CN107554422A

CN107554422A - The method of alarm for safety of car and automobile safety alarm

Info

Publication number: CN107554422A
Application number: CN201610518042.3A
Authority: CN
Inventors: 刘海波; 阳美文; 涂校明
Original assignee: Huawei Device Dongguan Co Ltd
Current assignee: Huawei Device Co Ltd
Priority date: 2016-07-01
Filing date: 2016-07-01
Publication date: 2018-01-09
Anticipated expiration: 2036-07-01
Also published as: CN107554422B

Abstract

The present invention provides a kind of method of alarm for safety of car and automobile safety alarm.Alarm for safety of car includes：Identification module, for receiving the first image from the first image collection module, the first image collection module is used to obtain the first vehicle front belonging to alarm for safety of car or the image at rear；Identification module is additionally operable to identify the working condition of the first car light of the second vehicle in the first image, and first size and position of first car light in the first image；Processing module, for working condition, first size and the position of the first car light identified according to identification module, the first security warning information is generated, the first security warning information is used to indicate that the first vehicle can collide with the second vehicle；Output module, the first security warning information is exported for the reminding module to the first vehicle or control system.The method of alarm for safety of car and automobile safety alarm provided by the invention, it is possible to increase the security of vehicle traveling.

Description

The method of alarm for safety of car and automobile safety alarm

Technical field

This area is related to vehicle electronics field, more particularly to a kind of alarm for safety of car and automotive safety The method of warning.

Background technology

Information between modern vehicle exchanges, and can be realized by blowing a whistle with car light.Handed over when by car light During the behavioural information changed trains, presently mainly pass through the colour switching of eye recognition car light, the position of vehicle Put and the information such as the relative distance of vehicle predicts the collision behavior between vehicle, in order to which driver makes phase It should react.

The content of the invention

A kind of method that the present invention provides alarm for safety of car, vehicle and automobile safety alarm, can Improve the security of vehicle traveling.

In a first aspect, the invention provides a kind of alarm for safety of car, including：Identification module, use In receiving the first image from the first image collection module, described first image acquisition module is described for obtaining The image of the first vehicle front or rear belonging to alarm for safety of car；The identification module is additionally operable to Identify the working condition of the first car light of the second vehicle in described first image, and first car light First size and position in described first image；Processing module, for being known according to the identification module Working condition, the first size and the position of other first car light, generate the first safe police Show information, the first security warning information is used to indicate that first vehicle can be sent out with second vehicle Raw collision；Output module, for the reminding module to first vehicle or control system output described the One security warning information.

The alarm for safety of car of the embodiment of the present invention, the first vehicle front can be contained with automatic identification Or the working condition of the car light of the second vehicle in the image of rear environmental information, and this is in the picture Size and position, then according to the working condition of the car light, size in the picture and position judgment first Whether vehicle can collide with the second vehicle, if can collide, generate information warning, and carry Show that vehicle driver makes reasonable reaction, or the prompt message is exported to the control system of the first vehicle, with It is easy to control system to control the first vehicle safe driving, so as to collision free, and then make it that the first vehicle can More safely to drive.

In a kind of possible implementation, the processing module is specifically used for the work in first car light It is that the first working condition, the first size are more than or equal to first threshold and the position and are as state During first position, the first security warning information is generated.

In a kind of possible implementation, the processing module is specifically used for the work in first car light Make state be the second working condition, the first size and described first image size ratio be more than or When equal to Second Threshold and the position being the second place, the first security warning information is generated.

In above-described embodiment, the size of the car light of the second vehicle in the picture is more than or equal to what is pre-set During threshold value, the distance of the second vehicle of expression and the first vehicle has been less than or equal to the safe distance of advance equipment； The position of second car light in the picture can represent the relative bearing of the second vehicle and the first vehicle.So, Alarm for safety of car can be less than or equal to default peace in the distance of the second vehicle and the first vehicle During full distance, judged according to the relative position of the car light module of the second vehicle, the second vehicle and the first vehicle Second vehicle may collide with the first vehicle, so as to export information warning, can so avoid defeated Go out unnecessary information warning.

In a kind of possible implementation, when described first image acquisition module is used to obtain described first During the image of vehicle front, the identification module is additionally operable to identify the traffic lights in described first image The second size in described first image of working condition and the traffic lights；The processing module The working condition according to the traffic lights and second size are additionally operable to, generates the second security warning Information, the second security warning information are used for the working condition for indicating the traffic lights；It is described defeated Go out module to be additionally operable to export the second security warning information to the reminding module or the control system.

In the embodiment of the present invention, the size of alarm for safety of car identification traffic lights in the picture, The distance of the first vehicle and traffic lights can be determined.Alarm for safety of car can be believed in traffic The size of signal lamp in the picture is more than or equal to a certain threshold value, the i.e. distance of the first vehicle and traffic lights During less than or equal to default safe distance, according to information the driving to the first vehicle of traffic lights instruction The person of sailing or control system output prompt message, can cause driver or control system to be made according to the prompting Reasonable driving behavior, so as to improve the security of driving.

In a kind of possible implementation, when described first image acquisition module is used to obtain described first During the image of vehicle front, the identification module is additionally operable to identify the guiding in described first image on road Graticule and the 3rd size for being oriented to graticule in described first image；The processing module is additionally operable to root The guiding graticule and the 3rd size according to identification module identification, generation the 3rd security warning letter Breath, the 3rd security warning information are used to indicate the guiding graticule；The output module be additionally operable to The reminding module or the control system export the 3rd security warning information.

In the embodiment of the present invention, alarm for safety of car identification is oriented to the size of graticule in the picture, i.e., The first vehicle can be determined with being oriented to the distance of graticule.So, alarm for safety of car can such as led It is more than or equal to a certain threshold value to the size of graticule in the picture, i.e. the distance of the first vehicle and wire is less than Or during equal to default safe distance, according to be oriented to graticule indicate driver from information to the first vehicle or Control system exports prompt message, can cause driver or control system are made according to the prompting rationally to drive Behavior is sailed, so as to improve the security of driving.

In a kind of possible implementation, the identification module is additionally operable to receive the second image collection module The second image obtained, second image collection module are used to obtain first vehicle left side or right side Image；The identification module is additionally operable to identify the second car light of the 3rd vehicle in second image The 4th size of working condition and second car light in second image；The processing module is also used Working condition and the 4th size in second car light identified according to the identification module, generation 4th security warning information, the 4th security warning information be used for indicate first vehicle can with it is described 3rd vehicle collides；The output module is additionally operable to defeated to the reminding module or the control system Go out the 4th security warning information.

