Safe driving support system and method for improving judgment accuracy and issuing early warnings

Abstract

To provide a system and method for assisting safe driving that improves the determination accuracy to issue an early warning.SOLUTION: The system and method for assisting safe driving that improves the determination accuracy to issue an early warning include: an information collection module that mainly senses the environment around an own vehicle; and a processing unit that makes an analysis and a determination. A positioning communication module provides exchange and sharing between a positioning signal and positioning information. The processing unit reliably increases the range in which the analysis and determination are made and the number of targets. This improves the determination accuracy to issue early warning more quickly, and to cause a driver to receive the early warning before approaching a dangerous situation, so that comfort and safety during driving are improved.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to the technical field of vehicle-mounted image capture and monitoring systems, and to the application of assisted driving, in particular to a safe driving support system and method for improving the accuracy of the system's prior judgments through the exchange of information. [Background technology]

[0002] In recent years, advanced driver assistance systems (ADAS) have become a key development direction for factories. They mainly use various sensors installed in vehicles to collect external environmental data from the vehicle itself, and the electronic control unit (ECU) analyzes and processes the information collected by the sensors to warn the driver of possible dangerous situations in advance, allowing the driver to respond in advance, or the system can assist in emergency response in the event of an emergency, thereby reducing the occurrence of accidents.

[0003] ADAS includes a variety of support functions, such as a blind spot detection system (BSD), an autonomous emergency braking system (AEB), a parking aid system (PAS), an adaptive cruise control system (ACC), a lane departure warning system (LDW), and a forward collision warning system (FCW). In addition, in conjunction with sensors installed inside the vehicle, they can recognize the driver's face, determine the driver's level of concentration, and monitor and warn the driver's physiological condition. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-217978 A Summary of the Invention [Problem to be solved by the invention]

[0005] Regarding the above-mentioned conventional driving assistance systems, the accuracy of the systems is based on the number of sensors installed in the vehicle, the detection quality, and the computational processing technology for analysis and judgment, but in order to improve the accuracy, it is necessary to use high-precision detection devices, chips, and other components, which are expensive and difficult to achieve the goal of universal application. In addition, since the information source of such systems is mainly based on the sensors installed in the vehicle itself, the analysis range is limited, and even if an early warning is issued in an emergency, the driver may not have enough time to react. For example, in general driving, in addition to keeping a safe distance from the preceding vehicle using the method of calculating the distance between vehicles or the method of calculating the distance in time, most drivers refer to the driving condition of the preceding vehicle to determine whether to accelerate or decelerate, but the minimum safe distance is insufficient to ensure safety when driving at high speeds, and when the driver sees the brake lights of the preceding vehicle on, it often takes time to detect this and decide whether to change the speed (judging that the preceding vehicle is slowing down or making a sudden stop), and with a detection time of only 1 to 2 seconds (sliding about 55m for 2 seconds at 100km / h), the safe distance to apply the brakes is insufficient, and the possibility of colliding with the preceding vehicle becomes very high. Conventional driving systems assist the driver to detect the safe distance, but in reality, the conditions of each vehicle (weight load, tire function, brake function, stopping distance, etc.) are different, and the detection and recognition function of the system is limited, and it is not possible to completely avoid danger by simply relying on the support of the system. In 2009, the Swiss company AXA Winterthur Insurance Company conducted a study on "Braking Time - Traffic Accident Rate" and found that if the driver could be notified 1.5 seconds in advance, 90% of rear-end collisions could be avoided, and if the driver could be notified 2 seconds in advance, almost all types of crashes could be avoided.

