CN110264763B

CN110264763B - Short-distance stranger inter-vehicle early warning system and method

Info

Publication number: CN110264763B
Application number: CN201910627652.0A
Authority: CN
Inventors: 纪滨; 周建平; 方木运; 阮越
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2021-06-22
Anticipated expiration: 2039-07-12
Also published as: CN110264763A

Abstract

The invention discloses a short-distance stranger inter-vehicle early warning system and a short-distance stranger inter-vehicle early warning method, and belongs to the field of vehicle networking communication. The invention provides a close-distance stranger inter-vehicle early warning system and method, wherein a C-V2X information acquisition module is used for acquiring relevant information of a vehicle; the peripheral vehicle positioning display module is used for positioning the peripheral vehicle by obtaining the vehicle and map information of the C-V2X information acquisition module and displaying the peripheral vehicle on the real equipment; the vehicle-mounted communication module is communicated with surrounding vehicles and a network; and the event recording module is used for recording and storing the vehicle information. The voice communication prompt device can realize the purpose of accurately selecting the target of the troublemaking vehicle, then carries out voice communication prompt, automatically intercepts the voice of the call and the video section of the automobile data recorder, provides convenience for later-stage traffic police evidence obtaining, and provides convenience for reducing road rage symptoms, polite driving and creating safe driving.

Description

Short-distance stranger inter-vehicle early warning system and method

Technical Field

The invention relates to the field of Internet of vehicles communication, in particular to a short-distance stranger inter-vehicle early warning system and a short-distance stranger inter-vehicle early warning method.

Background

Along with the continuous development of urban vehicle traffic services, a plurality of confusing driving phenomena are also generated, for example, a city is clearly provided with a better street lamp lighting environment at night, but a face vehicle is provided with a bright high beam lamp to influence vehicles going in opposite directions, and most of drivers with trouble lack constraint consciousness on the turning on of headlamps; the former bus or truck is suddenly decelerated or stopped, so that the former driving intention of the following car is confused, the situation of the former car at the end cannot be judged, the former car is forced to stop by the former car, and the car is suddenly decelerated and slowly driven by the mobile phone. If the rear vehicle turns around blindly and temporarily, the vehicles in the adjacent lanes can be encountered to run in parallel, or the rear vehicle is closely connected to run, and particularly when the rear vehicle runs at high speed, traffic accidents are often caused. When the phenomena occur, the owner does not want to communicate with the owner of the vehicle causing the accident, namely, the communication between the owner and the vehicle is not needed, and the traditional method of aiming at too many owners by pressing a horn or a lamp in a correlation mode has no effect, so the phenomena of road rage are more and more violent. And the front vehicle has things which fall from the vehicle carelessly, and the rear vehicle has a careful prompt, but a convenient method is lacked. After investigation, the majority of owners of the troublemakers hope that if they make mistakes, someone reminds in time that the owners of the troublemakers want to correct the mistakes in time, the troubles are not added to others and the owners of the troublesomes, but the owners of the troublemakers cannot communicate in a way of calling because the owners of the troublemakers sit in the cars, and the owners of the troublemakers cannot know the numbers of the mobile phones of the owners of the troublemakers even though the mobile phones exist at present, so that the owners of the. However, the management of urban traffic management lacks effective supervision measures, so that related communication technical solutions are urgently needed to solve the problems.

In the existing scheme, a short-distance wireless communication technology exists, for example, chinese patent application No. 201320376909.8, published 2014, 2 month 26, which discloses a vehicle-mounted short-distance wireless communication system. On-vehicle close range wireless communication system, a serial communication port, including a plurality of wireless data receiving and dispatching terminals, wireless data receiving and dispatching terminal establishes the communication through wireless mode and connects, wireless data receiving and dispatching terminal includes wireless communication equipment, input device, display device and storage device, wireless communication equipment is connected with input device, display device and storage device respectively, wireless communication equipment includes bluetooth module and singlechip, bluetooth module and singlechip are connected. The beneficial effects of this utility model do, can make to establish the communication connection rapidly between the nearer vehicle of distance and exchange, alleviate the vexed mood of car owner at the traffic congestion in-process, improve and drive joyful nature to the implementation is simple, and low cost is particularly useful for on-vehicle closely mutual device. However, the scheme is only to establish a connection module between vehicles, which vehicle is connected has no controllability and poor confidentiality, and cannot play a role in comprehensive law enforcement and enforcement, and the application is independent of the internet of vehicles to be popularized in a large area, so that the technology cannot be guaranteed to be applied between vehicles.