In the embodiment of the present invention, alarm for safety of car identifies the 3rd in the image of the first vehicle both sides The size of the car light of vehicle in the picture, you can to determine the distance of the first vehicle and the 3rd vehicle.So, Alarm for safety of car can be more than or equal to a certain threshold value in the size of car light in the picture, i.e., and first When the distance of vehicle and the 3rd vehicle is less than or equal to default safe distance, according to the car light of the 3rd vehicle Working condition export prompt message to the driver of the first vehicle or control system, driver can be caused Or control system makes reasonable driving behavior according to the prompting, so as to improve the security of driving.

In a kind of possible implementation, the identification module is additionally operable to identify in second image The positions and dimensions of highway sideline and the highway sideline in second image；The processing module is also For the highway sideline identified according to the identification module and the highway sideline in second figure Positions and dimensions as in, generate the 5th security warning information, and the 5th security warning information is used to refer to Show that first vehicle can cross the highway sideline；The output module is additionally operable to the reminding module Or the control system exports the 5th security warning information.

In the embodiment of the present invention, alarm for safety of car identifies the road in the image of the first vehicle both sides The size of sideline in the picture, you can to determine the distance of the first vehicle and highway sideline.So, automobile Safety alarm device can be more than or equal to a certain threshold value, i.e. the first vehicle and road in the size of highway sideline When the distance of kerb line is less than or equal to default safe distance, driver or control system to the first vehicle System output prompt message, can cause driver or control system to make reasonable driving behavior according to the prompting, So as to improve the security of driving.

In a kind of possible implementation, the reminding module is LCD, HUD, OLED, projection Display or loudspeaker.

Second aspect, the invention provides a kind of method of automobile safety alarm, methods described is by the first car Alarm for safety of car on performs, and methods described includes：Identify the second vehicle in the first image The first car light working condition, and first size of first car light in described first image and Position, described first image are first vehicle that the image collection module on first vehicle obtains The image of front or behind；According to the working condition of first car light, the first size and institute's rheme Put, generate the first security warning information, the first security warning information is used to indicate first vehicle It can be collided with second vehicle；Reminding module or control system output institute to first vehicle State the first security warning information.

In the embodiment of the present invention, alarm for safety of car automatic identification contain the first vehicle front or after The working condition of the car light of the second vehicle in the image of square environmental information, and the size in the picture And position, then according to the working condition of the car light, size in the picture and the vehicle of position judgment first Whether can be collided with the second vehicle, if can collide, generate information warning, and prompt car Driver makes reasonable reaction, or exports the form information to the control system of the first vehicle, in order to Control system controls the first vehicle safe driving, so as to collision free, and then allows the first vehicle more Safely drive.

In a kind of possible implementation, the working condition according to first car light, described One size and the position, the first security warning information is generated, including：In the work of first car light State is that to be more than or equal to first threshold and the position be for the first working condition, the first size During one position, the first security warning information is generated.

In a kind of possible implementation, the working condition according to first car light, described One size and the position, the first security warning information is generated, including：In the work of first car light State is more than or waited for the ratio of the size of the second working condition, the first size and described first image When Second Threshold and the position are the second place, the first security warning information is generated.

In a kind of possible implementation, institute that described first image obtains for described image acquisition module State the image of the first vehicle front；Methods described also includes：Identify the traffic signals in described first image The second size of the working condition of lamp and the traffic lights in described first image；According to the friendship The working condition of ventilating signal lamp and second size, generate the second security warning information, second peace Full information warning is used for the working condition for indicating the traffic lights；To the reminding module or the control System processed exports the second security warning information.

In a kind of possible implementation, institute that described first image obtains for described image acquisition module State the image of the first vehicle front；Methods described also includes：Leading on road in identification described first image To graticule and the 3rd size for being oriented to graticule in described first image；According to it is described guiding graticule and 3rd size, generates the 3rd security warning information, and the 3rd security warning information is used to indicate institute State guiding graticule；The 3rd security warning information is exported to the reminding module or the control system.

In a kind of possible implementation, institute that described first image obtains for described image acquisition module State the image on the first vehicle left side or right side；Methods described also includes：Identify the in described first image The 4th size of the working condition of second car light of three vehicles and second car light in described image；Root Working condition and the 4th size according to second car light, the 4th security warning information is generated, it is described 4th security warning information is used to indicate that first vehicle can collide with the 3rd vehicle；To institute State reminding module or the control system exports the 4th security warning information.

In a kind of possible implementation, institute that described first image obtains for described image acquisition module State the image on the first vehicle left side or right side；Methods described also includes：Identify the road in described first image The positions and dimensions of kerb line and the highway sideline in described first image；According to the highway sideline With positions and dimensions of the highway sideline in described first image, the 5th security warning information is generated, The 5th security warning information is used to indicate that first vehicle can cross the highway sideline；To described Reminding module or the control system export the 5th security warning information.

The third aspect, the invention provides a kind of vehicle, including first aspect or its any one it is possible Alarm for safety of car in implementation.

Fourth aspect, the invention provides a kind of alarm for safety of car, including processor and memory, The memory is used for store code, and the processor is used to perform the code in the memory.Work as institute When stating code and being performed, method that the processor realizes second aspect.

5th aspect, the invention provides a kind of computer-readable medium, the computer-readable medium is deposited The program code performed for alarm for safety of car is stored up, described program code includes being used to perform second The instruction of method in aspect.

Brief description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in the embodiment of the present invention The required accompanying drawing used is briefly described, it should be apparent that, drawings described below is only this Some embodiments of invention, for those of ordinary skill in the art, are not paying creative work Under the premise of, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the schematic diagram of the alarm for safety of car of the embodiment of the present invention.

Fig. 2 is the schematic diagram of the automobile safety alarm of the embodiment of the present invention.

Fig. 3 is the schematic diagram of the automobile safety alarm of the embodiment of the present invention.

Fig. 4 is the schematic diagram of the automobile safety alarm of the embodiment of the present invention.

Fig. 5 is the schematic diagram of the alarm for safety of car of the embodiment of the present invention.

Fig. 6 is the indicative flowchart of the method for the automobile safety alarm of the embodiment of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out Clearly and completely describing, it is clear that described embodiment is part of the embodiment of the present invention, rather than Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making wound The every other embodiment obtained under the premise of the property made work, belongs to the scope of protection of the invention.

Fig. 1 is the schematic diagram of vehicle safety warning apparatus 100 on the vehicle of the embodiment of the present invention. It should be understood that the device shown in Fig. 1 is only example, the device of the embodiment of the present invention may also include other modules Or unit, either including intimate module with the modules in Fig. 1 or do not really want to include All modules in Fig. 1.

Alarm for safety of car 100 in Fig. 1 includes identification module 110, processing module 120 and defeated Go out module 130.The module that the modules of alarm for safety of car 100 can be a physically separate, Can be the module of logical separation, the invention is not limited in this regard.

Identification module 110, for being received from the first image collection module (such as one or more cameras) First image (one or more images), or be referred to as obtaining image from camera.

