CN114120693A

CN114120693A - Traffic light reminding system and method for vehicle and storage medium

Info

Publication number: CN114120693A
Application number: CN202111594949.5A
Authority: CN
Inventors: 刘婷; 冀鹏; 黄黎源; 褚永强; 戚胜涛; 范永凯; 贺锦鹏
Original assignee: Zhiji Automobile Technology Co Ltd
Current assignee: Zhiji Automobile Technology Co Ltd
Priority date: 2021-12-10
Filing date: 2021-12-24
Publication date: 2022-03-01

Abstract

The application provides a traffic light reminding system, a method and a storage medium for vehicles. The method and the device can be combined with information provided by a navigation module, image acquisition equipment and a vehicle braking mechanism to judge whether the risk of running red light exists or whether the green light idles; when the red light running risk is judged to exist, red light running alarms of different levels are carried out by combining whether the target vehicle crosses the stop line of the target intersection or not; when it is determined that there is a green light idling, a green light is prompted at an appropriate timing in accordance with the relative distance from the target reference object. By collecting the corresponding traffic light state in combination with the expected driving direction of the vehicle, the detection accuracy is improved, and the accuracy of the red light/green light running reminding is further improved. The method and the device can optimize the red light/green light running reminding opportunity, improve the road driving safety and the driving efficiency, reduce the cost and improve the user experience.

Description

Traffic light reminding system and method for vehicle and storage medium

Technical Field

The embodiment of the application relates to the technical field of automatic control, in particular to a traffic light reminding system, a traffic light reminding method and a storage medium for vehicles.

Background

With the rapid growth of economy and the rapid development of society, the possession of private cars increases year by year, and driving safety and traffic congestion are receiving much attention. With the advance of intelligent driving technology and the sudden increase of intelligent driving products in the market, more comfortable and more intelligent driving experience becomes the mainstream development direction at present.

In order to solve the problem that traffic accidents occur frequently when a driver mistakenly runs a red light, a red light running alarm scheme is urgently needed. In the prior art, the following 3 red light running alarm schemes are developed: according to the scheme I, the alarm of red light running is carried out on the basis of the brain-free display of traffic light information in a real scene; the scheme II is that red light running alarm is carried out based on a vehicle network technology; and thirdly, displaying the red light time based on the cooperation of multiple modules such as positioning, communication, query and the like. In practical application, the first scheme and the second scheme have the defects of small application range and high cost because the red light running alarm is not carried out in combination with the driving direction of the vehicle; the third scheme has the defects of high cost, display of red light time, no red light running alarm and poor user experience.

In order to avoid that when the red light of the intersection is changed into the green light, a user is addicted to a mobile phone or other things to cause delay in starting, influence on a vehicle behind and delay of precious time of the user, the user experience is improved, and a green light reminding scheme is urgently needed. In the prior art, the following 3 green light prompting schemes are developed: the method comprises the following steps that firstly, green light reminding is carried out on the basis of the brain-free display of traffic light information in a real scene; a second scheme is that a green light is reminded according to the fact that a red light is converted into a green light based on a vehicle network technology; and thirdly, displaying the green light time based on the cooperation of multiple modules such as positioning, communication, query and the like. In practical application, the first scheme has the defects of no combination of vehicle driving direction for green light reminding, small application range and high cost; the second scheme has the defects that the reminding is only carried out according to the fact that the red light is converted into the green light, whether the vehicle is the first vehicle in front of the stop line or other vehicles in front of the stop line is not distinguished, and whether the vehicle is in a parking state or not is caused, so that the reminding is frequent, the user experience is poor, the application range is small, and the cost is high; scheme three exists with high costs, and only show green light time and do not carry out red light to green light and remind, user experience is poor defect.

Therefore, the existing red light running alarm scheme and the existing green light running prompt scheme need to be improved so as to optimize the red light running/green light running reminding opportunity, improve the road driving safety, the driving efficiency, reduce the cost and improve the user experience.

Disclosure of Invention

An object of the application is to provide a traffic light reminding system, a method and a storage medium for vehicles, so as to solve the technical defects existing in the existing red light/green light running reminding scheme, optimize the red light/green light running reminding opportunity, improve the road driving safety, the driving efficiency, the cost and improve the user experience.

To achieve the above object, a first embodiment of the present application provides a traffic light warning system for a vehicle, the system including: the navigation module is used for acquiring a first distance between a target vehicle and a target intersection and an expected driving direction of the target vehicle at the target intersection; the vehicle braking mechanism is used for acquiring the speed information and the braking state information of the target vehicle; the image acquisition equipment is used for starting and acquiring a target traffic light state of the target vehicle and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle when the first distance is less than or equal to a preset distance threshold, wherein the target traffic light is a traffic light in the expected driving direction in front of the target vehicle; the controller is respectively connected with the navigation module, the vehicle braking mechanism and the image acquisition equipment, and is used for sending a red light running reminding instruction when the target vehicle is judged to have the risk of running a red light according to the target traffic light state, the vehicle speed information and the first distance, and sending a green light reminding instruction when the target vehicle is judged to have the idling green light according to the braking state information, the target traffic light state and the second distance; and the traffic light reminding module is connected with the controller and used for receiving and carrying out traffic light reminding according to the corresponding reminding instruction.

In order to achieve the above object, a second embodiment of the present application provides a traffic light reminding method for a vehicle, which employs the system described in the present application, and the method includes: acquiring a first distance between a target vehicle and a target intersection and an expected driving direction of the target vehicle at the target intersection by adopting a navigation module; acquiring the speed information and the braking state information of the target vehicle by adopting a vehicle braking mechanism; when the first distance is smaller than or equal to a preset distance threshold value, starting an image acquisition device and acquiring a target traffic light state of the target vehicle and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle, wherein the target traffic light is a traffic light in the expected driving direction of the target vehicle; a controller is adopted to send out a red light running reminding instruction when the target vehicle is judged to have the risk of running red light according to the target traffic light state, the vehicle speed information and the first distance, and send out a green light reminding instruction when the target vehicle is judged to have green light idling according to the braking state information, the target traffic light state and the second distance; and a traffic light reminding module is adopted to carry out traffic light reminding according to the corresponding reminding instruction.

To achieve the above object, a third embodiment of the present application provides a computer-readable storage medium, in which a computer-executable program is stored, and when the computer-executable program is executed, the method described in the present application is implemented.

