Vehicle warning system and vehicle warning procedure

Abstract

The present invention provides a vehicle warning system and a vehicle warning method. The vehicle warning system includes a driving environment estimation module configured to calculate a collision probability of a motor vehicle according to collision factors and generate and transmit collision probability information according to the collision probability of the motor vehicle; and a warning device configured to receive the collision probability information transmitted from the driving environment estimation module and transmit a collision warning signal by flashing a warning lamp based on the collision probability information. The flashing frequency of the warning lamp increases with the increase in the collision probability. When the collision probability is zero, the warning lamp is continuously turned on or off.The present invention can provide timely and accurate warnings to the outside world of the vehicle's driving environment. This improves the interactivity of traffic information for motor vehicles. Other road users can receive a timely prediction of safety risks. Traffic accidents can thus be avoided or reduced.

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of traffic, in particular to a vehicle warning system and a vehicle warning method. STATE OF THE ART

[0002] Nowadays, the installation and use rate of Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) in motor vehicles is steadily increasing. When the ADAS function is activated during vehicle operation or when the vehicle is in ADS mode, the personnel in the vehicle can be informed of the current status of the ADAS / ADS function and the driving status of the vehicle through the warning tone and text on the display. However, other road users outside the vehicle cannot be informed by any fixed method or means that the vehicle's driving is now controlled by the ADAS / ADS function. The ADAS / ADS function uses radar, cameras, and other sensors in the vehicle to collect environmental data and derive control decisions from this.Therefore, it is difficult to reliably ensure the accuracy and safety of the vehicle's control decisions.

[0003] Furthermore, road safety problems are becoming more severe with the steady increase in vehicle numbers. Rear-end collisions are common. Many modern vehicles are equipped with autonomous emergency braking (AEB) systems and adaptive cruise control (ACC) systems. These features focus on reducing the risk of collision with the vehicle itself, but do not provide adequate warning to other road users. For example, if a vehicle suddenly merges from the adjacent lane, a safe driving situation can suddenly turn into an emergency. On roads with a low road adhesion coefficient, such as in rain or snow, the risk of collision with motor vehicles increases due to the poor road surface condition and the longer braking distance.

[0004] From the perspectives of traffic information interactivity and safety improvement, there is therefore an urgent need to implement a vehicle warning system that can provide other road users with timely information about the status of the vehicle's ADAS or ADS functions and the risk level of the current driving environment. This can help predict safety risks in a timely manner and prevent or reduce traffic accidents.

[0005] It should be noted that the information in the above sections of "Prior Art" is disclosed only to facilitate understanding of the background of the present invention and may therefore contain information that is not known to those skilled in the art as prior art. SUMMARY OF THE INVENTION

[0006] To solve one or more of the above-mentioned problems existing in the prior art, the present invention provides a vehicle warning system and a method for warning of a driving condition of a motor vehicle.

[0007] The present invention provides a vehicle warning system comprising: a warning device provided to receive the collision probability information sent from the driving environment estimation module, and sends out a collision warning signal by flashing a warning lamp based on the collision probability information, wherein a flashing frequency of the warning lamp increases with the increase of the collision probability, wherein the warning lamp is continuously turned on when the collision probability is zero.

[0008] The vehicle warning system according to an embodiment of the present invention further comprises a driving environment estimation module configured to calculate a collision probability of a motor vehicle according to the collision factors and generate and transmit the collision probability information according to the collision probability of the motor vehicle, wherein the collision factors include one or more of the following factors: road adhesion coefficients, a relative driving speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environment conditions.

[0009] The vehicle warning system according to an embodiment of the present invention further comprises a driving state monitoring module provided to monitor a manual driving state, a driver assistance state, or an automated driving state of the motor vehicle, to generate driving state information based on the manual driving state, the driver assistance state, or the automated driving state, and to send it to the warning device.

[0010] In the vehicle warning system according to an embodiment of the present invention, the warning device may also receive the driving condition information sent from the driving condition monitoring module and transmit a driving condition warning signal with the warning lamp based on the driving condition information.

[0011] In the vehicle warning system according to an embodiment of the present invention, the driving state warning signal emitted by the warning lamp includes: different colors or patterns or a combination of colors and patterns of the warning lamp, each indicating the manual driving state, the driver assistance state, or the automated driving state of the motor vehicle.

[0012] The vehicle warning system according to an embodiment of the present invention further includes an error handling module provided to continuously acquire error information of the driving condition monitoring module, the driving environment estimation module, and the warning device, wherein the error handling module sends a command to turn off the collision warning signal and the driving condition warning signal to the warning device when it acquires error information.

