CN111369827A - Traffic safety light early warning system and method and vehicle - Google Patents
Traffic safety light early warning system and method and vehicle Download PDFInfo
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- CN111369827A CN111369827A CN202010131376.1A CN202010131376A CN111369827A CN 111369827 A CN111369827 A CN 111369827A CN 202010131376 A CN202010131376 A CN 202010131376A CN 111369827 A CN111369827 A CN 111369827A
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention belongs to the field of automobile active safety, and discloses a traffic safety light early warning system, a traffic safety light early warning method and a vehicle, wherein the system comprises an interactive control system and a light projection system; the interactive control system is used for judging whether the vehicle meets a first early warning condition of driving safety based on the vehicle distance or not based on the real-time monitored main target vehicle information and the vehicle driving state data, and if so, generating a first early warning image for warning the vehicle; the light projection system is used for projecting the first early warning image on the road surface in front of the vehicle so as to warn that the distance between the vehicle and the front vehicle is kept. According to the invention, by monitoring the vehicle speed and the vehicle distance in real time, when the early warning condition based on the vehicle speed and the vehicle distance is reached, the early warning image is automatically projected on the road surface in front of the vehicle, so that the driver of the vehicle is effectively warned to keep the vehicle distance, and the driving safety is improved.
Description
Technical Field
The invention relates to a traffic safety light early warning system, a traffic safety light early warning method and a vehicle, and belongs to the field of automobile active safety.
Background
In the running process of the vehicle, the running safety can be basically guaranteed by controlling the speed and the distance of the vehicle. At present, only the vehicle speed can be actively and accurately controlled by a driver, and the current vehicle speed can be known by observing a speedometer of an instrument panel. The distance between vehicles is generally controlled only by subjective visual inspection and driving experience, the accuracy is low, and when an emergency occurs, the braking distance is short due to the fact that the distance between vehicles is too small, and rear-end accidents are easy to happen.
Disclosure of Invention
The invention aims to provide a traffic safety light early warning system, a method and a vehicle, which can automatically project an early warning image on a road surface in front of the vehicle by monitoring the vehicle speed and the vehicle distance in real time when an early warning condition based on the vehicle speed and the vehicle distance is achieved, effectively warn a driver of the vehicle to keep the vehicle distance, and improve the traffic safety.
In order to achieve the above object, a first aspect of the present invention provides a traffic safety light early warning system, which includes an interactive control system and a light projection system; the interactive control system is used for judging whether the vehicle meets a first early warning condition of driving safety based on the vehicle distance or not based on the real-time monitored main target vehicle information and the vehicle driving state data, and if so, generating a first early warning image for warning the vehicle; the light projection system is used for projecting the first early warning image on a road surface in front of the vehicle so as to warn that the distance between the vehicle and a main target vehicle is kept.
Further, the interactive control system continues to judge whether the vehicle meets a second early warning condition of driving safety based on the time when the distance between the two vehicles collides or not according to the information of the main target vehicle, and if so, generates a second early warning image for warning the vehicle; and the light projection system is used for projecting the second early warning image on the road surface in front of the vehicle so as to warn that the vehicle and the main target vehicle have collision danger.
Further, the main target vehicle information includes a position of the main target vehicle, a distance L between the main target vehicle and the host vehicle; the host vehicle running state data includes a host vehicle speed v 0; the first early warning condition is that the main target vehicle is located in the driving track range of the vehicle, v0 is larger than a speed threshold value, and L is smaller than a safety distance.
Further, the main target vehicle information includes a position of the main target vehicle, a distance L between the main target vehicle and the host vehicle, and a relative speed v between the main target vehicle and the host vehicle; and the second early warning condition is that L/v is less than t, and t is a time threshold value of the collision between the two vehicles.
Further, the first early warning image comprises a text part and/or a graphic part; wherein the text portion includes a "vehicle distance of attention" and the graphic portion includes an equidistant line.
Further, the inter-line distance L0 of the equidistant lines is adapted to change with a change in the distance L between the host target vehicle and the host vehicle, with L increasing and L0 increasing, and L decreasing and L0 decreasing.
