Anti-collision system and vehicle

Abstract

The utility model relates to an anti-collision system and a vehicle, and the system comprises image collection devices which are at least arranged on the left side and the right side of the vehicle and are used for collecting image data of obstacles near the vehicle; the steering acquisition device is used for acquiring steering information of the vehicle steering wheel; the information processing device is used for receiving the image data of the image acquisition device, obtaining the position information of the obstacle according to the image data and receiving the steering information of the steering acquisition device, and the information processing device is further used for generating a control instruction according to the position information and / or the steering information; and the execution device is used for receiving the control instruction to execute anti-collision operation of the vehicle. According to the anti-collision system, the obstacles on the side of the vehicle can be effectively recognized, anti-collision operation is carried out in time, and collision is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle control, and in particular to an anti-collision system and a vehicle. Background Art

[0002] At present, with the development and popularization of automobile technology, various types of vehicles are becoming more and more common. During driving, vehicles are prone to collisions with obstacles around them, affecting driving safety. Therefore, active collision avoidance systems are often used for alarms and other collision avoidance operations to improve driving safety. Common vehicle collision avoidance systems mainly use radar to detect obstacles, and then use alarm devices to sound an alarm after detecting obstacles to avoid collisions.

[0003] In the related art, obstacles in front and behind the vehicle are only monitored by radar, but it is difficult to detect the left and right blind spots to achieve side collision avoidance of the vehicle, which affects the safety of vehicle driving. Utility Model Content

[0004] The present application is proposed to solve the above-mentioned problems. According to one aspect of the present application, a collision avoidance system is provided, which is applied to a vehicle. The system comprises: an image acquisition device, which is arranged at least on the left and right sides of the vehicle, and is used to acquire image data of obstacles near the vehicle; a steering acquisition device, which is used to obtain steering information of the steering wheel of the vehicle; an information processing device, which is used to receive the image data of the image acquisition device, and obtain the position information of the obstacle according to the image data, and receive the steering information of the steering acquisition device, and the information processing device is also used to generate a control instruction according to the position information and / or the steering information; an execution device, which is used to receive the control instruction to execute the collision avoidance operation of the vehicle.

[0005] Exemplarily, the position information includes at least the distance between the obstacle and the vehicle, and the information processing device is used to confirm the alarm area where the obstacle is located according to the distance between the obstacle and the vehicle to generate the control instruction.

[0006] Exemplarily, the warning area includes a first area, a second area and a third area, wherein the distance between the first area and the vehicle is greater than the distance between the second area and the vehicle, and the distance between the second area and the vehicle is greater than the distance between the third area and the vehicle.

[0007] Exemplarily, the execution device includes an alarm, the control instruction includes a first control instruction, the alarm is connected to the information processing device and receives the first control instruction, the first control instruction is generated after the information processing device confirms that the obstacle is in the alarm area; the alarm is used to sound an alarm according to the first control instruction.

[0008] Exemplarily, the steering information includes at least the rotation direction of the vehicle steering wheel; the execution device also includes a motor driver, which is connected to the information processing device; the control instruction also includes a second control instruction, which is generated after the information processing device confirms that the obstacles on the left and right sides of the vehicle are in the second area and the rotation direction is opposite to the direction of the obstacles relative to the vehicle; the second control instruction is sent to the motor driver as a speed limit instruction so that the motor speed of the vehicle does not exceed a preset value.

[0009] Exemplarily, the control instruction also includes a third control instruction, which is generated after the information processing device confirms that the obstacle is in the third area and the rotation direction of the steering wheel is opposite to the direction of the obstacle relative to the vehicle; the third control instruction is sent to the motor driver as a deceleration instruction to cause the vehicle to decelerate or stop moving.

[0010] Exemplarily, the image acquisition device is also arranged on the front and rear sides of the vehicle; the execution device also includes a motor driver, and the motor driver is connected to the information processing device; the control instruction also includes a second control instruction, and the second control instruction is generated after the information processing device confirms that the obstacles on the front and rear sides of the vehicle are in the second area, and the second control instruction is sent to the motor driver as a speed limit instruction to prevent the motor speed of the vehicle from exceeding a preset value.

[0011] Exemplarily, the control instruction also includes a third control instruction, which is generated after the information processing device confirms that the obstacles on the front and rear sides of the vehicle are in the third area, and the third control instruction is sent to the motor driver as a deceleration instruction to slow down or stop the vehicle.

[0012] Exemplarily, the system further includes a display device, which is connected to the image acquisition device, and is used to receive and display the image data.

