Method, device, equipment and storage medium for automatically flickering and whistling vehicle lamp and whistling in intelligent driving

Abstract

The invention discloses a method, a device, equipment and a storage medium for automatically flickering and whistling in intelligent driving, and relates to the technical field of intelligent driving, and the method comprises the following steps: detecting whether an automatic flashing function or an automatic flashing whistling function of a vehicle is started or not; after the automatic light flashing function or the automatic light flashing and whistling function is started, speed information is obtained; obtaining driving signals corresponding to different function triggering scenes according to the speed information and a risk coefficient model, wherein the risk coefficient model comprises a scene weight coefficient optimized by Monte Carlo simulation; and according to the driving signal, the vehicle is controlled to automatically flicker and / or whistle. According to the method, the driving condition is intelligently analyzed, the overtaking lamp and the whistle are automatically turned on, a driver does not need to manually operate the horn and the overtaking lamp when the vehicle is automatically driven, and the automation degree and safety of intelligent driving are improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to methods, devices, equipment and storage media for automatically flashing overtaking lights and automatically honking horns in intelligent driving. Background Art

[0002] With the continuous development of science and technology, automobiles have made great progress in the field of intelligent driving. Functions such as automatic parking, remote parking, parking fees, and valet parking have been realized in mass-produced models. However, when using the automatic driving function, the driver still needs to manually operate the horn and overtaking lights, which is not convenient enough. At the same time, if the driver does not operate the overtaking lights and horns properly, such as not turning them on in time or turning them on too early, it will affect driving safety and cause accidents. Summary of the invention

[0003] The main purpose of this application is to provide a method, device, equipment and storage medium for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, aiming to solve the technical problem of how to improve the degree of automation and safety of intelligent driving.

[0004] To achieve the above purpose, the present application proposes a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, the method comprising:

[0005] Detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and honking light function;

[0006] After the automatic flashing light function or the automatic flashing light and whistle function is turned on, obtaining speed information;

[0007] Obtaining driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model, wherein the risk coefficient model includes a scenario weight coefficient optimized by Monte Carlo simulation;

[0008] According to the driving signal, the vehicle is controlled to automatically flash overtaking lights and / or automatically honk the horn.

[0009] In one embodiment, the step of obtaining driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model includes:

[0010] According to the speed information, the speed difference between the vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, and the probability of the lane change intention of the overtaken vehicle are obtained;

[0011] Calculating a risk coefficient value through a risk coefficient model based on the speed difference between the own vehicle and the preceding vehicle and the current lane speed limit value;

[0012] Based on the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle and the risk coefficient value, drive signals corresponding to different function triggering scenarios are obtained.

[0013] In one embodiment, the step of obtaining the driving signals corresponding to different function triggering scenarios based on the speed difference between the host vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value includes:

[0014] A function triggering scenario is obtained based on at least one of the speed difference between the own vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value;

[0015] When the function triggering scenario is a low-speed road blocking scenario, determining that the driving signal is an automatic horn signal;

[0016] When the function triggering scenario is a lane changing and overtaking scenario, determining that the driving signal is an automatic flashing light and honking horn signal;

[0017] When the function triggering scenario is an abnormal scenario of the overtaken vehicle, the driving signal is determined to be a defensive flashing light signal.

[0018] In one embodiment, the step of obtaining a function triggering scenario based on at least one of the speed difference between the host vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value comprises:

[0019] When the speed difference between the host vehicle and the preceding vehicle, the current lane speed limit value, and the duration meet a first preset condition, determining that the function triggering scenario is a low-speed lane blocking scenario;

[0020] When the adjacent vehicle lateral distance, the dynamic safety distance, and the risk coefficient value meet a second preset condition, determining that the function triggering scenario is a lane change overtaking scenario;

[0021] When the lane-changing intention probability of the overtaken vehicle meets a third preset condition, the function triggering scenario is determined to be an abnormal scenario of the overtaken vehicle.

[0022] In one embodiment, the step of controlling the vehicle to automatically flash overtaking lights and / or automatically honk the horn according to the driving signal comprises:

[0023] When the automatic flashing light and honking horn function is turned on and the driving signal is an automatic honking horn signal, controlling the vehicle to automatically honk the horn;

[0024] When the automatic flashing light and honking horn function is turned on and the driving signal is an automatic flashing light and honking horn signal, controlling the vehicle to automatically flash the overtaking light and automatically honk the horn;

[0025] When the driving signal is a defensive flashing light signal, the vehicle is controlled to flash its overtaking lights defensively.

[0026] In one embodiment, after the automatic flashing light function or the automatic flashing light and whistle function is turned on, the step of obtaining speed information includes:

[0027] After the automatic flashing light function or the automatic flashing light and honking light function is turned on, the current lane speed limit, the speed difference between the vehicle and the preceding vehicle, and the lateral distance between adjacent vehicles are obtained through the vehicle navigation application and sensors;

[0028] Get the standard corrected dynamic safety distance;

[0029] The probability of the overtaken vehicle's lane change intention is obtained through the trajectory prediction model;

[0030] The speed difference between the own vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, and the lane change intention probability of the overtaken vehicle are used as speed information.

