Method and assisted driving system for providing a warning alert about an emergency vehicle

Abstract

The application relates to a method for providing a pre-warning prompt about an emergency vehicle, which comprises collecting external environment sound information of a vehicle (1) and extracting frequency parameters of the external environment sound information; comparing the extracted frequency parameters of the external environment sound information with characteristic frequency parameters of an emergency vehicle (2); in the case that the extracted frequency parameters of the external environment sound information match the characteristic frequency parameters of the emergency vehicle, calculating position information of the emergency vehicle through a time difference of arrival algorithm based on the collected external environment sound information and calculating angle information of the emergency vehicle through a phase difference of arrival algorithm based on the collected external environment sound information; and outputting prompt information about the emergency vehicle to a driver of the vehicle (1) based on the position information and the angle information of the emergency vehicle. According to the application, the detection capability and the identification accuracy of the vehicle for the emergency vehicle are effectively improved.

Description

Technical Field

[0001] This application relates to the field of driver assistance, and more particularly to a method for providing warnings about emergency vehicles, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product. Background Technology

[0002] When vehicles are traveling on urban roads, they may encounter emergency vehicles—such as police cars, ambulances, and fire trucks. Vehicles can typically detect these emergency vehicles using environmental detection units such as millimeter-wave radar, onboard cameras, or lidar, and alert the driver to make way for them. However, these environmental detection units identify emergency vehicles by detecting their outlines, which limits their detection capabilities and results in a high error rate.

[0003] Therefore, there is room for improvement in the current methods for detecting emergency vehicles. Summary of the Invention

[0004] The purpose of this application is to provide a method for providing warning alerts about emergency vehicles, a driver assistance system, a vehicle including the driver assistance system according to this application, and a computer program product, to at least partially solve the problems in the prior art.

[0005] According to a first aspect of this application, a method for providing a warning alert regarding emergency vehicles is provided, the method comprising: - It can collect the external environmental sound information of the vehicle and extract the frequency parameters of the external environmental sound information; - The frequency parameters of the extracted external environmental sound information can be compared with the characteristic frequency parameters of emergency vehicles; -If the frequency parameters of the extracted external environmental sound information match the characteristic frequency parameters of the emergency vehicle, the position information of the emergency vehicle can be obtained based on the collected external environmental sound information using the time difference of arrival algorithm, and the angle information of the emergency vehicle can be obtained based on the collected external environmental sound information using the phase difference of arrival algorithm. - Based on the location and angle information of the emergency vehicle, prompt information about the emergency vehicle can be output to the driver of the vehicle.

[0006] The core concept of this application is to obtain the location and angle information of emergency vehicles in the driving environment based on the collected external environmental sound information through the time difference of arrival algorithm and the phase difference of arrival algorithm, and promptly remind the driver to avoid the emergency vehicles. This fully utilizes the acoustic characteristics of emergency vehicles to accurately and timely identify them. Especially when the detection field of view of the environmental detection unit is limited, it can effectively improve the vehicle's detection capability and recognition accuracy of emergency vehicles, and meet the mandatory requirement of laws and regulations that emergency vehicles must be noticed by users under all operating conditions.

[0007] According to an optional embodiment of this application, the location information of the emergency vehicle can be obtained based on the collected external environmental sound information using a time difference of arrival algorithm. The method is as follows: - Obtain the propagation time of sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle from the collected external ambient sound information, respectively, to at least three microphone arrays of the vehicle's microphone unit, wherein the external ambient sound information of the vehicle is collected through the microphone unit. The location information of emergency vehicles can be determined based on the propagation time difference of the sound waves reaching each microphone array.

[0008] According to another optional embodiment of this application, the angle information of the emergency vehicle can be obtained based on the collected external environmental sound information using an arrival phase difference algorithm, in the following manner: -The phase difference between the first and second microphone arrays of the microphone unit can be obtained from the collected external environmental sound information, where the sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle arrive at the microphone unit. The angle information of the emergency vehicle, especially the horizontal angle, can be obtained based on the distance between the first microphone array and the second microphone array and the phase difference.

[0009] According to another optional embodiment of this application, the frequency parameters of the external environmental sound information can be extracted by means of Fourier transform, for example, through a microphone signal processing unit, wherein the microphone signal processing unit is integrated into the microphone unit.