Disclosure of Invention

1. Technical problem to be solved

The invention provides a short-distance stranger inter-vehicle early warning system and a short-distance stranger inter-vehicle early warning method, aiming at the problems that in the prior art, a plurality of nearby vehicles are arranged, the connected vehicles have no controllability and poor confidentiality, and cannot play comprehensive law enforcement and enforcement roles.

2. Technical scheme

The purpose of the invention is realized by the following technical scheme.

A short-distance stranger inter-vehicle early warning system comprises,

the C-V2X information acquisition module is used for acquiring vehicle related information;

the peripheral vehicle positioning display module is used for positioning the peripheral vehicle by obtaining the vehicle and map information of the C-V2X information acquisition module and displaying the peripheral vehicle on the real equipment;

the vehicle-mounted communication module is communicated with surrounding vehicles and a network;

and the event recording module is used for recording and storing the vehicle information.

Furthermore, the C-V2X information collecting module collects basic safety information of vehicles, map information, signal light information, road side traffic information and road side safety information.

Furthermore, the surrounding vehicle positioning display module displays a distribution MAP of adjacent vehicles with the radius of 0.05, 0.5 or 1 kilometer by using the BSM and MAP information acquired by the C-V2X information acquisition module.

Furthermore, the C-V2X information acquisition module is used for acquiring the BSM information including the high beam turn-on early warning, speed, position and brake signal information of the vehicle.

Furthermore, the C-V2X information acquisition module calculates the distance between adjacent vehicles, generates yellow and red flashing signs for emergency braking early warning and forward collision early warning, and displays the yellow and red flashing signs on the vehicle model corresponding to the screen.

Furthermore, the vehicle-mounted communication module comprises a C-V2X supporting a cellular communication interface and a direct connection communication interface.

Furthermore, the event recording module comprises a storage unit, and the call record, the identity information of the two vehicles, the geographic position of the two vehicles and the video segment of the automobile data recorder are automatically stored.

Furthermore, the information stored in the event recording module is mandatory.

The early warning method for early warning among close-distance stranger vehicles comprises the following steps:

A. monitoring vehicle information and vehicle distance information through a system, and judging vehicle conditions according to corresponding information;

B. selecting the vehicles to be inquired according to the situation; communicating with the corresponding vehicle through V2X;

C. under the condition of communication or communication refusal, the system records corresponding communication information and selects whether to communicate with an external monitoring system according to the communication condition;

D. and transmitting the communication information and the vehicle information of the opposite side to an external monitoring system, and carrying out corresponding processing from the outside.

Furthermore, the high beam detection of the vehicle is comprehensively judged to be turned on and off through weather information and time information.

Further, the vehicles selected for inquiry include vehicles around the vehicle body and vehicles blocked in the detection range.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

compared with the prior art, the method can be integrated into C-V2X to realize V2V communication, meets the psychological requirement that careless and careless accident-causing car owners can be reminded in time, provides drivers who are prone to road rage with civilized and polite opportunities, provides convenience for later-stage traffic police departments to evaluate and process driving behaviors of the accident-causing car owners and promotes harmonious traffic even if the accident-causing car owners refuse to not correct behaviors which obstruct driving of other people and submit evidences.

Drawings

FIG. 1 is a system diagram of the apparatus of the present invention.

Fig. 2 is a V2V application mode of the present invention.

Detailed Description

The invention is described in detail below with reference to the drawings and specific examples.

Example 1

As shown in fig. 1 and 2, the invention aims to provide a close-distance stranger inter-vehicle early warning system and method. The technical key of the early warning inquiry among close-distance stranger owners is to determine nearby vehicle targets, and in order to overcome the technical problems, the invention can obtain the conditions of the vehicles nearby the vehicles based on the 5G C-V2X vehicle networking technology, display the nearby vehicle targets on a center console screen of a vehicle-mounted device, select the vehicle targets causing accidents, perform voice communication prompt, and automatically intercept the voice of the call and a video segment of a driving recorder, thereby providing convenience for later-stage traffic police evidence collection, and providing convenience for reducing road rage, polite driving and making safe driving. The invention belongs to a vehicle-mounted system part in C-V2X, and in order to achieve the aim, the short-distance stranger inter-vehicle early warning inquiry device comprises a C-V2X information acquisition module, a peripheral vehicle positioning display module, a vehicle-mounted communication module and an event recording module; the device comprises a C-V2X information acquisition module, a MAP information acquisition module, a traffic information acquisition module and a traffic information acquisition module, wherein the C-V2X information acquisition module provides original data information for other modules of the device, and acquires five types of application layer messages including vehicle Basic Safety Messages (BSM), MAP Messages (MAP), signal lamp messages (SPAT), road side traffic information messages (RSI) and road side safety messages (RSM) through a 5G-based C-V2X vehicle networking technology; communication mechanism of the troublemaker owner:

according to the difference of the car networking communication interaction objects, three types can be roughly classified: V2V (vehicle-to-vehicle communication), V2R (vehicle-to-road communication), and V2I (vehicle-to-back-office communication). The transmission distance can be classified into short-distance transmission and long-distance transmission. Short-distance transmission is mainly applied in V2V and V2R scenarios, and long-distance transmission is mainly applied in V2I scenarios. Mobile communication technology is mainly used in the long-distance transmission, V2I scenario. In the future automatic driving application, the V2X communication technology is one of important technologies for realizing environment perception, is complementary with the advantages of vehicle-mounted perception equipment such as a traditional vehicle-mounted laser radar, a millimeter wave radar, a camera, ultrasonic waves and the like, and provides beyond-the-horizon and complex environment perception capability which cannot be realized by the radar for an automatic driving automobile. The V2X communication expands the perception range of the vehicle to the traffic and the environment from the time dimension and the space dimension by communicating with the surrounding vehicles, roads and infrastructures, and can acquire surrounding environment information such as surrounding vehicle operation information, traffic control information, congestion prediction information, blind vision areas and the like in advance. Therefore, the application of V2X can enhance the environment perception capability, reduce the cost of the vehicle-mounted sensor and enable multi-vehicle information fusion decision.

The peripheral vehicle positioning display module displays one of three adjacent vehicle distribution MAPs with the radiuses of 0.05, 0.5 and 1 kilometer in sequence by repeatedly clicking a zooming button positioned at the corner of a screen on a central control screen by utilizing BSM (basic service module) and MAP (MAP) information acquired by the C-V2X information acquisition module; the specific display radius can be specifically set according to the vehicle body and the demand condition, and the information acquisition module C-V2X is utilized to acquire the information of the BSM including the high beam on early warning of the vehicle, the speed, the position, the brake signal and the like, and the information is displayed on the vehicle model corresponding to the screen by yellow and red flashing generated by comparing the information with the adjacent vehicle; when opposite high beam detection is carried out, in a specific identification process, due to weather reasons and time reasons, identification errors can be caused, and sometimes, false identification can be carried out under the condition of dark weather or poor weather, for example, in foggy days, headlights turned on by a plurality of vehicles are not conditions for judging illegal double action, and at the moment, different conditions of visibility conditions, weather conditions and road conditions need to be comprehensively selected comprehensively. The weather condition that this scheme was synthesized can be based on visibility design, and the headlight that corresponds shows the condition and carries out the comprehensive consideration, and visibility is surveyd and can be divided into daytime visibility observation and night visibility observation. The observation of the daytime visibility is easy to observe and identify according to the distribution of the target objects. The basic formula for calculating horizontal visibility during the day is:

wherein epsilon is a physical quantity related to human visual features, and the value of epsilon recommended by the world weather organization (WMO) is 0.02; b is_t/B_gThe brightness contrast value of the target area and the corresponding sky background area can be directly measured through a CCD camera; b is_t ^＊The inherent brightness value of the target area is obtained; r_tIs the distance of the target from the observer. If the target is assumed to be absolute black, B_t ^＊When 0 is taken, the value of e is 0.02, and the following can be obtained:

the above is the basic formula for measuring visibility by the camera method.

And in the observation of the visibility at night, the selected target light source is adopted as an observation target for sampling, so that the maximum distance of the light with certain intensity can be seen and determined.

Therefore, it is necessary to accurately judge the time of day, i.e., day and night, so that the visibility can be accurately measured by properly applying the basic principle. And in the observation of the visibility at night, the selected target light source is adopted as an observation target for sampling, so that the maximum distance of the light with certain intensity can be seen and determined.

Therefore, the time of day must be accurately judged so that the basic principle can be correctly applied to accurately measure the visibility.

Generally, visibility image analysis is performed by using a gray histogram, and corresponding texture parameters are set below.

The gray mean value M represents the average of the gray values of all points in the sampling area, and when the brightness of the target object is high, the gray mean value is high;

the gray standard deviation V represents the quantity of the gray value dispersion degree on two sides of the gray mean value, and if the gray values of all points in the sampling area are relatively close, the gray standard deviation is small; for the day and night images captured by the camera, the standard deviation changes significantly during the two transition periods of day to night and night to day.