[0031] In one embodiment, the step of obtaining the lane change intention probability of the overtaken vehicle through the trajectory prediction model includes:

[0032] Collecting the driving data of the overtaken vehicle by means of the sensor;

[0033] Inputting the driving data of the overtaken vehicle into a trajectory prediction model to obtain prediction data;

[0034] The predicted data is post-processed to obtain the lane-changing intention probability of the overtaken vehicle.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for automatically flashing overtaking lights and automatically honking a horn in intelligent driving, the device comprising:

[0036] A switch control module is used to detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and honking light function;

[0037] An information acquisition module, used to acquire speed information after the automatic flashing light function or the automatic flashing light and whistle function is turned on;

[0038] An information processing module, used for obtaining driving signals corresponding to different function triggering scenarios according to the speed information and a risk coefficient model, wherein the risk coefficient model includes a scenario weight coefficient optimized by Monte Carlo simulation;

[0039] The driving control module is used to control the vehicle to automatically flash the overtaking lights and / or automatically honk the horn according to the driving signal.

[0040] In addition, to achieve the above-mentioned objectives, the present application also proposes a device for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving as described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving as described above are implemented.

[0042] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving as described above.

[0043] One or more technical solutions proposed in this application have at least the following technical effects:

[0044] This application solves the technical problem that the driver needs to manually operate the horn and overtaking lights when the vehicle is automatically driving by intelligently analyzing the driving conditions and automatically turning on the overtaking lights and honking the horn. Compared with the existing technology, it improves the automation level and safety of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 A flow chart of the first embodiment of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of the present application;

[0048] Figure 2 A schematic diagram of a user mode interaction interface for a method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving provided in Example 1 of the present application;

[0049] Figure 3 A complete flowchart of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving provided in the first embodiment of the present application;

[0050] Figure 4 A schematic diagram of the system architecture of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving provided in the first embodiment of the present application;

[0051] Figure 5 A flow chart of the second embodiment of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of the present application;

[0052] Figure 6 A flowchart diagram of the third embodiment of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of this application;

[0053] Figure 7 A flowchart diagram of the fourth embodiment of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of this application;

[0054] Figure 8 This is a schematic diagram of the module structure of the automatic flashing overtaking light and automatic horn device in the intelligent driving embodiment of the present application;

[0055] Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving in the embodiments of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: to detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and honking light function; to obtain speed information after the automatic flashing light function or the automatic flashing light and honking light function is turned on; to obtain driving signals corresponding to different function triggering scenarios based on the speed information and the risk coefficient model, wherein the risk coefficient model includes a scene weight coefficient optimized by Monte Carlo simulation; and to control the vehicle to automatically flash the overtaking lights and / or automatically honk the horn based on the driving signal.

[0060] In this embodiment, for ease of description, the following description is made using the internal actuators of the automatic flashing overtaking lights and automatic horn honking systems in the intelligent driving system as the execution subject.

[0061] Because the existing technology still requires the driver to manually operate the horn and overtaking lights when using the automatic driving function, it is not convenient enough. At the same time, if the driver does not operate the overtaking lights and horn properly, such as not turning them on in time or turning them on too early, it will affect driving safety and cause accidents.

[0062] The present application provides a solution that improves the automation and safety of intelligent driving by intelligently analyzing driving conditions and automatically turning on overtaking lights and honking the horn.

[0063] It can be seen from the above embodiments that the present application solves the technical problem that the driver needs to manually operate the horn and overtaking lights when the vehicle is automatically driving by intelligently analyzing the driving conditions and automatically turning on the overtaking lights and honking the horn, thereby improving the automation level and safety of intelligent driving.

[0064] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, etc. The following takes the internal actuator of the automatic flashing overtaking light and automatic horn system in the intelligent driving as an example to illustrate this embodiment and the following embodiments.

[0065] Based on this, the embodiment of the present application provides a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of this application.

[0066] In this embodiment, the method for automatically flashing overtaking lights and automatically honking the horn in the intelligent driving includes steps S10 to S40:

[0067] Step S10, detecting whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and horn function.

[0068] It should be noted that the automatic flashing light function, that is, the automatic flashing overtaking light function, is a practical function in the vehicle lighting system. In the vehicle overtaking scenario, it can play the role of reminding the front and rear vehicles and warning oncoming vehicles. The automatic flashing light and honking function, that is, the combination of the automatic flashing overtaking light function and the automatic honking function, can drive the horn to honk while flashing the overtaking light, which can play the role of safety warning and auxiliary prompt in the vehicle overtaking scenario.

[0069] In addition, it should be noted that the overtaking lights may be vehicle turn signals or front and rear headlights.

[0070] like Figure 2The user mode interaction interface is shown as a schematic diagram, wherein the user mode selections include [1] flashing light only mode, [2] horn + flashing light mode, and [3] off mode. The user mode interaction interface can also support user customization.

[0071] Step S20, obtaining speed information after the automatic flashing light function or the automatic flashing light and whistle function is turned on.

[0072] It should be noted that speed information is information related to the driving status of the vehicle and vehicles near the vehicle in the overtaking scenario, including the speed difference between the vehicle and the vehicle in front, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, the probability of the overtaken vehicle's lane change intention, and the scenario weight coefficient. This information can be collected or calculated through the vehicle navigation application, intelligent driving camera, millimeter wave radar, intelligent driving domain controller, and radar probe.

