CN113682301A

CN113682301A - Method and system for actively avoiding dangerous vehicle and vehicle

Info

Publication number: CN113682301A
Application number: CN202111239028.7A
Authority: CN
Inventors: 陆鹏; 是蓉珠
Original assignee: Jiangsu Riying Electronics Co ltd
Current assignee: Jiangsu Riying Electronics Co ltd
Priority date: 2021-10-25
Filing date: 2021-10-25
Publication date: 2021-11-23

Abstract

The invention discloses a method and a system for actively avoiding a dangerous vehicle and the vehicle, wherein the active avoiding method comprises the following steps: (a) determining at least one adjacent vehicle based on a road condition image shot by a look-around camera of an avoiding vehicle; (b) creating a communication link for the avoidance vehicle and the neighboring vehicle; (c) obtaining status data of a driver of the neighboring vehicle; (d) evaluating a state of a driver of the neighboring vehicle, wherein the neighboring vehicle is determined to be a dangerous vehicle when the state of the driver of the neighboring vehicle is evaluated to be bad; (e) acquiring driving data of the dangerous vehicle; and (f) determining and executing an avoidance strategy according to the driving data of the dangerous vehicle and the driving data of the avoidance vehicle so as to allow the avoidance vehicle to actively avoid the dangerous vehicle, thus ensuring the driving safety.

Description

Method and system for actively avoiding dangerous vehicle and vehicle

Technical Field

The invention relates to the field of automobiles, in particular to a method and a system for actively avoiding dangerous vehicles and a vehicle.

Background

The driving assistance system has been gradually applied to vehicles as an emerging technology for assisting a driver in driving the vehicle, and significantly reduces the incidence of traffic accidents and improves driving safety. It is expected that for a long period of time in the future, a vehicle with an assisted driving system and a vehicle requiring manual driving will exist and share the right of way, and unlike the vehicle with the assisted driving system, the driving safety of the vehicle requiring manual driving is limited by the safety awareness of the driver, and dangerous driving behaviors such as fatigue driving, drunk driving and the like seriously affect the driving safety of the vehicle and pose a potential threat to the driving safety of other vehicles (including but not limited to the vehicle with the assisted driving system). Although the assistant driving system has the characteristic of fast response, when two vehicles run at a high speed with a small transverse distance (for example, on a highway, the speeds of most vehicles can reach more than 100Km/h, and the transverse distances of the vehicles in two adjacent lanes are small), if the manually driven vehicles deviate from the lanes suddenly and instantaneously due to the fatigue driving behavior of the drivers, the vehicles with the assistant driving system still cannot avoid the lanes because of untimely response or the problem that the lanes cannot be changed to avoid rollover, so that traffic accidents occur, and serious life safety and property safety threats are caused to both drivers.

Disclosure of Invention

An object of the present invention is to provide a method and a system for actively avoiding a dangerous vehicle and a vehicle, wherein the method for actively avoiding a dangerous vehicle allows an avoiding vehicle to actively avoid at least one dangerous vehicle so as to ensure the driving safety of the avoiding vehicle.

An object of the present invention is to provide a method and a system for actively avoiding a dangerous vehicle and a vehicle, wherein the method for actively avoiding a dangerous vehicle allows the avoiding vehicle to avoid the dangerous vehicle in advance so as to ensure the driving safety of the avoiding vehicle.

An object of the present invention is to provide a method and a system for actively avoiding a dangerous vehicle and a vehicle, wherein after the dangerous vehicle is determined, the method for actively avoiding the dangerous vehicle can determine and execute an avoidance strategy according to the driving data of the avoided vehicle and the driving data of the avoided vehicle so as to ensure that the avoided vehicle can avoid the dangerous vehicle. For example, the method for actively avoiding a hazardous vehicle can determine the avoidance maneuver as a function of the relative speed and/or relative distance of the avoiding vehicle and the hazardous vehicle.

An object of the present invention is to provide a method and a system for actively avoiding a dangerous vehicle and a vehicle, wherein after the dangerous vehicle is determined, the method for actively avoiding a dangerous vehicle is capable of further determining a driving environment and determining the avoidance strategy according to the driving data of the avoided vehicle, the driving data of the dangerous vehicle and the driving environment. In one example of the method for actively avoiding a dangerous vehicle according to the present invention, the driving environment is determined based on road condition images captured by the look-around camera of the avoided vehicle, so that data of the driving environment can be directly received and calculated by at least one processor installed in the avoided vehicle to increase a reflection speed. In another example of the method for actively avoiding the dangerous vehicle, the driving environment is determined based on the road condition image captured by the look-around camera of the dangerous vehicle, and since the avoiding vehicle and the dangerous vehicle both travel forward and the dangerous vehicle is usually located in front of the avoiding vehicle, the manner of determining the driving environment through the road condition image captured by the look-around camera of the dangerous vehicle can further improve the safety of avoiding. In another example of the method for actively avoiding a dangerous vehicle, the driving environment is determined based on the road condition image shot by the all-around camera of the avoiding vehicle and the road condition image shot by the all-around camera of the dangerous vehicle. In addition, in another preferred example of the method for actively avoiding a dangerous vehicle according to the invention, the driving environment can be determined from real-time position data provided by a locating unit.

An object of the present invention is to provide a method and a system for actively avoiding a dangerous vehicle and a vehicle, wherein for a neighboring vehicle, a monitor of the neighboring vehicle can continuously monitor a state of a driver to obtain state data of the driver, the method for actively avoiding the dangerous vehicle can evaluate the state of the driver according to the state data of the driver obtained by the monitor, and if the method for actively avoiding the dangerous vehicle evaluates that the state of the driver is poor, such as the driver is suspected of fatigue driving, drunk driving, etc., the system for actively avoiding the dangerous vehicle can determine that the neighboring vehicle is the dangerous vehicle and control the avoiding vehicle to actively avoid the dangerous vehicle. The monitor can avoid revealing privacy of the driver, for example, in one example of the method for actively avoiding a dangerous vehicle of the present invention, the monitor may be a microwave monitor which obtains the driver's motion based on the doppler principle; in another example of the method for actively avoiding the dangerous vehicle, the monitor can be a camera, and the system for actively avoiding the dangerous vehicle transmits image data of the driver shot by the camera to the avoiding vehicle after converting the image data into a data stream so as to prevent the privacy of the driver of the adjacent vehicle from being leaked.

It is an object of the present invention to provide a method and system for actively avoiding a dangerous vehicle and a vehicle, wherein the method for actively avoiding a dangerous vehicle is capable of automatically creating a communication link between the avoiding vehicle and the neighboring vehicle to enable communication between the avoiding vehicle and the neighboring vehicle when the neighboring vehicle is present within a safe distance of the avoiding vehicle. Preferably, the system for actively avoiding a dangerous vehicle creates communication between the avoiding vehicle and the neighboring vehicle based on short-range communication technology to ensure that data of the neighboring vehicle can be reliably and completely transmitted to the avoiding vehicle.

