CN113665584A

CN113665584A - Vehicle early warning method and device

Info

Publication number: CN113665584A
Application number: CN202111143451.7A
Authority: CN
Inventors: 杜大宝; 高洁; 张飞; 王新树; 李魁; 范永杰; 陈顶; 汤庆涛
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2021-11-19

Abstract

The application discloses a vehicle early warning method and device, wherein the method comprises the following steps: collecting an actual driving route of a vehicle; judging whether a lane driven along the actual driving route deviates from a target lane, and detecting obstacle information in front of the vehicle when the vehicle is driven along the actual driving route; and if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is smaller than the warning distance, recognizing the current driving intention of the driver, and controlling the vehicle to perform acoustic reminding, optical reminding, tactile reminding and the like when the current driving intention is not the active operation intention. According to the embodiment of the application, when the vehicle deviates from the target lane, the current driving intention of the driver is recognized, so that when the vehicle is not actively operated by the driver, multi-mode early warning reminding is carried out, misjudgment on the behavior of the driver is avoided, and the reliability and accuracy of early warning are ensured. Therefore, the problems that misjudgment is easily caused, the reliability and the accuracy are low, and the early warning mode is single in the related technology are solved.

Description

Vehicle early warning method and device

Technical Field

The application relates to the technical field of vehicle intelligent control, in particular to a vehicle early warning method and device.

Background

In the driving process of the driver, if the driver is distracted or fatigue driving is performed, the vehicle is likely to deviate from a normal driving Lane, causing a traffic accident, and therefore, when the vehicle deviates from the Lane, a Lane Departure Warning (LDW) needs to be timely performed to the driver.

In the related art, when it is detected that the current state of the vehicle is abnormal, such as a steering wheel is turned or deviates from a driving lane, the driver is warned directly by an indicator light.

However, the early warning mode of the related art does not judge whether the driver actively operates, namely, the driver gives an alarm, so that misjudgment is easily caused, the reliability and the accuracy are low, and the early warning is only carried out through the indicator lamp, so that the early warning mode is single, and the problem needs to be solved urgently.

Content of application

The application provides a vehicle early warning method and device, which are used for solving the problems that whether the early warning mode of the related technology is active operation of a driver or not is not judged, namely, the driver gives an alarm, misjudgment is easy to cause, the reliability and the accuracy are low, the early warning is only carried out through an indicator lamp, the early warning mode is single, and the like.

An embodiment of a first aspect of the application provides a vehicle early warning method, which includes the following steps: collecting an actual driving route of a vehicle; judging whether a lane driven along the actual driving route deviates from a target lane, and detecting obstacle information in front of the vehicle when the vehicle is driven along the actual driving route; if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is smaller than the warning distance, the current driving intention of the driver is recognized, and when the current driving intention is not the active operation intention, at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle are controlled to give an early warning to the driver.

Optionally, in an embodiment of the present application, the controlling at least one acoustic warning device, at least one optical warning device, and/or at least one tactile warning device of the vehicle to warn the driver includes: calculating the early warning duration of the vehicle; when the early warning duration is in a first time interval, controlling the at least one acoustic reminding device and the at least one optical reminding device to perform acoustic reminding and optical reminding on the driver; when the early warning duration is in a second duration interval, controlling the at least one acoustic reminding device and the at least one optical reminding device to perform acoustic reminding and optical reminding on the driver, and simultaneously controlling the at least one tactile reminding device to drive a steering wheel to perform vibration reminding at a first preset frequency; when the early warning duration is within a third duration interval, the at least one acoustic reminding device and the at least one optical reminding device are controlled to carry out acoustic reminding and optical reminding on the driver, and the at least one touch reminding device is controlled to drive the steering wheel to carry out vibration reminding at the first preset frequency, and meanwhile, the at least one touch reminding device is controlled to drive the driving seat to carry out vibration reminding at the second preset frequency, and the lighting equipment of the vehicle is controlled to remind other vehicles.

Optionally, in an embodiment of the present application, when the warning duration is in the third duration interval, the method further includes: locating an actual position of the vehicle; and sending the actual position to a preset terminal, so that rescue workers take rescue tasks for the vehicle.