[0073] Step S30, obtaining driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model, wherein the risk coefficient model includes a scenario weight coefficient optimized by Monte Carlo simulation.

[0074] It should be noted that the risk coefficient model is a model used to calculate the probability of danger that may occur during the vehicle overtaking process. It is usually a tool or method for evaluating and quantifying risks. It may include one or more calculation formulas to obtain a value representing the degree of risk by comprehensively considering various risk factors. In this embodiment and other embodiments, the risk coefficient model is a clear mathematical formula that calculates the degree of risk by integrating multiple data.

[0075] In addition, it should be noted that Monte Carlo simulation optimization is an optimization method based on Monte Carlo simulation. It combines the randomness of Monte Carlo simulation and the search ability of optimization algorithm to solve various complex optimization problems. Monte Carlo simulation method is also called statistical experimental method. It is a method that uses statistical sampling theory to approximate mathematical, physical and engineering problems. This method uses a large number of computer simulations to test the dynamic characteristics of the system and summarize the statistical results, including the generation of pseudo-random numbers, Monte Carlo simulation design and result interpretation. Its role is to simulate the real physical environment with mathematical methods and verify the reliability and feasibility of the system. Optimization algorithm refers to an algorithm that finds the optimal solution under certain constraints. Common optimization algorithms include genetic algorithms, simulated annealing algorithms, particle swarm optimization algorithms, etc. These algorithms gradually approach the optimal solution through continuous iteration and search. When the scene weight coefficient is obtained through Monte Carlo simulation optimization, each scene and related variables are first determined, and the initial weight coefficient is set. Then, a large number of random simulations are performed to calculate the objective function values ​​under different scenarios. Based on the optimization results of the objective function, the weight coefficient is adjusted using the optimization algorithm. After multiple iterations, the weight coefficient converges to the value that can make the objective function optimal. The scenario weight coefficient is a weight parameter used for risk coefficient model calculation obtained through Monte Carlo simulation optimization, which is mainly related to the surrounding environment, road conditions and driving status of surrounding vehicles when overtaking occurs.

[0076] In addition, it should be noted that the drive signal is sent by the domain controller to the body control module, so that the body control module controls whether to flash the overtaking lights and / or sound the horn according to the drive signal. The drive signal includes an automatic horn signal, an automatic flashing light and horn signal, and a defensive flashing light signal.

[0077] In addition, it should be noted that there are three scenarios for triggering different functions, namely, low-speed lane blocking scenario, lane changing and overtaking scenario, and abnormal scenario of the overtaken vehicle.

[0078] Step S40: According to the driving signal, the vehicle is controlled to automatically flash the overtaking lights and / or automatically honk the horn.

[0079] According to the content of the driving signal, the body control module controls the vehicle to automatically flash the overtaking lights and / or automatically honk the horn, corresponding to three core scenarios: in the low-speed blocking scenario, only the horn is automatically honked; in the lane change overtaking scenario, the lights and horn are automatically flashed and honked; in the abnormal behavior of the overtaken vehicle scenario, the defensive flashing lights are triggered. At the same time, the rain and sunlight sensor can also identify the external light to determine whether it is day or night, and then adaptively adjust the triggering conditions of different core scenarios, optimize the activation time of the automatic flashing lights and automatic honking functions, and the corresponding delay is less than 150ms, and the false trigger rate is low.

[0080] like Figure 3 The figure shows a complete process diagram of the present application, including: the camera identifies the speed limit, the radar identifies the vehicle; the driver turns on the intelligent driving, the rain and sunlight sensor identifies the external light, and determines whether it is day or night; the intelligent driving module sends a signal to the body control module to control the horn to honk and / or flash the overtaking lights.

[0081] like Figure 4 Shown is a schematic diagram of the system architecture, which includes: the cockpit domain controller includes user mode selection and HMI interaction interface; the intelligent driving domain controller includes risk model calculation and multi-sensor fusion; the body control module includes horn / flashing lights execution and status feedback.

[0082] This embodiment provides a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving. By intelligently analyzing driving conditions, the overtaking lights and horn are automatically turned on, which solves the technical problem that the driver needs to manually operate the horn and overtaking lights when the vehicle is automatically driving, thereby improving the automation level and safety of intelligent driving.

[0083] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 5 , step S30 includes steps S31 to S33:

[0084] Step S31, based on the speed information, obtain the speed difference between the vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, and the probability of the overtaken vehicle's lane change intention.

[0085] It should be noted that the speed difference between the vehicle and the vehicle in front is calculated by the radar sensor collecting the speed of the vehicle and the vehicle in front. The current lane speed limit is the speed limit of the lane where the vehicle is currently traveling, identified by the in-vehicle navigation application and the intelligent driving camera.

[0086] In addition, it should be noted that the lateral distance between adjacent vehicles refers to the distance between the central axes of two adjacent vehicles on the same road plane, which is perpendicular to the direction of travel. This distance reflects the relative position of the vehicles in the lateral space, and plays a key role in determining whether the vehicle will have a side collision, whether it can safely merge, etc. It can be obtained through the vehicle's radar sensor and camera. The dynamic safety distance is based on the ISO 22839 (Intelligent Transportation System - Front Vehicle Collision Mitigation System (FVCMS) - Performance Requirements and Test Procedures) standard. In order to ensure safety during driving, the vehicle determines the reasonable distance to be maintained from the vehicle in front or surrounding vehicles based on the real-time changes in the movement state of itself and surrounding vehicles (such as speed, acceleration, driving direction, etc.) and road, environment and other factors.