[0006] In addition, in practice, there are inevitably exceptions where the system does not issue a warning as expected due to insufficient detection, such as a person or vehicle suddenly appearing behind a pillar or low wall, or the accuracy of environmental detection analysis decreasing at night, or being prone to misjudgment in thick fog or heavy rain. These indicate that at the current stage, driving assistance systems still have many deficiencies and room for improvement. [Means for solving the problem]

[0007] Currently known safe driving support systems are generally structured to have an information collection module and a processing unit, with the information collection module including a number of on-board sensors that detect and acquire sensory information around the vehicle, and the processing unit being connected to the information collection module, recognizing people and vehicles around the vehicle based on the sensory information, analyzing and judging the information, and then outputting a control signal to control deceleration or issue a warning signal, thereby achieving the effect of safe driving support.

[0008] The main objective of the present invention is to provide a safe driving support system and method for improving judgment accuracy and issuing early warnings. By sharing sensing information and positioning information, the scope and number of objects that the system analyzes and judges can be significantly increased, thereby improving the system's ability to make pre-judgments and issuing earlier warnings with improved judgment accuracy, allowing the driver to receive early warnings before approaching a dangerous situation and respond early to possible approaching dangers.

[0009] In order to achieve the above-mentioned effects and objectives, the method of improving judgment accuracy and issuing early warnings of the present invention is applied to a safe driving support system, and mainly includes the steps of (a) providing a positioning communication module connected to a processing unit; (b) acquiring a positioning signal by the positioning communication module and locating the own vehicle positioning information of the own vehicle and surrounding people and vehicles; (c) acquiring extended positioning information of other people and vehicles via wireless communication by the positioning communication module; (d) consolidating the own vehicle positioning information and the extended positioning information, and cross-verifying all people and vehicles within a specified distance range; and (e) analyzing and judging the dynamic changes of all people and vehicles, and outputting a control signal.

[0010] In short, the safe driving support system provided by the present invention mainly comprises an information collection module, a processing unit, and a positioning communication module, the information collection module including a plurality of on-board sensors that detect and obtain sensory information around the vehicle, the processing unit being connected to the information collection module and recognizing people and vehicles around the vehicle based on the sensory information, and outputting a control signal after analyzing and judging, and the positioning communication module being connected to the processing unit and obtaining a positioning signal and transmitting the positioning information. In this safe driving support system, the processing unit determines the positioning information of the vehicle and the people and vehicles around it based on the positioning signal, obtains expanded positioning information of other people and vehicles through the positioning communication module, combines the vehicle positioning information and the expanded positioning information, cross-verifies all people and vehicles within a specified distance range, and analyzes and judges the dynamic changes of all people and vehicles to output the control signal.

[0011] As a result, the safe driving support system according to the present invention, through positioning and information sharing, calibrates and finds many objects that the system cannot detect itself (objects generally refer to objects having dynamic states that are recognized by the system, and in this application refer to people and vehicles), and then makes subsequent judgments, improving accuracy and issuing safety warnings in advance. Compared with conventional driving systems (which detect objects within a limited range using on-board sensors), the present invention can detect a wider distance range, provide early warning before approaching danger, and not only overcome the problem of limitations imposed by the sensor environment, but also eliminate the need for sensors that are too expensive and not widely available, and achieve the effect of more accurately judging objects through calibration of multi-directional information, improving accuracy, and being widely used.

[0012] By utilizing the present invention, it is no longer limited to monitoring at a minimum safe distance, but can continuously observe the dynamic state of objects other than the traditional safe distance, and if a risk is judged to exist, provide an earlier early warning, thereby allowing the driver to respond several seconds earlier; known research (such as the aforementioned AXA Winterthur Insurance Company research study in 2009) has shown that when the driver receives a warning, even if he cannot see or cannot clearly see the accident ahead, he can slow down early to provide an early warning, and when he follows and approaches the accident area, he has already received the warning notification and can directly respond to avoid the danger, and there is no need to judge the scene in the critical moment in a few seconds (resulting in insufficient stopping distance), so the incidence of rear-end collisions can be almost completely avoided.

