CN112124325A

CN112124325A - Overtaking reminding method and system, electronic equipment and storage medium

Info

Publication number: CN112124325A
Application number: CN202010873424.4A
Authority: CN
Inventors: 潘云峰; 张亮; 詹世辉
Original assignee: Zeifu Automotive Technology Shanghai Co ltd
Current assignee: Zeifu Automotive Technology Shanghai Co ltd
Priority date: 2020-08-26
Filing date: 2020-08-26
Publication date: 2020-12-25

Abstract

The invention relates to the technical field of automatic driving, and provides an overtaking reminding method, an overtaking reminding system, electronic equipment and a storage medium. The overtaking reminding method comprises the following steps: in the automatic driving process of the vehicle, generating an overtaking reminding instruction according to real-time environment data, wherein light-emitting devices distributed circumferentially are arranged on a steering wheel of the vehicle; pushing first light reminding information for indicating the grasping of the steering wheel through the light-emitting device according to the overtaking reminding instruction; when the gripping action on the steering wheel is detected, generating an overtaking instruction carrying an overtaking direction according to real-time environment data; and pushing second light reminding information at least indicating the overtaking direction through the light-emitting device according to the overtaking guide instruction. The invention can provide accurate reminding information for the driver under the overtaking working condition, guides the driver to flexibly deal with the overtaking working condition and improves the driving safety.

Description

Overtaking reminding method and system, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of automatic driving, in particular to an overtaking reminding method, an overtaking reminding system, electronic equipment and a storage medium.

Background

Currently, the automated driving technology suitable for most vehicles and most road environments is the L3 level automated driving technology. The automatic driving technology of the L3 level can realize automatic driving under the conventional working conditions including straight running, steering, accelerating, braking and the like, but under some complex working conditions, such as overtaking working conditions, the driver is still required to take over the vehicle.

Under the condition that the automatic driving needs to take over, the driver is reminded by giving out light, sound and other prompts. However, the existing technologies only send a take-over prompt to the driver, and after the driver takes over the vehicle, the driver cannot provide related reminding services any more; and often the driver is difficult to make accurate judgement alone under the complicated operating mode, and also is difficult to deal with rapidly after taking over the vehicle suddenly, influences driving safety.

Particularly, under the overtaking working condition, the existing technology cannot provide accurate reminding and guide the driver to deal with the overtaking or overtaking.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the invention and therefore may include information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

In view of the above, the invention provides an overtaking reminding method, an overtaking reminding system, an electronic device and a storage medium, which can provide accurate reminding information for a driver under an overtaking working condition, guide the driver to flexibly deal with the overtaking working condition and improve driving safety.

One aspect of the invention provides an overtaking reminding method, which comprises the following steps: in the automatic driving process of the vehicle, generating an overtaking reminding instruction according to real-time environment data, wherein light-emitting devices distributed circumferentially are arranged on a steering wheel of the vehicle; pushing first light reminding information for indicating the grasping of the steering wheel through the light-emitting device according to the overtaking reminding instruction; when the gripping action on the steering wheel is detected, generating an overtaking instruction carrying an overtaking direction according to real-time environment data; and pushing second light reminding information at least indicating the overtaking direction through the light-emitting device according to the overtaking guide instruction.

In some embodiments, the light-emitting device includes arc-shaped light-emitting bars distributed in a left area, a right area, and an upper area of the steering wheel, and the step of pushing the second light reminding message through the light-emitting device includes: determining an arc-shaped luminous strip of an area where the overtaking direction is located; and controlling the arc-shaped light-emitting strip in the area where the overtaking direction is located to flicker and emit light.

In some embodiments, the passing guidance instruction further carries a passing steering angle, and the step of sending the second light reminding message by the light emitting device further comprises: lightening a partial arc-shaped area pointing to the overtaking direction from the center in the arc-shaped luminous strip in the upper area, so that a central angle corresponding to the partial arc-shaped area is equal to the overtaking steering angle; and determining a residual steering angle according to the actual steering angle of the steering wheel and the overtaking steering angle, and adjusting the partial arc area in real time according to the residual steering angle.

In some embodiments, the step of pushing the second light reminding message by the light emitting device further comprises: and if the actual steering angle of the steering wheel is larger than the overtaking steering angle, controlling arc-shaped light-emitting strips in the area opposite to the overtaking direction to flash light early warning.

In some embodiments, the overtaking reminding method further comprises the following steps: sending a vehicle speed keeping reminder to the associated vehicles entering the dynamic overtaking space of the vehicle within a preset distance range; the dynamic overtaking space includes a first path from a current lane of the host vehicle into an adjacent lane and a second path from the adjacent lane back to the current lane.

In some embodiments, the step of pushing the first light reminder message by the light emitting device comprises: and controlling the light-emitting device to flicker and emit light at a preset flicker frequency, a preset light-emitting brightness and a preset light-emitting color, wherein the preset flicker frequency, the preset light-emitting brightness and the preset light-emitting color are determined according to factory configuration or user configuration.

In some embodiments, the overtaking reminding method further comprises the following steps: generating a overtaking reminder according to real-time environment data, wherein the overtaking reminder carries the overtaking direction; and pushing third light reminding information indicating the overtaking direction through the light-emitting device according to the overtaking reminding.

In some embodiments, the light-emitting device includes arc-shaped light-emitting bars distributed in a left area, a right area, and an upper area of the steering wheel, and the step of pushing the third light reminding message through the light-emitting device includes: determining an arc-shaped luminous strip in the area where the overtaking direction is located and a local arc-shaped area corresponding to the overtaking direction in the arc-shaped luminous strip in the upper area; and controlling the arc-shaped luminous strip in the area where the overtaking direction is located and the local arc-shaped area to flicker and emit light.

In some embodiments, the overtaking reminding method further comprises the following steps: detecting the distance between an overtaking vehicle and the vehicle; and if the distance is smaller than a preset value, improving the flicker frequency and the light-emitting brightness of the arc-shaped light-emitting strip in the area where the overtaking direction is located and the local arc-shaped area.

