Encounter warning method and encounter warning system

Abstract

The invention discloses a meeting warning method. The method comprises the following steps: determining an approaching direction and a threat level of a remote target to be encountered relative to a host vehicle; a plurality of indicators are sequentially activated along the approach direction based on the threat level to indicate the approach direction to a driver. The method intuitively prompts a driver of the approach direction of the remote target in a motion display (e.g., flashing light strips or moving marks) manner, and differentially and dynamically displays based on the emergency level of the remote target without the driver staring at the indicator for a long time, thereby enhancing the user experience.

Description

[0001] This application is a divisional application of the invention patent application filed by Ford Global Technologies, Inc., entitled "Method and System for Encounter Warning", application number 201910256918.5, filed on April 1, 2019. Technical Field

[0002] This invention generally relates to a method for vehicle encounter warning. Background Technology

[0003] Collision control / avoidance systems and methods are widely used technologies to avoid collisions between two vehicles. Specifically, the host vehicle may have multiple sensors located at various positions that collectively detect the presence of remote vehicles approaching it, especially those that may pose a potential collision threat. The position coordinates of the host and target vehicles can also be determined using vehicle-to-vehicle (V2V) communication systems, vehicle-to-infrastructure (V2I) systems, radar, GPS, or vision-based systems installed on the host vehicle. A collision warning signal is then provided to the occupants of the host vehicle. This allows the driver to be aware of the situation even when the remote vehicle is obscured by an obstacle.

[0004] US Patent 8,618,952 discloses an intersection collision warning system. This system operates in a normal warning mode when the collision threat level is low, and in an enhanced warning mode when the threat level is high. In each warning mode, it provides the driver with different static images and indicates the direction of distant vehicles via static arrows. Summary of the Invention

[0005] According to one aspect of the present invention, an encounter warning method is disclosed, comprising: determining the approach direction and threat level of a remote target relative to a host vehicle; and sequentially activating a plurality of indicators along the approach direction based on the threat level to indicate the approach direction to the driver.

[0006] In one embodiment, determining the approach direction and threat level of the remote target relative to the host vehicle includes: receiving host vehicle information; receiving information from one or more remote targets; determining the remote target to be treated from the one or more remote targets and storing the treatment information of the remote target to be treated, the treatment information including the approach direction and threat level of the remote target to be treated relative to the host vehicle.

[0007] In one embodiment, determining the remote target to be treated includes: determining the threat level of an encounter between the main vehicle and the one or more remote targets based on information about the main vehicle and the one or more remote targets; and determining the remote target to be treated from the one or more remote targets based on the threat level.

[0008] In one embodiment, the sequential activation of multiple indicators based on threat level includes determining a time interval based on the threat level and sequentially activating multiple indicators along the approach direction according to the time interval to display flowing light bars or moving markers.

[0009] In one embodiment, the sequential activation of multiple indicators based on threat level further includes turning off the multiple indicators after activation.

[0010] In one embodiment, the plurality of indicators includes a first indicator, a second indicator, and a third indicator arranged laterally along the main vehicle, and the sequential activation of the plurality of indicators along the approach direction according to the time interval includes: at a first time, illuminating the first indicator and continuously illuminating it for the time interval; at a second time, illuminating the second indicator and continuously illuminating it for the time interval; at a third time, illuminating the third indicator and continuously illuminating it for a certain time interval; and at a fourth time, turning off the first, second, and third indicators.

[0011] In one embodiment, the plurality of indicators includes a first indicator, a second indicator, and a third indicator arranged laterally along the main vehicle. The sequential activation of the plurality of indicators along the approach direction according to the time interval includes: at a first time, illuminating the first indicator for the duration of the time interval; at a second time, stopping the first indicator from illuminating while illuminating the second indicator for the duration of the time interval; at a third time, stopping the second indicator from illuminating while illuminating the third indicator for a certain time interval; and at a fourth time, turning off the first, second, and third indicators.

[0012] In one embodiment, the time interval is between 100 milliseconds and 200 milliseconds.

[0013] In one embodiment, the plurality of indicators includes a first group of LED lights and a second group of LED lights disposed near the windshield of the vehicle. The sequential activation of the plurality of indicators along the approach direction according to the time interval includes activating the first group of LED lights sequentially from left to right at the time interval in response to the remote target approaching the main vehicle from the left, causing the first group of LED lights to illuminate and display a right-pointing arrow; and activating the second group of LED lights sequentially from right to left at the time interval in response to the remote target approaching the main vehicle from the right, causing the second group of LED lights to illuminate and display a left-pointing arrow.

[0014] In one embodiment, the method further includes simultaneously activating the plurality of indicators in response to the remote target approaching the master vehicle from the front of the master vehicle.

[0015] In one embodiment, the sequential activation of multiple indicators based on threat level includes sequentially activating the multiple indicators at a first time interval and then deactivating the multiple indicators at a second time interval, wherein the second time interval is determined based on the threat level.

[0016] In one embodiment, the threat level represents the threat of a collision with the host vehicle and is selected from a plurality of possible threat levels.

[0017] According to another aspect of the present invention, a vehicle encounter warning system is disclosed, comprising: a plurality of indicators; and a controller configured to: receive host vehicle information; receive treatment information of a remote target, the treatment information including the approach direction and threat level of the remote target relative to the host vehicle; and sequentially activate the plurality of indicators along the approach direction to form a moving pattern to indicate the approach direction based on the threat level.

[0018] In one embodiment, the plurality of indicators are positioned near the windshield of the vehicle and arranged laterally along the main vehicle, and the controller is configured to activate the plurality of indicators sequentially from left to right in response to the remote target approaching the main vehicle from the left, and to activate the plurality of indicators sequentially from right to left in response to the remote target approaching the main vehicle from the right.

[0019] In one embodiment, the controller is further configured to simultaneously activate the plurality of indicators in response to the remote target approaching the master vehicle from the front of the master vehicle.

[0020] In one embodiment, the sequential activation of multiple indicators based on threat level includes determining a first time interval based on the threat level, sequentially activating the multiple indicators at the first time interval, and subsequently deactivating the multiple indicators.

[0021] In one embodiment, the sequential activation of multiple indicators based on threat level includes sequentially activating the multiple indicators at a first time interval and then deactivating the multiple indicators at a second time interval, wherein the second time interval is determined based on the threat level.

[0022] In one embodiment, the plurality of indicators includes a first group of LEDs and a second group of LEDs arranged generally laterally along the host vehicle, the first group of LEDs and the second group of LEDs forming part of a head-up display, the sequential activation of the plurality of indicators along the approach direction including sequentially activating the first group of LEDs from left to right in response to the remote target approaching the host vehicle from the left, and sequentially activating the second group of LEDs from right to left in response to the remote target approaching the host vehicle from the right.