[0087] In addition, it should be noted that the lane change intention probability of the overtaken vehicle is obtained by predicting the probability data of the front vehicle changing lanes during the overtaking process through a trajectory prediction model based on the driving data of the overtaken vehicle, that is, the front vehicle.

[0088] Step S32, calculating the risk coefficient value through a risk coefficient model based on the speed difference between the own vehicle and the preceding vehicle and the current lane speed limit value.

[0089] It should be noted that, in this embodiment and other embodiments, the risk coefficient model is a clear mathematical formula that uses the current lane speed limit and the speed difference between the vehicle and the preceding vehicle as independent variables and is calculated using the scenario weight coefficient.

[0090] In addition, it should be noted that the risk coefficient value represents the probability value of an accident such as a collision between the vehicle being overtaken and the vehicle being overtaken in an overtaking scenario. Since a vehicle collision is mostly related to the vehicle speed, the current lane speed limit and the speed difference between the vehicle and the vehicle in front are mainly considered when calculating the risk coefficient value.

[0091] Based on the speed difference between the vehicle and the preceding vehicle and the current lane speed limit, the risk coefficient value is calculated using the risk coefficient model. The calculation formula is as follows:

[0092] R=α·v lim ·Δv+β

[0093] Among them, R is the risk coefficient value, v lim is the current lane speed limit (km / h), Δv is the speed difference between the vehicle and the preceding vehicle (km / h), and α and β are the scene weight coefficients.

[0094] Step S33, based on the speed difference between the vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value, obtain driving signals corresponding to different function triggering scenarios.

[0095] By judging whether the speed difference between the vehicle and the vehicle in front, the current lane speed limit, the lateral distance between adjacent vehicles, the dynamic safety distance, the probability of the overtaken vehicle's lane change intention, and the risk coefficient value meet certain conditions, three core scenarios are obtained, and each core scenario corresponds to a driving signal.

[0096] In a feasible implementation manner, step S33 includes steps S331 to S334:

[0097] Step S331, obtaining a function triggering scenario based on at least one of the speed difference between the vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value.

[0098] It should be noted that there are three function triggering scenarios, which are the core scenarios that trigger the automatic flashing lights and automatic horn functions, namely, low-speed blocking scenario, lane changing and overtaking scenario, and abnormal scenario of the overtaken vehicle.

[0099] In a feasible implementation manner, step S331 includes steps A10 to A30:

[0100] Step A10, when the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value and the duration meet the first preset condition, determining that the function triggering scenario is a low-speed lane blocking scenario.

[0101] It should be noted that the first preset condition, namely, Δv>15%·v lim ·Δv>15%·v lim And it lasts for 5 seconds, of which 15% is a threshold parameter that can be adjusted according to the actual road conditions. At this time, it is determined that the function triggering scenario is a low-speed road blocking scenario.

[0102] Step A20, when the lateral distance between adjacent vehicles, the dynamic safety distance and the risk coefficient value meet the second preset condition, determining that the function triggering scenario is a lane change overtaking scenario.

[0103] It should be noted that the second preset condition, that is, R>0.8 and d lateral <1.2 d safe ·d lateral <1.2 d safe , where d lateral is the lateral distance between adjacent vehicles (m), d safe is the dynamic safety distance (m), where 1 and 1.2 are threshold parameters that can be adjusted according to the actual road conditions. At this time, it is determined that the function triggering scenario is the lane change overtaking scenario.

[0104] Step A30, when the lane change intention probability of the overtaken vehicle meets the third preset condition, determining that the function triggering scenario is an abnormal scenario of the overtaken vehicle.

[0105] It should be noted that the third precondition, namely P intent >0.7, where P intent is the probability of the overtaken vehicle’s lane-changing intention, where 0.7 is a threshold parameter that can be adjusted according to the actual road conditions.

[0106] By judging whether certain conditions are met to determine the function triggering scenario, it is possible to achieve intelligent driving overtaking situations covering multi-dimensional scenarios.

[0107] Step S332, when the function triggering scenario is a low-speed road blocking scenario, determining that the driving signal is an automatic horn signal.

[0108] It should be noted that the low-speed blocking scenario refers to a situation in which a vehicle is traveling at a speed significantly lower than the normal speed of the road or the overall speed of the traffic flow, thereby obstructing the normal passage of other vehicles. The automatic horn signal is a signal that instructs the vehicle to honk its horn.

[0109] In the low-speed lane blocking scenario, there is no need to flash the overtaking lights. You only need to honk the horn to signal the vehicle in front to increase its speed or leave the current lane, etc. Therefore, in this scenario, the driving signal can be determined as an automatic horn signal.

[0110] Step S333, when the function triggering scenario is a lane changing and overtaking scenario, determining that the driving signal is an automatic flashing light and horn signal.