[0010] According to another optional embodiment of this application, the microphone signal processing unit pre-stores characteristic frequency parameters of the emergency vehicle. The microphone signal processing unit can then compare the frequency parameters of the extracted external environmental sound information with the characteristic frequency parameters of the emergency vehicle. The characteristic frequency parameters of the emergency vehicle may, for example, include a pre-defined frequency sweep range of the emergency vehicle's sound or a pre-defined switching frequency of the emergency vehicle's sound. The emergency vehicle may include, for example, one or more of the following types of vehicles: fire trucks, police cars, ambulances, etc.

[0011] According to another optional embodiment of this application, the microphone signal processing unit can determine the location information of the emergency vehicle based on the collected external environmental sound information using a time difference of arrival algorithm, and can also determine the angle information of the emergency vehicle based on the collected external environmental sound information using a phase difference of arrival algorithm. The microphone signal processing unit transmits the location and angle information of the emergency vehicle to the vehicle's domain controller, for example, via Ethernet. The domain controller generates a control signal with alert information about the emergency vehicle based on the received location and angle information, and transmits the generated control signal to the vehicle's human-machine interface unit, for example, via a CAN bus or CAN-FD interface. The human-machine interface unit can then output optical and / or acoustic alert information about the emergency vehicle to the driver based on the received control signal.

[0012] According to another optional embodiment of this application, the method may further include: - It can output prompts to the driver of the vehicle regarding the operating status of the vehicle's driver assistance systems.

[0013] According to another optional embodiment of this application, under normal operating conditions of the vehicle's driver assistance system, the broadcast interval of the prompt information can be adjusted based on the driver's setting signal regarding the broadcast interval of the prompt information. For example, the prompt information can be output to the driver when an abnormal operating state of the vehicle's driver assistance system is detected.

[0014] According to a second aspect of this application, a driving assistance system is provided, which may include the following components: - A microphone unit configured to collect ambient sound information about the vehicle's external environment; - A human-machine interaction unit, configured to interact with the vehicle's driver; - A control unit for performing the method according to this application.

[0015] According to another optional embodiment of this application, the microphone unit may include at least three microphone arrays, which can respectively collect external environmental sound information of the vehicle. The control unit may include a domain controller and a microphone signal processing unit integrated in the microphone unit.

[0016] According to another optional embodiment of this application, the human-machine interaction unit may include an in-vehicle voice interaction device, through which acoustic prompts regarding the emergency vehicle can be output to the driver. Optionally, the in-vehicle voice interaction device may also output acoustic prompts regarding the operating status of the vehicle's driver assistance systems to the driver. Optionally, the in-vehicle voice interaction device may also acquire a setting signal from the driver regarding the broadcast time interval of the acoustic prompts.

[0017] Optionally, the human-machine interface unit may further include an in-vehicle display screen, which can output optical prompts about the emergency vehicle to the driver. Optionally, the in-vehicle display screen can output optical prompts about the operating status of the vehicle's driver assistance systems to the driver. Optionally, the in-vehicle display screen can acquire the driver's setting signal for the broadcast interval of the optical prompts.

[0018] According to a third aspect of this application, a vehicle is provided that may include a driver assistance system according to this application.

[0019] According to a fourth aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions that, when executed by a processor, at least assist in implementing the steps of the method described in this application. Attached Figure Description

[0020] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1 A flowchart illustrating a method for providing a warning alert about an emergency vehicle according to an exemplary embodiment of this application is shown. Figure 2 A schematic diagram of a driving scenario according to an exemplary embodiment of this application is shown; Figure 3 A schematic diagram showing the position of a microphone array relative to an emergency vehicle according to an exemplary embodiment of this application is provided. Figure 4 A schematic diagram showing the position of a microphone array relative to an emergency vehicle according to another exemplary embodiment of this application is provided. Figure 5 A flowchart illustrating a method for providing a warning alert about an emergency vehicle according to another exemplary embodiment of this application is shown. Figure 6 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0022] Figure 1 A flowchart illustrating a method for providing warning alerts about emergency vehicles, according to an exemplary embodiment of this application, is shown. The following exemplary embodiments describe the method according to this application in more detail. The method can be performed by a driver assistance system 10 of vehicle 1.