Further, the second early warning image comprises a text part and/or a graphic part; wherein, the character part comprises 'brake attention' or 'deceleration attention' or 'rear-end collision attention', and the graphic part comprises a rear-end collision warning sign.
Furthermore, the interactive control system comprises a sensing unit, an information acquisition unit, an interactive control unit and an image generation unit; the sensing unit is used for monitoring information of a main target vehicle in real time; the information acquisition unit is used for acquiring the driving state data of the vehicle and the information of the main target vehicle; the interaction control unit is used for judging whether the vehicle meets the first early warning condition or judging whether the vehicle meets the second early warning condition according to the main target vehicle information and the vehicle running state data; the image generation unit is used for generating the first early warning image or the second early warning image.
Further, the light projection system comprises an image acquisition unit, a light source driving unit and a projection unit; the image acquisition unit is used for receiving the first early warning image or the second early warning image; the light source driving unit is suitable for adjusting the driving current of the projection light source according to the illumination mode fed back by the image generation unit; the projection unit is used for projecting the first early warning image or the second early warning image to a road surface in front of the vehicle.
Further, the vehicle driving device further comprises an infrared light supplement unit, and the infrared light supplement unit is suitable for performing irradiation light supplement on the forward direction of the vehicle when the ambient light is dark.
The invention provides a rear vehicle collision-free interactive early warning method in a second aspect, which comprises the following steps: (1) judging whether the main target vehicle is positioned in the driving track range of the vehicle, if so, continuing the next step; (2) judging whether the speed v0 of the vehicle is greater than a speed threshold value and whether the distance L between the main target vehicle and the vehicle is smaller than a safe distance, if so, generating a first early warning image for warning the vehicle; (3) and projecting the first early warning image on the road surface in front of the vehicle to warn that the first early warning image keeps a distance with a main target vehicle.
Further, the method also comprises the following steps: and judging whether the ratio of the distance L between the main target vehicle and the relative speed v between the main target vehicle and the vehicle is smaller than t, wherein t is a time threshold value for collision of the distance between the two vehicles, if so, generating a second early warning image for warning the vehicle, and projecting the second early warning image on a road surface in front of the vehicle to warn that the vehicle and the main target vehicle have collision danger.
Further, the first early warning image comprises a text part and/or a graphic part; wherein the text portion includes a "vehicle distance of attention" and the graphic portion includes an equidistant line.
The invention provides a vehicle in a third aspect, which comprises the driving safety light early warning system in any one of the first aspect, and is suitable for executing the driving safety light early warning method in any one of the second aspect through the driving safety light early warning system.
By the technical scheme, the speed and the distance of the vehicle are monitored in real time, and when the speed of the vehicle is greater than a speed threshold value and the distance between the main target vehicle and the vehicle is less than a safe distance, an early warning image for keeping the distance of the vehicle is automatically projected on a road surface in front of the vehicle, so that a driver of the vehicle is effectively warned to keep the distance of the vehicle; furthermore, when the time of the collision between the two vehicles is less than the threshold value, the deceleration collision avoidance early warning image is automatically projected on the road surface in front of the vehicle, so that the driver of the vehicle is effectively warned to take safety measures such as emergency braking and the like, and the driving safety is improved.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a functional block diagram of an embodiment of the system of the present invention;
FIG. 2 is a schematic block diagram of another embodiment of the system of the present invention;
FIG. 3 is a schematic diagram illustrating the operation of an embodiment of the system of the present invention;
FIG. 4 is a schematic diagram illustrating the operation of a projection unit according to an embodiment of the present invention;
FIG. 5 is a first schematic diagram of a first early warning image in an embodiment of the system/method of the present invention;
FIG. 6 is a second schematic diagram of a first early warning image in an embodiment of the system/method of the present invention;
FIG. 7 is a third schematic diagram of a first early warning image in an embodiment of the system/method of the present invention;
FIG. 8 is a fourth schematic diagram of a first early warning image in an embodiment of the system/method of the present invention;
FIG. 9 is a fifth schematic diagram of a first pre-warning image in an embodiment of the system/method of the present invention;
FIG. 10 is a first schematic diagram of a second early warning image in an embodiment of the system/method of the present invention;
FIG. 11 is a second schematic diagram of a second early warning image in an embodiment of the system/method of the present invention;
FIG. 12 is a third schematic diagram of a second early warning image in an embodiment of the system/method of the present invention;
FIG. 13 is a fourth schematic diagram of a second early warning image in an embodiment of the system/method of the present invention;
FIG. 14 is a flow chart of one embodiment of a method of the present invention;
FIG. 15 is a flow chart of another embodiment of the method of the present invention.