[0023] In one embodiment, the first group of LED lights and the second group of LED lights have at least partially shared LED lights.

[0024] In one embodiment, the plurality of indicators include a plurality of virtual icons located on a display of the master vehicle.

[0025] According to another aspect of the present invention, a vehicle encounter warning method is disclosed, comprising: determining the approach direction of a remote target relative to a host vehicle; determining the threat level of the remote target relative to the host vehicle; sequentially activating a plurality of indicators from left to right at longer time intervals in response to determining that the remote target approaches the host vehicle from the left and that the determined threat level is low; sequentially activating a plurality of indicators from left to right at shorter time intervals in response to determining that the remote target approaches the host vehicle from the left and that the determined threat level is high; sequentially activating the plurality of indicators from right to left at longer time intervals in response to determining that the remote target approaches the host vehicle from the right and that the determined threat level is low; and sequentially activating a plurality of indicators from right to left at shorter time intervals in response to determining that the remote target approaches the host vehicle from the right and that the determined threat level is high.

[0026] In one embodiment, the method further includes simultaneously activating the plurality of indicators in response to determining that the remote target is approaching the master vehicle from the front of the master vehicle.

[0027] The encounter warning method according to one or more embodiments of the present invention enables users to quickly determine the direction and degree of danger of vehicles that may pose a potential collision threat without taking their eyes off the road ahead, thus enhancing the user experience.

[0028] It should be understood that the above brief description is provided to introduce, in a simplified form, a range of alternative concepts that will be further described in the detailed description, and does not imply confirmation of key or essential features of the protected subject matter of the invention, the scope of which will be uniquely defined by the claims of this application. Furthermore, the protected subject matter is not limited to embodiments that overcome any of the disadvantages described above or in any part of this specification.

[0029] One or more features and / or advantages of the present invention will become apparent from reading, alone or in conjunction with, one or more embodiments described in detail below. Attached Figure Description

[0030] To better understand one or more embodiments of the present invention, specific embodiments of the present invention are described in more detail in this application specification by way of example and in conjunction with the accompanying drawings, wherein: Figure 1 The illustration schematically shows the environment in which the encounter warning method of the present invention is implemented.

[0031] Figure 2 A plurality of indicators are illustrated schematically according to an embodiment of the present invention.

[0032] Figure 3 A schematic diagram illustrating a high-level flowchart of an encounter warning method according to the present invention is shown.

[0033] Figure 4 The illustration schematically depicts the external environment of a vehicle in accordance with an embodiment of the encounter warning method according to the present invention.

[0034] Figure 5 A flowchart illustrating the determination of remote target information according to an embodiment of the present invention is shown.

[0035] Figure 6 The illustration schematically shows a control strategy for a plurality of indicators according to an embodiment of the present invention.

[0036] Figure 7 Schematic representation Figure 6 The flowchart of the control strategy is shown.

[0037] Figure 8 The illustration schematically shows a control strategy for multiple indicators according to another embodiment of the present invention.

[0038] Figure 9 Schematic representation Figure 8 The flowchart of the control strategy is shown.

[0039] Figure 10 The schematic illustration shows a control strategy for a plurality of indicators according to another embodiment of the present invention.

[0040] Figure 11 Schematic representation Figure 10 The flowchart of the control strategy is shown.

[0041] Figure 12 A flowchart illustrating the determination of activation directions of a plurality of indicators is shown schematically according to an embodiment of the present invention.

[0042] Figure 13 The illustration schematically demonstrates a control strategy for simultaneously activating multiple indicators according to an embodiment of the present invention.

[0043] Figure 14 A plurality of indicators are illustrated schematically according to another embodiment of the invention. Detailed Implementation

[0044] Specific embodiments of the invention are disclosed herein as needed; however, it should be understood that the embodiments disclosed herein are merely examples of the invention that can be implemented in various alternative forms. The drawings are not necessarily drawn to scale; some features may be enlarged or reduced to show details of specific components. The same or similar reference numerals may indicate the same parameters and components or similar modifications and substitutions. In the following description, various operating parameters and components are described in several contemplated embodiments. These specific parameters and components are merely examples in this specification and are not intended to be limiting. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but are merely representative bases for teaching those skilled in the art to implement the invention in various forms.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] Figure 1 An example block topology diagram of a vehicle computing system (VCS) 1 for vehicle 31 is shown. An example of such a vehicle-based computing system 1 is the SYNC system manufactured by Ford Motor Company. A vehicle equipped with a vehicle-based computing system may include a visual front-end interface or display 4 located within the vehicle. If the interface 4 is equipped with, for example, a touchscreen, the user can also interact with the interface 4. In another illustrative embodiment, interaction is performed via button presses or a spoken dialogue system with automatic speech recognition and speech synthesis.

[0047] exist Figure 1 In the illustrative embodiment 1 shown, a processor (CPU) 3 controls at least a portion of the operation of a vehicle-based computing system. The processor 3, located within the vehicle, allows for onboard processing of commands and programs. Additionally, the processor 3 is connected to both non-persistent memory 5 and persistent memory 7. In this illustrative embodiment, the non-persistent memory is random access memory (RAM), and the persistent memory is a hard disk drive (HDD) or flash memory. Generally speaking, persistent (non-transitory) memory can include all forms of memory that retain data when the computer or other device loses power. These memories include, but are not limited to, HDDs, CDs, DVDs, magnetic tapes, solid-state drives, portable USB drives, and any other suitable form of persistent memory.

[0048] The processor also includes multiple different inputs that allow the user to interact with it. In this illustrative embodiment, microphone 29, auxiliary input 25 (for input 33), USB input 23, GPS input 24, screen 4 (which may be a touchscreen display), and Bluetooth input 15 are all provided. An input selector 51 is also provided to allow the user to switch between the various inputs. Inputs to both microphone 29 and auxiliary connector 25 are analog-to-digital converted by converter 27 before being transmitted to the processor. Although not shown, multiple vehicle components and auxiliary components communicating with the VCS can use vehicle networks (such as, but not limited to, CAN bus) to transmit data to and from the VCS (or its components).

[0049] The system output may include, but is not limited to, a visual display 4 such as a head-up display (HUD), and speaker or stereo system output. Speaker 13 is connected to amplifier 11 and receives its signal from processor 3 via digital-to-analog converter (D / A) 9. Outputs to remote Bluetooth devices (such as personal navigation device (PND) 54) or USB devices (such as vehicle navigation device 60) may also be generated along bidirectional data streams shown at 19 and 21, respectively.

[0050] In one illustrative embodiment, system 1 uses Bluetooth transceiver 15 to communicate with a user's mobile device 53 (e.g., a cellular phone, smartphone, PDA, or any other connected device with wireless remote network connectivity) (17). The mobile device 53 can then be used to communicate with a network 61 outside vehicle 31 via, for example, communication with a cellular tower 57 (55) (59). In some embodiments, the cellular tower 57 may be a WiFi access point.