[0013] Exemplarily, the system also includes a photosensitive sensor and a lighting component, both of which are connected to the information processing device, the photosensitive sensor is used to detect the light intensity of the vehicle's environment and send it to the information processing device, the information processing device is used to generate an indication signal after confirming that the light intensity is lower than a preset intensity and send it to the lighting component, and the lighting component is used to start and illuminate according to the indication signal.

[0014] Exemplarily, the alarm includes a voice alarm and / or a light alarm.

[0015] Exemplarily, the image acquisition device is a camera.

[0016] According to another aspect of the present application, a vehicle is provided, comprising the above-mentioned collision avoidance system.

[0017] The anti-collision system in the present application uses an image acquisition device to obtain an image of an obstacle on the side of the vehicle, and an information processing device obtains the position information of the obstacle based on the image data of the obstacle and also obtains the steering information of the vehicle's side steering, thereby generating a control instruction based on the position information and / or steering information, and executing the control instruction through an execution device to achieve vehicle anti-collision. The anti-collision system in the present application can monitor obstacles on the side of the vehicle and perform anti-collision operations, thereby improving the accuracy of the anti-collision system and thus improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 A schematic diagram of an anti-collision system in an embodiment of the present application is shown.

[0020] Figure 2 A schematic diagram of an anti-collision system and a vehicle in an embodiment of the present application is shown.

[0021] Figure 3 A structural block diagram of an anti-collision system in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0023] like Figure 1 As shown, an embodiment of the present application provides an anti-collision system, which is applied to a vehicle. The system includes: an image acquisition device, a steering acquisition device, an information processing device and an execution device.

[0024] The image acquisition device is arranged at least on the left and right sides of the vehicle, and the image acquisition device is used to acquire image data of obstacles near the vehicle. The steering acquisition device is used to obtain the steering information of the vehicle steering wheel. The information processing device is connected to the image acquisition device, and is used to receive the image data from the image acquisition, and receive the steering information of the steering acquisition device. The information processing device is also used to generate a control instruction according to the position information and / or the steering information; the execution device is used to receive the control instruction to execute the anti-collision operation of the vehicle.

[0025] The anti-collision system in the present application uses an image acquisition device to obtain an image of an obstacle on the side of the vehicle, and an information processing device obtains the position information of the obstacle based on the image data of the obstacle and also obtains the steering information of the vehicle's side steering, thereby generating a control instruction based on the position information and / or steering information, and executing the control instruction through an execution device to achieve vehicle anti-collision. The anti-collision system in the present application can monitor obstacles on the side of the vehicle and perform anti-collision operations, thereby improving the accuracy of the anti-collision system and thus improving the safety of vehicle driving.

[0026] Exemplarily, the image acquisition device in the embodiment of the present application is a camera, specifically including a first camera, a second camera, a third camera and a fourth camera arranged at the front end, the rear end and the left and right sides of the vehicle. Among them, the type of camera can be a blind spot detection (BSD) camera. Each camera will collect image data of obstacles in its direction and send it to the information processing device. Exemplarily, the information processing device in the embodiment of the present application is an electronic control unit (Electronic Control Unit, ECU) on the vehicle, which receives sensor information from inside and outside the vehicle, analyzes and calculates it through a built-in microprocessor, and then issues instructions to the execution device, thereby realizing operations such as vehicle collision avoidance.

[0027] Exemplarily, the above-mentioned location information includes at least the distance between the obstacle and the vehicle, and the information processing device is used to confirm the alarm area where the obstacle is located according to the distance between the obstacle and the vehicle to generate a control instruction. The alarm area includes a first area, a second area, and a third area. The distinction between the first area and the third area is confirmed by the distance between the obstacle and the vehicle. The vehicle here can be the edge position of the vehicle in a side direction. The type of the alarm area can be confirmed according to the distance from the obstacle to the edge of the vehicle.

[0028] The distance between the first area and the vehicle is greater than the distance between the second area and the vehicle, and the distance between the second area and the vehicle is greater than the distance between the third area and the vehicle. The alarm area can be divided by setting a distance threshold in the information processing device, and the first threshold, the second threshold and the third threshold are set, wherein the first threshold is less than the second threshold. When the distance between the obstacle and the vehicle is less than or equal to the first threshold, the obstacle is in the third area. When the distance between the obstacle and the vehicle is greater than or less than the threshold and less than the second threshold, the obstacle is in the second area. When the distance between the obstacle and the vehicle is greater than the second threshold and less than the third threshold, the vehicle is in the first area. The first threshold and the second threshold can be set according to actual conditions. The thresholds used for dividing areas in different directions of the vehicle can be the same or different.

