CN111114431A - Vehicle safety early warning method and system and vehicle - Google Patents
Vehicle safety early warning method and system and vehicle Download PDFInfo
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- CN111114431A CN111114431A CN201811278669.1A CN201811278669A CN111114431A CN 111114431 A CN111114431 A CN 111114431A CN 201811278669 A CN201811278669 A CN 201811278669A CN 111114431 A CN111114431 A CN 111114431A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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Abstract
The invention provides a safety early warning method and system for a vehicle and the vehicle. The safety early warning method for the vehicle comprises the following steps: when the vehicle runs to a road section with limited width, triggering a safety early warning signal; and projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane. According to the safety early warning method for the vehicle, the vehicle projection drawing with the size and the shape consistent with the size and the shape of the vehicle can be projected into the road section with the limited width before the vehicle enters the road section with the limited width (such as a barrier with limited width and a narrow bridge), and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a safety early warning method and system for a vehicle and the vehicle.
Background
In order to avoid the passage of large vehicles such as large trucks and large trucks, a plurality of roads are usually provided with width-limiting roadblocks, especially in rural areas or villages and towns, the road surfaces are often prevented from being passed by some width-limiting roadblocks, and in addition, some road sections which are relatively narrow in nature, such as narrow bridges, alleys and the like.
For drivers, especially for novice drivers, the driver is often very hard to pass through the area and easily scratches and grabs peripheral obstacles.
In the related art, the configured vehicle-mounted intelligent forward-looking system can simulate the width simulation line of a vehicle on the vehicle-mounted screen, and can help a driver, but the driver needs to observe road conditions and also needs to observe the vehicle-mounted screen with distraction, so that the vehicle-mounted screen is easy to scratch and rub an obstacle in the process of visual angle switching, in addition, the image seen through the screen is a two-dimensional image, the distance cannot be accurately judged, the shooting visual field of the camera is limited, all scenes in front cannot be seen through the camera, and the virtual guide line synthesized on the image can also make the driver difficult to judge the actual distance. This makes it difficult for the driver to accurately judge when passing through a narrow road. In addition, the error of the intelligent forward-looking system is large, the width of the vehicle is only roughly represented, the length of the vehicle cannot be represented, and the assistance provided for a driver to judge the size of the vehicle and the size of the environment is limited.
Disclosure of Invention
In view of the above, the present invention is directed to a safety warning method for a vehicle. According to the safety early warning method for the vehicle, before the vehicle enters the road section with the limited width (such as a road block with limited width and a narrow bridge), the vehicle projection drawing with the size and the shape consistent with those of the vehicle can be projected into the road section with the limited width, and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a safety early warning method for a vehicle comprises the following steps: when the vehicle runs to a road section with limited width, triggering a safety early warning signal; and projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane.
Further, the vehicle projection view comprises a static projection view and/or a dynamic projection view, wherein when the vehicle projection view is a static projection view, the projection position of the vehicle projection view is in front of or in side front of the vehicle and is relatively static with the vehicle; when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
Further, the limited-width road section comprises a narrow bridge, a limited-width road block and/or a narrow road.
Further, before projecting the pre-stored vehicle projection drawing to the width-limited road section, the method further includes: and carrying out affine transformation and projection transformation on the vehicle projection diagram so as to keep the regularity of the projected vehicle projection diagram.
Further, the projection state of the vehicle projection diagram on the width-limited road section refers to: the projection position of the vehicle projection drawing on the road section with the limited width and the size relation state of the width of the vehicle projection drawing and the width of the road section with the limited width.
According to the safety early warning method for the vehicle, the vehicle projection drawing consistent with the size and the shape of the vehicle can be projected into the road section with the limited width before the vehicle enters the road section with the limited width (such as a road block with limited width and a narrow bridge), and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
The second objective of the invention is to provide a safety early warning system for a vehicle. The system can project the vehicle projection drawing with the size and the shape consistent with the size and the shape of the vehicle into the road section with the limited width before the vehicle enters the road section with the limited width (such as a barrier with the limited width and a narrow bridge), and then can accurately determine whether the vehicle can pass through smoothly according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a safety precaution system for a vehicle, comprising: the triggering module is used for triggering a safety early warning signal when the vehicle runs to a road section with limited width; and the projection device is used for projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane.