[0051] Exemplary communication between mobile device 53 and Bluetooth transceiver 15 is represented by signal 14. Pairing of mobile device 53 with Bluetooth transceiver 15 can be indicated via button 52 or similar input. Accordingly, CPU3 is instructed that "the vehicle-mounted Bluetooth transceiver will pair with the Bluetooth transceiver in the mobile device".

[0052] Data can be transmitted between CPU 3 and network 61 using, for example, a data plan associated with mobile device 53, audio data, or DTMF tones. Optionally, an in-vehicle modem 63 with antenna 18 may be included to transmit data (16) between CPU 3 and network 61 via voice bands. Mobile device 53 can then be used to communicate (59) with network 61 outside vehicle 31 via, for example, communication (55) with cellular tower 57. In some embodiments, modem 63 may establish communication (20) with cellular tower 57 to communicate with network 61. As a non-limiting example, modem 63 may be a USB cellular modem, and communication 20 may be cellular communication.

[0053] In one illustrative embodiment, the processor is provided with an operating system including APIs for communicating with modem application software. The modem application software can access embedded modules or firmware on the Bluetooth transceiver to enable wireless communication with a remote Bluetooth transceiver (such as one located in a mobile device). Bluetooth is a subset of the IEEE 802 PAN (Personal Area Network) protocol. The IEEE 802 LAN (Local Area Network) protocol includes WiFi and has considerable overlap with IEEE 802 PAN. Both are suitable for wireless communication within vehicles. Another communication method available in the art is free-space optical communication (such as IrDA) and non-standardized consumer IR protocols.

[0054] In another embodiment, mobile device 53 includes a modem for voiceband or broadband data communication. In the embodiment of voice data, a technique known as frequency division multiplexing can be implemented when the owner of mobile device 53 can speak through the device while data is being transmitted. At other times, when the owner is not using the mobile device, data transmission can use the entire bandwidth (300 Hz to 3.4 kHz in one example). Although frequency division multiplexing is common and still used for analog cellular communication between vehicles and the Internet, it has been largely replaced by a hybrid of code domain multiple access (CDMA), time domain multiple access (TDMA), and spatial domain multiple access (SDMA) for digital cellular communication. These are ITU IMT-2000 (3G) compliant standards that provide data rates up to 2 Mbps for stationary or walking users and up to 385 kbps for users in moving vehicles. The 3G standard is now being replaced by IMT-Advanced (4G), which provides a data rate of 100 Mbps for users in vehicles and 1 Gbps for stationary users. If a user has a data plan associated with mobile device 53, this data plan allows for broadband transmission and the system can use a much wider bandwidth (accelerated data transfer). In another embodiment, mobile device 53 is replaced by a cellular communication device (not shown) installed in vehicle 31. In another embodiment, mobile device (ND) 53 can be a wireless local area network (LAN) device capable of communicating via, for example (but not limited to), an 802.11g network (i.e., WiFi) or a WiMax network.

[0055] In one embodiment, incoming data may be transmitted via audio data or data schedule through the mobile device 53, via the vehicle's Bluetooth transceiver, and into the vehicle's internal processor 3. For example, in the case of some temporary data, the data may be stored on an HDD or other storage medium 7 until the data is no longer needed.

[0056] Other sources that can interface with the vehicle include: a personal navigation device 54 with, for example, a USB connection 56 and / or an antenna 58; a vehicle navigation device 60 with a USB 62 or other connections; an in-vehicle GPS device 24; or a remote navigation system (not shown) with the ability to connect to a network 61. USB is one of a class of serial networking protocols. IEEE 1394 (FireWire™ (Apple), i.LINK™ (Sony), and Lynx™ (Texas Instruments)), EIA (Electronic Industries Association) serial protocol, IEEE 1284 (Centronics Port), S / PDIF (Sony / Philips Digital Interconnect Format), and USB-IF (USB Developer Forum) form the backbone of device-to-device serial standards. Most protocols can be implemented for electrical or optical communications.

[0057] In addition, CPU 3 can communicate with various other auxiliary devices 65. These devices can be connected via wireless connection 67 or wired connection 69. Auxiliary devices 65 may include, but are not limited to, personal media players, wireless healthcare devices, portable computers, etc.

[0058] Alternatively, a WiFi (IEEE 803.11) transceiver 71 can be used to connect the CPU 3 to a vehicle-based wireless router 73. This allows the CPU 3 to connect to a remote network within range of the local router 73.

[0059] In addition to the exemplary processing being performed by a vehicle computing system located within the vehicle, in some embodiments, the exemplary processing may also be performed by a computing system communicating with the vehicle computing system. Such a system may include, but is not limited to, wireless devices (e.g., but not limited to, mobile phones) or remote computing systems (e.g., but not limited to, servers) connected via wireless devices. Generally, such a system may be referred to as a vehicle-associated computing system (VACS). In some embodiments, specific components of the VACS may perform specific portions of the processing depending on the specific implementation of the system. By way of example, and not limitation, if the processing includes steps of sending or receiving information with a paired wireless device, it is likely that the wireless device will not perform that portion of the processing because it does not "send and receive" information with itself. Those skilled in the art will understand when it is inappropriate to apply a particular computing system to a given solution.

[0060] In each illustrative embodiment discussed herein, the exemplary processing is a non-limiting example that can be executed by the illustrated computing system. For each processing, the computing system executing the processing may be configured as a dedicated processor to perform the processing for the limited purpose of performing the processing. Not all processes need to be executed in their entirety, and should be understood as examples of types of processes that can be executed to implement the elements of the invention. Additional steps may be added to or removed from the exemplary processing as needed. The scope of preferred embodiments of the invention includes other implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0061] Figure 2 A head-up display (HUD) 400, as one embodiment of a display 4, is schematically shown. The HUD 400 includes multiple indicators L1, L2, L3 located on the upper surface 410 of the console of the vehicle 31. The multiple indicators L1, L2, L3 may be positioned near the windshield 420 of the vehicle 31 and arranged substantially laterally along the vehicle 31. When the multiple indicators are activated, they emit light and form an image within the driver's line of sight through reflection from the windshield 420. Thus, the driver can receive information without taking their eyes off the vehicle while driving. It should be understood that although three indicators are shown in the figure, other embodiments may include more or fewer indicators, such as two, four, five, etc. L1, L2, L3 may each include multiple light-emitting devices. For example, the first indicator L1 may include one LED, the second indicator L2 may include three LEDs, and the third indicator L3 may include one LED. Similarly, the multiple indicators on the main vehicle may include more or fewer than three indicators, such as two, five, seven, etc. Specifically, the light-emitting devices of indicators L1, L2, and L3 can be LEDs, laser projectors, or other light sources. Furthermore, the indicators may also include pixels on a vehicle display screen, such as an LCD screen. For example, on a screen with a horizontal resolution of 1024, it may have 1024 pixels or 1024 indicators horizontally. In another embodiment, the multiple indicators may also include multiple virtual icons located on a console screen of the main vehicle 31 or multiple virtual icons located on a console display of the main vehicle 31, such as an LCD screen.