According to one aspect of the present invention, a method for actively avoiding a hazardous vehicle is provided, wherein the method for actively avoiding a hazardous vehicle comprises the following steps:

(a) determining at least one adjacent vehicle based on a road condition image shot by a look-around camera of an avoiding vehicle;

(b) creating a communication link for the avoidance vehicle and the neighboring vehicle;

(c) obtaining status data of a driver of the neighboring vehicle;

(d) evaluating a state of a driver of the neighboring vehicle, wherein the neighboring vehicle is determined to be a dangerous vehicle when the state of the driver of the neighboring vehicle is evaluated to be bad;

(e) acquiring driving data of the dangerous vehicle; and

(f) and determining and executing an avoidance strategy according to the driving data of the dangerous vehicle and the driving data of the avoided vehicle so as to allow the avoided vehicle to actively avoid the dangerous vehicle.

According to one embodiment of the present invention, before the step (f), the method for actively avoiding a dangerous vehicle further comprises the steps of: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the avoided vehicle, so that in the step (f), the avoiding strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment.

According to one embodiment of the present invention, before the step (f), the method for actively avoiding a dangerous vehicle further comprises the steps of: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the dangerous vehicle, so that the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment in the step (f).

According to one embodiment of the present invention, before the step (f), the method for actively avoiding a dangerous vehicle further comprises the steps of: acquiring real-time position data of other vehicles within a safe distance range of the avoiding vehicle, wherein the real-time position data of the other vehicles is provided by a positioning unit of the other vehicles or a positioning unit of electronic equipment of a driver driving the other vehicles; and (f) determining a driving environment according to the real-time position data of the other vehicles, so that in the step (f), the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoidance vehicle and the driving environment.

According to an embodiment of the present invention, in the step (e), the driving data of the neighboring vehicle is estimated according to the road condition image captured by the look-around camera of the avoiding vehicle.

According to an embodiment of the invention, in the step (e), the driving data of the dangerous vehicle is directly obtained from an on-board computer of the dangerous vehicle.

According to one embodiment of the present invention, after the communication link is created, a time node of the acquired state data of the driver of the neighboring vehicle is earlier than a time node of the creation of the communication link.

According to one embodiment of the invention, the method for actively avoiding a hazardous vehicle further comprises the steps of:

(g) marking the hazardous vehicle;

(h) acquiring real-time position data of the dangerous vehicle, wherein the real-time position data of the dangerous vehicle is provided by a positioning unit of the dangerous vehicle or a positioning unit of an electronic device of a driver driving the dangerous vehicle;

(i) obtaining real-time location data of other vehicles, wherein the real-time location data of the other vehicles is provided by a location unit of the other vehicles or a location unit of an electronic device of a driver driving the other vehicles;

(j) judging whether the other vehicles and the dangerous vehicle are in the same road section or not according to the real-time position data of the dangerous vehicle and the real-time position data of the other vehicles; and

(k) and when the other vehicles and the dangerous vehicle are judged to be in the same road section, pushing mark information to the other vehicles.

According to another aspect of the present invention, there is further provided a system for actively avoiding a dangerous vehicle, comprising:

at least one processor; and

at least one non-transitory computer-readable medium storing instructions that, when executed by the processor, cause the system for actively avoiding a hazardous vehicle to perform operations comprising:

(c) obtaining status data of a driver of the neighboring vehicle;

(e) acquiring driving data of the dangerous vehicle; and

According to an embodiment of the invention, prior to the step (f), the operations further comprise: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the avoided vehicle, so that in the step (f), the avoiding strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment.

According to an embodiment of the invention, prior to the step (f), the operations further comprise: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the dangerous vehicle, so that the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment in the step (f).

According to an embodiment of the invention, prior to the step (f), the operations further comprise: acquiring real-time position data of other vehicles within a safe distance range of the avoiding vehicle, wherein the real-time position data of the other vehicles is provided by a positioning unit of the other vehicles or a positioning unit of electronic equipment of a driver driving the other vehicles; and (f) determining a driving environment according to the real-time position data of the other vehicles, so that in the step (f), the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoidance vehicle and the driving environment.

According to an embodiment of the invention, the operations further comprise: (g) marking the hazardous vehicle;

the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring a road condition image of an avoided vehicle, and the road condition image of the avoided vehicle is shot by a look-around camera of the avoided vehicle; and

a processing unit, wherein the processing unit further comprises:

the judging module is used for judging whether vehicles exist in the safe distance range of the avoided vehicles according to the road condition images collected by the collecting unit, and when the vehicles exist in the safe distance range of the avoided vehicles, the avoided vehicles are defined as adjacent vehicles;

a creation module for creating a communication link between the avoidance vehicle and the neighboring vehicle;

the acquisition module is used for acquiring state data of a driver of the adjacent vehicle and acquiring driving data of the adjacent vehicle;

the evaluation module is used for evaluating the state of the driver of the adjacent vehicle, wherein when the state of the driver of the adjacent vehicle is not good, the adjacent vehicle is defined as a dangerous vehicle;

the strategy generating module is used for determining an avoidance strategy according to the driving data of the dangerous vehicle and the driving data of the avoidance vehicle; and

and the execution module is used for executing the avoidance strategy to allow the avoidance vehicle to actively avoid the dangerous vehicle.

According to an embodiment of the present invention, the obtaining module further obtains a driving environment of the avoided vehicle to allow the strategy generating module to determine the avoidance strategy according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment of the avoided vehicle.

According to an embodiment of the invention, the processing unit further comprises:

a marking module for marking the hazardous vehicle;

the positioning module is used for positioning the dangerous vehicle and other vehicles so that the judging module can judge whether the dangerous vehicle and other vehicles are in the same road section; and

and the pushing module is used for pushing the marking information to the other vehicles when the other vehicles and the dangerous vehicle are positioned in the same road section.

According to another aspect of the present invention, the present invention further provides a vehicle to which a system for actively avoiding a dangerous vehicle is applied, wherein the system for actively avoiding a dangerous vehicle comprises:

at least one processor; and

(c) obtaining status data of a driver of the neighboring vehicle;

(e) acquiring driving data of the dangerous vehicle; and

a processing unit, wherein the processing unit further comprises:

Drawings

FIG. 1 illustrates a vehicle in which a system for actively avoiding a hazardous vehicle is employed in accordance with a non-limiting embodiment of the present invention.

FIG. 2 illustrates a block diagram of a system for actively avoiding a hazardous vehicle in accordance with a non-limiting embodiment of the present invention.

Fig. 3A-3C illustrate the application of a system for actively avoiding a hazardous vehicle in accordance with a non-limiting embodiment of the present invention.

FIG. 4 illustrates a flowchart of a method for actively avoiding a hazardous vehicle in accordance with a non-limiting embodiment of the present invention.

FIG. 5 illustrates a block diagram of an active avoidance process in accordance with a non-limiting embodiment of the present invention.

