CN111028531B

CN111028531B - Prompting method, prompting device, automatic driving vehicle and storage medium

Info

Publication number: CN111028531B
Application number: CN201911368528.3A
Authority: CN
Inventors: 郭瑞; 孙正伟; 郭晋文; 郭立鹏; 董国勇; 方啸; 崔迪潇
Original assignee: Zhijia Usa; Suzhou Zhijia Technology Co Ltd
Current assignee: Zhijia (USA); Suzhou Zhijia Technology Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2022-02-08
Anticipated expiration: 2039-12-26
Also published as: CN111028531A

Abstract

The disclosure provides a prompting method and device, an automatic driving vehicle and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: the method comprises the steps of collecting behavior data of an intelligent body in a current range, identifying abnormal intelligent bodies in the range according to the collected behavior data, outputting prompt information of the abnormal intelligent bodies through output equipment of the automatic driving vehicle, enabling the automatic driving vehicle to know the existence of the abnormal intelligent bodies, avoiding the abnormal intelligent bodies, enabling other intelligent bodies to know the existence of the abnormal intelligent bodies, avoiding the abnormal intelligent bodies, understanding driving operation of the automatic driving vehicle, executing corresponding operation according to the driving operation of the automatic driving vehicle, avoiding the conflict situation between the operation of other intelligent bodies and the driving operation of the automatic driving vehicle as far as possible, reducing the occurrence probability of traffic accidents and improving safety.

Description

Prompting method, prompting device, automatic driving vehicle and storage medium

Technical Field

The present disclosure relates to the field of automatic driving, and in particular, to a prompting method and apparatus, an automatic driving vehicle, and a storage medium.

Background

An autonomous vehicle, also known as an unmanned vehicle, is an intelligent vehicle that is unmanned through a computer system and can automatically and safely operate the vehicle without any human active operation. In recent years, the appearance of autonomous vehicles has gradually replaced traditional vehicles, so that people's life is more convenient.

In order to reduce the occurrence probability of a traffic accident and improve the operation accuracy, an autonomous vehicle generally needs to identify the current environmental information, and perform a driving operation based on the identified environmental information, such as a deceleration operation when an obstacle is detected in front of the autonomous vehicle.

However, the environment in which the autonomous vehicle is located may also include other agents, and if the other agents make a misjudgment on the driving operation of the autonomous vehicle and perform an operation that conflicts with the driving operation of the autonomous vehicle, a traffic accident may still occur, and the safety is poor.

Disclosure of Invention

The embodiment of the application provides a prompting method and device, an automatic driving vehicle and a storage medium, and can solve the problem of poor safety in the related technology. The technical scheme provided by the embodiment of the application is as follows:

According to a first aspect provided by an embodiment of the present application, there is provided a prompting method, including:

acquiring behavior data of an agent in a current range;

identifying abnormal agents within the range according to the collected behavior data;

and outputting the prompt information of the abnormal intelligent agent through an output device of the automatic driving vehicle, wherein the output device comprises at least one of a display screen, a loudspeaker or a prompt lamp.

In one possible implementation, the identifying abnormal agents within the range according to the collected behavior data includes at least one of:

when the intelligent agent is a vehicle and the driving route of the vehicle is determined to be abnormal according to the behavior data, determining that the vehicle is an abnormal vehicle;

when the intelligent agent is a vehicle and the vehicle is determined to run in an area which is not matched with the vehicle according to the behavior data, determining that the vehicle is an abnormal vehicle;

when the intelligent agent is a pedestrian and the collision between the walking route of the pedestrian and the running route of any vehicle is determined according to the behavior data, determining that the pedestrian is an abnormal pedestrian;

when the intelligent agent is a vehicle and the running route of the vehicle is determined to conflict with the running route of any pedestrian according to the behavior data, determining that the vehicle is an abnormal vehicle;

When the intelligent agent is a pedestrian and the pedestrian is determined to execute abnormal actions according to the behavior data, determining that the pedestrian is an abnormal pedestrian;

when the agent is an animal and it is determined from the behavioral data that the animal is detained in the road, it is determined that the animal is an abnormal animal.

In one possible implementation, the identifying abnormal agents within the range according to the collected behavior data includes:

matching the behavior data with preset abnormal behavior data;

and when the similarity of the behavior data and the preset abnormal behavior data is greater than a preset threshold value, determining that the agent is an abnormal agent.

In one possible implementation manner, the outputting, by an output device of an autonomous vehicle, the prompt information of the abnormal agent includes at least one of:

displaying first prompt information through the display screen, wherein the first prompt information is used for prompting the position of the abnormal intelligent agent;

playing second prompt information through the loudspeaker, wherein the second prompt information is used for prompting the position of the abnormal intelligent agent;

and executing whistle operation according to the whistle rhythm corresponding to the abnormal intelligent agent.

In one possible implementation manner, the displaying, by the display screen, first prompt information includes:

displaying the category of the abnormal agent through a first display screen;

displaying the behavior data of the abnormal intelligent agent through a second display screen;

the first display screen is a display screen on the automatic driving vehicle, which is close to one side of the abnormal intelligent agent, and the second display screen is a display screen on the automatic driving vehicle, which is far away from one side of the abnormal intelligent agent.

In one possible implementation manner, the outputting, by an output device of an autonomous vehicle, the prompt information of the abnormal agent includes:

when the running route of the automatic driving vehicle conflicts with the route of the abnormal intelligent body, in the process of executing the driving operation of avoiding the abnormal intelligent body, prompt information is output through the output device, and the prompt information is used for prompting the automatic driving vehicle to avoid the abnormal intelligent body.

In one possible implementation, the driving operation to avoid the abnormal agent includes at least one of:

lane change operation;

a deceleration operation;

And (5) parking operation.

In one possible implementation, the driving operation to avoid the abnormal intelligent agent includes a lane change operation, and the output device outputs prompt information including at least one of the following:

displaying lane change prompt information through the display screen;

playing lane changing voice prompt information through the loudspeaker;

turning on a turn signal corresponding to the lane change operation;

and executing the whistle operation according to the whistle rhythm corresponding to the lane changing operation.

In one possible implementation, the driving operation to avoid the abnormal agent includes a deceleration operation, and the output device outputs prompt information including at least one of the following:

displaying deceleration prompt information through the display screen;

playing deceleration voice prompt information through the loudspeaker;

lighting a prompting lamp corresponding to the deceleration operation;

and executing the whistle operation according to the whistle rhythm corresponding to the speed reduction operation.

In one possible implementation manner, the driving operation for avoiding the abnormal intelligent agent includes a parking operation, and the output device outputs prompt information, which includes at least one of the following:

Displaying parking prompt information and a parking mark through the display screen, wherein the parking prompt information and the parking mark are used for prompting the automatic driving vehicle to park;

through the loudspeaker, parking prompt information is played, and the parking prompt information is used for prompting the automatic driving vehicle to park;

performing a whistle operation according to a whistle rhythm corresponding to the parking operation;

and lightening a prompt lamp corresponding to the parking operation.

In one possible implementation, the method further includes:

and sending an abnormal intelligent agent notification message to a management server connected with the automatic driving vehicle through a wireless network.

According to a second aspect provided by an embodiment of the present application, there is provided a prompting apparatus, including:

the behavior data acquisition module is used for acquiring the behavior data of the intelligent agent in the current range;

the identification module is used for identifying abnormal intelligent agents in the range according to the collected behavior data;

and the prompt information output module is used for outputting the prompt information of the abnormal intelligent agent through output equipment of the automatic driving vehicle, and the output equipment comprises at least one of a display screen, a loudspeaker or a prompt lamp.

In one possible implementation, the identification module includes at least one of:

the first determination unit is used for determining that the vehicle is an abnormal vehicle when the intelligent agent is the vehicle and the driving route of the vehicle is determined to be abnormal according to the behavior data;

a second determination unit, configured to determine that the vehicle is an abnormal vehicle when the agent is a vehicle and it is determined that the vehicle is traveling in an area that does not match the vehicle according to the behavior data;

a third determination unit, configured to determine that the pedestrian is an abnormal pedestrian when the agent is a pedestrian and it is determined that a walking route of the pedestrian collides with a running route of any vehicle according to the behavior data;

the fourth determining unit is used for determining that the vehicle is an abnormal vehicle when the intelligent agent is the vehicle and the running route of the vehicle is determined to conflict with the running route of any pedestrian according to the behavior data;

a fifth determination unit, configured to determine that the pedestrian is an abnormal pedestrian when the agent is a pedestrian and it is determined that the pedestrian performs an abnormal action according to the behavior data;

a sixth determining unit, configured to determine that the animal is an abnormal animal when the agent is an animal and it is determined that the animal stays in the road according to the behavior data.

In one possible implementation, the identification module includes:

the matching unit is used for matching the behavior data with preset abnormal behavior data;

and the seventh determining unit is used for determining that the agent is an abnormal agent when the similarity between the behavior data and the preset abnormal behavior data is greater than a preset threshold value.

In one possible implementation manner, the prompt information output module includes at least one of the following:

the first display unit is used for displaying first prompt information through the display screen, and the first prompt information is used for prompting the position of the abnormal intelligent agent;

the first playing unit is used for playing second prompt information through the loudspeaker, and the second prompt information is used for prompting the position of the abnormal intelligent agent;

and the first whistle unit is used for executing whistle operation according to the whistle rhythm corresponding to the abnormal intelligent agent.

In one possible implementation, the first display unit is further configured to:

displaying the category of the abnormal agent through a first display screen;

In one possible implementation manner, the prompt information output module includes:

and the avoidance prompting unit is used for outputting prompting information through the output equipment in the process of executing the driving operation of avoiding the abnormal intelligent body when the running route of the automatic driving vehicle conflicts with the route of the abnormal intelligent body, and the prompting information is used for prompting the automatic driving vehicle to avoid the abnormal intelligent body.

lane change operation;

a deceleration operation;

and (5) parking operation.

In one possible implementation, the driving operation to avoid the abnormal intelligent agent includes a lane change operation, and the avoidance prompting unit is further configured to perform at least one of the following:

displaying lane change prompt information through the display screen;

playing lane changing voice prompt information through the loudspeaker;

turning on a turn signal corresponding to the lane change operation;

In one possible implementation, the driving operation to avoid the abnormal intelligent agent includes a deceleration operation, and the avoidance prompting unit is further configured to perform at least one of the following:

Displaying deceleration prompt information through the display screen;

playing deceleration voice prompt information through the loudspeaker;

lighting a prompting lamp corresponding to the deceleration operation;

In one possible implementation manner, the driving operation for avoiding the abnormal intelligent agent includes a parking operation, and the avoidance prompting unit is further configured to perform at least one of the following operations:

and lightening a prompt lamp corresponding to the parking operation.

In one possible implementation, the apparatus further includes:

and the sending module is used for sending an abnormal intelligent agent notification message to a management server connected with the automatic driving vehicle through a wireless network.

According to a third aspect provided by an embodiment of the present application, there is provided an autonomous vehicle comprising: an output device, a processor, and a memory;

The output device comprises at least one of a display screen, a speaker or a warning light;

the memory stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the operations performed in the prompting method according to the first aspect.

According to a fourth aspect provided by an embodiment of the present application, a computer-readable storage medium is provided, in which at least one instruction is stored, and the instruction is loaded and executed by a processor to implement the operations performed in the prompting method according to the first aspect.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

according to the method, the device, the automatic driving vehicle and the storage medium, the abnormal intelligent bodies in the range are identified according to the collected behavior data by collecting the behavior data of the intelligent bodies in the current range, the prompt information of the abnormal intelligent bodies is output through the output equipment of the automatic driving vehicle, so that the automatic driving vehicle can know the existence of the abnormal intelligent bodies, the abnormal intelligent bodies are avoided, other intelligent bodies can also know the existence of the abnormal intelligent bodies, the abnormal intelligent bodies are avoided, the driving operation of the automatic driving vehicle is more understood, corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent bodies conflicts with the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, the acquired behavior data are matched with the preset abnormal behavior data, so that an abnormal intelligent agent can be identified, and the identification accuracy is improved.

In addition, the prompt is carried out in various modes such as a display screen, a loudspeaker and a vehicle whistle, the prompt channels are diversified, the probability that other intelligent bodies receive the prompt information can be improved, traffic accidents caused by the fact that the prompt information cannot be output due to the fact that a certain output device is out of order are avoided, and the automatic driving safety is improved.