[0062] Figures 3 to 4The diagram schematically illustrates an encounter warning method 100 according to one or more embodiments of the present invention, executable by a vehicle controller or CPU 3, including steps 110 to 130 determining the approach direction and threat level of the treated remote vehicle relative to the host vehicle. Specifically, method 100 receives host vehicle 31 information at step 110, receives information from at least one remote vehicle at step 120, determines remote vehicle 41 as the treated remote vehicle at step 130, and stores its treatment information. This treatment information includes the approach direction D1 of the treated remote vehicle 41 relative to the host vehicle 31 and the threat level. Method 100 further includes, at step 140, sequentially activating a plurality of indicators along the approach direction D1 based on the threat level to dynamically indicate the approach direction D1 and the threat level to the driver of the host vehicle 31.

[0063] For illustrative purposes, a motor vehicle is used as an example to describe a remote target in this specification. It should be understood that, in one or more embodiments of the invention, the remote target may include various types of objects such as trucks, motorcycles, bicycles, electric vehicles, scooters, and pedestrians. Furthermore, Figure 4 The image only shows the following vehicles at the intersection: the main vehicle 31, a remote vehicle 41 traveling right from the left of the main vehicle 31 along direction D1, a remote vehicle 42 traveling left from the right of the main vehicle 31 along direction D2, a remote vehicle 43 approaching the main vehicle 31 from the front along direction D3, a remote vehicle 44 traveling right from the right of the main vehicle 31 along direction D1, and a remote vehicle 45 traveling in the same direction from the front of the main vehicle 31 along direction D4. In a real-world scenario, there may be more or fewer remote vehicles near the main vehicle 31. This is for illustrative purposes. Figure 4 The description refers to the environment of an intersection. It should be understood that the main vehicle 31 may not be located at the intersection, and there may still be distant vehicles approaching it from the front, rear, or side.

[0064] At step 110, method 100 may receive multiple dynamic information from the master vehicle 31 via, for example, vehicle CAN bus, Ethernet, FlexRay, etc., including but not limited to one or more of information such as speed, acceleration, direction of movement, yaw rate, steering wheel angle, throttle opening, etc. This information may then be used, for example, to assist in determining the threat level of an encounter between the master vehicle 31 and a remote vehicle.

[0065] At step 120, information from at least one remote target can be received. Specifically, the main vehicle 31 and / or the remote vehicle can communicate with other vehicles according to a vehicle-to-vehicle (V2V) communication scheme. Alternatively, the main vehicle 31 can communicate with pedestrians according to a vehicle-to-pedestrian (V2P) communication scheme. For example, the main vehicle 31 can transmit information to or receive relevant information from pedestrians via mobile devices, wearable devices, etc., carried by the pedestrians. Alternatively or additionally, the main vehicle 31 or the remote target can communicate with infrastructure devices via a vehicle-to-infrastructure (V2I) communication scheme. Alternatively or additionally, the main vehicle 31 or the remote target can also communicate with a cloud server via a vehicle-to-cloud server (V2C) communication scheme. For example, the main vehicle 31 or the remote target can transmit relevant information to other vehicles / targets or receive relevant information from other vehicles / targets directly or via infrastructure devices such as communication devices installed to bridges, traffic control devices, road signs, etc., or via a network cloud server. Similarly, the main vehicle 31 can also receive information about remote targets detected by onboard sensors such as radar, vision sensors, and infrared sensors. In one embodiment, the system can receive dynamic information about the remote vehicle 41, including but not limited to one or more of the following: oncoming direction, speed, acceleration, direction of movement, yaw rate, steering wheel angle, and throttle opening.

[0066] Of course, in other embodiments, the order of steps 110 and 120 can be interchanged, that is, the information of the remote target is received first, and then the information of the main vehicle is received. Alternatively, steps 110 and 120 can also be performed simultaneously, that is, the information of the main vehicle and the remote target are received simultaneously.

[0067] Subsequently, at point 130, the system can determine whether there is a remote vehicle being treated among the remote targets, and which remote target is being treated, and can store its treatment information.

[0068] refer to Figure 5The diagram schematically illustrates a flowchart for determining the threat level of a remote vehicle according to an embodiment of the present invention. At step 132, a remote vehicle 41 is selected; relevant information about this remote vehicle may have been received at step 120. Subsequently, at 134, the threat level of an encounter between the remote vehicle 41 and the host vehicle 31 is determined. In one embodiment, the system may approximate the straight-line trajectory of the host vehicle 31 and the remote vehicle 41 based on their respective current speeds and current accelerations. In another embodiment, the system may estimate the trajectory based on the current speeds, accelerations, directions of movement, yaw rates, etc., of both the host vehicle 31 and the remote vehicle 41. Subsequently, the trajectory meeting point and the waiting time for each vehicle to reach the trajectory meeting point can be further determined based on their trajectories. If the waiting time for the host vehicle 31 and the remote vehicle 41 differs from the waiting time by less than a predetermined threshold, it is considered that the remote vehicle 41 has a possibility of encountering the host vehicle 31, and the threat level is further determined based on the waiting time of the remote vehicle 41. For example, the waiting time for the remote vehicle 41 may be determined to be 3 seconds, and its threat level is correspondingly determined to be a first threat level T1. Subsequently, at location 136, the threat level T1 of the remote vehicle 41 and related dynamic information such as the oncoming direction D1 can be stored for later use.

[0069] Subsequently, at step 138, it is determined whether all remote vehicles received in step 120 have been analyzed. If not, the process returns to step 132 to select the information for the next remote vehicle (e.g., information about remote vehicle 42). For example, in step 134, the encounter time for remote vehicle 42 is determined to be 5 seconds, and its threat level is correspondingly determined to be the third threat level T3, where the threat level of remote vehicle 42 is lower than that of remote vehicle 41. In step 136, the threat level T3 of remote vehicle 42 and related dynamic information, such as the oncoming direction D2, can be stored.

[0070] The method then proceeds to decision box 138 and sequentially processes other remote vehicles, such as remote vehicles 43, 44, 45, etc.