When camera is one, the camera is located at the head of the first vehicle under normal circumstances, for obtaining Take the image of the first vehicle front.When camera is multiple, it is generally the case that in multiple cameras extremely Rare one head for being located at the first vehicle, remaining camera can be located at the other parts of the first vehicle, To obtain the image of the environment in first other orientation of vehicle.

Identification module 110 is additionally operable to identify the working condition of the first car light of the second vehicle in the first image, And first first size of the car light in the first image and position.

After identification module 110 receives image at the first image collection module, it can identify in image Second vehicle, the car light on the second vehicle is then identified again.A kind of possible embodiment is：Identify mould Block 110 identifies the profile of vehicle in image, to identify the second vehicle in image.Then identification module In 110 pairs of images inside identified the second vehicle wheel profile with car light color (such as red, white or It is amber) similar region is identified.Certainly, identification module 110 can also not have to first identify vehicle Profile, but directly region similar to car light color in image is identified.If identification module 110 Identify in the picture with car light color identical region, then illustrate there is car light to be in bright light on the second vehicle State；If identification module 110 do not recognize in the picture with car light color identical region, illustrate Car light on second vehicle is in OFF state.The data in some specific region are identified from image, with Identify that vehicle or car light and car light color can by accomplished in many ways, specific implementation With with reference to prior art, such as Chinese patent application disclosure CN105555606.

In the embodiment of the present invention, the left steering lamp that the working condition of car light can include the second vehicle is bright, right The states such as steering indicating light is bright, brake lamp is bright, double flashing lights are bright.

Each image in the multiple images that identification module 110 can obtain to the first image collection module enters Driving lamp identifies, to obtain the changing pattern of vehicle lamp area in consecutive image.Such as：If from multiple companies Car light is have identified in continuous image and is in lighting lamp state, then it represents that corresponding region in each image Car light is to continue lighting lamp state；If in this multiple consecutive image, identify that the car light in parts of images is in Lighting lamp state, and in the image of other part, the car light is in OFF state, then illustrates being somebody's turn to do on vehicle Car light is in flicker state.

At present, the general car light color in China includes white, red or amber.

Identification module 110 is additionally operable to identify position of the car light on the vehicle.Specifically, mould is identified Block 110 identifies that car light is located at the left part or right part of vehicle from image, or not only in left part but also on the right side Portion.Then identification module 110 determines the car light on vehicle according to the changing pattern and position of car light color Working condition.

Such as, when identification module 110 identifies that car light is located at the left part of the second vehicle, and it is flicker state Amber, then the car light working condition that can determine the second vehicle is left steering lamp；When identification module 110 Car light is identified as red and is located at the left part and right part of the second vehicle simultaneously, then can determine the second vehicle Car light working condition be Brake lamp (also referred to as brake lamp)；When identification module 110 identifies that car light is Left part and right part amber and that be located at the second vehicle simultaneously, then can determine the car light work of the second vehicle State is hazard warning lamp (i.e. left steering lamp and right turn lamp, being referred to as double flashing lights)；When Identification module 110 identifies that car light is long shiny red, can determine that front has vehicle to be brought to a halt.

Identification module 110 is additionally operable to identify the in running order car light of the second vehicle in the first image Position, that is, left part or right part that the car light is located in the first image are identified, so as to which identification module can be with The relative position of the second vehicle and the first vehicle is further determined that, i.e. the second vehicle is located at a left side for the first vehicle Side or right side, or front.

Such as the first image collection module is located at the front of the first vehicle, i.e. the first image is the first vehicle The image in front, then when identification module identifies that the car light of the second vehicle is located at the left part of the first image, Illustrate that the second vehicle is located at the left front of the first vehicle.As the first image collection module is located at the first vehicle Dead astern, i.e. the first image are the images in the dead astern for the first vehicle that the first image collection module obtains, Then when identification module identifies that the car light of the second vehicle is located at the left part of the first image, illustrate the second vehicle Positioned at the right part of the first vehicle.Certainly, the first image collection module can be located at the diagonally forward of the first vehicle Or rear ramp, now, identification module needs to combine the first image and that the first image collection module obtains The angle in the front of one vehicle, is determined according to position of the car light of the second vehicle in the first image The relative position of two vehicles and the first vehicle.

Identification module 110 is additionally operable to identify the in running order car light of the second vehicle in the first image Size, in order to determine the distance of the second vehicle and the first vehicle according to the size.When the car light is first Size in image is bigger, then illustrates that the second vehicle is nearer from a distance from the first vehicle, or when the car light The ratio of size and the size of the first image in the first image is bigger, then illustrates the second vehicle from first The distance of vehicle is nearer.For example, when identification module identifies size of the first car light in the first image etc. In first threshold, such as when width of first car light in the first image is 100 pixels, length 50 During individual pixel, the second vehicle and the first vehicle can be represented at a distance of 100 meters.

Processing module 120 is used for the working condition of the first car light identified according to identification module 110, first First size and first car light position in first image of the car light in the first image, the peace of generation first Full information warning, the first security warning information are used to indicate that the first vehicle can collide with the second vehicle.

Specifically, processing module 120 is used for the work shape of the first car light identified in identification module 110 The first size of position and the first car light in the first image of state, the first car light in the first image is more than Or during equal to predetermined first threshold, generate the first security warning information.Such as, identification module 110 identifies Go out that width of first car light in the first image is 120 pixels, length is when being 60 pixels, processing Module 120 according to size of first car light in the first image is more than first threshold, and (broadband is 100 pictures Element, length are 50 pixels) judge that the distance of the first vehicle and the second vehicle is less than safe distance (100 Rice), now, processing module 120 can be further according to the working condition (such as left steering) of the first car light With position (such as on right side) of first car light in the first image, generation positioned at the first vehicle right side the The first security warning information that two vehicles will collide with the first vehicle.

Default first threshold can need to be adjusted according to the safe distance between vehicle in processing module 120 It is whole.Specifically, when the safe distance between vehicle is larger, less first threshold can be set；When When safe distance between vehicle is smaller, larger first threshold can be set.

For example, safety of first vehicle when being travelled on fastlink, between the first vehicle and the second vehicle away from It is big from the safe distance than the first vehicle when being travelled on congested link, between the first vehicle and the second vehicle. In congested link, it is assumed that the safe distance between the first vehicle and the second vehicle is 10 meters, correspondingly, The width of first car light of the second vehicle in the picture is 300 pixels, length is 150 pixels.And In fastlink, it is assumed that the safe distance of the first vehicle and the second vehicle is 100 meters, correspondingly, second The width of first car light of vehicle in the picture is 100 pixels, width is 50 pixels.