Description of the reference numerals
A projection light source 1; a first illumination optical element 2; a second illumination optical element 3; a third illumination optical element 4; a digital micromirror 5; an imaging optical system 6; a heat dissipation system 7.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, an embodiment of the driving safety light early warning system of the present invention includes an interactive control system and a light projection system; the interactive control system is used for judging whether the vehicle meets a first early warning condition of driving safety based on the vehicle distance or not based on the real-time monitored main target vehicle information and the vehicle driving state data, and if so, generating a first early warning image for warning the vehicle; the light projection system is used for projecting the first early warning image on the road surface in front of the vehicle so as to warn that the first early warning image keeps a distance with a main target vehicle and improve driving safety. Specifically, the main target vehicle information may include the position of the main target vehicle, the distance L between the main target vehicle and the host vehicle; the host vehicle running state data includes a host vehicle speed v 0; the first early warning condition is that the main target vehicle is located in the driving track range of the vehicle, v0 is larger than a speed threshold value, and L is smaller than a safety distance. The position of the main target vehicle comprises two aspects, one of which is whether the main target vehicle exists or not, namely whether other vehicles in front of the vehicle run or not; if the main target vehicle exists in the two groups, the main target vehicle is a main target. The meaning of the primary target can be defined from two aspects: if the current road has a lane line, the current road and the vehicle are in the same lane; and secondly, if the current road has no lane line, the main target vehicle is within the driving track range of the vehicle. In fact, the second definition may encompass the first definition. Whether the main target vehicle is the main target or not is determined because only the main target influences the driving safety of the vehicle, and vehicles in other lanes generally do not bring potential safety hazards to the normal driving of the vehicle, so that monitoring is not needed. The main target vehicle is generally a preceding vehicle adjacent to the host vehicle that travels ahead of the host vehicle, and the following embodiments are exemplified by the preceding vehicle. The distance L between the host vehicle and the preceding vehicle and the vehicle speed v0 of the host vehicle are directly related to the driving safety of the host vehicle, and both an excessively short vehicle distance and an excessively fast vehicle speed bring the risk of rear-end collision. For drivers who have formed fixed driving habits, the concept of paralysis is widely existed, the situations of too tight following and too fast speed often exist, once the front vehicle brakes suddenly, the front vehicle has no time to react, and great potential safety hazards exist. The first early warning condition is comprehensively set from two aspects of L and v0, wherein L is less than the safety distance, v0 is greater than the speed threshold, namely, the first early warning condition is met only when v0 is greater than the speed threshold and L is less than the safety distance. The reason for this is that if only one parameter reaches the standard, the other parameter is far away, no potential safety hazard exists, and no early warning is needed, otherwise unnecessary interference is caused to normal driving. For example, when v0 is greater than the speed threshold, if L is greater than the safe distance, the vehicle is far away from the front vehicle, and even if the vehicle speed is higher, the vehicle does not approach the front vehicle for a short time, and the relatively safe state is kept; alternatively, when L < safety distance, if v0 < speed threshold, the vehicle is traveling at a slower speed, and even if the vehicle distance is still small, it does not approach the preceding vehicle for a short time, and the relatively safe state is maintained. For a specific value of the safety distance in the first warning condition, the following formula can be adopted for calculation: the safe distance is v0 (unit km/h) +40m, and for example, when the vehicle speed v0 is 80km/h, the safe distance is 80+40 m + 120 m. The value of the speed threshold in the first early warning condition can be changed according to different road conditions, and can be set to 75km/h, for example. When the first early warning condition is met, the situation shows that the speed of the vehicle is too high and the distance between the two vehicles is short, the vehicle is approaching the front vehicle quickly, and if no remedial measures such as deceleration and the like are taken, the predictable rear-end collision risk is about to occur. The first early warning image comprises a text part and/or a graphic part; wherein the text part can include the 'attention car distance' and can also be other texts with