[0013] In the vehicle warning system according to an embodiment of the present invention, the warning device includes one or more of the following: a front warning device at the front of the motor vehicle, a rear warning device at the rear of the motor vehicle, a left warning device at the left side of the motor vehicle, and a right warning device at the right side of the motor vehicle.

[0014] The present invention further provides a motor vehicle having the above-mentioned vehicle warning system.

[0015] The present invention also provides a vehicle warning method comprising: emitting a collision warning signal by flashing a warning lamp based on the collision probability information, wherein a flashing frequency of the warning lamp increases with the increase of the collision probability, wherein the warning lamp is steadily turned on or off when the collision probability is zero.

[0016] The vehicle warning method according to an embodiment of the present invention further comprises: calculating a collision probability of a motor vehicle according to the collision factors; generating collision probability information according to the collision probability of the motor vehicle; and transmitting collision probability information; wherein the collision factors include one or more of the following factors: road adhesion coefficients, a relative traveling speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environmental conditions.

[0017] The vehicle warning method according to an embodiment of the present invention further comprises: monitoring a manual driving state, a driver assistance state, and an automated driving state of the motor vehicle; generating driving state information based on the manual driving state, the driver assistance state, and the automated driving state, and transmitting driving state information; and transmitting a driving state warning signal with a warning light based on the driving state information.

[0018] In the vehicle warning method according to an embodiment of the present invention, emitting a driving condition warning signal with a warning lamp may include: displaying manual driving information, driver assistance information, or automated driving information of a vehicle through different colors or patterns or a combination of colors and patterns of the warning lamp.

[0019] The vehicle warning method according to an embodiment of the present invention further comprises: detecting error information continuously in generating and transmitting collision probability information and in generating and transmitting driving state information, wherein the collision warning signal and the driving state warning signal are turned off when the error information is detected.

[0020] The present invention also provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the inventive method for warning the driving condition of a motor vehicle are performed.

[0021] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the inventive method for warning the driving condition of a motor vehicle are performed.

[0022] The present invention also provides a computer program product comprising computer instructions. When the computer instructions are executed by a processor, the steps of the inventive method for warning the driving condition of a motor vehicle are performed.

[0023] The present invention allows the vehicle's surroundings to be warned in a timely and precise manner about the risk level of the driving environment. Other road users can receive a timely prediction of safety risks. Traffic accidents can thus be avoided or reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other features of the present invention will now be described in detail with reference to specific exemplary embodiments illustrated in the drawings. The exemplary embodiments are given below for illustrative purposes only and are not intended to limit the invention. In the drawings: Fig. 1 is a schematic diagram of a vehicle warning system according to an embodiment of the present invention; Fig. 2 is a schematic diagram of a vehicle warning system according to another embodiment of the present invention; Fig. 3 is a flowchart of a vehicle warning method according to an embodiment of the present invention; Fig. 4 is a flowchart of a vehicle warning method according to another embodiment of the present invention; Fig. 5 is a schematic diagram of an application state of a vehicle warning system according to an embodiment of the present invention. DESCRIPTION OF THE EMBODIMENTS

[0025] The present invention will be described in detail below according to specific embodiments so that those skilled in the art can easily implement the present invention based on the contents disclosed in this description. The embodiments described below are only some, but not all, embodiments of the present invention. Based on the embodiments described in this description, all other embodiments obtained by those skilled in the art without inventive work fall within the scope of the present invention. It should be noted that the embodiments and the features in the embodiments of this description can be combined with each other as long as there is no conflict.

[0026] In describing the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," "lateral," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings and are intended only to facilitate and simplify the description of the present invention. In other words, this does not imply that the device or element mentioned must have a particular orientation or be constructed and function in a particular orientation, and therefore should not be construed as limiting the present invention.

[0027] In light of the problems existing in the prior art, the inventor introduces a vehicle warning system for a motor vehicle to warn other road users outside the vehicle according to the risk level of the driving environment. By adjusting the flashing frequency of the warning light according to the traffic and road conditions, other road users outside the vehicle receive a timely prediction of safety risks. Road users are warned more accurately and in a timely manner, and the number of traffic accidents is reduced. This helps to increase the sense of safety and comfort of road users.

[0028] The vehicle warning system of the present invention includes a driving environment estimation module 1 and a warning device 2. The driving environment estimation module 1 can estimate the driving environment according to road adhesion coefficients, the relative traveling speed of the motor vehicle (host vehicle) with respect to other road users, the relative distance between the host vehicle and other road users, the mass of the motor vehicle, and traffic environment conditions. The warning device 2 emits a signal indicating the risk level of the driving environment. Note that the traffic environment conditions in the present invention include variables that cause changes in traffic conditions, such as the number of road users, the degree of traffic congestion, and the sudden behavior of other road users (such as sudden lane changes and merging, sudden deceleration).The present invention can provide timely and accurate warnings to the outside world of the vehicle's driving environment, improving the interactivity of traffic information for motor vehicles. Other road users outside the vehicle can receive timely predictions of safety risks, and traffic accidents can be avoided or reduced.

