CN107554422B

CN107554422B - Automobile safety warning device and automobile safety warning method

Info

Publication number: CN107554422B
Application number: CN201610518042.3A
Authority: CN
Inventors: 刘海波; 阳美文; 涂校明
Original assignee: Huawei Device Co Ltd
Current assignee: Huawei Device Co Ltd
Priority date: 2016-07-01
Filing date: 2016-07-01
Publication date: 2020-02-14
Anticipated expiration: 2036-07-01
Also published as: CN107554422A

Abstract

The invention provides an automobile safety warning device and an automobile safety warning method. The car safety warning device includes: the identification module is used for receiving a first image from the first image acquisition module, and the first image acquisition module is used for acquiring an image in front of or behind a first vehicle to which the automobile safety warning device belongs; the identification module is further used for identifying the working state of a first vehicle lamp of the second vehicle in the first image and the first size and position of the first vehicle lamp in the first image; the processing module is used for generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp identified by the identification module, and the first safety warning information is used for indicating that the first vehicle collides with the second vehicle; and the output module is used for outputting the first safety warning information to the prompt module or the control system of the first vehicle. The automobile safety warning device and the automobile safety warning method provided by the invention can improve the driving safety of the automobile.

Description

Automobile safety warning device and automobile safety warning method

Technical Field

The field relates to the field of vehicle-mounted electronics, in particular to an automobile safety warning device and an automobile safety warning method.

Background

Information exchange among modern vehicles can be realized by whistling and vehicle lights. When behavior information of vehicles is exchanged through the lamps, collision behavior between vehicles is mainly predicted by recognizing information such as color conversion of the lamps, positions of the vehicles, relative distances of the vehicles and the like through human eyes so that a driver can respond correspondingly.

Disclosure of Invention

The invention provides an automobile safety warning device, an automobile and an automobile safety warning method, which can improve the driving safety of the automobile.

In a first aspect, the present invention provides an automobile safety warning device, including: the identification module is used for receiving a first image from a first image acquisition module, and the first image acquisition module is used for acquiring an image in front of or behind a first vehicle to which the automobile safety warning device belongs; the identification module is further used for identifying the working state of a first vehicle lamp of a second vehicle in the first image and the first size and position of the first vehicle lamp in the first image; the processing module is used for generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp, which are identified by the identification module, wherein the first safety warning information is used for indicating that the first vehicle collides with the second vehicle; and the output module is used for outputting the first safety warning information to a prompt module or a control system of the first vehicle.

The automobile safety warning device provided by the embodiment of the invention can automatically identify the working state of the lamp of the second vehicle in the image containing the environmental information in front of or behind the first vehicle, and the size and the position in the image, then judge whether the first vehicle collides with the second vehicle according to the working state of the lamp, the size and the position in the image, if the first vehicle collides with the second vehicle, generate warning information and prompt a vehicle driver to reasonably react, or output the prompt information to the control system of the first vehicle, so that the control system can control the first vehicle to safely run, thereby avoiding collision and further enabling the first vehicle to be driven more safely.

In a possible implementation manner, the processing module is specifically configured to generate the first safety warning information when the operating state of the first vehicle lamp is a first operating state, the first size is greater than or equal to a first threshold, and the position is a first position.

In a possible implementation manner, the processing module is specifically configured to generate the first safety warning information when the operating state of the first vehicle light is the second operating state, the ratio of the first size to the size of the first image is greater than or equal to the second threshold, and the position is the second position.

In the above embodiment, when the size of the lamp of the second vehicle in the image is greater than or equal to the preset threshold, it indicates that the distance between the second vehicle and the first vehicle is less than or equal to the safety distance of the preset device; the position of the second vehicle light in the image may represent a relative orientation of the second vehicle to the first vehicle. Therefore, when the distance between the second vehicle and the first vehicle is smaller than or equal to the preset safety distance, the automobile safety warning device can judge that the second vehicle possibly collides with the first vehicle according to the relative positions of the lamp module of the second vehicle, the second vehicle and the first vehicle, so that warning information is output, and unnecessary warning information can be prevented from being output.

In a possible implementation manner, when the first image acquisition module is used for acquiring the image in front of the first vehicle, the identification module is further used for identifying the working state of the traffic signal lamp in the first image and the second size of the traffic signal lamp in the first image; the processing module is further configured to generate second safety warning information according to the working state of the traffic signal lamp and the second size, wherein the second safety warning information is used for indicating the working state of the traffic signal lamp; the output module is further used for outputting the second safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the size of the traffic signal lamp in the image, namely the distance between the first vehicle and the traffic signal lamp can be determined. The automobile safety warning device can output prompt information to a driver or a control system of the first vehicle according to information indicated by the traffic signal lamp when the size of the traffic signal lamp in the image is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the traffic signal lamp is smaller than or equal to a preset safety distance, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved.

In a possible implementation manner, when the first image acquisition module is used for acquiring the image in front of the first vehicle, the identification module is further used for identifying the guide marking on the road in the first image and a third size of the guide marking in the first image; the processing module is further configured to generate third safety warning information according to the guide marking and the third size identified by the identification module, where the third safety warning information is used to indicate the guide marking; the output module is further configured to output the third safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the size of the guide marking in the image, namely the distance between the first vehicle and the guide marking can be determined. Therefore, when the size of the guide marking line in the image is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the lead is smaller than or equal to the preset safety distance, the automobile safety warning device can output prompt information to the driver or the control system of the first vehicle according to the information indicated by the guide marking line, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved.

In a possible implementation manner, the identification module is further configured to receive a second image acquired by a second image acquisition module, where the second image acquisition module is configured to acquire an image of a left side or a right side of the first vehicle; the identification module is further used for identifying the working state of a second lamp of a third vehicle in the second image and the fourth size of the second lamp in the second image; the processing module is further configured to generate fourth safety warning information according to the working state and the fourth size of the second vehicle lamp, which are identified by the identification module, wherein the fourth safety warning information is used for indicating that the first vehicle collides with the third vehicle; the output module is further configured to output the fourth safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the size of the lamp of the third vehicle in the images on the two sides of the first vehicle, namely the distance between the first vehicle and the third vehicle can be determined. Therefore, when the size of the lamp in the image is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the third vehicle is smaller than or equal to the preset safe distance, the automobile safety warning device can output prompt information to a driver or a control system of the first vehicle according to the working state of the lamp of the third vehicle, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved.