similar meanings, as shown in fig. 9, and the graphic part can include equidistant lines or light blankets with different shapes and different arrangement directions, as shown in fig. 5-8. The meaning of the text part is accurate and unambiguous, and indicates that the current security threat is that the distance between vehicles is too short and needs to be kept beyond the safe distance. The graphic part is a distance prompt line or a distance prompt light blanket, the distance between the prompt lines can be stretched or compressed along with the change of the vehicle distance L, the distance L is stretched when the vehicle distance is increased, namely the distance between the prompt lines is increased, the distance L is compressed when the vehicle distance is decreased, namely the distance between the prompt lines is decreased, a strong visual impact is given to a driver of the vehicle, the driver can recognize the severity of the potential safety hazard, and corresponding remedial measures can be taken in time. The area projected by the first early warning image is the road surface behind the front vehicle or the whole road surface from the front of the vehicle to the tail of the front vehicle. The effects of projection include, but are not limited to, the following forms: a front vehicle tail road surface flashing prompt line; a distance prompt line from the vehicle to the tail of the front vehicle; the effect of the light blanket is shown as a uniform high-brightness area which is paved on the road surface between the vehicle and the tail part of the front vehicle. The width of the highlight area is kept relatively unchanged along with the width of the lane line, and the length of the highlight area is changed in a mode of adapting to the distance from the vehicle to the tail of the front vehicle. In order to give more obvious distance visual judgment to the driver of the vehicle, the light blanket can have a dynamic 'growing' effect in the display process, namely, the light blanket gradually grows from the front part of the vehicle to the front part and finally reaches the tail part of the vehicle, and the effect is continuously circulated in the display process. In addition, the light blanket can also combine the effect of scintillation, and the frequency of scintillation can become fast gradually as the vehicle distance L shortens, reminds the driver more intensely.
In an embodiment of the driving safety light early warning system of the present invention, the preceding vehicle information further includes a relative speed v between the preceding vehicle and the host vehicle, and a second early warning condition TTC may be set to be L/v < t, where t is a time threshold for a collision between two vehicles, so as to further improve an early warning level. Ttc (time To collision) refers To the time (in units of s) when the distance is in collision, that is, after the long time, the vehicle will collide with the front vehicle, where t can be freely set according To the road condition, etc., generally, when the road condition is good and the vehicle speed is fast, the value of t may be larger, and when the road condition is poor and the vehicle speed is slow, the value of t may be smaller, for example, t may be 2.5. And when the second early warning condition is met, the interactive control system generates a second early warning image and projects the second early warning image to the road surface in front of the vehicle through the light projection system so as to warn that the vehicle and the front vehicle have collision danger. The second early warning image comprises a text part and/or a graphic part; the text part comprises 'brake attention' or 'deceleration attention' or 'rear-end attention', as shown in fig. 11-13, or other texts with similar meanings, and the graphic part comprises a rear-end collision warning mark, as shown in fig. 10. The meaning of the character part is accurate and is not suspicious, which indicates that the current security threat is rear-end collision and braking and decelerating measures need to be taken. The graphic part is an icon with the meaning of rear-end collision warning, the icon can have various display effects of dynamic fade-in, fade-out, flicker, slide-in and slide-out and the like, is used for the visual sense of soft drivers and other traffic participants, has a good visual impact effect, and is easy to attract the attention of drivers of the vehicle. Therefore, the t value is actually the reaction time reserved for emergency operations such as emergency braking and the like of the vehicle before the rear-end collision, and the driver of the vehicle is prevented from being out of reach. For example, if t is 2.5s, once the interactive control system determines that TTC is less than 2.5, the light projection system immediately projects the second warning image on the road surface in front of the vehicle, and the driver of the vehicle starts to take collision avoidance measures such as sudden braking and sudden lane change after finding the vehicle, so that the vehicle can basically reduce the vehicle speed to a safe area or change the vehicle lane to a safe lane within 2.5s, and the rear-end collision accident is effectively avoided.