Compared with the prior art, the traffic light reminding method for the vehicle provided by the embodiment of the application can be used for judging whether the risk of running red light exists or not or judging whether green light idles or not by combining the information provided by the navigation module, the image acquisition equipment and the vehicle braking mechanism; when the red light running risk is judged to exist, red light running alarms of different levels are carried out by combining whether the target vehicle crosses the stop line of the target intersection or not; when it is determined that there is a green light idling, a green light is prompted at an appropriate timing in accordance with the relative distance from the target reference object. The corresponding traffic light state is collected by combining the expected driving direction of the vehicle, so that the detection accuracy is improved, and the accuracy of the red light running/green light running reminding is further improved; when the red light running risk is judged to exist, the red light running alarms of different levels are sent out by combining whether the target vehicle crosses the stop line of the target intersection or not, so that a driver can make driving operation adjustment in time, traffic accidents such as rear-end collision, pedestrian collision and the like caused by red light running are avoided, the road driving safety is improved, and the user experience is improved; when the green light in the expected driving direction is on, the target vehicle is combined to start the first vehicle or the preceding vehicle before the stop line of the intersection, and the green light is reminded at a proper time, so that the driver can timely know the green light information, the delay of starting the vehicle due to the fact that the driver is enthusiastic to watch a mobile phone or other matters is avoided, the vehicle congestion degree of the intersection is avoided being increased, the road driving efficiency is improved, and bad experience brought to the user due to early or frequent reminding is also avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic architecture diagram of a traffic light reminding system for vehicles according to an embodiment of the present application;

FIG. 2 is a schematic view of a working mode of the traffic light reminding system for reminding running red light under different determination conditions;

FIG. 3 is a schematic view of a working mode of the traffic light reminding system according to the present application for performing green light reminding under different determination conditions;

fig. 4 is a schematic flow chart of a traffic light reminding method for a vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is noted that the terms "comprises" and "comprising," and variations thereof, as referred to in the specification of the present application, are intended to cover non-exclusive inclusions. The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, unless otherwise clearly indicated by the context, and it is to be understood that the data so used is interchangeable under appropriate circumstances. In addition, the embodiments and features of the embodiments in the present application may be combined with each other without conflict. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present application.

Please refer to fig. 1, which is a schematic structural diagram of a traffic light reminding system for a vehicle according to an embodiment of the present application. As shown in fig. 1, the system 10 according to the present embodiment includes a navigation module 11, a vehicle braking mechanism 12, an image capturing device 13, a controller 14, and a traffic light reminding module 15.

Specifically, the navigation module 11 is configured to obtain a first distance between the target vehicle and the target intersection, and an expected driving direction of the target vehicle at the target intersection. The vehicle brake mechanism 12 is configured to acquire vehicle speed information and brake state information of the target vehicle. The image acquisition equipment 13 is used for starting and acquiring a state of a target traffic light and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle when the first distance is less than or equal to a preset distance threshold; the target traffic light is a traffic light in the expected driving direction in front of the target vehicle, and the target reference object is a fixed following target (when a front vehicle exists) in front of the current driving direction of the target vehicle or an intersection stop line (when a front vehicle does not exist) in the current driving direction of the target vehicle. The controller 14 is respectively connected with the navigation module 11, the vehicle braking mechanism 12 and the image acquisition equipment 13; the controller 14 is configured to send a red light running prompting instruction when it is determined that the target vehicle runs a red light risk according to the target traffic light state, the vehicle speed information, and the first distance, and send a green light prompting instruction when it is determined that the target vehicle runs green light (that is, a green light in an expected running direction is turned on for a period of time, and the target vehicle is a first vehicle/a preceding vehicle before a stop line of the target intersection and is not started for a period of time) according to the braking state information, the target traffic light state, and the second distance. The traffic light reminding module 15 is connected to the controller 14, and is configured to receive and remind a traffic light according to a corresponding reminding instruction.

That is, in this embodiment, the controller determines that the target vehicle is about to reach the intersection based on the information provided by the navigation module, and obtains a first distance from the target vehicle to the target intersection; the controller screens out the target traffic light state in the expected driving direction of the target vehicle on the basis of the information provided by the navigation module and the image acquisition equipment; acquiring vehicle speed information of a vehicle based on information provided by a vehicle braking mechanism; the controller further combines the target traffic light state in the expected driving direction of the vehicle, the vehicle speed information and the first distance from the target intersection to judge whether the risk of running the red light exists or not; when the target vehicle is judged to have the risk of running the red light, the controller further judges whether the target vehicle crosses the stop line of the target intersection or not based on a second distance provided by the image acquisition equipment, and then sends different red light running reminding instructions so as to send out red light running alarms of different levels. Or the controller judges that the target vehicle is about to arrive at the intersection or is positioned at the intersection based on the information provided by the navigation module; the controller screens out traffic light information in the expected driving direction of the target vehicle based on information provided by the navigation module and the image acquisition equipment; acquiring braking state information of the vehicle based on information provided by a vehicle braking mechanism; further based on a second distance provided by the image acquisition equipment, judging that the target vehicle is a first vehicle (the distance relative to the stop line of the target intersection is smaller than a preset threshold value and is not shielded by a front vehicle) in front of the stop line of the target intersection or a fixed vehicle following target (namely the front vehicle exists) exists in front of the stop line of the target intersection; the controller further combines traffic light information and braking state information in the expected driving direction of the target vehicle, and whether the first vehicle or the front vehicle before the intersection stop line is in a moving state change (whether the front vehicle starts or not), and selects a proper time to carry out green light reminding.

The embodiment collects the corresponding traffic light state by combining the expected driving direction of the vehicle, improves the detection accuracy, and further improves the accuracy of the red light/green light running reminding. When the target vehicle is judged to have the risk of running the red light, whether the target vehicle crosses the stop line of the target intersection is judged to send out red light running alarms of different levels, so that a driver can make driving operation adjustment in time, traffic accidents such as rear-end collision, pedestrian collision and the like caused by running the red light are avoided, the road driving safety is improved, and the user experience is improved; and when the target vehicle is judged to have the risk of running the red light, the risk level is further judged to send out the alarm of running the red light at the corresponding level, and the bad experience brought to the user by early or frequent reminding is avoided. Or when the green light in the expected driving direction is on, the green light is prompted at a proper time according to the fact that the vehicle starts the first vehicle or the previous vehicle before the stop line of the intersection, so that the driver can timely know the green light information, delay in starting the vehicle due to the fact that the driver is enthusiastic to see a mobile phone or other matters is avoided, the vehicle congestion degree of the intersection is avoided being increased, the road driving efficiency is improved, and bad experience brought to the user due to early or frequent reminding is also avoided. Meanwhile, the vehicle braking mechanism is configured by the vehicle, and the controller, the image acquisition device and the traffic light reminding module can utilize vehicle-mounted multimedia of the vehicle or related configuration in a vehicle recorder or electronic equipment in the vehicle, so that the cost is effectively reduced, the arrangement space and the attractiveness of the whole vehicle are not influenced, the application range is wide, and the user experience is good.

In some embodiments, the navigation module 11 may be an in-vehicle navigation device, or a navigation application installed in an electronic device in the vehicle. When the navigation module 11 recognizes that the vehicle is about to pass through the intersection according to the navigation signal, the first distance from the target vehicle to the target intersection and the expected driving direction of the target vehicle can be directly obtained according to the navigation signal, and the first distance and the expected driving direction are sent to the controller 14. The expected driving direction is a direction (left/right) specified by turning at the target intersection or a straight driving at the target intersection.