Another aspect of the present invention provides an overtaking warning system, including: the first control module is configured to generate an overtaking reminding instruction according to real-time environment data in the automatic driving process of the vehicle, and light-emitting devices which are circumferentially distributed are arranged on a steering wheel of the vehicle; the first reminding module is configured to push first light reminding information for indicating and grabbing the steering wheel through the light-emitting device according to the overtaking reminding instruction; the second control module is configured to generate an overtaking instruction carrying an overtaking direction according to real-time environment data when the gripping action on the steering wheel is detected; and the second reminding module is configured to push second light reminding information at least indicating the overtaking direction through the light-emitting device according to the overtaking guide instruction.

Yet another aspect of the present invention provides an electronic device including: a processor; a memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the steps of the passing alert method of any of the above embodiments via execution of the executable instructions.

Yet another aspect of the present invention provides a computer-readable storage medium storing a program which, when executed, performs the steps of the passing alert method of any of the above embodiments.

Compared with the prior art, the invention has the beneficial effects that:

first light reminding information for indicating to grasp the steering wheel is pushed through the light-emitting device, so that a driver is reminded to grasp the steering wheel to take over a vehicle; when the grabbing action is detected, after the driver is confirmed to accurately take over the vehicle, the second light reminding information at least indicating the overtaking direction is pushed through the light-emitting device, so that the driver is assisted to deal with the overtaking working condition, and the driving safety is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic diagram illustrating steps of a method for reminding overtaking in an embodiment of the invention;

FIG. 2 is a schematic view showing the structure of a steering wheel in the embodiment of the present invention;

fig. 3 shows a schematic layout of a light emitting device in an embodiment of the present invention;

fig. 4 is a schematic diagram illustrating a step of pushing a second light reminding message according to an embodiment of the present invention;

FIG. 5 illustrates a scene schematic of a dynamic overtaking space in an embodiment of the invention;

FIG. 6 is a schematic diagram illustrating illumination of a third light reminding message pushed in the embodiment of the present invention;

fig. 7 shows a schematic diagram of a lamp bead layout of a light-emitting device in an embodiment of the invention;

FIG. 8 is a block diagram of an embodiment of the invention;

fig. 9 shows a schematic structural diagram of an electronic device in an embodiment of the invention; and

fig. 10 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted.

Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The step numbers in the following method embodiments are only used for representing different execution contents, and do not limit the logical relationship and execution sequence between the steps. The features in the embodiments may be combined with each other, unless otherwise specified.

Fig. 1 shows the main steps of the overtaking reminding method in the embodiment, and referring to fig. 1, the overtaking reminding method in the embodiment mainly includes: in step S110, in the automatic driving process of the vehicle, an overtaking reminding instruction is generated according to the real-time environment data, and light-emitting devices distributed circumferentially are arranged on a steering wheel of the vehicle; in step S120, according to the overtaking reminding instruction, first light reminding information indicating to grasp the steering wheel is pushed by the light-emitting device; in step S130, when a gripping action on the steering wheel is detected, an overtaking instruction carrying an overtaking direction is generated according to the real-time environment data; and in step S140, according to the overtaking instruction, pushing second light reminding information at least indicating the overtaking direction through the light-emitting device.

The vehicle is provided with an automatic driving technology of L3 level or higher, the control instruction of the overtaking reminding method is generated by an automatic driving controller of the vehicle, or is generated by a central processing unit of the vehicle network, and the vehicles provided with the automatic driving technology can be in communication connection through the central processing unit of the vehicle network. The steering wheel controller of the vehicle is matched with the automatic driving controller or a central processing unit of the vehicle network, and light reminding is carried out according to the control instruction.

In step S110, the detection device disposed in the vehicle realizes real-time detection of the surrounding environment. For example, sensing devices such as a millimeter wave radar, a camera, and an ultrasonic radar are arranged at various positions of the vehicle body of the host vehicle, so that the sensing detection of the environment around the vehicle body of the host vehicle is realized, and the accuracy of automatic driving is ensured. The situations that the automatic driving controller or the central processing unit generates the overtaking reminding instruction according to the real-time environment data detected and obtained by the sensing device are as follows: the front view is blocked, so that a driver cannot observe the front road condition to meet the possible takeover requirement; the speed of the front vehicle is too slow, so that the vehicle cannot reach the destination in the preset time; obstacles on the front road need to be bypassed; and so on.

Fig. 2 shows the structure of the steering wheel in the embodiment, and referring to fig. 2, the steering wheel 200 in the embodiment is provided with light emitting devices 210 distributed circumferentially. The Light Emitting device 210 is a Light source device capable of Emitting colored Light, such as an LED (Light Emitting Diode) Light source, an OLED (Organic Light-Emitting Diode) Light source, and the like, so as to provide a variety of Light alerts to a driver in different driving conditions. Grip detection means (not specifically shown) such as capacitive sensors distributed on the outer ring and the inner ring of the steering wheel 200 may be further provided on the steering wheel 200 to detect whether the driver grips the steering wheel 200 accurately.

In step S120, the steering wheel controller receives the overtaking reminding instruction, and pushes the first light reminding information indicating to grasp the steering wheel through the light-emitting device, so as to remind the driver to accurately grasp the steering wheel to take over the vehicle. The first light reminding information is pushed in the following mode: and controlling the light-emitting device to emit light in a flickering mode at a preset flickering frequency, a preset light-emitting brightness and a preset light-emitting color, wherein the preset flickering frequency, the preset light-emitting brightness and the preset light-emitting color are determined according to factory configuration or user configuration. Factory configuration, for example: the light-emitting device emits yellow light with a luminance higher than that of ambient light at a certain flicker frequency to attract the attention of the driver and remind the driver of gripping the steering wheel. Over time, if the grip detection device does not detect the grip action, the blinking frequency and the light emitting brightness can be gradually increased, and the light emitting color can be changed, for example, a high-frequency blinking red light which is greatly higher than the ambient light is emitted, so as to provide a more obvious light reminding. The user can also set a first light reminding information pushing mode according to the driving habit of the user.