In a possible implementation manner, the identification module is further configured to identify a road edge in the second image and a position and a size of the road edge in the second image; the processing module is further configured to generate fifth safety warning information according to the position and the size of the road edge and the position and the size of the road edge in the second image, which are identified by the identification module, wherein the fifth safety warning information is used for indicating that the first vehicle can cross the road edge; the output module is further configured to output the fifth safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the size of the road sideline in the images on the two sides of the first vehicle, namely the distance between the first vehicle and the road sideline can be determined. Therefore, the automobile safety warning device can output prompt information to a driver or a control system of the first vehicle when the size of the road sideline is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the road sideline is smaller than or equal to the preset safety distance, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved.

In one possible implementation, the prompting module is an LCD, HUD, OLED, projection display, or loudspeaker.

In a second aspect, the present invention provides a method of vehicle safety warning, the method being performed by a vehicle safety warning device on a first vehicle, the method comprising: identifying an operating state of a first lamp of a second vehicle in a first image, and a first size and position of the first lamp in the first image, the first image being an image of the first vehicle ahead or behind acquired by an image acquisition module on the first vehicle; generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp, wherein the first safety warning information is used for indicating that the first vehicle collides with the second vehicle; and outputting the first safety warning information to a prompt module or a control system of the first vehicle.

In the embodiment of the invention, the automobile safety warning device automatically identifies the working state of the lamp of the second vehicle in the image containing the environmental information in front of or behind the first vehicle and the size and the position in the image, then judges whether the first vehicle collides with the second vehicle according to the working state of the lamp and the size and the position in the image, if the first vehicle collides with the second vehicle, the warning information is generated and prompts a vehicle driver to reasonably react, or the form information is output to the control system of the first vehicle, so that the control system can control the first vehicle to safely run, thereby avoiding collision and further enabling the first vehicle to be driven more safely.

In a possible implementation manner, the generating first safety warning information according to the operating state of the first vehicle lamp, the first size, and the position includes: and generating the first safety warning information when the working state of the first vehicle lamp is a first working state, the first size is greater than or equal to a first threshold value and the position is a first position.

In a possible implementation manner, the generating first safety warning information according to the operating state of the first vehicle lamp, the first size, and the position includes: and when the working state of the first vehicle lamp is a second working state, the ratio of the first size to the size of the first image is greater than or equal to a second threshold value, and the position is a second position, generating the first safety warning information.

In one possible implementation, the first image is an image in front of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying an operating state of a traffic light in the first image and a second size of the traffic light in the first image; generating second safety warning information according to the working state of the traffic signal lamp and the second size, wherein the second safety warning information is used for indicating the working state of the traffic signal lamp; and outputting the second safety warning information to the prompt module or the control system.

In one possible implementation, the first image is an image in front of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying a guide reticle on a road in the first image and a third size of the guide reticle in the first image; generating third safety warning information according to the guide marking and the third size, wherein the third safety warning information is used for indicating the guide marking; and outputting the third safety warning information to the prompt module or the control system.

In a possible implementation manner, the first image is an image of a left side or a right side of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying an operating state of a second headlight of a third vehicle in the first image and a fourth size of the second headlight in the image; generating fourth safety warning information according to the working state of the second vehicle lamp and the fourth size, wherein the fourth safety warning information is used for indicating that the first vehicle collides with the third vehicle; and outputting the fourth safety warning information to the prompt module or the control system.

In a possible implementation manner, the first image is an image of a left side or a right side of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying a roadway edge in the first image and a position and a size of the roadway edge in the first image; generating fifth safety warning information according to the position and the size of the road sideline and the position and the size of the road sideline in the first image, wherein the fifth safety warning information is used for indicating that the first vehicle can cross the road sideline; and outputting the fifth safety warning information to the prompt module or the control system.

In a third aspect, the present invention provides a vehicle, including the automobile safety warning device in the first aspect or any one of the possible implementation manners thereof.

In a fourth aspect, the present invention provides an automobile safety warning device, which includes a processor and a memory, wherein the memory is used for storing codes, and the processor is used for executing the codes in the memory. When the code is executed, the processor implements the method of the second aspect.

In a fifth aspect, the present invention provides a computer readable medium storing program code for execution by an automotive safety warning device, the program code including instructions for performing the method of the second aspect.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automobile safety warning device according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a car safety warning according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a car safety warning according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a car safety warning according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of the vehicle safety warning device according to the embodiment of the invention.

FIG. 6 is a schematic flow chart diagram of a method of vehicle safety warning in an embodiment of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic structural view of a vehicle safety warning device 100 on a vehicle according to an embodiment of the present invention. It should be understood that the apparatus shown in fig. 1 is only an example, and the apparatus of the embodiment of the present invention may further include other modules or units, or include modules having functions similar to those of the respective modules in fig. 1, or may not include all the modules in fig. 1.

The automobile safety warning device 100 in fig. 1 includes an identification module 110, a processing module 120 and an output module 130. The modules of the vehicle safety warning device 100 may be physically separated modules or logically separated modules, which is not limited in the present invention.

The identification module 110 is configured to receive a first image(s) from a first image acquisition module (e.g., one or more cameras), which may also be referred to as acquiring images from cameras.

When there is one camera, the camera is typically located at the head of the first vehicle for obtaining images in front of the first vehicle. When there are a plurality of cameras, in general, at least one of the plurality of cameras is located at the head of the first vehicle, and the rest of the cameras may be located at other parts of the first vehicle, so as to obtain images of the environment in other directions of the first vehicle.

The identification module 110 is further configured to identify an operating state of a first vehicular light of the second vehicle in the first image, and a first size and a position of the first vehicular light in the first image.