Optionally, in an embodiment of the present application, the identifying the current driving intention of the driver includes: detecting whether a steering lamp of the vehicle is in a light state or whether a steering column is subjected to torque; determining that the current driving intention is the active operation intention when it is detected that the turn signal is in the lit state or the steering column is subjected to the torque.

Optionally, in an embodiment of the present application, the method further includes: when the distance from the center line of the lane is greater than a preset distance, controlling the vehicle to return to the target lane; and when the distance between the vehicle and the front obstacle is smaller than the collision distance, controlling the vehicle to reduce the actual vehicle speed to a preset vehicle speed according to a preset deceleration strategy, so that the distance between the vehicle and the front obstacle is larger than the collision distance.

An embodiment of a second aspect of the present application provides a vehicle early warning device, including: the acquisition module is used for acquiring an actual driving route of the vehicle; the judging module is used for judging whether a lane driven along the actual driving route deviates from a target lane or not and detecting obstacle information in front of the vehicle when the vehicle is driven along the actual driving route; and the early warning module is used for identifying the current driving intention of the driver if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is identified from the obstacle information to be less than the warning distance, and controlling at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle to carry out early warning reminding on the driver when the current driving intention is not the active operation intention.

Optionally, in an embodiment of the present application, the early warning module includes: the calculation unit is used for calculating the early warning duration of the vehicle; the first reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver when the early warning duration is in a first time interval; the second reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver and controlling the at least one tactile reminding device to drive the steering wheel to carry out vibration reminding at a first preset frequency when the early warning duration is in a second duration interval; and the third reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver when the early warning duration is within a third duration interval, and controlling the at least one tactile reminding device to drive the steering wheel so as to carry out vibration reminding at the first preset frequency, and simultaneously controlling the at least one tactile reminding device to drive the driving seat to carry out vibration reminding at the second preset frequency and controlling the lighting equipment of the vehicle to remind other vehicles.

Optionally, in an embodiment of the present application, the early warning module further includes: the positioning unit is used for positioning the actual position of the vehicle when the early warning duration is in the third duration interval; and the sending unit is used for sending the actual position to a preset terminal so that rescue workers can take rescue tasks for the vehicle.

An embodiment of a third aspect of the present application provides a vehicle, comprising: the vehicle early warning system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the vehicle early warning method according to the embodiment.

A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the vehicle warning method according to the foregoing embodiment.

When the actual driving route of the vehicle deviates from a target lane or is too close to a surrounding obstacle, the current driving intention of a driver is recognized, so that when the vehicle is not actively operated by the driver, multi-mode early warning reminding is performed, which can comprise acoustic reminding, optical reminding, tactile reminding and the like, misjudgment on the behavior of the driver is avoided, the reliability and the accuracy of early warning are ensured, and the driver is effectively reminded by a multi-mode early warning method, so that the driving safety is ensured. Therefore, the technical problems that whether the early warning mode of the related technology is actively operated by a driver or not is not judged, namely, an alarm is given, misjudgment is easily caused, the reliability and the accuracy are low, early warning is only carried out through an indicator lamp, the early warning mode is single and the like are solved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart of a vehicle early warning method provided in an embodiment of the present application;

FIG. 2 is a logic flow diagram of a vehicle warning method according to an embodiment of the present application;

fig. 3 is an exemplary diagram of a vehicle warning device according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Description of reference numerals: the system comprises an acquisition module-100, a judgment module-200, an early warning module-300, a memory-401, a processor-402 and a communication interface-403.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The vehicle warning method and apparatus according to the embodiments of the present application are described below with reference to the drawings. The method comprises the steps of identifying the current driving intention of a driver when the actual driving route of the vehicle deviates from a target lane or is too close to the distance from surrounding obstacles, carrying out multi-mode early warning reminding when the vehicle is not actively operated, wherein the method can comprise acoustic reminding, optical reminding, tactile reminding and the like, avoiding misjudgment on the behavior of the driver, ensuring the reliability and the accuracy of early warning, effectively reminding the driver by using the multi-mode early warning method and ensuring the driving safety. Therefore, the problems that whether the early warning mode of the related technology is actively operated by a driver or not is not judged, namely, the early warning is carried out, misjudgment is easily caused, the reliability and the accuracy are low, the early warning is carried out only through the indicating lamp, the early warning mode is single and the like are solved.