It should be noted that the first early warning image and the second early warning image are both truly projected on the road surface, and are fixed along with the relative position of the lane line, just like the icon actually existing on the road surface, but not the virtual effect of suspending on the road surface or in the air, so that the first early warning image and the second early warning image have strong driving experience and visual impact, and inevitably attach attention to the driver, so that remedial measures can be taken in time until the projection disappears.
As shown in fig. 2, in an embodiment of the driving safety light early warning system of the present invention, the interactive control system includes a sensing unit, an information collecting unit, an interactive control unit, and an image generating unit; the sensing unit is used for monitoring the information of the front vehicle in real time; the information acquisition unit is used for acquiring the driving state data of the vehicle and the information of the vehicle ahead; the interaction control unit is used for judging whether the vehicle meets the first early warning condition or judging whether the vehicle meets the second early warning condition according to the preceding vehicle information and the vehicle running state data; the image generation unit is used for generating the first early warning image or the second early warning image. Specifically, the perception unit can adopt forward radar or forward looking camera module, and wherein, collision early warning millimeter wave radar before the forward radar can select, infrared camera module can be selected to the forward looking camera module. The information of the front vehicle detectable by the sensing unit at least comprises the position of the front vehicle, the distance L between the front vehicle and the host vehicle and the relative speed v between the front vehicle and the host vehicle. The information acquisition Unit extracts the vehicle speed v0, which is the vehicle driving state data, from an ECU (Electronic Control Unit) in real time through an in-vehicle communication bus, and acquires the preceding vehicle information from the sensing Unit, that is, the position of the preceding vehicle, the distance L between the preceding vehicle and the vehicle, and the relative speed v between the preceding vehicle and the vehicle. The interaction control unit judges whether the information sent by the information acquisition unit meets a first early warning condition or whether the information meets a second early warning condition, if the information meets the first early warning condition, the image generation unit generates a first early warning image, and if the information meets the second early warning condition, the image generation unit generates a second early warning image.
As shown in fig. 2, in an embodiment of the driving safety light early warning system of the present invention, the light projection system includes an image acquisition unit, a light source driving unit and a projection unit; the image acquisition unit is used for receiving the first early warning image or the second early warning image; the light source driving unit is suitable for adjusting the driving current of the projection light source according to the illumination mode fed back by the image generation unit; the projection unit is used for projecting the first early warning image or the second early warning image to a road surface in front of the vehicle. Specifically, as shown in fig. 4, the projection unit includes a projection light source 1, a first illumination optical element 2, a second illumination optical element 3, a third illumination optical element 4, a digital micromirror 5, an imaging optical system 6, and a heat dissipation system 7, wherein light emitted by the projection light source 1 is collimated by the first illumination optical element 2, the second illumination optical element 3, and the third illumination optical element 4 in sequence and then emitted onto the digital micromirror 5, the digital micromirror 5 selectively emits light into the imaging optical system 6 according to an early warning image to be displayed, the imaging optical system 6 outputs a final image light pattern, and the heat generated by the system is continuously taken away by the heat dissipation system 7 in a working process, so as to avoid high-temperature operation of the system. As shown in fig. 3, the light source driving unit is configured to control a driving current corresponding to the projection light source 1 in the current illumination mode according to different illumination modes fed back by the image generating unit, and simultaneously control the projection light source 1 to perform a matched turn-off action according to a high-speed turn-off signal fed back by the digital micromirror 5 control system. For example, when the low beam illumination mode is fed back by the image generation unit, the light source driving unit controls the driving current of the projection light source 1 to be 1.4A; when the image generation unit feeds back the high beam illumination mode, the light source driving unit controls the driving current of the projection light source 1 to be 5A. In fig. 3, a black thick line at the bottom represents the traveling road surface of the host vehicle, a circle represents wheels, a line connected to the wheels represents the outline of the host vehicle, and the sensing range of the sensing unit, which is the road surface ahead of the host vehicle, and the projection area of the projection unit, which is also the road surface ahead of the host vehicle, are shown.