The identification module 110 receives the image from the first image capture module, and then identifies the second vehicle in the image, and then identifies the lights of the second vehicle. One possible implementation is: the identification module 110 identifies a contour of the vehicle in the image to identify a second vehicle in the image. The identification module 110 then identifies areas within the second vehicle contour that have been identified in the image that are similar to the color of the vehicle lights (e.g., red, white, or amber). Of course, the recognition module 110 may also directly recognize the area in the image similar to the color of the car lights, instead of recognizing the outline of the vehicle. If the identification module 110 identifies the area with the same color as the car lights in the image, it indicates that the car lights of the second vehicle are in a lighting state; if the recognition module 110 does not recognize the area with the same color as the lights in the image, it indicates that the lights on the second vehicle are in the off state. The data in a specific area is identified from the image to identify the vehicle or the vehicle light, and the color of the vehicle light can be realized by various methods, and the specific implementation manner can refer to the prior art, such as the chinese patent application publication CN 105555606.

In the embodiment of the present invention, the operating states of the lamps may include states of a left turn light, a right turn light, a brake light, a double flashing light, and the like of the second vehicle.

The recognition module 110 may perform car light recognition on each of the plurality of images obtained by the first image obtaining module to obtain a variation pattern of the car light region in the consecutive images. For example: if the vehicle lamp is in the lighting state is recognized from a plurality of continuous images, the vehicle lamp in the corresponding area in each image is in the continuous lighting state; if the lights in the partial images are recognized to be in the on state in the plurality of continuous images, and if the lights are in the off state in the other partial images, the lights on the vehicle are in the blinking state.

At present, the colors of the car lights commonly used in China comprise white, red or amber.

The identification module 110 is also used to identify the location of the vehicle lights on the vehicle. Specifically, the identification module 110 identifies from the image whether the vehicle lights are located in the left or right portion of the vehicle, or in both the left and right portions. The identification module 110 then determines the operating state of the vehicle lights on the vehicle based on the pattern of change and the location of the color of the vehicle lights.

If the identification module 110 identifies that the lamp is located at the left portion of the second vehicle and is amber in the blinking state, it may be determined that the lamp operating state of the second vehicle is a left turn lamp; when the identification module 110 identifies that the lamps are red and located at the left and right parts of the second vehicle, it may be determined that the lamp operating state of the second vehicle is a brake lamp (also referred to as a brake lamp); when the identification module 110 identifies that the lamps are amber and located on the left and right of the second vehicle, the operating state of the lamps of the second vehicle can be determined as the hazard warning flash lamps (i.e., the left and right turn lamps, which may also be referred to as dual flash lamps); when the recognition module 110 recognizes that the lamp is bright red, it can be determined that there is a vehicle in front to perform sudden braking.

The identification module 110 is further configured to identify a position of a lamp of the second vehicle in operation in the first image, i.e. to identify whether the lamp is located at a left portion or a right portion of the first image, so that the identification module can further determine a relative position of the second vehicle to the first vehicle, i.e. whether the second vehicle is located at a left side or a right side of the first vehicle, or is directly in front of the first vehicle.

If the first image acquisition module is positioned right in front of the first vehicle, that is, the first image is an image right in front of the first vehicle, when the identification module identifies that the lamp of the second vehicle is positioned at the left part of the first image, it indicates that the second vehicle is positioned at the left front of the first vehicle. If the first image acquisition module is located right behind the first vehicle, that is, the first image is an image of the first vehicle directly behind the first vehicle acquired by the first image acquisition module, when the identification module identifies that the lamp of the second vehicle is located at the left part of the first image, it indicates that the second vehicle is located at the right part of the first vehicle. Of course, the first image capturing module may be located at an oblique front or an oblique rear of the first vehicle, and in this case, the identification module needs to determine the relative position of the second vehicle and the first vehicle according to the position of the lamp of the second vehicle in the first image by combining the angle between the first image captured by the first image capturing module and the right front of the first vehicle.

The identification module 110 is further configured to identify a size of a lamp of the second vehicle in the working state in the first image, so as to determine a distance between the second vehicle and the first vehicle according to the size. The larger the size of the headlight in the first image, the closer the second vehicle is to the first vehicle, or the larger the ratio of the size of the headlight in the first image to the size of the first image, the closer the second vehicle is to the first vehicle. For example, when the identification module identifies that the size of the first vehicle light in the first image is equal to a first threshold, such as when the first vehicle light is 100 pixels wide and 50 pixels long in the first image, it may indicate that the second vehicle is 100 meters away from the first vehicle.

The processing module 120 is configured to generate first safety warning information according to the operating state of the first vehicle lamp, the first size of the first vehicle lamp in the first image, and the position of the first vehicle lamp in the first image, where the first safety warning information is used to indicate that the first vehicle may collide with the second vehicle.

Specifically, the processing module 120 is configured to generate the first safety warning information when the operating state of the first vehicle lamp, the position of the first vehicle lamp in the first image, and the first size of the first vehicle lamp in the first image, which are identified by the identification module 110, are greater than or equal to a predetermined first threshold. For example, when the identification module 110 identifies that the width of the first vehicle lamp in the first image is 120 pixels and the length of the first vehicle lamp is 60 pixels, the processing module 120 determines that the distance between the first vehicle and the second vehicle is less than the safety distance (100 meters) according to the fact that the size of the first vehicle lamp in the first image is greater than the first threshold (100 pixels in wide band and 50 pixels in length), at this time, the processing module 120 may further generate the first safety warning information that the second vehicle located on the right side of the first vehicle will collide with the first vehicle according to the operating state of the first vehicle lamp (e.g., left turn) and the position of the first vehicle lamp in the first image (e.g., on the right side).

The first threshold preset in the processing module 120 may be adjusted according to the safety distance requirement between vehicles. Specifically, when the safety distance between the vehicles is large, a small first threshold value may be set; when the safe distance between the vehicles is small, a large first threshold value may be set.

For example, when the first vehicle travels the highway section, the safe distance between the first vehicle and the second vehicle is greater than the safe distance between the first vehicle and the second vehicle when the first vehicle travels the congested section. In the congested road segment, assuming that the safe distance between the first vehicle and the second vehicle is 10 meters, the first vehicle light of the second vehicle has a width of 300 pixels and a length of 150 pixels in the image. And in the high-speed road section, assuming that the safe distance between the first vehicle and the second vehicle is 100 meters, the width of the first lamp of the second vehicle in the image is 100 pixels and the width is 50 pixels correspondingly.