Specifically, fig. 1 is a flowchart of a vehicle early warning method provided in an embodiment of the present application.

As shown in fig. 1, the vehicle early warning method includes the steps of:

in step S101, an actual travel route of the vehicle is collected.

In order to carry out early warning when a driving lane of a vehicle deviates, the method provided by the embodiment of the application acquires the current actual driving route of the vehicle in real time. As a possible implementation manner, the embodiment of the present application may perform actual driving route acquisition by using a camera or a radar. For example, a camera is arranged on the vehicle to acquire image information of a current driving road, and an actual driving route of the vehicle is acquired through the image information. Or the current position of the vehicle is positioned through the vehicle-mounted radar, and then the actual driving route of the vehicle is obtained.

It should be noted that the actual driving route of the vehicle may be collected in various ways, and those skilled in the art may set the actual driving route according to the actual situation, which is not limited specifically.

In step S102, it is determined whether the lane traveling along the actual traveling route deviates from the target lane, and obstacle information in front of the vehicle while traveling along the actual traveling route is detected.

And after the actual driving route of the vehicle is collected, comparing the actual driving route with the target lane, and judging whether the vehicle deviates from the target lane. In some embodiments, the current vehicle speed of the vehicle can be acquired, and whether the vehicle deviates from the target lane within a certain time is judged based on the current vehicle speed and the actual driving route, so as to perform early warning in advance.

As a possible implementation manner, the embodiment of the application may determine whether the vehicle deviates from the target lane through the heading angle. For example, the angle between the actual driving route of the vehicle and the center line of the target lane is used as the heading angle, and when the heading angle is larger than the set angle threshold, the embodiment of the application can determine that the vehicle deviates from the target lane.

In the above embodiments, the angle threshold may be set according to actual conditions, for example, when the current vehicle speed of the vehicle is greater than the preset value, the angle threshold may be appropriately decreased, and conversely, the angle threshold may be appropriately increased. And is not particularly limited.

As another possible implementation manner, the embodiment of the present application may determine whether the vehicle deviates from the target lane by determining the distance between the actual driving route of the vehicle and the center line of the target lane. For example, the distance threshold L0 is set, and when the distance L between the actual driving route of the vehicle and the center line of the target lane is equal to or less than the distance threshold L0, the embodiment of the present application can recognize that the vehicle does not deviate from the target lane, and when the distance L is greater than the distance threshold L0, the vehicle can be recognized as deviating from the target lane.

In the above embodiment, the angle threshold or the distance threshold may be set according to actual conditions, for example, when the current vehicle speed of the vehicle is greater than a preset value, the angle threshold or the distance threshold may be appropriately decreased, and conversely, the angle threshold or the distance threshold may be appropriately increased. And is not particularly limited.

When detecting whether the vehicle deviates from the target lane, the embodiment of the application can also detect the obstacle information on the actual driving route so as to remind the driver when the obstacle exists on the driving route of the vehicle.

As a possible implementation manner, the embodiment of the present application may perform obstacle detection by a camera or a sensor or the like provided on the vehicle. For example, a current road image is acquired through a camera, and obstacle information on an actual driving route is identified through algorithms such as image detection and the like. Or directly detecting by a sensor, such as an infrared sensor, and obtaining obstacle information on the actual driving route, where the obstacle information may include a distance from the vehicle, an obstacle size, and the like.

It should be noted that, the specific detection method may be set by a person skilled in the art according to actual situations, and is not particularly limited.

In step S103, if the vehicle deviates from the target lane and/or the distance between the vehicle and the obstacle ahead is identified from the obstacle information to be less than the warning distance, the current driving intention of the driver is identified, and when the current driving intention is not the active operation intention, at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle are controlled to give a warning to the driver.

In the embodiment of the application, when the vehicle deviates from the target vehicle or is too close to the identified obstacle, if the driver does not actively control the vehicle, the driver needs to be warned so as to avoid danger.