[0071] If it is determined at decision box 138 that all remote vehicles surrounding the master vehicle have been analyzed, proceed to the next step 139. At 139, based on the stored threat levels of at least one remote vehicle, determine the remote vehicle with the highest threat level relative to other remote vehicles and select it as the treatment remote vehicle. That is, the treatment vehicle is the vehicle most likely to collide with the master vehicle among multiple vehicles. For example, at 139, it can be determined that remote vehicle 41 has the highest threat level T1 relative to other remote vehicles, thus making remote vehicle 41 the treatment remote vehicle. In this way, the stored threat level T1 and related dynamic information about remote vehicle 41 constitute the treatment information for the treatment remote vehicle, including threat level and dynamic information, and are used in subsequent processes.

[0072] It should be understood that, for illustrative purposes, the threat level of each remote target is determined based on the time to encounter in the above description. In other embodiments, the threat level of a remote target may also be determined based on other relevant information such as relative speed, remote vehicle size, target classification, and potential collision severity, and the remote target with the highest threat level may be selected as the treated remote target.

[0073] In the above embodiments, steps 110 to 130 schematically illustrate a non-limiting embodiment for determining the approach direction and threat level of the remote target relative to the host vehicle. In other embodiments, this can also be achieved in other ways, such as a cloud processor receiving information about the host vehicle and the remote target, calculating the remote target that will encounter the host vehicle, and sending the remote target's threat information to the host vehicle.

[0074] Back Figure 3 After identifying and storing the remote vehicle to be treated, method 100 may include proceeding to step 140 to activate multiple indicators based on the threat level of the remote vehicle to be treated and its related information. This allows the driver of the primary vehicle 31 to know from which direction the vehicle with the highest threat level is approaching, even if their view is obstructed or they cannot see the approaching remote vehicle due to sunlight or weather conditions. In one embodiment described below, activating multiple indicators may include sequentially activating all of the multiple indicators to display the direction and threat level of the vehicle to be treated in an easily identifiable manner. In another embodiment as described elsewhere in this specification, activating multiple indicators may include sequentially activating a portion of the multiple indicators to display the direction and threat level of the vehicle to be treated in an easily identifiable manner.

[0075] See Figures 6 to 7 , Figure 6 The illustration schematically depicts an alerting method for activating multiple indicators according to an embodiment of the present invention, showing the relationship between the indicator activation order and time. Figure 7 A flowchart of an alerting method 140 for activating multiple indicators according to an embodiment of the present invention is shown. Specifically, as described above and as... Figure 6 As shown, multiple indicators mounted on the main vehicle 31 can be arranged generally along the lateral direction of the vehicle, including a first indicator L1, a second indicator L2, and a third indicator L3. For illustrative purposes, in Figure 6 In the diagram, the vertical axis represents time, and t1, t2, t3, t4, and t5 are multiple moments in the operation of the method according to an embodiment of the present invention. The interval between t1 and t2 is... Interval between t1, t2 and t3 Interval between t1, t3 and t4 Interval between t0, t4 and t5 t2. The horizontal axis represents three indicators L1, L2, and L3, where a diagonal line indicates that the indicator is activated. It should be understood that... Figure 6 In the illustrative embodiment shown, before time t1, all three indicators L1, L2, and L3 are not illuminated; between time t1 and t2, the first indicator L1 illuminates; between time t2 and t3, the first indicator L1 and the second indicator L2 illuminate; between time t3 and t4, all three indicators L1, L2, and L3 illuminate and remain illuminated for a certain time interval. At time t0; after time t4, all three indicators L1, L2, and L3 do not emit light. As described below, in this embodiment, the first time interval... t1 can be determined based on the threat level of the remotely operated vehicle. In response to a higher threat level for the remotely operated vehicle, the first time interval... t1 can be set to a shorter value, such as 50ms or 100ms; in response to a lower threat level from remote vehicles, the first time interval... t1 can be set to a relatively long value, such as 200ms, 300ms, etc. t0 and t2 can be a preset value, which can be equal to or not equal to the first time interval. t1. t2 can be further set to 0ms. As described above, in one or more embodiments, the indicator may include pixels on a vehicle display such as an LCD screen; accordingly, a shorter time interval can be set. t0、 t1、 t2, for example, 1ms to 10ms.

[0076] refer to Figure 7 Method 140 begins at step 141, where the activation direction of a plurality of indicators is determined based on the approach direction of the remotely targeted vehicle. For example, in the embodiment described above, method 130 includes storing the approach direction of the remotely targeted vehicle 41 as D1 (from left to right) at step 139. Therefore, at step 141, it is determined that a plurality of indicators will be activated along direction D1. In other words, it is determined that the first indicator L1, the second indicator L2, and the third indicator L3 will be activated sequentially from left to right.

[0077] Subsequently, at step 142, a first time interval is determined based on the threat level of the remotely controlled vehicle. t1. For example, in the embodiment described above, the threat level of the remote vehicle 41 is stored as T1 at step 139. Accordingly, the first time interval can be [defined] at step 142. t1 is set to 150ms corresponding to T1. It should be understood that in some embodiments, different first time intervals can be set for different threat levels. If the remote vehicle being treated has a high threat level, the first time interval can be set shorter, such as 100ms or less; if the remote vehicle being treated has a low threat level, the first time interval can be set longer, such as 200ms or more. In this way, the urgency of the remote vehicle approaching the host vehicle can be intuitively displayed. Furthermore, due to the relatively low first time interval, the activation process of multiple indicators can be completed in a very short time, and the driver does not need to stare at the indicators for a long time to know the direction of approach and the urgency level. Of course, longer or shorter time intervals can be set as needed, such as 50ms, 250ms, 300ms, etc.

[0078] Subsequently, as Figure 7 As shown in step 143, method 140 includes activating / starting the first indicator L1 at time t1 to make it illuminate and keeping it illuminated for a period of time. t1. Subsequently, in step 144, method 140 includes activating the second indicator L2 at time t2 to make it illuminate, while the first indicator L1 and the second indicator L2 continue to illuminate for a period of time. t1. Subsequently, in step 145, method 140 includes activating the third indicator L3 at time t3 to make it illuminate, while the first indicator L1, the second indicator L2, and the third indicator L3 continue to illuminate for a certain time interval. t0. For simplicity, in Figure 6 middle t0 is displayed as a ratio t1 is long. It can also be set relative to the length as needed. t1 is shorter or the same. In step 146, method 140 includes turning off three indicators L1, L2, and L3 at time t4. And at step 147, method 140 includes waiting for a certain time interval. t2 until multiple indicators are restarted. In this embodiment, t2 can be with t1 is either equal or unequal. In this way, the light emitted by multiple indicators presents a rapidly increasing, flashing light bar along the direction of oncoming traffic from left to right. The light bar flows to the right, allowing the driver to intuitively perceive the direction from which the vehicle is approaching from left to right. Furthermore... The t1 setting allows for varying speeds of the light bars; the faster the light bars flow, the higher the threat level indicated by the host vehicle and the remotely targeted vehicle. In other words, the speed at which the light bars on multiple indicators grow is correlated with the threat level of the remotely targeted vehicle, effectively alerting the driver to the direction of approach and the urgency of the situation.