In the embodiment of the present invention, the identification module 110 may identify the size of the second vehicle in the first image, and then the processing module 120 may generate the safety warning information according to that the size of the second vehicle in the first image is greater than or equal to the first threshold; or the processing module 120 may generate the safety warning information according to a ratio of the size of the second vehicle in the first image to the size of the second image being greater than or equal to a first threshold. At this time, the specific functions and execution steps of the identification module 110 and the processing module 120 are the same as those of the identification module 110 when identifying the size of the first headlight of the second vehicle in the first image, and for brevity, no further description is given here.

FIG. 2 is a schematic diagram of a vehicle safety warning according to an embodiment of the invention. As shown in fig. 2, the first image acquiring module 211 is located right in front of the first vehicle 210, and acquires a first image 212 in front of the first vehicle 210. The identification module 110 on the first vehicle 210 identifies from the first image 212 that the operating state of the first vehicular lamp (corresponding to the black square in the first image 212) of the second vehicle 220 (corresponding to the dotted line portion in the first image 212) is left turn lamp on, and determines the size of the first vehicular lamp in the first image 212, and the first vehicular lamp is located on the right side of the first image 212. Therefore, the processing module 120 on the first vehicle 210 determines that the distance between the second vehicle 220 and the first vehicle 210 is less than the safe distance (e.g., 100 meters) according to the size of the first lamp in the first image 212 being greater than a predetermined threshold, and that the second vehicle 220 will change lane to the left and be located on the right side of the first vehicle 210, which indicates that the second vehicle 220 may collide with the first vehicle 210. At this time, the processing module 120 generates first safety warning information indicating that the second vehicle will collide with the first vehicle.

The first image acquisition module 213 is located right behind the first vehicle 210, and acquires a first image 214 behind the first vehicle 210. The identification module 110 on the first vehicle 210 identifies from the first image 214 that the operating state of the first vehicle light of the second vehicle 230 (corresponding to the dotted line portion in the first image 214) is the left turn signal on, and determines the size of the first vehicle light (corresponding to the black square in the first image 214) in the first image 214, and the first vehicle light is located on the left side of the first image 212. Therefore, the processing module 120 on the first vehicle 210 determines that the distance between the second vehicle 230 and the first vehicle 210 is less than the safe distance (e.g., 100 meters) according to the size of the first lamp in the first image 214 being greater than a predetermined threshold, and that the second vehicle 230 will change lane to the left and be located on the right side of the first vehicle 230, which indicates that the second vehicle 230 may collide with the first vehicle 210. At this time, the processing module 120 generates first safety warning information indicating that the second vehicle 230 will collide with the first vehicle.

If the identification module identifies that the working state of the first vehicle lamp of the first vehicle is that the left turn signal lamp is on and the first vehicle lamp is located on the left side of the first image, the processing module may not generate the first safety warning information even if it is determined that the size of the first vehicle lamp in the first image is greater than the first threshold value. Because a lane change to the left on the left side of the first vehicle has little effect on the safety of the first vehicle.

For another example, when the identification module 110 determines that the operating state of the first lamp of the first vehicle is the brake lamp on, and determines that the size of the first lamp in the first image is greater than the first threshold, and the first lamp is located in front of the first image, it indicates that a second vehicle in front of the first vehicle and within 100 meters of the first vehicle will decelerate, and the second vehicle may collide with the first vehicle. At this time, the processing module 130 generates first safety warning information indicating that the second vehicle will collide with the first vehicle.

The output module 130 is configured to output the first safety warning information to a prompt module or a control system of the second vehicle. The output module 130 outputs the first safety warning information to the prompting module of the second vehicle, and the prompting module sends a warning to the driver so that the driver can pay attention to the driving behavior of the second vehicle and can make reasonable driving behavior, thereby improving the safety of vehicle driving. When the output module 130 outputs the first safety warning information to the control system of the second vehicle, the control system may control the speed measuring device on the first vehicle or the device for detecting the position of another vehicle to further determine the driving information of the second vehicle, or the control system may further obtain the information of the speed, the driving direction, and the like of the first vehicle, and control the first vehicle to drive according to the information, so as to avoid the collision between the first vehicle and the second vehicle, and finally improve the safe driving of the vehicle.

In the embodiment of the present invention, optionally, the identification module 110 may acquire, from the first image, a plurality of second vehicles whose positions, sizes, and operating states of the vehicle lights satisfy preset conditions. At this time, the processing module 120 may generate a plurality of first safety warning messages, and output the plurality of first safety warning messages through the output module 130. Alternatively, the processing module may generate first safety warning information indicating that a plurality of second vehicles collide with the first vehicle and then output via the output module 130.

Or the processing module 120 may generate only the first safety warning information for prompting that a second vehicle closest to the first vehicle among the plurality of second vehicles satisfying the condition will collide with the first vehicle.

Or the processing module 120 may generate first safety warning information for prompting a number of the plurality of second vehicles meeting the condition that the second vehicle will collide with the first vehicle.

As shown in fig. 3, the first image capturing module 311, which is located right in front of the first vehicle 310, captures a first image 312 in front of the first vehicle 310. The first image 312 includes three vehicles, and the recognition module 110 on the first vehicle 310 can recognize from the first image 312 that the operating state of the first lamp of the second vehicle 320 is left turn, located at the right portion of the image, and recognize the size of the lamp; identifying the operating state of a first vehicle light of a second vehicle 330 as being braked, located in the middle of the image, and identifying the size of the vehicle light; the operating state of the first lamp of the second vehicle 340 is identified as right turn, located in the left portion of the image, and the size of the lamp is identified. The processing module 120 of the first vehicle 310 generates three first safety warning messages according to the fact that the sizes of the lamps of the second vehicle 320, the second vehicle 330 and the second vehicle 340 in the first image 312 are all larger than the first threshold value, one first safety warning message is used for prompting that the second vehicle 310 will collide with the first vehicle 310, another first safety warning message is used for prompting that the second vehicle 330 will collide with the first vehicle 310, and another first safety warning message is used for prompting that the second vehicle 340 will collide with the first vehicle 310. The output module 130 outputs the three safety warning messages.