Detailed Description

Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct mountings and indirect mountings, connections, supports, and couplings. Further, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Also, in the first aspect of the present disclosure, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, which are merely for convenience of describing the present disclosure and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus the above terms should not be construed as limiting the present disclosure; in a second aspect, the terms "a" and "an" should be interpreted as meaning "at least one" or "one or more," i.e., in one embodiment, the number of an element can be one, and in another embodiment, the number of the element can be more than one, and the terms "a" and "an" should not be interpreted as limiting the number.

Fig. 1 shows a vehicle according to a non-limiting embodiment of the present invention, wherein the vehicle includes a vehicle body 10, and an on-board computer 20, a monitor 30, a communication unit 40, a positioning unit 50, and a look-around camera 60, which are respectively provided to the vehicle body 10.

The on-board computer 20 further includes at least one processor 21 and at least one non-transitory computer-readable medium 22 coupled to the processor 21, the non-transitory computer-readable medium 22 being configured to store instructions executable by the processor 21.

The monitor 30 is disposed toward the driving position of the vehicle body 10 for monitoring the driver driving the vehicle to obtain the status data of the driver, wherein the monitor 30 is connected to the processor 21 of the on-board computer 20 to allow the processor 21 to obtain the status data of the driver from the monitor 30, wherein the processor 21 can process the status data of the driver obtained by the monitor 30 when executing the instructions, for example, the processor 21 can evaluate the status of the driver based on the status data of the driver, or the processor 21 can store the status data of the driver in the non-transitory computer-readable medium 22.

The communication unit 40 is connected to the processor 21 of the on-board computer 20, wherein the processor 21, when executing the instructions, is capable of creating a communication link between adjacent vehicles through the communication unit 40 to allow data to be transferred between the adjacent vehicles. Preferably, the communication unit 40 communicates based on a short-range communication technology to ensure that data is reliably, completely and quickly transmitted between two adjacent vehicles, so as to effectively avoid interference of the driving environment of the vehicles with data transmission. It will be appreciated that for two such vehicles moving at high speed, a reliable, fast communication link is essential for the complete transfer of data.

The positioning unit 50 can be, but is not limited to, a beidou module, a GPS module, wherein the positioning unit 50 is connected to the processor 21 of the on-board computer 20, wherein the processor 21 is capable of acquiring real-time position data of the vehicle from the positioning unit 50 when executing the instructions. As an alternative example, the processor 21 can create a communication link between the vehicle and the driver's electronic device through the communication unit 40 when executing the instructions, such that the processor 21 can obtain real-time position data of the vehicle from a positioning unit of the driver's electronic device when executing the instructions.

The all-round-looking camera 60 includes at least one front camera 61 disposed in front of the vehicle body 10 for capturing an image of the road condition in front of the vehicle, wherein the front camera 61 is connected to the processor 21 of the on-board computer 20 for allowing the processor 21 to obtain the image data of the road condition in front of the vehicle from the front camera 61.

The all-round camera 60 includes at least one rear camera 62 disposed behind the vehicle body 10 for capturing an image of the rear road condition of the vehicle, wherein the rear camera 62 is connected to the processor 21 of the vehicle-mounted computer 20 for allowing the processor 21 to obtain the image data of the rear road condition of the vehicle from the rear camera 62.

The all-round-looking camera 60 includes at least one left-side camera 63 disposed at the left side of the vehicle body 10 for capturing an image of the road condition of the left side of the vehicle, wherein the left-side camera 63 is connected to the processor 21 of the vehicle-mounted computer 20 for allowing the processor 21 to obtain the image data of the road condition of the left side of the vehicle from the left-side camera 63.

The all-round-looking camera 60 includes at least one right-side camera 64 disposed at the right side of the vehicle body 10 for capturing the image of the road condition at the right side of the vehicle, wherein the right-side camera 64 is connected to the processor 21 of the vehicle-mounted computer 20 for allowing the processor 21 to obtain the image data of the road condition at the left side of the vehicle from the right-side camera 64.

The road condition image shot by the front camera 61, the road condition image shot by the rear camera 62, the road condition image shot by the left side camera 63 and the road condition image shot by the right side camera 64 can be separately displayed on the central control screen of the vehicle body 10, so that a driver can view the road conditions of the front, the rear, the left side and the right side of the vehicle respectively. Or, the road condition image captured by the front camera 61, the road condition image captured by the rear camera 62, the road condition image captured by the left camera 63, and the road condition image captured by the right camera 64 can be synthesized into a panoramic image and then displayed on the central control screen of the vehicle body 10, so that the driver can view the surrounding road conditions of the vehicle.

The instructions related to a system 100 for actively avoiding a dangerous vehicle according to a non-limiting embodiment of the present invention can be stored in the form of machine code or script in the non-transitory computer readable medium 22 of the on-board computer 20, wherein the non-transitory computer readable medium 22 can be, but is not limited to, a hard disk drive, a memory card, a ROM, a RAM, a DVD, an optical disk, etc., and the processor 21 can cause the system 100 for actively avoiding a dangerous vehicle to perform predetermined operations when executing the instructions.

Specifically, the system 100 for actively avoiding a dangerous vehicle can be applied to the vehicle such that the vehicle forms an avoiding vehicle 200, wherein the system 100 for actively avoiding a dangerous vehicle is used for controlling the avoiding vehicle 200 in driving to actively avoid at least one moving obstacle, for example, the moving obstacle is a dangerous vehicle 300. In other words, the system 100 for actively avoiding a dangerous vehicle can be used to control the avoiding vehicle 200 in driving to actively avoid at least one dangerous vehicle 300 so as to ensure the driving safety of the avoiding vehicle 200.

Preferably, the system 100 for actively avoiding a dangerous vehicle can be used for controlling the avoiding vehicle 200 in driving to actively avoid at least one dangerous vehicle 300 in advance so as to further ensure the driving safety of the avoiding vehicle 200.

Preferably, the system 100 for actively avoiding a dangerous vehicle can prompt the driver of the dangerous vehicle 300 when controlling the avoiding vehicle 200 to actively avoid the dangerous vehicle 300, so as to help the driver of the dangerous vehicle 300 eliminate the danger as soon as possible, thereby being beneficial to ensuring the driving safety of the dangerous vehicle 300.

Preferably, the system 100 for actively avoiding a dangerous vehicle can mark the dangerous vehicle 300 when controlling the avoiding vehicle 200 to actively avoid the dangerous vehicle 300, and push mark information to another vehicle 400 located on the same road segment as the dangerous vehicle 300 to help the another vehicle 400 avoid the dangerous vehicle 300, so as to ensure driving safety of the road segment.

The contents and advantages of the system 100 for actively avoiding a dangerous vehicle according to the present invention are further disclosed with reference to fig. 3A to 3C.