In addition, prompt messages are respectively displayed on one side of the automatic driving vehicle close to the abnormal intelligent bodies and one side of the automatic driving vehicle far away from the abnormal intelligent bodies, and the display screen close to one side of the abnormal intelligent bodies displays the categories of the abnormal intelligent bodies, so that other intelligent bodies close to one side of the abnormal intelligent bodies can know the abnormal conditions as early as possible, and can avoid yielding or slow down as early as possible, and the occurrence probability of traffic accidents is reduced. The display screen far away from one side of the abnormal intelligent body displays the behavior data of the abnormal intelligent body, so that other intelligent bodies far away from one side of the abnormal intelligent body can understand the driving behavior of the automatic driving vehicle, avoidance is given in time, and the safety is improved.

In addition, the prompt information corresponding to the driving operation executed by the automatic driving vehicle is output through the output device, so that other intelligent agents can understand the driving operation of the automatic driving vehicle more, corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved.

In addition, when the abnormal intelligent bodies exist in the range of the current autonomous vehicle, the abnormal intelligent body notification message is sent to the management server connected with the autonomous vehicle through the wireless network, the help of the management server can be acquired in time, the abnormal intelligent bodies are processed, the abnormal intelligent bodies are prevented from continuously influencing the running of other vehicles, and the abnormal intelligent body notification message can also be sent to other intelligent bodies through the management server, so that the other intelligent bodies know the road sections where the abnormal intelligent bodies exist in advance, the running is avoided, the possible risks are avoided, and the safety of the autonomous vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow diagram illustrating an active interaction process in accordance with an exemplary embodiment;

FIG. 2 is a flow diagram illustrating the identification of surrounding agents in accordance with an exemplary embodiment;

FIG. 3 is a flow diagram illustrating an assessment of environmental risk according to an exemplary embodiment;

FIG. 4 is a flow diagram illustrating a status prompting method in accordance with an exemplary embodiment;

FIG. 5 is a schematic diagram illustrating a prompt message in accordance with an illustrative embodiment;

FIG. 6 is a flow diagram illustrating a method of prompting according to an exemplary embodiment;

FIG. 7 is a diagram illustrating a prompt message in accordance with an illustrative embodiment;

FIG. 8 is a flow diagram illustrating a hinting method in accordance with an illustrative embodiment;

FIG. 9 is a schematic illustration of a prompt message shown in accordance with an exemplary embodiment;

FIG. 10 is a flow diagram illustrating a method of prompting according to an exemplary embodiment;

FIG. 11 is a schematic illustration of a prompt message shown in accordance with an exemplary embodiment;

FIG. 12 is a flow diagram illustrating a method of prompting according to an exemplary embodiment;

FIG. 13 is a diagram illustrating a prompt message in accordance with an illustrative embodiment;

FIG. 14 is a flow diagram illustrating a hinting method in accordance with an illustrative embodiment;

FIG. 15 is a flow diagram illustrating another prompting method in accordance with an exemplary embodiment;

FIG. 16 is a schematic illustration of a prompt message shown in accordance with an exemplary embodiment;

FIG. 17 is a block diagram illustrating a prompting device according to an exemplary embodiment;

FIG. 18 is a block diagram illustrating another prompting device, according to an exemplary embodiment;

FIG. 19 is a schematic diagram illustrating the structure of an autonomous vehicle according to an exemplary embodiment.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The number of vehicles running on a road is large, the characters of vehicle drivers are different, behaviors are different, and driving operations executed by the vehicles are different. When the automatic driving vehicle interacts with other vehicles, the driving operation of the automatic driving vehicle needs to be reasonably decided, and the intention of the automatic driving vehicle needs to be clearly expressed so as to avoid the misjudgment of the automatic driving vehicle by other vehicles. In addition, the autonomous driving vehicle also needs to prompt abnormal driving operations of other vehicles in time, thereby reducing risk factors.

The current automated driving scheme focuses on decision-making, planning and control of driving operations inherent in an automated driving vehicle, so that the automated driving vehicle can safely and effectively run under different road conditions. However, these driving operations are not transparent to other vehicles, and thus a misunderstanding is inevitably generated.

For example, the heavy-duty trailer is large in size and relatively slow in lane changing process, and a vehicle located behind the heavy-duty trailer may understand that the heavy-duty trailer slowly changes lanes as avoiding of the vehicle behind the heavy-duty trailer, and then the vehicle runs fast in a target lane of the heavy-duty trailer, so that the vehicle behind the heavy-duty trailer may collide with the heavy-duty trailer, and a large potential safety hazard is caused. Alternatively, the driver may cause the vehicle to deviate from the center of the lane due to fatigue driving, or to travel slowly in a fast lane, or to attempt to forcibly cut in front of the autonomous vehicle. At the moment, the automatic driving vehicle needs to give a prompt in time to warn the vehicle, so that risk factors are avoided. Furthermore, autonomous vehicles, particularly heavy trucks, may affect the field of view of other vehicles, and if the autonomous vehicle is able to give the necessary reminders to other vehicles with a obscured field of view, the other vehicles' understanding of the behavior of the autonomous vehicle can be enhanced.

In order to solve the above problems, it is necessary for an autonomous vehicle to actively interact with other vehicles by comprehensively using various means. This interaction is both an explicit expression of the ideas, plans, and actions of the autonomous vehicle, and an intention to assist other vehicles in understanding the surrounding situation and the autonomous vehicle.

In the related scheme, the vehicle usually adopts a passive response type interactive mode, for example, other vehicles forcibly pass through a target lane of the vehicle in the lane changing process, the vehicle passively cancels the lane changing, and a turn lamp is turned off to ensure safety, but necessary reminding and warning are not actively performed on other vehicles before canceling the lane changing. When the vehicle runs at risk at the other side, the vehicle often needs to borrow the lane from the other side or even change the lane to avoid the risk. At this time, a general scheme is to turn on a turn signal and wait for a lane change time, but the vehicle in a target lane usually ignores the turn signal of the vehicle and does not avoid the vehicle because the motive of the vehicle is not understood, so that the vehicle cannot avoid the risk in time.

In summary, most of the current implementation schemes for interacting with other vehicles are passive response type, and the current field of automatic driving lacks an overall scheme for systematically interacting with other vehicles.

In the embodiment of the application, a systematic solution is provided for the active interaction problem between the autonomous driving vehicle and other intelligent agents in the environment in the driving process. The intelligent body comprises all the individuals or groups with intelligence and capable of making decisions and actions according to various perception information. For example, an agent in a traffic environment is mainly a human being, and includes a driver, a pedestrian, an engineering worker, a service person in a specific scene, and the like, and may further include other autonomous vehicles.

The difference in behavior of a common vehicle mainly means that drivers driving the vehicle have different ideas, different driving powers, and different performances of the vehicle. And special vehicles, engineering operators and scene-specific service personnel often have special behavior patterns and specifications. While pedestrian behavior is more random than other human agents. In general, human behavior is generally predictable, while other autonomous vehicle behaviors can vary greatly.

To solve the problem of active interaction with other agents, the following sub-problems need to be solved: (1) what timing to interact; (2) who interacted with; (3) how to interact; (4) how to process the feedback after the interaction. A solution to the above problem will be specifically developed later.

Referring to fig. 1, the active interaction process proposed in the embodiment of the present application includes the following steps:

(1) identifying surrounding agents

In the embodiment of the application, the automatic driving vehicle can identify surrounding intelligent agents by utilizing intelligent agent classification and abnormal behavior discrimination, so as to guide the active interaction process. Different classes of agents have different behavior capabilities and behavior patterns, and behaviors that exceed their general capabilities and patterns are abnormal behaviors.

As shown in fig. 2, the flow of identifying surrounding agents is that an autonomous vehicle collects multi-sensor information via a plurality of sensors arranged, identifies obstacles based on the multi-sensor information, can identify nearby obstacles, classifies the identified obstacles using an agent classification technique to determine the types of agents existing around the vehicle, and then tracks the agents, predicts the behavior of the agents, and identifies whether the agents are abnormal behavior based on the behavior of the agents.

(2) Assessing environmental risks

The process of evaluating the environmental risk is shown in fig. 3, the automatic driving vehicle collects environmental information through multiple sensors, so that a current road structure is obtained, the road structure is reconstructed, and a passable road area is determined by using the reconstructed road structure. And determining an area with a current road structure inconsistent with a known road structure, carrying out scene identification on the area, determining scenes of the area, such as a construction scene, a vehicle fault scene, a road shielding scene and the like, and evaluating the traffic risk of the area.

(3) Selecting interaction opportunities

The autonomous vehicle detects the state of the autonomous vehicle or the state of other agents and selects an appropriate interaction opportunity based on the detected state information.

(4) And (3) scheduling interaction means: the autonomous vehicle is equipped with an output device comprising at least one of a display screen, a speaker, or a notification light. The autonomous vehicle outputs information matching the type of state of the autonomous vehicle via a configured output device.

(5) And (3) collecting interactive feedback: the other agents can feed back the driving operation of the automatic driving vehicle, and the automatic driving vehicle collects the information of the other agents through the configured multiple sensors, so that the behaviors of the other agents are determined.

(6) Adjusting the autonomous vehicle behavior: the autonomous vehicle replans its operation based on the detected behavior of the other agents. The autonomous vehicle performs a parking operation or deceleration avoidance, for example, when the autonomous vehicle detects that other agents occupy the lane of the autonomous vehicle.

As shown in fig. 1, through the identification of surrounding agents, the assessment of environmental risks, the autonomous vehicle has a complete understanding of the environmental conditions, and then how to interact with other agents by active interaction means. The active interactive process includes several steps of selecting interactive time, dispatching interactive means, collecting interactive feedback and regulating automatic driving vehicle behavior. The application divides the interaction opportunity into five categories: a) prompting a state of the autonomous vehicle; b) avoiding special vehicles; c) avoiding a dangerous environment; d) the risk of meeting is reduced; e) and an abnormal intelligent agent is warned, and different interaction occasions can occur simultaneously. The active interaction process at different occasions will be explained separately later.

The first interaction mode is as follows: the status of the autonomous vehicle is prompted.

FIG. 4 is a flow chart illustrating a status prompting method, according to an exemplary embodiment, for use with an autonomous vehicle, as shown in FIG. 4, the method comprising:

401. the autonomous vehicle detects current state information of the autonomous vehicle in real time.

In the embodiment of the application, the automatic driving vehicle detects the current state information of the automatic driving vehicle in real time, further determines the state type of the automatic driving vehicle according to the state information, and outputs the prompt information corresponding to the state type according to the state type.

Autonomous vehicles may include, among other vehicles, autonomous cars, autonomous trucks, autonomous motorcycles, and the like.

The state information of the autonomous vehicle is used to indicate a state of the autonomous vehicle. The status information includes a running speed, a running distance, a remaining oil amount, an operation status of each component, an on-off status of a warning lamp, and the like of the autonomous vehicle.

The parts in the automatic driving vehicle comprise an engine, a chassis and vehicle body accessories, wherein the vehicle body accessories comprise a vehicle networking wireless device, a sound receiver, a mechanical whistle or an electronic whistle, an oil tank, tires, a vehicle shell, a vehicle door, vehicle glass, a vehicle mirror, a license plate frame, a seat and seat accessory, a vehicle bearing, an armrest, a handle, a cab and cab accessory, an air bag, a safety belt, a glass lifter, an antenna, a windscreen wiper, a silencer, a loudspeaker, a vehicle sealing strip bumper, a luggage box, an exhaust pipe and the like. Autonomous vehicles may detect the operating status of various components.

The combination of a software system and a hardware system is required for realizing automatic driving of the automatic driving vehicle, and the software system comprises a sensing module, a positioning module and a decision module. The sensing module and the positioning module identify and classify other intelligent agents, the decision-making module judges whether the other intelligent agents are special vehicles or not, meet with automatic driving vehicles or not, and are abnormal or not according to the behaviors of the other intelligent agents, and then the other intelligent agents are interacted by an active interaction means. The hardware system includes components equipped with the autonomous vehicle for interacting with other agents, including warning lights, sirens, display screens, speakers, internet-of-vehicles wireless devices, and the like.

402. The autonomous vehicle determines a status type to which the status information belongs.

And the automatic driving vehicle determines whether the automatic driving vehicle has automatic driving capability and side parking capability according to each detected state information, and further determines the state type of the automatic driving vehicle, so that prompt information corresponding to the state type is output through an output device of the automatic driving vehicle.

