CN108766001A - A kind of automobile data recorder for prompting traffic lights - Google Patents

Abstract

The present invention relates to a kind of automobile data recorders for prompting traffic lights, which is characterized in that including following technical characteristic：A, the picture acquisition module for acquiring traffic lights image；B, be connected the ROI for obtaining traffic lights and the image processing module of preservation with the image capture module；C, the server module for storing the distance between traffic lights and corresponding stop line；D, it is connected respectively for calculating vehicle to the distance calculation module of 'STOP' line ahead with the image processing module and the server module；E, the speed measurement module for measuring car speed；F, for carrying out the MCU main control modules that comprehensive descision is made in analysis to obtained data；G is connected the reminding module for deciding whether to send out prompt according to comprehensive descision with the MCU main control modules.The present invention provides a kind of can make a kind of automobile data recorder for traffic lights whether comprehensive descision sends out prompt according to the actual driving situation of driver.

Description

A driving recorder for prompting traffic lights

technical field

The invention relates to the technical field of traffic, in particular to a driving recorder for prompting traffic lights.

Background technique

A traffic signal light is a signal light for directing traffic operation, and generally consists of a red light, a green light, and a yellow light. A red light means no access, a green light means permission to pass, and a yellow light means a warning. When the driver is facing an unfamiliar intersection, the phenomenon of running a red light may occur due to inattention, which has caused a great potential safety hazard. People have designed many patents to solve this problem, such as the publication number CN106297342A The Chinese patent disclosed a reminder device for early and real-time reminder of traffic signal light information, which is installed on a motor vehicle, and is characterized in that it includes an image recognition module for identifying traffic signal lights, signal light status, signal light remaining time information and stop lines; The distance measurement module is connected with the image recognition module for real-time measurement of the distance between the traffic lights and the stop line and the vehicle; the central processing unit ECU is connected with the distance measurement module for calculating the distance between the vehicle and the stop line Calculate the estimated time required to reach the intersection at the current speed of the vehicle and the remaining passing time when passing the stop line at the intersection; the speed measurement module is connected to the input end of the central processing unit ECU for real-time measurement of the vehicle, the surrounding The speed of the vehicle; the positioning module is used to determine the specific position of the vehicle; the server is used to set up a map database to store the distance between the traffic lights of each concrete crossing and the corresponding stop line, the speed limit when passing through the crossing, the different Safety distance under vehicle speed difference; information acquisition module, input end is connected with described positioning module and described server respectively, output end is connected with described central processing unit ECU, according to the positioning information of described positioning module, query from described server The distance between the traffic signal light and the stop line is inquired about the speed limit of the intersection and the information is sent to the central processing unit ECU; the prompt strategy module is connected to the input terminal of the central processing unit ECU for setting the control strategy, distance fuzzy Empirical formula for calculation: display and prompt module, connected to the output terminal of the central processing unit ECU, display and remind the driver in advance to predict the state and remaining time of the traffic lights at the intersection ahead, and the vehicle The estimated time required to reach the intersection at the current speed and the remaining time to pass through the stop line at the intersection.

The weak point of this patent is: the actual situation is that the driver will pay great attention to the instructions of traffic signals when driving, because running a red light means deducting six points and will have a huge impact on the safety of life and property. The situation of running a red light will only happen when you are not concentrated, so the function of this patent to remind the traffic light situation in real time is not only unnecessary but also will cause a kind of audio-visual fatigue to the driver, so the effect of prompting may often not be achieved.

Contents of the invention

The present invention mainly solves the technical problem existing in the prior art that it is impossible to judge whether the driver should be reminded that there is a signal light ahead according to the actual driving situation of the driver, and provides a comprehensive judgment that can be made according to the actual driving situation of the driver. A kind of driving recorder used for traffic lights to send out prompts.