[0079] Figure 8The illustration schematically shows an alerting method for activating multiple indicators L1, L2, L3, and L4 according to an embodiment of the present invention, demonstrating the relationship between the activation order of the indicators and time. Figure 9 A flowchart of an alerting method 240 for activating multiple indicators according to another embodiment of the present invention is shown. In this method, in the case of sequentially activating multiple indicators, the multiple indicators are further sequentially deactivated. As described below, in this embodiment, a first time interval... T11 can be determined based on the threat level of the remotely operated vehicle. t10 and t12 can be a preset value, which can be equal to or not equal to the first time interval. t11. t12 can be further set to 0. Method 240 begins at step 241, where the activation direction of multiple indicators is determined based on the approach direction of the remotely targeted vehicle. For example, based on the approach direction of the remotely targeted vehicle 41 being D1 (from left to right), method 240 includes sequentially activating a first indicator L1, a second indicator L2, a third indicator L3, and a fourth indicator from left to right to indicate the left-to-right direction. Subsequently, at step 242, method 240 includes determining a first time interval based on the threat level of the remotely targeted vehicle. t11. In step 243, method 240 includes activating the first indicator L1 at time t11 to make it illuminate and continue to illuminate for a period of time. t11. Subsequently, in step 244, method 240 includes turning off the first indicator L1 at time t12, turning on the second indicator L2 to make it illuminate, and keeping the second indicator L2 illuminated for a period of time. t11. Subsequently, in step 245, method 240 includes turning off the second indicator L2 at time t13, turning on the third indicator L3 to illuminate it, and keeping the third indicator L3 illuminated for a period of time. t11. Subsequently, in step 246, method 240 includes turning off the third indicator L3 at time t14, turning on the fourth indicator L4 to make it illuminate, and making the fourth indicator L4 illuminate continuously for a certain time interval. t10. For simplicity, in Figure 8 middle t10 is displayed as a ratio t11 is long. It can also be set relative to [the specified value] as needed. t11 is shorter or the same. Finally, in step 247, method 240 includes turning off the fourth indicator L4 at time t14 and waiting at step 248. t20 until multiple indicators are activated again. In this way, the light emitted by multiple indicators appears as a marker moving rapidly from left to right along the direction of oncoming traffic. The marker moves to the right, intuitively alerting the driver to the direction from which the vehicle is approaching from left to right. And The setting of t11 allows the markers to move at different speeds; the faster the movement, the higher the threat level relative to the remote vehicle. That is, the moving markers displayed by multiple indicators are related to the threat level of the remote vehicle, effectively alerting the driver to the direction of approach and the level of urgency. For simplicity, in this embodiment, the first indicator is turned off while the second indicator is activated, the second indicator is turned off while the third indicator is activated, and the third indicator is turned off while the fourth indicator is activated; i.e., a single indicator is always illuminated. In an alternative embodiment, multiple indicators can also be set to illuminate simultaneously. For example, the first indicator can be turned off when the third indicator is activated (i.e., at time t13), and then the second indicator can be turned off sequentially at time t14, and the third indicator at time t15; thus, two indicators can always be illuminated. In this way, the light emitted by multiple indicators presents a marker moving rapidly from left to right along the direction of approach, and this marker is composed of two indicators. Similarly, in other embodiments, a variable number of indicators can be displayed simultaneously; for example, initially only a single indicator is illuminated, then three indicators are illuminated simultaneously, and then two indicators are illuminated.

[0080] Figure 10 An alerting method for activating multiple indicators according to an embodiment of the present invention is illustrated, showing the relationship between the activation order of the indicators and time. Figure 11 A flowchart of an alerting method 340 for activating multiple indicators according to another embodiment of the present invention is shown. As described below, in this embodiment, a second time interval... T22 can be determined based on the threat level of the remotely operated vehicle. In response to a higher threat level for the remotely operated vehicle, a second time interval... t22 can be set to a shorter time interval, such as 50ms or 100ms; in response to a lower threat level from remote vehicles, the second time interval... t22 can be set to a longer duration, such as 300ms or 400ms. T20 and t21 can be a preset value, which can be equal to or not equal to the second time interval. t22.

[0081] Specifically, method 340 begins at step 341, where the activation direction of multiple indicators is determined based on the approach direction of the remotely targeted vehicle. For example, based on the approach direction of the remotely targeted vehicle 41 being D1 (from left to right), the first indicator L1, the second indicator L2, and the third indicator L3 will be activated from left to right. Subsequently, in step 342, a second time interval is determined based on the threat level of the remotely targeted vehicle. t22. For example, in the embodiment described above, the threat level of the remote vehicle 41 is stored as T1 at step 139. Accordingly, at step 342, method 340 includes allowing a second time interval to be stored. t22 is set to 300ms corresponding to T1. It should be understood that in some embodiments, different second time intervals may be set for different threat levels. t22. If the remotely controlled vehicle has a high threat level, such as T1, the second time interval... t22 can be set to a shorter time interval, such as 300ms; if the remote vehicle being treated has a lower threat level, such as T3, the second time interval can be set to a shorter time interval. t22 can be set to a longer interval, such as 400ms; if the remote vehicle being treated has a higher threat level, the second time interval can be adjusted. t22 can be set to 200ms or lower. This allows for a clear indication of the urgency of a remote vehicle approaching the main vehicle. Furthermore, due to the relatively low second time interval... t22, the activation process of multiple indicators can be repeated in a very short time, allowing the driver to know the direction of oncoming traffic and the level of urgency without having to stare at the indicators for an extended period. Of course, longer or shorter time intervals can be set as needed, such as 0ms, 100ms, 500ms, 1s, etc.

[0082] In step 344, method 340 includes sequentially activating a plurality of indicators L1, L2, L3. Activating the plurality of indicators sequentially may include activating the first indicator L1 at time t31 to make it illuminate and to keep it illuminated for a specified time period. t21; Subsequently, at time t32, the second indicator L2 is activated to illuminate, while the first indicator L1 continues to illuminate. Wait. t21, which is the continuous illumination period of the first indicator L1 and the second indicator L2. t21; then at time t33, the third indicator L3 is activated to illuminate, while the first indicator L1, the second indicator L2, and the third indicator continue to illuminate for a period of time. t20 refers to the continuous illumination period of the first indicator L1, the second indicator L2, and the third indicator L3. t20. For simplicity, in Figure 10 middle t20 is displayed as a ratio t21 is long. It can also be set relative to [the specified value] as needed. t21 is shorter or the same. Subsequently, at step 346, method 340 includes turning off the three indicators L1, L2, and L3 at time t34, and at step 348, method 340 includes waiting. t22 causes multiple indicators to turn off the second time interval. t22. Method 340 repeats steps 341 to 348. In this way, multiple indicators display light bars that rapidly increase from left to right along the direction of oncoming traffic, and the time intervals between the repeated increases of the light bars are... The T22 indicator is related to the threat level of remote vehicles. The higher the threat level, the shorter the interval between the repeated increases of the light bar, thus effectively alerting the driver to the direction of oncoming vehicles and the urgency level.