It should be noted that the warning distance to the obstacle can be set according to actual conditions, for example, the magnitude of the warning distance is changed according to the current vehicle speed, when the current vehicle speed is greater than a preset speed threshold, the warning distance value can be properly increased, so that the driver can be warned in advance, the reaction time of the driver is increased, and when the current vehicle speed is less than the preset speed threshold, the warning distance value can be properly reduced, so that the driver can be warned in proper time, and the driving experience is improved.

Optionally, in one embodiment of the present application, identifying the driver's current driving intent includes: detecting whether a steering lamp of a vehicle is in a light state or whether a steering column is subjected to torque; when it is detected that the turn signal is in the on state or the steering column is subjected to torque, it is determined that the current driving intention is the active operation intention.

In the driving process of the vehicle, when a driver wants to change lanes or avoid obstacles, a steering lamp is turned on, a steering wheel is rotated, or a brake pedal is stepped on to decelerate and the like, at the moment, the situation that the vehicle deviates from a target lane or the obstacles on an actual driving route are detected can be detected, but at the moment, early warning is not needed to be carried out on the driver. In order to accurately give an early warning to a driver, before the early warning, the driving intention of the driver is identified, and whether the driver actively operates or not is judged.

As a possible implementation manner, the embodiment of the present application recognizes the intention of the driver by detecting the state of the turn signal or the steering column of the steering wheel or the variation in the opening and closing degree of the brake pedal and the accelerator pedal, or the like. For example, when the turn signal lamp is detected to be in a lighting state, or the steering column is subjected to torque, or the steering column deflects, or the opening and closing degrees of the brake pedal and the accelerator pedal are reduced, the embodiment of the application can be regarded as the active operation of a driver, and at the moment, the early warning can be omitted, so that the condition of misjudgment is avoided, and the accuracy and the reliability of the early warning are improved.

Optionally, in an embodiment of the present application, the at least one acoustic warning device, the at least one optical warning device, and/or the at least one tactile warning device that controls the vehicle to warn the driver includes: calculating the early warning duration of the vehicle; when the early warning duration is in a first time interval, controlling at least one acoustic reminding device and at least one optical reminding device to carry out acoustic reminding and optical reminding on a driver; when the early warning duration is in a second duration interval, controlling at least one acoustic reminding device and at least one optical reminding device to perform acoustic reminding and optical reminding on a driver, and simultaneously controlling at least one touch reminding device to drive a steering wheel to perform vibration reminding at a first preset frequency; when the early warning duration is within a third duration interval, at least one acoustic reminding device and at least one optical reminding device are controlled to perform acoustic reminding and optical reminding on a driver, at least one touch reminding device is controlled to drive a steering wheel to perform vibration reminding at a first preset frequency, at least one touch reminding device is controlled to drive a driving seat to perform vibration reminding at a second preset frequency, and light equipment of a vehicle is controlled to remind other vehicles.

When the vehicle deviates from a target lane or an actual driving route and does not actively operate, the early warning device gives an early warning to the driver, the driver receives the early warning signal and makes a corresponding vehicle control action according to actual conditions, and the driver can turn off the early warning signal or automatically turn off the early warning signal. If the early warning signal is not turned off for a long time, the embodiment of the application can improve the early warning mode and the early warning strength so as to effectively remind a driver and avoid traffic accidents.

For example, the early warning duration is divided into a plurality of duration intervals, such as three intervals of T1-T2, T2-T3 and T3-T4, and in the interval of 0-T1, if the driver takes corresponding operation, the vehicle can not perform early warning; when the early warning duration is within the first time interval 0-T1, the early warning duration can be reminded through an indicator lamp (normally on or flashing) or characters of an instrument panel, and a sound device and the like can give out alarm sound and perform optical and acoustic reminding at the same time; when the early warning duration is in the second duration interval T1-T2, on the basis of the early warning intensity of the simultaneous optical and acoustic reminding, a tactile reminding device is added, for example, a steering wheel is driven to vibrate at a preset frequency, so as to remind the driver. The preset frequency can be set according to actual conditions; when the early warning duration is in a third duration interval T2-T3, on the basis of the above-mentioned reminding intensity, a plurality of tactile reminding devices are added or the reminding intensity of the tactile reminding devices is increased, such as vibrating the seat at a certain frequency or increasing the vibration frequency of the steering wheel. Further, when the early warning duration is in the third duration interval T2-T3, it is proved that the driver has not responded for a long time, and in order to avoid danger, the indicator lamp of the vehicle is controlled to flash to remind the surrounding vehicle of avoiding, such as turning on a danger warning lamp or a rear tail lamp or displaying through a screen or the like arranged on the vehicle. In the embodiment of the application, after the driver actively operates, the early warning signal is turned off, the early warning duration is cleared, and the early warning is waited for the next time. Therefore, the driver and surrounding vehicles are prompted in various early warning modes, and the driving safety and the early warning reliability are improved.