In one possible implementation, the condition that the state information should satisfy when the autonomous vehicle has the autonomous driving capability is preset by the autonomous vehicle, and when the autonomous vehicle detects the state information, whether the state information satisfies the preset condition is determined, and then whether the autonomous vehicle has the autonomous driving capability is determined. For example, if the autonomous vehicle is set in advance under the door closing condition and the autonomous vehicle has the autonomous capability, the autonomous vehicle detects the state information of the autonomous vehicle, detects that the door of the autonomous vehicle is not closed, and determines that the autonomous vehicle does not have the autonomous capability because the predetermined condition is not satisfied.

The side parking capability refers to the capability of the autonomous vehicle to park after the autonomous vehicle is able to travel from the current position to the edge of the current road, for example, the autonomous vehicle may travel a short distance to the edge of the current road in a lane located on one side of the road. Alternatively, the autonomous vehicle is currently located in a lane in the middle of the road, and a lane change operation may be performed so as to reach the edge of the current road.

The automatic driving vehicle presets the condition that the state information should meet when having the ability to stop at the side, detects the state information, judges whether the state information meets the preset condition, and then determines whether the automatic driving vehicle has the ability to stop at the side. For example, when the automatic driving vehicle is preset that the remaining amount of fuel is not less than the first preset threshold but not more than the second preset threshold, the automatic driving vehicle has the parking near capability but does not have the automatic driving capability, the automatic driving vehicle detects the state information of the automatic driving vehicle, detects that the remaining amount of fuel of the automatic driving vehicle is less than the first preset threshold, and does not satisfy the preset condition, and thus determines that the automatic driving vehicle does not have the parking near capability.

The automatic driving vehicle divides the state types of the automatic driving vehicle into a normal state type, a first fault state type and a second fault state type according to whether the automatic driving vehicle has automatic driving capability and whether the automatic driving vehicle has the capability of parking at the side.

The normal state type indicates that the autonomous vehicle has no fault and can continue to travel without intervening in the driving operation of the autonomous vehicle. When the state information indicates that the autonomous vehicle has the autonomous driving capability, the state type is determined to be a normal state type.

The first fault status type indicates that the autonomous vehicle has a primary fault that may affect normal driving of the autonomous vehicle, but may still be parked alongside. And when the state information indicates that the automatic driving vehicle does not have the automatic driving capability but has the side parking capability, determining that the state type is the first fault state type.

The second fault status type indicates that the autonomous vehicle has a relatively severe fault and does not have the ability to park while leaning. And when the state information indicates that the automatic driving vehicle does not have the automatic driving capability and the side parking capability, determining that the state type is a second fault state type.

It should be noted that, in the embodiment of the present application, the status types are only divided into the normal status type, the first failure status type and the second failure status type according to whether the autonomous vehicle has the autonomous driving capability and the parking capability, and in another embodiment, the status types may be further divided according to other criteria.

It should be noted that in the embodiment of the present application, it is determined whether the autonomous vehicle has the autonomous driving capability and the side parking capability only by using the state information of the autonomous vehicle, and then the state type of the autonomous vehicle is determined, and in another embodiment, the state type of the autonomous vehicle may be determined by using another method.

The status information may include information in multiple dimensions, such as travel speed, opening and closing states of doors, temperature of the vehicle, and the like. In one possible implementation manner, the autonomous driving vehicle establishes a corresponding relationship between state information of multiple dimensions and a state type, and when any state information is acquired, the corresponding relationship is queried to acquire the state type corresponding to the state information.

The automatic driving vehicle establishes priorities of a normal state type, a first fault state type and a second fault state type in advance, and the priorities of the three state types are sequentially increased. And selecting the state type with higher priority from the plurality of determined state types when the state types determined according to the state information of different dimensions of the automatic driving vehicle are different.

For example, the autonomous vehicle determines that the autonomous vehicle is in a normal state according to the state information that the door is closed, determines that the autonomous vehicle is in a first fault state according to the state information that the temperature of the vehicle is higher than a preset temperature, and determines that the state type of the autonomous vehicle is in the first fault state when the autonomous vehicle is determined to be in the normal state type and the first fault state type according to the two state information because the preset normal state type, the first fault state type, and the second fault state type are sequentially increased in priority, and the first fault state is higher in priority than the normal state.

403. And when the state type is the normal state type, outputting prompt information corresponding to the normal state type through output equipment of the automatic driving vehicle.

The autonomous vehicle is configured with an output device comprising at least one of a display screen, a speaker, a siren, or a warning light. The number of the display screens can be one or more, the facing directions can comprise the front, the rear, the left side, the right side and the top, and the function of displaying information in the directions is achieved. And the display screen may include various types of display screens such as a subtitle screen, a video screen, and the like. The loudspeaker can be one or more, and can be installed on the roof or the side. The siren may include a mechanical or electronic siren, etc. The prompting lamp comprises a steering lamp, a fog lamp, a clearance lamp and the like.

The automatic driving vehicle can establish a corresponding relation between the normal state type and the prompt information, when the automatic driving vehicle determines that the state information belongs to the normal state type, the corresponding relation is inquired to obtain the prompt information corresponding to the normal state type, and the prompt information corresponding to the normal state type is output through the output equipment of the automatic driving vehicle.

In a possible implementation manner, the outputting, by the output device, the prompt information corresponding to the normal state type may include at least one of:

(1) and aiming at the display screen, when the automatic driving vehicle determines that the state type to which the current state information belongs is the normal state type, displaying first prompt information through the display screen, wherein the first prompt information is used for prompting the automatic driving vehicle to normally run.

Through configuration of the display screen, in the running process of the automatic driving vehicle, the display screen of the automatic driving vehicle displays first prompt information, and when other intelligent agents check the first prompt information of the automatic driving vehicle, the normal running of the current automatic driving vehicle can be determined, and no fault exists.

In one possible implementation, the first prompt message may include text information or picture information, for example, the text information may be "i'm all is now normal", and the picture information may be any picture that can reflect that the autonomous vehicle is driving normally.

In one possible implementation, an autonomous vehicle is configured with multiple display screens, each facing a different direction, each of which may display different information. For example, the autonomous vehicle is provided with 5 display screens, each display screen faces to the front, the rear, the left side, the right side and the top respectively, and the prompting information displayed by the autonomous vehicle can be viewed by the intelligent agent in the front, the rear, the left side, the right side and the top of the autonomous vehicle.

(2) And for the loudspeaker, when the automatic driving vehicle determines that the state type to which the current state information belongs is the normal state type, playing second prompt information through the loudspeaker, wherein the second prompt information is used for prompting the automatic driving vehicle to normally run.

The second prompt information is voice information, and the loudspeaker of the automatic driving vehicle plays the second prompt information in the driving process of the automatic driving vehicle by configuring the loudspeaker, so that other intelligent agents can listen to the second prompt information and know that the automatic driving vehicle normally drives currently.

In one possible implementation mode, one or more loudspeakers can be arranged, the loudspeakers can be arranged on the top of the automatic driving vehicle, the sound diffusion effect is better, and the loudspeakers can also be arranged in front of, behind, on the left side or on the right side of the vehicle.

(3) Aiming at the prompting lamp, in the process that the automatic driving vehicle executes the driving operation, the prompting lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly determine the driving operation executed by the automatic driving vehicle. For example, the driving operation currently performed by the autonomous vehicle may be straight running, turning, lane changing, reversing, accelerating, braking, parking, etc., and the autonomous vehicle may light a hazard warning flash (double flashing light) when parking, and may light a turn light when changing lanes.

(4) Aiming at the prompting lamp, in the process that the automatic driving vehicle executes the driving operation, the current environment information can be detected, and the prompting lamp corresponding to the current environment information is lightened, so that other intelligent agents can clearly determine the position of the automatic driving vehicle.

The environmental information may include temperature, humidity, rainfall, haze index, and the like. For example, a fog light is lit in foggy weather and when the fog density is greater than a preset threshold, and a clearance light is lit in dark conditions or in conditions where the field of view is unclear.

In addition, the prompt information output by the autonomous vehicle may further include at least one of a current running speed of the autonomous vehicle, a currently performed driving operation, or a distance between the autonomous vehicle and the obstacle.

The driving operation currently executed by the automatic driving vehicle can be straight running, turning, lane changing, backing, accelerating, braking and the like. The autonomous vehicle may prompt any driving operation currently performed through a display screen or a speaker.

Alternatively, the autonomous vehicle presets dangerous driving operations, which may be high-speed driving, lane change, collision with another vehicle, too close to an obstacle, and the like. When it is detected that the autonomous vehicle is performing dangerous driving operation, prompt information corresponding to the dangerous operation may be output through the output device. Such as by a speaker to indicate to other vehicles that the autonomous vehicle is currently traveling too fast.

404. And when the state type is the first fault state type, outputting prompt information corresponding to the first fault state type through output equipment of the automatic driving vehicle.

The automatic driving vehicle can establish a corresponding relation between the first fault state type and the prompt information, when the automatic driving vehicle determines that the state information belongs to the first fault state type, the corresponding relation is inquired to obtain the prompt information corresponding to the first fault state type, and the prompt information corresponding to the first fault state type is output through the output equipment of the automatic driving vehicle.

In one possible implementation, outputting, by the output device, the prompt information corresponding to the first fault status type may include at least one of:

(1) and aiming at the display screen, when the automatic driving vehicle determines that the state type to which the current state information belongs is the first fault state type, displaying third prompt information through the display screen, wherein the third prompt information is used for prompting that the automatic driving vehicle has faults.

Through configuration of the display screen, the display screen of the automatic driving vehicle displays the third prompt information in the running process of the automatic driving vehicle, and when other intelligent agents check the third prompt information of the automatic driving vehicle, the current state type of the automatic driving vehicle can be determined to be the first fault state type.

In one possible implementation, the third prompt message may include text information or picture information, for example, the text information may be "i have trouble now", and the picture information may be any picture that can indicate that the autonomous vehicle has trouble.

In one possible implementation, an autonomous vehicle is configured with multiple display screens, each facing a different direction, each of which may display different information. For example, the autonomous vehicle is provided with 5 display screens, each display screen faces to the front, the rear, the left side, the right side and the top in five directions, so that the intelligent agents in the front, the rear, the left side, the right side and the top of the autonomous vehicle can view the prompt messages of the autonomous vehicle in the five directions.

(2) And for the loudspeaker, when the automatic driving vehicle determines that the state type to which the current state information belongs is the first fault state type, playing fourth prompt information through the loudspeaker, wherein the fourth prompt information is used for prompting the automatic driving vehicle to stop at the side.

The fourth prompt message is voice message, and the loudspeaker of the automatic driving vehicle plays the fourth prompt message in the driving process of the automatic driving vehicle by configuring the loudspeaker, so that other intelligent agents can listen to the fourth prompt message and know that the automatic driving vehicle is currently parked at the side.

(3) For the vehicle whistle, when the state type of the automatic driving vehicle is the first fault state type, the whistle operation can be executed according to the first whistle rhythm.

The autonomous vehicle is provided with a mechanical whistle or an electronic whistle, and a whistle operation can be performed through the mechanical whistle or the electronic whistle. The autonomous vehicle can set the number of whistling cycles in each fixed period to determine the whistling rhythm, with different state types corresponding to different whistling rhythms. The period may be one second or one minute, etc.

In addition, the first blast rhythm may be a preset rhythm. Or the automatic driving vehicle may establish a corresponding relationship between the first fault state type and the whistle rhythm, and when the automatic driving vehicle determines that the state information belongs to the first fault state type, the corresponding relationship is queried to obtain the first whistle rhythm corresponding to the first fault state type, and the whistle operation is executed according to the first whistle rhythm corresponding to the first fault state type, so that other intelligent agents can know the current state of the automatic driving vehicle.

The autonomous vehicle may automatically perform a whistle operation or a whistle button may be provided on a steering wheel so that a driver may perform a whistle operation when pressing the whistle button.

(4) Aiming at the prompting lamp, in the process that the automatic driving vehicle executes the driving operation, the prompting lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly determine the driving operation executed by the automatic driving vehicle. For example, the driving operation currently performed by the autonomous vehicle may be straight running, turning, lane changing, reversing, accelerating, braking, parking, etc., and the autonomous vehicle may light a hazard warning flash (double flashing light) when parking, and may light a turn light when changing lanes.

(5) Aiming at the prompting lamp, in the process that the automatic driving vehicle executes the driving operation, the current environment information can be detected, and the prompting lamp corresponding to the current environment information is lightened, so that other intelligent agents can clearly determine the position of the automatic driving vehicle.