Of course, the processing module 120 may also generate the first safety warning information of only the second vehicle (the second vehicle 320) with the largest size of the first vehicle according to the size of the first vehicle lights of the three second vehicles identified by the identification module 110 in the first image 312.

In this embodiment of the present invention, optionally, after the identification module 110 identifies the operating state of the first lamp of the second vehicle, the position and/or size of the first lamp in the first image, the processing module 120 may further obtain the driving information of the first vehicle to which the identification module belongs (for example, the driving information may be obtained by a sensor of the vehicle safety warning device to which the processing module 120 belongs, or obtained from a bus of the first vehicle to which the processing module belongs), and then the processing module 120 determines whether the second vehicle may collide with the first vehicle by combining the information identified by the identification module 110 and the information obtained by the processing module 120. If it is determined that the second vehicle may collide with the first vehicle, the output module 130 outputs safety warning information to a driver of the first vehicle, or outputs safety warning information to a control system of the first vehicle, so that the control system can process the safety warning information.

For example, when the recognition module 110 recognizes from the first image that the left turn light of the vehicle located on the right side of the first vehicle is on, the processing module 120 obtains that the vehicle speed of the first vehicle is greater than 60 km/h, and the first vehicle is moving straight, the output module 130 may prompt the driver to pay attention to the right vehicle through the prompting module.

In the embodiment of the present invention, optionally, after the control system of the first vehicle acquires the safety warning information output by the output module, corresponding processing may be performed. The control system may obtain travel information for the first vehicle via the on-board bus to determine whether further processing is required. For example, when the output module 130 outputs to the control system safety warning information that a right vehicle will possibly collide with a first vehicle, if the current vehicle speed of the first vehicle is 0 km/h, no processing is required; if the current speed of the first vehicle is 90 kilometers per hour and the direction is straight, the first vehicle can be controlled to perform deceleration processing.

The specific implementation manner of the control system controlling the first vehicle to perform deceleration processing may be: the control system issues a deceleration command to the first vehicle to cause the first vehicle to begin decelerating; then the control system judges whether the relative distance between the first vehicle and the right vehicle is continuously reduced; if the relative distance continues to decrease, the control system commands the first vehicle to continue decelerating until the relative distance no longer decreases, thereby preventing the first vehicle from colliding with the right-side vehicle.

One possible implementation manner for the control system to determine whether the relative distance between the first vehicle and the right vehicle continues to decrease is as follows: the control system commands the camera on the first vehicle to continue to acquire an image of the right side of the first vehicle and then determines a change in the size of the vehicle lights of the vehicle in the image. If the size of the lamp of the vehicle in the image is larger, it indicates that the relative distance between the vehicle and the first vehicle is reduced.

In the embodiment of the present invention, optionally, the vehicle safety warning device is further configured to, when an image behind the first vehicle is obtained, output a prompt message to remind a driver to pay attention or notify the vehicle control system to keep driving at a constant speed and in a current direction when it is determined that the vehicle suddenly flashes the left turn light, and it is ready to overtake the vehicle.

In the embodiment of the present invention, optionally, when the first image acquiring module is configured to acquire an image in front of the first vehicle, the identifying module 110 is further configured to identify an operating state of the traffic light in the first image and a second size of the traffic light in the first image; the processing module 120 is further configured to generate second safety warning information according to the working state of the traffic light and the second size, where the second safety warning information is used to indicate the working state of the traffic light; the output module 130 is further configured to output the second safety warning information to the prompt module or the control system. Optionally, the identification module 110 is further configured to identify a traffic indicator, such as a deceleration indication pattern, in the first image.

In the embodiment of the invention, the automobile safety warning device identifies the size of the traffic signal lamp in the image, namely the distance between the first vehicle and the traffic signal lamp can be determined. The automobile safety warning device can output safety warning information to a driver or a control system of the first vehicle according to information indicated by the traffic signal lamp when the size of the traffic signal lamp in the image is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the traffic signal lamp is smaller than or equal to a preset safety distance, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved. After receiving the safety warning information, the control system can perform processes such as gear change or maintenance, speed change or maintenance, or driving mode switching.

For example, when the identification module 110 identifies that the operation state of the traffic signal lamp is red from the first image, and the size of the traffic signal lamp in the first image is greater than the first threshold or the size of the traffic signal lamp in the first image and the size of the first image are greater than or equal to the first threshold, the processing module 120 generates the second safety warning information for indicating that the traffic signal lamp cannot pass through, and then the output module 130 outputs the second safety warning information.

The operating state of the traffic signal light may include a red light, a green light, or a yellow light.

In the embodiment of the present invention, optionally, when the first image acquiring module is configured to acquire an image in front of the first vehicle, the identifying module 110 is further configured to identify the guide mark on the road in the first image and a third size of the guide mark in the first image; the processing module 120 is further configured to generate third safety warning information according to the guiding marking and the third size identified by the identifying module 110, where the third safety warning information is used for indicating the guiding marking; the output module 130 is further configured to output the third safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the size of the guide marking in the image, namely the distance between the first vehicle and the guide marking can be determined. Therefore, when the size of the guide marking line in the image is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the lead is smaller than or equal to the preset safety distance, the automobile safety warning device can output safety warning information to the driver or the control system of the first vehicle according to the information indicated by the guide marking line, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved. After receiving the safety warning information, the control system can perform processes such as gear change or maintenance, speed change or maintenance, or driving mode switching.

For example, when the recognition module 110 recognizes that the guide reticle is right-steerable from the first image and the size of the guide reticle in the first image is greater than the first threshold or the ratio of the size of the guide reticle in the first image to the size of the first image is greater than or equal to the first threshold, the processing module 120 generates the third safety warning information for indicating the guide reticle. In this way, the driver can turn right according to the third safety warning information output by the output module 130.

The guide markings may include left turn markings, right turn markings, straight markings, no turn markings, and the like.

In the embodiment of the present invention, optionally, the first vehicle may include a second image acquiring module, and the second image acquiring module is configured to acquire a second image of a left side or a right side of the first vehicle. At this time, the identification module 110 may identify, from the second image, an operating state of a second lamp of the third vehicle in the second image and a fourth size of the second lamp in the second image; the processing module 120 is further configured to generate fourth safety warning information according to the operating state of the second vehicle lamp and the fourth size, which are identified by the identification module 110, where the fourth safety warning information is used to indicate that the first vehicle may collide with the third vehicle; the output module 130 is further configured to output fourth safety warning information to the prompting module or the control system.