Optionally, in an embodiment of the present application, when the warning duration is in the third duration interval, the method further includes: locating an actual position of the vehicle; and sending the actual position to a preset terminal, so that the rescue workers take rescue tasks for the vehicle.

On the basis of the embodiment, the early warning duration is in the third duration interval T2-T3, the driver does not respond for a long time, and in order to ensure the safety of the vehicle and the driver, the embodiment of the application positions the current position of the vehicle and sends the position to a preset terminal, such as a cell phone of a relative person bound by the vehicle or the driver or a 110 warning platform, so that rescue workers can rescue in time.

Optionally, in an embodiment of the present application, the vehicle warning method further includes: when the distance from the center line of the lane is greater than the preset distance, controlling the vehicle to return to the target lane; and when the distance between the vehicle and the front obstacle is smaller than the collision distance, controlling the vehicle to reduce the actual vehicle speed to a preset vehicle speed according to a preset speed reduction strategy, so that the distance between the vehicle and the front obstacle is larger than the collision distance.

After the vehicle carries out the early warning, in order to further guarantee driving safety, when the distance of vehicle apart from lane central line is greater than certain distance, the embodiment of this application control vehicle returns the target lane. When the distance between the vehicle and the front obstacle is smaller than a certain distance, the vehicle is controlled to decelerate according to a preset deceleration strategy so as to enlarge the distance between the vehicle and the obstacle and ensure the driving safety.

In some embodiments, the preset deceleration strategy may be to reduce the vehicle speed to a preset vehicle speed within a preset time or to reduce the vehicle speed to a preset vehicle speed within a preset distance, and is not particularly limited.

In the above embodiments, the preset distance and the collision distance may be set by those skilled in the art according to actual situations, and are not particularly limited.

As shown in fig. 2, a logic flow of the vehicle early warning method is shown, and an actual driving route and obstacle detection are collected first; recognizing the current driving intention of the driver, such as whether steering operation exists or not; judging whether collision with an obstacle occurs or target lane departure occurs and the vehicle does not change direction, if the vehicle does not collide or the target lane departure occurs or the vehicle changes direction, the vehicle normally runs and does not perform early warning, otherwise, judging whether the early warning time is greater than an alarm time threshold value or not, if the early warning time is within the time threshold value range, performing no early warning and normally runs, and if the early warning time is greater than the alarm time threshold value, performing continuous warning, at the moment, performing multi-mode early warning in an alarm mode according to the alarm duration, detecting whether a driver actively turns in the early warning process, if the driver does not actively turn, performing continuous warning, and if the driver actively turns, stopping warning and normally running.

According to the vehicle early warning method provided by the embodiment of the application, when the actual driving route of the vehicle deviates from a target lane or is too close to a surrounding obstacle, the current driving intention of a driver is recognized, so that when the vehicle is not actively operated by the driver, multi-mode early warning reminding is performed, the multi-mode early warning can comprise acoustic reminding, optical reminding, tactile reminding and the like, misjudgment on the behavior of the driver is avoided, the reliability and the accuracy of early warning are ensured, and the driver is effectively reminded by the multi-mode early warning method, so that the driving safety is ensured. Therefore, the technical problems that whether the early warning mode of the related technology is actively operated by a driver or not is not judged, namely, an alarm is given, misjudgment is easily caused, the reliability and the accuracy are low, early warning is only carried out through an indicator lamp, the early warning mode is single and the like are solved.