[0029] like Figure 2 , which is a schematic diagram of the structure of the image acquisition device and the vehicle in the embodiment of the present application. For example, the vehicle in the embodiment of the present application is a forklift. The image acquisition device is a camera, wherein: the first camera, the second camera, the third camera and the fourth camera are respectively installed at the front end, the rear end, the left side and the right side of the forklift. In some embodiments, only the second camera to the fourth camera can be installed on the vehicle, and no camera is installed at the front end of the forklift, so as to reduce the impact of the goods transported by the forklift on the anti-collision system when the forklift is in use.

[0030] Exemplarily, the execution device includes an alarm, and the control instruction includes a first control instruction. The alarm is connected to the information processing device and receives the first control instruction. The first control instruction is generated after the information processing device confirms that the obstacle is in the alarm area. The alarm is used to sound an alarm according to the first control instruction. Among them, the alarm includes a voice alarm and / or a light alarm. For the voice alarm, as long as the information processing device confirms that the current obstacle is in the alarm area, no matter which area of ​​the first area to the third area the obstacle is in, a first control instruction will be generated. After receiving the first control instruction, the voice alarm broadcasts an alarm voice, thereby realizing an alarm and prompting the driver that there is an obstacle in the alarm area. Exemplarily, the light alarm can sound an alarm together with the voice alarm, or it can sound an alarm separately according to the instruction of the information processing device.

[0031] Exemplarily, the system in the embodiment of the present application also includes a photosensitive sensor and a lighting component, both of which are connected to the information processing device. The photosensitive sensor is used to detect the light intensity of the vehicle's environment and send it to the information processing device. The information processing device is used to generate an indication signal after confirming that the light intensity is lower than a preset intensity and send it to the lighting component. The lighting component is used to start and illuminate according to the indication signal.

[0032] Among them, the lighting component can be a lighting lamp set on the vehicle. When the lighting component is started according to the indication signal, on the one hand, it can illuminate the driver to facilitate the operation of the vehicle. On the other hand, it can illuminate the surroundings of the vehicle, which is convenient for the image acquisition device to collect clearer image data and facilitate the collision avoidance system to perform collision avoidance operations. In addition, when the information processing device sends a signal to the lighting component, it can simultaneously send a first control instruction to the alarm device to alarm and remind the driver that the brightness of the current environment is low. Exemplarily, the lighting component can be installed on the top of the vehicle and close to the image acquisition device, so as to illuminate the image acquisition device and facilitate the acquisition of image data.

[0033] When a vehicle is turning, its position will deflect. If the obstacles on the left and right sides are too close to the vehicle, the vehicle may collide with the obstacles during the deflection process, causing a safety accident. Figure 2 As shown, the vehicle in the embodiment of the present application is a forklift. Compared with passenger cars such as sedans, the significant difference of a forklift is that the steering is controlled by the rear wheels instead of the front wheels. If the forklift turns left, the rear end of the forklift will deflect to the right. If the forklift moves too fast, it may hit the obstacle on the right due to factors such as excessive kinetic energy. Therefore, when the obstacle is close, the moving speed of the forklift needs to be controlled. Exemplarily, the steering acquisition device includes a steering sensor, and the steering information of the vehicle steering wheel includes the direction of rotation of the steering wheel. The steering sensor in the embodiment of the present application can obtain the current steering direction of the forklift, thereby generating steering information to the information control device, and the information control device controls the forklift in combination with the position of the obstacle and the steering direction.

[0034] Exemplarily, the execution device also includes a motor driver, which is connected to the information processing device; the control instruction also includes a second control instruction, which is generated after the information processing device confirms that the obstacle is in the second area and the direction of rotation of the steering wheel is opposite to the direction of the obstacle relative to the vehicle; the second control instruction is sent to the motor driver as a speed limit instruction, and the motor driver is used to limit the speed of the vehicle's motor according to the second control instruction so that the speed of the motor does not exceed a preset value.

[0035] The control instructions also include a third control instruction, which is generated after the information processing device confirms that the obstacle is in the third area and the steering wheel rotation direction is opposite to the direction of the obstacle relative to the vehicle; the motor driver is also used to decelerate the vehicle's motor according to the third control instruction to stop the vehicle from moving.

[0036] Because the steering wheel on a vehicle generally only has relative left and right turns, the steering controller in the embodiment of the present application only corresponds to obstacles on the left and right sides.