As in fig. 4, the second image acquiring module 411 is located at the right side of the first vehicle 410 for acquiring a second image 412 of the right side of the first vehicle 410; the second image acquiring module 413 is located at the left side of the first vehicle 410 and is used for acquiring a second image 414 of the left side of the first vehicle 410.

The identification module 110 of the first vehicle 410 identifies the operating state of the headlights of the third vehicle 420 as a left turn signal from the second image 412 and identifies the size of the headlights in the second image 412; the identification module 110 also identifies the operating state of the headlights of the third vehicle 430 as a right turn light from the second image 414 and identifies the size of the headlights in the second image 414.

The processing module 120 of the first vehicle 410 generates the fourth safety warning message for prompting the second vehicle 420 to collide with the first vehicle 410 according to the left turn signal of the third vehicle 420, the size of which in the second image 412 is larger than the second threshold. The processing module 120 generates a fourth safety warning message for prompting the second vehicle 430 to collide with the first vehicle 410 according to the right turn signal of the third vehicle 430, wherein the size of the headlight in the second image 414 is larger than the second threshold.

In this embodiment of the present invention, the identification module 110 may identify a size of the third vehicle in the second image, and then the processing module 120 may generate the safety warning information according to that the size of the third vehicle in the second image is greater than or equal to the second threshold; or the processing module 120 may generate the safety warning information according to a ratio of the size of the third vehicle in the second image to the size of the second image being greater than or equal to a second threshold. At this time, the specific functions and execution steps of the identification module 110 and the processing module 120 are the same as those of the identification module 110 when identifying the size of the first headlight of the third vehicle in the second image, and for brevity, no further description is given here.

In this embodiment of the present invention, optionally, the identifying module 110 is further configured to identify a road edge in the second image and a position and a size of the road edge in the second image; the processing module 120 is further configured to generate fifth safety warning information according to the position and the size of the road edge and the road edge identified by the identifying module 110 in the second image, where the fifth safety warning information is used to indicate that the first vehicle may cross the road edge; the output module 130 is further configured to output fifth safety warning information to the prompt module or the control system.

In the embodiment of the invention, the automobile safety warning device identifies the position and the size of the road sideline in the images on the two sides of the first vehicle, namely the distance between the first vehicle and the road sideline and the relative position between the road marking and the first vehicle can be determined. Therefore, the automobile safety warning device can output prompt information to a driver or a control system of the first vehicle when the size of the road sideline is larger than or equal to a certain threshold value, namely the distance between the first vehicle and the road sideline is smaller than or equal to the preset safety distance, so that the driver or the control system can make reasonable driving behaviors according to the prompt, and the driving safety is improved.

Alternatively, after receiving the fifth safety warning information, the control system may perform processing such as changing or maintaining a shift position, changing or maintaining a speed, or switching a driving mode.

The road edge lines may include white solid lines, single yellow solid lines, double yellow solid lines, yellow solid lines for prohibiting parking, yellow solid lines, guide lines, or grid lines for prohibiting parking, etc.

Optionally, the identification module 110 may also receive a third image below the first vehicle acquired by the third image acquisition module. At this time, the recognition module 110 may also be used to recognize the road surface condition from the third image. For example, when the identification module 110 identifies that the road on which the vehicle is traveling is a mountain road or a slippery road or snow is accumulated on the road, the driver is prompted with the road condition information so that the driver can perform corresponding operations (such as deceleration), or the control system is notified to start the four-wheel drive system for safe driving.

Optionally, the vehicle safety warning device 100 of the embodiment of the present invention may include a first image acquisition module for acquiring a first image and/or a second image acquisition module for acquiring a second image. In addition, the vehicle safety warning apparatus 100 according to the embodiment of the present invention may further include a third image acquiring module for acquiring an image under the first vehicle.

Of course, the first image acquisition module and/or the second image acquisition module and/or the third image acquisition module may not be part of the vehicle safety warning device, but may be an image acquisition module additionally provided on the first vehicle.

In the embodiment of the present invention, the first image obtaining module and/or the second image obtaining module and/or the third image obtaining module may be a camera, or may be other apparatuses or devices that can obtain images.

Optionally, the vehicle safety warning device 100 according to the embodiment of the present invention may include a prompt module for outputting various kinds of safety warning information to the prompt output module 130.

Of course, the prompting module may not be a component of the vehicle safety warning device, but may be configured separately on the first vehicle and connected via a wired or wireless connection.

Alternatively, the prompting module may be a Display, such as a Liquid Crystal Display (LCD) or a Head Up Display (HUD), an Organic Light-emitting diode (OLED), a projection Display, or a text or a loudspeaker.

When the driver recognizes the vehicle lights through eyes and predicts the behavior of other vehicles, due to the influence of various factors, in many cases, the recognition of the vehicle lights by the driver is missed, wrong, and the like, which may lead to accidents. After the device provided by the embodiment of the invention comprises the prompt module, the prediction result can be prompted to the driver, so that the driver can conveniently make a corresponding response, and finally the driving safety of the vehicle is improved.

Of course, in the embodiment of the present invention, alternatively, after the recognition module 110 recognizes the operating state of the lamps of the vehicle in the image, the positions of the lamps in the image, or the operating state of the traffic lights, or the lane marking boundary line or the guide marking, the processing module 120 may directly generate the indication information indicating the information recognized by the driver recognition module without determining whether the vehicle in the image may collide with the vehicle, or determining whether the vehicle may cross the lane boundary line, and then the output module outputs the indication information to the prompt module.

Fig. 5 is a schematic structural diagram of a vehicle safety warning device 500 according to an embodiment of the present invention. The vehicle safety warning apparatus 500 includes a memory 510 and a processor 520.

The memory 510 is used for storing codes.

The processor 520 is configured to receive a first image from a first image obtaining module, where the first image obtaining module is configured to obtain an image of the front or the rear of a first vehicle to which the vehicle safety warning device belongs.

