Vehicle active early warning method, device, equipment and medium

Abstract

The invention provides a vehicle active early warning method, device and equipment and a medium, and relates to the technical field of computers, and the method comprises the steps: receiving front vehicle warning information sent by a target front vehicle; determining operation driving information of a driver in the target preceding vehicle according to the preceding vehicle warning information; matching the actual driving information of the driver in the target vehicle with the operation driving information to obtain a risk avoiding result of the target vehicle; and when the risk avoiding result indicates that risk avoiding is abnormal, first warning information is sent to a first vehicle behind according to the driving information and the actual driving information of the target vehicle so as to carry out early warning on the first vehicle. According to the technical scheme provided by the embodiment of the invention, when the target vehicle encounters an emergency situation, judgment and early warning can be carried out on the rear vehicle in time, so that traffic accidents such as rear-end collision and serial rear-end collision are effectively reduced, and the driving safety is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety technology, and in particular to a vehicle active warning method, device, equipment, and medium. Background Technology

[0002] With the rapid development of intelligent transportation systems, the ability of vehicles to perceive their surroundings has become an important component of automotive intelligence. Traditional vehicle environmental perception capabilities mainly rely on onboard sensors such as cameras, millimeter-wave radar, and lidar to collect information about the surrounding environment and process it locally to respond to various driving scenarios.

[0003] However, the performance of various sensors is limited by physical principles. For example, cameras degrade in low-light conditions, millimeter-wave radar has limited ability to identify static objects, and lidar's accuracy decreases in adverse weather conditions, thus limiting their application scenarios. Complex environmental perception algorithms place extremely high demands on onboard computers, requiring high-performance processors and large-capacity memory, which significantly increases system costs. Furthermore, training environmental perception models requires massive amounts of labeled data and long-term iterative optimization, resulting in long development cycles and high costs. In addition, relying entirely on local perception suffers from blind spots and timeliness issues, making it difficult to provide timely warnings to vehicles behind in unexpected situations, which can easily lead to chain-reaction rear-end collisions in scenarios such as highways. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a vehicle active warning method, device, equipment, and medium. By directly receiving the warning information sent by the target vehicle ahead, the system uses the warning information to determine the driving information of the target vehicle ahead, and then matches it with the actual driving information in the target vehicle to determine whether the target vehicle can effectively avoid danger. If effective avoidance is not possible, the system promptly warns vehicles behind. In the event of an emergency, the system can make timely judgments on hazard avoidance based on the driver's actual driving information, thereby warning vehicles behind. This improves judgment efficiency, increases the success rate of warnings, effectively reminds vehicles behind, and can effectively reduce the probability of rear-end collisions and chain-reaction rear-end collisions.

[0005] In a first aspect, embodiments of the present invention provide a vehicle active warning method, applied to a target vehicle, the method comprising: Receive a warning message from the vehicle in front of the target vehicle, wherein the target vehicle is the vehicle in the same lane as the target vehicle and is the closest vehicle to the target vehicle in front of the target vehicle; Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead; The actual driving information of the driver in the target vehicle is matched with the operation driving information to obtain the risk avoidance result of the target vehicle; When the avoidance result indicates an abnormal avoidance situation, a first warning message is sent to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle.

[0006] In a preferred embodiment of the present invention, receiving the preceding vehicle warning information sent by the target preceding vehicle includes: Receive a second warning message from at least one second vehicle traveling in front of the target vehicle; Each of the second warning messages is compared sequentially with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the warning message of the vehicle ahead corresponding to the target vehicle ahead is determined from each of the second warning messages.

[0007] In a preferred embodiment of the present invention, after sending a first warning message to a first vehicle behind the target vehicle based on the target vehicle's driving information and the actual driving information when the avoidance result indicates an avoidance anomaly, the method further includes: When the avoidance result indicates an avoidance anomaly, the lighting status information is determined from the preset lighting operation strategy based on the target vehicle's driving information and the actual driving information. The lights are controlled to be displayed according to the light status information; wherein the light status information includes at least one of the brake light status information, hazard warning light status information, rear warning light status information, and rear fog light status information.

[0008] In a preferred embodiment of the present invention, both the forward warning information and the first warning information include at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status. Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead, including: Based on the location and speed information in the warning information from the vehicle ahead, the operating condition information of the target vehicle ahead is determined; Based on the operating condition information, the status of the brake lights, the status of the hazard warning lights, the status of the rear fog lights, and the status of the rear warning lights, the driving information of the driver in the target vehicle ahead is determined.

[0009] In a preferred embodiment of the present invention, determining the driver's operation and driving information in the target vehicle ahead based on the operating condition information, the brake light status, the hazard warning light status, the rear fog light status, and the rear warning light status includes: Based on the operating condition information, the brake switch status is determined by the rear fog light status and the rear warning light status. Based on the status of the brake switch, the status of the brake lights, and the status of the hazard warning lights, determine the driving information of the driver in the target vehicle ahead.

[0010] In a preferred embodiment of the present invention, the above-mentioned comparison of each of the second warning messages with the collected headlight signal of the target vehicle and the driving information of the target vehicle, and the determination of the front vehicle warning information corresponding to the target vehicle from each of the second warning messages, includes: For each second warning message, the information content in the second warning message is matched sequentially with the collected light signal of the target vehicle in front and the driving information of the target vehicle in front to determine the matching result of the second warning message; When the matching result is successful, the second warning information is determined as the warning information of the vehicle in front of the target vehicle.