405. And after the automatic driving vehicle continues to run to the edge of the current road, executing parking operation. Execution continues at step 408.

And when the state type of the automatic driving vehicle is determined to be the first fault state type, the automatic driving vehicle does not have automatic driving capability but still has the capability of parking beside, and the automatic driving vehicle can continue to run to the edge of the current road and then executes parking operation.

406. And when the state type is the second fault state type, outputting prompt information corresponding to the second fault state type through output equipment of the automatic driving vehicle.

The automatic driving vehicle can establish a corresponding relation between the second fault state type and the prompt information, when the automatic driving vehicle determines that the state information belongs to the second fault state type, the corresponding relation is inquired to obtain the prompt information corresponding to the second fault state type, and the prompt information corresponding to the second fault state type is output through the output equipment of the automatic driving vehicle.

In one possible implementation, outputting, by the output device, the prompt information corresponding to the second fault status type may include at least one of:

(1) and aiming at the display screen, when the automatic driving vehicle determines that the state type to which the current state information belongs is the second fault state type, displaying fifth prompt information through the display screen, wherein the fifth prompt information is used for prompting that the automatic driving vehicle has serious faults.

Through the configuration of the display screen, the display screen of the automatic driving vehicle displays the fifth prompt message in the running process of the automatic driving vehicle, and when other intelligent agents check the fifth prompt message of the automatic driving vehicle, the current state type of the automatic driving vehicle can be determined to be the second fault state type.

In one possible implementation, the fifth prompting message may include text information or picture information, for example, the text information may be "i have serious fault now", and the picture information may be any picture that can show that the autonomous vehicle has serious fault.

(2) And for the loudspeaker, when the automatic driving vehicle determines that the state type to which the current state information belongs is the second fault state type, playing sixth prompt information through the loudspeaker, wherein the sixth prompt information is used for prompting the automatic driving vehicle to keep the vehicle distance.

The sixth prompt message is voice message, and the speaker of the automatic driving vehicle plays the sixth prompt message in the driving process of the automatic driving vehicle by configuring the speaker, so that other intelligent agents can listen to the sixth prompt message, and the distance between the intelligent agents and the automatic driving vehicle is kept.

(3) For the vehicle whistle, when the state type of the autonomous vehicle is the second fault state type, the whistle operation may be performed according to a second whistle rhythm.

In addition, the second blast rhythm may be a preset rhythm. Or the automatic driving vehicle may establish a corresponding relationship between the second fault state type and the whistle rhythm, and when the automatic driving vehicle determines that the state information belongs to the second fault state type, the corresponding relationship is queried to obtain the whistle rhythm corresponding to the second fault state type, and the whistle operation is executed according to the whistle rhythm corresponding to the second fault state type, so that other intelligent agents can know the current state of the automatic driving vehicle.

407. The autonomous vehicle performs a parking operation in the current lane.

When the state type of the automatic driving vehicle is detected to be the second fault state type, the automatic driving vehicle does not have automatic driving capability and does not have the capability of parking at the side, the automatic driving vehicle continues to keep driving in the current lane, and the automatic driving vehicle executes parking operation in the current lane after driving for a certain distance or directly executes parking operation in the current lane.

408. The automatic driving vehicle outputs prompt information corresponding to the type of the parking state through the output device.

The automatic driving vehicle can establish a corresponding relation between the parking state type and the prompt information, when the automatic driving vehicle determines that the state information belongs to the parking state type, the corresponding relation is inquired to obtain the prompt information corresponding to the parking state type, and the prompt information corresponding to the parking state type is output through the output equipment of the automatic driving vehicle.

In one possible implementation, the outputting, by the output device, the prompt information corresponding to the parking status type may include at least one of:

(1) and aiming at the display screen, when the automatic driving vehicle determines that the state type to which the current state information belongs is the parking state type, displaying parking prompt information and a parking identifier through the display screen, wherein the parking prompt information and the parking identifier are used for prompting the automatic driving vehicle to park.

By configuring the display screen, when the automatic driving vehicle parks, the display screen of the automatic driving vehicle displays parking prompt information and parking marks, and when other intelligent agents check the parking prompt information and the parking marks of the automatic driving vehicle, the state type of the current automatic driving vehicle can be determined to be the parking state type.

In one possible implementation, the parking prompt message may be "please note parking", and the parking identifier may be any identifier that can represent that the autonomous vehicle parks.

(2) And for the loudspeaker, when the automatic driving vehicle determines that the state type to which the current state information belongs is the parking state type, the parking prompt information is played through the loudspeaker and is used for prompting the automatic driving vehicle to park.

Through the configuration of the loudspeaker, in the driving process of the automatic driving vehicle, the loudspeaker of the automatic driving vehicle plays voice prompt information, so that other intelligent agents can listen to the voice prompt information and know the current state of the automatic driving vehicle.

In one possible implementation mode, one or more loudspeakers can be arranged, the loudspeakers can be arranged on the roof of the automatic driving vehicle, the sound diffusion effect can be better, the loudspeakers can also be arranged in the front, the rear or the right side of the vehicle, and the sound diffusion effect can be relatively poor.

(3) For the car horn, when the state type of the automatic driving vehicle is the parking state type, the horn operation can be executed according to the third horn rhythm.

In addition, the third blast rhythm may be a preset rhythm. Or, the automatic driving vehicle may establish a corresponding relationship between the parking state type and the whistle rhythm, and when the automatic driving vehicle determines that the state information belongs to the parking state type, the corresponding relationship is queried to obtain the whistle rhythm corresponding to the parking state type, and the whistle operation is executed according to the whistle rhythm corresponding to the parking state type, so that other intelligent agents can know the current state of the automatic driving vehicle.

In addition, the autonomous vehicle may establish a connection with the management server, log in to the management server, and report the location information and the status information to the management server. And the management server can also control the automatic driving vehicle, can send a control instruction to the automatic driving vehicle, and the automatic driving vehicle can execute corresponding driving operation according to the control instruction. The management personnel can remotely control the automatic driving vehicles through the control management server, and the overall management of one or more automatic driving vehicles is realized.

In one possible implementation, when it is determined that the state type is the first fault state type or the second fault state type during driving, the autonomous vehicle sends distress information to a management server connected to the autonomous vehicle through a wireless network, and the distress information is used for indicating that the autonomous vehicle is in fault. The management server receives the help-seeking information of the automatic driving vehicle, sends alarm information, and managers check the alarm information and timely rescue the automatic driving vehicle.

Wherein the autonomous vehicle can be configured with an internet of vehicles wireless device through which to communicate with other devices.

The distress message carries position information and state types of the automatic driving vehicle. Through the position information, the manager can clearly know the position of the automatic driving vehicle, and can know the fault condition of the automatic driving vehicle through the state type.

Wherein, sending out alarm information can include: the management server sends alarm information to the control terminal, the control terminal displays the alarm information, a manager holding the control terminal checks the alarm information, the alarm information carries position information of the automatic driving vehicle, the manager goes to the position of the automatic driving vehicle, drives the automatic driving vehicle to leave, and the automatic driving vehicle is maintained.

Optionally, the management server sends alarm information to the control terminal closest to the vehicle, and can notify the manager closest to the vehicle to rescue the vehicle in the fastest time.

Other intelligent agents can comprise intelligent equipment, such as a mobile phone, a computer, a wireless device of the internet of vehicles and the like, the intelligent equipment can be connected with the management server to log in the management server, the automatic driving vehicle reports the help-seeking information to the management server, the management server can forward the help-seeking information to the intelligent equipment which logs in the management server, the intelligent equipment obtains the help-seeking information of the automatic driving vehicle and knows the position information and the state information of the automatic driving vehicle, and a user of the intelligent equipment can go to the position of the automatic driving vehicle to maintain the automatic driving vehicle. Or the risk of the road section where the automatic driving vehicle is located can be predicted so as to facilitate detour or deceleration driving in advance, the traffic safety is improved, and traffic accidents are reduced.

As shown in fig. 5, the status types of the autonomous vehicle are divided into three types: normal, fault and serious fault, and the prompting modes under three state types are respectively given.

Firstly, when the automatic driving vehicle normally runs, the text prompt information can be displayed through the display screens in five directions, the dangerous driving operation of the automatic driving vehicle is prompted through the loudspeaker, and the prompt lamp corresponding to the driving operation or the environment information is lightened.

And secondly, when the automatic driving vehicle breaks down, the automatic driving vehicle can drive to the edge of the road and stop, in the driving process, text prompt information is displayed through display screens in five directions, the automatic driving vehicle is prompted to stop at the side through a loudspeaker, a whistle warning is performed in a rhythmic mode, a prompt lamp corresponding to driving operation or environment information is lightened, and distress information is sent through a wireless network. After parking, text prompt information is displayed through display screens in five directions, the automatic driving vehicle is prompted to park through a loudspeaker, a whistle warning is performed rhythmically, a prompt lamp corresponding to a parking state and a prompt lamp corresponding to environmental information are lightened, and distress information is sent through a wireless network.

Again, when a serious malfunction occurs in the autonomous vehicle, the autonomous vehicle keeps traveling in the current lane and then stops in the lane. In the driving process, text prompt information is displayed through display screens in five directions, other vehicles are prompted through a loudspeaker to keep the distance between the vehicles, whistling warning is conducted rhythmically, a prompt lamp corresponding to driving operation or environment information is lightened, and distress information is sent through a wireless network. After parking in the current lane, text prompt information is displayed through a display screen in five directions, the automatic driving vehicle is prompted to park through a loudspeaker, a whistle warning is performed rhythmically, a prompt lamp corresponding to the parking state and a prompt lamp corresponding to the environment information are lightened, and distress information is sent through a wireless network.

According to the method provided by the embodiment of the application, the current state information of the automatic driving vehicle is detected in real time, the state type of the current state information of the automatic driving vehicle is determined, the prompt information corresponding to the state type is output through the output device of the automatic driving vehicle, so that other intelligent agents can accurately and fully understand the current state of the automatic driving vehicle, the operation can be executed according to the current state of the automatic driving vehicle, the condition that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, whether the automatic driving vehicle has the automatic driving capability and the side parking capability or not is determined through the state information of the automatic driving vehicle, so that the state type of the automatic driving vehicle is determined, the division modes of different state types are determined, and the corresponding prompt information can be conveniently output according to the state type subsequently.

In addition, the state types of the automatic driving vehicles of other intelligent agents are prompted through the display screen, the loudspeaker, the prompting lamp or the vehicle whistle, specific prompting modes and prompting contents are clear, the other intelligent agents can clearly know the state types of the automatic driving vehicles, corresponding operations can be executed according to the states of the automatic driving vehicles, the occurrence probability of traffic accidents can be reduced, and the safety of the automatic driving vehicles is improved.

In addition, when the automatic driving vehicle determines that the state type is the first fault state type in the driving process, the automatic driving vehicle continues to drive to the edge of the current road and then executes parking operation, and when the automatic driving vehicle determines that the state type is the second fault state type in the driving process, the automatic driving vehicle executes parking operation in the current lane and outputs prompt information corresponding to the parking state type through output equipment, so that the parking state type of the automatic driving vehicle is expanded, the function is more complete, and the safety of the automatic driving vehicle is improved.

In addition, when the state type of the automatic driving vehicle is determined to be the first fault state type or the second fault state type in the driving process, the distress message is sent to a management server connected with the automatic driving vehicle through a wireless network, the distress message is used for indicating that the automatic driving vehicle breaks down, the help of the management server can be requested in time, and the state type of the automatic driving vehicle can also be sent to other intelligent bodies through the management server, so that the other intelligent bodies can know the state of the automatic driving vehicle, possible risks are avoided, and the safety of the automatic driving vehicle is improved.

The second interaction mode is as follows: and prompting the dangerous area in the range of the automatic driving vehicle.

FIG. 6 is a flow chart illustrating a method of prompting for an autonomous vehicle, as shown in FIG. 6, according to an exemplary embodiment, the method comprising:

601. the autonomous vehicle collects environmental information currently within range and performs

steps

602 or 608.

Autonomous vehicles may include autonomous cars, autonomous trucks, autonomous motorcycles, and the like. Components in autonomous vehicles include engines, chassis, and body accessories including internet of vehicles wireless devices, sound receivers, mechanical or electronic horns, fuel tanks, tires, car covers, doors, car glass, mirrors, license plate carriers, seat and seat accessories, car bearings, armrests, handles, cab and cab accessories, airbags, safety belts, window lifters, antennas, wipers, mufflers, horns, weather-stripping bumpers, luggage, exhaust pipes, and the like.