The above technical problems of the present invention are mainly solved by the following technical solutions: a driving recorder for prompting traffic lights, characterized in that it includes the following technical features: a, an image acquisition module for collecting traffic lights; B, the image processing module that is connected with the described image acquisition module and is used to identify the traffic signal light state and obtains the ROI region of interest image of the traffic signal light and separates and saves the ROI region of interest image; c, is used to set up a map database and store specific The server module of the distance between the traffic lights at each crossing and the corresponding stop line; d, being connected with the image processing module and the server module respectively for accounting for the traffic lights image according to the ROI image The percentage calculates the distance between the vehicle and the traffic light and calculates the distance calculation module for the distance between the vehicle and the stop line according to the distance between the corresponding traffic light and the stop line; e, the speed measurement module for measuring the initial speed and deceleration of the vehicle ( 5); f, respectively connected to the distance calculation module and the speed measurement module (5) to calculate the vehicle arrival vehicle stop according to t=-Vo/a where Vo is the initial vehicle speed and a is the vehicle deceleration The main MCU that makes a comprehensive judgment based on the distance between the vehicle and the stop line measured by the distance measurement module, the initial speed and deceleration measured by the speed measurement module (5), and the time when the vehicle reaches the stop line The control module (6); g, connected to the MCU main control module (6), is used to determine whether the prompt module (8) sends a prompt according to the comprehensive judgment of the MCU main control module (6) Module (8). The driving recorder is installed on the front of the vehicle. The image acquisition module first continuously collects the images of the traffic lights in front of the vehicle, and then sends the images of the traffic lights to the image processing module. The image processing module processes the images of the traffic lights collected by the image acquisition module. Process and obtain the ROI (Region of Interest) of traffic lights, analyze the existing status of traffic lights, separate and save the ROI image and the original image of traffic lights, and send the original image of traffic lights and the ROI of traffic lights to the distance calculation module and server module in real time It is used to establish a map database, store the distance between the traffic lights at each intersection and the stop line, and connect to the distance calculation module. The distance calculation module calculates the percentage of the ROI image of the traffic lights sent to the distance calculation module in real time in the corresponding original traffic signal image. To calculate the distance between the vehicle and the traffic light (the closer the vehicle is to the traffic light, the greater the percentage of the ROI image of the traffic light in the corresponding original traffic light image, the distance between the vehicle and the traffic light and the percentage of the ROI image of the traffic light in the original traffic light image Inversely proportional to), after calculating the distance from the vehicle to the traffic signal light, the distance from the traffic signal light to the stop line is called from the server module, and the distance from the vehicle to the traffic signal light minus the distance from the corresponding traffic signal light to the stop line is calculated to calculate the vehicle The distance to the stop line, and the distance information from the vehicle to the stop line is sent to the MCU main control module. The speed measurement module is used to measure the initial speed of the vehicle and the deceleration of the vehicle and send the speed information to the MCU main control module. The formula S=(at²/2)+(Vot) evolves to get the formula t=-2Vo/a (S is the distance from the vehicle to the stop line, a is the deceleration of the vehicle, generally a<0, t is the distance from the vehicle to the stop line Calculate the time, Vo is the initial speed of the vehicle), and then calculate the time for the vehicle to drive to the stop line according to the initial speed and deceleration of the vehicle according to the formula t=-2Vo/a, and then the MCU main control module The speed, deceleration, time when the vehicle reaches the stop line and the distance from the vehicle to the stop line are used to make a comprehensive judgment, and then the judgment confidence is sent to the prompt module. The prompt module decides whether to issue a prompt according to the comprehensive judgment. The MCU master The comprehensive judgment made by the module will appear in the following situations: 1. When the vehicle reaches the vehicle stop line at a red light with sufficient time and the driver is decelerating sufficiently, the MCU main control module can predict that the driver has stopped. Knowing that there are traffic lights ahead and making a corresponding judgment, the MCU main control module will make a comprehensive judgment that the driver knows that there are traffic lights ahead, so the prompt module will not issue a prompt based on the comprehensive judgment; When the initial speed and deceleration are both zero, the MCU main control module will judge that the vehicle is in a traffic jam environment. When the vehicle is in a traffic jam environment, the driver will focus on following the driving so that the driver's attention will be fully concentrated. Even if the driver is not fully focused The driver does not follow the driver after the vehicle in front drives away. In this case, the driver behind will also use methods such as honking to remind the driver in front, so that the driver's attention will be concentrated again. In the case of the driver's concentration It will definitely know that there is a traffic light ahead, so the MCU main control module will make a comprehensive judgment that the driver knows that there is a traffic light ahead, so the prompt module will not give a prompt based on the comprehensive judgment; 3. When the traffic light ahead is red, although The speed of the car is relatively slow, but the car is still accelerating, which means that the driver is not aware of the red light ahead. At this time, the MCU main control module will make a comprehensive judgment that the driver is not aware of the red light ahead, so the prompt module will be based on the MCU. The comprehensive judgment of the main control module sends out a prompt; 4. When the traffic light ahead is red, the MCU main control module calculates that the calculation time from the vehicle to the stop line is lower than the limited range and the deceleration of the vehicle is not obvious. In this way, the MCU main control module A comprehensive judgment will be made so that the real-time speed of the vehicle and the deceleration vehicle cannot stop the vehicle before the stop line, so the prompt module will send a prompt according to the comprehensive judgment.