[0011] In a preferred embodiment of the present invention, after the avoidance result indicates an avoidance anomaly, based on the target vehicle's driving information and the actual driving information, a first warning message is sent to the first vehicle behind to warn the first vehicle, and the method further includes: For the side and rear of the target vehicle, obtain driving environment information and vehicle status information; Based on the driving environment information and the vehicle status information, auxiliary operation information is determined.

[0012] Secondly, embodiments of the present invention also provide a vehicle active warning device, applied to a target vehicle, the device comprising: The warning information receiving module is used to receive warning information sent by the target vehicle in front, wherein the target vehicle in front is the vehicle in the same lane as the target vehicle and is the closest vehicle to the target vehicle in front of the target vehicle; The driving information determination module is used to determine the driving information of the driver in the target vehicle ahead based on the warning information of the vehicle ahead. The hazard avoidance result determination module is used to match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the hazard avoidance result of the target vehicle. The warning module is used to send a first warning message to a first vehicle behind the target vehicle based on the target vehicle's driving information and the actual driving information when the avoidance result indicates an avoidance anomaly, so as to warn the first vehicle.

[0013] In a preferred embodiment of the present invention, the alarm information receiving module is further configured to: Receive a second warning message from at least one second vehicle traveling in front of the target vehicle; Each of the second warning messages is compared sequentially with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the warning message of the vehicle ahead corresponding to the target vehicle ahead is determined from each of the second warning messages.

[0014] In a preferred embodiment of the present invention, each of the second warning messages is sequentially compared with the collected headlight signal of the target vehicle and the driving information of the target vehicle, and the preceding vehicle warning information corresponding to the target vehicle is determined from each of the second warning messages, including: For each second warning message, the information content in the second warning message is matched sequentially with the collected light signal of the target vehicle in front and the driving information of the target vehicle in front to determine the matching result of the second warning message; When the matching result is successful, the second warning information is determined as the warning information of the vehicle in front of the target vehicle.

[0015] In a preferred embodiment of the present invention, the device further includes: The lighting status information determination module is used to determine lighting status information from a preset lighting operation strategy based on the target vehicle's driving information and the actual driving information when the avoidance result indicates an avoidance anomaly. The lighting display module is used to control the display of lights according to the lighting status information; wherein the lighting status information includes at least one of the following: brake light status information, hazard warning light status information, rear warning light status information, and rear fog light status information.

[0016] In a preferred embodiment of the present invention, both the forward warning information and the first warning information include at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status. The driving information determination module is also used for: Based on the location and speed information in the warning information from the vehicle ahead, the operating condition information of the target vehicle ahead is determined; Based on the operating condition information, the status of the brake lights, the status of the hazard warning lights, the status of the rear fog lights, and the status of the rear warning lights, the driving information of the driver in the target vehicle ahead is determined.

[0017] In a preferred embodiment of the present invention, based on the operating condition information, the brake light status, the hazard warning light status, the rear fog light status, and the rear warning light status, the driver's operation and driving information in the target vehicle ahead is determined, including: Based on the operating condition information, the brake switch status is determined by the rear fog light status and the rear warning light status. Based on the status of the brake switch, the status of the brake lights, and the status of the hazard warning lights, determine the driving information of the driver in the target vehicle ahead.

[0018] In a preferred embodiment of the present invention, the early warning module is further configured to: For the side and rear of the target vehicle, obtain driving environment information and vehicle status information; Based on the driving environment information and the vehicle status information, auxiliary operation information is determined.

[0019] Thirdly, embodiments of the present invention also provide an electronic device, including a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the vehicle active warning method of the first aspect described above.

[0020] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the vehicle active warning method of the first aspect described above.

[0021] The embodiments of the present invention bring the following beneficial effects: This invention provides a vehicle active warning method. By receiving warning information from a vehicle in the same lane as the target vehicle, ahead of the target vehicle, and closest to the target vehicle, and determining the driving information of the vehicle ahead, the driver of the target vehicle can quickly identify the unexpected situation encountered by the vehicle ahead and react in time to avoid an accident. Simultaneously, by matching the actual driving information of the driver in the target vehicle with the driving information of the vehicle ahead, it can quickly determine whether the driver's actions in the target vehicle can effectively avoid an accident. If an accident cannot be effectively avoided, a timely warning is sent to the first vehicle behind, allowing the first vehicle behind to be aware of the unexpected situation ahead and react in advance, thus reducing the incidence of chain-reaction rear-end collisions.

[0022] Other features and advantages of the invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A flowchart of a vehicle active warning method provided in an embodiment of the present invention; Figure 2 A flowchart of another vehicle active warning method provided in an embodiment of the present invention; Figure 3 A flowchart of another vehicle active warning method provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a vehicle active warning device provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Currently, vehicles primarily rely on their own sensing elements to passively acquire information about their surroundings, process this information based on their hardware, and then respond to various scenarios. However, this method is limited by the working principles of the various sensors themselves, resulting in limited application scenarios. In complex weather conditions, such as fog or heavy rain, it cannot accurately acquire information about the surrounding environment. Secondly, complex environmental perception algorithms place extremely high demands on onboard computers, requiring high-performance processors and large-capacity memory, which significantly increases system costs. Furthermore, training environmental perception models requires massive amounts of labeled data and long-term iterative optimization, leading to long development cycles and high costs. In addition, relying entirely on local perception has blind spots and timeliness issues, making it difficult to provide timely warnings to vehicles behind in unexpected situations, which can easily lead to chain-reaction rear-end collisions in scenarios such as highways.