In step S130, when the steering wheel controller receives the grasping action signal, it is determined that the driver has accurately taken over the vehicle, and the pushing of the first light reminding information is stopped. Meanwhile, the automatic driving controller or the central processing unit receives the grasping action signal transmitted by the steering wheel controller, namely, the left-hand overtaking or the right-hand overtaking is judged to be more favorable for the travel according to the real-time environment data, so that an overtaking guiding instruction at least carrying the overtaking direction is generated and transmitted to the steering wheel controller.

In step S140, the steering wheel controller pushes, according to the passing guidance instruction, the second light prompting information at least indicating the passing direction through the light emitting device, and the driver can definitely know the accurate passing direction according to the second light prompting information, thereby assisting the driver in dealing with the passing condition.

In one embodiment, the light emitting device comprises arc-shaped light emitting bars distributed in the left area, the right area and the upper area of the steering wheel, so as to provide at least a driver with clear direction indication reminding under the overtaking working condition. The step of pushing the second light reminding information through the light-emitting device comprises the following steps: and determining a first arc-shaped luminous strip in the area of the overtaking direction, and controlling the arc-shaped luminous strip in the area of the overtaking direction to flash and emit light.

Fig. 3 shows a layout of the light emitting device in the embodiment, and referring to fig. 3, the light emitting device 210 includes a left arc-shaped light emitting strip 210a, a right arc-shaped light emitting strip 210b, and an upper arc-shaped light emitting strip 210c, and each arc-shaped light emitting strip may be formed by arranging a plurality of light beads, for example, each arc-shaped light emitting strip shown in fig. 3 includes 12 light beads. The passing direction carried by the passing instruction is leftward, and the arc-shaped light-emitting bar in the region where the passing direction is located is the left arc-shaped light-emitting bar 210 a. By controlling the left arc-shaped luminous strip 210a to flash and emit light, clear overtaking direction guidance is provided for the driver. The left arc-shaped light bar 210a flickers in the following manner: and green light with high-frequency dynamic equivalent to ambient light.

Furthermore, the overtaking instruction also carries an overtaking steering angle, the overtaking steering angle points to the overtaking direction from the current driving direction of the vehicle, and the overtaking steering angle is obtained by the automatic driving controller or the central processing unit according to the real-time environment data in a calculation mode, so that the operating degree prompt of the rotation of the steering wheel under the overtaking working condition is provided for the driver, and the driver is assisted to deal with the overtaking working condition.

Fig. 4 shows the main steps of pushing the second light reminding message in the embodiment, and as shown in fig. 4, after controlling the arc-shaped light bar in the area where the overtaking direction is located to flash, the method further includes: step S430, lightening a partial arc-shaped area pointing to the overtaking direction from the center in the arc-shaped luminous strip in the upper area, and enabling the central angle of the partial arc-shaped area to be equal to the overtaking steering angle; and step S440, determining a residual steering angle according to the actual steering angle of the steering wheel and the overtaking steering angle, and adjusting a partial arc-shaped area in real time according to the residual steering angle.

With reference to the embodiment shown in fig. 3, after the left arc-shaped light-emitting bar 210a is flickered several times to clearly convey the indication of passing the car to the left, the flickering reminding of the left arc-shaped light-emitting bar 210a is stopped, and the steering wheel angle required for passing the car is immediately indicated through the partial arc-shaped area in the upper arc-shaped light-emitting bar 210c, so as to guide the steering action of the driver. In this embodiment, the manner of obtaining the partial arc region 210 c' is: from the center of the upper arc-shaped light bar 210c (in some embodiments, from the lamp bead of the upper arc-shaped light bar 210c near the current driving direction "X"), a partial arc-shaped region 210 c' with a central angle "α" equal to the passing steering angle is determined along the direction pointing to the passing direction "L". In other embodiments, the partial arc-shaped area may be obtained in other manners, as long as the central angle corresponding to the partial arc-shaped area is equal to the passing steering angle, so as to provide a clear light prompt of the steering wheel angle required for passing.

The partially arcuate section 210c 'is illuminated, for example, in a manner that causes the partially arcuate section 210 c' to emit a green light comparable to ambient light to provide a soft light alert to the driver.

Further, when the steering wheel is turned to generate an actual steering angle, the remaining steering angle required for passing the vehicle is changed, so that the partial arc-shaped area 210 c' is adjusted accordingly to provide a dynamic indication of the steering wheel turning operation degree, and the driver is assisted to flexibly cope with the passing condition.

For example, in the initial scenario, the passing steering angle is 40 °, and the central angle "α" corresponding to the illuminated partially arc-shaped region 210 c' is equal to 40 °. The actual steering angle 30 degrees is generated along with the steering wheel, and the central angle alpha corresponding to the partial arc-shaped area 210 c' is adjusted to 10 degrees in real time so as to provide accurate operation degree indication of the steering wheel rotation for the driver. The remaining steering angle generally decreases gradually as the passing process proceeds, and the central angle "α" corresponding to the partial arc-shaped region 210c 'gradually decreases until the vehicle successfully turns to an adjacent lane, and the lighting reminding of the partial arc-shaped region 210 c' is finished.

Under some scenes, if the driver operates the steering wheel excessively to cause that the actual steering angle of the steering wheel is larger than the overtaking steering angle, the arc-shaped light-emitting strips in the opposite areas of the overtaking direction are immediately controlled to flash light early warning. With reference to the embodiment shown in fig. 3, in the process of passing left, if the steering wheel controller detects that the actual steering angle of the steering wheel is greater than the passing steering angle, the lighting reminding of the partial arc-shaped area 210 c' in the upper arc-shaped light-emitting bar 210c is immediately stopped, and instead, the right arc-shaped light-emitting bar 210b emits light early warning flickering, for example, high-frequency dynamic red light flickering is emitted to remind of over-steering, so that the driver receives a strong light early warning prompt and withdraws the actual steering angle of the steering wheel.