[0013] According to the above configuration of the present invention, the vehicle-mounted sensor in the information collection module is one or a combination of millimeter wave radar, ultrasonic radar, thermal sensor radar, optical radar, or image sensor. The processing unit is an ECU (Electronic Control Unit, vehicle-mounted microcontroller), which performs analysis, calculation, and judgment, and outputs control signals. The positioning communication module includes a satellite positioning unit and a wireless communication unit, the satellite positioning unit receives satellite (GPS) positioning signals, and the wireless communication unit connects to a wireless communication network to obtain LBS positioning signals, and transmits positioning information through the wireless communication network.

[0014] In a possible embodiment, the processing unit collectively analyzes the satellite (GPS) positioning signals and LBS positioning signals acquired by the positioning communication module to estimate the position of the vehicle, and can estimate the positions of surrounding objects (people and vehicles) from the sensing direction and distance based on the information sensed by the on-board sensors at the position of the vehicle, collectively generate vehicle positioning information, share the vehicle positioning information with the outside via the wireless communication unit, and obtain extended positioning information provided by other people or vehicles from the outside. After cross-validation, analyze the positions of all objects within a specified distance range (which is much larger than the detection range of the vehicle), collectively analyze the trends and movement amounts (i.e., movement direction and speed) of all objects in a time series, and generate a distance-related warning threshold according to the trends and movement amounts of the vehicle, and output the control signal if it is determined that the movement amount of an object moving away at a certain distance is lower than the corresponding warning threshold.

[0015] The control signal is used for accelerator control, brake control, warning control, etc., for example, it is output to the vehicle's power system, and when the warning standard is reached, the accelerator is automatically released or the brakes are applied to perform deceleration control, or it is output to an alarm such as a buzzer or voice announcer to provide an audio warning to the driver, and the predetermined distance range is determined according to the needs of use, for example, it can be increased or decreased according to the speed of the vehicle, or it can be set accordingly to the driving state, and by setting an appropriate range, it is possible to avoid analyzing unnecessary objects excessively and affecting the effect.

[0016] Furthermore, the present invention can be further combined with a map system (e.g., Geographic Information System, GIS) to organize the dynamic status of all positioned objects (people and vehicles) into a virtual map interface, which is output and displayed on a display, and in a possible embodiment, the processing unit is connected to a map database and obtains map information provided therefrom, which belongs to a storage unit in the system for storage or a remote map database connected via a wireless communication unit. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing an overview of a system according to the present invention. [Diagram 2] FIG. 1 is a diagram showing a configuration of a system according to the present invention. [Diagram 3] FIG. 2 is a diagram showing a state in which positioning information is transmitted according to the present invention; [Figure 4] FIG. 1 is a diagram showing an actual application state of the present invention. [Diagram 5] FIG. 5 illustrates the map interface of FIG. 4. [Figure 6] FIG. 13 is a diagram showing a map interface, which is another practical application state of the present invention. [Figure 7] FIG. 13 is a diagram showing a map interface, which is yet another actual application state of the present invention. [Figure 8] FIG. 13 is a diagram showing a map interface, which is yet another actual application state of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] In order to concretely and easily understand the above-mentioned objects, features, and functions of the present invention, preferred embodiments are given below and will be described in conjunction with the drawings.

[0019] 1 to 3, the main system configuration of the safe driving support system 1 of the present invention includes a processing unit 10, an information collection module 20, and a positioning communication module 30. The information collection module 20 is connected to the processing unit 10 and includes a plurality of on-board sensors, each of which senses the surroundings of the vehicle and provides the acquired sensing information to the processing unit 10, and the positioning communication module 30 is connected to the processing unit 10 and acquires a positioning signal and provides it for calculation by the processing unit 10, and can transmit the positioning information via a wireless communication network provided by a base station BS, and the processing unit 10 is an on-board microcontroller ECU (Electronic Control Unit), performs analysis and calculation, makes a decision based on a pre-set condition, and outputs a control signal, which may be a signal output to a power system of the vehicle to control the accelerator, brake, etc., or may be a signal output to an alarm 43 to drive the operation of the alarm 43 to warn the driver.