Further, the vehicle projection view comprises a static projection view and/or a dynamic projection view, wherein when the vehicle projection view is a static projection view, the projection position of the vehicle projection view is in front of or in side front of the vehicle and is relatively static with the vehicle; when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
Further, the method also comprises the following steps: and the correction module is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the pre-stored vehicle projection drawing to the width-limited road section so as to keep the regularity of the projected vehicle projection drawing.
Further, the projection state of the vehicle projection diagram on the width-limited road section refers to: the projection position of the vehicle projection drawing on the road section with the limited width and the size relation state of the width of the vehicle projection drawing and the width of the road section with the limited width.
Compared with the prior art, the vehicle safety early warning system and the vehicle safety early warning method have the same advantages, and are not repeated herein.
A third objective of the present invention is to provide a vehicle, which can project a vehicle projection drawing consistent with the size and shape of the vehicle into a road section with a limited width (such as a road block with a limited width or a narrow bridge) before the vehicle enters the road section with a limited width, so as to accurately determine whether the vehicle can pass through the road section with a limited width according to the projection position of the vehicle projection drawing on the road section with a limited width, thereby improving driving safety.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a vehicle is provided with the safety early warning system of the vehicle according to any one of the embodiments.
Compared with the prior art, the vehicle and the vehicle safety early warning system have the same advantages, and are not repeated herein.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a safety warning method for a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of a projected vehicle projection diagram of a safety warning method for a vehicle according to a first embodiment of the present invention;
fig. 3 is a schematic view of a projected vehicle projection diagram of a safety precaution method for a vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic view of a projected vehicle projection diagram of a safety warning method for a vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to a fourth embodiment of the present invention;
fig. 6 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to a seventh embodiment of the present invention;
fig. 7 is a schematic view illustrating a projected vehicle view of a safety warning method for a vehicle according to an eighth embodiment of the present invention;
fig. 8 is a block diagram of a safety warning system of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a flowchart of a safety warning method of a vehicle according to one embodiment of the present invention.
As shown in fig. 1, a safety precaution method for a vehicle according to an embodiment of the present invention includes the steps of:
s101: and when the vehicle runs to the road section with the limited width, triggering a safety early warning signal.
For example: when the vehicle runs to the road section with the limited width, the safety early warning device can be realized through a button arranged on a vehicle central control and the like, and when the button is triggered, a safety early warning signal can be triggered.
Of course, the vehicle may also collect an image in front of the vehicle through a sensor, such as a camera, to identify the image, to determine whether the road section with the limited width is reached, and to trigger a safety pre-warning signal when the road section with the limited width is reached.
S102: and projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane.
Wherein the width-limited road segment includes but is not limited to: narrow bridges, alleys, width-limiting roadblocks, etc.
Among them, projecting a pre-stored vehicle projection drawing to a road section with a limited width needs to be understood in a broad sense, for example: the projected view of the vehicle is projected onto a certain area of the ground immediately in front of the vehicle or a certain area of the ground on one side (i.e., lateral side) of the vehicle.
When the vehicle reaches the road section with the limited width, the driving track of the vehicle is adjusted to align the road section with the limited width as much as possible, and at the moment, the projection position of the projection diagram of the vehicle can be aligned to the road section with the limited width, namely: the location of the desired projection.
The projected distance may be preset or automatically adjusted according to the obstacle, the link position, the distance of the vehicle from the obstacle or the link position, or the like.
The shape and size of the vehicle projection view are as wide as the length of the vehicle, and the tire position and the geometric attributes representing the characteristics of the vehicle are matched with the projected vehicle projection view.
In addition, the actual projection drawing of the vehicle can be measured and drawn in advance to be used as the vehicle projection drawing, and the vehicle projection drawing is stored in the vehicle in advance, so that the vehicle projection drawing can be directly called when the vehicle projection drawing is needed.
Further, the vehicle projection view may be static or dynamic. Namely: the vehicle projection diagram comprises a static projection diagram and/or a dynamic projection diagram, wherein when the vehicle projection diagram is a static projection diagram, the projection position of the vehicle projection diagram is in front of or in side front of the vehicle and is relatively static with the vehicle; when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
Based on a projectable static or dynamic vehicle projection map, there can be two projection modes, for example: a static projection mode and a dynamic projection mode, wherein when switching to the static projection mode, a static projection map is projected, namely: the projection position of the vehicle projection image is relatively static with the vehicle; when switching to the dynamic projection mode, a dynamic projection map is projected, namely: the projection position of the vehicle projection view is continuously moved back and forth cyclically within the target area.
