Driving prompting method and driving prompting device for vehicle

Abstract

The invention provides a driving prompting method for a vehicle, and the method comprises the following steps: S1, obtaining first information related to an intersection marker at a target intersection, the intersection marker being used for limiting the driving of the vehicle at the target intersection, and the first information comprising transition warning state information of a traffic signal lamp; s2, acquiring second information related to the vehicle state; s3, the braking emergency degree of the vehicle is determined according to the first information and the second information; and S4, different brake emergency degrees are prompted by displaying the gradual pattern change of the brake icon on a display unit of the vehicle. The invention further provides a driving prompt device for the vehicle, the vehicle and a computer program product. The invention provides an auxiliary prompting mechanism about the emergency degree of braking based on the situation that a driver is likely to cause an unconscious transition warning state in a traffic signal lamp. A clearer braking behavior guidance is provided for a driver, and the driving safety is remarkably improved.

Description

Technical Field

[0001] The present application relates to a driving prompt method for a vehicle, and the present application also relates to a driving prompt device for a vehicle, a vehicle and a computer program product. Background Art

[0002] With the continuous advancement of vehicle safety technology, the intersection sign assistance function has become an important safety configuration in modern cars. This function provides auxiliary decision support for drivers when approaching intersections by monitoring the status of stop signs or traffic lights at intersections. However, the existing assistance function still has certain shortcomings in the prompting method. Especially when the vehicle approaches a traffic light showing a yellow light and there is no car ahead, the driver often hesitates: whether to continue driving or stop and wait. This hesitation may cause the vehicle to have to suddenly brake when approaching the intersection, or even run a red light, which brings safety hazards.

[0003] At present, some solutions have proposed to display the remaining time of the yellow light in the vehicle to help the driver make more accurate decisions. However, directly displaying the "countdown" may indirectly affect the driver's mentality and induce him to have a racing mentality, which will have an adverse impact on road traffic safety. Therefore, the existing driving prompt scheme still needs to be further optimized. Summary of the invention

[0004] The object of the present application is to provide a driving prompt method for a vehicle, a driving prompt device for a vehicle, a vehicle and a computer program product, so as to at least solve some of the problems in the prior art.

[0005] According to a first aspect of the present application, a driving prompt method for a vehicle is provided, the driving prompt method comprising the following steps:

[0006] Step S1, acquiring first information related to an intersection marker at a target intersection, wherein the intersection marker is used to restrict vehicles from traveling at the target intersection, and the first information includes transition warning state information of a traffic light;

[0007] Step S2, obtaining second information related to the vehicle state;

[0008] Step S3, determining the braking urgency of the vehicle according to the first information and the second information; and

[0009] Step S4, prompting different braking urgency levels by displaying a progressive graphic change of the brake icon on the display unit of the vehicle.

[0010] The present application particularly includes the following technical concepts: The present application focuses on the transition stage in traffic lights that is prone to cause driver hesitation or decision-making errors, and proposes an auxiliary prompt mechanism for the degree of braking urgency. This mechanism provides drivers with clearer guidance on braking behavior, while indirectly reflecting the risk of running a red light, avoiding the interference of driving mentality that may be caused by directly displaying the countdown. In addition, the mechanism uses progressive graphic changes of the brake icon to convey different degrees of braking urgency. This prompting scheme uses the consistency and repeatability of icons to help drivers quickly identify different degrees of urgency, thereby reducing their cognitive load and enabling them to focus more on driving tasks. Overall, this method provides drivers with a fast and intuitive way to understand the degree of braking urgency under complex traffic conditions, effectively enhancing driving safety and driving efficiency.

[0011] In an exemplary embodiment, the braking urgency includes: the necessity of braking, which is divided into should braking and must braking, and / or, the braking intensity level, which is divided into soothing braking, medium braking and violent braking; and / or, in step S4, the braking urgency is gradually prompted in order from low to high starting from no prompt through the progressive graphic change of the brake icon.

[0012] Therefore, by grading the degree of braking urgency according to necessity and intensity, the driver can be more accurately guided on the timing and intensity of braking measures, thereby improving driving safety and user experience.

[0013] In an exemplary embodiment, the brake icon includes a pattern of a foot on a brake pedal, and the progressive graphic changes include: a change in the inclination of the brake pedal, a change in the number of arrows below the brake pedal, a change in the icon color depth and / or a change in the icon size, wherein the higher the braking urgency, the greater the inclination of the brake pedal, the greater the number of arrows below the brake pedal, the darker the icon color and / or the larger the icon size.

[0014] As a result, the image of a foot on the brake pedal intuitively demonstrates the braking action, which even inexperienced drivers can quickly understand without textual explanation. Combined with the progressive changes in related graphics, it can visually indicate the urgency of braking more intuitively, helping drivers quickly understand and take the required braking action.

[0015] In an exemplary embodiment, the transition warning status information includes whether the current state of the traffic light is a yellow light state or a green flashing state. In step S3, the braking urgency is determined in the following manner: based on the first information and the second information, the minimum deceleration required for the vehicle to stop before the intersection stop line of the target intersection is obtained, and based on the comparison between the minimum deceleration and different deceleration thresholds, different braking urgency levels of the vehicle are determined.

[0016] Therefore, by considering the minimum deceleration required for braking, braking comfort and safety can be evaluated more reasonably.

[0017] In an exemplary embodiment, the transition warning state information includes the remaining duration of the transition warning state. In step S3, the braking urgency is determined in the following manner: based on the first information and the second information, the time remaining before the traffic light turns red when the vehicle maintains the current speed or accelerates to reach the stop line of the target intersection is obtained, and different braking urgency of the vehicle is determined based on the comparison of the time remaining with different time thresholds.

[0018] Therefore, combined with the remaining time before the red light when the vehicle arrives at the intersection, the risk of running a red light can be judged in advance, avoiding emergency braking due to sudden realization that the intersection cannot be passed, thereby improving driving safety and comfort.

[0019] In an exemplary embodiment, the driving prompt method also includes the following steps: obtaining third information related to the driver's braking awareness, and in step S3, additionally determining the braking urgency while taking into account the third information, wherein: when the third information reflects that the driver has no braking awareness, the braking urgency is additionally calculated based on the driver's expected reaction time.

[0020] Therefore, by identifying the driver's active braking awareness, the reaction time from no reaction to the start of braking can be taken into consideration, so as to more accurately determine the urgency of braking and avoid safety risks caused by underestimating the urgency of braking.