[0029] Hereinafter, embodiments of the present invention will be described with reference to Fig. 1 to Fig. 5 described. Example 1

[0030] Fig. 1 is a schematic diagram of a vehicle warning system 100 according to Embodiment 1 of the present invention.

[0031] As in Fig. As shown in Figure 1, the vehicle warning system of the present invention includes a driving environment estimation module 1 and a warning device 2. The driving environment estimation module 1 calculates the collision probability of the motor vehicle according to the collision factors of the motor vehicle in the manual driving state, the driver assistance state, or the automated driving state, and transmits the collision probability information according to the collision probability of the motor vehicle. The collision factors include, but are not limited to, road adhesion coefficients, a relative driving speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environment conditions (e.g., congestion level).The warning device 2 receives the collision probability information sent from the driving environment estimation module 1 and, in accordance with the collision probability information, emits a collision warning signal by flashing the warning lamp. The flashing frequency of the warning lamp increases with the increase in the collision probability. When the collision probability is zero, the warning lamp is continuously turned on or off. As described in detail below, the warning lamp can be turned off (extinguished) when the collision probability is zero and the motor vehicle is in the manual driving state. The warning lamp can remain continuously turned on (not flashing) when the motor vehicle is in the driver assistance state or the automated driving state. In this case, different colors (or warning light patterns, e.g.,square or circular patterns) can be selected to indicate whether the vehicle is in driver assistance mode or automated driving mode.

[0032] The driving environment estimation module 1 of the present invention estimates the collision risk (collision probability) of the motor vehicle according to parameters such as the road adhesion coefficient, the relative driving speed, the relative distance, the vehicle mass, and the traffic environment conditions, and sends a collision warning signal to the outside of the motor vehicle to indicate the risk level of the driving environment. Specifically, the road adhesion coefficient of the present invention is calculated using an extended Kalman filter (EKF) algorithm and the like. The driving speed is measured by a sensor or calculated by an algorithm. For the traffic environment conditions, data can be acquired by devices such as a camera, a millimeter-wave radar, etc. The driving environment estimation module 1 calculates the collision probability of the motor vehicle based on the acquired information.The collision probability is set between 0% and 100%, with 0% currently representing no collision risk. The larger the value, the higher the collision risk. The collision probability can be calculated using a neural network method, such as a Bayesian neural network. First, influencing factors must be selected, the dependencies between the factors determined, weights assigned, and then a model is built. Then, a large amount of measured road traffic data is sifted to train the model. By inputting the data of the influencing factors, the trained model can determine the collision probability. According to an embodiment of the present invention, the collision probability can be divided into several risk levels (stages) according to the calculated value, for example, five stages.The collision probability is then classified from highest to lowest as extremely high, high, medium, low, and extremely low. Warning device 2 emits different warning signals accordingly.

[0033] In order to enable road users outside the motor vehicle to easily recognize the warning device 2, in this embodiment the warning device 2 is preferably arranged on the outside of the vehicle body. Of course, the arrangement of the warning device 2 is not limited to the outside of the vehicle. Those skilled in the art can also choose other suitable locations for installing the warning device that are easily recognizable to road users outside the vehicle. As a preferred solution of the above embodiment, the warning device 2 of this embodiment can also preferably comprise one or more of the following: a front warning device at a front of the motor vehicle, a rear warning device at a rear of the motor vehicle, a left warning device at a left side of the motor vehicle, and a right warning device at a right side of the motor vehicle.

[0034] When driving a motor vehicle, as in Fig. As shown in Figure 5, the front warning device can warn the oncoming vehicle in front of the vehicle, allowing the oncoming vehicle in front to initiate evasive maneuvers such as steering in advance. The rear warning device can warn the vehicle coming behind the vehicle, allowing the vehicle coming behind the vehicle to perform evasive maneuvers such as braking. The left warning device and the right warning device respectively warn road users on the left and right sides of the vehicle, allowing road users on the left and right sides to maintain a safe distance in advance.

[0035] Based on the above embodiment, the front warning device may preferably include one or more warning lights arranged at the front of the motor vehicle. The rear warning device may preferably include one or more warning lights arranged at the rear of the motor vehicle. The left warning device may preferably include one or more warning lights arranged on the left side of the motor vehicle. The right warning device may preferably include one or more warning lights arranged on the right side of the motor vehicle. Of course, the number and shape of the warning device 2 of the present invention are not limited to the above-mentioned embodiments.The present invention can also be used with any other warning device that is visible to road users outside the vehicle, for example a warning light strip running in a ring around the vehicle body.