[0028] Based on this, the present invention provides a vehicle active warning method that directly receives warning information from the vehicle in front of the target vehicle, uses the warning information to determine the driving information of the target vehicle, and then matches it with the actual driving information in the target vehicle to determine whether the target vehicle can effectively avoid danger. If the target vehicle cannot effectively avoid danger, the method promptly warns vehicles behind, enabling timely hazard avoidance judgment based on the driver's actual operation information when encountering emergencies, thereby warning vehicles behind and effectively reducing the occurrence of rear-end collisions and chain-reaction rear-end collisions.

[0029] To facilitate understanding of this embodiment, a vehicle active warning method disclosed in this embodiment of the invention will first be described in detail.

[0030] Example 1 This invention provides a vehicle active warning method applied to a target vehicle. The target vehicle is equipped with brake lights, hazard warning lights, rear fog lights, rear warning lights, and a directional wireless communication device. The brake lights transmit the information "This vehicle is braking and decelerating" to vehicles behind the target vehicle. The hazard warning lights (also known as "double flashers") are warning lights that operate synchronously at the rear and front of the target vehicle. By simultaneously flashing the left and right turn signals at high frequency, they transmit the information "This vehicle is in an abnormal state and should be avoided" to surrounding vehicles. The rear fog lights are rear warning lights specifically designed for low-visibility scenarios such as rain, fog, and snow. Through high-brightness, high-penetration light, they improve the "discovery distance" of the target vehicle in adverse weather conditions. The rear warning lights, added to existing vehicles, are used to warn vehicles behind the target vehicle that the target vehicle has encountered an emergency. In this embodiment of the invention, the rear warning light is a red laser light, which can be installed on both sides behind the target vehicle at a height of less than 45cm from the ground. The projection angle is directly behind and downwards, projecting onto the ground on both sides at a distance of 30m behind the target vehicle. The ground projection is a triangular warning sign, and the size of the projection is the same as the actual triangular warning sign. Compared to existing vehicles equipped with directional wireless communication devices, this is used to transmit the first warning information to the rear of the target vehicle, and the power must meet the transmission distance requirement of 200m. For existing vehicle configurations, if the vehicle does not have millimeter-wave radar, ultrasonic radar, or a camera, the operating strategies of the brake lights and hazard warning lights can be upgraded, or a rear warning light can be added in conjunction with the rear fog lights. If the vehicle is equipped with millimeter-wave radar, ultrasonic radar, or a camera, the sensor analysis strategy can be optimized based on the aforementioned technology, allowing for more accurate and detailed settings for the operating strategies of the brake lights and hazard warning lights. In this way, it can be applied to more scenarios at a lower cost, maximizing traffic safety and effectively improving the adaptability of the vehicle's active warning solution. Figure 1 This is a flowchart illustrating a vehicle active warning method provided in an embodiment of the present invention. Figure 1 As shown, the vehicle active warning method may include the following steps: Step S101: Receive the warning information sent by the target vehicle ahead.

[0031] The target vehicle is the vehicle in the same lane as the target vehicle and the closest vehicle to it. The forward warning information refers to the information sent by the target vehicle to the target vehicle when encountering an emergency, describing the driving status of the target vehicle and its lighting information. Specifically, the forward warning information includes at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status. The forward warning information must meet a unified signal definition and be recognizable and received by the target vehicle's radio receiving equipment, converted into a vehicle communication signal, and sent to the vehicle control center. Location information refers to the geographical location of the target vehicle, which can be obtained through the onboard GPS device installed on the target vehicle. Speed ​​information refers to the speed of the target vehicle, which may include at least one of the average speed over a preset time period and the speed at the time the forward warning information is sent. The brake light status can be high-frequency flashing, constantly on, off, or activated with the brake switch. The brake switch refers to the brake pedal on a vehicle. When the driver presses the brake pedal, the brake switch opens; when the driver releases the brake pedal, the brake switch closes. "Operating with the brake switch" means that the brake lights are constantly on when the brake switch is open and off when the brake switch is closed. Hazard warning lights can be flashing or off. Rear fog lights can be on or off. Rear warning lights can be constantly on, flashing, or off.

[0032] Specifically, when the vehicle ahead encounters an emergency, it sends a warning message to the target vehicle via a directional wireless communication device. When the vehicle ahead encounters an emergency, the driver will take specific actions. Depending on the operating scenario and the driving conditions of the vehicle ahead, the brake lights, hazard lights, rear fog lights, and rear warning lights will operate according to preset strategies. The vehicle ahead will use its onboard sensors to collect information such as location, speed, brake light status, hazard light status, rear fog light status, and rear warning light status, which will then be used to send the warning message to the target vehicle via the directional wireless communication device.

[0033] Step S102: Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead.

[0034] Operational driving information describes the driver's actions or intentions. Specifically, it searches for the corresponding operational driving information from the preset operating strategies of brake lights, hazard warning lights, rear fog lights, and rear hazard lights, and uses this information as the operational driving information of the driver in the target vehicle ahead.