The degree of torsion S reflects the amount of histogram symmetry, which is positive, indicating a right-hand distribution of the histogram, and a left-hand distribution otherwise.

The entropy H reflects the amount of uniformity of the gray value distribution of the image, i.e. the degree of non-uniformity or complexity of the texture in the image. When the probability of each gray value is equal, the entropy is maximum.

M value, daytime is greater than night; the V value is larger in daytime variance because the target object is influenced by the outside to change greatly in daytime and the gray value is more uniform at night; and (4) an S value. Night is greater than day. Indicating a distribution of the histogram to the right during daytime versus nighttime; and H value. It is bigger in the daytime. Because the texture is clearer during the day. At times 07-09, the value of M gradually changes from about 50 to about 160 during the transition period. The value of V also varies significantly. Synchronizing with the value of M; also, at 18-20. The V value and the M value change in the same trend. Thus. The transition period is evident. The brightness difference of the natural object is larger than 5. And the observation time is between 07-09 hours, namely the day observation is carried out. And the brightness change value of the natural target object observed in two consecutive times is less than 0.5. And the observation time is between 18 and 20 hours. Namely, the night observation is carried out.

By the method, the judgment of the opening visibility of the headlamp is carried out, and when the brightness is based on the standard value, the identification is carried out by respectively referring to different standards in the daytime and at night. And reducing the brightness identification standard in the daytime, increasing the brightness judgment threshold value at night, and judging that the headlight of the opposite side is turned on when the brightness judgment threshold value is higher than the brightness judgment threshold value.

Under the condition based on time, the scheme still refers to the standards of visibility, for example, under the conditions of haze and rainy days, when the visibility is low, the brightness recognition standard is reduced, and when the visibility is higher than the brightness judgment threshold value, the headlight of the other side is judged to be turned on. Under the condition of high visibility, the brightness judgment threshold value is improved, and the actual turning-on condition of the high beam lamp of the opposite vehicle is judged by integrating the consideration of time and visibility.

The specific reference threshold may be based on the following formula:

V_h*α+V_n*β＝γ

wherein V_hFor time-based visibility, V_nIn order to obtain the visibility level based on weather, alpha and beta are corresponding coefficients, the range is (0-1), the gamma value is multiplied by a corresponding standard headlamp brightness standard value to obtain a corresponding judgment brightness threshold value, and the headlamp brightness standard value can be set based on the prior art and standards. The visibility level of weather can be judged based on the existing visibility range, and the weather visibility range parameters can be obtained from a weather department based on the vehicle-mounted communication module C-V2X, so that the weather visibility level can participate in the visibility and headlamp detection conditions of different road sections in real time, and the judgment can be accurately carried out.

The vehicle-mounted communication module supports a cellular communication interface (Uu) and a direct connection communication interface (PC5) by utilizing C-V2X, utilizes LTE broadcast, transfers information to another node through a V2X server, adopts a PC5 interface under the environment without LTE network coverage, and can carry out direct communication by adjacent equipment, a user only needs to click a troubled vehicle model on a peripheral vehicle positioning display module to start a voice communication function, meanwhile, a vehicle owner of the troubled vehicle can receive the sound of an inquired vehicle owner through a loudspeaker of a central console, and responds to inquiry items through a microphone, so that the vehicular communication module is a forced mode, the troubled vehicle owner is prevented from closing, the communication with the external inquired vehicle owner is refused, meanwhile, the inquiry process is set for 1 minute, the vehicle owner is forced to close at the arrival point, and the driving of the troubled vehicle owner is prevented from being influenced. The existing car networking technology actually comprises various forms, including (1) a cellular mode, a base station is used as a centralized control center and a data information forwarding center, the base station completes centralized scheduling, congestion control, interference coordination and the like, the access and networking efficiency of V2X can be obviously improved, and the continuity and reliability of services are ensured. The C-V2X of the scheme belongs to a vehicle networking technology based on a cellular network, and (2) a direct connection mode is adopted, vehicles and vehicles are in direct communication, and a resource allocation mechanism is enhanced aiming at the challenges of low time delay, high reliability transmission requirements, high-speed node movement, terminal hiding and the like of road safety services. In practical application, the LTE-V-cell technology can provide continuous transmission of high-speed data for vehicles, and the LTE-V-direct technology can realize information interaction between vehicles and avoid vehicle collision accidents. Fig. 1 shows a typical working scenario of LTE-V technology.