[0021] In an exemplary embodiment, the driving prompt method also includes the following steps: obtaining third information related to the driver's braking awareness, and determining the braking urgency in step S3 additionally taking into account the third information, wherein: when the third information reflects that the driver has no braking awareness, the braking urgency is determined based on both: a comparison between the minimum deceleration required for the vehicle to stop before the intersection stop line of the target intersection and the deceleration threshold, and a comparison between the time margin before the traffic light turns red when the vehicle maintains the current speed or accelerates to reach the intersection stop line of the target intersection and the time threshold; and / or, when the third information reflects that the driver has braking awareness, the braking urgency is determined only based on a comparison between the minimum deceleration required for the vehicle to stop before the intersection stop line of the target intersection and the deceleration threshold, and not based on a comparison between the time margin before the traffic light turns red when the vehicle maintains the current speed or accelerates to reach the intersection stop line of the target intersection and the time threshold.

[0022] In this way, the judgment criteria can be flexibly adjusted according to the actual driving intention, significantly improving the accuracy and reliability of the braking urgency prompts.

[0023] In an exemplary embodiment, the driving prompt method also includes the following steps: obtaining fourth information related to environmental conditions, and determining the braking urgency in step S3 in addition to taking into account the fourth information, wherein: the environmental conditions include visibility conditions and / or road conditions; as visibility decreases and / or road conditions deteriorate, the threshold conditions corresponding to each braking urgency are set more relaxed, and / or, when the originally set threshold conditions are met, a higher braking urgency is determined.

[0024] As a result, the judgment criteria for braking urgency can be dynamically adjusted according to actual environmental conditions, ensuring that more urgent braking measures are taken in advance or under adverse conditions to reduce the risk of accidents.

[0025] In an exemplary embodiment, in step S4, in addition to displaying the brake icon via the display unit of the vehicle, an intersection marker icon is also displayed in association.

[0026] Therefore, by synchronously displaying the brake icon and the intersection landmark icon, the driver can be clearly informed of the specific cause of the risk, helping the driver to quickly understand the necessity of braking. In turn, the driver can react faster and improve driving safety.

[0027] In an exemplary embodiment, the first information further includes existence information of a stop sign, a yield sign and / or a railway crossing sign.

[0028] In this way, the first information can cover a richer range of landmark types, more comprehensively identify traffic rules at intersections, and provide drivers with more accurate braking prompts.

[0029] In an exemplary embodiment, if it is determined in step S3 that multiple different levels of braking urgency are simultaneously met, then: in step S3, the braking urgency of the vehicle is determined to be the highest level of braking urgency met; and / or, in step S4, the highest level of braking urgency met is prompted through the vehicle's display unit.

[0030] Therefore, by prioritizing or displaying high levels of braking urgency, it is ensured that the most stringent safety requirements are met in complex situations and driving risks caused by conflicts among multiple conditions are avoided.

[0031] In an exemplary embodiment, when the braking urgency has been indicated by the display unit, the display of the brake icon is canceled when at least one of the following conditions is met: the threshold conditions corresponding to all levels and / or the lowest level of braking urgency are no longer met; the vehicle reaches a new road section; and / or the vehicle's speed is reduced to 0.

[0032] Therefore, by canceling the brake prompt at the appropriate time, unnecessary interference can be avoided, while continuing to provide emergency prompts when necessary, improving driving safety and user experience.

[0033] In an exemplary embodiment, when the braking urgency currently indicated by the display unit is the highest level reached so far, before the display of the brake icon is canceled, the brake icon is continuously used to maintain the current highest level of braking urgency without performing a downgrade prompt.

[0034] Therefore, by continuously maintaining the highest level of prompts, it can ensure that the driver remains highly alert within the influence range of the landmark, avoid misunderstanding or negligence caused by prompt downgrade, and improve driving safety.

[0035] In an exemplary embodiment, the second information includes the current speed of the vehicle and the distance between the current position of the vehicle and the stop line of the target intersection.

[0036] In this way, the dynamic state of the vehicle can be accurately assessed, providing key data support for judging the urgency of braking, thereby achieving more scientific and safer driving assistance decisions.

[0037] In an exemplary embodiment, the second information includes real-time deceleration or acceleration information of the vehicle, load information of the vehicle, tire status information of the vehicle and / or brake system performance information.

[0038] In this way, the vehicle's braking ability can be evaluated more accurately, thereby providing more scientific braking prompts, adapting to different vehicle conditions, and improving driving safety.

[0039] According to a second aspect of the present application, a driving prompt device for a vehicle is provided, the driving prompt device comprising a processor and a memory, the memory storing computer program instructions, and when the computer program instructions are executed by the processor, the processor is capable of executing the driving prompt method according to the first aspect of the present application.

[0040] According to a third aspect of the present application, a vehicle is provided, comprising the driving prompt device according to the second aspect of the present application.

[0041] According to a fourth aspect of the present application, a computer program product is provided, comprising computer program instructions, wherein the computer program instructions, when executed by a processor, enable the processor to execute the driving prompt method according to the first aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The present application will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present application can be better understood. The accompanying drawings include:

[0043] Figure 1 A block diagram of a vehicle according to an exemplary embodiment of the present application is shown, the vehicle including a driving prompting device;

[0044] Figure 2 A flow chart of a driving prompt method for a vehicle according to an exemplary embodiment of the present application is shown;

[0045] Figure 3 A flow chart of a driving prompt method for a vehicle according to another exemplary embodiment of the present application is shown;

[0046] Figure 4 A flow chart of a driving prompt method for a vehicle according to another exemplary embodiment of the present application is shown;

[0047] Figure 5A , Figure 5B and Figure 5C A schematic diagram showing a progressive graphic change of a brake icon displayed on a display unit of a vehicle;

[0048] Figure 6 A schematic diagram showing the synchronous display of a brake icon and an intersection marker on a display unit of a vehicle;

[0049] Figure 7 A schematic diagram showing how to determine the braking urgency when multiple threshold conditions are met simultaneously. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0051] Figure 1 A block diagram of a vehicle 1 according to an exemplary embodiment of the present application is shown, the vehicle 1 including a driving prompting device 10 .

[0052] The vehicle 1 can support some driving automation functions as well as manual driving mode. The driving prompt device 10 equipped with the vehicle 1 can realize the intersection sign auxiliary function. For example, when a potential risk caused by an intersection sign is detected, the device 10 can prompt the driver of the corresponding braking urgency through the display unit 30 of the vehicle.