[0037] First, when the obstacle is located on the left and right sides of the vehicle, it is necessary to determine the area it is located in based on the location information. For example, when the obstacle is located on the left and right sides of the vehicle, the first threshold, the second threshold, and the third threshold may be 1m, 2m, and 4m, respectively. That is, when the obstacle is located within 1m on the left and right sides of the vehicle, when it is determined that the obstacle is below 1m, it is confirmed that the obstacle is in the third area; when the obstacle is located 1m-2m on the left and right sides of the vehicle, it is confirmed that the obstacle is in the second area; when the obstacle is located within 2m-4m on the left and right sides of the vehicle, it is confirmed that the obstacle is in the first area.

[0038] The following takes the obstacle on the left side of the vehicle as an example:

[0039] When the information processing device confirms that the obstacle is located in the first area, the first control instruction is triggered to cause the alarm device to sound an alarm.

[0040] The steering sensor detects the steering information of the steering wheel and sends it to the information processing device. When the information processing device confirms that the steering wheel is turning right and the obstacle is located in the second area, it will send a second control instruction to the motor driver. The motor driver can control the motor of the forklift and decelerate the motor according to the second control instruction to limit the moving speed of the forklift to not exceed the preset value to avoid collisions caused by excessive speed. The preset value can be pre-set according to actual conditions.

[0041] The steering sensor detects the steering information of the steering wheel and sends it to the information processing device. When the information processing device confirms that the steering wheel is turning right and the obstacle is located in the third area, it will send a third control instruction to the motor driver. The motor driver can control the motor of the forklift and decelerate or brake the motor according to the third control instruction, so that the forklift gradually stops moving. This is to avoid the rear end of the forklift colliding with the obstacle during the steering deflection process.

[0042] When the obstacle is located on the right side of the vehicle, the control process is the same as the above method, except that the information processing device needs to confirm whether the steering wheel of the forklift is turned left. No further description will be given here.

[0043] It should be noted that if the obstacle is located in front of or behind the vehicle, it is not necessary to consider the steering information collected by the steering controller, and the control command is generated only according to the alarm area where the obstacle is located. In addition, because the obstacle is located in the front and rear directions of the vehicle, because there is no need to consider the collision caused by steering, the judgment range for the first area to the third area is also different. When the obstacle is located behind the vehicle, the first threshold to the third threshold are: 2m, 4m and 6m, respectively. Because the vehicle in the embodiment of the present application is a forklift, when the obstacle is located in front of the vehicle, its judgment of the first area to the third area also needs to take into account the length of the fork. Assuming that the length of the fork is 2m, the first threshold to the third threshold are: 4m, 6m and 8m, respectively. The above thresholds are only exemplary. When the normal working speed, braking capacity and fork length of the forklift are different, they can also be reconfigured according to actual conditions.

[0044] For example, when the obstacle is located at the front or rear end of the forklift, the information processing device generates a second control instruction after confirming that the obstacle is in the second area, and the motor driver limits the speed of the vehicle's motor according to the second control instruction so that the motor speed does not exceed a preset value. The information processing device generates a third control instruction after confirming that the obstacle is in the third area, and the motor driver decelerates the vehicle's motor according to the third control instruction to stop the vehicle from moving.

[0045] Exemplarily, the system in the embodiment of the present application further includes a display device, which is connected to the image acquisition device and is used to receive image data and display it. The display device may be an LCD display screen, which is installed on the vehicle and located in front of the driving position.

[0046] Figure 3 This is a specific structural block diagram of the anti-collision system in the embodiment of the present application. Figure 3 The anti-collision system in the present application is introduced. The anti-collision system includes: an image acquisition device, an information processing device, a steering sensor and an execution device. Among them, the image acquisition device can be a BSD camera installed around the vehicle to collect image data of obstacles in four directions. The information processing device is an ECU controller, which is used to obtain the position information of the obstacle based on the image data obtained by the image acquisition device, and confirm the alarm area where the obstacle is located based on the position information, so as to issue different control instructions to the execution device according to different alarm areas.

[0047] The execution device includes an alarm, including but not limited to a light alarm and a voice alarm (module). The execution device also includes a motor driver. As shown in the figure, the motor driver can be a drive motor controller, which is used to control the drive motor of the vehicle according to the control instruction, so as to perform operations such as speed limit and deceleration of the vehicle to avoid collision between the vehicle and the obstacle. The system also includes a steering sensor, which is used to collect steering information of the steering wheel. When the obstacle is located on both sides of the vehicle, the generation of the control instruction needs to consider not only the location information of the obstacle, but also the steering direction of the steering wheel (as described above).

[0048] In addition, the system also includes a display device, which includes but is not limited to an LCD display, which can display image data of obstacles, thereby facilitating the driver to perform avoidance and other operations.