[0020] In this embodiment, the vehicle-mounted sensor in the information collection module 20 is a combination of multiple radars 21 (millimeter wave radar and ultrasonic radar) and multiple image sensors, which senses the surroundings of the vehicle, transmits the acquired sensing information to the processing unit 10, and recognizes objects (people and vehicles) around the vehicle. In a possible embodiment, the vehicle-mounted sensor can also be combined with other sensing devices, such as a thermal sensor radar, an optical radar, etc.

[0021] The positioning communication module 30 mainly includes a satellite positioning unit 31 and a wireless communication unit 32. The satellite positioning unit 31 receives satellite (GPS) positioning signals and provides them to the processing unit 10 for satellite (GPS) positioning. The wireless communication unit 32 is connected to the wireless communication network of the base station BS, obtains LBS positioning signals, and provides them to the processing unit 10 for LBS positioning.

[0022] The processing unit 10 is divided into several steps. In step S1, satellite (GPS) positioning is performed using the received satellite (GPS) positioning signal to obtain the positioning coordinates of the vehicle. In step S2, LBS positioning is performed using the received LBS positioning signal to obtain the positioning coordinates of the vehicle. In step S3, objects (people and vehicles) around the vehicle are recognized based on the received sensory information, and the positions of each object relative to the vehicle are analyzed. As a result of combining steps S1 and S12, the positioning coordinates of all objects (people and vehicles) around the vehicle are calculated from the positioning coordinates of the vehicle, and the positioning coordinates of the vehicle and all objects are combined to generate vehicle positioning information. In step S4, the vehicle positioning information is output via the wireless communication unit 32, and augmented positioning information provided by other people or vehicles is obtained via the wireless communication unit 32, and the augmented position information is generated. The positioning information includes at least the own positioning coordinates of each person or vehicle, and further includes the positioning coordinates recognized by sensing in other vehicles. After the vehicle's positioning information and the acquired expanded positioning information are compiled and cross-validated, the positioning coordinates of all people and vehicles are analyzed, preferably a distance range is preset and the positioning coordinates of people and vehicles that require attention within the distance range are analyzed. Based on the map information provided by the map database 41, the positioning coordinates are further organized into a virtual map interface, which is output to the display 42 for visual display. Furthermore, in step S4, the movements and movement amounts (i.e., movement direction and speed) of all people and vehicles are analyzed in time series, and a distance-related warning threshold is generated according to the vehicle's movement and movement amount. If it is determined that the movement amount of an object that is moving away at a certain distance is lower than the corresponding warning threshold, the control signal is output.

[0023] According to the mechanism of the above system, the distance range observed by the system is determined according to the actual situation or need. For example, a safety distance of 5 times is preset for the system. Since the safety distance changes according to the vehicle speed, the distance range subsequently observed by the system increases or decreases according to whether the vehicle speed is fast or slow. The system can observe and predict more than several times the safety distance. When it determines that a situation will occur in the distance, for example, if a vehicle ahead of the leading vehicle suddenly decelerates, it can alert the driver and give him enough time to react. Regarding the system's judgment mechanism, it generates a distance-related warning threshold according to the movement and movement of the vehicle, and outputs a control signal when it determines that the movement of an object at a certain distance is lower than the corresponding warning threshold. For example, a small vehicle is moving forward at a speed of 100km / h and the safe distance ahead is about 50m. The system automatically collects positioning information and analyzes objects within 250m ahead. The warning threshold conditions are assumed as follows: the warning threshold at 50m ahead is 100 (i.e. the speed is required to be 100km / h), the warning threshold at 100m ahead is 70, the warning threshold at 150m ahead is 40, and so on. If a vehicle 100m ahead (the second or third vehicle ahead) is detected, the system will automatically collect positioning information and analyze the object within 250m ahead. The warning threshold conditions are assumed as follows: the warning threshold at 50m ahead is 100 (i.e. the speed is required to be 100km / h), the warning threshold at 100m ahead is 70, the warning threshold at 150m ahead is 40, and so on. In the case of a vehicle (such as a car with a front-facing driver) that may not be able to see the driver's line of sight) that suddenly brakes hard and slows down to 40km / h or less (lower than the relative warning threshold), the system will output a control signal according to its judgment, and depending on the setting, it will either automatically slow down or warn the driver, allowing the driver more sufficient reaction time; if the vehicle is the first vehicle ahead, unlike conventional warning systems that can only issue a warning when the slower vehicle ahead enters a safe range, if the vehicle is the second or third vehicle ahead, the driver does not need to start making a decision until the vehicle ahead slows down, and can therefore understand the emergency situation further ahead and have more sufficient reaction time.