In the embodiment of the application, considering that the automatic driving vehicle may encounter a dangerous area in the driving process, when the dangerous area is located in a lane where the automatic driving vehicle is currently located and in front of the automatic driving vehicle, the driving of the automatic driving vehicle is obstructed, and the automatic driving vehicle needs to change a driving route or perform parking operation so as to avoid traffic accidents.

Therefore, in order to detect a dangerous area in time and realize safe automatic driving, the automatic driving vehicle needs to acquire environmental information in the current range during the driving process. For example, the autonomous vehicle may be configured with a collection device by which environmental information of the environment in which the autonomous vehicle is currently located is collected.

The range in which the autonomous vehicle is currently located refers to a range in which the autonomous vehicle can collect the environmental information, and may be determined according to a maximum distance at which the collection device of the autonomous vehicle collects the environmental information, and may be a circular region formed by taking the autonomous vehicle as a center of a circle and taking the maximum distance at which the environmental information is collected as a radius, or a sector region formed by taking the autonomous vehicle as a center of a circle, taking the maximum distance at which the environmental information is collected as a radius and taking a collection angle of the collection device as a vertex angle, or the like.

This collection equipment can include at least one item in camera, laser radar, millimeter wave radar, infrared sensor, humidity transducer or the temperature sensor, can gather the environmental information of different grade type through different collection equipment. For example, the environmental information may include temperature, humidity, road flatness, width of a passable area of the road, distance between an obstacle and the autonomous vehicle, contour information of nearby vehicles, and the like.

602. And when the automatic driving vehicle determines that the preset dangerous area exists in the first lane where the automatic driving vehicle is located at present according to the environmental information, re-determining the passing area, executing the step 603 or 605, and executing the step 607.

The preset dangerous area refers to an area which obstructs the traffic of vehicles, and can include an area where a fault vehicle is located, a road construction area or a road enclosed area and the like.

In one possible implementation manner, the preset dangerous area may be an area where the safe passing width is smaller than a preset lane width, and when the detected environmental information is that the front road passable width is smaller than the preset lane width, it is determined that the front is the preset dangerous area.

In another possible implementation manner, the autonomous vehicle may reconstruct a road structure according to road information included in the environment information, determine whether the reconstructed road structure is consistent with a road structure stored in the autonomous vehicle, determine an area in the road where the road structure changes if the reconstructed road structure is inconsistent with the road structure stored in the autonomous vehicle, perform scene recognition on the area, and determine a current scene of the area to determine whether the area is a preset dangerous area. For example, if the area is determined to be in a construction scene through scene recognition and temporarily not to pass through, the area is determined to be a preset dangerous area, or if the area is determined to be in a vehicle fault scene through scene recognition and not to pass through due to a traffic accident occurring in the area, the area is determined to be the preset dangerous area.

The automatic driving vehicle can determine a condition that the environmental information of the preset dangerous area should meet, when the automatic driving vehicle runs in the first lane and the environmental information is collected, whether the environmental information of the first lane meets the preset condition or not is judged, and when the environmental information meets the preset condition, the automatic driving vehicle is determined to have the preset dangerous area in the first lane where the automatic driving vehicle is located currently. And when the environmental information does not meet the preset condition, determining that no preset dangerous area exists in the first lane where the automatic driving vehicle is located currently.

Or the automatic driving vehicle determines the environmental characteristics corresponding to the environmental information of the preset dangerous area, when the automatic driving vehicle runs in the first lane and the environmental information of the first lane is collected, the environmental characteristics corresponding to the environmental information are obtained and matched with the environmental characteristics corresponding to the preset dangerous area, and when the similarity between the environmental characteristics and the environmental characteristics is higher than a preset threshold value, the automatic driving vehicle is determined to have the preset dangerous area in the first lane where the automatic driving vehicle is located currently. And when the similarity of the first lane and the second lane is not higher than a preset threshold value, determining that no preset dangerous area exists in the first lane where the automatic driving vehicle is located currently.

When the automatic driving vehicle determines that the preset dangerous area exists in the first lane, the passing area needs to be determined again in order to ensure safety.

For example, the autonomous vehicle may determine an area having a passable width larger than a preset lane width as the newly determined passage area, based on the collected environmental information.

In one possible implementation manner, the automatic driving vehicle determines that a preset dangerous area exists in a first lane where the automatic driving vehicle is located currently according to the environment information, determines the first lane where the automatic driving vehicle is located currently, detects a lane boundary, and determines a second lane adjacent to the first lane.

Since the first lane is adjacent to the second lane and a portion of the second lane is also located within a range in which the autonomous vehicle is currently located, the environmental information collected by the autonomous vehicle includes environmental information of the first lane and environmental information of the second lane, and a lane boundary may be detected and the second lane may be determined according to the collected environmental information.

Further, after the autonomous vehicle determines the second lane, it may be determined whether the second lane has a preset danger zone. The manner of determining whether the second lane has the preset danger zone is similar to the manner of determining whether the first lane has the preset danger zone, and is not described herein again. And when the second lane does not have the preset dangerous area, determining that the second lane is the passing area of the automatic driving vehicle. When the preset danger area also exists in the second lane, the second lane is not determined as the passing area.

In another possible implementation manner, the autonomous vehicle determines that a preset dangerous area exists in the first road where the autonomous vehicle is located currently according to the environment information, and at this time, the autonomous vehicle may determine whether a passable area exists in other spaces outside the current road according to the environment information. For example, a boundary line between a road and a free space road surface other than the road is detected, a passable area width of the free space road surface is determined, and when the passable area width is larger than a width of the autonomous vehicle, the passable area of the free space road surface is determined as a passage area of the autonomous vehicle.

Through the two modes, two types of passing areas can be provided, wherein one is a second lane adjacent to the first lane in the current road, and the other is a free space road surface outside the road. It should be noted that the priority of the lane is higher than that of the free space road surface, that is, when it is detected that both the lane can be used as a passable area and the free space road surface which is not located in any lane can be used as a passable area, the lane is preferentially selected as the passable area.

Depending on the type of traffic zone determined, the following steps 603 or 605 may be performed.

603. When the passage area is a second lane different from the first lane, the autonomous vehicle travels from the first lane to the second lane.

And when the automatic driving vehicle detects that a preset dangerous area exists in front of the lane where the automatic driving vehicle is located and the newly determined passing area is a second lane different from the first lane, executing lane changing operation and driving from the first lane to the second lane.

604. During the course of traveling from the first lane to the second lane, the autonomous vehicle outputs a prompt corresponding to a lane change operation through the output device.

The automatic driving vehicle can establish a corresponding relation between the lane changing operation and the prompt information, when the automatic driving vehicle executes the lane changing operation, the corresponding relation is inquired to obtain the prompt information corresponding to the lane changing operation, and the prompt information corresponding to the lane changing operation is output through the output equipment of the automatic driving vehicle.

In one possible implementation, the outputting, by the output device, the prompt information corresponding to the lane change operation may include at least one of:

(1) for the display screen, when the autonomous vehicle performs a lane change operation, lane change prompting information for prompting the autonomous vehicle to change lanes is displayed through the display screen.

By configuring the display screen, the display screen of the automatic driving vehicle displays the lane change prompt information in the process of lane change of the automatic driving vehicle, and when other intelligent agents check the lane change prompt information of the automatic driving vehicle, the current automatic driving vehicle can be determined to be changing lanes.

In one possible implementation, the lane change notification message may include textual or pictorial information, for example, the textual information may be "i changing lanes" and the pictorial information may be any picture that can indicate that the autonomous vehicle is changing lanes.

(2) For the loudspeaker, when the automatic driving vehicle executes lane changing operation, lane changing prompt information is played through the loudspeaker, and the lane changing prompt information is used for prompting the automatic driving vehicle to change lanes.

The lane change prompt information is voice information, and the speaker of the automatic driving vehicle plays the lane change prompt information in the process of changing lanes of the automatic driving vehicle by configuring the speaker, so that other intelligent agents can listen to the lane change prompt information and know the current lane change of the automatic driving vehicle.

(3) And aiming at the prompting lamp, in the process that the automatic driving vehicle carries out lane changing driving operation, the steering lamp corresponding to the currently carried lane changing driving operation is lightened, so that other intelligent agents can make sure that the automatic driving vehicle changes lanes.

Wherein, the warning light comprises a turn light, a fog light, a clearance light and the like.

After the lane change to the second lane, the autonomous vehicle may run in the second lane, and at this time, the autonomous vehicle does not need to input the prompt information corresponding to the lane change operation, but may also output the prompt information corresponding to the current state information of the autonomous vehicle or the currently executed driving operation.

605. When the passing area is not located in any lane, the autonomous vehicle travels from the first lane to the passing area.

606. During the process of driving from the first lane to the passing area and during the process of driving in the passing area, the automatic driving vehicle outputs prompt information for keeping the vehicle distance through the output device.

When the automatic driving vehicle detects that a preset dangerous area exists in front of the lane where the automatic driving vehicle is located, the newly determined passing area is located on the free space road surface and is not located in any lane, the automatic driving vehicle travels to the passing area from the first lane and then travels in the passing area.

In the process of driving the automatic driving vehicle from the first lane to the passing area and driving in the passing area, lane constraint is lacked, the probability of unknown risk is high, and safety is poor, so that in the process of driving from the first lane to the passing area and in the process of driving in the passing area, prompt information for keeping the distance between vehicles needs to be output through an output device.

In one possible implementation, the outputting of the prompt information corresponding to the maintained vehicle distance by the output device may include at least one of:

(1) aiming at the display screen, in the process that the automatic driving vehicle drives to the passing area from the first lane and drives in the passing area, the prompt information of keeping the vehicle distance is displayed through the display screen, and the prompt information of keeping the vehicle distance is used for prompting other intelligent agents to keep the vehicle distance with the automatic driving vehicle.

By configuring the display screen, the display screen of the automatic driving vehicle displays the prompt information of keeping the vehicle distance in the running process of the automatic driving vehicle, and when other intelligent agents check the prompt information of keeping the vehicle distance of the automatic driving vehicle, the current vehicle distance needing to be kept with the automatic driving vehicle can be determined.

In one possible implementation, the keeping distance prompt message may include text information or picture information, for example, the text information may be "please keep the distance", and the picture information may be any picture capable of representing the distance to be kept with the automatic driving vehicle.

(2) And aiming at the loudspeaker, in the process that the automatic driving vehicle drives to the passing area from the first lane and drives in the passing area, the prompt information for keeping the vehicle distance is played through the loudspeaker, and the prompt information for keeping the vehicle distance is used for prompting other intelligent agents to keep the vehicle distance with the automatic driving vehicle.

The prompt information of keeping the vehicle distance is voice information, and the loudspeaker of the automatic driving vehicle plays the prompt information of keeping the vehicle distance in the driving process of the automatic driving vehicle by configuring the loudspeaker, so that other intelligent agents can listen to the prompt information of keeping the vehicle distance and know that the vehicle distance is required to be kept between the automatic driving vehicle and the automatic driving vehicle at present.

607. And outputting prompt information corresponding to the preset dangerous area through output equipment of the automatic driving vehicle in the process of driving from the first lane to the passing area and in the process of driving in the passing area.

The prompt information corresponding to the preset dangerous area comprises a text with dangerous characters, a picture of the preset dangerous area, position information of the preset dangerous area, voice information for broadcasting the dangerous area, a dangerous area for whistling, and the like.

In a possible implementation manner, the outputting, by the output device, the prompt information corresponding to the preset danger zone may include at least one of the following:

(1) aiming at the display screen, when a preset dangerous area exists in a first lane where the automatic driving vehicle is located currently, first prompt information is displayed through the display screen, and the first prompt information is used for prompting the position of the preset dangerous area.

Through configuration of the display screen, in the running process of the automatic driving vehicle, the display screen of the automatic driving vehicle displays first prompt information, and when other intelligent agents check the first prompt information of the automatic driving vehicle, the fact that the first lane where the automatic driving vehicle is located currently has a preset dangerous area can be determined.

In a possible implementation manner, the first prompt message may include text information or picture information, for example, the text information may be "no road ahead", and the picture information may be any picture that can embody the position of the preset dangerous area.