Referring to fig. 3A, during the driving process of the avoidance vehicle 200, the surrounding camera 60 may continuously capture the road condition image of the surrounding environment of the avoidance vehicle 200. When the vehicle appears in the road condition image shot by the panoramic camera 60 of the avoidance vehicle 200, the system 100 for actively avoiding a dangerous vehicle can judge whether the vehicle is within the safe distance range of the avoidance vehicle 200. In this particular example of fig. 3A, the system 100 for actively avoiding a hazardous vehicle defines the vehicle as a neighboring vehicle 500 because the vehicle is within a safe distance range of the avoiding vehicle 200.

It is worth mentioning that the safe distance range of the avoiding vehicle 200 is a variable that is determined according to the vehicle speed of the avoiding vehicle 200. Specifically, for the avoidance vehicle 200 traveling at a high speed of 100km/h or more, the safe distance range of the avoidance vehicle 200 is 100m or more; for the avoidance vehicle 200 which runs fast with the vehicle speed of more than 60km/h, the safe distance range of the avoidance vehicle 200 is more than 60 m; for the avoidance vehicle 200 running at a medium speed of about 50km/h, the safe distance range of the avoidance vehicle 200 is more than 50 m; the safe distance range of the avoidance vehicle 200 is 30m or more for the avoidance vehicle 200 traveling at a low speed with a vehicle speed of 40km/h or less.

It is understood that the system 100 for actively avoiding a dangerous vehicle can estimate the distance between the avoided vehicle 200 and the vehicle appearing in the road condition image of the avoided vehicle 200 according to the road condition image captured by the panoramic camera 60 of the avoided vehicle 200. If the system 100 for actively avoiding a dangerous vehicle estimates that the distance between the avoided vehicle 200 and the vehicle appearing in the road condition image of the avoided vehicle 200 is greater than the safe distance range, for example, for the avoided vehicle 200 traveling at a high speed of 100km/h or more, the system 100 for actively avoiding a dangerous vehicle estimates that the distance between the avoided vehicle 200 and the vehicle appearing in the road condition image of the avoided vehicle 200 is greater than 100m, the system 100 for actively avoiding a dangerous vehicle may be in a silent state, that is, the system 100 for actively avoiding a dangerous vehicle may not perform any operation. If the system 100 for actively avoiding a dangerous vehicle estimates that the distance between the avoided vehicle 200 and the vehicle appearing in the road condition image of the avoided vehicle 200 is smaller than the safe distance range, for example, for the avoided vehicle 200 traveling at a high speed of 100km/h or more, the system 100 for actively avoiding a dangerous vehicle estimates that the distance between the avoided vehicle 200 and the vehicle appearing in the road condition image of the avoided vehicle 200 is smaller than 100m, and the system 100 for actively avoiding a dangerous vehicle defines the vehicle appearing in the road condition image of the avoided vehicle 200 as the neighboring vehicle 500.

For example, at the stage shown in fig. 3A, the image of the road condition captured by the panoramic camera 60 of the avoiding vehicle 200 includes the vehicle a and the vehicle B, where the vehicle a is within the safe distance range of the avoiding vehicle 200, and the vehicle B is outside the safe distance range of the avoiding vehicle 200, and at this time, the system 100 for actively avoiding a dangerous vehicle only defines the vehicle a as the neighboring vehicle 500.

Next, the system 100 for actively avoiding a dangerous vehicle creates a communication link between the avoiding vehicle 200 and the neighboring vehicle 500 to enable communication between the avoiding vehicle 200 and the neighboring vehicle 500 so that status data about the driver of the neighboring vehicle 500 can be acquired.

Preferably, the system 100 for actively avoiding a dangerous vehicle creates communication between the avoiding vehicle 200 and the neighboring vehicle 500 based on short-range communication technology to ensure that data of the neighboring vehicle 500 can be reliably, completely, and quickly transmitted to the avoiding vehicle 200, so that interference of the traveling environment of the avoiding vehicle 200 and the neighboring vehicle 500 with data transmission can be effectively avoided.

It is worth mentioning that the manner in which the system 100 for actively avoiding a dangerous vehicle creates the communication link between the avoiding vehicle 200 and the neighboring vehicle 500 is not limited in the present invention, for example, the communication unit 40 of the vehicle includes a DSRC (differentiated Short Range communication) module and a cellular mobile communication module, and the DSRC module and the cellular mobile communication module are connected through an interface. First, the system 100 for actively avoiding a dangerous vehicle wirelessly connects through the DSRC module of the avoiding vehicle 200 and the DSRC module of the neighboring vehicle 500 to enable wireless communication of the avoiding vehicle 200 and the neighboring vehicle 500; secondly, the system 100 for actively avoiding a dangerous vehicle receives a control message of resource allocation of a base station to the DSRC module through the cellular mobile communication module, and forwards the control message to the DSRC module through an interface and receives a resource allocation request message which is forwarded to the cellular mobile communication module through the interface and is sent to the base station by the cellular mobile communication module, so that data transmission between the avoiding vehicle 200 and the adjacent vehicle 500 is realized.

It is also worth mentioning that the DSRC module configures according to the parameter of the frequency of the DSRC, specifically, the RRC-W layer of the DSRC module configures the logical link control LLC layer, the media access control MAC layer, and the physical layer of the DSRC module according to the parameter of the frequency of the DSRC. In addition, the specific mode of the interface connection between the DSRC module and the cellular mobile communication module is to adopt a CM interface to connect a radio resource control protocol RRC layer of the cellular mobile communication module with a radio resource control RRC-W layer of the DSRC module.

For the avoidance vehicle 200, the monitor 30 of the avoidance vehicle 200 can continuously monitor the driver driving the avoidance vehicle 200 to obtain driver status data during the travel of the avoidance vehicle 200, wherein the driver status data regarding the avoidance vehicle 200 can be received and processed by the processor 21 of the on-board computer 20. For the neighboring vehicle 500, the monitor 30 of the neighboring vehicle 500 can continuously monitor the driver driving the neighboring vehicle 500 to obtain the driver's status data during the driving of the neighboring vehicle 500, wherein the status data about the driver of the neighboring vehicle 500 can be received and processed by the processor 21 of the on-board computer 20.

In a preferred example of the present invention, the monitor 30 of the vehicle may be a camera that obtains the driver's status data by taking an image of the driver. In this example, the system 100 for actively avoiding a dangerous vehicle converts image data captured by the monitor 30 into a data stream before transmitting the image data to the outside, so that it is possible to prevent the privacy of the driver from being revealed. Specifically, after the system 100 for actively avoiding a dangerous vehicle creates a communication link between the avoiding vehicle 200 and the neighboring vehicle 500, firstly converting image data of the driver driving the neighboring vehicle 500 captured by the monitor 30 of the neighboring vehicle 500 into a data stream, and secondly transmitting the data stream regarding the state of the driver of the neighboring vehicle 500 to the avoiding vehicle 200, so that it is possible to avoid the privacy of the driver driving the neighboring vehicle 500 from being leaked to the avoiding vehicle 200.