[0035] Understandably, different driving conditions refer to whether a vehicle is traveling at high speed, fast speed, or low speed. This can be initially categorized based on vehicle speed information: a speed greater than or equal to 90 km / h is considered a high-speed condition; a speed greater than or equal to 60 km / h but less than 90 km / h is considered a fast condition; and a speed less than 60 km / h is considered a low-speed condition. Furthermore, since driving conditions can change over time, high-precision maps, vehicle location information, speed information, steering wheel angle, rear ultrasonic radar, and forward-facing cameras can be used to further determine whether the vehicle is in a high-speed, fast, or low-speed condition.

[0036] Furthermore, the operating strategies for brake lights and hazard warning lights are shown in Table 1, taking into account different operating scenarios and the driving conditions of the target vehicle ahead.

[0037] Table 1 Operating Strategies for Brake Lights and Hazard Warning Lights

[0038] Specifically, in the driving condition judgment strategy, the vehicle's geographical location can be determined on a high-precision map based on location information. If the vehicle's geographical location is on a highway, it can be determined that the vehicle is in high-speed condition; if the vehicle's geographical location is on a fast road, it can be determined that the vehicle is in fast condition; otherwise, the vehicle is in low-speed condition. It can also calculate the first travel distance within a preset time period based on the average vehicle speed in the speed information. If the first travel distance is greater than or equal to a first distance threshold, it indicates that the high-speed travel distance has exceeded the defined distance, and the vehicle is determined to have entered high-speed condition. Based on the average vehicle speed within a preset time period, a second travel distance is calculated. If the vehicle speed is less than 90 km / h and the second travel distance is greater than or equal to a second distance threshold, it indicates that the vehicle is leaving the highway, i.e., the speed exceeds the defined distance but is below the highway speed, and the vehicle is determined to have exited high-speed condition. If the first travel distance is greater than or equal to a third distance threshold, it indicates that the fast travel distance has exceeded the defined distance, and the vehicle is determined to have entered fast condition. If the vehicle speed is less than 60 km / h and the second travel distance is greater than or equal to the fourth distance threshold, it indicates that the vehicle is leaving the expressway section, meaning the speed exceeds the defined distance but is below the expressway speed, and the vehicle is determined to be exiting the expressway operation. The first, second, third, and fourth distance thresholds can be set according to actual conditions.

[0039] The operating strategies for the rear fog lights and rear warning lights are shown in Table 2, depending on the different operating scenarios and the driving conditions of the target vehicle ahead.

[0040] Table 2 Operating Strategies for Rear Fog Lights and Rear Warning Lights

[0041] Step S103: Match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the risk avoidance result of the target vehicle.

[0042] Real-time driving information refers to the real-time operational behavior of the driver in the target vehicle, which can be acquired through sensors installed on the target vehicle. For example, real-time driving information can be acquired through brake switch sensors, accelerator pedal sensors, steering wheel sensors, etc. The avoidance result describes whether the target vehicle, after executing the driver's real-time driving information, can successfully avoid an accident with the vehicle in front.

[0043] Specifically, reasonable hazard avoidance maneuvers can be pre-set based on the driving information. The actual driving information is then compared with these maneuvers. If the actual driving information meets the hazard avoidance maneuvers, the hazard avoidance result is determined to be normal; otherwise, it is determined to be abnormal. According to the operating scenarios shown in Table 1, different priorities can be pre-set. If the actual driving information meets the hazard avoidance maneuvers, the priority of the corresponding operating scenario is higher than that of the hazard avoidance maneuvers. If the actual driving information does not meet the hazard avoidance maneuvers, the priority of the corresponding operating scenario is lower than or equal to that of the hazard avoidance maneuvers. For example, if the driving information is light braking and the pre-set reasonable hazard avoidance maneuver is heavy braking, then if the actual driving information is heavy braking or emergency braking, the hazard avoidance result is determined to be normal; if the actual driving information is light braking, the hazard avoidance result is determined to be abnormal.

[0044] In another possible implementation, the actual driving information and operational driving information of the driver in the target vehicle can be input into a pre-trained risk avoidance model, which then outputs the risk avoidance result for the target vehicle. The risk avoidance model can be an existing machine learning model or a neural network model, etc.

[0045] Step S104: When the avoidance result indicates an avoidance anomaly, a first warning message is sent to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle.

[0046] The first vehicle refers to a vehicle in the same lane behind the target vehicle. There must be at least one first vehicle. The target vehicle's driving information includes its speed and position. Specifically, when the avoidance result indicates an abnormal avoidance situation, the brake light status, hazard warning light status, rear fog light status, and rear warning light status can be determined by referring to Tables 1 and 2 based on the actual driving information. The brake light status, hazard warning light status, rear fog light status, and rear warning light status corresponding to the actual driving information, along with the target vehicle's driving information, are used as the first warning information and transmitted to the first vehicle behind via a directional wireless communication device to provide a warning to the first vehicle.

[0047] Furthermore, when the avoidance result indicates an abnormal avoidance situation, driving environment information and vehicle status information can be obtained from the side and rear of the target vehicle; and auxiliary operation information can be determined based on the driving environment information and the vehicle status information.