In one possible implementation manner, displaying, by a display screen, first prompt information includes: displaying text information through a first display screen, wherein the text information is used for prompting the position of a preset dangerous area; displaying image information through a second display screen, wherein the image information is used for prompting that a dangerous area exists at present; the first display screen is a display screen on one side, close to the preset dangerous area, of the automatic driving vehicle, and the second display screen is a display screen on one side, far away from the preset dangerous area, of the automatic driving vehicle.

The automatic driving vehicle is close to preset danger area one side and keeps away from preset danger area one side and shows prompt information respectively, is close to the display screen display text message of preset danger area one side, and the position of preset danger area is reminded for other intelligent agents who are located near preset danger area one side know early that there is dangerous condition, dodge to give way or slow down and walk as early as possible, reduced traffic accident's emergence probability. The display screen far away from one side of the preset dangerous area displays image information to prompt that the dangerous area exists at present, so that other intelligent bodies far away from one side of the preset dangerous area can understand the driving behavior of the automatic driving vehicle, avoidance is given in time, and safety is improved.

(2) And for the loudspeaker, when the automatic driving vehicle determines that the first lane where the automatic driving vehicle is located has the preset dangerous area, playing second prompt information through the loudspeaker, wherein the second prompt information is used for prompting the position of the preset dangerous area.

The second prompt information is voice information, and the loudspeaker of the automatic driving vehicle plays the second prompt information in the driving process of the automatic driving vehicle by configuring the loudspeaker, so that other intelligent agents can listen to the second prompt information and know the position of a preset dangerous area.

(3) Aiming at the vehicle whistle, when a first lane where the automatic driving vehicle is located currently has a preset dangerous area, the whistle operation can be executed according to the whistle rhythm.

It should be noted that, the step 607 may be executed simultaneously with the step 603-. The prompt message may indicate that "there is a construction area ahead and a lane change is underway".

608. And determining that a preset dangerous area exists in the first lane where the vehicle is located at present according to the environmental information, and automatically driving the vehicle to execute parking operation when a passing area does not exist in the preset range.

When the preset dangerous area exists in the first lane where the automatic driving vehicle is located at present and the passing area does not exist in the preset range according to the environmental information, the automatic driving vehicle cannot pass through, and the automatic driving vehicle executes parking operation for ensuring safety.

609. The autonomous vehicle outputs a prompt message corresponding to the parking operation through an output device.

In one possible implementation, the outputting, by the output device, the prompt information corresponding to the parking operation may include at least one of:

(1) and aiming at the display screen, when the automatic driving vehicle executes the parking operation, displaying parking text prompt information and a parking mark through the display screen, wherein the parking text prompt information and the parking mark are used for prompting the automatic driving vehicle to park.

By configuring the display screen, when the automatic driving vehicle executes the parking operation, the display screen of the automatic driving vehicle displays the parking text prompt information and the parking mark, and when other intelligent agents check the parking text prompt information and the parking mark of the automatic driving vehicle, the current driving operation executed by the automatic driving vehicle can be determined to be the parking operation.

In one possible implementation, the parking text prompt message may be "please note parking", and the parking identifier may be any identifier that can represent that the autonomous vehicle parks.

(2) And aiming at the loudspeaker, when the automatic driving vehicle executes parking operation, the parking voice prompt information is played through the loudspeaker and is used for prompting the automatic driving vehicle to park.

Through the configuration of the loudspeaker, when the automatic driving vehicle executes parking operation, the loudspeaker of the automatic driving vehicle plays parking voice prompt information, so that other intelligent agents can listen to the parking voice prompt information to know that the automatic driving vehicle parks currently.

(3) For the warning light, when the automatic driving vehicle executes the parking operation, the warning light corresponding to the parking operation is lightened, so that other intelligent agents can clearly determine that the automatic driving vehicle parks.

In the embodiment of the application, the automatic driving vehicle can establish connection with the management server, log in the management server, and report the position information and the state information to the management server. And the management server can also control the automatic driving vehicle, can send a control instruction to the automatic driving vehicle, and the automatic driving vehicle can execute corresponding driving operation according to the control instruction. The management personnel can remotely control the automatic driving vehicles through the control management server, and the overall management of one or more automatic driving vehicles is realized.

In one possible implementation manner, when it is determined that the autonomous vehicle cannot pass through the automatic driving system during the driving process, the autonomous vehicle sends distress information to a management server connected with the autonomous vehicle through a wireless network, wherein the distress information is used for indicating that the autonomous vehicle cannot pass through. The management server receives the help-seeking information of the automatic driving vehicle, sends alarm information, and managers check the alarm information and timely rescue the automatic driving vehicle.

The distress message carries position information and state information of the automatic driving vehicle. Through the position information, the manager can clearly know the position of the automatic driving vehicle, and can know that the automatic driving vehicle cannot pass through the state information.

Wherein, sending out alarm information can include: the management server sends alarm information to the control terminal, the control terminal displays the alarm information, a manager holding the control terminal checks the alarm information, the alarm information carries position information of the automatic driving vehicle, and the manager goes to the position of the automatic driving vehicle to process the automatic driving vehicle.

Optionally, the management server sends alarm information to the control terminal closest to the vehicle, and may notify the manager closest to the vehicle to process the autonomous vehicle in the fastest time.

Other intelligent agents can comprise intelligent equipment, such as a mobile phone, a computer, a wireless device of the internet of vehicles and the like, the intelligent equipment can be connected with the management server to log in the management server, the automatic driving vehicle reports the help-seeking information to the management server, the management server can forward the help-seeking information to the intelligent equipment which logs in the management server, the intelligent equipment obtains the help-seeking information of the automatic driving vehicle and knows the position information and the state information of the automatic driving vehicle, and a user of the intelligent equipment can go to the position of the automatic driving vehicle to process a preset dangerous area. Or the situation that the automatic driving vehicle cannot pass through the preset dangerous area on the road section where the automatic driving vehicle is located can be predicted, so that the automatic driving vehicle can detour in advance, the passing safety is improved, and traffic accidents are reduced.

In the embodiment of the application, the current state information of the automatic driving vehicle can be detected in real time in the running process of the automatic driving vehicle, and the prompt information corresponding to the state information is output through the output equipment. And the process may be executed in parallel in the process of executing 601-609 described above.

Wherein the state information of the autonomous vehicle is used to indicate a state of the autonomous vehicle. The status information includes a running speed, a running distance, a remaining oil amount, an operation status of each component, an on-off status of a warning lamp, and the like of the autonomous vehicle.

Wherein, through the output device, outputting the prompt information corresponding to the status information, which may include at least one of:

(1) in the process of executing the driving operation by the automatic driving vehicle, the prompting lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly determine the driving operation being executed by the automatic driving vehicle. For example, the driving operation currently performed by the autonomous vehicle may be straight running, turning, lane changing, reversing, accelerating, braking, parking, etc., and the autonomous vehicle may light a hazard warning flash (double flashing light) when parking, and may light a turn light when changing lanes.

(2) In the process of executing driving operation by the automatic driving vehicle, the current environmental information can be detected, and the prompt lamp corresponding to the current environmental information is lightened, so that other intelligent agents can clearly determine the position of the automatic driving vehicle.

As shown in fig. 7, the traffic areas are determined according to the autonomous vehicle, and divided into three cases of a lane, a free space road surface, and a no-traffic area, and the manner of presentation is given in each of the three cases with the autonomous vehicle.

Firstly, when the passing area is the lowest-risk lane, the vehicle is automatically driven to avoid the preset dangerous area, and the vehicle is driven to the lane from the current lane change. In the lane changing process, displaying lane changing prompt information through a display screen, prompting the position of a dangerous area through the display screen close to one side of the dangerous area, and displaying a dangerous image through the display screen far away from one side of the dangerous area; prompting other vehicles to keep the distance and prompting the position of a preset dangerous area through a loudspeaker; turning on a turn light corresponding to lane change operation; the alarm is sounded rhythmically.

Secondly, when the passing area is a free space road surface, the automatic driving vehicle runs on the free space road surface, the prompt information of the keeping distance is displayed through the display screen, the position of the dangerous area is prompted through the display screen close to one side of the dangerous area, and the dangerous image is displayed through the display screen far away from one side of the dangerous area; prompting other vehicles to keep the distance and prompting the position of a preset dangerous area through a loudspeaker; the alarm is sounded rhythmically.

Thirdly, when no passing area exists, the automatic driving vehicle stops in the road, parking text prompt information and a parking mark are displayed through the display screen to prompt the automatic driving vehicle to stop, the position of the dangerous area is prompted through the display screen close to one side of the dangerous area, and a dangerous image is displayed through the display screen far away from one side of the dangerous area; prompting the position of a preset dangerous area through a loudspeaker; whistling and warning are performed rhythmically; and send distress messages over the wireless network.

According to the method provided by the embodiment of the application, the passing area is determined again by acquiring the environmental information in the current range and determining that the preset dangerous area exists in the current first lane according to the environmental information, and in the process of driving from the first lane to the passing area and in the passing area, the prompt information corresponding to the preset dangerous area is output through the output device, so that other intelligent bodies can know the existence of the preset dangerous area, the driving operation of the automatic driving vehicle is understood better, the corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent bodies conflicts with the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, the prompt information is displayed through the display screen, the prompt information is broadcasted through the loudspeaker in a voice mode, the rhythmic whistle is given, the prompt channels are diversified, the probability that other intelligent bodies receive the prompt information can be improved, the condition that the prompt information cannot be output due to the fact that a certain output device is out of order is avoided, then traffic accidents are caused, and the automatic driving safety is improved.

In addition, the prompt messages are respectively displayed on one side of the automatic driving vehicle, which is close to the preset dangerous area, and one side of the automatic driving vehicle, which is far away from the preset dangerous area, the display screen, which is close to one side of the preset dangerous area, displays text messages to prompt the position of the preset dangerous area, so that other intelligent bodies, which are located on one side of the preset dangerous area, can know the dangerous condition as early as possible, avoid yielding or slow down, and the occurrence probability of traffic accidents is reduced. The display screen far away from one side of the preset dangerous area displays image information to prompt that the dangerous area exists at present, so that other intelligent bodies far away from one side of the preset dangerous area can understand the driving behavior of the automatic driving vehicle, avoidance is given in time, and safety is improved.

In addition, when the passing area is a second lane different from the first lane, in the process of driving from the first lane to the second lane, the output device prompts that the automatic driving vehicle carries out lane changing operation, so that other intelligent agents can understand the behavior of the automatic driving vehicle and give avoidance.

In addition, when the passing area is not located in any lane, the information of the distance between the vehicles is kept through the prompt of the output device in the process of driving from the first lane to the passing area and in the process of driving in the passing area, and the safety of the automatic driving vehicle in the free space is improved.

In addition, when it is determined that a preset dangerous area exists in a first lane where the first lane is located at present according to the environment information, but a passing area does not exist in a preset range, the help-seeking information is sent to a management server connected with the automatic driving vehicle through a wireless network and used for indicating that the automatic driving vehicle cannot pass, help of the management server can be obtained in time, and the state type of the automatic driving vehicle can be sent to other intelligent bodies through the management server, so that the other intelligent bodies know the state of the automatic driving vehicle in advance, possible risks are avoided, and safety of the automatic driving vehicle is improved.

The third interaction mode is as follows: and prompting the target vehicle in the range of the automatic driving vehicle.

FIG. 8 is a flow diagram illustrating a hinting method according to an exemplary embodiment, as shown in FIG. 8, including:

801. the autonomous vehicle obtains vehicle characteristics of any vehicle currently within range.

Many special types of vehicles exist in everyday life, including ambulances, fire trucks, police cars, etc., which are required to perform tasks and to give priority to traffic on roads. Therefore, when the common vehicle meets the vehicle, the common vehicle needs to avoid and cannot hinder the normal running of the vehicle.

In the embodiment of the present application, in order to solve the above problem, an autonomous vehicle may set a condition that a target vehicle belonging to a preset avoidance type should meet, so as to identify the target vehicle belonging to the preset avoidance type during a driving process, when the target vehicle is located in a current lane of the autonomous vehicle or in a lane adjacent to the current lane of the autonomous vehicle, and the autonomous vehicle may block normal driving of the target vehicle, the autonomous vehicle needs to perform operations of accelerating, decelerating and avoiding, or changing lanes to drive, so as to avoid affecting normal driving of the target vehicle.

The target vehicle may include an ambulance, a fire truck, a police vehicle, or another special type of vehicle, among others.

In order to identify the target vehicle in time and not affect the normal running of the target vehicle, the automatic driving vehicle needs to acquire the vehicle characteristics of any vehicle in the current range during the running process, so as to determine whether the vehicle is the target vehicle according to the vehicle characteristics.