[0036] In order to allow the road user to look straight ahead but not too far down or up at the display module, the installation height of the warning device 2 of this embodiment is preferably greater than 250 mm and at the same time less than 1500 mm.

[0037] There are some areas around the vehicle that are difficult for road users to see directly, creating blind spots in the field of vision. To ensure that the driver can be informed via the warning lights, the installation of warning lights in blind spots should be avoided. In this embodiment, the warning device 2 is preferably installed above the running board and below the spoiler, and installation on the window pane, the front and rear windows, and the areas above them should be avoided.

[0038] To ensure that the driver can clearly see the information from the warning device 2, it must also be ensured that the installation location of the warning device 2 can be easily observed. This can be achieved, in particular, by adjusting the warning device 2. For example, the angle and color of the warning lights can be adjusted. The warning lights are aligned parallel to the line of sight of road users and their striking color increases their visibility.

[0039] Finally, when installing the system of the present invention, ensure that the installation location of the warning light complies with local laws and regulations to avoid illegal acts and traffic accidents.

[0040] As preferred embodiments of the present invention, the warning light can be installed at the following locations: (1) Vehicle logo as a warning light: The vehicle logo can be configured as a warning light, provided relevant laws and regulations are complied with. Road users can easily identify the status of the warning light by looking straight ahead without having to look away. This configuration combines brand identity and safety features, thus improving overall usability. (2) Continuous warning lights: Continuous warning lights on the rear or front of a vehicle are more conspicuous and have a greater warning effect. This design improves the vehicle's visibility and provides additional reliability in poor visibility conditions. By selecting the appropriate color and flashing frequency, this warning light can effectively warn other road users. (3) Wheel brow warning light: The wheel brow warning light is a unique and practical design. In this embodiment, it is preferable to install the warning light around the fender or to design the entire fender as a surrounding warning light. This allows for more and more conspicuous warning lights to be installed on both sides of the vehicle, which can more easily attract the attention of other road users and thus increase driving safety. (4) Door handle warning light: Installing a warning light on the door handle can reduce production costs by combining it with the ambient lighting of the door handle. At the same time, the warning light on the door handle can serve as a warning when other road users approach the vehicle, increasing the vehicle's utilization rate.

[0041] Based on the vehicle warning system of Embodiment 1, the present invention also provides a motor vehicle equipped with the above-mentioned vehicle warning system. Those skilled in the art should understand that, in the present invention, the driving condition monitoring module, the driving environment estimation module, and the warning device can be customized and installed in a motor vehicle depending on the vehicle type, vehicle configuration, and production and assembly platform. This improves the interactivity of traffic information and avoids traffic risks caused by the advanced driver assistance system (ADAS) / automated driving system (ADS) and dangerous road conditions.

[0042] The vehicle warning method according to Embodiment 1 of the present invention will be described below in connection with Fig. 3 is described in more detail. The following steps are included: S11: Calculate the collision probability of the motor vehicle according to the collision factors of the motor vehicle in the manual driving state, the driver assistance state, or the automated driving state, generate the collision probability information according to the collision probability of the motor vehicle, and transmit the collision probability information. The collision factors include one or more of the following factors: road adhesion coefficients, a relative driving speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environmental conditions. S21: Emitting a collision warning signal by flashing a warning light based on the collision probability information. The flashing frequency of the warning light increases with the increase in the collision probability. When the collision probability is zero, the warning light is continuously turned on or off.

[0043] During operation, the warning device 2 receives the collision probability information sent from the driving environment estimation module 1. When the collision probability is greater than 0%, the warning light of the warning device 2 flashes to warn the driving environment outside the vehicle. When the probability is zero, the warning light is constantly on or off.

[0044] Through the above features, this embodiment can timely and accurately display the status of the driver assistance system (ADAS) / automated driving system (ADS) of the host vehicle to the outside world. The driving environment outside the vehicle can also be warned. Other road users can receive a timely prediction of safety risks. Traffic accidents can thus be avoided or reduced. Example 2

[0045] Fig. 2 is a schematic diagram of a vehicle warning system 100' according to Embodiment 2 of the present invention.

[0046] As in Fig. As shown in Figure 2, a vehicle warning system according to another embodiment of the present invention includes a driving environment estimation module 1', a warning device 2', a driving state monitoring module 3', and a fault handling module 4'. The driving state monitoring module 3' monitors the driving state of the motor vehicle. In other words, it monitors whether the motor vehicle is in a manual driving state, a driver assistance state, or an automated driving state. The driving state monitoring module acquires manual driving information, driver assistance information, or automated driving information of the motor vehicle. The driving environment estimation module 1' calculates the collision probability of the motor vehicle according to the collision factors, generates collision probability information according to the collision probability of the motor vehicle, and transmits the collision probability information.The collision factors include one or more of the following factors: road adhesion coefficients, a relative driving speed of the vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environment conditions. The warning device 2' receives the collision probability information sent from the driving environment estimation module 1' and emits a collision warning signal by flashing a warning light according to the collision probability information. The flashing frequency of the warning light increases with the increase in the collision probability. When the collision probability is zero, the warning light is continuously on or off.