In some embodiments, the vehicle braking mechanism 12 is the vehicle's own intelligent braking device, which may provide information on the vehicle's speed, wheel speed, etc. For example, the vehicle braking mechanism 12 may detect the speed of the wheels and generate vehicle speed information, which is then transmitted to the controller 14. The controller 14 receives the vehicle speed information, and obtains the time required by the vehicle to travel to the stop line of the target intersection according to the vehicle speed information and the first distance from the target intersection, so as to further judge whether the red light running risk exists or not by combining the target traffic light state acquired by the image acquisition device 13; the controller 14 may also receive a vehicle speed signal and determine whether the vehicle is in a stopped state or in a moving state (decelerating to a stop or accelerating) based on the vehicle speed signal. The intelligent brake equipment can also provide wheel direction information of the vehicle to assist in judging the expected driving direction of the vehicle; for example, when the wheel rotation angle is larger than a preset threshold value, the expected driving direction is determined to be a direction specified by turning at the intersection, otherwise, the expected driving direction is determined to be straight driving at the intersection.

In some embodiments, the image capturing device 13 may be disposed on the vehicle, for example, on the top of the front windshield or the roof of the vehicle, or may be disposed at other positions of the vehicle, which is not limited in this application. Specifically, the image capturing device 13 may be an image capturing device carried by a drive recorder mounted on the vehicle, or may be an image capturing device separately mounted on the vehicle. The information acquired by the image acquisition device 13 includes a target traffic light state and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle. The target reference object can be a stop line of the target intersection and can be used for assisting in judging whether a target vehicle is a first vehicle/target vehicle in front of the stop line of the intersection or not; the target reference object may also be a preceding vehicle in the current driving direction of the target vehicle, and may be used to assist in determining whether the motion state of the preceding vehicle changes (whether the preceding vehicle has started).

In some embodiments, the target traffic light status includes at least a target traffic light color; the target traffic light status may also include a target traffic light shape, a target traffic light duration, and the like to assist in target traffic light identification in an expected direction of travel, improving the accuracy of target traffic light identification. For example, assume that the sequence of green light change at the target intersection is right turn, straight run, left turn, and right turn in this order, and the state duration after each light change is 60 seconds: 1) if the expected driving direction provided by the navigation module 11 is a straight driving; the traffic lights at the target intersection are: a red left arrow left turn signal, a red circular straight signal and a green right arrow right turn signal, wherein the left turn time is displayed as 10 seconds; the image capturing device 13 captures that the target traffic light status of the target vehicle is a red circular straight signal, which will last for 10 seconds; 2) if the expected driving direction provided by the navigation module 11 is a right turn; the traffic lights at the current intersection are: a green left arrow left turn signal, a red circular straight signal and a red right arrow right turn signal, wherein the left turn remaining time is displayed as 10 seconds; the image pickup device 13 picks up the current traffic light information of the current vehicle as a red right arrow right turn signal, which will last for 10 seconds. After 10 seconds, the traffic lights at the current intersection are: a red left arrow left turn signal, a red circular straight signal and a green right arrow right turn signal; the image pickup device 13 picks up the current traffic light information of the current vehicle as a green right arrow right turn signal, which will last for 60 seconds. The straight signal shape may be an upward arrow shape in addition to the above circular shape.

In this embodiment, the image capturing device 13 performs capturing conditionally, that is, the image capturing device 13 is configured to start and capture and acquire a target traffic light state and a second distance of the target vehicle according to a preset condition; the preset condition can be that a first distance between the target vehicle and a target intersection with a traffic light arranged in front is judged to be smaller than or equal to a preset distance threshold according to the navigation information of the navigation module. For example, the controller 14 may determine that the front of the vehicle driving direction is an intersection provided with a traffic light according to navigation information provided by a navigation module currently used by the vehicle, and when the target vehicle is within a certain distance from the target intersection, start the image acquisition device to perform image acquisition, so as to obtain the state of the target traffic light and a second distance; therefore, the image acquisition device 13 does not need to be in a working state all the time, and only starts acquisition operation and transmits acquisition data to the controller 13 under the condition that the conditions are met, so that unnecessary image acquisition is reduced, resources are effectively saved, and the service life of the image acquisition device 13 can be prolonged.

In a further embodiment, the image acquisition device 13 may comprise a camera 131 and an image processing unit 132. Specifically, the camera 131 is used for capturing images of traffic lights in front of the target vehicle and capturing images of the position of the target vehicle relative to a target reference; the image processing unit 132 is configured to process the traffic light image according to the expected driving direction to obtain the target traffic light state, and process the position image to obtain a second distance between the target vehicle and a target reference object; wherein the target traffic light status includes at least a target traffic light color. The target traffic light state can also comprise a target traffic light shape, a target traffic light duration and the like so as to assist in judging the traffic light in the expected driving direction and improve the judging accuracy.

In some embodiments, the camera 131 may be a car video recorder with a color display screen, which can be recorded and viewed (in the shooting file format, the video is in AVI format, and the shooting is in JPG format), and can be transmitted to the image processing unit 132 through an interface or a standard protocol. The camera 131 may collect traffic light images in front of the target vehicle when the target vehicle is within a certain distance from the target intersection; the target traffic light refers to a traffic light located in an intended direction of travel of the target vehicle. Specifically, the current position and the expected driving direction of the target vehicle on the driving path may be obtained from a navigation module currently used by the target vehicle, so as to improve the accuracy of image acquisition.

In some embodiments, the image processing unit 132 may be integrated within the camera 131 or provided separately from the camera 131; the image processing unit 132 digitizes the image captured by the camera 131, identifies the object, discriminates the color, identifies the duration, and transmits the result to the controller 14 via an interface or a standard protocol. The image processing unit 132 is used to identify the target traffic light in the digitized image, and further to determine the color and duration of the target traffic light. Traffic lights include different colors of lights and different states of traffic lights. For example, when the traffic light includes only red and green lights, then the status of the traffic light may be: a red light on state, a red light off state, a green light on state, and a green light off state; when the traffic light includes red, yellow, green, then the state of traffic light can have: a red light on state, a red light off state, a yellow light on state, a yellow light off state, a green light on state, and a green light off state. Traffic lights also have certain features, including, for example: red light area, yellow light area, green light area, and three areas are arranged according to fixed order transversely or longitudinally. Therefore, when the color of the target traffic light is judged, the color of the target traffic light in the collected image can be determined by combining the expected driving direction, the characteristics of the traffic light and the image recognition algorithm, and the accuracy of target recognition is improved. There are many image recognition algorithms in the prior art, which are available to those skilled in the art based on the prior knowledge and will not be described in detail here.