Preferably, the image acquisition module is a driving recorder camera. Because now every car is basically equipped with a driving recorder, so you can make full use of the driving recorder to increase the function of the driving recorder.

Preferably, the MCU main control module is connected with the positioning module. For determining the specific position of the vehicle, technical support can be provided for the server module to determine which traffic signal light the vehicle is in, so that the distance between the traffic signal light and the corresponding stop line can be accurately called out.

Preferably, the positioning module is a GPS module and/or a Beidou positioning module.

Preferably, the speed measurement module is a radar speedometer and/or a GPS positioning speedometer. The speed measurement module is a radar speedometer and/or a GPS positioning speedometer to accurately measure the initial speed, real-time speed and deceleration of the vehicle.

Preferably, the server module is a vehicle-mounted server and/or a smart phone and/or a remote network server. The server module is a vehicle-mounted server and/or a smart phone and/or a remote network server whose function is to store some driving information in the cloud.

Preferably, the prompt module is a display screen and/or a voice player. The prompting module is a display screen and/or a voice player, which can prompt the driver in multiple ways such as listening to voice and video.

The present invention also provides above-mentioned a kind of control method for the driving recorder of prompting traffic lights, and it comprises following process:

A. The image collection module collects images of traffic lights in front of the vehicle;

B. The image processing module processes the collected traffic signal light image, obtains the ROI (region of interest) of the traffic signal light and separates and saves the ROI image;

C. Establish a map database in the server module to store the distance between the traffic lights at each crossing and the corresponding stop line;

D. The distance calculation module calculates the distance between the vehicle and the traffic signal light according to the percentage of the ROI image in the image of the traffic signal light (the closer the vehicle is to the traffic signal light, the larger the proportion is), and according to the specific intersection traffic light in the server module and the corresponding The distance between the stop lines to calculate the distance between the vehicle and the stop line;

E. The speed measurement module measures the initial speed and deceleration of the vehicle;

F. MCU main control module calculates the time when the vehicle reaches the vehicle stop line according to t=-Vo/a (Vo is the initial vehicle speed, a is the vehicle deceleration), and according to the time when the vehicle reaches the vehicle stop line, the vehicle reaches the stop line The distance of the vehicle, the initial speed of the vehicle and the deceleration of the vehicle are used to make a comprehensive judgment;

G. The prompt module decides according to the comprehensive judgment made by the MCU main control module. When the line time is sufficient and the driver is decelerating sufficiently, the MCU main control module can predict that the driver already knows that there are traffic lights ahead and make a corresponding judgment, so the MCU main control module will make a comprehensive judgment that The driver knows that there are traffic lights ahead, so the prompt module will not issue a prompt according to the comprehensive judgment; 2. When the initial speed and deceleration of the red light vehicle are both zero, the MCU main control module will judge that the vehicle is in a traffic jam environment. When the vehicle is in a traffic jam environment, the driver will focus on following the driving, so that the driver's attention will be fully concentrated, even if the driver's attention is not fully focused, the driver will not follow after the vehicle in front leaves, so the rear driving Drivers will also use whistle and other methods to remind the driver in front, so that the driver's attention will be concentrated again, so that when the driver's attention is concentrated, he will definitely know that there are traffic lights ahead, so the MCU main control module will make a comprehensive It is judged that the driver knows that there is a traffic light ahead, so the prompt module will not issue a prompt according to the comprehensive judgment; 3. When the traffic light ahead is red, although the speed of the car is relatively slow, but the car is still accelerating, it means that the driver is not aware of it. When there is a red light ahead, the MCU main control module will make a comprehensive judgment that the driver does not realize that there is a red light ahead, so the prompt module will issue a prompt according to the comprehensive judgment of the MCU main control module; 4. The traffic signal light in front is a red light When the MCU main control module calculates that the calculation time from the vehicle to the stop line is lower than the limited range and the deceleration of the vehicle is not obvious, the MCU main control module will make a comprehensive judgment based on the current real-time speed of the vehicle and the deceleration of the vehicle. Stop the vehicle before the stop line so that the prompt module will give a prompt according to the comprehensive judgment.