[0083] The control of multiple indicators has been described above with reference to a remotely targeted object approaching the host vehicle from the left. In other embodiments, the remotely targeted object may also approach the host vehicle from other directions, such as the right. Accordingly, the sequential activation direction of the multiple indicators can be controlled to activate sequentially from right to left to indicate that the remotely targeted object is approaching the host vehicle from the right, and a first time interval or a second time interval can be similarly set based on the threat level of the remotely targeted object.

[0084] refer to Figure 12 This illustrates a method 141 for determining an indicator activation direction based on the approach direction of a remotely operated vehicle according to one or more embodiments of the present invention. Method 141 begins at step 151, where the approach direction of the remotely operated vehicle is obtained. This approach direction may have been stored in the memory of the vehicle or system in a previous process (e.g., step 139). Subsequently, at step 153, it is determined whether the remotely operated vehicle is approaching the host vehicle from the left, right, or front.

[0085] If the remotely targeted vehicle generally approaches the host vehicle from the left, method 141 includes determining, at step 155, to activate multiple indicators sequentially from left to right. If the remotely targeted vehicle generally approaches the host vehicle from the right, method 141 includes determining, at step 159, to activate multiple indicators sequentially from right to left. If the remotely targeted vehicle generally approaches the host vehicle from the front, method 141 includes determining, at step 157, to activate all indicators. It should be understood that the remotely targeted vehicle approaching the host vehicle from the front includes various situations, such as, but not limited to, the remotely targeted vehicle approaching the host vehicle head-on from the front, or the remotely targeted vehicle traveling in the same direction as the host vehicle from the front but at a lower speed.

[0086] Method 141 includes, after determining in step 157 that all indicators should be activated, controlling multiple indicators L1, L2, L3 in a manner similar to existing forward collision warning systems. For example, refer to Figure 13 In one embodiment, multiple indicators can be activated simultaneously at time t6 to illuminate together for a given period of time. t3, then at time t7, all time periods are turned off. At time t4, multiple indicators are then activated simultaneously at time t8 to repeat the process several times; among them, t3 and / or The t4 level can be determined based on the threat level of the remote vehicle. Thus, when a driver notices multiple indicators of the warning system flashing simultaneously, they can be aware that a remote vehicle is in front of the primary vehicle and take appropriate measures such as slowing down or changing lanes.

[0087] As described above in this specification, in one or more embodiments, activating multiple indicators may include activating a portion of the multiple indicators. Reference Figure 14The figure shows a plurality of indicators according to another embodiment of the invention, which are configured to display left or right arrows by means of different illumination methods. The plurality of indicators include LED lighting devices L11, L21, L22, L23, L31, L32, L33, L41, L42, L43, and L51. As shown, the plurality of indicators includes a first group of LED lights 81 generally arranged laterally along the vehicle, including L11, L22, L31, L32, L33, L41, L42, L43, and L51. For illustrative purposes, the first group of LED lights 81 is shown in solid lines. Similarly, a second group of LED lights 91 generally arranged laterally along the vehicle is also included, including L51, L42, L31, L32, L33, L21, L22, L23, and L11. For illustrative purposes, the second group of LED lights 91 is shown in dashed lines. The first group of LED lights 81 and the second group of LED lights 91 share LEDs L11, L22, L31, L32, L33, L42, and L51. In the first group of LED lights 81, a first indicator may include L11, a second indicator may include L22, a third indicator may include L31, L32, and L33, a fourth indicator may include L41, L42, and L43, and a fifth indicator may include L51; these first, second, third, fourth, and fifth indicators are arranged substantially laterally along the vehicle. In the second group of LED lights 91, a first indicator may include L11, a second indicator may include L21, L22, and L23, a third indicator may include L31, L32, and L33, a fourth indicator may include L42, and a fifth indicator may include L51; these first, second, third, fourth, and fifth indicators are also arranged substantially laterally along the vehicle. In other embodiments, depending on the different indicator layouts, the first group of LED lights and the second group of LED lights may also be independent of each other and not share any LEDs. The first group of LED lights 81 and the second group of LED lights 91 can be positioned near the windshield of the vehicle and constitute at least part of the HUD.

[0088] As mentioned above, when it is determined that the remotely operated vehicle is approaching the main vehicle from the left, a portion of the multiple indicators, namely the first group of LED lights 81, can be activated sequentially from left to right. Specifically, the first indicator L11 of the first group of LED lights can be activated first, followed by the second indicator L22, the third indicators L31, L32, and L33, the fourth indicators L41, L42, and L43, and the fifth indicator L51 of the first group of LED lights; the sequential activation of the multiple indicators can have corresponding time intervals as described above. In this way, a right-pointing arrow that gradually lengthens from left to right can be presented to the driver. If it is determined that the remotely operated vehicle is approaching the main vehicle from the right, a portion of the multiple indicators, namely the second group of LED lights 1, can be activated sequentially from right to left. Specifically, the fifth indicator L51 of the second group of LED lights can be activated first, followed by the fourth indicator L42, the third indicators L31, L32, and L33, the second indicators L21, L22, and L23, and the first indicator L11 of the second group of LED lights in sequence; the activation of multiple indicators in sequence can have corresponding time intervals as described above. In this way, a left-pointing arrow that gradually lengthens from right to left can be presented to the driver.

[0089] The encounter warning method of the present invention intuitively prompts the driver with the approach direction of a remote target through a motion display (e.g., flashing light bar or moving marker), and dynamically displays the target differently based on its urgency level, eliminating the need for the driver to stare at the indicator for extended periods, thus enhancing the user experience.

[0090] As stated in this specification, the present invention provides a method for vehicle encounter warning through one or more embodiments. However, it should be understood that those skilled in the art can make various changes, modifications, and variations to these specific embodiments without departing from the spirit and scope defined by the claims of the present invention.

[0091] The claims specifically point to particular combinations and sub-combinations that are considered novel and non-obvious. These claims may relate to a “one” element or a “first” element or a similar feature. Such claims should be understood to include one or more such elements, neither requiring nor excluding two or more such elements. Other combinations and sub-combinations of the described features, functions, elements, and / or characteristics may be claimed by amendment to the present claims or by filing in this application or related applications. Such claims, whether broader, narrower, equivalent, or different from the original claims, should be considered to be included in the subject matter of the invention.