[0048] Specifically, driving environment information describes whether there are other vehicles or obstacles around the target vehicle. This information can be collected through radar or cameras on the target vehicle. Driving environment information includes at least whether there are other vehicles to the left or right of the target vehicle, and if so, the distance between them. Vehicle status information describes the current driving state of the target vehicle, including at least speed, acceleration, and distance to the vehicle in front. Based on the driving environment information and vehicle status information, the corresponding auxiliary operation information is determined and executed through a lookup table to assist the driver in avoiding accidents. For example, if the driving environment information indicates that there are no other vehicles to the left of the target vehicle, the auxiliary operation information can be determined as changing lanes to the left. In this case, the target vehicle can automatically control the steering wheel angle to assist in changing lanes. If the driving environment information indicates that there are other vehicles on the left or right side of the vehicle, and the distance between the other vehicles and the target vehicle is less than the preset distance, it means that the accident cannot be avoided by changing lanes. The auxiliary operation information can be determined as increasing braking force. At this time, the target vehicle can increase braking force by automatically controlling the brake switch and increasing the travel of the brake pedal, thereby assisting in controlling the target vehicle to change lanes.

[0049] By comparing the actual actions of the target vehicle driver with the intentions of the driver of the vehicle ahead, it can be determined whether the actual actions of the target vehicle driver can effectively avoid the accident. When the accident cannot be avoided, auxiliary operation information is determined. The auxiliary operation takes into account the driver's intentions, avoiding the situation where the driver's intentions are not considered during forced intervention, which leads to poor warning effect or causes new dangers. This improves the driver's comfort during the driving process and the accuracy of the auxiliary operation.

[0050] The vehicle active warning method provided in this invention receives warning information from a vehicle in the same lane as the target vehicle, in front of the target vehicle, and closest to the target vehicle. It also determines the driving information of the vehicle in front of the target vehicle. This allows the driver of the target vehicle to quickly identify the unexpected situation encountered by the vehicle in front and react in a timely manner to avoid an accident. Simultaneously, by matching the actual driving information of the driver in the target vehicle with the driving information of the vehicle in front of the target vehicle, it can quickly determine whether the driver's actions can effectively avoid an accident. If an accident cannot be effectively avoided, a timely warning is sent to the first vehicle behind, allowing the first vehicle behind to be aware of the unexpected situation ahead immediately, rather than only reacting when the driver sees the target vehicle slowing down. This forms a "chain reaction" protection, significantly reducing the incidence of chain-reaction rear-end collisions.

[0051] Example 2 This invention also provides another active vehicle warning method; this method is implemented based on the method in the above embodiments; the method focuses on describing the specific implementation of receiving the warning information sent by the target vehicle in front.

[0052] Figure 2 A flowchart of another vehicle active warning method provided in an embodiment of the present invention is shown below. Figure 2 As shown, the vehicle active warning method may include the following steps: Step S201: Receive a second warning message from at least one second vehicle traveling in front of the target vehicle.

[0053] The second vehicle refers to a vehicle in the same lane as the target vehicle and traveling in front of it. The second warning information refers to the warning information issued by the second vehicle. The second warning information includes at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status.

[0054] Specifically, the target vehicle can receive a second warning message from at least one other vehicle traveling ahead. In one application scenario, vehicle A1 and vehicle B2 are traveling in sequence ahead of target vehicle B2. When vehicle A1 encounters an emergency, it sends a second warning message to vehicles B1 and B2 behind it. Since the sensors on vehicle B2 can only collect information about the closest vehicle to it, vehicle B1, the driver in target vehicle B2 can only see the driving status of vehicle B1, the closest vehicle in the same lane. The driving status of vehicle A1 cannot be directly obtained. Therefore, by receiving the second warning message from vehicle A1, vehicle B2 can be aware in advance that vehicle A1 is in an emergency, allowing the driver to react in time and avoid an accident without waiting for vehicle B1's reaction, greatly increasing the probability of the target vehicle avoiding an accident.

[0055] Step S202: Compare each of the second warning messages with the collected light signals of the target vehicle and the driving information of the target vehicle in front, and determine the warning message of the vehicle in front corresponding to the target vehicle from each of the second warning messages.

[0056] The target vehicle's light signals refer to the status of its brake lights, hazard lights, rear fog lights, and rear warning lights. The target vehicle's driving information refers to its position and speed. The target vehicle can collect the target vehicle's light signals via a forward-facing camera and its driving information via a radar located at the front. For each second warning message, its contents are compared with the target vehicle's light signals and driving information. If the contents of the second warning message match the target vehicle's light signals and driving information, then the second warning message is identified as the warning message corresponding to the target vehicle, ensuring that the warning messages correspond to the target vehicle and preventing errors in subsequent analysis.

[0057] Specifically, the warning information of the target vehicle ahead can be determined through steps A1-A2.

[0058] Step A1: For each second warning message, the information content in the second warning message is matched sequentially with the collected light signal of the target vehicle in front and the driving information of the target vehicle in front to determine the matching result of the second warning message.

[0059] Step A2: When the matching result is a successful match, the second warning information is determined as the warning information of the vehicle in front of the target vehicle.

[0060] In one application scenario, when the target vehicle's lights are malfunctioning, or sensors on the target vehicle are missing, or there is inclement weather preventing the collection of all light signals or driving information from the target vehicle, the process involves comparing the information in the second warning message with the collected light signals and driving information of the target vehicle. Based on the collected light signals and driving information, the corresponding information is retrieved from the second warning message. If they match, the matching result of the second warning message is considered successful; if different information exists, the matching result is considered unsuccessful. For example, when the target vehicle's collected light signals lack brake light status, the information in the second warning message excluding brake light status is compared with the collected light signals and driving information of the target vehicle. If they match, the matching result is successful; if different, the matching result is unsuccessful. If the target vehicle encounters severe weather such as fog, the forward-facing camera will be unable to capture the status of the rear fog lights and brake lights. In this case, the information in the second warning message, excluding the status of the rear fog lights and brake lights, will be compared with the captured light signals and driving information of the target vehicle in front. If they are the same, the matching result is a successful match; if they are different, the matching result is a failed match.