In some embodiments, because the camera 131 is moving with the target vehicle, the captured image may exhibit edge blurring; in addition, due to the air condition, the sunlight change and the electromagnetic interference, and the influence of noise in the image acquisition process, the acquired image becomes fuzzy, so that the image preprocessing is required after the image acquisition is finished, the image edge or line becomes clear, and the target identification is facilitated. Various techniques exist in the prior art for preprocessing images to clarify edges or lines of the images, and are available to those skilled in the art based on the prior knowledge and will not be described in detail herein. Image pre-processing may be performed within the camera 131 or may be performed using the image processing unit 132.

The following further explains the traffic light reminding system for vehicles, which takes red light running reminding and green light running reminding as examples.

Please refer to fig. 1-2, wherein fig. 2 is a schematic diagram of a working mode of the traffic light reminding system for reminding a user of running a red light under different determination conditions.

As shown in fig. 1, in some embodiments, the controller 14 determines that the target vehicle is at risk of running a red light when the target traffic light is determined to be a red light according to the color of the target traffic light and the target vehicle will reach the target intersection in a red light state according to the vehicle speed information and the first distance. The controller 14 may further determine that the target vehicle has a risk of running a red light when determining that the target vehicle will reach the target intersection before the red light jump according to the red light duration, the vehicle speed information, and the first distance. Because the target vehicle will arrive the target crossing when the red light state, if keep the current speed of a motor vehicle, the condition that can take place to make a dash across the red light causes danger.

In some embodiments, the controller 14 determines that the target vehicle is at risk of running a red light when determining that the target traffic light is a green light according to the color of the target traffic light and determining that the target vehicle will reach the target intersection after a green light jump according to the green light duration, the vehicle speed information and the first distance. Because the target vehicle will arrive at the target intersection after the green light jumps, if the current vehicle speed is kept, the red light running situation will occur, which causes danger.

In some embodiments, the target reference is a stop-line of the target intersection; when the controller 14 determines that the target vehicle runs the red light risk, further when it is determined that the target vehicle does not cross the stop line of the target intersection according to a second distance between the target vehicle and the stop line of the target intersection, a first red light running reminding instruction is sent; and sending a second red light running reminding instruction when the target vehicle is judged to cross the stop line of the target intersection according to the second distance. The second red light running reminding instruction is different from the first red light running reminding instruction. Specifically, the first red light running reminding instruction is used for controlling the traffic light reminding module 15 to send out a first level of red light running alarm, and the second red light running reminding instruction is used for controlling the traffic light reminding module 15 to send out a second level of red light running alarm. Wherein the second level corresponds to an alarm state severity that is higher than the first level corresponds to an alarm state severity; for example, a second level of red light running alarms is an emergency alarm and a first level of red light running alarms is a secondary emergency alarm.

In some embodiments, the controller 14 is further configured to issue a third red light running reminding instruction when determining that the risk of red light running of the target vehicle is relieved; and the traffic light reminding module 15 receives the third red light running reminding instruction and stops sending the red light running alarm according to the third red light running reminding instruction. For example, after receiving a first level of red light running alarm, the driver takes an operation of controlling the vehicle to decelerate so that the target vehicle can stop before the stop line of the target intersection before the red light jump; or, the operation of controlling the vehicle acceleration is adopted, so that the target vehicle can cross the stop line of the target intersection before the green light jumps on the premise of safe driving; on the basis, the controller 14 may determine that the risk of red light running of the target vehicle is eliminated, and send a third red light running reminding instruction.

In some embodiments, the controller 14 is further configured to issue a fourth red light running reminding instruction when it is determined that the target vehicle is not at risk of running red light, so as to control the traffic light reminding module 15 to not issue a red light running alarm.

In some embodiments, the traffic light reminding module 15 performs a red light running alarm according to a reminding instruction sent by the controller 14, which may include a voice alarm, a light alarm, or a sound-light alarm, so as to remind a driver to make driving operation adjustment in time, avoid traffic accidents such as rear-end collision and pedestrian collision caused by red light running, improve the road driving safety, and improve user experience. For the actual traffic road condition, if the target traffic light is switched from green light off to red light on, the vehicle needs to stop passing; in order to prevent the driver from not finding the red light running risk due to the fact that the driver does not timely find the traffic light conversion, the driver can send out a red light running alarm to prompt the driver; accurate reminding information is helpful to reducing traffic accidents and improving the road driving safety.

Referring to fig. 2, specifically, the working manner of the traffic light reminding system for reminding running red light under different determination conditions includes: s201, judging whether the intersection is identified or not by the controller based on information provided by the navigation module in the navigation state; if the intersection is identified, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the red light running alarm (S210). S202, the controller judges whether the intersection recognizes the target traffic light or not based on the information provided by the navigation module and the image acquisition equipment; if the target traffic light is identified, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the red light running alarm (S210). S203, the controller judges whether the target vehicle has the risk of running the red light or not based on the state of the target traffic light, the speed information provided by the vehicle braking mechanism and the first distance between the target vehicle and the target intersection provided by the navigation module; if the risk of running the red light exists, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the alarm of running the red light (S210). S204, the controller judges whether the target vehicle crosses the stop line of the target intersection or not based on a second distance between the target vehicle and the stop line of the target intersection, wherein the second distance is provided by the image acquisition equipment; if the target vehicle crosses the stop line of the target intersection, the controller controls the traffic light reminding module to send out a red light running alarm of a second level (S205), otherwise, the controller controls the traffic light reminding module to send out a red light running alarm of a first level (S206).

The following explains how the traffic light reminding system of the present application can issue red light running alarms of different levels under different determination conditions by using some specific embodiments.

The first embodiment is as follows: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that a target traffic light exists at the intersection according to the information provided by the navigation module and the image acquisition equipment, and acquires the state of the target traffic light; the controller judges that the target vehicle runs the red light risk according to the state of the target traffic light, the speed information provided by the vehicle braking mechanism and the first distance between the target vehicle and the target intersection provided by the navigation module; the controller identifies that the target vehicle does not reach the stop line according to a second distance between the target vehicle and the stop line of the target intersection, which is provided by the image acquisition equipment; so far, the controller judges for slight risk, and the control traffic light reminds the module to send the red light alarm of making a dash across of first grade, reminds the driver in time to make driving operation adjustment (accelerate or slow down under safe prerequisite), avoids making a dash across the red light and causes traffic accidents such as rear-end collision, collision pedestrian, improves road surface driving safety nature, improves user experience.

Example two: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that a target traffic light exists at the intersection according to the information provided by the navigation module and the image acquisition equipment, and acquires the state of the target traffic light; the controller judges that the target vehicle runs the red light risk according to the state of the target traffic light, the speed information provided by the vehicle braking mechanism and the first distance between the target vehicle and the target intersection provided by the navigation module; the controller identifies that the target vehicle drives or crosses the stop line according to a second distance between the target vehicle and the stop line of the target intersection, wherein the second distance is provided by the image acquisition equipment; so far, the controller judges for the severe risk, and the control traffic light reminds the module to send the red light alarm of making a dash across of second grade, reminds the driver emergency stop under the safe prerequisite, avoids making a dash across the red light and causes traffic accidents such as rear-end collision, collision pedestrian, improves road surface driving safety, improves user experience.