[0047] Furthermore, the warning device 2' also receives the driving condition information transmitted from the driving condition monitoring module 3' and transmits a driving condition warning signal with the color and / or pattern of the warning light corresponding to the driving condition information. As an example, the driving condition warning signal transmitted by the warning light of the present invention may optionally include: a first color signal for indicating a manual driving condition, a second color signal for indicating an automated driving condition, and a third color signal for indicating a driver assistance condition. The first color signal, the second color signal, and the third color signal preferably include a permanently illuminated condition signal indicating a motor vehicle collision probability of zero and a flashing condition signal indicating a motor vehicle collision probability greater than zero.This design allows information about the driving condition and collision probability of a motor vehicle to be communicated more clearly, allowing other road users to understand it better and react accordingly. In particular, when the motor vehicle is in a manual driving condition, the first color signal is continuously lit to indicate that the vehicle is under driver control. When the motor vehicle is in an automated driving condition, the second color signal is continuously lit to indicate that the vehicle is under automated driving control. When the motor vehicle is in the driver assistance condition, the third color signal is continuously lit to indicate that the vehicle is in the driver assistance condition. When the second and third color signals are illuminated, other road users must remain alert, exercise the necessary caution, and take the necessary measures.If the probability of a motor vehicle causing a collision is greater than zero, the first color signal, the second color signal, and the third color signal will flash to attract the attention of other road users. They are alerted to initiate appropriate evasive maneuvers. Alternatively, when the vehicle is in manual drive mode, the warning light can be deactivated (the warning light goes out) even if the probability of the vehicle causing an accident is zero. This solution can significantly improve road safety and reduce the number of traffic accidents.In summary, by emitting signals of different colors and states, the warning light of this embodiment can clearly convey information about the vehicle's driving condition and collision probability, helping other road users to be better informed of the situation and react accordingly, thereby improving road safety. Those skilled in the art should understand that, although the above describes the driving condition as an example using different color signals, it is also possible to implement a warning light with a pattern or shape to indicate the driving condition. This is also within the scope of the present invention.

[0048] The error handling module 4' continuously acquires error information from the driving condition monitoring module 3', the driving environment assessment module 1', and the warning device 2'. After the error handling module 4' has acquired the error information, it sends a command to deactivate the corresponding warning signal to the warning device 2'. Those skilled in the art should understand that the aforementioned driving condition monitoring module 3' preferably uses sensors, programs, or software capable of acquiring information about the driver assistance system and / or the automated driving system of motor vehicles. A combination of sensors, programs, and software is also possible.

[0049] As in Fig. 1 and Fig. As shown in Figure 2, the difference between Embodiment 2 and Embodiment 1 is that the vehicle warning system 100' of Embodiment 2 additionally includes a fault handling module 4'. The fault handling module 4' of this embodiment is provided to monitor the operation of the driving condition monitoring module 3', the driving environment estimation module 1', and the warning device 2', and timely eliminates the problem that the warning device 2' is frequently turned on or off due to faults in the driving condition monitoring module 3', the driving environment estimation module 1', and the warning device 2'. Therefore, false alarms of warning information are avoided, and the stability and reliability of the vehicle warning system of the present invention are improved.

[0050] In this embodiment, by changing the color and flashing frequency of the warning light, other road users can more easily recognize the driving condition of the vehicle and the warning signals of the external driving environment and take appropriate measures to reduce the risk of traffic accidents. Furthermore, this change also helps reduce drivers' eye fatigue. Experiencing a single color and flashing frequency of the warning light for an extended period of time can cause eye fatigue in other road users, thus impairing their judgment and ability to react to traffic conditions. By changing the color and flashing frequency, the visual senses of other road users can be stimulated, making them more attentive and alert, thus improving driving safety.

[0051] It should be noted that for a motor vehicle with a higher degree of automated driving, the driving state monitoring module 3' in the vehicle warning system 100' of the present invention can be configured to automatically monitor the manual driving state, the driver assistance state, or the automated driving state of the motor vehicle. For a motor vehicle with a lower degree of automated driving, such as a vehicle below level L3, the vehicle warning system of the present invention can be configured to allow the driver to directly manually, e.g., by pressing a button, send the manual driving state information, the driver assistance state information, or the automated driving state information to the driving state monitoring module 3'.Similarly, in the vehicle warning system 100' of this embodiment, the driving environment estimation module 1' can be activated manually by the driver or automatically when the vehicle is in the manual driving state. If the driving environment estimation module 1' detects a collision risk for the motor vehicle, the warning module 2' transmits a corresponding collision warning signal to the outside.