Next, a vehicle warning device according to an embodiment of the present application will be described with reference to the drawings.

Fig. 3 is a block diagram schematically illustrating a vehicle warning device according to an embodiment of the present application.

As shown in fig. 3, the vehicle warning device 10 includes: the system comprises an acquisition module 100, a judgment module 200 and an early warning module 300.

The collection module 100 is configured to collect an actual driving route of a vehicle. The determining module 200 is configured to determine whether a lane driven along the actual driving route deviates from a target lane, and detect obstacle information in front of the vehicle when the vehicle is driven along the actual driving route. The early warning module 300 is configured to identify a current driving intention of the driver if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is identified from the obstacle information to be less than the warning distance, and control at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle to perform early warning reminding on the driver when the current driving intention is not an active operation intention.

Optionally, in an embodiment of the present application, the early warning module 300 includes: the calculating unit is used for calculating the early warning duration of the vehicle; the first reminding unit is used for controlling at least one acoustic reminding device and at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver when the early warning duration is in a first time interval; the second reminding unit is used for controlling at least one acoustic reminding device and at least one optical reminding device to carry out acoustic reminding and optical reminding on a driver when the early warning duration is in a second duration interval, and controlling at least one touch reminding device to drive a steering wheel to carry out vibration reminding at a first preset frequency; and the third reminding unit is used for controlling at least one acoustic reminding device and at least one optical reminding device to perform acoustic reminding and optical reminding on the driver when the early warning duration is within a third duration interval, controlling at least one touch reminding device to drive the steering wheel to perform vibration reminding at a first preset frequency, controlling at least one touch reminding device to drive the driving seat to perform vibration reminding at a second preset frequency, and controlling lighting equipment of the vehicle to remind other vehicles.

Optionally, in an embodiment of the present application, the early warning module 300 further includes: the positioning unit is used for positioning the actual position of the vehicle when the early warning duration is in the third duration interval; and the sending unit is used for sending the actual position to a preset terminal so that rescue workers can take rescue tasks for the vehicle.

Optionally, in an embodiment of the present application, the vehicle warning device 10 further includes: the first control module is used for controlling the vehicle to return to the target lane when the distance from the center line of the lane is greater than the preset distance; and the second control module is used for controlling the vehicle to reduce the actual vehicle speed to the preset vehicle speed according to a preset speed reduction strategy when the distance between the vehicle and the front obstacle is smaller than the collision distance, so that the distance between the vehicle and the front obstacle is larger than the collision distance.

It should be noted that the foregoing explanation of the embodiment of the vehicle warning method is also applicable to the vehicle warning device of the embodiment, and is not repeated here.

According to the vehicle early warning device provided by the embodiment of the application, when the actual driving route of a vehicle deviates from a target lane or is too close to a surrounding obstacle, the current driving intention of a driver is recognized, so that when the vehicle is not actively operated by the driver, multi-mode early warning reminding is performed, the multi-mode early warning can comprise acoustic reminding, optical reminding, tactile reminding and the like, misjudgment on the behavior of the driver is avoided, the reliability and the accuracy of early warning are ensured, and the driver is effectively reminded by a multi-mode early warning method, so that the driving safety is ensured. Therefore, the technical problems that whether the early warning mode of the related technology is actively operated by a driver or not is not judged, namely, an alarm is given, misjudgment is easily caused, the reliability and the accuracy are low, early warning is only carried out through an indicator lamp, the early warning mode is single and the like are solved.

Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The electronic device may include:

memory 401, processor 402, and computer programs stored on memory 401 and executable on processor 402.

The processor 402, when executing the program, implements the vehicle warning method provided in the above-described embodiments.

Further, the vehicle further includes:

a communication interface 403 for communication between the memory 401 and the processor 402.

A memory 401 for storing computer programs executable on the processor 402.

Memory 401 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.

Optionally, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete mutual communication through an internal interface.

The processor 402 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the vehicle warning method as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A vehicle early warning method is characterized by comprising the following steps:

collecting an actual driving route of a vehicle;

judging whether a lane driven along the actual driving route deviates from a target lane, and detecting obstacle information in front of the vehicle when the vehicle is driven along the actual driving route; and

if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is smaller than the warning distance, the current driving intention of the driver is recognized, and when the current driving intention is not the active operation intention, at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle are controlled to give an early warning to the driver.