Example three: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that a target traffic light exists at the intersection according to the information provided by the navigation module and the image acquisition equipment, and acquires the state of the target traffic light; the controller judges that the target vehicle has no risk of running the red light according to the state of the target traffic light, the speed information provided by the vehicle braking mechanism and the first distance between the target vehicle and the target intersection provided by the navigation module; the controller controls the traffic light reminding module to send out a red light running alarm, so that the user experience is improved.

According to the above content, the traffic light reminding system for the vehicle provided by the embodiment of the application can be used for judging whether the risk of red light running exists or not by combining the information provided by the navigation module, the image acquisition device and the vehicle braking mechanism, and sending out red light running alarms of different levels by combining whether the target vehicle crosses the stop line of the target intersection or not when the risk of red light running exists. The detection accuracy is improved by collecting the corresponding traffic light state in combination with the expected driving direction of the vehicle, so that the accuracy of the red light running alarm is improved; when further judging that there is the risk of making a dash across the red light, combine whether the target vehicle crosses the stop line at target crossing, carry out the red light alarm of making a dash across of different grades for the driver can in time make the driving operation adjustment, avoids making a dash across the red light and causes traffic accidents such as rear-end collision, collision pedestrian, improves road surface driving safety, improves user experience.

Please refer to fig. 1 and fig. 3, wherein fig. 3 is a schematic diagram illustrating a working mode of the traffic light reminding system for reminding a green light under different determination conditions.

As shown in fig. 1, in some embodiments, the controller determines that the vehicle is about to arrive at the intersection or is already at the intersection based on information provided by the navigation module; acquiring braking state information of a target vehicle based on information provided by a vehicle braking mechanism; based on a second distance between the target vehicle and the target reference object provided by the image acquisition equipment, judging that the vehicle is a first vehicle in front of the stop line of the intersection (the distance of the relative stop line of the intersection is smaller than a preset threshold value and no front vehicle is shielded), or a fixed vehicle following target exists in front of the intersection (namely the front vehicle exists); the controller further combines traffic light information and braking state information in the expected driving direction of the target vehicle, whether the motion state of the first vehicle or the front vehicle before the intersection stop line is changed or not (whether the front vehicle starts or not can be judged according to whether the collected adjacent second distance is changed or not), and selects a proper time to prompt the green light.

In some embodiments, the controller 14 performs the determination whether the current vehicle is in a stopped state according to the braking state information, and performs the determination whether the current vehicle is the first vehicle before the intersection stop line or whether the preceding vehicle corresponding to the current vehicle has started according to the second distance. When it is determined that the current vehicle is in a stop state, the target traffic light is a green light, and the current vehicle is the first vehicle before the intersection stop line or the preceding vehicle starts, the controller 14 sends a first green light reminding instruction to the traffic light reminding module 15. Further, the controller may further send a second green light prompting instruction to the traffic light prompting module 15 when it is determined that the current vehicle is in a moving state, where the second green light prompting instruction is different from the first green light prompting instruction. Specifically, the first green light reminding instruction is used for controlling the traffic light reminding module 15 to send a green light reminder, and the second green light reminding instruction is used for controlling the traffic light reminding module 15 to stop sending the green light reminder or not to send the green light reminder.

In some embodiments, the traffic light reminding module 15 performs the green light reminding according to the green light reminding instruction sent by the controller 14, which may include a voice alarm, a light alarm, or a sound-light alarm, so as to remind the driver to start the vehicle in time, avoid increasing the congestion degree of the vehicle at the intersection, and improve the road driving efficiency.

In some embodiments, system 10 further includes a power mechanism 16 for detecting an accelerator pedal depth of the subject vehicle, which may be used to make a determination of whether the subject vehicle is to be driven. Preferably, the controller 14 further performs determination as to whether the target vehicle is taking off, based on the accelerator pedal depth. Specifically, the target reference object is a stop line of the target intersection, and the controller 14 is further configured to send a first green light reminding instruction to the traffic light reminding module 15 if it is determined that the target vehicle is not started according to the accelerator pedal depth after determining that the target vehicle is a first vehicle before the stop line of the intersection according to the second distance and the target traffic light jumps from a red light to a green light and delays for a first preset time (e.g., 2 to 5 seconds). That is, in this embodiment, after determining that the target vehicle is the first vehicle before the stop line and the target traffic light jumps from the red light to the green light and delays for 2 to 5 seconds, the target vehicle does not start, and then sends out a green light prompt; therefore, the driver can timely know the green light information and start in time, the road driving efficiency is improved, and bad experience brought to the user due to early and frequent reminding is avoided (for example, in the prior art, the corresponding traffic light just jumps to the green light to send a reminding, the driver can be ready to start at the moment, and the reminding can bring bad experience on the contrary).

In some embodiments, system 10 further includes a power mechanism 16 for detecting an accelerator pedal depth of the subject vehicle, which may be used to make a determination of whether the subject vehicle is to be driven. Preferably, the controller 14 further performs determination as to whether the target vehicle is taking off, based on the accelerator pedal depth. Specifically, the target reference object is a preceding vehicle in the current driving direction of the target vehicle, and the controller 14 is further configured to send a first green light reminding instruction to the traffic light reminding module 15 if it is determined that the target vehicle does not start according to the accelerator pedal depth after it is determined that the preceding vehicle corresponding to the target vehicle starts to step (the acquired second distance of the next time is greater than the second distance of the previous time, and the distance value is greater) and is delayed for a second preset time (for example, 2 to 5 seconds). Namely, in the embodiment, after the vehicle before the vehicle starts and is delayed for 2-5 seconds, the target vehicle does not start, and then the green light is sent out for reminding; therefore, the driver can timely know the green light information and start in time, the road driving efficiency is improved, and bad experience brought to the user due to early and frequent reminding is avoided (for example, in the prior art, a previous vehicle is just started and is reminded, the driver can be ready to start at the moment, and the reminding can bring bad experience on the contrary).