[0024] In a possible embodiment, the control signal may be output to the vehicle power system and used for accelerator control, brake control, etc., or may be output to an alarm device 43 connected to the processing unit 10 and used to warn the driver by issuing a warning such as a voice. In general, the warning device 43 may be a buzzer, a voice announcer, etc.

[0025] 3 to 5, in the actual application of the present invention, the positioning communication module 30 of the safe driving support system 1 of the own vehicle V0 connects to the wireless communication network of the base station BS, shares the own vehicle positioning information including the position of the own vehicle and the positions of the detected surrounding objects, and obtains the expanded positioning information of other people or vehicles. As shown in FIG. 3, if other vehicles (such as vehicles V1, V2, and T) also have the safe driving support system 1, the process of sharing positioning information will obtain the expanded positioning information including the position of the vehicle itself and the positions of the detected surrounding objects. If other vehicles or people (such as vehicles V3 and V4, person P) do not have the safe driving support system 1, they will share the positioning information through the mobile device they carry, and obtain the expanded positioning information including only the position of the person or vehicle itself. The own vehicle positioning information and all the expanded positioning information will be compiled, and all the people and vehicles will be cross-verified, and the effect of subsequent alerting according to a predetermined distance range will be achieved, thereby achieving the effect of early warning.

[0026] As shown in FIG. 4, assuming that the own vehicle V0 is moving forward at a speed of 80 km / h, the distance range that the system judges to be continuous ahead is 200 m, and there are vehicle V3 located about 40 m ahead, a large vehicle T located about 80 m ahead, vehicle V1 that is blocked and cannot be directly observed located about 120 m ahead and oncoming vehicles V2 and V4. Through the exchange of positioning information, more people and vehicles that are not detected by the own vehicle information collection module 20 can be analyzed, and are displayed as in the map interface shown in FIG. 5, and another person P and vehicle V5 are also displayed. When the speed of the vehicle V0 is 80 km / h, it is assumed that the warning threshold at 40 m ahead is 80, the warning threshold at 80 m ahead is 60, and the warning threshold at 120 m ahead is 40 according to the preset warning conditions of the safe driving support system 1 according to the present invention. If the first vehicle V3, the second vehicle T, and the third vehicle V1 ahead are all traveling at a speed of 80 km / h, all of them are higher than the corresponding warning thresholds, so no danger warning is issued. However, if the third vehicle V1, which is not visible from the line of sight ahead, decelerates, for example, to 40 km / h or less, a danger warning will be issued. (i.e., lower than the corresponding warning threshold value of 40 at that distance), as shown in the figure, the processing unit 10 of the safe driving support system 1 of the present invention outputs a control signal according to its judgment, so that the driver of the own vehicle can stop accelerating early or directly decelerate according to the received warning notification before the large vehicle T and vehicle V3 in front are detected in turn and start to decelerate, and can respond in more time without having to suddenly brake and decelerate before the first vehicle V3 in front decelerates. The accurate and early warning notification can effectively improve driving comfort and safety.