The beneficial effect brought by the invention is a driving recorder for traffic lights that can make a comprehensive judgment based on the actual driving situation of the driver whether to issue a prompt.

Therefore, the present invention has the characteristics of reasonable structure, convenient use and the like.

Description of drawings

Accompanying drawing 1 is a kind of road map of the present invention;

Accompanying drawing 2 is a kind of work flowchart of the present invention.

Part number description in the figure: (1) image acquisition module, (2) image processing module, (3) distance calculation module, (4) server module, (5) speed measurement module, (6) MCU main control module, (7) ) Positioning module, (8) Prompt module.

Detailed ways

The technical solutions of the present invention will be further specifically described below through the embodiments and in conjunction with the accompanying drawings.

Example:

According to a driving recorder for prompting traffic lights shown in Fig. 1 and Fig. 2, it is characterized in that it includes the following technical features: a, an image acquisition module (1) for collecting traffic lights; b, and the The image acquisition module (1) is connected to the image processing module (2) used to identify the state of the traffic signal light and obtain the image of the ROI region of interest of the traffic signal light, and then separate and save the image of the ROI region of interest; c. It is used to establish a map database and store Specifically, the server module for the distance between the traffic lights at each intersection and the corresponding stop line; d, being connected to the image processing module (2) and the server module respectively for accounting for the distance according to the ROI image The percentage of the traffic signal light image calculates the distance between the vehicle and the traffic signal light and calculates the distance between the vehicle and the stop line according to the distance between the corresponding traffic signal light and the stop line. The distance calculation module (3); e, for measuring the initial speed of the vehicle and The speed measurement module (5) of the deceleration; f, respectively connected with the distance calculation module (3) and the speed measurement module (5) according to t=-Vo/a where Vo is the initial speed of the vehicle a Calculate the time for the vehicle to reach the vehicle stop line for the vehicle deceleration and based on the distance between the vehicle and the stop line measured by the distance measurement module, the initial speed and deceleration measured by the speed measurement module (5), the vehicle reaches the stop The MCU main control module (6) that makes a comprehensive judgment at the time of the line; g, is connected with the MCU main control module (6) and is used to determine the described The prompting module (8) is a prompting module (8) whether to issue a prompt. The image acquisition module (1) is a driving recorder camera. The MCU main control module (6) is connected with the positioning module (7). The positioning module (7) is a GPS module and/or a Beidou positioning module (7). The speed measurement module (5) is a radar speedometer and/or a GPS positioning speedometer. The server module (4) is a vehicle-mounted server and/or a smart phone and/or a remote network server. The prompt module (8) is a display screen and/or a voice player.