[0053] The driving prompt device 10 can be configured as an electronic control unit (ECU), which includes a processor and a memory (not specifically shown for simplicity), and the memory stores computer program instructions, which can be stored in a computer-readable storage medium such as a hard disk, a memory, a flash card, etc. The processor can be a central processing unit (CPU), a microcontroller unit (MCU), a graphics processing unit (GPU), a neural network processing unit (NPU), a digital signal processor (DSP), or other general-purpose processors. When the processor executes the computer program instructions in the memory, the driving prompt method for the vehicle can be implemented.

[0054] The driving prompt device 10 can be connected to the display unit 30 of the vehicle 1 by wire or wirelessly through an in-vehicle network (such as Ethernet, vehicle Ethernet, CAN bus, FlexRay, MOST, HSVL, etc.), or directly integrated into the display unit 30. The display unit 30 receives a signal from the driving prompt device 10, and displays relevant information or adjusts the display mode according to the signal content. For example, the driving prompt device 10 can send a signal to the display unit 30 to trigger the display of a brake icon or adjust its graphic display mode, and the display mode is associated with the current braking urgency.

[0055] The display unit 30 of the vehicle is used to provide driving-related information and auxiliary prompts to the driver, which includes, for example, an instrument panel display, a central control screen, a head-up display (HUD) and / or an augmented reality head-up display (AR-HUD), etc.

[0056] In addition, the driving prompt device 10 can also be connected to other types of vehicle-mounted output devices, such as a voice output unit 40 or a vibration unit 50, so as to convey the braking urgency to the driver through voice prompts or seat vibrations.

[0057] In addition, the driving prompt device 10 can also be connected to a variety of vehicle-mounted sensors and / or actuators to obtain key information required to execute the driving prompt method.

[0058] For example, the driving prompt device 10 can be connected to a vehicle-mounted camera 11 (e.g., a front-view camera), which can capture images of the area in front of the vehicle in real time, so as to identify and analyze the status of traffic lights and other relevant landmark information at the intersection ahead. In addition, based on the images captured by the vehicle-mounted camera 11, the geometric structure information of the road and the lane line information can also be identified.

[0059] The driving prompt device 10 can also be connected to the map module and the GNSS module 12 to obtain road map data and real-time vehicle location information. This helps to understand the relative position of the vehicle and the target intersection, the expected driving path, and the specific landmark type at the target intersection.

[0060] In addition, the driving reminder device 10 can also be connected to the communication interface 13 to receive external information via a communication network, such as real-time traffic light status information released by a road supervision platform, or road condition information shared by other vehicles.

[0061] The driving prompt device 10 can also be connected to various state sensors 14 of the vehicle, such as speed sensors, acceleration sensors, distance sensors, etc., to obtain vehicle state information such as speed, acceleration, distance to specific environmental objects, etc. By collecting this information, the dynamic behavior of the vehicle can be evaluated.

[0062] The driving prompt device 10 may also be connected to a driving intention sensor 15, such as a brake pedal position sensor and an in-vehicle camera, to capture the driver's braking intention information.

[0063] The driving prompt device 10 can also be connected to an environmental sensor 16, such as a visibility sensor, a road surface condition sensor, and a weather sensor, to obtain environmental condition information about the current driving scene. In addition, the environmental sensor 16 does not necessarily have to be a sensor specifically set up to detect road conditions or visibility, and it can also be constructed as or include a general sensor for monitoring the road environment, such as a camera, a radar sensor, etc.

[0064] The driving reminder device 10 can also be connected to various input devices 60 so that the user can personalize the driving reminder function. For example, the user can adjust the sensitivity of the braking urgency reminder through the input device 60, or choose to turn on or off the braking urgency display, thereby customizing the braking reminder.

[0065] In addition, the driving prompt device 10 can also be connected to the vehicle's driving control actuator 70 to control the lateral and longitudinal guidance of the vehicle. For example, the driving prompt device 10 can send a control command to the electric brake system according to the degree of braking urgency, thereby automatically adjusting the vehicle's braking force or triggering emergency braking when necessary to enhance driving safety.

[0066] It should be understood that Figure 1 The number and type of various sensors or actuators connected to the driving prompt device 10 shown in the figure are only examples, and this document is not intended to limit this. In practical applications, different types or numbers of sensors and actuators can be used in the vehicle to meet specific needs and conditions.

[0067] Figure 2 FIG. 1 shows a flow chart of a driving prompt method for a vehicle according to an exemplary embodiment of the present application. The method comprises steps S1 to S4, and also comprises an optional step S5, and can be used, for example, to Figure 1 The driving prompt device shown is executed.

[0068] In step S1, first information related to a road intersection marker at a target road intersection is obtained, where the road intersection marker is used to restrict vehicles from traveling at the target road intersection. The first information includes, for example, transition warning state information of a traffic light.

[0069] The target intersection is, for example, the first intersection that the vehicle will reach on its current driving path, i.e., the intersection directly in front of the vehicle. It can be identified by: determining the next critical intersection on the planned path of the navigation system; by determining the closest and clearly perceptible intersection within the field of view of the vehicle's sensors; or by determining the intersection within a certain distance range from the vehicle's current position.

[0070] The transition warning state usually includes the yellow light, flashing yellow light and flashing green light states of traffic lights. Due to different traffic laws in different countries or regions, the specific meaning of the transition warning state may also be different. The transition warning state does not explicitly indicate that traffic is prohibited, but it usually indicates that it is about to switch to or transition to the red light stage where traffic is prohibited. Therefore, it still has a restrictive effect on the driving of vehicles at the target intersection, requiring drivers to pay full attention.

[0071] For example, the transition warning status information includes whether the traffic light is currently in the yellow light state (i.e., flashing yellow or yellow light is always on) or the green flashing state, i.e., includes the specific transition warning state category. This can be achieved by capturing the traffic light image in real time through the on-board camera and using image recognition technology to identify the specific state of the light. In addition, the vehicle can also obtain the real-time traffic light status from the roadside unit, neighboring vehicles or road supervision platform through wireless communication technology. In some cases, the vehicle's navigation unit can also integrate such information.