Further, after the arc-shaped light-emitting strip in the opposite region of the control overtaking direction flashes the light warning, the method can further comprise the following steps: and determining a reverse steering angle required by retracting the steering wheel according to the actual steering angle and the overtaking steering angle of the steering wheel, lightening a second part arc area pointing to the direction opposite to the overtaking direction from the center in the arc luminous strip in the upper area, enabling the central angle of the second part arc area to be equal to the steering angle, and adjusting the second part arc area in real time along with the change of the actual steering angle of the steering wheel so as to guide a driver to accurately retract the actual steering angle of the steering wheel.

The manner and principle of lighting the second partial arc region can be seen from the description of the embodiment shown in fig. 3 for the partial arc region 210 c', and the description is not repeated here.

When the actual steering angle of the steering wheel is retracted within the range of the overtaking steering angle, the lightening reminding of the partial arc-shaped area 210 c' is restored until the vehicle successfully turns to the adjacent lane.

The method for prompting the steering wheel angle in the automobile driving process is characterized in that the arc-shaped area is lightened, the central angle of the arc-shaped area is equal to the steering angle required by the overtaking working condition, so that a clear description of the steering wheel angle prompt is provided, the method can also be used for auxiliary driving working conditions such as backing and garage moving, and the like, and provides the prompt of the operation degree required by steering wheel rotation in various driving working conditions requiring the steering wheel angle for a driver.

In some embodiments, the overtaking reminding method in each of the above embodiments further includes: and sending a vehicle speed keeping reminder to the associated vehicles entering the dynamic overtaking space of the vehicle within a preset distance range.

When the automatic driving controller of the vehicle or the central processing unit of the vehicle network generates the overtaking guide instruction, the path information required by the overtaking behavior is calculated, and the path information is used for calculating the overtaking behavior according to the path informationAnd determining the dynamic overtaking space. FIG. 5 shows a schematic view of a dynamic overtaking space in an embodiment, and referring to FIG. 5, a dynamic overtaking space 500 indicates a current lane P of a host vehicle 100₁Into the adjacent lane P₂And from the adjacent lane P₂Returning to the current lane P₁And a second path 520. Adjacent lane P₂In the present exemplary embodiment, for example, the current lane P₁The opposite lane of the lane. Within a preset distance range of the dynamic overtaking space 500, the current lane P₁Acceleration of vehicle passing through inside, deceleration of preceding vehicle, adjacent lane P₂The driver of the host vehicle 100 may not be able to cope with the collision in time, for example, when the vehicle is accelerated in front of the vehicle. Therefore, the vehicle speed keeping reminder is sent to the associated vehicle 101 entering the preset distance range of the dynamic overtaking space 500 of the host vehicle 100, so as to ensure the safety of the overtaking process and avoid the situation that the host vehicle is not in time to collide due to the sudden acceleration or deceleration of surrounding vehicles.

The way to send the vehicle speed maintenance reminder to the associated vehicle 101 is, for example, sending a vehicle speed maintenance reminder message to an automatic driving controller of the associated vehicle 101 through a central processing unit of the internet of vehicles.

In this embodiment, the host vehicle 100 follows a first path 510 from the current lane P₁Into the adjacent lane P₂In the process of (2), the flashing reminding of the left arc-shaped luminous strip and the lighting reminding of the partial arc-shaped area of the upper arc-shaped luminous strip, the central angle of which is equal to the overtaking steering angle/the residual steering angle, provide the overtaking direction and the operation degree prompt of the steering wheel rotation for the driver; in the latter half of the overtaking process, i.e., the host vehicle 100 follows the second path 520 from the adjacent lane P₂Returning to the current lane P₁In the process of (2), similarly, the overtaking return direction and the indication of the steering wheel rotation operation degree can be provided for the driver by the flashing prompt of the right arc-shaped luminous strip and the lightening prompt of the partial arc-shaped area of the upper arc-shaped luminous strip, of which the central angle is equal to the overtaking return steering angle/residual return steering angle, and the description is not repeated here.

Further, in addition to the scene of the active overtaking of the vehicle described in the above embodiment, the overtaking reminding method of the present invention further includes providing a light reminding through a light emitting device on the steering wheel in the scene of overtaking. Specifically, in the scene of overtaking, the overtaking reminding method further comprises the following steps: generating a overtaking reminder according to the real-time environment data, wherein the overtaking reminder carries the overtaking direction; and pushing third light reminding information indicating the overtaking direction through a light-emitting device according to the overtaking reminding. In the present invention, the overtaking direction indicates the direction of the overtaking vehicle, that is, the position of the overtaking vehicle (i.e., the rear vehicle) relative to the host vehicle.

Wherein, illuminator includes the arc light-emitting strip that distributes in left side region, right side region and the top region of steering wheel, and the step through illuminator propelling movement third light warning message includes: determining an arc-shaped luminous strip in the region where the overtaking direction is located and a local arc-shaped region corresponding to the overtaking direction in the arc-shaped luminous strip in the upper region; and controlling the arc-shaped light-emitting strip in the area where the overtaking direction is located and the local arc-shaped area to flash and emit light.