[0049] An embodiment of the present application further provides a vehicle, the vehicle comprising the above-mentioned collision avoidance system. Exemplarily, the vehicle in the embodiment of the present application is a forklift.

[0050] The vehicle in the embodiment of the present application uses the above-mentioned anti-collision system, and uses an image acquisition device to obtain an image of an obstacle on the side of the vehicle. The information processing device obtains the position information of the obstacle based on the image data of the obstacle and also obtains the steering information of the vehicle's side steering, thereby generating a control instruction based on the position information and / or steering information, and executing the control instruction through the execution device to achieve vehicle anti-collision. The anti-collision system in the present application can monitor obstacles on the side of the vehicle and perform anti-collision operations, thereby improving the accuracy of the anti-collision system and thus improving the safety of vehicle driving.

[0051] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0052] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0053] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0054] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0055] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0056] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A collision avoidance system, applied to a vehicle, characterized in that: The system comprises: An image acquisition device, the image acquisition device being arranged at least on the left and right sides of the vehicle, and the image acquisition device being used to acquire image data of obstacles near the vehicle; A steering acquisition device, the steering acquisition device is used to obtain the steering information of the vehicle steering wheel; An information processing device, used to receive the image data from the image acquisition device, and obtain the position information of the obstacle according to the image data, and receive the steering information from the steering acquisition device, and the information processing device is also used to generate a control instruction according to the position information and / or the steering information; An execution device is used to receive the control instruction to execute the collision avoidance operation of the vehicle.

2. The system according to claim 1, characterized in that The position information includes at least the distance between the obstacle and the vehicle, and the information processing device is used to confirm the warning area where the obstacle is located according to the distance between the obstacle and the vehicle to generate the control instruction.

3. The system according to claim 2, characterized in that The warning area includes a first area, a second area and a third area, wherein the distance between the first area and the vehicle is greater than the distance between the second area and the vehicle, and the distance between the second area and the vehicle is greater than the distance between the third area and the vehicle.

4. The system according to claim 2, characterized in that The execution device includes an alarm, and the control instruction includes a first control instruction. The alarm is connected to the information processing device and receives the first control instruction. The first control instruction is generated after the information processing device confirms that the obstacle is in the alarm area; the alarm is used to sound an alarm according to the first control instruction.

5. The system according to claim 3, characterized in that The steering information at least includes the rotation direction of the vehicle steering wheel; the execution device also includes a motor driver, which is connected to the information processing device; the control instruction also includes a second control instruction, which is generated after the information processing device confirms that the obstacles on the left and right sides of the vehicle are in the second area and the rotation direction is opposite to the direction of the obstacles relative to the vehicle; the second control instruction is sent to the motor driver as a speed limit instruction so that the motor speed of the vehicle does not exceed a preset value.

6. The system according to claim 5, characterized in that The control instructions also include a third control instruction, which is generated after the information processing device confirms that the obstacle is in the third area and the rotation direction of the steering wheel is opposite to the direction of the obstacle relative to the vehicle; the third control instruction is sent to the motor driver as a deceleration instruction to slow down or stop the vehicle.

7. The system according to claim 3, characterized in that The image acquisition device is also arranged on the front and rear sides of the vehicle; the execution device also includes a motor driver, and the motor driver is connected to the information processing device; the control instruction also includes a second control instruction, and the second control instruction is generated after the information processing device confirms that the obstacles on the front and rear sides of the vehicle are in the second area. The second control instruction is sent to the motor driver as a speed limit instruction so that the motor speed of the vehicle does not exceed a preset value.

8. The system according to claim 7, characterized in that The control instructions also include a third control instruction, which is generated after the information processing device confirms that the obstacles on the front and rear sides of the vehicle are in the third area. The third control instruction is sent to the motor driver as a deceleration instruction to slow down or stop the vehicle.

9. The system according to any one of claims 1 to 8, characterized in that: The system further comprises a display device, which is connected to the image acquisition device and is used for receiving and displaying the image data.

10. The system according to any one of claims 1 to 8, characterized in that The system also includes a photosensitive sensor and a lighting component, both of which are connected to the information processing device. The photosensitive sensor is used to detect the light intensity of the vehicle's environment and send it to the information processing device. The information processing device is used to generate an indication signal after confirming that the light intensity is lower than a preset intensity and send it to the lighting component. The lighting component is used to start and illuminate according to the indication signal.

11. The system according to claim 4, characterized in that The alarm includes a voice alarm and / or a light alarm.

12. The system according to any one of claims 1 to 8, characterized in that The image acquisition device is a camera.

13. A vehicle, characterized in that: The vehicle comprises the collision avoidance system of any one of claims 1-12.

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