[0072] For another example, the transition warning state information may also include the remaining duration of the transition warning state, that is, how long it will take for the traffic light to turn red from the current moment. For example, if the current state is a yellow light state, this may involve the remaining duration of the yellow light. For example, if the current state is a green flashing state, this may involve the remaining green flashing duration plus the full yellow light state duration. This can be calculated, for example, by tracing the duration of the yellow light and / or green flashing state captured by the on-board sensor, combined with the duration of each stage of the traffic light stored in the map unit or provided by the roadside unit. In addition, the countdown information of the traffic light can also be obtained directly from the navigation unit or through the Internet to read the remaining time.

[0073] In addition, the transition warning status information can also include the specific transition warning status category and the remaining time before the red light. In addition, the transition warning status information can also include the signal light change mode (such as fixed period change or dynamic adjustment according to traffic flow) and the intersection traffic rules (such as the specific regulations of different countries or regions on the passage of vehicles during the yellow light / green flashing period). This information together reflects the effect of the transition warning state of the traffic light on the traffic restriction of vehicles at the intersection.

[0074] The intersection markers are not limited to traffic lights, but may also include, for example, stop signs, yield signs, railway crossing signs, etc. Accordingly, the first information may also include existence information of stop signs, yield signs and / or railway crossing signs.

[0075] In step S2, the second information related to the vehicle state is obtained, such as the current speed of the vehicle, the distance between the current position of the vehicle and the stop line of the target intersection, the real-time deceleration or acceleration information of the vehicle, the load information of the vehicle, the tire state and / or the performance information of the braking system, etc. This information can be collected by the vehicle's own sensors, or can also be obtained through communication interaction with the roadside unit and surrounding vehicles. By understanding the second information, it is helpful to evaluate the dynamic state of the vehicle and its relative position to the intersection, so as to more accurately determine the required braking intensity and timing.

[0076] In step S3, the braking urgency of the vehicle is determined according to the first information and the second information.

[0077] Braking urgency may include the necessity of braking and / or the level of braking intensity. Braking necessity may be divided into "should brake" and "must brake". "Should brake" means that it is recommended that the driver brake under the current circumstances, but it is not absolutely necessary. "Must brake" means that the driver needs to brake immediately for safety. In addition, braking intensity levels may be divided into, for example, "soft braking", "medium braking" and "hard braking". This reflects the amount of force the driver needs to apply to the brake pedal, from gentle to strong. In addition, braking urgency may also comprehensively reflect necessity and intensity, such as being divided into different levels such as "recommended braking", "must brake softly", "must brake mediumly" and "must brake hard", so as to more accurately characterize the current braking demand.

[0078] According to one embodiment, the yellow light or green flashing state of the traffic light is used as the first information, and the distance between the current position of the vehicle and the stop line of the intersection of the target intersection and the current speed are used as the second information to calculate the minimum deceleration required for the vehicle to stop before the stop line of the intersection of the target intersection. Based on the comparison between the minimum deceleration and different deceleration thresholds, the braking urgency is determined.

[0079] The conditions for judging whether to brake or release the brake are as follows:

[0080]

[0081] The conditions for determining whether braking is necessary or moderate braking is necessary are as follows:

[0082]

[0083] The conditions for judging whether strong braking is necessary are as follows:

[0084]

[0085] in,

[0086] a min Indicates the minimum deceleration required for the vehicle to stop before the intersection stop line at the target intersection;

[0087] v t Indicates the current speed of the vehicle;

[0088] D toStopLn Indicates the distance between the vehicle's current position and the stop line of the target intersection;

[0089] BrkReqComfort, BrkReqSiggnificant, and BrkReqFull represent the deceleration thresholds corresponding to light braking, medium braking, and heavy braking, respectively, and their exemplary value ranges are -3 m / s 2 ~0,-6~-3m / s 2 , <-6m / s 2 .

[0090] When the required minimum deceleration exceeds the corresponding deceleration threshold, the corresponding braking urgency is reached. For example, reaching "should brake / must brake gently" means that the driver should start to decelerate, but can do it more gently; reaching "must brake / must brake moderately" requires braking faster and harder; reaching "must brake hard" means that the driver needs to take emergency braking measures immediately to avoid collision or violation.

[0091] If the second information also includes other vehicle status information such as the vehicle's real-time deceleration / acceleration, the braking urgency can be more accurately determined based on the comprehensive information. For example, even if the minimum deceleration required to completely stop the vehicle is calculated to be large, if the vehicle's current deceleration is close to the minimum deceleration, a lower level of prompt can be triggered. Conversely, it can also be stipulated that even if the actual deceleration of the vehicle has reached the requirement, a higher level of braking urgency will still be prompted to ensure that the driver can receive clear braking prompts in any situation and stay alert, thereby improving safety.

[0092] According to another embodiment, the remaining time of the transition warning state is used as the first information, and the distance between the current position of the vehicle and the stop line of the target intersection and the current speed are used as the second information to calculate the time margin before the red light when the vehicle reaches the stop line of the target intersection without taking braking measures (i.e. maintaining the current speed or accelerating appropriately). Based on the comparison between the time margin and different deceleration thresholds, the braking urgency is determined.

[0093] The time margin ΔT can also be understood as a time buffer reserved to avoid running a red light, which covers, for example, uncertain factors such as reaction time, traffic conditions, and driving style preferences. A decrease in the time margin ΔT means that the possibility of the vehicle successfully passing through the intersection before the red light comes on is reduced. If the time margin ΔT is negative, it means that the vehicle cannot pass through the intersection before the red light comes on anyway. The setting of the time margin will vary depending on the regulations and driving habits of different countries or regions. For example, in some areas, as long as the vehicle crosses the stop line before the red light comes on, it can be considered compliant; in other areas, the vehicle may be required to completely cross the intersection and enter the new section before the red light comes on to be compliant.

[0094] The conditions for judging whether to brake or release the brake are as follows:

[0095] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer1

[0096] The conditions for determining whether braking is necessary or moderate braking is necessary are as follows:

[0097] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer2

[0098] The conditions for judging whether strong braking is necessary are as follows:

[0099] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer3

[0100] in,

[0101] ΔT represents the time left before the red light when the vehicle reaches the stop line of the target intersection at the current speed or acceleration;

[0102] YellowLightRestTime indicates the remaining time of the transition warning state;

[0103] D toStopLnIndicates the distance between the vehicle's current position and the stop line of the target intersection;

[0104] v t Indicates the current speed of the vehicle;

[0105] Timebuffer1, Timebuffer2, and Timebuffer3 represent the time thresholds for slow braking, medium braking, and severe braking, respectively, and Timebuffer1>Timebuffer2>Timebuffer3. Their example values ​​are 2 seconds, 1.2 seconds, and 0.5 seconds, respectively. When the time margin is lower than the corresponding time threshold, it indicates that the corresponding braking urgency has been reached.