[0027] Furthermore, the driving safety support system 1 of the present invention is capable of continuously observing all objects within a wider distance range, and can obtain information on many objects that are not visible to the driver or cannot be detected by the driver himself / herself, such as the status of vehicles in adjacent lanes and the status of oncoming vehicles in the oncoming lane, which can be used as a reference when changing lanes or overtaking in the oncoming lane, and a warning can be provided based on the system's judgment. For example, when the left / right turn signal is activated, the system will help determine the traffic situation in the left / right lanes and provide a warning to the driver.

[0028] In addition, as shown in the situation in FIG. 6, when the vehicle V0 exits the alley, the driver's line of sight or the detection range of the vehicle information collection module 20 is limited, so the driver only pays attention to the large vehicle T, the oncoming vehicle V4, and the pedestrian P on the side of the road, but cannot pay attention to vehicle V2 due to the obstruction of area A, and cannot pay attention to vehicle V3 due to the obstruction of area B. If the driver therefore determines that the vehicle is passable and exits directly, there is a high possibility of causing an accident. On the contrary, by using the safe driving support system 1 according to the present invention and cross-validating by sharing positioning information, after the left turn indicator is activated, the system analyzes the driving route and the speed of the oncoming vehicle to notify the driver of the oncoming vehicles V2 and V3 that need to be watched for, allowing the driver to anticipate more people and vehicles, and accurately interpret more objects to achieve the purpose of safe driving.

[0029] Furthermore, in an environment with many obstacles, such as a parking lot environment as shown in FIGS. 7 and 8, applying the safe driving support system 1 according to the present invention can help improve the safety of oneself and others. As shown in FIG. 7, when a vehicle V0 is backing up to enter a parking space, the driver's field of vision and the in-vehicle information collection module 20 are limited by the obstacles, and the driver cannot see the situation behind the obstacles, such as a pedestrian P1 behind a pillar or a pedestrian P2 behind an adjacent car. If the driver is not careful, a collision or injury to others may easily occur. The safe driving support system 1 according to the present invention makes full use of the positioning communication module 30 to share and exchange positioning information, and objects within a certain distance range are displayed on the map interface according to the driver's driving situation, which is also used by the system to make judgments. When it is determined that people P1 and P2 are in the rear alert range during backing up, a warning is promptly provided, thereby reliably improving the safety of the driver and others.

[0030] In Figure 8, another situation that can occur in a parking lot environment is when the vehicle V0 is backing up from a parking space, and the line of sight and the detection range of the conventional vehicle-mounted sensor are not enough to alert the driver of the vehicle V0 to vehicles and pedestrians outside the range. With the safe driving support system 1 of the present invention, the driver of the vehicle V0 can accurately identify the person P5 in front of the pillar, the people P4 and P6 in front of and behind the adjacent vehicle, and the vehicle V8 gradually approaching in the lane through the map interface, or the system can make a judgment and determine that the vehicle is backing up, and notify the driver of the person P6 and vehicle V8 behind that need to be watched, thereby effectively improving driving safety.

[0031] As described above, the safe driving support system and method for improving the judgment accuracy and issuing an early warning according to the present invention can verify more objects through information exchange, provide interpretation and early warning, and reliably improve the accuracy of the safe driving support system without degrading performance due to the influence of weather or environment, and is an invention that certainly has novelty and creativity, and a patent application will be filed according to regulations. The above description shows a preferred embodiment of the present invention, and does not limit the present invention. Therefore, any modification or change within the scope of the gist of the present invention is included in the protection scope of the present invention. [Explanation of symbols]

[0032] 1. Safe driving support system 10 Processing Unit S1~S4 process 20 Information Gathering Module 21 Radar 22 Image Sensor 30 Positioning communication module 31 Satellite Positioning Unit 32 Wireless communication unit 41 Map Database 42 Display 43 Power System 44 Alarm 50 Mobile Devices 51 Positioning communication module V0 Vehicle (own vehicle) V1~V9 Vehicles (Small Vehicles) T vehicle (large vehicle) P,P1~P6 people BS base station A,B area