In another preferred example of the present invention, the monitor 30 of the vehicle may be a microwave monitor, which obtains the driver's motion based on the doppler principle, so that it is possible to prevent the privacy of the driver from being revealed. Specifically, after the system 100 for actively avoiding a dangerous vehicle creates a communication link between the avoiding vehicle 200 and the neighboring vehicle 500, the system 100 for actively avoiding a dangerous vehicle can transmit data of the driver's action obtained by the monitor 30 of the neighboring vehicle 500 based on the doppler principle to the avoiding vehicle 200 to avoid the privacy of the driver driving the neighboring vehicle 500 from being leaked to the avoiding vehicle 200.

The system 100 for actively avoiding a dangerous vehicle can estimate the state of the driver based on the state data of the driver of the neighboring vehicle 500 after obtaining the state data of the driver of the neighboring vehicle 500. For example, when the system 100 for actively avoiding a dangerous vehicle analyzes the state data of the driver of the neighboring vehicle 500 to confirm that the driver frequently makes blinks, yawns, bows, and the like, the system 100 for actively avoiding a dangerous vehicle may evaluate that the driver of the neighboring vehicle 500 is in a fatigue driving state, that is, the state of the driver of the neighboring vehicle 500 is not good, and at this time, the system 100 for actively avoiding a dangerous vehicle confirms that the neighboring vehicle 500 is the dangerous vehicle 300.

Preferably, the system for actively avoiding a dangerous vehicle 100 acquires the state data of the driver of the neighboring vehicle 500 earlier in time node than the time node at which the communication link is created, in such a way that the system for actively avoiding a dangerous vehicle 100 can acquire the state data of the driver of the neighboring vehicle 500 for a longer period of time to facilitate accurate assessment of the state of the driver of the neighboring vehicle 500.

After the adjacent vehicle 500 is confirmed as the dangerous vehicle 300 by the system 100 for actively avoiding a dangerous vehicle, the system 100 for actively avoiding a dangerous vehicle can obtain the driving data of the dangerous vehicle 300, and subsequently determine and execute an avoidance strategy according to the driving data of the dangerous vehicle 300 and the driving data of the avoided vehicle 200, so as to allow the avoided vehicle 200 to actively avoid the dangerous vehicle 300, thereby ensuring the driving safety of the avoided vehicle 200.

In a preferred example of the present invention, after the neighboring vehicle 500 is confirmed as the dangerous vehicle 300 by the system for actively avoiding a dangerous vehicle 100, the system for actively avoiding a dangerous vehicle 100 can acquire driving data of the dangerous vehicle 300 from the on-board computer 20 of the dangerous vehicle 300, for example, the vehicle speed data and/or lane data of the dangerous vehicle 300, which can be acquired by the system for actively avoiding a dangerous vehicle 100 from the on-board computer 20 of the dangerous vehicle 30, based on a communication link that the system for actively avoiding a dangerous vehicle 100 creates between the avoiding vehicle 200 and the dangerous vehicle 300. Accordingly, the system 100 for actively avoiding a dangerous vehicle can acquire the vehicle speed data and/or the lane data of the avoiding vehicle 200 from the on-board computer 20 of the avoiding vehicle 200. Subsequently, the system 100 for actively avoiding the dangerous vehicle determines the avoidance strategy after analyzing the driving data of the avoided vehicle 200 and the driving data of the dangerous vehicle 300, wherein the content of the avoidance strategy is to adjust the vehicle speed and/or the lane of the avoided vehicle 200. In addition, the system 100 for actively avoiding a dangerous vehicle can actively avoid the dangerous vehicle 300 by controlling the driving state of the avoiding vehicle 200 when the avoidance strategy is executed.

For example, referring to fig. 3A to 3C, the traveling data of the avoidance vehicle 200 obtained by the system 100 for actively avoiding a dangerous vehicle includes that the vehicle speed of the avoidance vehicle 200 is 110km/h and the lane of the avoidance vehicle 200 is the third lane, and the traveling data of the dangerous vehicle 300 obtained by the system 100 for actively avoiding a dangerous vehicle includes that the vehicle speed of the dangerous vehicle 300 is 100km/h and the lane of the dangerous vehicle 300 is the second lane. After analyzing the traveling data of the avoidance vehicle 200 and the traveling data of the dangerous vehicle 300, the system 100 for actively avoiding the dangerous vehicle determines that the content of the avoidance strategy is to reduce the vehicle speed of the avoidance vehicle 200 to 90km/h and change the lane of the avoidance vehicle 200 to be the first lane. The system 100 for actively avoiding the dangerous vehicle adjusts the vehicle speed and the lane of the avoiding vehicle 200 after executing the avoiding strategy to actively avoid the dangerous vehicle 300, so as to ensure the driving safety of the avoiding vehicle 200.

In another preferred example of the present invention, after the neighboring vehicle 500 is confirmed as the dangerous vehicle 300 by the system for actively avoiding a dangerous vehicle 100, the system for actively avoiding a dangerous vehicle 100 can determine driving data of the dangerous vehicle 300 based on the road condition image captured by the all-around camera 60 of the avoiding vehicle 200. For example, based on the road condition image captured by the look-around camera 60 of the avoiding vehicle 200, the system 100 for actively avoiding a dangerous vehicle can estimate the speed of the dangerous vehicle 300 and can determine the lane of the dangerous vehicle 300. Subsequently, the system 100 for actively avoiding the dangerous vehicle can determine the avoidance strategy according to the vehicle speed and the lane of the avoidance vehicle 200 and the vehicle speed and the lane of the dangerous vehicle 300, and actively avoid the dangerous vehicle 300 by controlling the driving state of the avoidance vehicle 200 when executing the avoidance strategy.

Further, simultaneously with or after acquiring the driving data of the dangerous vehicle 300, the system 100 for actively avoiding a dangerous vehicle can determine a driving environment of the avoiding vehicle 200, so that subsequently, the system 100 for actively avoiding a dangerous vehicle can determine the avoiding strategy based on the driving data of the dangerous vehicle 300, the driving data of the avoiding vehicle 200 and the driving environment, thereby further ensuring that the avoiding vehicle 200 can safely avoid the dangerous vehicle 300.

For example, with continued reference to fig. 3A-3C, the contents of the driving environment determined by the system 100 for actively avoiding a dangerous vehicle include the presence of the vehicle C within the safe distance range of the avoiding vehicle 200, i.e., the presence of the other vehicle 400 within the safe distance range of the avoiding vehicle 200, the speed of the other vehicle 400 being 100km/h and the lane of the other vehicle 400 being the fourth lane. Based on the driving data of the avoidance vehicle 200, the driving data of the dangerous vehicle 300 and the driving environment (the driving data of the other vehicle 400), the content of the avoidance strategy determined by the system 100 for actively avoiding the dangerous vehicle is to reduce the vehicle speed of the avoidance vehicle 200 to 90km/h and change the lane of the avoidance vehicle 200 to be the first lane, that is, the active avoidance system 100 prevents the avoidance vehicle 200 from avoiding the fourth lane, so as to ensure the driving safety of the avoidance vehicle 200 and the other vehicle 400.