[0106] In addition, if the second information also includes the vehicle's real-time deceleration or acceleration information, load information, tire status, and brake system performance information, these parameters can further affect the setting of the threshold or be taken into consideration when calculating the estimated time to arrive at the intersection. For example, the time threshold can be dynamically adjusted according to the vehicle's current acceleration: at the same braking urgency level, if the vehicle is expected to accelerate through the intersection, the time threshold can be set to a smaller value; if the vehicle maintains the current speed, the time threshold can be set to a larger value.

[0107] According to another embodiment, the first information includes not only the state of the traffic light, but also the existence information of stop signs, yield signs, and railway crossing signs, etc. Combined with the second information, such as the current speed of the vehicle and the distance to the stop line, the minimum deceleration required for the vehicle to stop can be calculated in the aforementioned manner and compared with the preset deceleration threshold to determine the braking urgency.

[0108] According to another embodiment, multiple judgment criteria (such as the minimum deceleration required for braking and the time margin before the red light) may also be considered simultaneously, and the highest level of braking urgency obtained therefrom shall be used as the final judgment result.

[0109] For example, when a vehicle approaches a target intersection with a stop sign and a yellow traffic light, the stop sign's stopping requirement and the remaining time of the yellow light can be evaluated simultaneously. At a certain location, although the yellow light signal only requires "should brake", the stop sign requires "must brake", which is more stringent. Therefore, the system ultimately determines the current braking urgency as "must brake" to ensure that the vehicle stops safely at the stop line.

[0110] In step S4, different braking urgency levels are indicated by displaying a progressive graphic change of a brake icon on a display unit of the vehicle.

[0111] According to one embodiment, the brake icon may adopt a pattern of a foot stepping on a brake pedal, and its progressive graphic changes include changes in the inclination of the brake pedal, changes in the number of arrows below the brake pedal, changes in the depth of the icon color, changes in brightness, and / or changes in the icon size. The degree of change is, for example, related to the degree of braking urgency. The higher the degree of braking urgency, the more significant the graphic change, that is, the greater the inclination of the brake pedal, the more arrows below the brake pedal, the darker the icon color, and / or the larger the icon size.

[0112] In addition, when the brake icon indicates the degree of braking urgency, additional text information (such as "please slow down" or "emergency braking"), voice prompts and / or tactile feedback (such as seat vibration) can be displayed to enhance the driver's perception. In addition, the information layout of the display unit can be dynamically adjusted according to the degree of braking urgency to adapt to different driving environments. In addition, the dynamic display effect of the brake icon (such as strobe or pulsation frequency) can be adjusted according to the degree of braking urgency to further enhance the sense of urgency of the emergency prompt.

[0113] In addition, the brake icon can also include common warning patterns such as circles, triangles or rectangles, and may contain intuitive symbols such as the word "B" or "Brake", an exclamation mark "!" or the word "STOP".

[0114] According to one embodiment, the gradual change can be a continuous smooth transition. For example, the inclination angle of the brake pedal pattern can be infinitely increased as the braking urgency increases; the color of the icon will also gradually deepen from light to dark. In addition, the gradual change can also be a graded jump, that is, the change of the graphic is in stages.

[0115] In one embodiment, the brake icon is only displayed when the driver needs to perform a braking operation, rather than being continuously displayed on the display unit. When no level of braking urgency is reached, the icon will remain hidden.

[0116] In one embodiment, the prompts of the braking urgency are displayed step by step from low to high, rather than jumping directly from "none" to "high level." This gradual progressive change avoids the user from being panicked by suddenly facing a prompt of high urgency.

[0117] According to one embodiment, in addition to displaying the brake icon through the display unit of the vehicle, an intersection marker icon is also displayed in association.

[0118] According to one embodiment, if it is determined in step S3 that multiple different levels of braking urgency are satisfied at the same time, the highest level of braking urgency satisfied is indicated by the display unit of the vehicle. This will be described below in conjunction with Figure 7 Further elaboration.

[0119] In optional step S5, when the braking urgency is indicated by the display unit, the display of the brake icon is canceled when a preset cancellation condition is met.

[0120] According to one embodiment, the preset release condition includes that the threshold conditions corresponding to all levels and / or the lowest level of braking urgency are no longer met. For example, when the brake icon prompts the driver to "brake hard", and the driver increases the braking force according to the prompt, the brake icon will not be hidden immediately when the threshold related to "brake hard" is no longer met. Instead, the brake icon will not disappear until all relevant threshold conditions such as "moderate braking" and "soft braking" are no longer met.

[0121] According to one embodiment, the preset release condition includes the vehicle reaching a new road section, that is, the vehicle's driving environment or road conditions have changed significantly, so that the previous brake prompt is no longer applicable or has completed its effect. This may include the vehicle completely passing through the intersection area and entering the opposite, left or right road section, or the vehicle has crossed the stop line and entered the central area of ​​the intersection.

[0122] According to one embodiment, the preset release condition may further include that the speed of the vehicle is reduced to 0. In this case, since the vehicle is stationary and no further braking action is required, the display of the icon also stops.

[0123] According to one embodiment, when the braking urgency currently displayed by the display unit is the highest level that has been triggered, the highest level prompt will continue to be displayed before the display of the brake icon is released, and the prompt of the lower level will not be downgraded midway. For example, if the brake icon has prompted "must brake hard", even if the driver increases the braking force according to the prompt, resulting in the threshold condition of "hard braking" no longer being met, the display unit will still keep the prompt of "hard braking" until the threshold conditions of "medium braking" and "soft braking" are no longer met, at which time the brake icon disappears directly.

[0124] Figure 3 FIG. 1 is a flow chart of a driving prompt method for a vehicle according to another exemplary embodiment of the present application. Figure 3 The implementation process of steps S1, S2, S4 and S5 can refer to Figure 2 The corresponding steps in the above are not repeated here. Figure 3 and Figure 2 The difference between the methods shown.

[0125] exist Figure 3In the method shown, in addition to obtaining the first information and the second information in step S1 and step S2, respectively, third information related to the driver's braking awareness is obtained in an additional step S20, and the braking urgency is determined in step S3' in combination with the third information. For ease of description, step S3' is further divided into steps S30 to S32, for example.