[0111] It should be noted that the lane change overtaking scenario refers to the situation where the vehicle changes from the current lane to the adjacent lane during driving, overtakes the slower vehicle in front, and then returns to the original lane or continues to drive in the new lane. The automatic flashing light and horn signal is a signal that instructs the vehicle to flash the overtaking lights and drive the horn to honk.

[0112] In the lane changing and overtaking scenario, we need to flash the lights and honk the horn at the same time to remind the vehicle in front that we need to overtake, so as to prevent the vehicle in front from changing lanes, slowing down or speeding up at will, so as to improve driving safety. Therefore, in this scenario, the driving signal can be determined as an automatic flashing and honking signal.

[0113] Step S334, when the function triggering scenario is an abnormal scenario of the overtaken vehicle, determining that the driving signal is a defensive flashing signal.

[0114] It should be noted that the abnormal scenario of the overtaken vehicle, that is, the scenario where the overtaken vehicle has the intention to change lanes, refers to the situation where the overtaken vehicle shows the intention to change lanes during the overtaking process of the own vehicle. The defensive flashing light signal is a signal that instructs the vehicle to trigger the overtaking light in advance. This embodiment takes the triggering of the overtaking light 200ms in advance as an example for explanation.

[0115] In the abnormal scenario of the overtaken vehicle, it is necessary to trigger defensive flashing lights, that is, flashing the overtaking lights 200ms in advance to remind the vehicle in front that we need to overtake and avoid traffic accidents caused by two vehicles changing lanes at the same time. Therefore, in this scenario, the driving signal can be determined as a defensive flashing light signal.

[0116] By distinguishing core scenarios and determining different driving signals, intelligent driving and overtaking situations can be achieved in multi-dimensional scenarios.

[0117] The present embodiment provides a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, and obtains the speed difference between the vehicle and the vehicle in front, the current lane speed limit, the lateral distance of adjacent vehicles, the dynamic safety distance, and the probability of the overtaken vehicle's intention to change lanes based on the speed information; calculates the risk coefficient value through a risk coefficient model based on the speed difference between the vehicle and the vehicle in front and the current lane speed limit; obtains the driving signals corresponding to different function triggering scenarios based on the speed difference between the vehicle and the vehicle in front, the current lane speed limit, the lateral distance of adjacent vehicles, the dynamic safety distance, the probability of the overtaken vehicle's intention to change lanes, and the risk coefficient value, so as to realize intelligent driving overtaking situations covering multi-dimensional scenarios.

[0118] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 6 , step S40 includes steps S41 to S43:

[0119] Step S41, when the automatic flashing light and honking horn function is turned on and the driving signal is an automatic honking horn signal, control the vehicle to automatically honk the horn.

[0120] When the automatic flashing light and honking horn function is turned on and the driving signal is an automatic horn signal, the vehicle is controlled to automatically honk. If the automatic flashing light function is turned on, the vehicle cannot be controlled to automatically honk even if the driving signal is an automatic horn signal.

[0121] Step S42, when the automatic flashing light and honking horn function is turned on and the driving signal is an automatic flashing light and honking horn signal, control the vehicle to automatically flash the overtaking lights and automatically honk the horn.

[0122] When the automatic flashing light and horn function is turned on and the driving signal is the automatic flashing light and horn signal, the vehicle is controlled to automatically flash lights and automatically honk the horn. If the automatic flashing light function is turned on, the vehicle cannot be controlled to automatically honk the horn even if the driving signal is the automatic flashing light and horn signal.

[0123] Step S43, when the driving signal is a defensive flashing light signal, controlling the vehicle to flash the overtaking lights defensively.

[0124] When the driving signal is the automatic flashing light and honking horn signal, the vehicle is controlled to defensively flash the overtaking lights 200ms in advance. Regardless of whether the automatic flashing light function or the automatic flashing light and honking horn function is turned on, as long as the function is turned on, the automatic flashing of the overtaking lights can be controlled.

[0125] The present embodiment provides a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving. When the automatic flashing lights and honking horn function is turned on and the driving signal is an automatic horn signal, the vehicle is controlled to automatically honk the horn; when the automatic flashing lights and honking horn function is turned on and the driving signal is an automatic flashing lights and honking horn signal, the vehicle is controlled to automatically flash the overtaking lights and automatically honk the horn; when the driving signal is a defensive flashing lights signal, the vehicle is controlled to defensively flash the overtaking lights, thereby improving the degree of automation of intelligent driving.

[0126] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the first embodiment can be referred to the above description, and will not be described in detail later. Figure 7 , step S20 includes steps S21 to S25:

[0127] Step S21, after the automatic flashing light function or the automatic flashing light and honking light function is turned on, the current lane speed limit, the speed difference between the vehicle and the preceding vehicle, and the lateral distance between adjacent vehicles are obtained through the vehicle navigation application and sensors.

[0128] It should be noted that the in-vehicle navigation application is a software or system installed in the car, which can help the driver drive the car more conveniently and safely. The in-vehicle navigation application can obtain the current road information of the car, including the current lane speed limit. Sensors include cameras, radar probes, etc.

[0129] Step S22, obtaining a standard corrected dynamic safety distance.

[0130] Based on the known driving information of the vehicle and the preceding / neighboring vehicle, the dynamic safety distance between the vehicle and the preceding / neighboring vehicle is calculated according to the ISO 22839 standard.