Wherein the feedback of the projection state of the vehicle projection drawing on the width-limited road section to the driver refers to the projection position of the vehicle projection drawing on the width-limited road section and the size relation state of the width of the vehicle projection drawing and the width of the width-limited road section.
Namely: the projection state of the vehicle projection diagram on the width-limited road section may be a projection state of a relative position and size relationship, for example: the projection state of the vehicle projection diagram completely in the width-limited road section is as follows: the width of the projected view of the vehicle is less than the width of the width-limited road segment, thus generally indicating that the vehicle can pass through the width-limited road segment. Otherwise, the vehicle cannot pass through the device smoothly.
Furthermore, the trafficability of the vehicle on the width-limited link can be judged according to the projection state of the vehicle projection diagram on the width-limited link.
According to the safety early warning method for the vehicle, the vehicle projection drawing consistent with the size and the shape of the vehicle can be projected into the road section with the limited width before the vehicle enters the road section with the limited width (such as a road block with limited width and a narrow bridge), and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
In one embodiment of the present invention, determining the trafficability of the vehicle on the width-limited road segment according to the projection state of the vehicle projection diagram on the width-limited road segment includes: according to the comparison result of the width of the vehicle projection drawing and the width of the width-limited road section, judging the trafficability of the vehicle on the width-limited road section, namely: if the distance between the width of the vehicle projected drawing and the left and right boundaries of the width-limited road section is greater than a predetermined value (e.g., 30 cm), it is determined that the vehicle can safely pass through the width-limited road section. If the distance between the width of the vehicle projection drawing and the left and right boundaries of the width-limited road section is not larger than a preset value (such as 30 centimeters), it is judged that the vehicle can pass through the width-limited road section, but needs to be carefully driven, and scratch is easy to happen. And if the width of the vehicle projection drawing is larger than or equal to the width-limited road section, the vehicle cannot pass through the road section, and a driver is prompted.
As a specific example, a vehicle projection view is projected in front of the vehicle. The vehicle projection drawing can be divided into two forms of static projection and dynamic projection, the relative position of the static projection drawing and the vehicle is static, namely the vehicle projection drawing always keeps an equidistant position with the vehicle along with the movement of the vehicle; the dynamic projected pattern is movable relative to the vehicle for purposes including, but not limited to, performing a simulation of a positional movement.
As shown in fig. 2, 3 and 4 represent obstacles, namely: a width-limited roadblock. In the process of passing through the width-limiting roadblock in front, when the vehicle projection image is static projection, the vehicle projection image and the vehicle are relatively static and move with the vehicle, and before the vehicle enters the width-limiting roadblock, the vehicle projection image enters the width-limiting roadblock along with the movement of the vehicle, namely: along with the forward movement of the vehicle 2, the position of the vehicle projection diagram is changed from the position 1 to the position 2, and then is changed from the position 2 to the position 3, and further, whether the vehicle can pass through the width-limited roadblock or not can be judged by comparing the size of the vehicle projection diagram with the size of the width-limited roadblock.
When the dynamic projection is set, the vehicle projection diagram is not static relative to the vehicle at the moment, but a section of dynamic projection relative to the displacement of the vehicle is carried out, as shown in fig. 3, the vehicle projection diagram moves from the position 2 to the position 3 and then from the position 3 to the position 4, namely, the dynamic projection relative to the movement of the vehicle is carried out, at the moment, the position information of the vehicle in the front, middle and rear states of the vehicle passing through the limited-width road can be judged through the dynamic projection, and the trafficability of the road is judged.
As shown in connection with fig. 3, when a vehicle passes through a narrow bridge, a dynamic projection view is projected, including but not limited to the projection dynamics: and a short animation, wherein the animation content is the animation of the continuous advancing of the vehicle projection diagram from the position 2 to the position 3 to the position 4, and the projection can be performed for multiple cycles according to the intention of an operator.