In the embodiment of the present invention, identification module 110 can identify size of second vehicle in the first image, Then processing module 120 can be more than or equal to the first threshold according to size of second vehicle in the first image Value generation security warning information；Or processing module 120 can be according to the second vehicle in the first image chi It is very little to be more than or equal to first threshold generation security warning information with the ratio of the size of the second image.Now, The concrete function of identification module 110 and processing module 120 and perform step and the identification of identification module 110 the It is identical during the size of the first car light of the second vehicle in one image, for sake of simplicity, here is omitted.

Fig. 2 is the schematic diagram of the automobile safety alarm of one embodiment of the invention.As shown in Fig. 2 first Image collection module 211 is located at the front of the first vehicle 210, gets the front of the first vehicle 210 First image 212.Identification module 110 on first vehicle 210 identifies from the first image 212 The first car light (corresponding first image of two vehicles 220 (dotted portion in corresponding first image 212) Black bars in 212) working condition for left steering lamp it is bright, and determine the first car light in the first image Size in 212, and the first car light is located at the right side of the first image 212.Therefore on the first vehicle 210 Processing module 120 some predetermined threshold value is more than according to size of first car light in the first image 212, Determine that the distance of the second vehicle 220 and the first vehicle 210 is less than safe distance (such as 100 meters), and Two vehicles 220 will left lane change and positioned at the first vehicle 210 right side, then illustrate the second vehicle 220 It may be collided with the first vehicle 210.Now, the second vehicle of the generation of processing module 120 instruction will The the first security warning information that can be collided with the first vehicle.

First image collection module 213 is located at the dead astern of the first vehicle 210, gets the first vehicle 210 First image 214 at rear.Identification module 110 on first vehicle 210 is known from the first image 214 Do not go out the work shape of the first car light of the second vehicle 230 (dotted portion in corresponding first image 214) State is that left steering lamp is bright, and determines the first car light (corresponding black bars in the first image 214) the Size in one image 214, and the first car light is located at the left side of the first image 212.Therefore the first vehicle Size of the processing module 120 according to the first car light in the first image 214 on 210 is default more than some Threshold value, determine that the distance of the second vehicle 230 and the first vehicle 210 is less than safe distance (such as 100 meters), And second vehicle 230 will left lane change and positioned at the first vehicle 230 right side, then illustrate the second vehicle 230 may collide with the first vehicle 210.Now, the second car of the generation of processing module 120 instruction 230 the first security warning information that will be collided with the first vehicle.

If identification module identifies that the working condition of the first car light of the first vehicle is bright for left steering lamp, and the When one car light is located at the left side of the first image, even if determining that size of first car light in the first image is more than First threshold, processing module can not also generate the first security warning information.Because the first vehicle left side Car lane change to the left is little to the safety effects of the first vehicle.

And for example, when identification module 110 determine the first vehicle the first car light working condition for brake lamp it is bright, And determine that size of first car light in the first image is more than first threshold, and the first car light is located at the first figure During the front of picture, represent that the second vehicle within the first vehicle front, 100 meters of the first vehicle will slow down, Then the second vehicle may collide with the first vehicle.Now, the generation of processing module 130 instruction second The first security warning information that vehicle will collide with the first vehicle.

Output module 130 is used to export reminding module from the first security warning to the second vehicle or control system Information.Output module 130 exports the first security warning information to the reminding module of the second vehicle, prompts mould Block will send warning to driver, in order to which driver pays attention to the traveling behavior of the second vehicle, and can be with Rational driving behavior is made, so as to improve the security of vehicle drive.Output module 130 is to the second car Control system export the first security warning information when, control system can be allowd to control the first car Speed measuring device on detects the devices of position of other vehicles and further determines that the row of the second vehicle Information is sailed, or allows control system further to obtain the information such as the speed of the first vehicle, travel direction, And the first vehicle traveling is controlled according to these information, so as to avoid the first vehicle and the second vehicle collision, most The safe driving of vehicle is improved eventually.

In the embodiment of the present invention, alternatively, identification module 110 can obtain car light from the first image Position, size and working condition meet multiple second vehicles of preparatory condition.Now, processing module 120 Multiple first security warning information can be generated, this multiple first safe police is exported via output module 130 Show information.Or processing module can be generated for indicating that multiple second vehicles touch with the first vehicle The the first security warning information hit, is then exported via output module 130.

Or processing module 120 can be only generated for prompting this multiple the second vehicle middle-range for meeting condition The first security warning information that second vehicle nearest from the first vehicle will collide with the first vehicle.

Or processing module 120 can be generated for prompting in this multiple second vehicle for meeting condition necessarily The first security warning information that second vehicle of quantity will collide with the first vehicle.

As shown in figure 3, the first image collection module 311 that the first vehicle 310 is located at front is got First image 312 in the front of the first vehicle 310.Include three vehicles in first image 312, first Identification module 110 on vehicle 310 can identify the of the second vehicle 320 from the first image 312 The working condition of one car light is left steering, positioned at image right part and identifies the size of the car light；Identification The working condition of first car light of the second vehicle 330 is brake, among image, and identifies the car The size of lamp；The working condition for identifying the first car light of the second vehicle 340 is right turn, positioned at an image left side Portion, and identify the size of the car light.The processing module 120 of first vehicle 310 according to the second vehicle 320, Size of the car light of second vehicle 330 and the second vehicle 340 in the first image 312 is all higher than the first threshold Value, generates three the first security warning information, and a first security warning information is used to prompt the second vehicle 310 will collide with the first vehicle 310, and another the first security warning information is used to prompt second Vehicle 330 will collide with the first vehicle 310, and another first security warning information is used to prompt Second vehicle 340 will collide with the first vehicle 310.Output module 130 exports these three safety Information warning.

Certainly, three the second vehicles that processing module 120 can also recognize according to identification module 110 Size of first car light in the first image 312, only generate the second maximum vehicle of the size of the first car light The first security warning information of (the second vehicle 320).

In the embodiment of the present invention, alternatively, identification module 110 identifies the second vehicle from the first image The first car light position and/or size in the first image of working condition, the first car light after, handle mould The driving information that block 120 can also obtain the first vehicle belonging to it (such as can be by processing module 120 The sensor that affiliated alarm for safety of car carries obtains, or the bus from the first vehicle belonging to it Obtain), the information and processing module 120 that then processing module 120 identifies with reference to identification module 110 The information of acquisition, judges whether the second vehicle and the first vehicle may collide.If judge the second vehicle and One vehicle may collide, then driver's output safety information warning from output module 130 to the first vehicle, Or the control system output safety information warning to the first vehicle, in order to which control system is handled.

For example, when identification module 110 identifies the vehicle on the right of the first vehicle from the first image Left steering lamp is bright, and the speed that processing module 120 obtains the first vehicle is more than 60 kms/per hour, and the When one vehicle is kept straight on, output module 130 can prompt driver to pay attention to the right car by reminding module .