The driving recorder is installed on the front of the vehicle. The image acquisition module (1) first continuously collects the images of the traffic lights in front of the vehicle, and then sends the images of the traffic lights to the image processing module (2). The image processing module (2) collects the images Module (1) processes the images of traffic lights collected to obtain the ROI (Region of Interest) of traffic lights, analyze the existing status of traffic lights, separate and save ROI images and original images of traffic lights, and combine the original images of traffic lights with traffic The ROI of the signal light is sent to the distance calculation module (3) in real time, and the server module (4) is used to establish a map database, store the distance between the traffic signal light and the stop line at each intersection and connect with the distance calculation module (3), and the distance calculation module ( 3) Calculate the distance between the vehicle and the traffic light by calculating the percentage of the ROI image of the traffic light sent to the distance calculation module (3) in real time in the corresponding original traffic light image (the closer the vehicle is to the traffic light, the ROI image of the traffic signal accounts for the corresponding original The greater the percentage of the traffic signal image, the distance between the vehicle and the traffic signal is inversely proportional to the percentage of the ROI image of the traffic signal in the original traffic signal image), after calculating the distance between the vehicle and the traffic signal, it is called from the server module (4) The distance from the traffic light to the stop line is calculated by subtracting the distance from the vehicle to the traffic light to the stop line by the distance from the corresponding traffic light to the stop line to calculate the distance from the vehicle to the stop line, and the distance information from the vehicle to the stop line is sent to the MCU main control Module (6), the speed measurement module (5) is used to measure the initial speed of the vehicle and the deceleration of the vehicle and send the speed information to the MCU main control module (6), according to the formula S=(at²/2)+(Vot ) to evolve the formula t=-2Vo/a (S is the distance from the vehicle to the stop line, a is the deceleration of the vehicle, generally a<0, t is the calculation time from the vehicle to the stop line, Vo is the initial speed of the vehicle), Then according to the formula t=-2Vo/a, the initial speed and deceleration of the vehicle are respectively calculated as the time for the vehicle to reach the stop line, and then the MCU main control module (6) according to the initial speed and deceleration of the vehicle, the vehicle reaches the stop The time of the line and the distance from the vehicle to the stop line are used to make a comprehensive judgment, and then the judgment confidence is sent to the prompt module (8). The prompt module (8) determines whether the prompt module (8) sends a prompt based on the comprehensive judgment. The comprehensive judgment made by the control module (6) will appear in the following situations: 1. When the time is sufficient for the vehicle to reach the vehicle stop line at the red light and the driver is fully decelerating, the MCU main control module (6) It can be predicted that the driver already knows that there are traffic lights ahead and has made a corresponding judgment, so the MCU main control module (6) will make a comprehensive judgment that the driver knows that there are traffic lights ahead, so the prompt module (8) will make a comprehensive judgment based on the comprehensive judgment. Judgment will not issue a prompt; 2. When the initial speed and deceleration of the red light vehicle are both zero, the MCU main control module (6) will judge the vehicle When the vehicle is in a traffic jam environment, when the vehicle is in a traffic jam environment, the driver will focus on following the driving, so that the driver's attention will be fully concentrated, even if the driver's attention is not fully focused, the driver will not be able to drive away after the vehicle in front leaves. If you follow the driving, the driver behind will also remind the driver in front by honking the horn, so that the driver's attention will be concentrated again. In this way, when the driver's attention is concentrated, he will definitely know that there are traffic lights ahead. In this way, the MCU master The control module (6) will make a comprehensive judgment that the driver knows that there is a traffic light ahead, so the prompt module (8) will not issue a prompt based on the comprehensive judgment; 3. When the traffic light ahead is red, although the vehicle speed is relatively slow, However, the car is still accelerating, indicating that the driver is not aware of the red light ahead. At this time, the MCU main control module (6) will make a comprehensive judgment that the driver is not aware of the red light ahead, so the prompt module (8) will According to the comprehensive judgment of the MCU main control module (6), a prompt is issued; 4. When the traffic signal light ahead is red, the MCU main control module (6) calculates that the calculation time from the vehicle to the stop line is lower than the limited range and the vehicle's deceleration If the speed is not obvious, the MCU main control module (6) will make a comprehensive judgment so that the real-time speed and deceleration of the vehicle cannot stop the vehicle before the stop line, so the prompt module (8) will issue a prompt according to the comprehensive judgment. Because now every car is basically equipped with a driving recorder, so that you can make full use of the driving recorder to increase the function of the driving recorder. For determining the specific position of the vehicle, technical support can be provided for the server module (4) to determine which traffic signal light the vehicle is within, so that the distance between the traffic signal light and the corresponding stop line can be accurately called out. The speed measurement module (5) is a radar speedometer and/or a GPS positioning speedometer to accurately measure the initial speed, real-time speed and deceleration of the vehicle. The server module (4) is a vehicle-mounted server and/or a smart phone and/or a remote network server, which can store some driving information in the cloud. The prompt module (8) is a display screen and/or a voice player, which can prompt the driver in various ways such as listening to voice and video.