Processor 520 is also configured to identify an operating state of a first vehicle light of a second vehicle in the first image, and a first size and position of the first vehicle light in the first image.

The processor 520 is further configured to generate first safety warning information according to the operating state of the first lamp, the first size, and the position, where the first safety warning information is used to indicate that the first vehicle may collide with the second vehicle.

Processor 520 is further configured to output the first safety warning information to a prompt module or a control system of the first vehicle.

The automobile safety warning device provided by the embodiment of the invention can automatically identify the working state of the lamp of the second vehicle in the image containing the environmental information in front of or behind the first vehicle, and the size and the position in the image, then judge whether the first vehicle collides with the second vehicle according to the working state of the lamp and the size and the position in the image, if the first vehicle collides with the second vehicle, generate warning information and prompt a vehicle driver to reasonably react, or output the form information to the control system of the first vehicle so that the control system can control the first vehicle to safely run, thereby avoiding collision and further enabling the first vehicle to be driven more safely.

Optionally, as an embodiment, the processor 420 is specifically configured to generate the first safety warning information when the operating state of the first vehicle lamp is a first operating state, the first size is greater than or equal to a first threshold, and the position is a first position.

Optionally, as an embodiment, the processor 420 is specifically configured to generate the first safety warning information when the operating state of the first vehicle lamp is a second operating state, the ratio of the first size to the size of the first image is greater than or equal to a second threshold, and the position is a second position.

Optionally, as an embodiment, when the first image acquiring module is configured to acquire the image in front of the first vehicle, the processor 520 is further configured to identify an operating state of a traffic light in the first image and a second size of the traffic light in the first image; the processor 520 is further configured to generate second safety warning information according to the working state of the traffic signal and the second size, where the second safety warning information is used to indicate the working state of the traffic signal; the processor 520 is further configured to output the second safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the processor 420 is further configured to identify a guide reticle on the road in the first image and a third size of the guide reticle in the first image when the first image acquisition module is used for acquiring the image in front of the first vehicle; the processor 520 is further configured to generate third safety warning information according to the guiding reticle and the third size identified by the identification module, where the third safety warning information is used to indicate the guiding reticle; the processor 520 is further configured to output the third safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the apparatus is further configured to receive a second image acquired by a second image acquisition module, where the second image acquisition module is configured to acquire an image of a left side or a right side of the first vehicle; the processor 520 is further configured to identify an operating state of a second headlight of a third vehicle in the second image and a fourth size of the second headlight in the second image; the processor 520 is further configured to generate fourth safety warning information according to the working state and the fourth size of the second vehicle light identified by the identification module, where the fourth safety warning information is used to indicate that the first vehicle may collide with the third vehicle; the processor 520 is further configured to output the fourth safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the processor 520 is further configured to identify a road edge in the second image and a position and a size of the road edge in the second image; the processor 520 is further configured to generate fifth safety warning information according to the position and the size of the road edge and the road edge identified by the identification module in the second image, where the fifth safety warning information is used to indicate that the first vehicle may cross the road edge; the processor 520 is further configured to output the fifth safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the output port is an LCD, HUD, OLED, projection display, or loudspeaker.

The vehicle safety warning device according to the embodiment of the present invention is described above with reference to fig. 1 to 5, and the method for warning the vehicle safety according to the embodiment of the present invention is described below with reference to fig. 6.

It should be understood that fig. 6 illustrates steps or operations of a method of vehicle safety warning, but these steps or operations are merely examples, and other operations or variations of the operations in fig. 6 may also be performed by embodiments of the present invention. Moreover, the various steps in FIG. 6 may be performed in a different order presented in FIG. 6, and it is possible that not all of the operations in FIG. 6 may be performed. The method of vehicle safety warning shown in fig. 6 may be performed by a vehicle safety warning device configured on a first vehicle as shown in fig. 1 or fig. 5.

S610, the automobile safety warning device on the first vehicle identifies the working state of the first lamp of the second vehicle in the first image and the first size and position of the first lamp in the first image, and the first image is the image in front of or behind the first vehicle, which is acquired by the image acquisition module on the first vehicle.

S620, generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp, wherein the first safety warning information is used for indicating that the first vehicle collides with the second vehicle.

S630, outputting the first safety warning information to a prompt module or a control system of the first vehicle.

Optionally, as an embodiment, the generating first safety warning information according to the operating state of the first vehicle lamp, the first size, and the position includes: and generating the first safety warning information when the working state of the first vehicle lamp is a first working state, the first size is greater than or equal to a first threshold value and the position is a first position.

Optionally, as an embodiment, the generating first safety warning information according to the operating state of the first vehicle lamp, the first size, and the position includes: and when the working state of the first vehicle lamp is a second working state, the ratio of the first size to the size of the first image is greater than or equal to a second threshold value, and the position is a second position, generating the first safety warning information.

Optionally, as an embodiment, the first image is an image in front of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying an operating state of a traffic light in the first image and a second size of the traffic light in the first image; generating second safety warning information according to the working state of the traffic signal lamp and the second size, wherein the second safety warning information is used for indicating the working state of the traffic signal lamp; and outputting the second safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the first image is an image in front of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying a guide reticle on a road in the first image and a third size of the guide reticle in the first image; generating third safety warning information according to the guide marking and the third size, wherein the third safety warning information is used for indicating the guide marking; and outputting the third safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the first image is an image of a left side or a right side of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying an operating state of a second headlight of a third vehicle in the second image and a fourth size of the second headlight in the second image; generating fourth safety warning information according to the working state of the second vehicle lamp and the fourth size, wherein the fourth safety warning information is used for indicating that the first vehicle collides with the third vehicle; and outputting the fourth safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the first image is an image of a left side or a right side of the first vehicle acquired by the image acquisition module; the method further comprises the following steps: identifying a roadway edge in the second image and a position and a size of the roadway edge in the first image; generating fifth safety warning information according to the position and the size of the road sideline and the position and the size of the road sideline in the second image, wherein the fifth safety warning information is used for indicating that the first vehicle can cross the road sideline; and outputting the fifth safety warning information to the prompt module or the control system.