[0023] like Figure 1 As shown, the method may include steps S1 to S4. In step S1, the external environmental sound information of vehicle 1 can be collected, and the frequency parameters of the external environmental sound information can be extracted. When vehicle 1 is driving on urban roads, it may encounter emergency vehicles 2—such as fire trucks, police cars, ambulances, etc. In the prior art, vehicle 1 usually detects the outline information of emergency vehicles 2 through an environmental detection unit, which includes one or more of the following devices: millimeter-wave radar, vehicle-mounted camera, and lidar, etc. However, since the outline of emergency vehicles 2 is very similar to that of delivery trucks, box trucks, etc., the environmental detection unit of vehicle 1 has limited detection capability for emergency vehicles and a high error rate. In addition, in Figure 2 In the driving scenario diagram shown in an exemplary embodiment of this application, vehicle 1 and emergency vehicle 2 are driving on a congested urban road. The detection field of vehicle 1's environmental detection unit with respect to emergency vehicle 2 may be obstructed, which may cause vehicle 1's environmental detection unit to be unable to detect the emergency vehicle 2 in a timely and accurate manner.

[0024] Therefore, this application proposes to identify an emergency vehicle 2 by collecting and processing the external environmental sound information of vehicle 1. In the current embodiment of this application, the driver assistance system 10 of vehicle 1 is equipped with a microphone unit 11 for collecting the external environmental sound information of vehicle 1. The microphone unit 11 may include at least three microphone arrays arranged at different locations on vehicle 1, such as a first microphone array 111, a second microphone array 112, and a third microphone array 113. The at least three microphone arrays can collect the external environmental sound information of vehicle 1 from multiple positions and angles. The collected external environmental sound information is a time-domain signal of the amplitude of various sound waves in the external environmental sound of vehicle 1 changing over time. A microphone signal processing unit 14 may also be integrated into the microphone unit 11, through which the frequency parameters of the external environmental sound information can be extracted. Specifically, the collected time-domain signal is converted into a frequency-domain signal of the external environment sound, for example, through Fourier transform. The frequency-domain signal can be a spectrum with frequency as the horizontal axis and loudness as the vertical axis. Various sound waves in the collected external environment sound are decomposed into frequency components with different frequencies and loudnesses in the spectrum, thereby obtaining the frequency parameters of the extracted external environment sound information.

[0025] In step S2, the frequency parameters of the extracted external environmental sound information can be compared with the characteristic frequency parameters of the emergency vehicle 2. The microphone signal processing unit 14 can pre-store the characteristic frequency parameters of the emergency vehicle 2, which includes one or more vehicles such as fire trucks, police cars, and ambulances. The characteristic frequency parameters of the emergency vehicle 2 can include a pre-defined frequency sweep range of the emergency vehicle 2's sound; for example, the sound frequency of a fire truck typically varies continuously within a frequency sweep range of 2kHz to 4kHz. The characteristic frequency parameters of the emergency vehicle 2 can also include a pre-defined switching frequency of the emergency vehicle 2's sound; for example, the sound frequency of a police car typically switches between a frequency of 1.5kHz and a frequency of 3kHz, and the sound frequency of an ambulance typically switches between a frequency of 1.2kHz and a frequency of 2kHz, and so on. The microphone signal processing unit 14 can compare the frequency parameters of the extracted external environmental sound information with the characteristic frequency parameters of the emergency vehicle 2. If the frequency range of the frequency component in the frequency parameters of the extracted external environmental sound information is equal to the pre-given sweep frequency range of the sound of the emergency vehicle 2 within the allowable error range, or if the frequency value of the frequency component in the frequency parameters of the extracted external environmental sound information is equal to the pre-given switching frequency of the sound of the emergency vehicle 2 within the allowable error range, then it can be determined that the frequency parameters of the extracted external environmental sound information match the characteristic frequency parameters of the emergency vehicle 2.

[0026] In step S3, if the frequency parameters of the extracted external environmental sound information match the characteristic frequency parameters of the emergency vehicle 2, the position information of the emergency vehicle 2 can be obtained based on the collected external environmental sound information using the time difference of arrival (TDOA) algorithm, and the angle information of the emergency vehicle 2 can be obtained based on the collected external environmental sound information using the phase difference of arrival (PDOA) algorithm. The process of obtaining the position and angle information of the emergency vehicle 2 can be performed in the microphone signal processing unit 14.