The present invention comprises following control process during use:

A. Image collection module (1) collects images of traffic lights in front of the vehicle;

B. The image processing module (2) processes the collected traffic signal light image, obtains the ROI (region of interest) of the traffic signal light and separates and saves the ROI image;

C. Establish a map database in the server module (4) (4), store the distance between the traffic lights at each crossing and the corresponding stop line;

D. The distance calculation module (3) calculates the distance between the vehicle and the traffic light according to the percentage of the ROI image in the image of the traffic light (the closer the vehicle is to the traffic light, the greater the proportion), and according to the specific information in the server module (4) The distance between the traffic lights at each intersection and the corresponding stop line is used to calculate the distance between the vehicle and the stop line;

E. The speed measurement module (5) measures the initial speed and deceleration of the vehicle;

F. MCU main control module (6), according to t=-Vo/a (Vo is the initial speed of the vehicle, a is the vehicle deceleration), calculates the time when the vehicle reaches the vehicle stop line, according to the time when the vehicle reaches the vehicle stop line, the vehicle The distance to the stop line, the initial speed of the vehicle and the deceleration of the vehicle are used to make a comprehensive judgment;

G. The prompt module (8) decides based on the comprehensive judgment made by the MCU main control module (6) : 1. When the time for the vehicle to reach the vehicle stop line at the red light is sufficient and the driver is decelerating sufficiently, the MCU main control module (6) can predict that the driver already knows that there is a traffic light ahead and make a decision According to the corresponding judgment, the MCU main control module (6) will make a comprehensive judgment that the driver knows that there is a traffic light ahead, so the prompt module (8) will not issue a prompt according to the comprehensive judgment; When the deceleration is zero, the MCU main control module (6) will judge that the vehicle is in a traffic jam environment. When the vehicle is in a traffic jam environment, the driver will focus on following the driving so that the driver's attention will be fully concentrated. Even if the driver's attention is not fully focused, the driver does not follow the driving after the vehicle in front leaves, so the driver behind will use the horn to remind the driver in front, so that the driver's attention will be concentrated again. When the driver is focused, he will definitely know that there are traffic lights ahead, so the MCU main control module (6) will make a comprehensive judgment that the driver knows that there are traffic lights ahead, so the prompt module (8) will not issue a prompt based on the comprehensive judgment ; 3. When the traffic light in front is red, although the speed of the vehicle is relatively slow, the car is still accelerating, indicating that the driver is not aware of the red light ahead. At this time, the MCU main control module (6) will make a comprehensive judgment that The driver does not realize that there is a red light ahead, so the prompt module (8) will issue a prompt according to the comprehensive judgment of the MCU main control module (6); 4. When the traffic signal light ahead is red, the MCU main control module (6) calculates The calculation time from the vehicle to the stop line is lower than the limited range and the deceleration of the vehicle is not obvious, so the MCU main control module (6) will make a comprehensive judgment so that the current real-time speed and deceleration of the vehicle can not stop before the stop line. The prompting module (8) can send prompts according to the comprehensive judgment when the vehicle stops.

Claims (8)