In a preferred example of the present invention, the system 100 for actively avoiding a dangerous vehicle determines the driving environment based on the road condition image captured by the panoramic camera 60 of the avoiding vehicle 200, so that the data of the driving environment can be directly received and calculated by the processor 21 of the on-board computer 20 installed in the avoiding vehicle 200 to increase the reflection speed.

In another preferred example of the present invention, the driving environment is determined based on the road condition image captured by the panoramic camera 60 of the dangerous vehicle 300, since the avoiding vehicle 200 and the dangerous vehicle 300 both travel forward and normally the dangerous vehicle 300 is located in front of the avoiding vehicle 200, such that the manner of determining the driving environment through the road condition image captured by the panoramic camera 60 of the dangerous vehicle 300 can further improve the safety of avoidance.

Preferably, the driving environment is determined by the road condition image shot by the all-round camera 60 of the avoiding vehicle 200 and the road condition image shot by the all-round camera 60 of the dangerous vehicle 300, in this way, the system 100 for actively avoiding the dangerous vehicle can determine whether the other vehicle 400 exists in a larger range, so as to further improve the safety of the avoidance.

In another preferred example of the present invention, the system 100 for actively avoiding a hazardous vehicle determines the driving environment by acquiring real-time position data of the other vehicle 400 located within a safe distance of the avoiding vehicle 200. Specifically, if the system 100 for actively avoiding a dangerous vehicle can receive the real-time position data of the other vehicle 400 within the safe distance range of the avoiding vehicle 200, it indicates that the other vehicle 400 exists within the safe distance range of the avoiding vehicle 200, and then the system 100 for actively avoiding a dangerous vehicle can determine the driving environment based on the real-time position data of the avoiding vehicle 200, the real-time position data of the dangerous vehicle 300, and the real-time position data of the other vehicle 400. Accordingly, if the system 100 for actively avoiding a dangerous vehicle does not receive the real-time position data of the other vehicle 400 within the safe distance range of the avoiding vehicle 200, it indicates that the other vehicle 400 does not exist within the safe distance range of the avoiding vehicle 200.

It should be noted that the manner of acquiring the real-time position data of the vehicle is not limited in the system 100 for actively avoiding a dangerous vehicle of the present invention, for example, the real-time position data of the vehicle may be provided by the positioning unit 50 of the vehicle, or the real-time position data of the vehicle may be provided by a positioning unit of an electronic device carried by a driver. Further, after the neighboring vehicle 500 is confirmed as the dangerous vehicle 300 by the system for actively avoiding a dangerous vehicle 100, the system for actively avoiding a dangerous vehicle 100 can mark the dangerous vehicle 300 and acquire real-time position data of the dangerous vehicle 300. Then, the system 100 for actively avoiding a dangerous vehicle can obtain real-time position data of the other vehicle 400, wherein the other vehicle 400 may be the vehicle within the safety range of the avoiding vehicle 200 or the vehicle not within the safety range of the avoiding vehicle 200. Then, according to the real-time position data of the dangerous vehicle 300 and the real-time position data of the other vehicle 400, the system 100 for actively avoiding a dangerous vehicle determines whether the other vehicle 400 and the dangerous vehicle 300 are in the same road segment, and if the system 100 for actively avoiding a dangerous vehicle determines that the other vehicle 400 and the dangerous vehicle 300 are in the same road segment, the system 100 for actively avoiding a dangerous vehicle pushes mark information to the other vehicle 400 to allow the other vehicle 400 to actively avoid the dangerous vehicle 300 in advance or remind a driver of the other vehicle 400 to actively avoid the dangerous vehicle 300 in advance, so as to ensure the driving safety of the other vehicle 400. The content of the mark information may be the driving state of the dangerous vehicle 300 including the real-time position, the vehicle speed, and the lane, and may also include the distance between the dangerous vehicle 300 and the other vehicle 400.

In another aspect of the present invention, referring to fig. 2, the system 100 for actively avoiding a dangerous vehicle includes an acquisition unit 101 and a processing unit 102, and the acquisition unit 101 and the processing unit 102 are communicatively connected.

The collecting unit 101 can be externally connected with the vehicle around-looking camera 60 to collect the road condition image of the avoiding vehicle 200.

The processing unit 102 further includes a determining module 1021, a creating module 1022, an obtaining module 1023, an evaluating module 1024, a policy generating module 1025, and an executing module 1026.

The determining module 1021 is communicably connected to the collecting unit 101, wherein the determining module 1021 determines whether the vehicle exists within the safe distance range of the avoiding vehicle 200 according to the road condition image collected by the collecting unit 101, and if the vehicle exists within the safe distance range of the vehicle, the vehicle is defined as the neighboring vehicle 500.

The creation module 1022 is communicatively coupled to the determination module 1021, wherein the creation module 1022 is configured to create a communication link between the avoiding vehicle 200 and the neighboring vehicle 500. Preferably, the creation module 1022 creates a communication link between the avoidance vehicle 200 and the neighboring vehicle 500 based on short-range communication techniques to ensure reliable, stable, and rapid transfer of data between the avoidance vehicle 200 and the neighboring vehicle 500.

The acquisition module 1023 is communicatively coupled to the creation module 122, and the acquisition module 1023 is capable of acquiring status data of a driver of the neighboring vehicle 500 based on a communication link created by the creation module 1022 between the avoiding vehicle 200 and the neighboring vehicle 500.

The evaluation module 1024 is communicatively connected to the acquisition module 1023, and based on the status data of the driver of the neighboring vehicle 500 acquired by the acquisition module 1023, the evaluation module 1024 can evaluate the status of the driver of the neighboring vehicle 500, and if the status of the driver of the neighboring vehicle 500 is not good, for example, the driver of the neighboring vehicle 500 frequently blinks, yawns, bends, etc., the evaluation module 1024 can evaluate that the neighboring vehicle 500 is the dangerous vehicle 300.

The policy generation module 1025 is communicatively coupled to the evaluation module 1024 and the acquisition module 1023, wherein when the evaluation module 1024 defines the neighboring vehicle 500 as the dangerous vehicle 300, the acquisition module 1023 is further capable of acquiring driving data of the dangerous vehicle 300 based on the communication link created between the avoidance vehicle 200 and the dangerous vehicle 300 by the creation module 1022, wherein the policy generation module 1025 determines the avoidance policy based on the driving data of the dangerous vehicle 300 and the driving data of the avoidance vehicle 200.

The enforcement module 1026 is communicatively coupled to the strategy generation module 1025, wherein the enforcement module 1026 is capable of controlling the avoidance vehicle 200 to actively avoid the hazardous vehicle 300 when executing the avoidance strategy to ensure driving safety of the avoidance vehicle 200.