[0061] When the matching result is successful, the second warning information is determined to be the warning information of the vehicle in front of the target vehicle.

[0062] When multiple warning messages from second vehicles are received simultaneously, the system automatically skips missing information and only verifies collectable items, based on scenarios such as "light malfunction," "missing sensor," and "obstruction by severe weather," ensuring that the correct information can still be locked in complex scenarios.

[0063] Step S203: Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead.

[0064] Step S204: Match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the risk avoidance result of the target vehicle; Step S205: When the avoidance result indicates an avoidance anomaly, a first warning message is sent to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle.

[0065] Step S206: When the avoidance result indicates an avoidance anomaly, determine the lighting status information from the preset lighting operation strategy based on the target vehicle's driving information and the actual driving information.

[0066] The preset lighting operation strategy refers to the pre-set operation strategy for the brake lights, hazard warning lights, rear fog lights, and rear warning lights. Lighting status information describes the operating status of at least one of these lights. Specifically, based on the target vehicle's location and speed information from its driving information, as well as actual driving information, the corresponding lighting status information is determined by consulting Tables 1 and 2.

[0067] Step S207: Control the lights to display according to the light status information.

[0068] The lighting status information includes at least one of the following: brake light status information, hazard warning light status information, rear warning light status information, and rear fog light status information. The target vehicle controls the lights that are functioning normally to display according to the lighting status information. For example, if the target vehicle's brake lights are malfunctioning, although the lighting status information includes brake light status information, only the hazard warning lights, rear warning lights, and rear fog lights may be controlled to display.

[0069] The vehicle active warning method provided in this invention, by receiving warning information from at least one second vehicle ahead, solves the problem that traditional vehicle warning systems can only detect the nearest vehicle through front radar and cameras, and cannot perceive the risks of vehicles further ahead. It provides drivers with advance warning of potential emergencies ahead, allowing them sufficient reaction time (such as early deceleration and lane changing to avoid collisions), thus reducing the probability of rear-end collisions from the outset. By comparing the second warning information with the collected light signals and driving information of the target vehicle ahead, the method can identify the second warning information corresponding to the target vehicle from multiple warning messages, providing accurate data for the subsequent analysis of the driver's actions and driving information in the target vehicle ahead, ensuring the accuracy of the warning.

[0070] Example 3 This invention also provides another active vehicle warning method; this method is implemented based on the method in the above embodiments; this method focuses on describing the specific implementation of determining the driving information of the driver in the target vehicle ahead based on the warning information of the vehicle ahead.

[0071] Figure 3 A flowchart of another vehicle active warning method provided in an embodiment of the present invention is shown below. Figure 3 As shown, the vehicle active warning method may include the following steps: Step S301: Receive the warning information sent by the target vehicle ahead.

[0072] In another possible implementation, the target vehicle can receive warning information transmitted by the road construction party and treat it as a preceding vehicle warning message. The warning information transmitted by the road construction party must meet a unified signal definition and be recognizable and received by the target vehicle's radio receiving equipment, converted into a vehicle communication signal, and transmitted to the vehicle control center. The road construction party can set up directional wireless communication equipment at fixed locations. The warning information includes: location, lane occupancy information, start and end information, and work type, describing the construction-related situation. For example, the road construction party could be road maintenance personnel who set up directional wireless communication equipment at the start and end points of road maintenance work to continuously send warning information.

[0073] Traditional vehicle warning systems rely solely on information from vehicles ahead, failing to cover fixed risk sources such as road construction areas. When road maintenance or construction occupies lanes, drivers often react too late, resulting in insufficient braking, especially on highways and expressways where construction zones have become hotspots for chain-reaction accidents. Road construction companies, by continuously sending warning messages via directional wireless communication devices, can inform target vehicles in advance of construction ahead, allowing them to plan their lanes accordingly and avoid accidents caused by sudden lane changes when approaching construction areas.

[0074] Step S302: Determine the operating condition information of the target vehicle ahead based on the position and speed information in the warning information of the vehicle ahead.

[0075] Based on the location information in the preceding vehicle warning message, the geographical location of the target vehicle can be determined from the high-precision map. Based on the vehicle speed information, the speed of the target vehicle when sending the warning message can be determined. Combining the geographical location and speed of the target vehicle, the operating condition information of the target vehicle can be retrieved from Table 1. Specifically, if the target vehicle is located on a highway and its speed is ≥90km / h, the operating condition information is determined to be highway operating condition. If the target vehicle is located on a fast road and its speed is 60≤km / h≤90km / h, the operating condition information is determined to be fast operating condition. If the target vehicle is located on a low-speed road and its speed is <60km / h, it is determined that the target vehicle has not entered highway or fast operating condition, and the operating condition information is determined to be low-speed operating condition.

[0076] Step S303: Based on the operating condition information, the brake light status, the hazard warning light status, the rear fog light status, and the rear warning light status, determine the driving information of the driver in the target vehicle ahead.

[0077] Specifically, query Tables 1 and 2 to find the operating scenarios that simultaneously meet the conditions of the operating status, brake light status, hazard warning light status, rear fog light status, and rear warning light status, and use these as the driving information of the driver in the target vehicle ahead.