1. A driving recorder for prompting traffic lights, characterized in that, comprises the following technical features: a, an image acquisition module for collecting traffic lights; b, connected with the image acquisition module for identifying traffic The signal light state and the image processing module that separates and saves the ROI interest region image after obtaining the ROI region of interest image of the traffic signal light; c, the server used to establish the map database and store the distance between the traffic signal light of each intersection and the corresponding stop line Module; d, connected to the image processing module and the server module respectively for calculating the distance between the vehicle and the traffic signal light according to the percentage of the ROI image in the traffic signal light image and according to the corresponding traffic signal light and parking The distance between the lines is used to calculate the distance calculation module of the distance between the vehicle and the stop line; e, the speed measurement module for measuring the initial speed and deceleration of the vehicle; f, respectively with the distance calculation module and the speed The measurement module is connected for calculating the time when the vehicle arrives at the vehicle stop line according to t=-Vo/a wherein Vo is the vehicle initial velocity a is the vehicle deceleration and according to the distance between the vehicle and the stop line measured by the distance measurement module, the The initial speed and deceleration measured by the speed measuring module, the MCU main control module that makes a comprehensive judgment when the vehicle reaches the stop line; g, connected with the MCU main control module for according to the MCU main control module The comprehensive judgment determines whether the prompting module sends a prompting module. 2. A driving recorder for prompting traffic lights according to claim 1, characterized in that: said image acquisition module is a driving recorder camera. 3. A driving recorder for prompting traffic lights according to claim 1, characterized in that: said MCU main control module is connected with a positioning module. 4. A driving recorder for prompting traffic lights according to claim 3, characterized in that: said positioning module is a GPS module and/or a Beidou positioning module. 5 . A driving recorder for prompting traffic lights according to claim 1 , wherein the speed measurement module is a radar speedometer and/or a GPS positioning speedometer. 6 . 6. A driving recorder for prompting traffic lights according to claim 1, characterized in that: said server module is a vehicle-mounted server and/or a smart phone and/or a remote network server. 7. A driving recorder for prompting traffic lights according to claim 1, characterized in that: said prompting module is a display screen and/or a voice player. 8. A kind of driving recorder for prompting traffic lights and its control method according to claim 1, its feature comprises the following features: The image collection module collects images of traffic lights in front of the vehicle; The image processing module processes the collected traffic signal image, obtains the ROI (region of interest) of the traffic signal and separates and saves the ROI image; A map database is established in the server module to store the distance between the traffic lights at each crossing and the corresponding stop line; The distance calculation module calculates the distance between the vehicle and the traffic light according to the percentage of the ROI image in the image of the traffic light (the closer the vehicle is to the traffic light, the larger the proportion is), and according to the traffic light at each intersection in the server module and the corresponding stop line to calculate the distance between the vehicle and the stop line; The speed measurement module measures the initial speed and deceleration of the vehicle; The MCU main control module calculates the time when the vehicle reaches the vehicle stop line according to t=-Vo/a (Vo is the initial vehicle speed, a is the vehicle deceleration), and according to the time when the vehicle reaches the vehicle stop line, the distance between the vehicle and the stop line , the initial speed of the vehicle and the deceleration of the vehicle to make a comprehensive judgment; The prompt module decides according to the comprehensive judgment made by the MCU main control module. If the situation is sufficient and the driver is decelerating sufficiently, the MCU main control module can predict that the driver already knows that there are traffic lights ahead and make a corresponding judgment, so the MCU main control module will make a comprehensive judgment that the driver Knowing that there is a traffic light ahead, the prompt module will not issue a prompt according to the comprehensive judgment; 2. When the initial speed and deceleration of the red light vehicle are both zero, the MCU main control module will judge that the vehicle is in a traffic jam environment. In a traffic jam environment, the driver will focus on following the driving, so that the driver's attention will be fully concentrated, even if the driver's attention is not fully focused, the driver will not follow after the vehicle in front drives away, so the driver behind will also The driver in front will be reminded by honking the whistle, so that the driver's attention will be concentrated again, so that the driver will definitely know that there are traffic lights ahead when the driver's attention is concentrated, so the MCU main control module will make a comprehensive judgment. The driver knows that there is a traffic signal ahead, so the prompt module will not issue a prompt according to the comprehensive judgment; 3. When the traffic signal ahead is red, although the speed of the vehicle is relatively slow, the car is still accelerating, indicating that the driver is not aware of the traffic ahead. At this time, the MCU main control module will make a comprehensive judgment that the driver does not realize that there is a red light ahead, so the prompt module will send a prompt according to the comprehensive judgment of the MCU main control module; 4. When the traffic signal light ahead is a red light , the MCU main control module calculates that the calculation time from the vehicle to the stop line is lower than the limited range and the deceleration of the vehicle is not obvious, so the MCU main control module will make a comprehensive judgment based on the current real-time speed and deceleration of the vehicle. Stop the vehicle before the line so that the prompt module will issue a prompt according to the comprehensive judgment.