In the embodiment of the present invention, alternatively, the control system of the first vehicle gets output module output After security warning information, it can be handled accordingly.Control system can obtain the by vehicle bus The driving information of one vehicle, to decide whether further to handle.For example, when output module 130 to What control system exported is the security warning information that right side vehicle be able to will likely collide with the first vehicle When, if the first vehicle current vehicle speed is 0 km/per hour, need not be handled；If the first vehicle Current vehicle speed is 90 kms/per hour, and direction is straight trip, then the first vehicle can be controlled to be slowed down Processing.

Control system controls the first vehicle to carry out the specific implementation of deceleration processing：Control system Deceleration command is sent to the first vehicle, to cause the first vehicle to reduce speed now；Then control system judges Whether the relative distance of one vehicle and right side vehicle continues to reduce；If relative distance continues to reduce, control The vehicle of system command first continues to slow down, until relative distance no longer reduces, so as to prevent the first vehicle with Right side vehicle collision.

Control system judges that the one kind whether relative distance of the first vehicle and right side vehicle continues to reduce can Can implementation be：Camera on the vehicle of control system order first continues to obtain the first vehicle right side Image, then judge the change of the size of the car light of the vehicle in the image in the images.If should The car light of vehicle becoming large-sized in the images, then illustrate that the relative distance of the vehicle and the first vehicle subtracts It is small.

In the embodiment of the present invention, alternatively, alarm for safety of car is additionally operable to obtain the first rear view of vehicle Image when, when there is vehicle to occur left steering lamp flash of light suddenly, can determine that front vehicle is ready for overtaking other vehicles, Prompt message should be then exported to remind driver to pay attention to or notify that vehicle control system remains a constant speed and worked as front To traveling.

In the embodiment of the present invention, alternatively, when the first image collection module is used to obtain the first vehicle front Image when, identification module 110 be additionally operable to identify the first image in traffic lights working condition and Second size of the traffic lights in the first image；Processing module 120 is additionally operable to according to traffic lights Working condition and second size, generate the second security warning information, the second security warning information use In the working condition of instruction traffic lights；Output module 130 is additionally operable to reminding module or control system Export the second security warning information.Optionally, identification module 110 is additionally operable to identify the friendship in the first image Logical Warning Mark, such as slow down instruction pattern.

In the embodiment of the present invention, the size of alarm for safety of car identification traffic lights in the picture, The distance of the first vehicle and traffic lights can be determined.Alarm for safety of car can be believed in traffic The size of signal lamp in the picture is more than or equal to a certain threshold value, the i.e. distance of the first vehicle and traffic lights During less than or equal to default safe distance, according to information the driving to the first vehicle of traffic lights instruction The person of sailing or control system output safety information warning, can cause driver or control system according to the prompting Reasonable driving behavior is made, so as to improve the security of driving.Control system receives above-mentioned security warning After information, gear change or holding or speed change or holding can be carried out or driving mode is cut The processing such as change.

Be such as, red light when identification module 110 identifies the working condition of traffic lights from the first image, And size of the traffic lights in the first image is more than first threshold or traffic lights in the first image In the size of size and the first image when being more than or equal to first threshold, processing module 120 generates second Security warning information, for indicating that traffic lights cannot be by, the then output of output module 130 the Two security warning information.

The working condition of traffic lights can include red light, green light or amber light.

In the embodiment of the present invention, alternatively, when the first image collection module is used to obtain the first vehicle front Image when, identification module 110 is additionally operable to identify the guiding graticule and guide mark in the first image on road Threeth size of the line in the first image；Processing module 120 is additionally operable to what is identified according to identification module 110 Graticule and the 3rd size are oriented to, generates the 3rd security warning information, the 3rd security warning information is used for Instruction is oriented to graticule；Output module 130 is additionally operable to export the 3rd safe police to reminding module or control system Show information.

In the embodiment of the present invention, alarm for safety of car identification is oriented to the size of graticule in the picture, i.e., The first vehicle can be determined with being oriented to the distance of graticule.So, alarm for safety of car can such as led It is more than or equal to a certain threshold value to the size of graticule in the picture, i.e. the distance of the first vehicle and wire is less than Or during equal to default safe distance, according to be oriented to graticule indicate driver from information to the first vehicle or Control system output safety information warning, can cause driver or control system to make conjunction according to the prompting Driving behavior is managed, so as to improve the security of driving.After control system receives above-mentioned security warning information, Gear change or holding or speed change or the processing such as holding or driving mode switching can be carried out.

Such as, graticule is oriented to as that with right turn and can lead when identification module 110 identifies from the first image It is more than first threshold to size of the graticule in the first image or is oriented to size of the graticule in the first image When being more than or equal to first threshold with the ratio of the size of the first image, the peace of the generation of processing module 120 the 3rd Full information warning, for indicating to be oriented to graticule.So, driver can export according to output module 130 The 3rd security warning information right turn.

Left-hand rotation graticule, right-hand rotation graticule can be included, straight trip graticule, no turns graticule, prohibit by being oriented to graticule Only turning line etc..

In the embodiment of the present invention, alternatively, the second image collection module can be included on the first vehicle, the Two image collection modules are used for the second image for obtaining the first vehicle left side or right side.Now, identification module 110 can identify the working condition of the second car light of the 3rd vehicle in the second image from the second image With fourth size of second car light in the second image；Processing module 120 is additionally operable to according to identification module The working condition and the 4th size of second car light of 110 identifications, generate the 4th security warning information, 4th security warning information is used to indicate that the first vehicle can collide with the 3rd vehicle；Output module 130 It is additionally operable to export the 4th security warning information to reminding module or control system.

In Fig. 4, the second image collection module 411 is located at the right side of the first vehicle 410, for obtaining Second image 412 of the right of the first vehicle 410；Second image collection module 413 is located at the first vehicle 410 Left side, for obtaining the second image 414 of the first vehicle 410 left.

The identification module 110 of first vehicle 410 identifies the car of the 3rd vehicle 420 from the second image 412 The working condition of lamp is left steering lamp, and identifies size of the car light in the second image 412；Identify mould Block 110 identifies that the working condition of the car light of the 3rd vehicle 430 is right turn lamp also from the second image 414, And identify size of the car light in the second image 414.

The processing module 120 of first vehicle 410 exists according to the left steering lamp of the 3rd vehicle 420, the car light Size in second image 412 is more than Second Threshold, generates the 4th security warning information, for prompting the Two vehicles 420 can collide with the first vehicle 410.Processing module 120 is according to the 3rd vehicle 430 Right turn lamp, size of the car light in the second image 414 are more than Second Threshold, generate the 4th safe police Show information, for prompting the second vehicle 430 to be collided with the first vehicle 410.

