between the preset vehicle and the vehicle on the corresponding side does not shrink, the system does not issue a warning. On the contrary, a warning is issued;

[0054] Moreover, in this embodiment, when obtaining the driving speed of the preset vehicle, with every 0.2 seconds as an acquisition period, in three consecutive acquisition periods, if the time taken for the distance between the preset vehicle and the lane line to shrink by 0.3 - 0.5 cm shows an accelerating trend, the system issues a warning. On the contrary, no warning is issued;

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

[0056] In summary, by collecting the change in the driving trajectory angle of a 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. Based on this real-time position, the distance between the preset vehicle and the edge of the lane line is judged. When the distance shows a shrinking trend, the distance between the vehicle behind on the side where the distance shrinks and the preset vehicle is obtained, and early warning and intervention braking are performed to ensure the safety distance between the preset vehicle and the vehicle behind on the side. When the driving trajectory of the preset vehicle changes in the opposite direction to ensure this safety distance, the distance between the preset vehicle and other vehicles in the opposite direction can be collected to give an early warning and intervene with braking in a timely manner when the distance between the preset vehicle and the edge of the lane line shows an accelerating shrinking trend. At the same time, during the driving process of the preset vehicle, the change in the distance between the preset vehicle and the vehicle in front can be collected and judged according to the set driving speed before calculation, driving speed during calculation, and driving speed after calculation, so as to more accurately analyze the trend of distance change and ensure driving safety.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by 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 acquisition 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 the distance below the defined distance when the distance between the preset vehicle and the vehicle ahead is less than 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. 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 corresponding to the side showing the shrinking trend; 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.

2. A vehicle driving safety assistance system as claimed in claim 1, 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.

3. A vehicle driving safety assistance system as claimed in claim 2, 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.

4. A vehicle driving safety assistance system as claimed in claim 3, 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.

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 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.

6. A vehicle driving safety assistance system as claimed in claim 5, 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.

7. A vehicle driving safety assistance system as claimed in claim 6, 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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