[0126] The third information can be obtained, for example, by the following methods:

[0127] Actual vehicle deceleration: This can be detected, for example, by the vehicle's acceleration sensors (such as wheel speed sensors or inertial measurement units). If the deceleration is less than zero, it indicates that the driver has stepped on the brake pedal; if it is greater than zero, it indicates that the brake pedal has not been stepped on.

[0128] Brake pedal operation status: This can be detected by a sensor installed at the brake pedal, and includes, for example, the position, force and operation rate of the brake pedal, so as to judge the driver's braking intention and operation intensity.

[0129] Braking torque gradient change rate: This can be measured, for example, by the vehicle's brake system sensors and reflects the rate of change of the braking force over time. When the driver realizes the need to brake and begins to step on the brake, the braking torque increases and the gradient change rate exceeds the set threshold; if the driver does not realize the need to brake, the gradient change rate is close to zero, indicating that the brake system is not activated.

[0130] In step S30, it can be determined whether the driver has a braking awareness based on the third information. The so-called braking awareness refers to whether the driver has realized the necessity of braking and is ready to or has started to perform a braking operation. If it is determined that the driver lacks active braking awareness, then in step S31, the braking urgency will be assessed based on the first judgment standard. Conversely, if it is determined that the driver has active braking awareness, then in step S32, it will be assessed based on the second judgment standard.

[0131] In a specific embodiment, if it is determined that the driver has no active braking awareness, the driver's expected reaction time will be additionally considered when calculating the braking urgency in step S31. The expected reaction time refers to the time interval between the driver's awareness of the need to brake and the actual braking action, which is usually 1 to 2 seconds, but may be prolonged due to fatigue or distraction. In contrast, if it is determined that the driver has active braking awareness, the expected reaction time does not need to be considered when calculating the braking urgency in step S32.

[0132] For example, when the first information includes the green flashing or yellow light status of the traffic light, the formula for calculating the minimum deceleration required for the vehicle to completely stop before the stop line at the intersection is as follows:

[0133]

[0134] Accordingly, the judgment conditions for braking / relieving braking are as follows:

[0135]

[0136] The conditions for determining whether braking is necessary or moderate braking is necessary are as follows:

[0137]

[0138] The conditions for judging whether strong braking is necessary are as follows:

[0139]

[0140] If the driver has no braking awareness, the expected reaction time t react , the calculation formula for the required minimum deceleration is updated to:

[0141]

[0142] Among them, t react Indicates the estimated response time.

[0143] Accordingly, the updated judgment conditions for whether to brake / relax are as follows:

[0144]

[0145] The conditions for determining whether braking is necessary or moderate braking is necessary are as follows:

[0146]

[0147] The conditions for judging whether strong braking is necessary are as follows:

[0148]

[0149] When taking the estimated reaction time into account, the calculated minimum required deceleration under the same conditions will be greater, which will result in earlier triggering of each level of braking urgency.

[0150] In another specific embodiment, the first information includes the time margin (denoted as ΔT) before the traffic light turns red when the vehicle maintains the current speed or accelerates to reach the stop line of the target intersection.

[0151] If it is determined that the driver lacks braking awareness, step S31 will determine the braking urgency by combining the following two factors:

[0152] Comparison of the minimum deceleration required for the vehicle to come to a complete stop before the stop line with a preset deceleration threshold;

[0153] Comparison of the time margin before the traffic light turns red when the vehicle maintains the current speed or accelerates to reach the stop line of the target intersection with the preset time threshold.

[0154] This indicates that the driver may not notice the transition warning state of the traffic light, or is hesitating whether to brake. In this case, it is necessary to help the driver weigh the risk of running a red light and the discomfort that may be caused by sudden braking to decide whether to accelerate through or brake. At the same time, the expected reaction time needs to be taken into account when calculating the minimum deceleration required.

[0155] Accordingly, the updated judgment conditions for whether to brake / relax are as follows:

[0156] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer1 and

[0157]

[0158] The updated judgment conditions for braking / moderate braking are as follows:

[0159] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer2 and

[0160]

[0161] The updated judgment conditions for requiring hard braking are as follows:

[0162] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer3 and

[0163]

[0164] If it is determined that the driver has the braking awareness, step S32 will determine the braking urgency based only on the comparison between the minimum deceleration required for the vehicle to completely stop and the deceleration threshold, and no longer consider the time margin. This indicates that the driver has recognized the traffic light status and intends to stop at the intersection, so there is no need to evaluate the time margin for passing the intersection before the red light. At this time, the judgment conditions are as follows:

[0165] Accordingly, the updated judgment conditions for whether to brake / relax are as follows:

[0166]

[0167] The updated judgment conditions for braking / moderate braking are as follows:

[0168]

[0169] The updated judgment conditions for requiring hard braking are as follows:

[0170]

[0171] It should be noted that the specific form and judgment criteria of the above formula are only examples. In actual applications, the parameter type and number or related thresholds in the formula can be adjusted according to the driving situation.

[0172] Figure 4 FIG. 1 is a flow chart of a driving prompt method for a vehicle according to another exemplary embodiment of the present application. Figure 4 The implementation process of steps S1, S2, S4 and S5 can refer to Figure 2 The corresponding steps in the above are not repeated here. Figure 4 and Figure 2 The difference between the methods shown.

[0173] exist Figure 4 In the method shown, in addition to obtaining the first information and the second information in step S1 and step S2 respectively, fourth information related to environmental conditions is obtained in an additional step S22, and the braking urgency is further determined in S3" in combination with the fourth information.

[0174] The fourth information mainly includes visibility status and road surface status. Visibility status refers to the distance of the road ahead that the driver can see, which will be reduced in conditions such as fog, rain or night; road surface status may involve friction coefficient and / or slipperiness, which will worsen in rain, snow or ice. The fourth information can be directly measured and obtained through on-board sensors, or obtained from a meteorological center, roadside unit or road supervision platform through a communication network.

[0175] According to one embodiment, in step S3″, as visibility decreases and / or road conditions deteriorate, the braking urgency is dynamically determined in the following two ways:

[0176] (1) Adjusting the threshold conditions

[0177] When visibility is reduced, the driver's reaction time may increase, so the brakes may need to be applied earlier. When the road is slippery or icy, the vehicle's braking distance will increase due to the reduced friction coefficient. To this end, the threshold conditions corresponding to each braking urgency can be set more leniently. For example, in normal weather, a 2-second time margin before a red light can be judged as "ease braking", while in foggy weather, a 3-second time margin before a red light can be judged as "ease braking" to ensure safety.