As shown in fig. 4, when a driver drives into a dense parking space in the forward direction, if it cannot be determined whether a vehicle can drive into the parking space, the function may be turned on, and the driver may aim a vehicle projection diagram at the parking space in advance and control the vehicle, in state 1, the projection diagram projected by the vehicle does not enter the garage, at this time, the driver may adjust the position of the vehicle so that the projection diagram faces the parking space, in state 2, the vehicle has adjusted the position of the vehicle and keeps moving slowly, the projection diagram of the vehicle has entered the garage along with the advance of the vehicle, at this time, the driver may determine whether the width of the garage will meet the width of the vehicle according to the size of the projection diagram and the size of the garage, that is, whether the vehicle can enter the garage, and at the same time, it may be observed whether the projection diagram coincides with the surrounding vehicles, if it coincides, it is determined that the current position driven into the garage will scratch, therefore, the driver needs to adjust the vehicle to ensure that the projection is not overlapped with the surrounding vehicles, and can safely drive into the garage at the moment, and in the state 3, the driver adjusts the projection image to enter the garage, so that the width and the length of the current garage are proved to be consistent with the vehicle, the surrounding vehicles cannot be influenced, and the driver can safely drive into the garage.
In addition, more information can be projected according to the selection of the driver, the door opening information can be projected when the vehicle opens the door, as shown in fig. 5, when the projection is detected to enter the garage, the projection can be static relative to the garage according to the selection of the driver, the door opening information can be projected, the garage width and the door opening information can be detected, and whether the driver can open the door on the two sides of the parking space and walk out the vehicle can be judged. If the opening of the detected vehicle is interfered with the surrounding environment, the driver is reminded that the vehicle door may not be opened after entering the garage, or the driver is reminded that the vehicle may not leave the garage after entering the garage.
When a driver drives into a dense parking space in a non-forward direction, as shown in fig. 6, the position of the parking space can be identified, image information collected by a camera is comprehensively judged with the direction of a vehicle, an included angle β between a vehicle angle and the parking space is obtained through calculation, and the distance L between the vehicle and the parking space is obtained through a sensor.
It should be noted that the angle β between the vehicle and the parking space may be any angle, and the projection range is a projection area.
Similarly, when the driver turns into the narrow road section, because the visual field is limited, the passability of the narrow road section is difficult to judge intuitively, as shown in fig. 7, when the vehicle 1 is about to turn into the narrow road section, the vehicle-mounted sensor can be used for measuring the angle β of the curve and the distance between the vehicle and the curve, the output image of the projection graph is calculated by the vehicle-mounted controller, and the projection graph L1 is projected before the vehicle enters the curve, so that the dynamic projection mode is consistent with the linear dynamic projection mode, and the simulation animation of the vehicle entering the curve can be projected dynamically.
Before projecting the pre-stored vehicle projection drawing to the width-limited road section, the method further comprises the following steps: affine transformation and projective transformation are carried out on the vehicle projection to keep the regularity of the projected vehicle projection, and specifically, fan-shaped distortion generated by horizontal tiling of the vehicle projection on the ground can cause the whole image to be deformed into a figure which is wide at the front and narrow at the back and is no longer regular. Therefore, it is necessary to correct the input source of the pattern, and after the input source pattern is corrected by affine transformation and projective transformation, the pattern projected by the headlight is a regular vehicle projection pattern having the size and features of the vehicle and the like.
According to the safety early warning method for the vehicle, the trafficability characteristic of the vehicle can be accurately determined according to the projection state of the vehicle projection graph in the target area, such as the projection states of the width-limited roadblocks, parking spaces and the like, and the driving safety is improved.
Fig. 8 is a block diagram of a safety warning system of a vehicle according to an embodiment of the present invention. As shown in fig. 8, a safety precaution system 800 for a vehicle according to an embodiment of the present invention includes: a trigger module 810 and a projection device 820.
The triggering module 810 is configured to trigger a safety warning signal when the vehicle travels to a road section with a limited width. The projection device 820 is used for projecting a pre-stored vehicle projection diagram to the width-limited road section so as to feed back the projection state of the vehicle projection diagram on the width-limited road section to the driver, wherein the vehicle projection diagram is consistent with the shape and size of the forward projection diagram of the vehicle on the horizontal plane.
Wherein, the projection state of the vehicle projection drawing on the road section with the limited width refers to: the projection position of the vehicle projection drawing on the road section with the limited width and the size relation state of the width of the vehicle projection drawing and the width of the road section with the limited width.