The event recording module is provided with a small storage unit, and during the starting and closing of the vehicle-mounted communication module, the call record, the identity information of two vehicles, the geographic position of the two vehicles and the video band of the automobile data recorder are automatically stored, so that the call record, the identity information of the two vehicles, the geographic position of the two vehicles and the video band of the automobile data recorder are in a forced storage mode, a vehicle owner cannot delete the call record, the owner has the right to determine whether to upload the call record to the Internet of vehicles as evidence of complaining about the vehicles causing accidents, the peripheral vehicle positioning display module is provided with a submission button, the evidence taking processing of the vehicle police department is.

The vehicle owner communication mechanism method comprises the following steps:

the communication application of the troublemaker actively selected by the troublemaker owner and displayed on the central console is adopted within 30 seconds for communication, otherwise, an automatic connection mode is entered, a queuing theory M/M/1/3 model is adopted, 1 person of the troublemaker is adopted, the troublemaker central console can only receive 3 persons for queuing inquiry, the 3 persons send the communication application to the troublemaker central console according to a Poisson distribution flow, 1 application/minute is averaged, the troublemaker waiting inquiry time follows negative exponential distribution, and one inquiry can be completed in 0.8 minute on average;

the early warning method comprises the following steps:

A. monitoring new vehicle distance information through a system, and judging vehicle conditions according to corresponding information;

B. selecting the vehicles to be inquired according to the situation; communicating with the corresponding vehicle through V2X; the C-V2X takes an LTE cellular network as the basis of V2X, is the key research direction of the 5G future, is also a proprietary protocol of the Internet of vehicles, and is oriented to the application scene of the Internet of vehicles;

The early warning system of the scheme has the following specific application process:

1. worry rear-end collision early warning inquiry mode: when the following distance of the rear vehicle 1 is too close to the traffic accident, the owner of the front vehicle is worried about the possibility of rear-end collision caused by deceleration, the surrounding vehicle positioning display module can be used for selecting the rear vehicle model to click, the voice communication mode is started to inform the rear vehicle to pay attention to keeping a proper distance, if the rear vehicle is not discouraging, the voice is ended, the event recording module button can be pressed, one key is used for complaining to a monitoring platform on a C-V2X traffic police network, a traffic police department automatically warns according to the related events of traffic big data through an artificial intelligence algorithm, and the traffic warning voice prompt function of the rear vehicle is directly started through C-V2X to discouraging civilized driving.

2. Driving intention patterns that worry about the fact that the driving change of the front vehicle disturbs the self-compliance: when the vehicle 2 before accident is running without straight line, it drifts left and right, or it decelerates suddenly, or it stops for a long time, because its driving intention is not clear, it can influence the driving decision of the rear vehicle, it can select the front vehicle model to click, start the voice communication mode, inquire the situation of the front vehicle, if the front vehicle is not ignored, the voice end can press the button of the event recording module, one key can complain to the monitoring platform on the C-V2X traffic network, the traffic police department can automatically warn by artificial intelligence algorithm according to the relevant events of the traffic big data, directly start the voice prompt function of the traffic police of the vehicle before accident through C-V2X, persuade its civilized driving.

3. The vehicle without getting off the vehicle direction to cause the accident vehicle of the traffic jam to know the situation pattern: when the hit vehicle catches other vehicles in front and causes traffic jam, in order to eliminate the fidgetiness, the corresponding front vehicle model 3 can be selected to click through the peripheral vehicle positioning display module, the voice communication mode is started, the front vehicle condition is inquired, if the vehicle scratch-off accident is involved, the voice is ended, the traffic police can complain to the C-V2X online monitoring platform by pressing the button of the event recording module according to one key, and the traffic police department can automatically give an early warning through an artificial intelligence algorithm according to the traffic big data related events to prompt the traffic police and the insurance related departments to timely attend to the site for manual jam clearing.

4. And a vehicle communication mode without a nearby visual field: when a vehicle 4 coming from a family or a family nearby is searched, because the sight line is blocked, the vehicle model stopped nearby can be selected to click through the peripheral vehicle positioning and displaying module, the voice communication mode is started, the condition is inquired, and whether the vehicle is the target vehicle to be searched is determined. The LTE-V technology based on the LTE system comprises two working modes, namely a cellular mode (LTE-V-cell) and a direct mode (LTE-V-direct). In practical application, the LTE-V-cell technology can provide continuous transmission of high-speed data for vehicles, and the LTE-V-direct technology can realize information interaction between vehicles and avoid vehicle collision accidents. In a non-line of sight (NLOS) scene, vehicles cannot directly interact with low-delay safety services due to the shielding of buildings at a crossroad, and at the moment, road safety information between vehicles can be obtained through the forwarding of a base station or road side equipment.