[0027] Next, the specific process by which the microphone signal processing unit 14 calculates the location information of the emergency vehicle 2 based on the collected external environmental sound information using a time-of-arrival (TOA) algorithm is described in detail. The TOA calculation process requires external environmental sound information collected by at least three microphone arrays, which are arranged at different locations on the vehicle 1. Figure 3 The diagram illustrates the schematic positions of a microphone array and an emergency vehicle according to an exemplary embodiment of this application. Assuming the coordinates of the first microphone array 111 in the vehicle coordinate system are (x1, y1), the second microphone array 112 in the vehicle coordinate system are (x2, y2), and the third microphone array 113 in the vehicle coordinate system are (x3, y3), the propagation times of sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle 2, along the propagation paths marked with dashed lines, can be obtained from the collected external ambient sound information. For example, the first propagation time for the sound wave to reach the first microphone array 111 is t1, the second propagation time for the sound wave to reach the second microphone array 112 is t2, and the third propagation time for the sound wave to reach the third microphone array 112 is t3. For clarity, the emergency vehicle 2 is simplified as a dot with its sound source coordinates (x1, y1). s y s The first propagation time t1 of the sound wave emitted by the emergency vehicle 2 reaching the first microphone array 111 can be calculated as follows: , Where v represents the speed of sound propagation, the second propagation time t2 of the sound wave emitted by the emergency vehicle 2 reaching the second microphone array 112 can be calculated as follows: , The third propagation time t3 of the sound wave emitted by the emergency vehicle 2 to reach the third microphone array 113 can be calculated as follows: .

[0028] The sound source coordinates (x, y) of emergency vehicle 2 can be calculated based on the propagation time difference of the sound waves reaching each microphone array. s y s Since the first propagation time t1, the second propagation time t2, and the third propagation time t3 are all known quantities, the first propagation time difference Δt1 between the second propagation time t2 and the first propagation time t1, and the second propagation time difference Δt2 between the third propagation time t3 and the second propagation time t2 can be calculated. The coordinates (x, y) of the sound source of emergency vehicle 2 can then be obtained by solving the following system of two equations constructed using the first propagation time difference Δt1 and the second propagation time difference Δt2. s y s ): , .

[0029] Next, the specific process by which the microphone signal processing unit 14 calculates the location information of the emergency vehicle 2 based on the collected external environmental sound information using an arrival phase difference algorithm is described in detail. The calculation process of the arrival phase difference algorithm requires external environmental sound information collected by two microphone arrays, which are arranged at different locations on the vehicle 1. For example... Figure 4 The diagram illustrates the schematic positions of a microphone array and an emergency vehicle according to another exemplary embodiment of this application. The distance between the mounting positions of the first microphone array 111 and the second microphone array 112 is d, and the horizontal angle of the emergency vehicle 2 relative to the vehicle 1 is θ. The propagation time difference Δt between the sound waves from the emergency vehicle 2 reaching the first microphone array 111 and the second microphone array 112 can be calculated as follows: , Where v represents the speed at which sound travels.

[0030] From the collected external ambient sound information, the phase difference Δ between the sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle 2 and the first microphone array 111 and the second microphone array 112 can be obtained. Due to the phase difference Δ The horizontal angle θ of the vehicle 2 has the following mathematical relationship: , Therefore, based on the distance d between the first microphone array 111 and the second microphone array 112 and the phase difference Δ The angle information of the emergency vehicle 2, especially the horizontal angle θ, can be obtained. The formula for calculating the horizontal angle θ is: .

[0031] In step S4, a prompt message about the emergency vehicle 2 can be output to the driver of vehicle 1 based on the location and angle information of the emergency vehicle 2. Here, the microphone signal processing unit 14 can transmit the location and angle information of the emergency vehicle 2 to the domain controller 13 of vehicle 1, for example, via Ethernet. The domain controller 13 can generate a control signal for the prompt message about the emergency vehicle 2 based on the received location and angle information, and transmit the generated control signal to the human-machine interface unit 12 of vehicle 1, for example, via a CAN bus or CAN-FD interface. The human-machine interface unit 12 may include an in-vehicle voice interaction device, which can output acoustic prompt messages about the emergency vehicle 2 to the driver of vehicle 1 based on the received control signals, prompting the driver to avoid the emergency vehicle 2 in the current driving environment; the human-machine interface unit 12 may also include an in-vehicle display screen, which can output optical prompt messages about the emergency vehicle 2 to the driver of vehicle 1 based on the received control signals, prompting the driver to avoid the emergency vehicle 2 in the current driving environment.

[0032] According to embodiments of this application, based on the collected external environmental sound information, the location and angle information of emergency vehicles in the driving environment are obtained by using the time difference of arrival algorithm and the phase difference of arrival algorithm, respectively, and the driver is promptly reminded to avoid the emergency vehicles. This fully utilizes the acoustic characteristics of emergency vehicles to accurately and timely identify them. Especially when the detection field of view of the environmental detection unit is limited, it can effectively improve the vehicle's detection capability and recognition accuracy of emergency vehicles, and meet the mandatory requirements of laws and regulations that emergency vehicles must be noticed by users under all operating conditions.