[0131] Step S23, obtaining the lane change intention probability of the overtaken vehicle through the trajectory prediction model.

[0132] It should be noted that the trajectory prediction model is an LSTM trajectory prediction model, which can predict the movement trajectory of vehicles and pedestrians, help the intelligent transportation system optimize traffic flow, and accurately predict the direction of surrounding vehicles and pedestrians in the autonomous driving scenario, plan safe and efficient driving routes for autonomous driving vehicles, and avoid potential conflicts in advance. The LSTM trajectory prediction model can predict the probability of the vehicle being overtaken intending to change lanes. Among them, this model has been trained and optimized with a large amount of data.

[0133] In a feasible implementation manner, step S23 includes steps S231 to S233:

[0134] Step S231, collecting driving data of the overtaken vehicle through the sensor.

[0135] The driving data of the overtaken vehicle is collected through sensors, which may include the lateral and longitudinal driving speed, driving acceleration and other data of the overtaken vehicle.

[0136] Step S232, inputting the driving data of the overtaken vehicle into a trajectory prediction model to obtain prediction data.

[0137] The collected driving data is input into the trained and optimized LSTM trajectory prediction model, which performs a series of processing on the driving data and outputs the result, which is the probability of the overtaken vehicle's intention to change lanes predicted by the model, that is, the predicted data.

[0138] Step S233, post-processing the predicted data to obtain the lane change intention probability of the overtaken vehicle.

[0139] Since the results of the model output may be affected by various factors and have certain fluctuations and noise, the data needs to be post-processed. These unnecessary fluctuations can be removed through smoothing to make the results more stable and reliable. The commonly used method is the moving average method, which averages the probability values ​​of multiple consecutive time steps to obtain a smoothed probability sequence, which is the final probability data of the overtaken vehicle's intention to change lanes.

[0140] The LSTM trajectory prediction model is used to obtain the probability of the overtaken vehicle's lane change intention, which can improve the safety of intelligent driving.

[0141] Step S24, taking the speed difference between the own vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance and the lane change intention probability of the overtaken vehicle as speed information.

[0142] The various data obtained through collection, calculation, simulation, etc. are summarized as speed information and used in the subsequent overtaking scenarios and driving signal determination process.

[0143] The present embodiment provides a method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving. After the automatic flashing light function or the automatic flashing light and honking horn function is turned on, the current lane speed limit, the speed difference between the vehicle and the front vehicle, and the lateral distance of adjacent vehicles are obtained through the on-board navigation application and sensors; the standard corrected dynamic safety distance is obtained; the probability of the overtaken vehicle's intention to change lanes is obtained through the trajectory prediction model; the speed difference between the vehicle and the front vehicle, the current lane speed limit, the lateral distance of the adjacent vehicles, the dynamic safety distance and the probability of the overtaken vehicle's intention to change lanes are used as speed information, which can provide a data basis for determining subsequent overtaking scenarios and driving signals.

[0144] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method of automatically flashing overtaking lights and automatically honking the horn in the intelligent driving of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0145] This application also provides a device for automatically flashing overtaking lights and automatically honking the horn in smart driving, please refer to Figure 8 , the device comprises:

[0146] The switch control module 10 is used to detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and horn function.

[0147] The information acquisition module 20 is used to acquire speed information after the automatic flashing light function or the automatic flashing light and whistle function is turned on.

[0148] The information processing module 30 is used to obtain the driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model, wherein the risk coefficient model includes the scenario weight coefficient optimized by Monte Carlo simulation.

[0149] The driving control module 40 is used to control the vehicle to automatically flash the overtaking lights and / or automatically honk the horn according to the driving signal.

[0150] In one embodiment, the information processing module 30 is further used to obtain the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of adjacent vehicles, the dynamic safety distance and the probability of the overtaken vehicle's intention to change lanes based on the speed information; calculate the risk coefficient value through a risk coefficient model based on the speed difference between the vehicle and the preceding vehicle and the current lane speed limit value; obtain the driving signals corresponding to different function triggering scenarios based on the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of adjacent vehicles, the dynamic safety distance, the probability of the overtaken vehicle's intention to change lanes and the risk coefficient value.

[0151] In one embodiment, the information processing module 30 is further used to obtain a function triggering scenario based on the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance between adjacent vehicles, the dynamic safety distance, the probability of the overtaken vehicle's intention to change lanes, and at least one of the risk coefficient values; when the function triggering scenario is a low-speed lane blocking scenario, determining that the driving signal is an automatic horn signal; when the function triggering scenario is a lane changing and overtaking scenario, determining that the driving signal is an automatic flashing and horn signal; when the function triggering scenario is an abnormal scenario of the overtaken vehicle, determining that the driving signal is a defensive flashing light signal.

[0152] In one embodiment, the information processing module 30 is further used to determine that the function triggering scenario is a low-speed lane blocking scenario when the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value and the duration meet a first preset condition; to determine that the function triggering scenario is a lane changing and overtaking scenario when the lateral distance between adjacent vehicles, the dynamic safety distance and the risk coefficient value meet a second preset condition; and to determine that the function triggering scenario is an abnormal scenario of the overtaken vehicle when the probability of the overtaken vehicle's lane changing intention meets a third preset condition.