In the embodiment of the present invention, identification module 110 can identify size of the 3rd vehicle in the second image, Then processing module 120 can be more than or equal to the second threshold according to size of the 3rd vehicle in the second image Value generation security warning information；Or processing module 120 can be according to the 3rd vehicle in the second image chi It is very little to be more than or equal to Second Threshold generation security warning information with the ratio of the size of the second image.Now, The concrete function of identification module 110 and processing module 120 and perform step and the identification of identification module 110 the It is identical during the size of the first car light of the 3rd vehicle in two images, for sake of simplicity, here is omitted.

In the embodiment of the present invention, alternatively, identification module 110 is additionally operable to identify the road in the second image The positions and dimensions of sideline and highway sideline in the second image；Processing module 120 is additionally operable to according to identification Positions and dimensions of the highway sideline and highway sideline that module 110 identifies in the second image, generation the 5th Security warning information, the 5th security warning information are used to indicate that the first vehicle can cross highway sideline；Output Module 130 is additionally operable to export the 5th security warning information to reminding module or control system.

In the embodiment of the present invention, alarm for safety of car identifies the road in the image of the first vehicle both sides The positions and dimensions of sideline in the picture, you can to determine the distance and road of the first vehicle and highway sideline The relative position of graticule and the first vehicle.So, alarm for safety of car can be in the chi of highway sideline Very little to be more than or equal to a certain threshold value, i.e. the distance of the first vehicle and highway sideline is less than or equal to default peace During full distance, driver or control system output prompt message to the first vehicle, driver can make it that Or control system makes reasonable driving behavior according to the prompting, so as to improve the security of driving.

Alternatively, after control system receives the 5th security warning information, gear change or guarantor can be carried out Hold or speed is changed or kept or the processing such as driving mode switches.

Highway sideline can include solid white line, single yellow solid line, double yellow solid lines, yellow no parking solid line, Yellow actual situation line, channelizing line or taboo stop grid lines etc..

Alternatively, identification module 110 can also be received under the first vehicle of the 3rd image collection module acquisition 3rd image of side.Now, identification module 110 can be also used for identifying pavement behavior from the 3rd image. Such as when identification module 110 identifies that there is accumulated snow on the road of vehicle traveling for hill path or road surface slippery situation or road surface, Then prompt driver the traffic information, in order to which driver makes corresponding operating (as slowed down), or notice Control system starts four-wheel drive system, with safe driving.

Alternatively, the vehicle safety warning apparatus 100 of the embodiment of the present invention can include being used to obtain first First image collection module of image and/or the second image collection module for obtaining the second image.In addition, The vehicle safety warning apparatus 100 of the embodiment of the present invention can also include being used to obtain the first under-vehicle 3rd image collection module of image.

Certainly, the first image obtains mould and/or the second image collection module and/or the 3rd image collection module The part of vehicle safety warning apparatus is can not be, but the image configured in addition on the first vehicle obtains Modulus block.

The first image in the embodiment of the present invention obtains mould and/or the second image collection module and/or the 3rd figure As acquisition module can be camera or other can obtain the device or equipment of figure.

Alternatively, the vehicle safety warning apparatus 100 of the embodiment of the present invention can be included for defeated to prompting Go out the reminding module of the various security warning information of the output of module 130.

Certainly, reminding module can not be the part of vehicle safety warning apparatus, but the first vehicle On configure in addition, and connected by wired or wireless way.

Alternatively, reminding module can be display, as liquid crystal display (Liquid Crystal Display, ) or head-up display (Head Up Display, HUD), Organic Electricity laser writer (Organic LCD Light-Emitting Diode, OLED), the projection display or word or loudspeaker etc..

By driver by eye recognition car light and when predicting the behavior of other vehicles, but due to it is many-sided because The influence of element, in many cases, situations such as omission, mistake occurs in identification of the driver to car light, from And it may result in unexpected generation., can be to driving after the device of the embodiment of the present invention includes reminding module Member's prompting prediction result, in order to which driver makes respective reaction, the final security for improving vehicle traveling.

Certainly, in the embodiment of the present invention, alternatively, the vehicle in image is identified when identification module 110 The working condition of car light, the position of car light in the picture, or identify the working condition of traffic lights, Or identification is engaged in this profession after marking boundary line or being oriented to graticule, processing module 120 can not have to judge the car in image Whether can be collided with this vehicle, or judge whether vehicle can cross lane boundary line, but can be with The configured information of the information identified for indicating driver identification module is directly generated, then by output mould Block exports the configured information to reminding module.

Fig. 5 is the schematic diagram of the vehicle safety warning apparatus 500 of the embodiment of the present invention.Automobile is pacified Full alarming device 500 includes memory 510 and processor 520.

Memory 510 is used for store code.

Processor 520 is used to receive the first image from the first image collection module, and described first image obtains Module is used to obtain the first vehicle front belonging to the alarm for safety of car or the image at rear.

Processor 520 is additionally operable to identify the work shape of the first car light of the second vehicle in described first image State, and first size and position of first car light in described first image.

Processor 520 is additionally operable to according to the working condition of first car light, the first size and described Position, generates the first security warning information, and the first security warning information is used to indicate first car It can be collided with second vehicle.

Processor 520 is additionally operable to export described first to the reminding module or control system of first vehicle Security warning information.

The alarm for safety of car of the embodiment of the present invention, the first vehicle front can be contained with automatic identification Or the working condition of the car light of the second vehicle in the image of rear environmental information, and this is in the picture Size and position, then according to the working condition of the car light, size in the picture and position judgment first Whether vehicle can collide with the second vehicle, if can collide, generate information warning, and carry Show that vehicle driver makes reasonable reaction, or the form information is exported to the control system of the first vehicle, with It is easy to control system to control the first vehicle safe driving, so as to collision free, and then make it that the first vehicle can More safely to drive.

Alternatively, it is specifically used for as one embodiment, the processor 420 in first car light Working condition is the first working condition, the first size is more than or equal to first threshold and the position For first position when, generate the first security warning information.

Alternatively, it is specifically used for as one embodiment, the processor 420 in first car light Working condition is more than for the ratio of the size of the second working condition, the first size and described first image Or when equal to Second Threshold and the position being the second place, generate the first security warning information.

Alternatively, as one embodiment, when described first image acquisition module is used to obtain described first During the image of vehicle front, the processor 520 is additionally operable to identify the traffic signals in described first image The second size of the working condition of lamp and the traffic lights in described first image；The processor 520 are additionally operable to working condition and second size according to the traffic lights, the safety of generation second Information warning, the second security warning information are used for the working condition for indicating the traffic lights；Institute Processor 520 is stated to be additionally operable to export second security warning to the reminding module or the control system Information.

Alternatively, as one embodiment, the processor 420 is additionally operable to when described first image obtains When module is used to obtain the image of first vehicle front, leading on road in described first image is identified To graticule and the 3rd size for being oriented to graticule in described first image；The processor 520 is also used In the guiding graticule and the 3rd size that are identified according to the identification module, the 3rd safe police is generated Show information, the 3rd security warning information is used to indicate the guiding graticule；The processor 520 is also For exporting the 3rd security warning information to the reminding module or the control system.