[0052] As an embodiment of the present invention, when the motor vehicle is in the manual driving state, the warning light of the warning module 2' emits a green signal to indicate that the vehicle is in the manual driving state. When the motor vehicle is in the driver assistance state, the warning module 2' emits a yellow warning signal to indicate that the vehicle is in a driver assistance state. When the motor vehicle is in an automated driving state, the warning module 2' emits a red warning signal to indicate that the vehicle is in the automated driving state.When the driving environment estimation module 1' determines a collision risk for the motor vehicle based on various parameters (collision probability greater than 0%), for example, when the road surface becomes slippery and the relative distance between the motor vehicle and other vehicles decreases, the warning light of the warning module 2' may preferentially flash to further warn the driving environment outside the motor vehicle. For example, when a motor vehicle is in the driver assistance state and there is a collision risk (collision probability greater than 0%), the yellow warning light flashes at different frequencies depending on the magnitude of the collision probability or the collision risk degree. When the collision probability is low or the collision risk is low, the danger degree of the driving environment is low.At this time, the flashing frequency of the yellow warning light is low, which signals road users to increase their attention. As the collision probability or collision risk increases, the flashing frequency of the warning light increases, prompting road users to take corresponding measures to avoid a collision. When the collision probability or collision risk is high, the flashing frequency of the collision warning light is in a higher range, prompting road users to take urgent measures to avoid a collision. The warning light of this embodiment can timely and accurately warn other road users of road hazards through flashing. For example, when a rear-end collision occurs on a highway, the flashing frequency of the warning light can warn of the danger level of the current driving environment.The flashing frequency of the road condition warning light allows vehicles behind to receive timely information about the level of danger ahead and take appropriate precautionary measures in advance.

[0053] The vehicle warning method according to Embodiment 2 of the present invention will be described below in connection with Fig. 4. The procedure includes: S11': Calculating the collision probability of the motor vehicle according to the collision factors of the motor vehicle in the manual driving state, the driver assistance state, or the automated driving state, generating the collision probability information according to the collision probability of the motor vehicle, and transmitting the collision probability information. The collision factors include one or more of the following factors: road adhesion coefficients, a relative driving speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle, and traffic environmental conditions. S21': Emitting a collision warning signal by flashing a warning light based on the collision probability information. The flashing frequency of the warning light can increase with the increase in the collision probability. When the collision probability is zero, the warning light is continuously turned on or off. S121': Monitoring the manual driving state, the driver assistance state and the automated driving state of the motor vehicle. S122': Generating driving state information corresponding to the manual driving state, the driver assistance state, and the automated driving state, and transmitting driving state information. S22': Receiving the driving condition information sent from the driving condition monitoring module and emitting a driving condition warning signal with a warning light based on the driving condition information. S31': Continuously detect error information while generating and transmitting collision probability information and while generating and transmitting driving state information. When the error information is detected, the collision warning signal and the driving state warning signal are deactivated.

[0054] During operation, the warning device 2' receives the driving state information sent from the driving state monitoring module 3' and the collision probability information sent from the driving environment estimation module 1'. On the one hand, when the motor vehicle is in the manual driving state, the driver assistance state, or the automated driving state, the warning device 2' turns the warning light of the corresponding color on or off. On the other hand, when the collision probability is greater than 0%, the warning light of the warning device 2' continues to warn the driving environment outside the motor vehicle by flashing a warning light of the corresponding color. The fault detection module 4' detects the fault information generated by the driving state monitoring module 3', the driving environment estimation module 1', and the warning device 2'.After the error information is acquired, the error detection module sends a command to the warning device 2' to deactivate the corresponding warning signal. The warning device 2' deactivates the collision warning signal and / or the driving condition warning signal. Step S11' is then repeated.

[0055] Through the implementations of Embodiment 2, the present invention can effectively eliminate the problem of frequent activation or deactivation of the warning device. Therefore, false alarms of warning information are avoided, thus improving the stability and reliability of the vehicle warning system. Therefore, the status of the advanced driver assistance system (ADAS) / automated driving system (ADS) of the host vehicle can be displayed to the outside world of the vehicle in a timely and accurate manner. Thus, other road users can obtain a timely prediction of safety risks. Traffic accidents can also be avoided or reduced.

[0056] According to the above embodiment, the present invention provides a computing device that can be a computing device integrated into a motor vehicle as a vehicle information system. The computing device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the warning method of the vehicle warning system according to this embodiment can be performed.