[0178] (2) Increase the pre-determined braking urgency

[0179] Under the same conditions (such as the vehicle's current speed, the distance to the stop line at the intersection, the remaining time of the yellow light, etc.), if the environmental conditions are poor (low visibility or slippery road surface), the same time margin will trigger a higher degree of braking urgency. For example, on a sunny and dry road surface, a time margin of 1.5 seconds before a red light may be judged as "medium braking", while on a rainy and slippery road surface, the same time margin before a red light may be judged as "violent braking" to cope with the increased braking distance.

[0180] In a specific implementation, a weight factor W may be defined according to the environmental condition information, and the determination thresholds of different braking urgency levels may be adjusted accordingly. For example, the time thresholds may be adjusted to Timebuffer1·W, Timebuffer2·W, and Timebuffer3·W.

[0181] In addition, the visibility range and / or the road friction coefficient may be used as new threshold conditions and combined with the threshold conditions set based on the minimum deceleration or the time margin.

[0182] For example, the judgment condition of whether to brake or release the brake may be updated as follows:

[0183] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer1 and

[0184] Visibility <4000m or ground conditions are good (such as ground friction coefficient >0.8).

[0185] The judgment conditions for braking / moderate braking are updated as follows:

[0186] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer2 and

[0187] Visibility <2000m or ground conditions are normal (ground friction coefficient >0.6 and ≤0.8).

[0188] The updated judgment conditions for requiring hard braking are as follows:

[0189] ΔT=YellowLightRestTime-D toStopLn / v t <Timebuffer3 and

[0190] Visibility <1000m or ground conditions are poor (ground friction coefficient ≤0.6).

[0191] Compared with traditional standards that only rely on time margin or minimum deceleration, the updated judgment conditions can more accurately reflect the actual driving environment, thereby helping drivers make more reasonable braking decisions.

[0192] In another embodiment, the braking urgency may be determined by comprehensively considering the first information, the second information, the third information and the fourth information.

[0193] Figure 5A , Figure 5B and Figure 5C A schematic diagram showing a progressive graphic change of a brake icon displayed on a display unit of a vehicle.

[0194] exist Figure 5A In the embodiment of the present invention, the brake icon 200 is displayed in the center of the vehicle dashboard display 30 in the form of a pattern of a foot on the brake pedal. As the determined braking urgency increases from top to bottom, the inclination of the brake pedal also increases accordingly. Specifically, when the braking urgency is "relaxed braking", the brake pedal pattern is close to horizontal, and its smaller inclination angle indicates that the braking force required by the vehicle at this time is not large, and the driver can apply the braking pressure gently. When the braking urgency is increased to "medium braking", the inclination of the brake pedal pattern increases, indicating that the driver needs to apply greater braking force more quickly. When the braking urgency reaches the "violent braking" level, the inclination of the brake pedal pattern reaches the maximum, almost perpendicular to the horizontal direction, indicating that the driver must immediately perform maximum emergency braking on the vehicle.

[0195] It should be pointed out that Figure 5A The tilt direction of the brake pedal pattern is only an example. In different implementations, the tilt direction may be opposite, that is, as the braking urgency increases, the angle between the brake pedal pattern and the horizontal plane may gradually decrease, and the specific amplitude of the tilt angle may also be different.

[0196] Figure 5B In the , the number of arrows below the brake pedal changes to indicate the urgency of braking. At the "soft braking" level, there is only one arrow below the brake pedal. As the urgency increases to "medium braking", there are two arrows below the brake pedal. And when the urgency reaches "hard braking", three or more arrows appear below the brake pedal. The increase in the number of arrows, for example, emphasizes the urgency of braking and the force required.

[0197] Figure 5CIn the example, the color of the brake icon 200 changes as the braking urgency increases. When the braking urgency is "should brake", the icon color may be light (e.g., light yellow), which conveys a milder warning, reminding the driver to consider taking a braking action. When the braking urgency rises to "must brake", the icon color becomes darker (e.g., turns red), and this color change emphasizes the increased urgency, reminding the driver that he must take braking measures immediately to avoid potential danger.

[0198] Figure 6 A schematic diagram showing the synchronous display of a brake icon and an intersection marker on a display unit of a vehicle.

[0199] exist Figure 6 In the embodiment, the brake icon 200 is located in the center of the instrument panel display 30, and the yellow light traffic light icon 210 is displayed on the left. By displaying the brake icon 200 and the yellow light icon 210 at the same time, the driver can intuitively understand the specific reason for the brake prompt - the traffic light ahead is about to turn red, so as to prepare to slow down and stop in advance to avoid emergency braking.

[0200] In addition, the display order and manner of the two icons 200 and 210 can be adjusted according to actual needs. For example, the intersection marker icon 210 can be displayed first, and then the brake icon 200 can be displayed.

[0201] In addition, the display unit 30 can display not only traffic light icons, but also other intersection landmark icons, such as stop signs, yield signs, railway crossing signs, etc. If there is a speed limit sign at the intersection, the system can also prompt the driver to comply with the speed limit regulations through the display unit.

[0202] It should be noted that Figure 6 The relative positions and sizes of the brake icon 200 and the intersection marker icon 210 are only examples. In practical applications, the layout of these icons can be flexibly adjusted according to the design and functional requirements of the display unit.

[0203] Figure 7 A schematic diagram showing how to determine the degree of braking urgency when multiple threshold conditions are met simultaneously. Figure 7 In the figure, the horizontal axis (X-axis) represents time, and the vertical axis (Y-axis) represents whether the threshold condition of the braking urgency is triggered (True / False), where True indicates that the condition is met, and False indicates that it is not met.

[0204] Different levels of braking urgency are distinguished in the figure by different line types: the solid line represents "easing braking", the dotted line represents "medium braking", and the dash-dotted line represents "violent braking". In the first time period T1, only the threshold condition of "easing braking" is met, so the braking urgency of this period is determined to be "easing braking". Subsequently, in the second time period T2, the threshold conditions of "easing braking" and "medium braking" are met at the same time, but according to the preferential rule, the system will select the highest level of braking urgency as the current judgment result, so the braking urgency of this period is determined to be "medium braking". Then, in the third time period T3, the threshold conditions of "easing braking", "medium braking" and "violent braking" are all met, so the highest level of "violent braking" is determined as the current braking urgency, and only "violent braking" can be prompted through the vehicle's display unit.