Alternatively, as one embodiment, it is additionally operable to receive the second figure that the second image collection module obtains Picture, second image collection module are used for the image for obtaining first vehicle left side or right side；It is described Processor 520 be additionally operable to identify the second car light of the 3rd vehicle in second image working condition and Fourth size of second car light in second image；The processor 520 is additionally operable to according to institute State the working condition of second car light of identification module identification and the 4th size, the safety of generation the 4th Information warning, the 4th security warning information are used to indicate that first vehicle can be with the 3rd vehicle Collide；The processor 520 is additionally operable to described in the reminding module or control system output 4th security warning information.

Alternatively, as one embodiment, the processor 520 is additionally operable to identify in second image Positions and dimensions in second image of highway sideline and the highway sideline；The processor 520 are additionally operable to the highway sideline that is identified according to the identification module and the highway sideline described the Positions and dimensions in two images, generate the 5th security warning information, and the 5th security warning information is used The highway sideline can be crossed in instruction first vehicle；The processor 520 is additionally operable to carry to described Show that module or the control system export the 5th security warning information.

Alternatively, as one embodiment, the output port is LCD, HUD, OLED, projection Display or loudspeaker.

The vehicle safety warning apparatus of the embodiment of the present invention is described above in conjunction with Fig. 1 to Fig. 5, is tied below Close the method that Fig. 6 introduces the automobile safety alarm of the embodiment of the present invention.

It should be understood that Fig. 6 shows the step of method of automobile safety alarm or operation, but these steps or Operation is only example, and the embodiment of the present invention can also carry out other operations or each operation in Fig. 6 Deformation.In addition, each step in Fig. 6 can perform according to the different orders presented from Fig. 6, And it is possible to not really want to perform all operationss in Fig. 6.The method of automobile safety alarm shown in Fig. 6 It can be performed as configuring the alarm for safety of car on the first vehicle as shown in Fig. 1 or Fig. 5.

S610, the alarm for safety of car on the first vehicle identify the of the second vehicle in the first image The working condition of one car light, and first size and position of first car light in the first image, the first figure As the first vehicle front or the image at rear that are obtained for the image collection module on the first vehicle.

S620, according to the working condition of the first car light, the first size and the position, generation first Security warning information, the first security warning information are used to indicate that the first vehicle can collide with the second vehicle.

S630, reminding module or control system to the first vehicle export the first security warning information.

Alternatively, as one embodiment, the working condition according to first car light, described One size and the position, the first security warning information is generated, including：In the work of first car light State is that to be more than or equal to first threshold and the position be for the first working condition, the first size During one position, the first security warning information is generated.

Alternatively, as one embodiment, the working condition according to first car light, described One size and the position, the first security warning information is generated, including：In the work of first car light State is more than or waited for the ratio of the size of the second working condition, the first size and described first image When Second Threshold and the position are the second place, the first security warning information is generated.

Alternatively, the institute obtained as one embodiment, described first image for described image acquisition module State the image of the first vehicle front；Methods described also includes：Identify the traffic signals in described first image The second size of the working condition of lamp and the traffic lights in described first image；According to the friendship The working condition of ventilating signal lamp and second size, generate the second security warning information, second peace Full information warning is used for the working condition for indicating the traffic lights；To the reminding module or the control System processed exports the second security warning information.

Alternatively, the institute obtained as one embodiment, described first image for described image acquisition module State the image of the first vehicle front；Methods described also includes：Leading on road in identification described first image To graticule and the 3rd size for being oriented to graticule in described first image；According to it is described guiding graticule and 3rd size, generates the 3rd security warning information, and the 3rd security warning information is used to indicate institute State guiding graticule；The 3rd security warning information is exported to the reminding module or the control system.

Alternatively, the institute obtained as one embodiment, described first image for described image acquisition module State the image on the first vehicle left side or right side；Methods described also includes：Identify in second image The 4th chi of the working condition of second car light of three vehicles and second car light in second image It is very little；According to the working condition of second car light and the 4th size, the 4th security warning information is generated, The 4th security warning information is used to indicate that first vehicle can collide with the 3rd vehicle； The 4th security warning information is exported to the reminding module or the control system.

Alternatively, the institute obtained as one embodiment, described first image for described image acquisition module State the image on the first vehicle left side or right side；Methods described also includes：Identify the road in second image The positions and dimensions of kerb line and the highway sideline in described first image；According to the highway sideline With positions and dimensions of the highway sideline in second image, the 5th security warning information is generated, The 5th security warning information is used to indicate that first vehicle can cross the highway sideline；To described Reminding module or the control system export the 5th security warning information.

Alternatively, as one embodiment, the reminding module is LCD, HUD, OLED, projection Display or loudspeaker.

Those of ordinary skill in the art with reference to the embodiments described herein it is to be appreciated that describe each The unit and algorithm steps of example, can be with electronic hardware or the knot of computer software and electronic hardware Close to realize.These functions are performed with hardware or software mode actually, spy depending on technical scheme Fixed application and design constraint.Professional and technical personnel can use not Tongfang to each specific application Method realizes described function, but this realization is it is not considered that beyond the scope of this invention.

It is apparent to those skilled in the art that for convenience and simplicity of description, it is above-mentioned to retouch The specific work process of system, device and the unit stated, may be referred to the correspondence in preceding method embodiment Process, it will not be repeated here.

In several embodiments provided herein, it should be understood that disclosed system, device and Method, it can realize by another way.For example, device embodiment described above is only to show Meaning property, for example, the division of the unit, only a kind of division of logic function can when actually realizing To there is other dividing mode, such as multiple units or component can combine or be desirably integrated into another System, or some features can be ignored, or not perform.Another, shown or discussed is mutual Coupling or direct-coupling or communication connection can be INDIRECT COUPLING by some interfaces, device or unit Or communication connection, can be electrical, mechanical or other forms.

The unit illustrated as separating component can be or may not be it is physically separate, make It can be for the part that unit is shown or may not be physical location, you can with positioned at a place, Or it can also be distributed on multiple NEs.Can select according to the actual needs part therein or Person's whole unit realizes the purpose of this embodiment scheme.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, Can also be that unit is individually physically present, can also two or more units be integrated in a list In member.

If the function is realized in the form of SFU software functional unit and as independent production marketing or made Used time, it can be stored in a computer read/write memory medium.Based on such understanding, the present invention The part that is substantially contributed in other words to prior art of technical scheme or the technical scheme portion Dividing can be embodied in the form of software product, and the computer software product is stored in a storage medium In, including some instructions to cause a computer equipment (can be personal computer, server, Or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.It is and preceding The storage medium stated includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), Random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can With the medium of store program codes.