Referring to fig. 3, specifically, the working manner of the traffic light reminding system according to the present application for carrying out green light reminding under different determination conditions includes: s301, the controller judges whether an intersection (a vehicle is about to arrive at the intersection or is already at the intersection) is identified based on the information provided by the navigation module in the navigation state; if the intersection is identified, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the green light reminding (S310). S302, the controller judges whether the traffic light is identified at the intersection or not based on the traffic light information provided by the image acquisition equipment; if the traffic light is identified, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the green light reminding (S310). S303, the controller judges whether the target vehicle is in a stop state or not based on the information provided by the vehicle braking mechanism; if the vehicle is in the stop state, continuing subsequent judgment, otherwise, controlling the traffic light reminding module not to send out the green light reminding by the controller (S310). S304, the controller judges whether the target vehicle is the first vehicle in front of the stop line of the intersection or not based on the second distance between the target vehicle and the target reference object provided by the image acquisition equipment; if the vehicle is the first vehicle before the intersection stop line, the determination of step S305 is continuously performed, otherwise, the determination of step S306 is continuously performed. S305, the controller judges whether a front vehicle serving as a fixed vehicle following target of the target vehicle starts or not based on the second distance provided by the image acquisition equipment; if the front vehicle starts, the subsequent judgment is continued, otherwise, the controller controls the traffic light reminding module not to send out the green light reminding (S310). S306, the controller judges whether the target traffic light in the expected driving direction of the target vehicle jumps from the red light to the green light or not based on the state of the target traffic light provided by the image acquisition equipment, if the target traffic light jumps from the red light to the green light, the subsequent judgment is continued, and if not, the controller controls the traffic light reminding module not to send out green light reminding (S310). S307, the controller delays for a certain time (for example, 2-5 seconds) and then judges whether the target vehicle starts or not based on the duration time of the jump of the traffic light provided by the timing module (which can be a built-in component of the controller) and the depth of an accelerator pedal provided by the power mechanism; if the target vehicle does not start after a certain time, the controller controls the traffic light reminding module to send out a green light reminding (S308), otherwise, the controller controls the traffic light reminding module not to send out a green light reminding (S310).

The following explains how the traffic light reminding system for vehicles can select an appropriate time to carry out green light reminding under different determination conditions through some specific embodiments.

The first embodiment is as follows: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that the traffic light exists at the intersection according to the traffic light information provided by the image acquisition equipment; the controller judges that the target vehicle is in a stop state according to the braking state information provided by the vehicle braking mechanism; the controller identifies that the target vehicle is a first vehicle in front of the stop line according to a second distance between the target vehicle and the target reference object, wherein the second distance is provided by the image acquisition equipment; the controller acquires the expected driving direction of the target vehicle according to the navigation information provided by the navigation module; the controller identifies that the target traffic light in the expected driving direction jumps from a red light to a green light according to the target traffic light information provided by the image acquisition equipment; the controller judges that the target vehicle does not start after a certain time (namely the driver does not start actively) according to the timing time of the timing module and the accelerator pedal depth provided by the power mechanism; therefore, the controller controls the traffic light reminding module to send out green light reminding to remind a driver of starting in time.

Example two: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that the traffic light exists at the intersection according to the traffic light information provided by the image acquisition equipment; the controller judges that the target vehicle is in a stop state according to the braking state information provided by the vehicle braking mechanism; the controller identifies that the current vehicle has a stable vehicle following target (a vehicle ahead exists) according to a second distance between the target vehicle and the target reference object provided by the image acquisition equipment; the controller further identifies the starting of the front vehicle according to a second distance provided by the image acquisition equipment; the controller judges that the target vehicle does not start after a certain time (namely the driver does not start actively) according to the timing time of the timing module and the accelerator pedal depth provided by the power mechanism; therefore, the controller controls the traffic light reminding module to send out green light reminding to remind a driver of starting in time.

Example three: the controller identifies that the target vehicle is about to pass through the intersection according to the navigation information provided by the navigation module in the navigation state; the controller identifies that the traffic light exists at the intersection according to the traffic light information provided by the image acquisition equipment; the controller judges that the target vehicle is in a motion state according to the braking state information provided by the vehicle braking mechanism; therefore, the traffic light reminding module is controlled by the controller to be free from sending the green light reminding.

According to the above contents, the traffic light reminding system provided by the embodiment of the application can be used for sending out the green light reminding at a proper time by combining the information provided by the navigation module, the image acquisition equipment, the vehicle braking mechanism and the power mechanism. The corresponding traffic light information is collected by combining the expected driving direction of the target vehicle, so that the detection accuracy is improved, and the green light reminding accuracy is further improved; when a green light in an expected driving direction is on, a driver can timely know the green light information according to the fact that a target vehicle starts for the first vehicle or the previous vehicle before the stop line of the intersection, delay starting of the vehicle due to the fact that the driver is enthusiastic to watch a mobile phone or other matters is avoided, the vehicle congestion degree of the intersection is avoided being increased, the road driving efficiency is improved, and bad experience brought to the user due to early or frequent reminding is avoided.

Based on the same inventive concept, the application also provides a traffic light reminding method for the vehicle. The method can adopt the traffic light reminding system for the vehicle provided by the embodiment of the application, and the principle of solving the problem of the method is similar to that of the system, so the embodiment of the method can refer to the implementation of the system, and repeated parts are not repeated. The execution main body of the method can be a control system of the target vehicle, a newly added control system arranged on the target vehicle, and an application program (APP) installed on electronic equipment (such as a mobile phone).

Please refer to fig. 4, which is a flowchart illustrating a traffic light reminding method for a vehicle according to an embodiment of the present application. As shown in fig. 4, the method may include the steps of: s41, acquiring a first distance between a target vehicle and a target intersection and an expected driving direction of the target vehicle at the target intersection by adopting a navigation module; s42, acquiring the speed information and the braking state information of the target vehicle by adopting a vehicle braking mechanism; s43, when the first distance is smaller than or equal to a preset distance threshold value, starting an image acquisition device and acquiring a target traffic light state of the target vehicle and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle, wherein the target traffic light is a traffic light in the expected driving direction of the target vehicle; s44, sending a red light running reminding instruction by adopting a controller when the target vehicle is judged to have the risk of running red light according to the target traffic light state, the vehicle speed information and the first distance, and sending a green light reminding instruction when the target vehicle is judged to have the idling green light according to the braking state information, the target traffic light state and the second distance; and S45, carrying out traffic light reminding by adopting the traffic light reminding module according to the corresponding reminding instruction.

In some embodiments, the collecting the target traffic light status of the target vehicle in step S43 further comprises: 1) capturing an image of a traffic light in front of the target vehicle by a camera; 2) processing the traffic light image, and acquiring the state of the target traffic light according to the expected driving direction; wherein the target traffic light status includes at least a target traffic light color. The target traffic light state can also comprise a target traffic light shape, a target traffic light duration and the like so as to assist in judging the traffic light in the expected driving direction, improve the judgment accuracy and assist in judging whether the red light running risk exists.

In some embodiments, the target reference is a stop-line of the target intersection; the method further comprises: when the target vehicle is judged to have the risk of running the red light, if the controller further judges that the target vehicle does not cross the stop line of the target intersection according to the second distance, a first red light running reminding instruction is sent out, and the traffic light reminding module receives and sends out a first-level red light running alarm according to the first red light running reminding instruction; or if the controller further determines that the target vehicle has crossed the stop line of the target intersection according to the second distance, a second red light running reminding instruction is sent out, and the traffic light reminding module receives and sends out a red light running alarm of a second level according to the second red light running reminding instruction; wherein the second level corresponds to a higher severity of alarm condition than the first level corresponds to an alarm condition severity.