[0033] Figure 5 A flowchart illustrating a method for providing a warning alert about an emergency vehicle, according to another exemplary embodiment of this application, is shown. The following only describes the method in relation to... Figure 1 The differences between the embodiments shown are omitted for brevity, and the same steps will not be described again.

[0034] like Figure 5As shown, the method may further include step S5. In step S5, a prompt message regarding the operating status of the driver assistance system 10 of vehicle 1 may be output to the driver of vehicle 1. Here, the acoustic prompt message regarding the operating status of the driver assistance system 10 of vehicle 1 may be output to the driver of vehicle 1 through the in-vehicle voice interaction device, or the optical prompt message regarding the operating status of the driver assistance system 10 of vehicle 1 may be output to the driver of vehicle 1 through the in-vehicle display screen. Under normal operating conditions of the driver assistance system 10 of vehicle 1, the driver of vehicle 1 may input a setting signal regarding the broadcast interval of the prompt message through the in-vehicle voice interaction device and / or the in-vehicle display screen, thereby adjusting the broadcast interval of the prompt message based on the driver's setting signal regarding the broadcast interval. When an abnormal operating state of the driver assistance system 10 of vehicle 1 is detected, the prompt message may be immediately output to the driver of vehicle 1 to prompt the driver to take over control of vehicle 1 in a timely manner.

[0035] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0036] Figure 6 A schematic diagram of a vehicle 1 according to an exemplary embodiment of this application is shown. Figure 6 As shown, the vehicle 1 is equipped with a driver assistance system 10, which may include the following components: - Microphone unit 11, which is configured to collect external environmental sound information of vehicle 1, wherein the microphone unit 11 may include at least three microphone arrays 111, 112, 113, and the external environmental sound information of vehicle 1 is collected by the at least three microphone arrays respectively; - Human-machine interaction unit 12, which is configured to interact with the driver of vehicle 1; - A control unit for performing the method according to this application, wherein the control unit may include a domain controller 13 and a microphone signal processing unit 14 integrated in the microphone unit 11.

[0037] For example, the human-machine interaction unit 12 may include an in-vehicle voice interaction device, through which acoustic prompts regarding the emergency vehicle 2 can be output to the driver of vehicle 1. Optionally, the in-vehicle voice interaction device may also output acoustic prompts regarding the operating status of the vehicle 1's driver assistance system to the driver of vehicle 1. Optionally, the in-vehicle voice interaction device may also obtain the setting signal of the broadcast time interval of the acoustic prompts from the driver of vehicle 1.

[0038] Optionally, the human-machine interface unit 12 may further include an in-vehicle display screen, through which optical prompts about the emergency vehicle 2 can be output to the driver of vehicle 1. Optionally, the in-vehicle display screen may also output optical prompts about the operating status of the vehicle 1's driver assistance system to the driver of vehicle 1. Optionally, the in-vehicle display screen may also acquire a setting signal for the broadcast interval of the optical prompts from the driver of vehicle 1.

[0039] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0040] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.

[0041] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A method for providing a warning about an emergency vehicle (2), the method comprising: Collect the external environmental sound information of the vehicle (1) and extract the frequency parameters of the external environmental sound information; The frequency parameters of the extracted external environmental sound information are compared with the characteristic frequency parameters of the emergency vehicle (2); When the frequency parameters of the extracted external environmental sound information match the characteristic frequency parameters of the emergency vehicle (2), the location information of the emergency vehicle (2) is obtained by the time difference of arrival algorithm based on the collected external environmental sound information, and the angle information of the emergency vehicle (2) is obtained by the phase difference of arrival algorithm based on the collected external environmental sound information. Based on the location and angle information of the emergency vehicle (2), a prompt message about the emergency vehicle (2) is output to the driver of the vehicle (1).

2. The method according to claim 1, wherein, The location information of the emergency vehicle (2) is obtained based on the collected external environmental sound information using a time difference of arrival algorithm. The method is as follows: The propagation time of sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle (2) to at least three microphone arrays (111, 112, 113) of the microphone unit (11) of the vehicle (1) is obtained from the collected external environmental sound information, wherein the external environmental sound information of the vehicle (1) is collected through the microphone unit (11). The location information of the emergency vehicle (2) is determined based on the propagation time difference of the sound waves to each microphone array (111, 112, 113).

