A vehicle alerting method comprising: acquiring an image around the vehicle from an in-vehicle camera while the vehicle is driving; analyzing brightness distribution of the image and obtaining an analysis result; and when the analysis result is a first analysis result, alerting in accordance with a first alerting procedure, the first analysis result indicates a vehicle light in the image; when the analysis result is a second analysis result, no vehicle alert is required, the second analysis result indicates that pixel information in the image is insufficient to characterize a presence of the vehicle light in the image; wherein analyzing the brightness distribution of the image and obtaining the analysis result comprises: determining a first ratio, the first ratio is a proportion of the number of pixels within a range of first brightness level to the total number of pixels in the image; determining a second ratio, the second ratio is a proportion of the number of pixels within a range of second brightness level to the total number of pixels in the image; when the first ratio is greater than a first value, and the second ratio is greater than a second value, determining whether a number of consecutive pixels in the pixels within the range of first brightness level is greater than a third value, wherein the consecutive pixels are the pixels that having consecutive positions, the consecutive positions refer to two pixels being adjacent to each other, and wherein the first value is greater than zero; and when the determined number of consecutive pixels in the pixels within the range of first brightness level is greater than a third value, obtaining the first analysis result; when the first ratio is not greater than the first value, or the second ratio is not greater than the second value, or the determined number of consecutive pixels in the pixels within the range of first brightness level is not greater than a third value, obtaining the second analysis result; wherein brightness values in the range of first brightness level are higher than brightness values in the range of second brightness level. acquiring an image around the vehicle from an in-vehicle camera while the vehicle is driving; analyzing brightness distribution of the image and obtaining an analysis result; and when the analysis result is a first analysis result, alerting in accordance with a first alerting procedure, the first analysis result indicates a vehicle light in the image; when the analysis result is a second analysis result, no vehicle alert is required, the second analysis result indicates that pixel information in the image is insufficient to characterize a presence of the vehicle light in the image; wherein analyzing the brightness distribution of the image and obtaining the analysis result comprises: determining a first ratio, the first ratio is a proportion of the number of pixels within a range of first brightness level to the total number of pixels in the image; determining a second ratio, the second ratio is a proportion of the number of pixels within a range of second brightness level to the total number of pixels in the image; when the first ratio is greater than a first value, and the second ratio is greater than a second value, determining whether a number of consecutive pixels in the pixels within the range of first brightness level is greater than a third value, wherein the consecutive pixels are the pixels that having consecutive positions, the consecutive positions refer to two pixels being adjacent to each other, and wherein the first value is greater than zero; and determining a first ratio, the first ratio is a proportion of the number of pixels within a range of first brightness level to the total number of pixels in the image; determining a second ratio, the second ratio is a proportion of the number of pixels within a range of second brightness level to the total number of pixels in the image; when the first ratio is greater than a first value, and the second ratio is greater than a second value, determining whether a number of consecutive pixels in the pixels within the range of first brightness level is greater than a third value, wherein the consecutive pixels are the pixels that having consecutive positions, the consecutive positions refer to two pixels being adjacent to each other, and wherein the first value is greater than zero; and when the determined number of consecutive pixels in the pixels within the range of first brightness level is greater than a third value, obtaining the first analysis result; when the first ratio is not greater than the first value, or the second ratio is not greater than the second value, or the determined number of consecutive pixels in the pixels within the range of first brightness level is not greater than a third value, obtaining the second analysis result; wherein brightness values in the range of first brightness level are higher than brightness values in the range of second brightness level.