2. The method of claim 1, wherein the controlling at least one acoustic, at least one optical, and/or at least one tactile alert device of the vehicle to alert the driver of the advance warning comprises:

calculating the early warning duration of the vehicle;

when the early warning duration is in a first time interval, controlling the at least one acoustic reminding device and the at least one optical reminding device to perform acoustic reminding and optical reminding on the driver;

when the early warning duration is in a second duration interval, controlling the at least one acoustic reminding device and the at least one optical reminding device to perform acoustic reminding and optical reminding on the driver, and simultaneously controlling the at least one tactile reminding device to drive a steering wheel to perform vibration reminding at a first preset frequency;

when the early warning duration is within a third duration interval, the at least one acoustic reminding device and the at least one optical reminding device are controlled to carry out acoustic reminding and optical reminding on the driver, and the at least one touch reminding device is controlled to drive the steering wheel to carry out vibration reminding at the first preset frequency, and meanwhile, the at least one touch reminding device is controlled to drive the driving seat to carry out vibration reminding at the second preset frequency, and the lighting equipment of the vehicle is controlled to remind other vehicles.

3. The method of claim 2, wherein when the warning duration is within the third duration interval, further comprising:

locating an actual position of the vehicle;

and sending the actual position to a preset terminal, so that rescue workers take rescue tasks for the vehicle.

4. The method of claim 1, wherein the identifying a current driving intent of the driver comprises:

detecting whether a steering lamp of the vehicle is in a light state or whether a steering column is subjected to torque;

determining that the current driving intention is the active operation intention when it is detected that the turn signal is in the lit state or the steering column is subjected to the torque.

5. The method according to any one of claims 1-4, further comprising:

when the distance from the center line of the lane is greater than a preset distance, controlling the vehicle to return to the target lane;

and when the distance between the vehicle and the front obstacle is smaller than the collision distance, controlling the vehicle to reduce the actual vehicle speed to a preset vehicle speed according to a preset deceleration strategy, so that the distance between the vehicle and the front obstacle is larger than the collision distance.

6. A vehicle warning device, comprising:

the acquisition module is used for acquiring an actual driving route of the vehicle;

the judging module is used for judging whether a lane driven along the actual driving route deviates from a target lane or not and detecting obstacle information in front of the vehicle when the vehicle is driven along the actual driving route; and

and the early warning module is used for identifying the current driving intention of the driver if the vehicle deviates from the target lane and/or the distance between the vehicle and the front obstacle is identified from the obstacle information to be less than the warning distance, and controlling at least one acoustic reminding device, at least one optical reminding device and/or at least one tactile reminding device of the vehicle to carry out early warning reminding on the driver when the current driving intention is not the active operation intention.

7. The apparatus of claim 6, wherein the early warning module comprises:

the calculation unit is used for calculating the early warning duration of the vehicle;

the first reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver when the early warning duration is in a first time interval;

the second reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver and controlling the at least one tactile reminding device to drive the steering wheel to carry out vibration reminding at a first preset frequency when the early warning duration is in a second duration interval;

and the third reminding unit is used for controlling the at least one acoustic reminding device and the at least one optical reminding device to carry out acoustic reminding and optical reminding on the driver when the early warning duration is within a third duration interval, and controlling the at least one tactile reminding device to drive the steering wheel so as to carry out vibration reminding at the first preset frequency, and simultaneously controlling the at least one tactile reminding device to drive the driving seat to carry out vibration reminding at the second preset frequency and controlling the lighting equipment of the vehicle to remind other vehicles.

8. The apparatus of claim 7, wherein the early warning module further comprises:

the positioning unit is used for positioning the actual position of the vehicle when the early warning duration is in the third duration interval;

and the sending unit is used for sending the actual position to a preset terminal so that rescue workers can take rescue tasks for the vehicle.

9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle warning method as claimed in any one of claims 1 to 5.

10. A computer-readable storage medium on which a computer program is stored, the program being executed by a processor for implementing the vehicle warning method according to any one of claims 1 to 5.