[0078] In one possible implementation, determining the driver's operation and driving information in the target vehicle ahead based on the operating condition information, the brake light status, the hazard warning light status, the rear fog light status, and the rear warning light status includes: determining the brake switch status based on the operating condition information, the rear fog light status, and the rear warning light status; and determining the driver's operation and driving information in the target vehicle ahead based on the brake switch status, the brake light status, and the hazard warning light status.

[0079] Specifically, firstly, based on the aforementioned operating condition information, the status of the rear fog lights and the status of the rear warning lights, the brake switch status is queried from Table 2. Then, based on the brake switch status, brake light status, and hazard warning light status, the operating scenario that simultaneously satisfies the brake switch status, brake light status, and hazard warning light status under this operating condition information is queried and identified as the driving information of the driver in the target vehicle ahead.

[0080] Step S304: Match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the risk avoidance result of the target vehicle.

[0081] Step S305: When the avoidance result indicates an avoidance anomaly, a first warning message is sent to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle.

[0082] The vehicle active warning method provided in this invention associates operating conditions with lighting. By analyzing the operating conditions, rear fog light status, and rear warning light status, the brake switch status is determined from Table 2, eliminating interference from non-braking scenarios. Furthermore, by combining the brake switch status with the brake light status and hazard warning light status, a unique operating scenario is determined from Table 1. This multi-dimensional determination of the driver's operational information in the target vehicle ahead improves the accuracy of identifying this information. Simultaneously, even if a single light signal is abnormal, other lights can still be used for further investigation, avoiding misinterpretation of intent due to a single signal failure.

[0083] Example 4 Corresponding to the above method embodiments, this invention provides a vehicle active warning device. Figure 4 This is a schematic diagram of the structure of a vehicle active warning device provided in an embodiment of the present invention, as shown below. Figure 4 As shown, the vehicle active warning device may include: Warning information receiving module 401 is used to receive warning information sent by the target vehicle in front, wherein the target vehicle in front is the vehicle in the same lane as the target vehicle and is the closest vehicle to the target vehicle in front of the target vehicle; The driving information determination module 402 is used to determine the driving information of the driver in the target vehicle ahead based on the warning information of the vehicle ahead. The hazard avoidance result determination module 403 is used to match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the hazard avoidance result of the target vehicle. The warning module 404 is used to send a first warning message to the first vehicle behind it based on the driving information of the target vehicle and the actual driving information when the avoidance result indicates an avoidance anomaly, so as to warn the first vehicle.

[0084] The vehicle active warning device provided in this invention receives warning information from vehicles in the same lane as the target vehicle, in front of the target vehicle, and closest to the target vehicle. It also determines the driving information of the vehicle in front of the target vehicle, enabling the driver of the target vehicle to quickly identify any unexpected situations encountered and react promptly to avoid accidents. Simultaneously, by matching the actual driving information of the driver in the target vehicle with the driving information of the vehicle in front of the target vehicle, it can quickly determine whether the driver's actions can effectively prevent an accident. If an accident cannot be effectively avoided, it promptly warns the first vehicle behind, allowing the first vehicle behind to be aware of an unexpected situation ahead, rather than only reacting when the driver sees the target vehicle slowing down. This forms a "chain reaction" protection, significantly reducing the incidence of chain-reaction rear-end collisions.

[0085] In some embodiments, the alarm information receiving module 401 is further configured to: Receive a second warning message from at least one second vehicle traveling in front of the target vehicle; Each of the second warning messages is compared sequentially with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the warning message of the vehicle ahead corresponding to the target vehicle ahead is determined from each of the second warning messages.

[0086] In some embodiments, each of the second warning messages is sequentially compared with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the preceding vehicle warning information corresponding to the target vehicle ahead is determined from each of the second warning messages, including: For each second warning message, the information content in the second warning message is matched sequentially with the collected light signal of the target vehicle in front and the driving information of the target vehicle in front to determine the matching result of the second warning message; When the matching result is successful, the second warning information is determined as the warning information of the vehicle in front of the target vehicle.

[0087] In some embodiments, the device further includes: The lighting status information determination module is used to determine lighting status information from a preset lighting operation strategy based on the target vehicle's driving information and the actual driving information when the avoidance result indicates an avoidance anomaly. The lighting display module is used to control the display of lights according to the lighting status information; wherein the lighting status information includes at least one of the following: brake light status information, hazard warning light status information, rear warning light status information, and rear fog light status information.

[0088] In some embodiments, the forward warning information and the first warning information each include at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status. The driving information determination module 402 is also used for: Based on the location and speed information in the warning information from the vehicle ahead, the operating condition information of the target vehicle ahead is determined; Based on the operating condition information, the status of the brake lights, the status of the hazard warning lights, the status of the rear fog lights, and the status of the rear warning lights, the driving information of the driver in the target vehicle ahead is determined.

[0089] In some embodiments, based on the operating condition information, the brake light status, the hazard warning light status, and the rear fog light status, the driving information of the driver in the target vehicle ahead is determined, including: Based on the operating condition information, the brake switch status is determined by the rear fog light status and the rear warning light status. Based on the status of the brake switch, the status of the brake lights, and the status of the hazard warning lights, determine the driving information of the driver in the target vehicle ahead.

[0090] In some embodiments, the warning module 404 is further configured to: For the side and rear of the target vehicle, obtain driving environment information and vehicle status information; Based on the driving environment information and the vehicle status information, auxiliary operation information is determined.