Optionally, as an embodiment, the prompting module is an LCD, HUD, OLED, projection display, or loudspeaker.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automotive safety warning device, comprising:

the identification module is used for receiving a first image from a first image acquisition module, and the first image acquisition module is used for acquiring an image in front of or behind a first vehicle to which the automobile safety warning device belongs;

the identification module is further used for identifying the working state of a first vehicle lamp of a second vehicle in the first image and the first size and position of the first vehicle lamp in the first image;

the processing module is used for generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp, which are identified by the identification module, wherein the first safety warning information is used for indicating that the first vehicle collides with the second vehicle;

the output module is used for outputting the first safety warning information to a prompt module or a control system of the first vehicle;

the identification module is further used for receiving a second image acquired by a second image acquisition module, and the second image acquisition module is used for acquiring an image of the left side or the right side of the first vehicle;

the identification module is further used for identifying the working state of a second lamp of a third vehicle in the second image and the fourth size of the second lamp in the second image;

the processing module is further configured to generate fourth safety warning information according to the working state and the fourth size of the second vehicle lamp, which are identified by the identification module, wherein the fourth safety warning information is used for indicating that the first vehicle collides with the third vehicle;

the output module is further configured to output the fourth safety warning information to the prompt module or the control system.

2. The vehicle safety warning device according to claim 1, wherein the processing module is specifically configured to generate the first safety warning information when the operating state of the first vehicle lamp is a first operating state, the first size is greater than or equal to a first threshold, and the position is a first position.

3. The vehicle safety warning device according to claim 1, wherein the processing module is specifically configured to generate the first safety warning information when the operating state of the first vehicle lamp is a second operating state, the ratio of the first size to the size of the first image is greater than or equal to a second threshold, and the position is a second position.

4. The automotive safety warning device of claim 1, wherein when the first image acquisition module is configured to acquire the image of the front of the first vehicle, the identification module is further configured to identify an operating status of a traffic light in the first image and a second size of the traffic light in the first image;

the processing module is further configured to generate second safety warning information according to the working state of the traffic signal lamp and the second size, wherein the second safety warning information is used for indicating the working state of the traffic signal lamp;

the output module is further used for outputting the second safety warning information to the prompt module or the control system.

5. The vehicle safety warning device of claim 1, wherein when the first image capturing module is configured to capture an image of the front of the first vehicle, the identifying module is further configured to identify a guide marker on the road in the first image and a third dimension of the guide marker in the first image;

the processing module is further configured to generate third safety warning information according to the guide marking and the third size identified by the identification module, where the third safety warning information is used to indicate the guide marking;

the output module is further configured to output the third safety warning information to the prompt module or the control system.

6. The vehicle safety warning device of claim 1, wherein the identification module is further configured to identify a road edge in the second image and a position and a size of the road edge in the second image;

the processing module is further configured to generate fifth safety warning information according to the position and the size of the road edge and the position and the size of the road edge in the second image, which are identified by the identification module, wherein the fifth safety warning information is used for indicating that the first vehicle can cross the road edge;

the output module is further configured to output the fifth safety warning information to the prompt module or the control system.

7. The vehicle safety warning device according to any one of claims 1 to 6, wherein the prompting module is a Liquid Crystal Display (LCD), a flat display (HUD), an Organic Light Emitting Display (OLED), a projection display or a loudspeaker.

8. A method of automotive safety warning, the method performed by an automotive safety warning device on a first vehicle, the method comprising:

identifying an operating state of a first lamp of a second vehicle in a first image, and a first size and position of the first lamp in the first image, the first image being an image of the first vehicle ahead or behind acquired by an image acquisition module on the first vehicle;

generating first safety warning information according to the working state, the first size and the position of the first vehicle lamp, wherein the first safety warning information is used for indicating that the first vehicle collides with the second vehicle;

outputting the first safety warning information to a prompt module or a control system of the first vehicle;

the method further comprises the following steps:

identifying a working state of a second headlight of a third vehicle in a second image and a fourth size of the second headlight in the second image, wherein the second image is an image of the left side or the right side of the first vehicle acquired by the image acquisition module;

generating fourth safety warning information according to the working state of the second vehicle lamp and the fourth size, wherein the fourth safety warning information is used for indicating that the first vehicle collides with the third vehicle;

and outputting the fourth safety warning information to the prompt module or the control system.

9. The method of claim 8, wherein generating first safety warning information based on the operating state of the first vehicle light, the first size, and the position comprises:

and generating the first safety warning information when the working state of the first vehicle lamp is a first working state, the first size is greater than or equal to a first threshold value and the position is a first position.

10. The method of claim 8, wherein generating first safety warning information based on the operating state of the first vehicle light, the first size, and the position comprises:

and when the working state of the first vehicle lamp is a second working state, the ratio of the first size to the size of the first image is greater than or equal to a second threshold value, and the position is a second position, generating the first safety warning information.

11. The method of claim 8, wherein the first image is an image forward of the first vehicle acquired by the image acquisition module;

the method further comprises the following steps:

identifying an operating state of a traffic light in the first image and a second size of the traffic light in the first image;

generating second safety warning information according to the working state of the traffic signal lamp and the second size, wherein the second safety warning information is used for indicating the working state of the traffic signal lamp;

and outputting the second safety warning information to the prompt module or the control system.

12. The method of claim 8, wherein the first image is an image forward of the first vehicle acquired by the image acquisition module;

the method further comprises the following steps:

identifying a guide reticle on a road in the first image and a third size of the guide reticle in the first image;

generating third safety warning information according to the guide marking and the third size, wherein the third safety warning information is used for indicating the guide marking;

and outputting the third safety warning information to the prompt module or the control system.

13. The method of claim 8, further comprising:

identifying a roadway edge in the second image and a position and a size of the roadway edge in the second image;

generating fifth safety warning information according to the position and the size of the road sideline and the position and the size of the road sideline in the second image, wherein the fifth safety warning information is used for indicating that the first vehicle can cross the road sideline;

and outputting the fifth safety warning information to the prompt module or the control system.

14. The method according to any one of claims 8 to 13, wherein the cueing module is a liquid crystal display LCD, a flat display HUD, an organic electroluminescent display OLED, a projection display or a loudspeaker.

15. A vehicle characterized by comprising the automotive safety warning device of any one of claims 1 to 7.