In some embodiments of the traffic safety light early warning system of the present invention, the light projection system with the projection unit as the core may be installed in the headlights or taillights of the vehicle, or may be installed in the lights on both sides of the vehicle simultaneously, or may be installed on one side. Certainly, the light projection system is not limited to be arranged in front and rear lamps, and can be arranged at any position where other lamps are not arranged, and in the process of driving at night, the light projection system can provide a basic vehicle night lighting function, in addition, the ground or the wall in front of the light projection system can be used as a screen to realize the projection of characters or patterns, and when the light projection system is arranged on the side surface of a vehicle or in reflectors at two sides of the vehicle, the interaction between the vehicle and a driver or passengers or pedestrians in the process of getting on or off the vehicle can be further realized, so that richer driving experience is realized.
As shown in fig. 3, in an embodiment of the driving safety light early warning system of the present invention, the driving safety light early warning system further includes an infrared light supplement unit, the infrared light supplement unit is connected to the sensing unit, and when the ambient light is dark, for example, at night, the infrared light supplement unit is started to perform illumination light supplement on the forward direction of the vehicle, and then the vehicle is detected by the sensing unit, so as to improve the accuracy of detecting the forward vehicle.
As shown in fig. 14, an embodiment of the driving safety light early warning method of the present invention includes the following steps: s101, judging whether a front vehicle is located in the travel track range of the vehicle, if so, continuing to step S102, and if not, repeating the step; s102, judging whether the speed v0 of the vehicle is greater than a speed threshold value and whether the distance L between the front vehicle and the vehicle is smaller than a safe distance, if so, continuing to the step S103, and if not, turning to the step S101; s103, generating a first early warning image for warning the vehicle, and projecting the first early warning image on a road surface in front of the vehicle to warn that the vehicle keeps a distance with a front vehicle. The specific implementation process is similar to that disclosed in the embodiment of the driving safety light early warning system, and is not described herein again.
As shown in fig. 15, in an embodiment of the driving safety light early warning method of the present invention, the method includes the following steps: s201, judging whether the front vehicle is located in the running track range of the vehicle, if so, continuing to the step S202, and if not, repeating the step; s202, judging whether the vehicle speed v0 is greater than a speed threshold value and whether the distance L between the front vehicle and the vehicle is smaller than a safe distance, if so, continuing to the step S203, otherwise, turning to the step S201; s203, generating a first early warning image for warning the vehicle, and projecting the first early warning image on a road surface in front of the vehicle to warn that the vehicle keeps a distance with a front vehicle; continuing to step S204; s204, judging whether the ratio of the distance L between the front vehicle and the relative speed v between the front vehicle and the vehicle is smaller than t, wherein t is a time threshold value for collision of the distance between the two vehicles, if yes, continuing to the step S205, and if not, turning to the step S202; s205, a second early warning image for warning the vehicle is generated and projected to the road surface in front of the vehicle to warn that the vehicle and the front vehicle have collision danger. The specific implementation process is similar to that disclosed in the embodiment of the driving safety light early warning system, and is not described herein again.
In the embodiment of the vehicle of the present invention, any embodiment of the driving safety light early warning system of the present invention may be included, and any embodiment of the driving safety light early warning method of the present invention may be executed, and the technical effects or advantages of any embodiment described above are provided, and are not described herein again.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (14)
1. A traffic safety light early warning system is characterized by comprising an interactive control system and a light projection system;
the interactive control system is used for judging whether the vehicle meets a first early warning condition of driving safety based on the vehicle distance or not based on the real-time monitored main target vehicle information and the vehicle driving state data, and if so, generating a first early warning image for warning the vehicle; the light projection system is used for projecting the first early warning image on a road surface in front of the vehicle so as to warn that the distance between the vehicle and a main target vehicle is kept.
2. The driving safety light early warning system according to claim 1, wherein the interactive control system further continues to determine whether the vehicle meets a second early warning condition for driving safety based on the time of collision between the two vehicles according to the information of the main target vehicle, and if so, generates a second early warning image for warning the vehicle; and the light projection system is used for projecting the second early warning image on the road surface in front of the vehicle so as to warn that the vehicle and the main target vehicle have collision danger.