Fig. 6 shows a light-emitting schematic of the third light reminding information pushed in the embodiment, referring to fig. 6, in this embodiment, the light-emitting device 210 includes an arc light-emitting strip 210a distributed in a left region of the steering wheel, an arc light-emitting strip 210b in a right region, and an arc light-emitting strip 210c in an upper region, when the overtaking direction is left rear, that is, an overtaking vehicle exceeds the present vehicle from left rear, the light emitted by the arc light-emitting strip 210a in the left region and the light emitted by the arc light-emitting strip 210c in the upper region (marked by diagonal line hatching in fig. 6) twinkle and emit light, so as to provide the overtaking reminder from left rear to the driver. The lamp beads in the local arc-shaped area of the left half part in the arc-shaped luminous strip 210a in the left side area and the arc-shaped luminous strip 210c in the upper area can sequentially emit light according to a certain flashing sequence, and the driver is clearly reminded of overtaking by the overtaking provided by the flashing mode, the lighting color and the brightness which are different from the light information for indicating overtaking. When the overtaking direction is right rear, namely the overtaking vehicle exceeds the host vehicle from the right rear, the arc-shaped luminous strip 210b in the right side area and the lamp bead (shown in bold in fig. 6) in the partial arc-shaped area of the right half part in the arc-shaped luminous strip 210c in the upper area twinkle and emit light, so that the overtaking reminder from the right rear is provided for the driver. Similarly, the lamp beads in the partial arc-shaped area on the right half part of the arc-shaped light-emitting strip 210b in the right side area and the arc-shaped light-emitting strip 210c in the upper area can sequentially emit light according to a certain flashing sequence, so that the flashing mode, the lighting color and the brightness are different from the light information for indicating overtaking, and clear overtaking reminding can be provided for the driver.

Further, the overtaking reminding method for the overtaking scene further comprises the following steps: detecting the distance between the overtaking vehicle and the vehicle; if the distance is smaller than the preset value, the flicker frequency of the local arc-shaped area is improved, and the luminous brightness of the local arc-shaped area is enhanced so as to prompt a driver to respond in time.

Fig. 7 shows a schematic diagram of a lamp bead layout of the light emitting device in the embodiment, and the following description, with reference to fig. 7, describes that the light emitting device 210 is used for reminding corresponding to different driving conditions in the whole process of automatic driving of a vehicle. It should be noted that the following light reminding under different driving conditions is only an example, and the following light reminding scheme can be combined with the features of any of the above embodiments.

Referring to FIG. 7, the left arc-shaped light bar 210a includes a reference number L₁～L₁₂The upper arc-shaped luminous strip 210c comprises a mark T₁～T₁₂12 beads, the right arc-shaped light-emitting strip 210b comprises a label R₁～R₁₂12 beads. The upper arc light bar 210c is used to undertake most of the prompt dynamic light effect, and the left arc light bar 210a and the right arc light bar 210b are used to provide a stronger light intensity stimulus in case of emergency or to provide an ambience light coordination in automatic driving scenarios. When the light reminding is carried out, the steering wheel controller receives the scene signals about the vehicle transmitted by the automatic driving controller and sends out the light reminding according to the received scene signals.

In the first scenario, the vehicle starts self-checking without abnormality, and when a driver manually operates the steering wheel, that is, when a grasping action on the steering wheel is detected, if it is determined through analysis of real-time environment data (such as a camera, a radar, a map satellite signal and the like) that the surrounding environment has an automatic driving condition, the intensity corresponding to the ambient light is emitted through the upper arc-shaped light-emitting strip 210c, and the vehicle emits visible but non-irritating green light.

In scenario two, when the driver takes his hand off the steering wheel while the vehicle is in scenario one, the vehicle enters the automatic driving state according to the lane and the vehicle speed before the hand is taken off. In the process of entering the automatic driving state, the intensity corresponding to the ambient light is emitted through the upper arc-shaped light-emitting strip 210c, the visible but non-excited middle-frequency flickering green light is emitted, the flickering range is gradually reduced by 12 lamp beads of the upper arc-shaped light-emitting strip 210c, two light beads are reduced each time, namely the first flickering T is₁～T₁₂Twelve lamp beads twinkling for the second time₂～T₁₁Ten lamp beads twinkle for the third time₃～T₁₀Eight lamp beads, analogize, flash T for the sixth time₆And T₇Two lamp beads to show the effect of dynamic timing. In this scenario, if the process of entering the automatic driving state is interrupted, then scenario three is entered; and if the dynamic light effect of the scene is finished, namely timing is finished, entering a scene four.

In the third scenario, in the second scenario, the driver moves his hand back to the steering wheel, the process of entering the automatic driving state is interrupted, and the twelve lamp beads passing through the upper arc-shaped light-emitting strip 210c flicker three times at a high frequency, and then the dynamic effect of the first scenario, that is, the intensity corresponding to the ambient light, is visible but green light-emitting without stimulation, is recovered.

In the fourth scenario, after the dynamic light of the second scenario is completely displayed, the vehicle completely enters an automatic driving state, and at this time, the vehicle performs optimal path planning according to map information provided by sensors such as radar and satellites, and thus performs automatic driving. Under the acquiescence state, the light reminding mode will be from two districts on the left and right sides to the center with the corresponding intensity with ambient light, and the luminance that is visual but not irritating uses green light to climb, and the order of luminous lamp pearl is: first flicker L₁～L₄And R₁₂～R₉Second flashing L₂～L₅And R₁₁～R₈Third flashing L₃～L₆And R₁₀～R₇,.₅～T₈Four lamp pearls are lighted then repeat this process to show the vehicle effect of advancing in normal place ahead, this light efficiency can be opened to the driver simultaneously, and the driver can set up the atmosphere lamp dynamic effect under the autopilot scene of oneself preference.

In scenario five, when the vehicle is in the scenario of autonomous driving, it is driven to near the edge that does not support autonomous driving (including but not limited to situations where the camera cannot obtain valid information in rainy days, the map satellite is disconnected, the satellite map lacks road details, etc.). Three district's luminous strips of steering wheel, luminous strip 210a of left side arc, the luminous strip 210c of top arc and the luminous strip 210b of right side arc will be with the luminance that is higher than the ambient light, high frequency scintillation yellow light for suggestion driver autopilot is about to become invalid, reminds the driver to take over and controls.

In the sixth scenario, when the vehicle is in the scenario of automatic driving, the vehicle is driven to enter an area that does not support automatic driving, the three-area light-emitting strip of the steering wheel flashes red light at a high frequency with brightness greatly higher than that of ambient light, so as to prompt a driver to fail automatic driving, and the steering wheel is grasped to take over the vehicle, and at this time, the vehicle also performs corresponding control, such as automatic parking to an emergency lane.