Optionally, the autonomous vehicle may be configured with a collecting device, and the vehicle characteristics of any vehicle in the current range are obtained through the collecting device.

The range in which the autonomous vehicle is currently located refers to a range in which the autonomous vehicle can recognize environmental information, and may be determined according to a maximum distance at which the acquisition device of the autonomous vehicle acquires the environmental information, and may be a circular region formed by taking the autonomous vehicle as a center of a circle and taking the maximum distance at which the environmental information is acquired as a radius, or a sector region formed by taking the autonomous vehicle as a center of a circle, taking the maximum distance at which the environmental information is acquired as a radius and taking an acquisition angle of the acquisition device as a vertex angle, or the like.

This collection equipment can include at least one item in camera, laser radar, millimeter wave radar, infrared sensor, humidity transducer or the temperature sensor, can acquire the vehicle characteristic of different grade type through different collection equipment. For example, the vehicle characteristics may include a contour characteristic, a lamp status, a whistling status, and the like.

802. And the automatic driving vehicle matches the vehicle characteristics with preset vehicle characteristics corresponding to the preset avoidance types.

The automatic driving vehicle can set preset vehicle characteristics corresponding to the preset avoidance type according to the characteristics of the target vehicle belonging to the preset avoidance type. When the automatic driving vehicle obtains the vehicle characteristics in the current range in the driving process, the vehicle characteristics are matched with the preset vehicle characteristics corresponding to the preset avoidance type so as to determine whether the vehicle belongs to the target vehicle of the preset avoidance type.

For example, for a police vehicle, the autonomous vehicle may determine preset vehicle characteristics of the police vehicle including: the vehicle body is drawn with symbolic characters, the vehicle lamp with color is arranged above the vehicle roof, and the vehicle lamp flickers and gives out siren sounds and the like in the driving process.

803. And when the similarity of the vehicle characteristics and the preset vehicle characteristics is greater than a preset threshold value, the automatic driving vehicle determines that the vehicle is a target vehicle belonging to a preset avoidance type.

And when the similarity between the acquired vehicle characteristics and the preset vehicle characteristics is greater than a preset threshold value, determining that the vehicle is a target vehicle belonging to a preset avoidance type. And when the similarity of the two is not higher than a preset threshold value, determining that the vehicle is not the target vehicle belonging to the preset avoidance type. The preset threshold may be determined according to a requirement of recognition accuracy, which is not limited in the embodiment of the present application.

It should be noted that, the above steps 801-.

In one possible implementation, the appearance characteristics and the status of the warning lights of any vehicle within range are obtained. And when the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type and the status of the prompting lamp is in a lighting state, determining that the vehicle is a target vehicle belonging to the preset avoidance type.

The appearance characteristics of the vehicle can comprise the appearance outline, the body color, the vehicle size, the vehicle mark, the number of wheels and the like of the vehicle, and the prompting lamp comprises a warning lamp, a danger alarm flash lamp and the like of the vehicle.

The autonomous vehicle may set preset appearance characteristics of the target vehicle and a warning light that the target vehicle should illuminate when performing the task. And when the automatic driving vehicle runs, acquiring the appearance characteristic and the state of the prompting lamp of the vehicle in the current range, matching the appearance characteristic of the vehicle with a preset appearance characteristic, judging whether the similarity of the appearance characteristic and the preset appearance characteristic is higher than a preset threshold value, judging that the state of the prompting lamp of the vehicle is a lighting state, and if the similarity of the appearance characteristic of the vehicle and the preset appearance characteristic is higher than the preset threshold value and the state of the prompting lamp of the vehicle is the lighting state, determining that the vehicle is a target vehicle belonging to a preset avoidance type.

The automatic driving vehicle can be provided with a camera, the appearance characteristics and the states of the prompting lamps of the vehicle are collected through the camera, and the prompting lamps are used for prompting that a task is being executed in a target vehicle, such as the prompting lamps on a vehicle roof.

In another possible implementation, the topographical features and the whistle state of any vehicle within range are acquired. And when the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type and the whistle state is the whistle state, determining that the vehicle is the target vehicle belonging to the preset avoidance type.

The autonomous vehicle may set preset appearance characteristics that the appearance of the target vehicle should satisfy, and the target vehicle should perform a whistle operation while performing a task. When the automatic driving vehicle runs, acquiring the appearance characteristics and the whistling state of the vehicle in the current range, matching the appearance characteristics of the vehicle with preset appearance characteristics, and judging whether the similarity of the appearance characteristics and the whistling state is higher than a preset threshold value; and judging whether the whistling state of the vehicle is the whistling state, and if the similarity between the appearance characteristic of the vehicle and the preset appearance characteristic is higher than a preset threshold value and the vehicle is in the whistling state at present, determining that the vehicle is a target vehicle belonging to a preset avoidance type.

The camera can be configured on the automatic driving vehicle, the appearance characteristics of the vehicle are collected through the camera, the sound receiver can be further configured, and the sound emitted by the vehicle is collected through the sound receiver.

Alternatively, it is contemplated that the sounds emitted by the vehicle may include whistling, horn sounds, and other noises in the environment. Therefore, in order to improve the accuracy, the automatic driving vehicle can also set a preset whistling characteristic that the target vehicle should whistling when executing the task, when the automatic driving vehicle acquires the appearance characteristic and the sound characteristic of the vehicle within the current range in the driving process, the appearance characteristic of the vehicle is matched with the preset appearance characteristic, and whether the similarity between the appearance characteristic and the preset appearance characteristic is higher than a preset threshold value or not is judged; and matching the sound characteristic with a preset whistling characteristic, judging whether the similarity of the sound characteristic and the preset whistling characteristic is higher than a preset threshold value, if the similarity of the appearance characteristic and the preset appearance characteristic is higher than the preset threshold value and the similarity of the sound characteristic and the preset whistling characteristic is higher than the preset threshold value, determining that the vehicle is a target vehicle belonging to a preset avoidance type.

In another possible implementation, the appearance characteristics, the status of the warning lights, and the status of the siren are obtained for any vehicle within range. And when the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type, the state of the prompting lamp is in a lighting state, and the whistle state is in a whistle state, determining that the vehicle is the target vehicle belonging to the preset avoidance type. The specific process is similar to the two possible implementation manners, and is not described herein again.

When the target vehicle belonging to the preset avoidance type exists in the range where the automatic driving vehicle is located, if the automatic driving vehicle and the target vehicle run in opposite directions, but the automatic driving vehicle cannot meet the target vehicle, the automatic driving vehicle runs normally, and the target vehicle does not need to be avoided.

Or when the target vehicle belonging to the preset avoidance type does not exist in the range where the automatic driving vehicle is located, the automatic driving vehicle normally runs without avoiding the target vehicle.

804. The autonomous vehicle performs a driving operation for avoiding the target vehicle.

When the automatic driving vehicle determines that the target vehicle belonging to the preset avoidance type exists in the range where the automatic driving vehicle is located, under different conditions, the automatic driving vehicle needs to execute different driving operations to avoid the target vehicle.

Thus, the above step 804 may include the following implementations (1) - (3):

(1) if the autonomous vehicle is traveling in the same direction as the target vehicle and the autonomous vehicle is located behind the target vehicle, it remains traveling behind the target vehicle.

For example, if the autonomous vehicle recognizes the rear of the target vehicle by the camera arranged in front, it can be determined that the autonomous vehicle travels in the same direction as the target vehicle, and the autonomous vehicle is located behind the target vehicle, and at this time, the autonomous vehicle may travel behind the target vehicle.

(2) And if the automatic driving vehicle runs in the same direction as the target vehicle and the automatic driving vehicle is positioned in front of the target vehicle, avoiding the target vehicle.

For example, if the autonomous vehicle recognizes the head of the target vehicle by the camera disposed at the rear, it can be determined that the autonomous vehicle travels in the same direction as the target vehicle, and the autonomous vehicle is located in front of the target vehicle, and needs to avoid the target vehicle.

Further, the automatic driving vehicle can also consider the current lane and the current lane of the target vehicle, and determine whether to avoid the target vehicle according to the lane.

In one possible implementation manner, if the autonomous vehicle runs in the same direction as the target vehicle, the autonomous vehicle is located in front of the target vehicle, and the autonomous vehicle and the target vehicle are located in different lanes, the autonomous vehicle does not need to avoid the target vehicle in the current lane, and when a subsequent autonomous vehicle and the target vehicle meet, a deceleration operation is performed to avoid the target vehicle.

In another possible implementation, if the autonomous vehicle travels in a same direction as the target vehicle, the autonomous vehicle is located in front of the target vehicle, and the autonomous vehicle is located in a same lane as the target vehicle, at least one of an acceleration operation or a lane change operation is performed.

At this time, the autonomous vehicle may affect the traveling of the target vehicle, and in order to ensure the normal traveling of the target vehicle, the autonomous vehicle may perform an acceleration operation to ensure that the traveling speed of the target vehicle is not affected by the traveling speed of the target vehicle. In addition, the autonomous vehicle may also perform lane change operations, changing into other lanes, so that the target vehicle can pass.

In one possible implementation, if the autonomous vehicle travels in the same direction as the target vehicle, the autonomous vehicle is located in front of the target vehicle, the autonomous vehicle and the target vehicle are located in the same lane, and a traffic zone exists in an adjacent lane, a lane change operation is performed;

in another possible implementation, if the autonomous vehicle travels in the same direction as the target vehicle, the autonomous vehicle is located in front of the target vehicle, the autonomous vehicle is located in the same lane as the target vehicle, but there is no traffic area in an adjacent lane, an acceleration operation is performed until a lane change operation is performed when there is a traffic area in an adjacent lane.

(3) If the automatic driving vehicle and the target vehicle run in opposite directions, the automatic driving vehicle can run normally without avoiding the target vehicle when the automatic driving vehicle does not meet the target vehicle, and the speed reduction operation is executed when the automatic driving vehicle meets the target vehicle.

805. In the course of performing the driving operation, the guidance information of the target vehicle is output through an output device of the autonomous vehicle.

Step 805 may include at least one of the following steps (1) or (2):

(1) prompt information related to the position of the target vehicle is output through the output device.

(1-1) referring to fig. 9, first prompt information for prompting the location of the other agent target vehicle is displayed through the display screen.

By configuring the display screen, the display screen of the automatic driving vehicle displays the first prompt information in the running process of the automatic driving vehicle, when other intelligent agents check the first prompt information of the automatic driving vehicle, the target vehicle in the current range of the automatic driving vehicle can be determined, and the other intelligent agents can avoid the target vehicle so as to facilitate the normal running of the target vehicle.

In one possible implementation manner, the first prompt message may include text message or picture message, for example, the text message may be "avoiding the target vehicle", and the picture message may be any picture that can embody the characteristics of the target vehicle.

(1-2) referring to fig. 9, a second prompt message is played through the speaker, and the second prompt message is used for prompting the positions of other agent target vehicles.

The second prompt message is voice message, and the speaker of the automatic driving vehicle plays the second prompt message in the driving process of the automatic driving vehicle by configuring the speaker, so that other intelligent agents can listen to the second prompt message and know the position of the target vehicle, and other intelligent agents can avoid the target vehicle so as to facilitate the normal driving of the target vehicle.

(1-3) referring to fig. 9, a warning lamp corresponding to the driving operation is turned on.

In the process of executing the driving operation by the automatic driving vehicle, the prompting lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly determine the driving operation being executed by the automatic driving vehicle. For example, the driving operation currently performed by the autonomous vehicle may be straight running, turning, lane changing, reversing, accelerating, braking, parking, etc., and the autonomous vehicle may light a brake lamp corresponding to the deceleration operation when the deceleration operation is performed, may light a hazard warning flash (double flashing lamp) when the parking operation is performed, and may light a turn lamp corresponding to the lane changing operation when the lane changing operation is performed.

(1-4) referring to fig. 9, a honing operation is performed in accordance with a honing rhythm corresponding to the target vehicle.

Autonomous vehicles are equipped with mechanical or electronic horns through which the whistling operation can be performed. The autonomous vehicle can set the number of whistling cycles in each fixed period to determine the whistling rhythm, and different target vehicles correspond to different whistling rhythms. The period may be one second or one minute, etc.