In some embodiments, the method further comprises: if the controller sends a third red light running reminding instruction when judging that the risk of running the red light of the target vehicle is eliminated, the traffic light reminding module receives and stops sending a red light running alarm according to the third red light running reminding instruction.

In some embodiments, the method further comprises: and if the controller judges that the target vehicle does not have the risk of running the red light, sending a fourth red light running reminding instruction without a red light running alarm.

In some embodiments, the target reference is a stop-line of the target intersection, the target traffic light status including at least a target traffic light color; in step S44, the specific step of determining that the target vehicle has the risk of running red light according to the target traffic light state, the vehicle speed information, and the first distance may be: and if the controller judges that the target traffic light is a red light according to the color of the target traffic light, and judges that the target vehicle has the risk of running the red light when the target vehicle reaches the target intersection in the red light state according to the speed information and the first distance.

In some embodiments, the target reference is a stop-line of the target intersection, the target traffic light state including at least a target traffic light color and a target traffic light duration; in step S44, the specific step of determining that the target vehicle has the risk of running red light according to the target traffic light state, the vehicle speed information, and the first distance may be: and if the controller judges that the target traffic light is a green light according to the color of the target traffic light, and judges that the target vehicle reaches the target intersection after the green light jumps according to the green light duration, the vehicle speed information and the first distance, the controller judges that the target vehicle has the risk of running the red light.

In some embodiments, the system further comprises a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a stop line of the target intersection; the method further comprises: and after the controller judges that the target vehicle is the first vehicle in front of the stop line of the target intersection according to the second distance, the target traffic light jumps from the red light to the green light and delays for a first preset time, and if the controller judges that the target vehicle does not start according to the depth of the accelerator pedal, a first green light reminding instruction is sent. Namely, after the target vehicle is judged to be the first vehicle before the stop line and the target traffic light in the expected driving direction jumps from the red light to the green light and is delayed for 2-5 seconds, the target vehicle is not started, and then a green light prompt is sent; therefore, the driver can timely know the green light information and start in time, the road driving efficiency is improved, and bad experience brought to the user due to premature and frequent reminding is avoided (for example, in the prior art, the corresponding traffic light just jumps to the green light and then sends out reminding, and at the moment, the driver can be ready to start, and the reminding can bring bad experience on the contrary).

In some embodiments, the system further comprises a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a stop line of the target intersection; the method further comprises: and after the controller judges that the preceding vehicle starts according to the second distance and delays for a second preset time, if the controller judges that the target vehicle does not start according to the depth of the accelerator pedal, a first green light reminding instruction is sent. Namely, after the vehicle before is judged to start and delayed for 2-5 seconds, the target vehicle does not start, and then a green light is sent out for reminding; therefore, the driver can timely know the green light information and start in time, the road driving efficiency is improved, and bad experience brought to the user due to early and frequent reminding is avoided (for example, in the prior art, a previous vehicle is just started and is reminded, the driver can be ready to start at the moment, and the reminding can bring bad experience on the contrary).

In some embodiments, the method further comprises: if the controller judges that the target vehicle is in a motion state according to the braking state information, a second green light reminding instruction is sent out; and the second green light reminding instruction is different from the first green light reminding instruction.

In some embodiments, the acquiring of the target traffic light status of the target vehicle in step S42 further comprises: 1) capturing an image of a traffic light in front of the target vehicle by a camera; 2) and processing the traffic light image according to the expected driving direction to acquire the target traffic light state. The target traffic light state at least comprises the current traffic light color, the current traffic light shape, the current traffic light duration and the like, so that the judgment of green light (or the jump from red light to green light) in the expected driving direction is assisted, and the judgment accuracy of green light is improved.

According to the above contents, the traffic light reminding method for the vehicle provided by the embodiment of the application can be used for judging whether the risk of running red light exists or not or judging whether green light idles or not by combining the information provided by the navigation module, the image acquisition device and the vehicle braking mechanism; when the red light running risk is judged to exist, red light running alarms of different levels are carried out by combining whether the target vehicle crosses the stop line of the target intersection or not; when it is determined that there is a green light idling, a green light is prompted at an appropriate timing in accordance with the relative distance from the target reference object. The corresponding traffic light state is collected by combining the expected driving direction of the vehicle, so that the detection accuracy is improved, and the accuracy of the red light running/green light running reminding is further improved; when the red light running risk is judged to exist, the red light running alarms of different levels are sent out by combining whether the target vehicle crosses the stop line of the target intersection or not, so that a driver can make driving operation adjustment in time, traffic accidents such as rear-end collision, pedestrian collision and the like caused by red light running are avoided, the road driving safety is improved, and the user experience is improved; when the green light in the expected driving direction is on, the target vehicle is combined to start the first vehicle or the preceding vehicle before the stop line of the intersection, and the green light is reminded at a proper time, so that the driver can timely know the green light information, the delay of starting the vehicle due to the fact that the driver is enthusiastic to watch a mobile phone or other matters is avoided, the vehicle congestion degree of the intersection is avoided being increased, the road driving efficiency is improved, and bad experience brought to the user due to early or frequent reminding is also avoided.

It should be noted that the embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same/similar parts in the embodiments are referred to each other. For the method embodiment disclosed by the embodiment, since the method embodiment corresponds to the system embodiment disclosed by the embodiment, the description is relatively simple, and the relevant points can be referred to the partial description of the system embodiment.

Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, which is referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc. That is, the present application also discloses a computer-readable storage medium, in which a computer-executable program is stored, and when the computer-executable program is executed, the method described in the above embodiment of the present application is implemented. The computer executable program may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

Those of skill would further appreciate that the various illustrative systems and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It should be apparent that the above-described embodiments are only some of the embodiments of the present application, and not all of the embodiments. Based on the embodiments of the present application, those skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure without any creative effort, and all of them should be covered within the protection scope of the present application.

Claims

1. A traffic light reminder system for a vehicle, the system comprising: the navigation module is used for acquiring a first distance between a target vehicle and a target intersection and an expected driving direction of the target vehicle at the target intersection; the vehicle braking mechanism is used for acquiring the speed information and the braking state information of the target vehicle; the image acquisition equipment is used for starting and acquiring a state of a target traffic light and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle when the first distance is less than or equal to a preset distance threshold, wherein the target traffic light is a traffic light in the expected driving direction in front of the target vehicle; the controller is respectively connected with the navigation module, the vehicle braking mechanism and the image acquisition equipment, and is used for sending a red light running reminding instruction when the target vehicle is judged to have the risk of running a red light according to the target traffic light state, the vehicle speed information and the first distance, and sending a green light reminding instruction when the target vehicle is judged to have the idling green light according to the braking state information, the target traffic light state and the second distance; and the traffic light reminding module is connected with the controller and used for receiving and carrying out traffic light reminding according to the corresponding reminding instruction.