In the scenario seven, when the vehicle travels to the edge where the automatic driving is not supported or has just entered the area where the automatic driving is not supported in the scenario where the driver manually manipulates the scenario, the upper arc light-emitting bar 210c flickers three or several times at the medium frequency with the blue light equivalent to the ambient light intensity, and then enters the blue light below the ambient light intensity to emit light.

In scenario eight, when the vehicle is in a situation where the driver manually manipulates the vehicle, the vehicle is in a situation where the vehicle is in an area where automatic driving is not supported (including but not limited to situations where the camera cannot obtain valid information in rainy days, the satellite on the map is disconnected, and the satellite map lacks road details), blue light lower than the ambient light intensity is emitted through the upper arc-shaped light-emitting bar 210 c.

In scenario nine, when the vehicle is in a scenario where the driver drives manually, the rear vehicle overtakes from the left rear, and the radar can determine the distance at this time.The yellow light slightly higher than the intensity of the ambient light is flickered at a middle frequency by the lamp beads of the left arc light emitting bar 210a and the partial lamp beads of the upper arc light emitting bar 210 c. In a specific example, the flashing manner of the lamp bead of the left arc-shaped light-emitting strip 210a and the lamp bead of the upper arc-shaped light-emitting strip 210c is as follows: respectively lighting T according to the distance between the rear vehicle and the vehicle₁And L₁₁、L₁₂When the distance decreases by one unit (e.g. 0.5 m), T is lit₁、T₂And L₉～L₁₂Gradually lighting T with decreasing distance₁～T₆And all of the beads of the left arc-shaped light bar 210 a.

In scenario ten, in a scenario where the vehicle is manually driven by the driver, the rear vehicle overtakes from the right rear side, and the radar can determine the distance at this time. The yellow light slightly higher than the intensity of the ambient light is flickered at a medium frequency by the lamp beads of the right arc-shaped light emitting bar 210b and the partial lamp beads of the upper arc-shaped light emitting bar 210 c. In a specific example, the flashing manner of the lamp bead of the right arc-shaped light-emitting bar 210b and the lamp bead of the upper arc-shaped light-emitting bar 210c is as follows: respectively lighting T according to the distance between the rear vehicle and the vehicle₁₂And R₁、R₂When the distance decreases by one unit, T is lit₁₁、T₁₂And R₁～R₄Gradually lighting T with decreasing distance₇～T₁₂And all of the beads of the right arc-shaped light bar 210 b.

In the eleventh scenario, when the vehicle is in the scenario in which the driver manually drives, the rear vehicle overtakes from the left rear, and the sensor provided in the vehicle cannot determine the accurate distance at this time, thereby prompting the driver to see the rearview mirror. The yellow light block which is slightly higher than the ambient light intensity flickers, and the light block starts to climb from the bottom left, wherein the specific lighting sequence is as follows: from L₁To L₁₂Sequentially and accumulatively lighting, and circularly reminding before the rear vehicle finishes overtaking.

In the twelfth scenario, when the vehicle is in the scenario in which the driver manually drives, the rear vehicle overtakes from the rear right side, and the sensor provided in the vehicle cannot determine the accurate distance at this time, thereby prompting the driver to see the rearview mirror. The yellow light block which is slightly higher than the ambient light intensity flickers, and the light block starts to climb from the bottom right, wherein the specific lighting sequence is as follows: from R₁₂To R₁Sequentially and accumulatively lighting, and circularly reminding before the rear vehicle finishes overtaking.

In scenario thirteen, when the vehicle is in a scenario where the driver manually operates the vehicle, the vehicle is in an area that does not support automatic driving, and the driver disengages both hands from the steering wheel, and at this time, all the lamp beads in all the areas, including all the lamp beads of the left arc-shaped light-emitting strip 210a, the upper arc-shaped light-emitting strip 210c, and the right arc-shaped light-emitting strip 210b, blink red light with a high frequency that is stronger than ambient light.

In the fourteenth scenario, when the vehicle is in a situation where the driver manually operates the vehicle, the vehicle is in a region where the automatic driving is not supported, and the driver is detected to be in a fatigue state, and the lamp beads of all the regions alternately flash red light and yellow light which are stronger than ambient light at a high frequency so as to stimulate the driver and passengers in the same row. It should be noted that when this scenario is triggered, the vehicle also assists in providing a variety of methods to alert the driver, including but not limited to active seatbelt pre-tightening stimulus, audible high-loudness wake-up, and appropriate driver-assisted accelerated stops.

In the fifteenth scenario, when the vehicle is under the situation of manual operation by the driver, and the automatic driving controller determines that the lane change of the vehicle to the left is more favorable for the travel (for example, the situation that the vehicle ahead on the highway is slow or the traffic jam is better in the road condition of the left lane or the situation that the road condition of the left lane is better, etc.), the high-frequency dynamic green light equivalent to the ambient light is emitted according to the preset lighting sequence and the cycle mode through the lamp bead of the upper arc-shaped light-emitting bar 210c and the lamp bead of the left arc-shaped light-emitting bar 210 a. In a specific example, the lighting sequence of the lamp beads of the upper arc-shaped light-emitting bar 210c and the lamp beads of the left arc-shaped light-emitting bar 210a is as follows: t is₁～T₄>L₁₂、T₁～T₃>L₁₁、L₁₂、T₁、T₂>L₁₀～L₁₂、T₁>L₉～L₁₂>L₈～L₁₁>L₇～L₁₀>L₆～L₉>L₅～L₈>L₄～L₇>L₃～L₆>L₂～L₅>L₁～L₄>L₁～L₃、T₄>L₁、L₂、T₃、T₄>L₁、T₂～T₄>T₁～T₄And circulating under the condition that the road condition allows. Wherein "" represents a priority order "">"indicates the priority order within a group, and" to "" indicates simultaneous lighting.