3. A driving safety light early warning system according to claim 1, wherein the main target vehicle information includes a position of the main target vehicle, a distance L between the main target vehicle and the host vehicle; the host vehicle running state data includes a host vehicle speed v 0; the first early warning condition is that the main target vehicle is located in the driving track range of the vehicle, v0 is larger than a speed threshold value, and L is smaller than a safety distance.
4. A driving safety light early warning system according to claim 2, wherein the main target vehicle information includes a position of the main target vehicle, a distance L between the main target vehicle and the host vehicle, and a relative speed v between the main target vehicle and the host vehicle; and the second early warning condition is that L/v is less than t, and t is a time threshold value of the collision between the two vehicles.
5. A driving safety light warning system according to claim 1 or 3, wherein the first warning image comprises a text portion and/or a graphic portion; wherein the text portion includes a "vehicle distance of attention" and the graphic portion includes an equidistant line.
6. A traffic light warning system according to claim 5, wherein the distance L0 between equidistant lines is adapted to vary with the distance L between the host vehicle and the host vehicle, L0 increasing with L, L0 decreasing with L.
7. A driving safety light early warning system according to claim 2 or 4, wherein the second early warning image comprises a text part and/or a graphic part; wherein, the character part comprises 'brake attention' or 'deceleration attention' or 'rear-end collision attention', and the graphic part comprises a rear-end collision warning sign.
8. A driving safety light early warning system according to claim 2, wherein the interactive control system comprises a sensing unit, an information acquisition unit, an interactive control unit and an image generation unit;
the sensing unit is used for monitoring information of a main target vehicle in real time;
the information acquisition unit is used for acquiring the driving state data of the vehicle and the information of the main target vehicle;
the interaction control unit is used for judging whether the vehicle meets the first early warning condition or judging whether the vehicle meets the second early warning condition according to the main target vehicle information and the vehicle running state data;
the image generation unit is used for generating the first early warning image or the second early warning image.
9. A driving safety light early warning system according to claim 8, wherein the light projection system comprises an image acquisition unit, a light source driving unit and a projection unit;
the image acquisition unit is used for receiving the first early warning image or the second early warning image;
the light source driving unit is suitable for adjusting the driving current of the projection light source according to the illumination mode fed back by the image generation unit;
the projection unit is used for projecting the first early warning image or the second early warning image to a road surface in front of the vehicle.
10. A driving safety light early warning system according to claim 8 or 9, further comprising an infrared light supplement unit, wherein the infrared light supplement unit is adapted to supplement light for forward traveling direction of the vehicle when ambient light is dark.
11. A driving safety light early warning method is characterized by comprising the following steps:
(1) judging whether the main target vehicle is positioned in the driving track range of the vehicle, if so, continuing the next step;
(2) judging whether the speed v0 of the vehicle is greater than a speed threshold value and whether the distance L between the main target vehicle and the vehicle is smaller than a safe distance, if so, generating a first early warning image for warning the vehicle;
(3) and projecting the first early warning image on the road surface in front of the vehicle to warn that the first early warning image keeps a distance with a main target vehicle.
12. A driving safety light early warning method according to claim 11, further comprising the steps of: and judging whether the ratio of the distance L between the main target vehicle and the relative speed v between the main target vehicle and the vehicle is smaller than t, wherein t is a time threshold value for collision of the distance between the two vehicles, if so, generating a second early warning image for warning the vehicle, and projecting the second early warning image on a road surface in front of the vehicle to warn that the vehicle and the main target vehicle have collision danger.
13. A driving safety light early warning method according to claim 11 or 12, wherein the first early warning image comprises a text part and/or a graphic part; wherein the text portion includes a "vehicle distance of attention" and the graphic portion includes an equidistant line.
14. A vehicle comprising a driving safety light warning system according to any one of claims 1 to 10 and adapted to perform a driving safety light warning method according to any one of claims 11 to 13 by means of the driving safety light warning system.
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