Preferably, the obtaining module 1023 can further obtain the driving environment of the avoided vehicle 200 to allow the strategy generating module 1025 to determine the avoidance strategy according to the driving data of the dangerous vehicle 300, the driving data of the avoided vehicle 200 and the driving environment of the avoided vehicle 200. For example, in a preferred example, the obtaining module 1023 can be externally connected to the panoramic camera 60 of the avoided vehicle 200 to obtain the driving environment of the avoided vehicle 200 according to road condition images captured by the panoramic camera 60 of the avoided vehicle 200. In another preferred example, the obtaining module 1023 can be externally connected to the look-around camera 60 of the dangerous vehicle 300 to obtain the driving environment of the avoiding vehicle 200 according to the road condition image captured by the look-around camera 60 of the dangerous vehicle 300. In another preferred example, the obtaining module 1023 can be externally connected to the surrounding camera 60 of the avoiding vehicle 200 and the surrounding camera 60 of the dangerous vehicle 300 to obtain the driving environment of the avoiding vehicle 200 according to the road condition image captured by the surrounding camera 60 of the avoiding vehicle 200 and the road condition image captured by the surrounding camera 60 of the dangerous vehicle 300. In another preferred example, the obtaining module 1023 can be externally connected to the positioning unit 50 of the avoidance vehicle 200 and/or the dangerous vehicle 300 to obtain the driving environment of the avoidance vehicle 200 according to the real-time positioning data provided by the positioning unit 50.

Further, the processing unit 102 includes a marking module 1027, a positioning module 1028, and a pushing module 1029. The marking module 1027 is communicatively connected to the evaluation module 1024, wherein when the evaluation module 1024 evaluates that the neighboring vehicle 500 is the dangerous vehicle 300, the marking module 1027 is used for marking the dangerous vehicle 300, and the content of the marking information may be the driving state of the dangerous vehicle 300 including the real-time position, the vehicle speed, and the lane, and may also include the distance between the dangerous vehicle 300 and the other vehicle 400. The positioning module 1028 is communicatively connected to the determining module 1021, wherein the positioning module 1028 is capable of positioning the dangerous vehicle 300 and the other vehicle 400, for example, the positioning module 1028 is capable of positioning the dangerous vehicle 300 and the other vehicle 400 by externally connecting the positioning unit 50 of the vehicles, and subsequently, the determining module 1021 is capable of determining whether the dangerous vehicle 300 and the other vehicle 400 are in the same road segment. The pushing module 1029 is communicably connected to the marking module 1027 and the determining module 1021, wherein when the determining module 1021 determines that the dangerous vehicle 300 and the other vehicle 400 are in the same road segment, the pushing module 1029 can push the marking information for the driver of the other vehicle 400 to refer to and actively avoid the dangerous vehicle 300 in advance, so as to ensure the driving safety of a road segment.

It should be noted that the manner of pushing the tag signal to the other vehicle 400 by the pushing module 1029 is not limited in the present invention, for example, the pushing module 1029 may push the tag information by voice broadcasting in a manner of externally connecting a speaker of the other vehicle 400, or the pushing module 1029 may push the tag information by displaying text or images in a manner of externally connecting a center control screen of the other vehicle 400.

Referring to fig. 4, the present invention further provides a method 4000 for actively avoiding a dangerous vehicle, wherein the method 4000 for actively avoiding a dangerous vehicle comprises the steps of:

step 4001, determining at least one of the neighboring vehicles 500 based on the road condition image captured by the look-around camera 60 of the avoiding vehicle 200;

step 4002, creating a communication link between the avoidance vehicle 200 and the neighboring vehicle 500;

step 4003, obtaining status data of a driver of the neighboring vehicle 500;

step 4004, evaluating a status of a driver of the neighboring vehicle 500, wherein the neighboring vehicle 500 is determined to be the dangerous vehicle 300 when the status of the driver of the neighboring vehicle 500 is evaluated to be bad;

step 4005, acquiring driving data of the dangerous vehicle 300; and

step 4006, determining and executing the avoidance strategy according to the driving data of the dangerous vehicle 300 and the driving data of the avoidance vehicle 200, so as to allow the avoidance vehicle 200 to actively avoid the dangerous vehicle.

By the method 4000 for actively avoiding the dangerous vehicle, the avoiding vehicle 200 can safely avoid the dangerous vehicle 300, so that the driving safety of the avoiding vehicle 200 is ensured.

Preferably, the method 4000 for actively avoiding a dangerous vehicle further comprises the steps of:

step 4007, marking the hazardous vehicle 300;

step 4008, acquiring real-time location data of the dangerous vehicle 300, wherein the real-time location data of the dangerous vehicle 300 is provided by the location unit 50 of the dangerous vehicle 300 or a location unit of an electronic device of a driver driving the dangerous vehicle 300;

step 4009, obtaining real-time location data of the other vehicle 400, wherein the real-time location data of the other vehicle 400 is provided by the positioning unit 50 of the other vehicle 400 or a positioning module of an electronic device of a driver driving the other vehicle 400;

step 4010, determining whether the other vehicle 400 and the dangerous vehicle 300 are in the same road segment according to the real-time position data of the dangerous vehicle 300 and the real-time position data of the other vehicle 400; and

step 4011, when it is determined that the another vehicle 400 and the dangerous vehicle 300 are located on the same road segment, pushing mark information to the another vehicle 400.

By the method 4000 for actively avoiding a dangerous vehicle, the driving safety of the other vehicles 400 and the driving safety of the same road section can be ensured.

Fig. 5 shows an active avoidance procedure 5000 of a non-limiting embodiment of the present invention, which includes the following stages.

At stage 5001, the avoidance vehicle 200 is in a driving state. Specifically, the avoidance vehicle 200 travels on the third lane at a vehicle speed of 110 km/h.

Stage 5002, judging whether the vehicle exists in the safe distance range of the avoidance vehicle 200. If the vehicle exists within the safe distance range of the avoidance vehicle 200, then stage 5003 is performed, the vehicle is defined as the neighboring vehicle 500, and correspondingly, if the vehicle does not exist within the safe distance range of the avoidance vehicle 200, then stage 5001 is continued.

Specifically, the safe distance range of the avoided vehicle 200 is 100m, and according to the road condition image captured by the panoramic camera 60 of the avoided vehicle 200, the system 100 for actively avoiding a dangerous vehicle can determine that the distance between the vehicle B and the avoided vehicle 200 is 90m, at this time, the system 100 for actively avoiding a dangerous vehicle can determine that the vehicle exists in the safe distance range of the avoided vehicle 200, and the vehicle is defined as the neighboring vehicle 500. Correspondingly, according to the road condition image shot by the panoramic camera 60 of the avoiding vehicle 200, if the system 100 for actively avoiding a dangerous vehicle judges that the distance between the vehicle B and the avoiding vehicle 200 is 110m, the system 100 for actively avoiding a dangerous vehicle can judge that the vehicle does not exist within the safe distance range of the avoiding vehicle 200. More specifically, the vehicle B travels in the second lane at a vehicle speed of 100 km/h.