[0205] Although the specific embodiments of the present application are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present application. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present application.

Claims

1. A driving prompt method for a vehicle (1), the driving prompt method comprising the following steps: Step S1, obtaining first information related to an intersection marker at a target intersection, wherein the intersection marker is used to restrict the vehicle (1) from traveling at the target intersection, and the first information includes transition warning state information of a traffic light; Step S2, obtaining second information related to the vehicle state; Step S3, determining the braking urgency of the vehicle (1) according to the first information and the second information; as well as Step S4, prompting different braking urgency levels by displaying a progressive graphic change of the brake icon (200) on the display unit (30) of the vehicle (1).

2. The driving prompt method according to claim 1, wherein: The braking urgency levels include: The necessity of braking, which is divided into should braking and must braking, and / or Braking intensity levels, which are classified as gentle braking, medium braking and hard braking; and / or In step S4, the braking urgency is gradually indicated in a sequence from low to high starting from no indication through the progressive graphic change of the braking icon (200).

3. The driving prompt method according to claim 1 or 2, wherein: The brake icon (200) includes a pattern of a foot stepping on a brake pedal, and the progressive graphic change includes: a change in the inclination of the brake pedal, a change in the number of arrows below the brake pedal, a change in the depth of the icon color and / or a change in the size of the icon. Among them, the higher the braking urgency, the greater the inclination of the brake pedal, the greater the number of arrows under the brake pedal, the darker the color of the icon and / or the larger the icon size.

4. The driving prompt method according to any one of claims 1 to 3, wherein: The transition warning state information includes whether the current state of the traffic light is a yellow light state or a green flashing state. In step S3, the braking urgency is determined in the following manner: based on the first information and the second information, the minimum deceleration required for the vehicle (1) to stop before the intersection stop line of the target intersection is calculated, and based on the comparison between the minimum deceleration and different deceleration thresholds, different braking urgency levels of the vehicle (1) are determined.

5. The driving prompt method according to any one of claims 1 to 4, wherein: The transition warning state information includes the remaining duration of the transition warning state. In step S3, the braking urgency is determined in the following manner: based on the first information and the second information, the time margin before the traffic light turns red when the vehicle (1) maintains the current speed or accelerates to reach the stop line of the target intersection is calculated, and based on the comparison between the time margin and different time thresholds, different braking urgency levels of the vehicle (1) are determined.

6. The driving prompt method according to any one of claims 1 to 5, wherein: The driving prompt method also includes the following steps: A third information item related to the driver's braking awareness is acquired, and in step S3, the braking urgency is additionally determined taking into account the third information item, wherein: If the third information reflects that the driver has no intention to brake, the degree of braking urgency is additionally ascertained based on the expected reaction time of the driver.

7. The driving prompt method according to any one of claims 1 to 6, wherein: The driving prompt method also includes the following steps: A third information item related to the driver's braking awareness is acquired, and in step S3, the braking urgency is additionally determined taking into account the third information item, wherein: When the third information reflects that the driver has no braking awareness, the braking urgency is determined based on both of the following: a comparison of the minimum deceleration required for the vehicle (1) to stop before the intersection stop line at the target intersection with the deceleration threshold, and · A comparison between the time margin before the traffic light turns red when the vehicle (1) maintains the current speed or accelerates to reach the stop line of the target intersection and the time threshold; and / or When the third information reflects that the driver has the intention to brake, the braking urgency is determined based only on a comparison between the minimum deceleration required for the vehicle (1) to stop before the intersection stop line of the target intersection and the deceleration threshold, rather than a comparison between the time margin before the traffic light turns red when the vehicle (1) maintains the current speed or accelerates to reach the intersection stop line of the target intersection and the time threshold.

8. The driving prompt method according to any one of claims 1 to 7, wherein: The driving prompt method also includes the following steps: Acquire fourth information related to the environmental conditions, and in step S3 determine the degree of emergency of braking in addition taking into account the fourth information, wherein: The environmental conditions include visibility conditions and / or road conditions; as visibility decreases and / or road conditions deteriorate, the threshold conditions corresponding to each braking urgency level are set more loosely, and / or, when the originally set threshold conditions are met, a higher braking urgency level is determined.

9. The driving prompt method according to any one of claims 1 to 8, wherein: In step S4, in addition to displaying the brake icon (200) through the display unit (30) of the vehicle (1), the intersection marker icon (210) is also displayed in association.

10. The driving prompt method according to any one of claims 1 to 9, wherein: The first information also includes existence information of a stop sign, a yield sign and / or a railway crossing sign.

11. The driving prompt method according to any one of claims 1 to 10, wherein: If it is determined in step S3 that multiple different levels of braking urgency are satisfied simultaneously, then: In step S3, the braking urgency of the vehicle (1) is determined as the highest level of braking urgency that is satisfied; and / or In step S4, the highest level of braking urgency that is satisfied is indicated via the display unit (30) of the vehicle (1).

12. The driving prompt method according to any one of claims 1 to 11, wherein: When the degree of emergency of braking is indicated by the display unit (30), the display of the braking icon (200) is canceled when at least one of the following conditions is met: Threshold conditions corresponding to all levels and / or to the lowest level of braking urgency are no longer met; The vehicle (1) arrives at a new road segment; and / or The speed of the vehicle (1) is reduced to 0.

13. The driving prompt method according to claim 12, wherein: When the braking urgency currently indicated by the display unit (30) is the highest level reached so far, before the display of the braking icon (200) is canceled, the braking urgency currently at the highest level is continuously indicated by the braking icon (200) without performing a downgrade indication.

14. The driving prompt method according to any one of claims 1 to 13, wherein: The second information includes the current speed of the vehicle (1) and the distance between the current position of the vehicle (1) and the stop line of the target intersection.

15. The driving prompt method according to any one of claims 1 to 14, wherein: The second information includes real-time deceleration or acceleration information of the vehicle (1), load information of the vehicle (1), tire status information of the vehicle (1) and / or brake system performance information.

16. A driving prompt device (10) for a vehicle (1), the driving prompt device (10) comprising a processor and a memory, the memory storing computer program instructions, and when the computer program instructions are executed by the processor, the processor is capable of executing the driving prompt method according to any one of claims 1 to 15.

17. A vehicle (1), comprising the driving prompting device (10) according to claim 16.

18. A computer program product comprising computer program instructions, wherein: The computer program instructions, when executed by a processor, enable the processor to perform a driving prompt method according to any one of claims 1 to 15.

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