5. Communication mode soliciting the side vehicle: when the lane of the own side is blocked and the lane needs to be changed in case of emergency in the vehicle, the corresponding side vehicle model 5 can be selected to click through the peripheral vehicle positioning display module, a voice communication mode is started, the original commission is explained, the deceleration and the abdication of the side vehicle are solicited, if the traffic jam is violent, the voice is ended, the side vehicle owner can complain to the monitoring platform on the C-V2X traffic police network by one key according to the pressing of an event recording module button, and the traffic police department automatically warns by an artificial intelligence algorithm according to the related events of traffic big data, starts the traffic police voice prompt function of the traffic accident vehicle, and advocates civilized driving; the opposite traffic causing vehicles start the high beam lamps privately provided with strong light on the road sections with good lighting environment, the corresponding side vehicle model 6 can be selected to click through the peripheral vehicle positioning display module, the voice call mode is started, the high beam lamps are dissuaded to be closed, the voice is finished, the side vehicle owners can report to the C-V2X traffic police online monitoring platform by one key according to the fact that the buttons of the event recording module are pressed, the traffic police department automatically warns according to the traffic big data related events through an artificial intelligence algorithm, and the traffic police can find the illegal and private installation behaviors in time and perform punishment in time.

The invention and its embodiments have been described above schematically, without limitation, and the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The representation in the drawings is only one of the embodiments of the invention, the actual construction is not limited thereto, and any reference signs in the claims shall not limit the claims concerned. Therefore, if a person skilled in the art receives the teachings of the present invention, without inventive design, a similar structure and an embodiment to the above technical solution should be covered by the protection scope of the present patent. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several of the elements recited in the product claims may also be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Claims

1. A short-distance stranger inter-vehicle early warning system is characterized by comprising,

the peripheral vehicle positioning display module is used for positioning the peripheral vehicle by obtaining the vehicle and map information of the C-V2X information acquisition module and displaying the peripheral vehicle on the display equipment; the peripheral vehicle positioning display module displays a distribution MAP of adjacent vehicles with the radius of 0.05, 0.5 or 1 kilometer by utilizing BSM and MAP information acquired by the C-V2X information acquisition module; collecting the high beam on-warning, speed, position and brake signal information of the vehicle in the BSM message by using a C-V2X information collection module;

the method comprises the steps of detecting that a high beam of an oncoming vehicle is turned on to perform early warning, calculating a reference threshold value according to the visibility of weather and the visibility of time, and further judging the turning-on condition of headlights in different weather and time according to the reference threshold value, wherein the reference threshold value is based on the following formula:

V_h*α+V_n*β＝γ

wherein V_hFor time-based visibility, V_nIn order to obtain visibility level based on weather, alpha and beta are corresponding coefficients, the value range is 0-1, and the gamma value is multiplied by a standard headlamp brightness standard value to obtain a corresponding reference threshold value;

2. The close-range stranger inter-vehicle early warning system of claim 1, wherein the C-V2X information collection module collects basic safety messages, map messages, signal light messages, roadside traffic information messages and roadside safety messages of the vehicle.

3. The close-range stranger inter-vehicle early warning system of claim 1, wherein the C-V2X information acquisition module further calculates the distance between adjacent vehicles, generates a yellow flashing mark for early warning of emergency braking and a red flashing mark for early warning of forward collision, and displays the yellow flashing marks and the red flashing marks on the vehicle model corresponding to the screen.

4. The close-range stranger inter-vehicle warning system of claim 1, wherein the vehicle-mounted communication module comprises a cellular communication interface and a direct-connection communication interface supporting C-V2X.

5. The system of claim 1, wherein the event recording module comprises a storage unit for automatically storing a call record, identity information of vehicles of both sides, a geographical location of the vehicle and a video segment of a vehicle event recorder.

6. An early warning method comprising the close-range stranger inter-vehicle early warning system of any one of claims 1 to 5, comprising the steps of:

B. selecting the vehicles to be inquired according to the situation; communicating with the corresponding vehicle through C-V2X;

7. The early warning method of the close-range stranger inter-vehicle early warning system according to claim 6, wherein:

the vehicles selected for inquiry include vehicles around the vehicle body and vehicles blocked in the detection range.