The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited to In this, any one skilled in the art the invention discloses technical scope in, can be easily Expect change or replacement, should all be included within the scope of the present invention.Therefore, protection of the invention Scope should be defined by scope of the claims.

Claims

A kind of 1. alarm for safety of car, it is characterised in that including：

Identification module, for receiving the first image from the first image collection module, described first image obtains Module is used to obtain the first vehicle front belonging to the alarm for safety of car or the image at rear；

The identification module is additionally operable to identify the work of the first car light of the second vehicle in described first image Make state, and first size and position of first car light in described first image；

Processing module, working condition, institute for first car light that is identified according to the identification module First size and the position are stated, generates the first security warning information, the first security warning information is used It can be collided in instruction first vehicle with second vehicle；

Output module, for the reminding module to first vehicle or control system output first peace Full information warning.
2. alarm for safety of car according to claim 1, it is characterised in that the processing The working condition that module is specifically used in first car light is big for the first working condition, the first size When first threshold and the position are first position, the first security warning information is generated.
3. alarm for safety of car according to claim 1, it is characterised in that the processing Module be specifically used for first car light working condition for the second working condition, the first size with It is the second place that the ratio of the size of described first image, which is more than or equal to Second Threshold and the position, When, generate the first security warning information.
4. alarm for safety of car according to any one of claim 1 to 3, its feature exists In, when described first image acquisition module is used to obtain the image of first vehicle front, the knowledge Other module is additionally operable to identify the working condition and traffic letter of the traffic lights in described first image Second size of the signal lamp in described first image；

The processing module is additionally operable to working condition and second size according to the traffic lights, The second security warning information is generated, the second security warning information is used to indicate the traffic lights Working condition；

The output module is additionally operable to the reminding module or control system output second peace Full information warning.
5. alarm for safety of car according to any one of claim 1 to 4, its feature exists In, when described first image acquisition module is used to obtain the image of first vehicle front, the knowledge Other module is additionally operable to identify guiding graticule in described first image on road and the guiding graticule in institute State the 3rd size in the first image；

The processing module is additionally operable to the guiding graticule identified according to the identification module and described the Three sizes, generate the 3rd security warning information, and the 3rd security warning information is used to indicate the guiding Graticule；

The output module is additionally operable to the reminding module or control system output the 3rd peace Full information warning.
6. alarm for safety of car according to any one of claim 1 to 5, its feature exists It is additionally operable to receive the second image that the second image collection module obtains in, the identification module, described second Image collection module is used for the image for obtaining first vehicle left side or right side；

The identification module is additionally operable to identify the work of the second car light of the 3rd vehicle in second image Make the 4th size of state and second car light in second image；

The processing module is additionally operable to the work shape of second car light identified according to the identification module State and the 4th size, generate the 4th security warning information, and the 4th security warning information is used to refer to Show that first vehicle can collide with the 3rd vehicle；

The output module is additionally operable to the reminding module or control system output the 4th peace Full information warning.
7. alarm for safety of car according to claim 6, it is characterised in that the identification Module is additionally operable to identify highway sideline in second image and the highway sideline in second figure Positions and dimensions as in；

The processing module is additionally operable to the highway sideline identified according to the identification module and the road Positions and dimensions of the kerb line in second image, the 5th security warning information of generation, the described 5th Security warning information is used to indicate that first vehicle can cross the highway sideline；

The output module is additionally operable to the reminding module or control system output the 5th peace Full information warning.
8. alarm for safety of car according to any one of claim 1 to 7, its feature exists In the reminding module is liquid crystal display LCD, flat-panel screens HUD, Organic Electricity laser display Device OLED, the projection display or loudspeaker.
A kind of 9. method of automobile safety alarm, it is characterised in that methods described is by the first vehicle Alarm for safety of car performs, and methods described includes：

Identify the working condition of the first car light of the second vehicle in the first image, and first car light First size and position in described first image, described first image are the figure on first vehicle First vehicle front or the image at rear obtained as acquisition module；

According to the working condition of first car light, the first size and the position, the peace of generation first Full information warning, the first security warning information are used to indicate that first vehicle can be with second car Collide；

Reminding module or control system to first vehicle export the first security warning information.
10. according to the method for claim 9, it is characterised in that described according to first car light Working condition, the first size and the position, generate the first security warning information, including：

It is more than or equal in the working condition of first car light for the first working condition, the first size When first threshold and the position are first position, the first security warning information is generated.
11. according to the method for claim 9, it is characterised in that described according to first car light Working condition, the first size and the position, generate the first security warning information, including：

It is the second working condition, the first size and described first in the working condition of first car light The ratio of the size of image is more than or equal to Second Threshold and the position when be the second place, generates The first security warning information.
12. the method according to any one of claim 9 to 11, it is characterised in that described One image is the image for first vehicle front that described image acquisition module obtains；

Methods described also includes：

The working condition of traffic lights in identification described first image and the traffic lights are in institute State the second size in the first image；

According to the working condition of the traffic lights and second size, generation the second security warning letter Breath, the second security warning information are used for the working condition for indicating the traffic lights；

The second security warning information is exported to the reminding module or the control system.
13. the method according to any one of claim 9 to 12, it is characterised in that described One image is the image for first vehicle front that described image acquisition module obtains；

Methods described also includes：

Identify the guiding graticule in described first image on road and the graticule that is oriented in first figure The 3rd size as in；

According to the guiding graticule and the 3rd size, the 3rd security warning information is generated, the described 3rd Security warning information is used to indicate the guiding graticule；

The 3rd security warning information is exported to the reminding module or the control system.
14. the method according to any one of claim 9 to 13, it is characterised in that described One image is the image on first vehicle left side that described image acquisition module obtains or right side；

Methods described also includes：

Identify the working condition of the second car light of the 3rd vehicle in described first image and second car Fourth size of the lamp in described first image；

According to the working condition of second car light and the 4th size, the 4th security warning information is generated, The 4th security warning information is used to indicate that first vehicle can collide with the 3rd vehicle；

The 4th security warning information is exported to the reminding module or the control system.
15. the method according to any one of claim 9 to 14, it is characterised in that described One image is the image on first vehicle left side that described image acquisition module obtains or right side；

Methods described also includes：

Highway sideline and the highway sideline in identification described first image is in described first image Positions and dimensions；

It is raw according to the positions and dimensions of the highway sideline and the highway sideline in described first image Into the 5th security warning information, the 5th security warning information is used to indicate that first vehicle can be crossed The highway sideline；

The 5th security warning information is exported to the reminding module or the control system.
16. the method according to any one of claim 9 to 15, it is characterised in that described to carry Show module for liquid crystal display LCD, flat-panel screens HUD, Organic Electricity laser writer OLED, The projection display or loudspeaker.
17. a kind of vehicle, it is characterised in that including the automobile any one of claim 1 to 8 Safety alarm device.