Claims

1. An encounter warning method, comprising: Determine the approach direction and threat level of the remote target relative to the host vehicle; Multiple indicators are activated sequentially along the approach direction based on the threat level.

2. The warning method according to claim 1, wherein, The determination of the approach direction and threat level of the remote target relative to the host vehicle includes: Receive information from the main vehicle; Receive information from one or more remote targets; The treatment of a remote target is determined from the one or more remote targets and the treatment information of the remote target is stored, the treatment information including the approach direction and threat level of the remote target relative to the host vehicle.

3. The warning method according to claim 2, wherein, The remote objectives for determining treatment include: The threat level of an encounter between the main vehicle and the one or more remote targets is determined based on information about the main vehicle and the one or more remote targets. Based on the threat level, determine the remote target to be treated from the one or more remote targets.

4. The warning method according to claim 1, wherein, The sequential activation of multiple indicators based on threat level includes determining a time interval based on the threat level and sequentially activating multiple indicators along the approach direction according to the time interval.

5. The warning method according to claim 4, wherein, The method of sequentially activating multiple indicators based on threat level also includes turning off the multiple indicators after activation.

6. The warning method according to claim 4, wherein, The plurality of indicators includes a first indicator, a second indicator, and a third indicator arranged laterally along the main vehicle. The sequential activation of the plurality of indicators along the approach direction according to the time interval includes, at a first time, illuminating the first indicator and continuously illuminating it for the time interval; and at a second time, illuminating the second indicator and continuously illuminating it for the time interval. At the third time, the third indicator is made to light up and continue to light up for a certain time interval; And at the fourth time, turn off the first indicator, the second indicator, and the third indicator.

7. The warning method according to claim 4, wherein, The plurality of indicators includes a first indicator, a second indicator, and a third indicator arranged laterally along the main vehicle, and the sequential activation of the plurality of indicators along the approach direction according to the time interval includes, at a first time, causing the first indicator to illuminate for the duration of the time interval; At the second time, the first indicator stops illuminating while the second indicator continues to illuminate for the specified time interval. At the third time, the second indicator stops illuminating while the third indicator continues to illuminate for a certain time interval. And at the fourth time, turn off the first indicator, the second indicator, and the third indicator.

8. The warning method according to claim 4, wherein, The time interval is between 100 milliseconds and 200 milliseconds.

9. The warning method according to claim 4, wherein, The plurality of indicators includes a first group of LED lights and a second group of LED lights disposed near the windshield of the vehicle. The sequential activation of the plurality of indicators along the approach direction according to the time interval includes activating the first group of LED lights sequentially from left to right at the time interval in response to the remote target approaching the main vehicle from the left side of the main vehicle, so that the first group of LED lights illuminates to display a right-pointing arrow, and activating the second group of LED lights sequentially from right to left at the time interval in response to the remote target approaching the main vehicle from the right side of the main vehicle, so that the second group of LED lights illuminates to display a left-pointing arrow.

10. The warning method according to claim 1, wherein, The method further includes activating the plurality of indicators simultaneously in response to the remote target approaching the master vehicle from the front of the master vehicle.

11. The warning method according to claim 1, wherein, The sequential activation of multiple indicators based on threat level includes sequentially activating the multiple indicators at a first time interval and then deactivating the multiple indicators at a second time interval, wherein the second time interval is determined based on the threat level.

12. The warning method according to claim 1, wherein, The threat level represents the threat of a collision with the host vehicle and is selected from a plurality of possible threat levels.

13. A vehicle encounter warning system, comprising: Multiple indicators; The controller is configured as follows: Receive information from the main vehicle; Receive treatment information of a remote target, the treatment information including the approach direction and threat level of the remote target relative to the host vehicle; Based on the threat level, multiple indicators are sequentially activated along the approach direction to form a moving pattern to indicate the approach direction.

14. The vehicle encounter warning system according to claim 13, wherein, The plurality of indicators are disposed near the windshield of the vehicle and arranged laterally along the main vehicle. The controller is configured to activate the plurality of indicators sequentially from left to right in response to the remote target approaching the main vehicle from the left side, and to activate the plurality of indicators sequentially from right to left in response to the remote target approaching the main vehicle from the right side.

15. The vehicle encounter warning system according to claim 14, wherein, The controller is also configured to simultaneously activate the plurality of indicators in response to the remote target approaching the master vehicle from the front of the master vehicle.

16. The vehicle encounter warning system according to claim 13, wherein, The sequential activation of multiple indicators based on threat level includes determining a first time interval based on the threat level, sequentially activating the multiple indicators at the first time interval, and subsequently deactivating the multiple indicators.

17. The vehicle encounter warning system according to claim 13, wherein, The sequential activation of multiple indicators based on threat level includes sequentially activating the multiple indicators at a first time interval and then deactivating the multiple indicators at a second time interval, wherein the second time interval is determined based on the threat level.

18. The vehicle encounter warning system according to claim 13, wherein, The plurality of indicators includes a first group of LEDs and a second group of LEDs arranged generally laterally along the host vehicle, the first group of LEDs and the second group of LEDs forming part of a head-up display, the sequential activation of the plurality of indicators along the approach direction including sequentially activating the first group of LEDs from left to right in response to the remote target approaching the host vehicle from the left, and sequentially activating the second group of LEDs from right to left in response to the remote target approaching the host vehicle from the right.

19. The vehicle encounter warning system according to claim 18, wherein, The first group of LED lights and the second group of LED lights have at least partially shared LED lights.

20. The vehicle encounter warning system according to claim 13, wherein, The multiple indicators include multiple virtual icons located on the display of the master vehicle.

21. A vehicle encounter warning method, comprising: Determine the approach direction of the remote target relative to the main vehicle; Determine the threat level of the remote target relative to the main vehicle; In response to determining that the remote target being treated is approaching the main vehicle from the left and that the determined threat level is low, multiple indicators are activated sequentially from left to right at longer time intervals; in response to determining that the remote target being treated is approaching the main vehicle from the left and that the determined threat level is high, multiple indicators are activated sequentially from left to right at shorter time intervals. In response to determining that the remote target being treated is approaching the host vehicle from the right and that the determined threat level is low, the plurality of indicators are activated sequentially from right to left at longer time intervals; in response to determining that the remote target being treated is approaching the host vehicle from the right and that the determined threat level is high, the plurality of indicators are activated sequentially from right to left at shorter time intervals.

22. The vehicle encounter warning method of claim 21, further comprising simultaneously activating the plurality of indicators in response to determining that the remote target is approaching the master vehicle from the front of the master vehicle.

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