[0057] Furthermore, the present invention provides a computer-readable storage medium on which a computer program is stored. The computer-readable medium may be included in the system of the above embodiments. It may also exist separately without being incorporated into the system. The computer-readable medium contains one or more programs. When the program or more programs are executed by the system, the system can perform the steps of the warning method of the vehicle warning system according to this embodiment.

[0058] According to the above-mentioned embodiment, the present invention further provides a computer program product containing computer instructions. When the computer instructions are executed by a processor, the steps of the warning method of the vehicle warning system can be implemented.

[0059] In particular, the operations described above with reference to the flowcharts in the drawings can be implemented in the embodiments as computer software programs. For example, the embodiments disclosed in the description of the present application include a computer program product comprising a computer program carried by a computer-readable medium. The computer program includes program code for executing the method shown in the flowcharts of the drawings. The method of the present application is carried out by the processor executing the computer program.

[0060] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or element, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: computer magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0061] In the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be executed by or in association with an instruction-executing system, apparatus, or device. In the present application, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code carried in the data signal. Such propagated data signals may take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium.The computer-readable medium can broadcast, distribute, or transmit the program used by or in connection with an instruction-executing system, apparatus, or device. Program code embodied on a computer-readable medium can be transmitted over any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0062] Computer program code for performing the operations of the present application may be written in one or more programming languages; the aforementioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also conventional procedural programming languages such as "C" language or a similar programming language. The program code may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it may be connected to an external computer (e.g., via the Internet through an Internet service provider).

[0063] The flowcharts and block diagrams in the accompanying drawings illustrate, by way of example, the possible implementation architecture, functions, and operations of systems, methods, and computer program products according to embodiments of the present application. Each block in the flowchart or block diagram may represent a module, program segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should be noted that in some alternative embodiments, the functions specified in the block may occur in a different order than shown in the figures. For example, two blocks shown consecutively may actually execute substantially in parallel, or sometimes in reverse order, depending on the functionality involved.It should also be noted that each block of the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented using a combination of special purpose hardware and computer instructions.

[0064] The units or modules involved in the embodiments of the present application can be implemented in software or hardware. The above-mentioned units or modules can also be arranged in a processor. For example, it can be described as: a processor comprising a first acquisition module, a second acquisition module, a determination module, and a display module, etc. The names of these units or modules do not, in some cases, represent a limitation on the units or modules themselves.

[0065] In this exemplary embodiment, respective information is collected via the driver assistance system and the automated driving system, and different warning signals are emitted. By identifying different warning signals, road users outside the vehicle can recognize the respective driving condition and thus differentiate between different driving risks. This makes it easier for road users outside the vehicle to take more appropriate and safer driving response maneuvers.

[0066] In summary, in particular, the following technical effects can be achieved according to the technical solutions of the present invention: (1) In the present invention, the driving environment is estimated according to the road adhesion coefficients, the relative driving speed and the relative distance with respect to other road users, the mass of the motor vehicle and the traffic conditions, and a warning about the risk degree of the driving environment is issued, thereby reducing the risk of collision. (2) The present invention introduces a vehicle warning system for a motor vehicle, which enhances the interactivity of traffic information. This allows the vehicle's manual driving state, driver assistance state, or automated driving state to be displayed timely and accurately to the outside world of the vehicle, thereby enabling other road users to obtain timely predictions of safety risks and prevent or reduce traffic accidents. (3) In the present invention, the problem of frequent erroneous turning on and off of the warning device can be effectively eliminated by monitoring the error information of the vehicle warning system, thereby avoiding false alarms of warning information and improving the stability and reliability of the vehicle warning system.

[0067] It is understood that the structures illustrated in the drawings are merely schematic and may include more or fewer modules or components than those illustrated, or may have a different configuration than the illustrated configuration. It is understood that those skilled in the art may adaptively adapt the structure, position, or function of the relevant components when implementing the present invention using embodiments that are not exhaustively listed in this description.

[0068] It is understood that the technical features listed above for various embodiments can be combined with one another, where technically possible, to form further embodiments within the scope of the present invention. Furthermore, the specific examples and embodiments described herein are not limiting. The structures, dimensions, and materials presented above can be modified accordingly without departing from the scope of the present invention.

[0069] In this application, the use of disjunctive conjunctions is to be understood as including the conjunctions. The use of the definite or indefinite article does not restrict cardinality. Reference to "the" object or "an" object can, in particular, each represent one possible object from a plurality of such objects. Furthermore, the conjunction "or" can indicate that features can exist simultaneously without being mutually exclusive. In other words, the conjunction "or" is to be understood as also including "and / or." The term "comprise" is inclusive and has the same scope as "contain."