In the sixteenth scenario, when the vehicle is under the situation of manual operation by the driver, the automatic driving controller determines that the lane change of the vehicle to the right is more favorable for the travel (for example, the traffic jam is better in the right lane road condition or the right lane road condition is better), the high-frequency dynamic green light equivalent to the ambient light is emitted according to the preset lighting sequence and the cycle mode by the lamp beads of the upper arc-shaped light-emitting bar 210c and the right arc-shaped light-emitting bar 210 b. In a specific example, the lighting sequence of the lamp beads of the upper arc-shaped light-emitting bar 210c and the lamp beads of the right arc-shaped light-emitting bar 210b is as follows: t is₉～T₁₂>R₁、T₁₀～T₁₂>T₁₁、T₁₂、R₁、R₂>T₁₂、R₁～R₃>R₁～R₄>R₂～R₅>R₃～R₆>R₄～R₇>R₅～R₈>R₆～R₉>R₇～R₁₀>R₈～R₁₁>R₉～R₁₂>R₁₀～R₁₂、T₉>R₁₁、R₁₂、T₉、T₁₀>R₁₂、T₉～T₁₁>R₉～R₁₂And circulating under the condition that the road condition allows.

Through the light effect of the scenes, the scenes where the vehicle is located under the automatic driving condition are perfected, the driver is reminded of the scenes where the vehicle is located, potential risks are prompted, and the reminding mode is suitable for human engineering, man-machine interaction and traditional driver cognition.

The embodiment of the invention also provides an overtaking reminding system which can be used for realizing the overtaking reminding method described in any embodiment. FIG. 8 shows the major modules of the overtaking warning system 600 in an embodiment, including an autopilot controller 610 for generating control commands, where the autopilot controller 610 may also be a central processor of a vehicle networking; and a steering wheel controller 620 cooperating with the autopilot controller 610 for controlling the light alert according to the control command. The autopilot controller 610 also interacts with the detection means 630 for generating control commands on the basis of detection data of the detection means 630. The steering wheel controller 620 is further interactive with the light emitting device 210, and is configured to control the light emitting device 210 to emit a light alert according to the control instruction.

The automatic driving controller 610 specifically includes a first control module 6101 and a second control module 6102, the steering wheel controller 620 specifically includes a first reminding module 6201 and a second reminding module 6202, and the working process of the overtaking reminding system 600 is as follows: the first control module 6101 generates an overtaking reminding instruction according to the real-time environment data during the automatic driving process of the vehicle, wherein the steering wheel of the vehicle is provided with light emitting devices 210 distributed circumferentially; the first reminding module 6201 pushes first light reminding information for indicating to grasp the steering wheel through the light-emitting device 210 according to the overtaking reminding instruction; when the second control module 6102 detects a grasping action on the steering wheel, an overtaking instruction carrying an overtaking direction is generated according to the real-time environment data; the second reminding module 6202 pushes, according to the overtaking instruction, second light reminding information at least indicating the overtaking direction through the light emitting device 210.

The overtaking warning system 600 may also be used to implement the method steps described in any of the above embodiments, and will not be repeated here.

The overtaking reminding system of the embodiment can remind a driver to grasp the steering wheel to take over a vehicle by pushing the first light reminding information for indicating to grasp the steering wheel through the light-emitting device; when the grasping action is detected, after the driver is confirmed to accurately take over the vehicle, second light reminding information at least indicating the overtaking direction is pushed through the light-emitting device, so that the driver is assisted to deal with the overtaking working condition; the light emitting device is used for emitting light information indicating a required turning angle for overtaking, the light information is dynamically adjusted along with the overtaking process, accurate operation guidance is provided for a driver, the overtaking working condition is flexibly dealt with, and the driving safety is improved.

The embodiment of the present invention further provides an electronic device, which includes a processor and a memory, where the memory stores executable instructions, and the processor is configured to execute the steps of the overtaking reminding method in the above embodiment by executing the executable instructions.

As described above, the electronic device of the present invention can push the first light reminding information indicating to grip the steering wheel through the light emitting device, so as to remind the driver to grip the steering wheel to take over the vehicle; when the grasping action is detected, after the driver is confirmed to accurately take over the vehicle, second light reminding information at least indicating the overtaking direction is pushed through the light-emitting device, so that the driver is assisted to deal with the overtaking working condition; the light emitting device is used for emitting light information indicating a required turning angle for overtaking, the light information is dynamically adjusted along with the overtaking process, accurate operation guidance is provided for a driver, the overtaking working condition is flexibly dealt with, and the driving safety is improved.

Fig. 9 is a schematic structural diagram of an electronic device in an embodiment of the present invention, and it should be understood that fig. 9 only schematically illustrates various modules, and these modules may be virtual software modules or actual hardware modules, and the combination, the splitting, and the addition of the remaining modules of these modules are within the scope of the present invention.

As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.

The electronic device 700 of the present invention is described below with reference to fig. 9. The electronic device 700 shown in fig. 9 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 9, the electronic device 700 is embodied in the form of a general purpose computing device. The components of the electronic device 700 may include, but are not limited to: at least one processing unit 710, at least one memory unit 720, a bus 730 connecting the different platform components (including memory unit 720 and processing unit 710), a display unit 740, etc.

The storage unit stores program codes, and the program codes can be executed by the processing unit 710, so that the processing unit 710 executes the steps of the overtaking reminding method described in the above embodiment. For example, processing unit 710 may perform the steps shown in fig. 1 and 4.

The storage unit 720 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)7201 and/or a cache memory unit 7202, and may further include a read only memory unit (ROM) 7203.

The memory unit 720 may also include programs/utilities 7204 having one or more program modules 7205, such program modules 7205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 730 may be any representation of one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 700 may also communicate with one or more external devices 800, and the external devices 800 may be one or more of a keyboard, a pointing device, a bluetooth device, and the like. These external devices 800 enable a user to interactively communicate with the electronic device 700. The electronic device 700 may also be capable of communicating with one or more other computing devices, including routers, modems. Such communication may occur via an input/output (I/O) interface 750. Also, the electronic device 700 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 760. The network adapter 760 may communicate with other modules of the electronic device 700 via the bus 730. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.