2. The system of claim 1, wherein the target reference is a stop-line of the target intersection; the controller is further used for sending a first red light running reminding instruction if the target vehicle is judged to not cross the stop line of the target intersection according to the second distance when the target vehicle is judged to have the risk of running the red light, and sending a second red light running reminding instruction if the target vehicle is judged to cross the stop line of the target intersection according to the second distance; the traffic light reminding module receives and sends a first level of red light running alarm according to the first red light running reminding instruction, or receives and sends a second level of red light running alarm according to the second red light running reminding instruction; wherein the second level corresponds to a higher severity of alarm condition than the first level corresponds to an alarm condition severity.

3. The system of claim 1, wherein the controller is further configured to issue a third red light running reminder instruction upon determining that the risk of red light running of the target vehicle is relieved; and the traffic light reminding module receives and stops sending the red light running alarm according to the third red light running reminding instruction.

4. The system of claim 1, wherein the target traffic light status comprises at least a target traffic light color; the controller is used for judging that the target traffic light is a red light according to the color of the target traffic light, and judging that the target vehicle has the risk of running the red light when the target vehicle reaches the target intersection in the red light state according to the speed information and the first distance.

5. The system of claim 1, wherein the target traffic light status includes at least a target traffic light color and a target traffic light duration; the controller is used for judging that the target traffic light is green according to the color of the target traffic light, and judging that the target vehicle has the risk of running the red light when the target vehicle reaches the target intersection after the green light jumps according to the green light duration, the vehicle speed information and the first distance.

6. The system of claim 1, further comprising a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a stop line of the target intersection; and the controller is further used for sending a first green light reminding instruction if the target vehicle is judged not to start according to the depth of the accelerator pedal after the target vehicle is judged to be the first vehicle in front of the stop line of the target intersection according to the second distance and the target traffic light jumps from the red light to the green light and delays for a first preset time.

7. The system of claim 1, further comprising a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a preceding vehicle in a current direction of travel of the target vehicle; the controller is further used for sending a first green light reminding instruction if the target vehicle is judged not to be started according to the accelerator pedal depth after the preceding vehicle is judged to be started according to the second distance and the second preset time is delayed.

8. The system of claim 1, wherein the controller is further configured to issue a second green light alert command if it is determined that the target vehicle is in motion based on the braking state information; and the second green light reminding instruction is different from the first green light reminding instruction.

9. The system of claim 1, wherein the image acquisition device comprises a camera and an image processing unit; the camera is used for shooting a traffic light image in front of the target vehicle and shooting a position image of the target vehicle relative to the target reference object; the image processing unit is used for processing the traffic light image according to the expected driving direction to acquire the state of the target traffic light, and processing the position image to acquire a second distance between the target vehicle and the target reference object.

10. A traffic light alert method for a vehicle, characterized in that, using the system of claim 1, the method comprises: acquiring a first distance between a target vehicle and a target intersection and an expected driving direction of the target vehicle at the target intersection by adopting a navigation module; acquiring the speed information and the braking state information of the target vehicle by adopting a vehicle braking mechanism; when the first distance is smaller than or equal to a preset distance threshold value, starting an image acquisition device and acquiring a target traffic light state of the target vehicle and a second distance between the target vehicle and a target reference object in the current driving direction of the target vehicle, wherein the target traffic light is a traffic light in the expected driving direction of the target vehicle; a controller is adopted to send out a red light running reminding instruction when the target vehicle is judged to have the risk of running red light according to the target traffic light state, the vehicle speed information and the first distance, and send out a green light reminding instruction when the target vehicle is judged to have green light idling according to the braking state information, the target traffic light state and the second distance; and a traffic light reminding module is adopted to carry out traffic light reminding according to the corresponding reminding instruction.

11. The method of claim 10, wherein the target reference is a stop-line of the target intersection; the method further comprises: when the target vehicle is judged to have the risk of running the red light, if the controller further judges that the target vehicle does not cross the stop line of the target intersection according to the second distance, a first red light running reminding instruction is sent out, and the traffic light reminding module receives and sends out a first-level red light running alarm according to the first red light running reminding instruction; or if the controller further determines that the target vehicle has crossed the stop line of the target intersection according to the second distance, a second red light running reminding instruction is sent out, and the traffic light reminding module receives and sends out a red light running alarm of a second level according to the second red light running reminding instruction; wherein the second level corresponds to a higher severity of alarm condition than the first level corresponds to an alarm condition severity.

12. The method of claim 10, further comprising: if the controller sends a third red light running reminding instruction when judging that the risk of running the red light of the target vehicle is eliminated, the traffic light reminding module receives and stops sending a red light running alarm according to the third red light running reminding instruction.

13. The method of claim 10, wherein the target reference is a stop-line of the target intersection, the target traffic light status includes at least a target traffic light color, the method further comprising: and if the controller judges that the target traffic light is a red light according to the color of the target traffic light, and judges that the target vehicle has the risk of running the red light when the target vehicle reaches the target intersection in the red light state according to the speed information and the first distance.

14. The method of claim 10, wherein the target reference is a stop-line of the target intersection, the target traffic light state includes at least a target traffic light color and a target traffic light duration, the method further comprising: and if the controller judges that the target traffic light is a green light according to the color of the target traffic light, and judges that the target vehicle reaches the target intersection after the green light jumps according to the green light duration, the vehicle speed information and the first distance, the controller judges that the target vehicle has the risk of running the red light.

15. The method of claim 10, wherein the system further comprises a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a stop line of the target intersection, the method further comprising: and after the controller judges that the target vehicle is the first vehicle in front of the stop line of the target intersection according to the second distance, the target traffic light jumps from the red light to the green light and delays for a first preset time, and if the controller judges that the target vehicle does not start according to the depth of the accelerator pedal, a first green light reminding instruction is sent.

16. The method of claim 10, wherein the system further comprises a power mechanism for detecting an accelerator pedal depth of the target vehicle, the target reference being a vehicle ahead of the target vehicle in a current direction of travel, the method further comprising: and after the controller judges that the preceding vehicle starts according to the second distance and delays for a second preset time, if the controller judges that the target vehicle does not start according to the depth of the accelerator pedal, a first green light reminding instruction is sent.

17. The method of claim 10, further comprising: if the controller judges that the target vehicle is in a motion state according to the braking state information, a second green light reminding instruction is sent out; and the second green light reminding instruction is different from the first green light reminding instruction.

18. The method of claim 10, wherein the step of collecting the target traffic light status of the target vehicle further comprises: capturing an image of a traffic light in front of the target vehicle by a camera; and processing the traffic light image according to the expected driving direction to acquire the target traffic light state.

19. A computer-readable storage medium having a computer-executable program stored therein, wherein the computer-executable program, when executed, implements the method of any of claims 10-18.