Claims

1. The method is applied to a safe driving support system, the safe driving support system including at least an information collection module and a processing unit, the information collection module including a plurality of in-vehicle sensors that detect and acquire sensory information around the vehicle, the processing unit being connected to the information collection module, recognizing people and vehicles around the vehicle based on the sensory information, and outputting a control signal after performing analysis and judgment, providing a positioning communication module connected to a processing unit; The processing unit uses the positioning signal acquired by the positioning communication module to collectively locate the vehicle and the coordinates of people and vehicles around the vehicle, and generate vehicle positioning information; Obtaining enhanced positioning information of other people or vehicles through a positioning communication module via wireless communication, the enhanced positioning information including at least each person or vehicle's own positioning coordinates; a process of aggregating the vehicle positioning information and the augmented positioning information, and cross-validating all people and vehicles identified in the augmented positioning information within a predetermined distance range, the distance range being increased or decreased depending on whether the vehicle is moving quickly or slowly; The processing unit performs analysis and judgment on the dynamic changes of all the people and vehicles, and outputs a control signal; the analysis and judgment on the dynamic changes of all the people and vehicles includes: analyzing the trends and movement amounts of all the people and vehicles in time series; generating a distance-related warning threshold according to the trends and movement amounts of the vehicle; and outputting the control signal when it is determined that the movement amounts of all the people and vehicles that are away from the vehicle at a certain distance are lower than the corresponding warning thresholds; A method for improving judgment accuracy and issuing an early warning, comprising:

2. The method of claim 1 , wherein the positioning communication module includes at least a wireless communication unit, the wireless communication unit connects to a wireless communication network to obtain LBS positioning signals and transmits positioning information over the wireless communication network.

3. 3. The method of claim 2, wherein the positioning communication module further comprises a satellite positioning unit, the satellite positioning unit receiving satellite (GPS) positioning signals.

4. A safe driving support system including an information collection module and a processing unit, the information collection module including a plurality of in-vehicle sensors that detect and acquire sensory information around the vehicle, the processing unit being connected to the information collection module, recognizing people and vehicles around the vehicle based on the sensory information, analyzing and determining the information, and then outputting a control signal, Further comprising a positioning communication module, the positioning communication module being connected to the processing unit, for obtaining a positioning signal and transmitting positioning information; The processing unit determines the positioning information of the vehicle itself and the surrounding people and vehicles according to the positioning signal, obtains the expanded positioning information of other people and vehicles through the positioning communication module, combines the vehicle positioning information with the expanded positioning information, cross-verifies all people and vehicles identified by the expanded positioning information within a predetermined distance range, analyzes and judges the dynamic changes of all people and vehicles, and outputs the control signal, and the expanded positioning information includes at least the own positioning coordinates of each person or vehicle and the positioning coordinates sensed and recognized by other vehicles; The processing unit is an ECU (Electronic Control Unit), which analyzes the movements and movement amounts of all the people and vehicles in a time series, generates a distance-related warning value according to the movement and movement amount of the vehicle, and outputs the control signal when it determines that the movement amount of each person or vehicle that is a certain distance away from the vehicle is lower than the corresponding warning threshold value. A safe driving support system that improves judgment accuracy and issues an early warning.

5. The safe driving support system according to claim 4 , wherein the positioning communication module includes at least a wireless communication unit, which connects to a wireless communication network to obtain an LBS positioning signal and transmits the positioning information through the wireless communication network.

6. The safe driving support system according to claim 5 , wherein the positioning communication module further includes a satellite positioning unit, the satellite positioning unit receiving a satellite (GPS) positioning signal.

7. The safe driving support system according to claim 4 , wherein the vehicle-mounted sensor is one or a combination of a millimeter wave radar, an ultrasonic radar, a heat sensor radar, an optical radar, or an image sensor.

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