Stage 5004, a communication link is created for the avoidance vehicle 200 and the neighboring vehicle 500. Preferably, the system 100 for actively avoiding a hazardous vehicle creates a communication link between the avoiding vehicle 200 and the neighboring vehicle 500 based on short-range communication techniques.

Stage 5005, the status of the driver of the neighboring vehicle 500 is acquired. It is understood that the status of the driver of the neighboring vehicle 500 may be monitored by the monitor 30 of the neighboring vehicle 500.

Stage 5006, evaluating the state of the driver of the neighboring vehicle 500, if the state of the driver of the neighboring vehicle 500 is not good, performing stage 5007 to obtain driving data of the neighboring vehicle 500, and correspondingly, if the state of the driver of the neighboring vehicle 500 is good, continuing to perform stage 5001.

Stage 5007, obtaining driving data of the dangerous vehicle 300 and the driving environment of the avoidance vehicle 200. Specifically, the vehicle C, which is the other vehicle 400, exists within the safe distance range of the avoidance vehicle 200, wherein the other vehicle 400 travels in the fourth lane at a vehicle speed of 100 km/h.

Stage 5008, determining the avoidance strategy according to the driving data of the dangerous vehicle 300, the driving data of the avoidance vehicle 200 and the driving environment. Specifically, according to the lane and the vehicle speed of the dangerous vehicle 300, the lane and the vehicle speed of the avoidance vehicle 200, and the lane and the vehicle speed of the other vehicle 400, the content of the avoidance strategy may be to reduce the vehicle speed of the avoidance vehicle 200 to 90km/h and change the lane of the avoidance vehicle 200 to be the first lane.

Stage 5009, executing the avoidance strategy to allow the avoidance vehicle 200 to actively avoid the dangerous vehicle 300, thereby ensuring driving safety of the avoidance vehicle 200.

Stage 5010, marking said hazardous vehicle 300.

Stage 5011 of determining whether the other vehicle 400 and the dangerous vehicle 300 are located in the same road segment, and if the other vehicle 400 and the dangerous vehicle 300 are located in the same road segment, performing stage 5012 of pushing the mark information to the other vehicle 400 to remind the other vehicle 400 to avoid the dangerous vehicle 300, thereby ensuring driving safety in the same road segment.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. A method for actively avoiding a hazardous vehicle, the method comprising the steps of:

(c) obtaining status data of a driver of the neighboring vehicle;

(e) acquiring driving data of the dangerous vehicle; and

2. The method for actively avoiding a hazardous vehicle of claim 1, wherein prior to said step (f), said method for actively avoiding a hazardous vehicle further comprises the steps of: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the avoided vehicle, so that in the step (f), the avoiding strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment.

3. The method for actively avoiding a hazardous vehicle of claim 1, wherein prior to said step (f), said method for actively avoiding a hazardous vehicle further comprises the steps of: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the dangerous vehicle, so that the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment in the step (f).

4. The method for actively avoiding a hazardous vehicle of claim 1, wherein prior to said step (f), said method for actively avoiding a hazardous vehicle further comprises the steps of: acquiring real-time position data of other vehicles within a safe distance range of the avoiding vehicle, wherein the real-time position data of the other vehicles is provided by a positioning unit of the other vehicles or a positioning unit of electronic equipment of a driver driving the other vehicles; and (f) determining a driving environment according to the real-time position data of the other vehicles, so that in the step (f), the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoidance vehicle and the driving environment.

5. The method for actively avoiding a dangerous vehicle as claimed in claim 1, wherein in the step (e), the driving data of the neighboring vehicle is estimated according to the road condition image captured by the look-around camera of the avoiding vehicle.

6. The method for actively avoiding a dangerous vehicle as claimed in claim 1, wherein in the step (e), the driving data of the dangerous vehicle is directly obtained from an on-board computer of the dangerous vehicle.

7. The method for actively avoiding a hazardous vehicle of claim 1, wherein a time node of the acquired state data of the driver of the neighboring vehicle is earlier after the communication link is created than the time node at which the communication link is created.

8. The method for actively avoiding a hazardous vehicle of claim 1, further comprising the steps of:

(g) marking the hazardous vehicle;

9. A system for actively avoiding a hazardous vehicle, comprising:

at least one processor; and

(c) obtaining status data of a driver of the neighboring vehicle;

(e) acquiring driving data of the dangerous vehicle; and

10. The system for actively avoiding a hazardous vehicle of claim 9, wherein prior to said step (f), the operations further comprise: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the avoided vehicle, so that in the step (f), the avoiding strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment.

11. The system for actively avoiding a hazardous vehicle of claim 9, wherein prior to said step (f), the operations further comprise: and (f) determining a driving environment based on the road condition image shot by the all-round-looking camera of the dangerous vehicle, so that the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoided vehicle and the driving environment in the step (f).

12. The system for actively avoiding a hazardous vehicle of claim 9, wherein prior to said step (f), the operations further comprise: acquiring real-time position data of other vehicles within a safe distance range of the avoiding vehicle, wherein the real-time position data of the other vehicles is provided by a positioning unit of the other vehicles or a positioning unit of electronic equipment of a driver driving the other vehicles; and (f) determining a driving environment according to the real-time position data of the other vehicles, so that in the step (f), the avoidance strategy is determined according to the driving data of the dangerous vehicle, the driving data of the avoidance vehicle and the driving environment.

13. The system for actively avoiding a dangerous vehicle as claimed in claim 9, wherein in the step (e), the driving data of the neighboring vehicle is estimated according to the road condition image captured by the look-around camera of the avoiding vehicle.

14. The system for actively avoiding a dangerous vehicle as claimed in claim 9, wherein in the step (e), the driving data of the dangerous vehicle is directly acquired from an on-board computer of the dangerous vehicle.

15. The system for actively avoiding a hazardous vehicle of claim 9, wherein a time node of the acquired status data of the driver of the neighboring vehicle is earlier than a time node of the creation of the communication link after the communication link is created.

16. The system for actively avoiding a hazardous vehicle of claim 9, the operations further comprising: (g) marking the hazardous vehicle;

17. A system for actively avoiding a hazardous vehicle, comprising:

a processing unit, wherein the processing unit further comprises:

18. The system for actively avoiding a dangerous vehicle as claimed in claim 17, wherein the obtaining module further obtains a driving environment of the avoided vehicle to allow the strategy generating module to determine the avoidance strategy based on the driving data of the dangerous vehicle, the driving data of the avoided vehicle, and the driving environment of the avoided vehicle.

19. The system for actively avoiding a hazardous vehicle of claim 17, wherein the processing unit further comprises:

a marking module for marking the hazardous vehicle;

20. A vehicle, characterized in that the vehicle is applied with a system for active avoidance of a hazardous vehicle according to any of claims 9 to 19.