[0153] In one embodiment, the drive control module 40 is further used to control the vehicle to automatically sound the horn when the automatic flashing lights and horn function is turned on and the drive signal is an automatic horn signal; to control the vehicle to automatically flash the overtaking lights and automatically sound the horn when the automatic flashing lights and horn function is turned on and the drive signal is an automatic flashing lights and horn signal; and to control the vehicle to flash the overtaking lights defensively when the drive signal is a defensive flashing lights signal.

[0154] In one embodiment, the information acquisition module 20 is also used to obtain the current lane speed limit, the speed difference between the vehicle and the front vehicle, and the lateral distance of adjacent vehicles through the vehicle-mounted navigation application and sensors after the automatic flashing function or the automatic flashing horn function is turned on; obtain the standard corrected dynamic safety distance; obtain the probability of the overtaken vehicle's intention to change lanes through the trajectory prediction model; and use the speed difference between the vehicle and the front vehicle, the current lane speed limit, the lateral distance of the adjacent vehicles, the dynamic safety distance, and the probability of the overtaken vehicle's intention to change lanes as speed information.

[0155] In one embodiment, the information acquisition module 20 is further used to collect driving data of the overtaken vehicle through the sensor; input the driving data of the overtaken vehicle into the trajectory prediction model to obtain prediction data; and post-process the prediction data to obtain the probability of the overtaken vehicle's intention to change lanes.

[0156] The automatic flashing overtaking lights and automatic whistle device in intelligent driving provided by the present application adopts the automatic flashing overtaking lights and automatic whistle method in intelligent driving in the above-mentioned embodiment, which can solve the technical problem of how to improve the automation level and safety of intelligent driving. Compared with the prior art, the beneficial effects of the automatic flashing overtaking lights and automatic whistle device in intelligent driving provided by the present application are the same as the beneficial effects of the automatic flashing overtaking lights and automatic whistle method in intelligent driving provided by the above-mentioned embodiment, and the other technical features of the automatic flashing overtaking lights and automatic whistle device in intelligent driving are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0157] The present application provides a device for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, and the device for automatically flashing overtaking lights and automatically honking the horn in intelligent driving includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving in the above-mentioned embodiment one.

[0158] Reference below Fig. 9 , which shows a schematic diagram of the structure of the automatic flashing overtaking lights and automatic honking devices in the intelligent driving in the embodiment of the present application. The automatic flashing overtaking lights and automatic honking devices in the intelligent driving in the embodiment of the present application may include but are not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The automatic flashing overtaking lights and automatic horn equipment shown in the intelligent driving are merely examples and should not bring any limitations to the functions and scope of use of the embodiments of the present application.

[0159] like Fig. 9As shown, the automatic flashing overtaking lights and automatic whistle devices in the intelligent driving may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the ROM (Read Only Memory) 1002 or the program loaded from the storage device 1003 to the RAM (Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automatic flashing overtaking lights and automatic whistle devices in the intelligent driving are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other via a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the automatic flashing overtaking lights and automatic horn devices in the intelligent driving to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the automatic flashing overtaking lights and automatic horn devices in the intelligent driving with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or provided alternatively.

[0160] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0161] The automatic flashing overtaking lights and automatic whistle device in intelligent driving provided by the present application adopts the automatic flashing overtaking lights and automatic whistle method in intelligent driving in the above-mentioned embodiment, which can solve the technical problem of how to improve the automation and safety of intelligent driving. Compared with the prior art, the beneficial effects of the automatic flashing overtaking lights and automatic whistle device in intelligent driving provided by the present application are the same as the beneficial effects of the automatic flashing overtaking lights and automatic whistle method in intelligent driving provided by the above-mentioned embodiment, and the other technical features of the automatic flashing overtaking lights and automatic whistle device in intelligent driving are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0162] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0163] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0164] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, and the computer-readable program instructions are used to execute the method of automatically flashing overtaking lights and automatically honking the horn in the intelligent driving in the above-mentioned embodiment.

[0165] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or flash memory, erasable programmable read-only memory), optical fiber, CD-ROM (CD-Read Only Memory, portable compact disk read-only memory), optical storage device, magnetic storage device, or any suitable combination of the above. In the present embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0166] The above-mentioned computer-readable storage medium may be included in the automatic flashing overtaking lights and automatic horn device in the smart driving; or it may exist independently without being assembled into the automatic flashing overtaking lights and automatic horn device in the smart driving.

[0167] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the automatic flashing of overtaking lights and automatic horn devices in the intelligent driving, the automatic flashing of overtaking lights and automatic horn devices in the intelligent driving are enabled to: detect whether the automatic flashing of lights function or the automatic flashing of lights and horn function is turned on for the vehicle; after the automatic flashing of lights function or the automatic flashing of lights and horn function is turned on, obtain speed information; obtain driving signals corresponding to different function triggering scenarios according to the speed information and a risk coefficient model, wherein the risk coefficient model includes a scene weight coefficient optimized by Monte Carlo simulation; and control the vehicle to automatically flash the overtaking lights and / or automatically honk the horn according to the driving signal.

[0168] The computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a LAN (Local Area Network) or a WAN (Wide Area Network), or it can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0170] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0171] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving, and can solve the technical problem of how to improve the automation and safety of intelligent driving. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the method of automatically flashing overtaking lights and automatically honking the horn in intelligent driving provided in the above-mentioned embodiments, and will not be repeated here.