[0070] The embodiments described above, especially any "preferred" or "alternative" embodiments, are possible examples of embodiments and are presented merely to clarify the principles of the invention. Numerous variations and modifications may be made to the embodiments described above without materially departing from the spirit and principles of the technique described herein. All changes are intended to be within the scope of this disclosure.

[0071] All documents mentioned in the present description are incorporated by reference into this application, just as each individual document would be fully incorporated by reference into the present description.

[0072] It should also be understood that after reading the above description of the present invention, one skilled in the art can make all sorts of changes or modifications to the present invention. These equivalent forms also fall within the scope of the present invention.

Claims

[1] Vehicle warning system, characterized by , the vehicle warning system includes: a warning device arranged to emit a collision warning signal by flashing a warning light based on the collision probability information, wherein a flashing frequency of the warning light increases with the increase of the collision probability, wherein the warning light is continuously switched on or off when the collision probability is zero. [2] Vehicle warning system according to claim 1, characterized bythat the vehicle warning system further comprises a driving environment estimation module arranged to calculate a collision probability of a motor vehicle according to the collision factors and to generate and transmit the collision probability information according to the collision probability of the motor vehicle, wherein the collision factors comprise one or more of the following factors: road adhesion coefficients, a relative driving speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle and traffic environment conditions. [3] Vehicle warning system according to claim 2, characterized bythat the vehicle warning system further comprises a driving state monitoring module which is provided such that it monitors a manual driving state, a driver assistance state or an automated driving state of the motor vehicle, that it generates driving state information based on the manual driving state, the driver assistance state or the automated driving state and sends it to the warning device. [4] Vehicle warning system according to claim 3, characterized by that the warning device also receives the driving condition information sent from the driving condition monitoring module and, based on the driving condition information, emits a driving condition warning signal with the warning light. [5] Vehicle warning system according to claim 4, characterized bythat the driving condition warning signal emitted by the warning lamp comprises: different colours or patterns or a combination of colours and patterns of the warning lamp, each indicating the manual driving condition, the driver assistance condition or the automated driving condition of the motor vehicle. [6] Vehicle warning system according to claim 4, characterized by that the vehicle warning system further comprises an error handling module arranged to continuously detect error information of the driving condition monitoring module, the driving environment estimation module and the warning device, wherein the error handling module sends a command to turn off the collision warning signal and the driving condition warning signal to the warning device when it detects error information. [7] Vehicle warning system according to one of claims 1 to 6, characterized bythat the warning device comprises one or more of the following: a front warning device at the front of the motor vehicle, a rear warning device at the rear of the motor vehicle, a left warning device at the left side of the motor vehicle, and a right warning device at the right side of the motor vehicle. [8] Motor vehicle, comprising a vehicle warning system according to one of claims 1 to 7. [9] Vehicle warning procedure, characterized by , the vehicle warning procedure includes: Emitting a collision warning signal by flashing a warning light based on the collision probability information, wherein a flashing frequency of the warning light increases with the increase of the collision probability, wherein the warning light is continuously switched on or off when the collision probability is zero. [10] Vehicle warning method according to claim 9, characterized bythat the vehicle warning procedure further includes: Calculating a collision probability of a motor vehicle according to the collision factors, Generating collision probability information according to the collision probability of the motor vehicle, and transmitting collision probability information, wherein the collision factors include one or more of the following factors: road adhesion coefficients, a relative travel speed of the motor vehicle with respect to other road users, a relative distance between the motor vehicle and other road users, the mass of the motor vehicle and traffic environmental conditions. [11] Vehicle warning method according to claim 10, characterized by that the vehicle warning procedure further includes: Monitoring a manual driving state, a driver assistance state and an automated driving state of the motor vehicle; Generating driving state information based on the manual driving state, the driver assistance state and the automated driving state, and sending driving state information; and Emitting a driving condition warning signal with a warning light based on the driving condition information. [12] Vehicle warning method according to claim 11, characterized by that the transmission of a driving condition warning signal with a warning light includes: Indicating a vehicle's manual driving information, driver assistance information, or automated driving information through different colors or patterns, or a combination of colors and patterns, of the warning light. [13] Vehicle warning method according to claim 10, characterized by that the vehicle warning procedure further includes: Acquiring error information continuously while generating and transmitting collision probability information and while generating and transmitting driving condition information, wherein the collision warning signal and the driving condition warning signal are turned off when the error information is acquired. [14] A computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized by that the steps of the method according to one of claims 9 to 13 are carried out when the processor executes the computer program. [15] Computer-readable storage medium on which a computer program is stored, characterized by that the steps of the method according to one of claims 9 to 13 are carried out when the computer program is executed by a processor. [16] Computer program product containing computer instructions, characterized bythat the steps of the method according to any one of claims 9 to 13 are carried out when the computer instructions are executed by a processor.

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