In one embodiment of the invention, the vehicle projection view comprises a static projection view and/or a dynamic projection view, wherein when the vehicle projection view is a static projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and is relatively static with the vehicle; when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
In one embodiment of the present invention, further comprising: and the correction module (not shown in the figure 8) is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the pre-stored vehicle projection drawing to the width-limited road section so as to keep the regularity of the projected vehicle projection drawing.
According to the safety early warning system for the vehicle, disclosed by the embodiment of the invention, the vehicle projection drawing consistent with the size and the shape of the vehicle can be projected into the road section with the limited width before the vehicle enters the road section with the limited width (such as a road block with limited width and a narrow bridge), and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
It should be noted that a specific implementation manner of the vehicle safety early warning system in the embodiment of the present invention is similar to a specific implementation manner of the vehicle safety early warning method in the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not described here in order to reduce redundancy.
Further, the embodiment of the invention discloses a vehicle which is provided with the safety early warning system of the vehicle in any one of the embodiments. The vehicle can project the vehicle projection drawing with the size and the shape consistent with the size and the shape of the vehicle into the road section with the limited width before the vehicle enters the road section with the limited width (such as a barrier with the limited width and a narrow bridge), and then whether the vehicle can pass through smoothly can be accurately determined according to the projection position of the vehicle projection drawing on the road section with the limited width, so that the driving safety is improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A safety early warning method for a vehicle is characterized by comprising the following steps:
when the vehicle runs to a road section with limited width, triggering a safety early warning signal;
and projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane.
2. The vehicle safety precaution method according to claim 1, wherein the vehicle projected pattern includes a static projected pattern and/or a dynamic projected pattern, wherein,
when the vehicle projection diagram is a static projection diagram, the projection position of the vehicle projection diagram is in front of or laterally in front of the vehicle and is relatively static with the vehicle;
when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
3. The vehicle safety precaution method according to claim 1, wherein the width-restricted road section includes a narrow bridge, a width-restricted barrier, and/or a narrow road.
4. The vehicle safety precaution method according to any one of claims 1 to 3, further comprising, before projecting a pre-stored vehicle projection map to the width-limited road segment: and carrying out affine transformation and projection transformation on the vehicle projection diagram so as to keep the regularity of the projected vehicle projection diagram.
5. The vehicle safety precaution method according to any one of claims 1 to 3, wherein the projection state of the vehicle projection diagram on the width-limited road section is as follows: the projection position of the vehicle projection drawing on the road section with the limited width and the size relation state of the width of the vehicle projection drawing and the width of the road section with the limited width.
6. A safety precaution system for a vehicle, comprising:
the triggering module is used for triggering a safety early warning signal when the vehicle runs to a road section with limited width;
and the projection device is used for projecting a pre-stored vehicle projection drawing to the width-limited road section so as to feed back the projection state of the vehicle projection drawing on the width-limited road section to a driver, wherein the vehicle projection drawing is consistent with the shape and size of the orthographic projection drawing of the vehicle on a horizontal plane.
7. The vehicle safety precaution system of claim 6, wherein the vehicle projected pattern includes a static projected pattern and/or a dynamic projected pattern, wherein,
when the vehicle projection diagram is a static projection diagram, the projection position of the vehicle projection diagram is in front of or laterally in front of the vehicle and is relatively static with the vehicle;
when the projection position of the vehicle projection view is a dynamic projection view, the projection position of the vehicle projection view is in front of or laterally in front of the vehicle and continuously changes along the traveling direction of the vehicle.
8. The safety warning system of a vehicle according to claim 6 or 7, further comprising:
and the correction module is used for carrying out affine transformation and projection transformation on the vehicle projection drawing before the projection device projects the pre-stored vehicle projection drawing to the width-limited road section so as to keep the regularity of the projected vehicle projection drawing.
9. The vehicle safety warning system according to claim 6 or 7, wherein the projection state of the vehicle projection diagram on the width-limited road section is: the projection position of the vehicle projection drawing on the road section with the limited width and the size relation state of the width of the vehicle projection drawing and the width of the road section with the limited width.
10. A vehicle characterized by being provided with a safety warning system of the vehicle as claimed in any one of claims 6 to 9.
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| CN201811278669.1A CN111114431A (en) | 2018-10-30 | 2018-10-30 | Vehicle safety early warning method and system and vehicle |
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| CN201811278669.1A CN111114431A (en) | 2018-10-30 | 2018-10-30 | Vehicle safety early warning method and system and vehicle |
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Application publication date: 20200508 |