[0091] The device provided in this embodiment of the invention has the same implementation principle and technical effect as the aforementioned method embodiment. For the sake of brevity, any parts not mentioned in the device embodiment can be referred to the corresponding content in the aforementioned method embodiment.

[0092] Example 5 This invention also provides an electronic device for running the above-described vehicle active warning method; see [link to previous document]. Figure 5The diagram shows the structure of an electronic device, which includes a memory 500 and a processor 501. The memory 500 is used to store one or more computer instructions, which are executed by the processor 501 to implement the above-mentioned vehicle active warning method.

[0093] Furthermore, Figure 5 The electronic device shown also includes a bus 502 and a communication interface 503. The processor 501, the communication interface 503 and the memory 500 are connected via the bus 502.

[0094] The memory 500 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 503 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The bus 502 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0095] Processor 501 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 501 or by instructions in software form. Processor 501 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software module can reside in a readily available storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory 500, and processor 501 reads information from memory 500 and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0096] This invention also provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the above-described vehicle active warning method. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0097] The computer program product for the vehicle active warning method provided in this embodiment of the invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0098] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0102] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0103] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A vehicle active warning method, characterized in that, Applied to a target vehicle, the method includes: Receive a warning message from the vehicle in front of the target vehicle, wherein the target vehicle is the vehicle in the same lane as the target vehicle and is the closest vehicle to the target vehicle in front of the target vehicle; Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead; The actual driving information of the driver in the target vehicle is matched with the operation driving information to obtain the risk avoidance result of the target vehicle; When the avoidance result indicates an abnormal avoidance situation, a first warning message is sent to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle.

2. The method according to claim 1, characterized in that, Receive the warning information sent by the vehicle in front of the target vehicle, including: Receive a second warning message from at least one second vehicle traveling in front of the target vehicle; Each of the second warning messages is compared sequentially with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the warning message of the vehicle ahead corresponding to the target vehicle ahead is determined from each of the second warning messages.

3. The method according to claim 2, characterized in that, Each of the second warning messages is sequentially compared with the collected light signals of the target vehicle ahead and the driving information of the target vehicle ahead, and the preceding vehicle warning information corresponding to the target vehicle ahead is determined from each of the second warning messages, including: For each second warning message, the information content in the second warning message is matched sequentially with the collected light signal of the target vehicle in front and the driving information of the target vehicle in front to determine the matching result of the second warning message; When the matching result is successful, the second warning information is determined as the warning information of the vehicle in front of the target vehicle.

4. The method according to claim 1, characterized in that, When the avoidance result indicates an aberration, after sending a first warning message to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle, the system further includes: When the avoidance result indicates an avoidance anomaly, the lighting status information is determined from the preset lighting operation strategy based on the target vehicle's driving information and the actual driving information. The lights are controlled to be displayed according to the light status information; wherein the light status information includes at least one of the brake light status information, hazard warning light status information, rear warning light status information, and rear fog light status information.

5. The method according to claim 1, characterized in that, Both the forward warning information and the first warning information include at least one of the following: location information, speed information, brake light status, hazard warning light status, rear fog light status, and rear warning light status. Based on the warning information from the vehicle ahead, determine the driving information of the driver in the target vehicle ahead, including: Based on the location and speed information in the warning information from the vehicle ahead, the operating condition information of the target vehicle ahead is determined; Based on the operating condition information, the status of the brake lights, the status of the hazard warning lights, the status of the rear fog lights, and the status of the rear warning lights, the driving information of the driver in the target vehicle ahead is determined.

6. The method according to claim 5, characterized in that, Based on the operating condition information, the brake light status, the hazard warning light status, the rear fog light status, and the rear warning light status, the driving information of the driver in the target vehicle ahead is determined, including: Based on the operating condition information, the brake switch status is determined by the rear fog light status and the rear warning light status. Based on the status of the brake switch, the status of the brake lights, and the status of the hazard warning lights, determine the driving information of the driver in the target vehicle ahead.

7. The method according to claim 1, characterized in that, When the avoidance result indicates an aberration, after sending a first warning message to the first vehicle behind based on the target vehicle's driving information and the actual driving information to warn the first vehicle, the system further includes: For the side and rear of the target vehicle, obtain driving environment information and vehicle status information; Based on the driving environment information and the vehicle status information, auxiliary operation information is determined.

8. A vehicle active warning device, characterized in that, Applied to a target vehicle, the device includes: The warning information receiving module is used to receive warning information sent by the target vehicle in front, wherein the target vehicle in front is the vehicle in the same lane as the target vehicle and is the closest vehicle to the target vehicle in front of the target vehicle; The driving information determination module is used to determine the driving information of the driver in the target vehicle ahead based on the warning information of the vehicle ahead. The hazard avoidance result determination module is used to match the actual driving information of the driver in the target vehicle with the operation driving information to obtain the hazard avoidance result of the target vehicle. The warning module is used to send a first warning message to a first vehicle behind the target vehicle based on the target vehicle's driving information and the actual driving information when the avoidance result indicates an avoidance anomaly, so as to warn the first vehicle.

9. An electronic device, characterized in that, The system includes a processor and a memory, the memory storing computer-executable instructions that can be executed by the processor, the processor executing the computer-executable instructions to implement the vehicle active warning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when invoked and executed by a processor, cause the processor to implement the vehicle active warning method according to any one of claims 1 to 7.

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