The embodiment of the present invention further provides a computer-readable storage medium, which is used for storing a program, and when the program is executed, the steps of the overtaking reminding method described in the above embodiment are implemented. In some possible embodiments, the various aspects of the present invention may also be implemented in the form of a program product, which includes program code for causing a terminal device to perform the steps of the method for reminding a vehicle of overtaking described in the above embodiments, when the program product is run on the terminal device.

As described above, the computer-readable storage medium of the present invention can push the first light reminding information indicating to grip the steering wheel by the light emitting device, so as to remind the driver to grip the steering wheel to take over the vehicle; when the grasping action is detected, after the driver is confirmed to accurately take over the vehicle, second light reminding information at least indicating the overtaking direction is pushed through the light-emitting device, so that the driver is assisted to deal with the overtaking working condition; the light emitting device is used for emitting light information indicating a required turning angle for overtaking, the light information is dynamically adjusted along with the overtaking process, accurate operation guidance is provided for a driver, the overtaking working condition is flexibly dealt with, and the driving safety is improved.

Fig. 10 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 10, a program product 900 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of readable storage media include, but are not limited to: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device, such as through the internet using an internet service provider.

The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.

Claims

1. An overtaking reminding method is characterized by comprising the following steps:

in the automatic driving process of the vehicle, generating an overtaking reminding instruction according to real-time environment data, wherein light-emitting devices distributed circumferentially are arranged on a steering wheel of the vehicle;

pushing first light reminding information for indicating the grasping of the steering wheel through the light-emitting device according to the overtaking reminding instruction;

when the gripping action on the steering wheel is detected, generating an overtaking instruction carrying an overtaking direction according to real-time environment data; and

and pushing second light reminding information at least indicating the overtaking direction through the light-emitting device according to the overtaking guide instruction.

2. The method for reminding passing cars of claim 1, wherein said lighting device comprises arc lighting strips distributed in the left area, right area and upper area of said steering wheel, and the step of pushing said second light reminding message by said lighting device comprises:

determining an arc-shaped luminous strip of an area where the overtaking direction is located;

and controlling the arc-shaped light-emitting strip in the area where the overtaking direction is located to flicker and emit light.

3. The overtaking reminding method as claimed in claim 2, wherein the overtaking guiding instruction further carries an overtaking steering angle, and the step of pushing the second light reminding information by the light emitting device further comprises:

lightening a partial arc-shaped area pointing to the overtaking direction from the center in the arc-shaped luminous strip in the upper area, so that the central angle of the partial arc-shaped area is equal to the overtaking steering angle;

and determining a residual steering angle according to the actual steering angle of the steering wheel and the overtaking steering angle, and adjusting the partial arc area in real time according to the residual steering angle.

4. The method for reminding passing according to claim 3, wherein the step of pushing the second light reminding message by the light emitting device further comprises:

and if the actual steering angle of the steering wheel is larger than the overtaking steering angle, controlling arc-shaped light-emitting strips in the area opposite to the overtaking direction to flash light early warning.

5. The overtaking notification method as recited in any one of claims 1 to 4, further comprising the steps of:

sending a vehicle speed keeping reminder to the associated vehicles entering the dynamic overtaking space of the vehicle within a preset distance range;

the dynamic overtaking space includes a first path from a current lane of the host vehicle into an adjacent lane and a second path from the adjacent lane back to the current lane.

6. The passing reminding method according to claim 1, wherein the step of pushing the first light reminding message by the light emitting device comprises:

and controlling the light-emitting device to flicker and emit light at a preset flicker frequency, a preset light-emitting brightness and a preset light-emitting color, wherein the preset flicker frequency, the preset light-emitting brightness and the preset light-emitting color are determined according to factory configuration or user configuration.

7. The overtaking notification method as recited in claim 1, further comprising the steps of:

generating a overtaking reminder according to real-time environment data, wherein the overtaking reminder carries the overtaking direction;

and pushing third light reminding information indicating the overtaking direction through the light-emitting device according to the overtaking reminding.

8. The method for reminding passing cars of claim 7, wherein said lighting device comprises arc-shaped lighting bars distributed in the left area, the right area and the upper area of said steering wheel, and the step of pushing said third light reminding message by said lighting device comprises:

determining an arc-shaped luminous strip in the area where the overtaking direction is located and a local arc-shaped area corresponding to the overtaking direction in the arc-shaped luminous strip in the upper area;

and controlling the arc-shaped luminous strip in the area where the overtaking direction is located and the local arc-shaped area to flicker and emit light.

9. The overtaking notification method as recited in claim 8, further comprising the steps of:

detecting the distance between an overtaking vehicle and the vehicle;

and if the distance is smaller than a preset value, improving the flicker frequency and the light-emitting brightness of the arc-shaped light-emitting strip in the area where the overtaking direction is located and the local arc-shaped area.

10. An overtaking warning system, comprising:

the first control module is configured to generate an overtaking reminding instruction according to real-time environment data in the automatic driving process of the vehicle, and light-emitting devices which are circumferentially distributed are arranged on a steering wheel of the vehicle;

the first reminding module is configured to push first light reminding information for indicating and grabbing the steering wheel through the light-emitting device according to the overtaking reminding instruction;

the second control module is configured to generate an overtaking instruction carrying an overtaking direction according to real-time environment data when the gripping action on the steering wheel is detected; and

and the second reminding module is configured to push second light reminding information at least indicating the overtaking direction through the light-emitting device according to the overtaking guide instruction.

11. An electronic device, comprising:

a processor;

a memory having stored therein executable instructions of the processor;

wherein the processor is configured to perform the steps of the passing alert method of any of claims 1 to 9 via execution of the executable instructions.

12. A computer-readable storage medium storing a program which, when executed, performs the steps of the method of providing vehicle overtaking notification as claimed in any one of claims 1 to 9.