3. The method according to any one of the preceding claims, wherein, The angle information of the emergency vehicle (2) is obtained based on the collected external environmental sound information using an arrival phase difference algorithm. The method is as follows: The phase difference between the first microphone array (111) and the second microphone array (112) of the microphone unit (11) is obtained from the collected external environmental sound information, where the sound waves with frequency parameters matching the characteristic frequency parameters of the emergency vehicle (2) arrive at the microphone unit (11). The angle information of the emergency vehicle (2), especially the horizontal angle, is obtained based on the distance between the first microphone array (111) and the second microphone array (112) and the phase difference.

4. The method according to any one of the preceding claims, wherein, Frequency parameters of the external ambient sound information are extracted by the microphone signal processing unit (14), for example by means of Fourier transform, wherein the microphone signal processing unit (14) is integrated into the microphone unit (11); and / or The microphone signal processing unit (14) stores the characteristic frequency parameters of the emergency vehicle (2) in advance. The microphone signal processing unit (14) compares the frequency parameters of the extracted external environmental sound information with the characteristic frequency parameters of the emergency vehicle (2). The characteristic frequency parameters of the emergency vehicle (2) include, for example, a pre-given sweep range of the sound of the emergency vehicle (2) or a pre-given switching frequency of the sound of the emergency vehicle (2). The emergency vehicle includes, for example, one or more of the following vehicles: fire truck, police car, ambulance.

5. The method according to any one of the preceding claims, wherein, The microphone signal processing unit (14) obtains the location information of the emergency vehicle (2) based on the collected external environmental sound information through the time difference of arrival algorithm, and obtains the angle information of the emergency vehicle (2) based on the collected external environmental sound information through the phase difference of arrival algorithm. The microphone signal processing unit (14) transmits the location and angle information of the emergency vehicle (2) to the domain controller (13) of the vehicle (1) via Ethernet, for example. The domain controller (13) generates a control signal for prompting information about the emergency vehicle (2) based on the received location and angle information of the emergency vehicle (2), and transmits the generated control signal to the human-machine interaction unit (12) of the vehicle (1) via, for example, CAN bus or CAN-FD interface. The human-machine interaction unit (12) outputs optical and / or acoustic prompting information about the emergency vehicle (2) to the driver of the vehicle (1) based on the received control signal.

6. The method according to any one of the preceding claims, wherein, The method further includes: The driver of vehicle (1) is given a prompt message about the operating status of the driver assistance system (10) of vehicle (1). For example, the broadcast time interval of the prompt message is adjusted based on the setting signal of the driver of vehicle (1) about the broadcast time interval of the prompt message during normal operation of the driver assistance system (10) of vehicle (1). For example, the prompt message is given to the driver of vehicle (1) when an abnormal operating status of the driver assistance system (10) of vehicle (1) is detected.

7. A driver assistance system (10), the driver assistance system (10) comprising the following components: A microphone unit (11) is configured to collect ambient sound information of the vehicle (1); Human-machine interaction unit (12) is configured to interact with the driver of vehicle (1); A control unit (13, 14) is used to perform the method according to any one of the preceding claims.

8. The driver assistance system (10) according to claim 7, wherein, The microphone unit (11) includes at least three microphone arrays (111, 112, 113), which respectively collect external environmental sound information of the vehicle (1). The control unit (13, 14) includes a domain controller (13) and a microphone signal processing unit (14) integrated in the microphone unit (11); and / or The human-machine interaction unit (12) includes an in-vehicle voice interaction device, which outputs acoustic prompt information about the emergency vehicle (2) to the driver of the vehicle (1) through the in-vehicle voice interaction device. Optionally, it also outputs acoustic prompt information about the operating status of the vehicle's (1) driver assistance system and obtains the setting signal of the broadcast time interval of the acoustic prompt information from the driver of the vehicle (1). Optionally, the human-machine interaction unit (12) further includes an in-vehicle display screen, which outputs optical prompt information about the emergency vehicle (2) to the driver of the vehicle (1) through the in-vehicle display screen. Optionally, the in-vehicle display screen outputs optical prompt information about the operating status of the vehicle's (1) driver assistance system and obtains a setting signal for the broadcast time interval of the optical prompt information from the driver of the vehicle (1) to the driver of the vehicle (1).

9. A vehicle (1) comprising a driver assistance system (10) according to claim 7 or 8.

10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least auxiliaryly implement the steps of the method according to any one of claims 1 to 6.

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