[0172] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving as described above.

[0173] The computer program product provided in this application can solve the technical problem of how to improve the automation and safety of intelligent driving. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the automatic flashing overtaking lights and automatic honking methods in intelligent driving provided in the above embodiments, and will not be repeated here.

[0174] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, characterized in that: The method comprises: Detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and honking light function; After the automatic flashing light function or the automatic flashing light and whistle function is turned on, obtaining speed information; Obtaining driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model, wherein the risk coefficient model includes a scenario weight coefficient optimized by Monte Carlo simulation; According to the driving signal, the vehicle is controlled to automatically flash overtaking lights and / or automatically honk the horn.

2. The method according to claim 1, characterized in that The step of obtaining driving signals corresponding to different function triggering scenarios according to the speed information and the risk coefficient model comprises: According to the speed information, the speed difference between the vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, and the probability of the lane change intention of the overtaken vehicle are obtained; Calculating a risk coefficient value through a risk coefficient model based on the speed difference between the own vehicle and the preceding vehicle and the current lane speed limit value; Based on the speed difference between the vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle and the risk coefficient value, drive signals corresponding to different function triggering scenarios are obtained.

3. The method according to claim 2, characterized in that The step of obtaining driving signals corresponding to different function triggering scenarios based on the speed difference between the own vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value comprises: A function triggering scenario is obtained based on at least one of the speed difference between the own vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value; When the function triggering scenario is a low-speed road blocking scenario, determining that the driving signal is an automatic horn signal; When the function triggering scenario is a lane changing and overtaking scenario, determining that the driving signal is an automatic flashing light and honking horn signal; When the function triggering scenario is an abnormal scenario of the overtaken vehicle, the driving signal is determined to be a defensive flashing light signal.

4. The method according to claim 3, characterized in that The step of obtaining a function triggering scenario based on at least one of the speed difference between the own vehicle and the preceding vehicle, the current lane speed limit value, the lateral distance of the adjacent vehicle, the dynamic safety distance, the lane change intention probability of the overtaken vehicle, and the risk coefficient value comprises: When the speed difference between the host vehicle and the preceding vehicle, the current lane speed limit value, and the duration meet a first preset condition, determining that the function triggering scenario is a low-speed lane blocking scenario; When the adjacent vehicle lateral distance, the dynamic safety distance, and the risk coefficient value meet a second preset condition, determining that the function triggering scenario is a lane changing and overtaking scenario; When the lane-changing intention probability of the overtaken vehicle meets a third preset condition, the function triggering scenario is determined to be an abnormal scenario of the overtaken vehicle.

5. The method according to claim 1, characterized in that The step of controlling the vehicle to automatically flash overtaking lights and / or automatically honk the horn according to the driving signal comprises: When the automatic flashing light and honking horn function is turned on and the driving signal is an automatic honking horn signal, controlling the vehicle to automatically honk the horn; When the automatic flashing light and honking horn function is turned on and the driving signal is an automatic flashing light and honking horn signal, controlling the vehicle to automatically flash the overtaking light and automatically honk the horn; When the driving signal is a defensive flashing light signal, the vehicle is controlled to flash its overtaking lights defensively.

6. The method according to claim 1, characterized in that After the automatic flashing light function or the automatic flashing light and whistle function is turned on, the step of obtaining speed information includes: After the automatic flashing light function or the automatic flashing light and honking light function is turned on, the current lane speed limit, the speed difference between the vehicle and the preceding vehicle, and the lateral distance between adjacent vehicles are obtained through the vehicle navigation application and sensors; Get the standard corrected dynamic safety distance; The probability of the overtaken vehicle's lane change intention is obtained through the trajectory prediction model; The speed difference between the own vehicle and the preceding vehicle, the current lane speed limit, the lateral distance of the adjacent vehicle, the dynamic safety distance, and the lane change intention probability of the overtaken vehicle are used as speed information.

7. The method according to claim 6, characterized in that The step of obtaining the lane change intention probability of the overtaken vehicle through the trajectory prediction model comprises: Collecting the driving data of the overtaken vehicle by means of the sensor; Inputting the driving data of the overtaken vehicle into a trajectory prediction model to obtain prediction data; The predicted data is post-processed to obtain the lane-changing intention probability of the overtaken vehicle.

8. A device for automatically flashing overtaking lights and automatically honking horns in intelligent driving, characterized in that: The device comprises: A switch control module is used to detect whether the vehicle has turned on the automatic flashing light function or the automatic flashing light and honking light function; An information acquisition module, used to acquire speed information after the automatic flashing light function or the automatic flashing light and whistle function is turned on; An information processing module, used for obtaining driving signals corresponding to different function triggering scenarios according to the speed information and a risk coefficient model, wherein the risk coefficient model includes a scenario weight coefficient optimized by Monte Carlo simulation; The driving control module is used to control the vehicle to automatically flash the overtaking lights and / or automatically honk the horn according to the driving signal.

9. A device for automatically flashing overtaking lights and automatically honking the horn in intelligent driving, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for automatically flashing overtaking lights and automatically honking the horn in intelligent driving according to any one of claims 1 to 7 are implemented.

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