The automatic driving vehicle can divide the types of the target vehicles according to the characteristics of the target vehicles after detecting the target vehicles, the automatic driving vehicle can establish corresponding relations between different types of target vehicles and the whistle rhythms, when the automatic driving vehicle identifies the target vehicles, the type of the target vehicles is confirmed, the corresponding relations are inquired, the whistle rhythms corresponding to the type of the target vehicles are obtained, the whistle operation is executed according to the whistle rhythms corresponding to the type of the target vehicles, and other intelligent bodies can know the types of the target vehicles existing in the current range of the automatic driving vehicle.

(2) Prompt information corresponding to a driving operation performed by the autonomous vehicle is output through the output device.

(2-1) referring to fig. 9, when the driving operation is the deceleration operation, the guidance information for decelerating and avoiding the target vehicle is output through the output device.

If the autonomous vehicle travels in the same direction as the target vehicle, the autonomous vehicle is located in front of the target vehicle, and the autonomous vehicle and the target vehicle are located in different lanes, a deceleration operation is performed to avoid the target vehicle when the autonomous vehicle meets the target vehicle. In addition, if the autonomous vehicle travels opposite to the target vehicle, the deceleration operation is also performed when the autonomous vehicle meets the target vehicle.

And outputting prompt information corresponding to the deceleration operation through at least one of the display screen, the speaker and the prompt lamp during the deceleration operation.

Aiming at the display screen, when the automatic driving vehicle executes the deceleration operation, the prompt information of decelerating and avoiding the target vehicle is displayed through the display screen, the deceleration prompt information is used for prompting the automatic driving vehicle to decelerate, and when other intelligent agents check the deceleration prompt information of the automatic driving vehicle, the current automatic driving vehicle can be determined to be decelerating.

In one possible implementation, the deceleration prompting message may include a text message or a picture message, for example, the text message may be "decelerating, avoiding ambulance", and the picture message may be any picture that can embody the deceleration operation performed by the autonomous vehicle.

Aiming at the loudspeaker, when the automatic driving vehicle executes the deceleration operation, the prompt message of decelerating and avoiding the target vehicle is played through the loudspeaker, and the deceleration prompt message is voice message and is used for prompting the automatic driving vehicle to decelerate so that other intelligent agents can listen to the deceleration prompt message to know the current deceleration of the automatic driving vehicle.

Aiming at the prompting lamp, in the process that the automatic driving vehicle executes the deceleration driving operation, the brake lamp corresponding to the currently executed deceleration operation is lightened, so that other intelligent agents can clearly determine that the automatic driving vehicle is decelerating.

(2-2) referring to fig. 9, when the driving operation is the acceleration operation, a guidance information requesting lane change to avoid the target vehicle is output through the output device.

And if the automatic driving vehicle and the target vehicle run in the same direction, the automatic driving vehicle is positioned in front of the target vehicle, the automatic driving vehicle and the target vehicle are positioned in the same lane, and when the adjacent lane does not have a passing area, the acceleration operation is carried out, and when the adjacent lane does not have the passing area, the lane changing operation is carried out.

And outputting prompt information requesting lane change to avoid the target vehicle through at least one of a display screen, a speaker and a prompt lamp during the acceleration operation.

Aiming at the display screen, when the automatic driving vehicle executes the acceleration operation, the prompt information for requesting to change lanes to avoid the target vehicle is displayed through the display screen, when other intelligent agents check the prompt information of the automatic driving vehicle, the fact that the current automatic driving vehicle needs to execute the lane changing operation can be determined, vehicles in adjacent lanes can know the intention and reason of the automatic driving vehicle for changing lanes, and therefore the automatic driving vehicle is actively avoided, and the automatic driving vehicle can conveniently execute the lane changing operation.

In one possible implementation manner, the prompt message corresponding to the acceleration operation may include text message or picture message, for example, the text message may be "accelerating, needing to change lanes as soon as possible and avoid the ambulance", and the picture message may be any picture capable of embodying the operation performed by the autonomous vehicle.

For the loudspeaker, when the automatic driving vehicle executes the acceleration operation, the prompt information requesting lane change to avoid the target vehicle is played through the loudspeaker, the prompt information is voice information, other intelligent agents can listen to the prompt information and know that the automatic driving vehicle needs to execute the lane change operation, and then vehicles in adjacent lanes can know the intention and reason of the automatic driving vehicle for lane change, so that the automatic driving vehicle is actively avoided, and the automatic driving vehicle can conveniently execute the lane change operation.

(2-3) referring to fig. 9, when the driving operation is a lane change operation, a guidance information for changing lanes to avoid the target vehicle is output through the output device.

And if the automatic driving vehicle and the target vehicle run in the same direction, the automatic driving vehicle is positioned in front of the target vehicle, the automatic driving vehicle and the target vehicle are positioned in the same lane, and the adjacent lanes have traffic areas, the automatic driving vehicle performs lane changing operation.

And outputting prompting information for changing lanes to avoid the target vehicle through at least one of a display screen, a loudspeaker and a prompting lamp in the process of executing lane changing operation.

Aiming at the display screen, when the automatic driving vehicle executes the lane changing operation, the prompt information of the lane changing avoiding target vehicle is displayed through the display screen, and when other intelligent agents check the prompt information of the automatic driving vehicle, the current automatic driving vehicle can be determined to be changing lanes.

In one possible implementation, the prompt may include text information or picture information, for example, the text information may be "lane change, ambulance avoidance" and the picture information may be any picture that may reflect the lane change performed by the autonomous vehicle.

For the loudspeaker, when the automatic driving vehicle executes lane changing operation, the prompt information of the lane changing avoiding target vehicle is played through the loudspeaker, the lane changing prompt information is voice information, and other intelligent agents can listen to the prompt information to know that the automatic driving vehicle changes lanes currently.

And aiming at the prompting lamp, in the process of executing lane changing operation by the automatic driving vehicle, the steering lamp corresponding to the lane changing driving operation is lightened, so that other intelligent agents can make sure that the automatic driving vehicle changes lanes.

As shown in fig. 9, whether a target vehicle belonging to a preset avoidance type exists in the current range of the autonomous vehicle is judged, if yes, the position of the target vehicle is displayed through a display screen, the position of the target vehicle is played through a loudspeaker, then according to the processing flow shown in fig. 9, the driving direction and the relative position of the autonomous vehicle and the target vehicle are sequentially determined, whether the autonomous vehicle is located in the same lane, whether the autonomous vehicle meets the vehicle, and the situation of the lane adjacent to the autonomous vehicle determines which driving operation the autonomous vehicle executes, and the driving operation executed by the autonomous vehicle is prompted through the display screen, the loudspeaker and the prompting lamp configured for the autonomous vehicle.

It should be noted that, when the autonomous driving vehicle is the target vehicle, the autonomous driving vehicle normally runs without avoiding other target vehicles belonging to the preset avoidance type within the current range, so that the prompt method provided by the embodiment of the present application is not required to be executed. Or, the autonomous vehicle itself is a target vehicle, but no task is currently executed, and another target vehicle belonging to a preset avoidance type in the current range still needs to be avoided, so the method provided by the embodiment of the present application can be adopted.

According to the method provided by the embodiment of the application, the driving operation for avoiding the target vehicle is executed by identifying the target vehicle which belongs to the preset avoidance type in the current range, in the process of executing the driving operation, the prompt information of the target vehicle is output through the output device of the automatic driving vehicle, so that other intelligent agents can know the existence of the target vehicle, the target vehicle is actively avoided, the driving operation of the automatic driving vehicle is understood, the corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as far as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, the vehicle characteristics are matched with the preset vehicle characteristics corresponding to the preset avoidance type, so that the target vehicle belonging to the preset avoidance type can be identified, and the identification accuracy is improved.

In addition, whether the vehicle is the target vehicle can be determined according to the vehicle appearance characteristics and the states of the prompt lamps or the appearance characteristics and the whistle states, a mode of identifying the target vehicle is provided, identification channels are diversified, and the identification accuracy can be improved by adopting the diversified identification modes.

In addition, what driving operation the autonomous vehicle is to finally perform is determined according to the traveling direction, relative position, whether the autonomous vehicle is located in the same lane, whether the autonomous vehicle meets a vehicle, and the situations of lanes adjacent to the autonomous vehicle of the autonomous vehicle. The method and the device have the advantages that when the target vehicle is identified, how the automatic driving vehicle avoids the target vehicle is determined, so that the target vehicle can pass through unhindered and smoothly.

In addition, the prompting is carried out through various modes such as a display screen, a loudspeaker, a prompting lamp, a vehicle whistle and the like, prompting channels are diversified, the probability that other intelligent bodies receive prompting information can be improved, the condition that the prompting information cannot be output due to the fact that a certain output device is out of order is avoided, then traffic accidents are caused, and the automatic driving safety is improved.

The fourth interaction mode is as follows: and prompting the meeting state of the automatic driving vehicle and the target vehicle.

FIG. 10 is a flow chart illustrating a method of prompting, as shown in FIG. 10, for use with an autonomous vehicle, the method including:

1001. the autonomous vehicle identifies a target vehicle, which is a vehicle whose travel route intersects with the travel route of the autonomous vehicle.

There are many vehicles on the road, and the vehicles are classified into a vehicle traveling in the same direction as the autonomous vehicle and a vehicle traveling in opposite directions to the autonomous vehicle according to the traveling direction, a vehicle in the same lane as the autonomous vehicle, a vehicle in an adjacent lane to the autonomous vehicle, and a vehicle in a non-adjacent lane to the autonomous vehicle according to the traveling lane. The vehicle in the lane not adjacent to the autonomous vehicle does not intersect with the autonomous vehicle and thus does not affect the traveling of the autonomous vehicle, and both the vehicle in the same lane as the autonomous vehicle and the vehicle in the lane adjacent to the autonomous vehicle may intersect with the autonomous vehicle.

Therefore, in order to realize safe vehicle meeting, the autonomous vehicle needs to identify a target vehicle, i.e., a vehicle whose travel route intersects with the travel route of the autonomous vehicle, while traveling. The method specifically comprises the following conditions:

(1-1) identifying a vehicle in a second lane as a target vehicle when an operation to change from a first lane to the second lane is performed.

When the automatic driving vehicle runs in a first lane where the automatic driving vehicle is located currently, the automatic driving vehicle possibly meets the situation that the front of the first lane where the automatic driving vehicle is located currently is closed, repaired or abnormally disconnected, the automatic driving vehicle needs to be converged into an adjacent lane, namely, the automatic driving vehicle is changed from the first lane where the automatic driving vehicle is located currently to an adjacent second lane so as to achieve normal running, before the lane is changed, the automatic driving vehicle needs to identify whether other vehicles exist in the second lane, and the vehicles in the second lane are used as target vehicles.

(1-2) identifying a vehicle traveling from the other lane to the first lane where the vehicle is currently located, as a target vehicle. Or, identifying a vehicle, of lanes adjacent to the first lane, in which the current vehicle is located, with the driving direction pointing to the first lane as the target vehicle.

When the autonomous vehicle runs in the first lane where the autonomous vehicle is currently located, the autonomous vehicle may encounter a situation that other vehicles in adjacent lanes merge into the first lane and prepare to run in front of the autonomous vehicle, and when the other vehicles merge into the first lane, the autonomous vehicle may be influenced to normally run, or a situation that the running direction of the other vehicles in the adjacent lanes points to the first lane may be encountered, which indicates that the autonomous vehicle is running towards the first lane and may merge into the first lane.

In order to achieve safe driving, the autonomous vehicle needs to recognize whether another vehicle in an adjacent lane is ready to merge into or is merging into, and this vehicle is taken as a target vehicle.

And (1-3) identifying a vehicle which is positioned in front of the automatic driving vehicle and has a running speed lower than that of the automatic driving vehicle in the current first lane as a target vehicle.

When the autonomous vehicle runs in the first lane, the autonomous vehicle may run at a speed lower than the running speed of the autonomous vehicle in the same lane, and the autonomous vehicle will perform an operation to override the preceding vehicle. To ensure safe travel during an override, the autonomous vehicle needs to identify a vehicle that is located ahead of the autonomous vehicle and that has a travel speed less than the travel speed of the autonomous vehicle as the target vehicle.

And (1-4) identifying a vehicle which is positioned behind the automatic driving vehicle and has a driving speed greater than the driving speed of the automatic driving vehicle in the first lane where the automatic driving vehicle is positioned at present as the target vehicle.

When the automatic driving vehicle runs in the first lane where the automatic driving vehicle is currently located, the situation that the running speed of the rear vehicle in the same lane is greater than the running speed of the automatic driving vehicle may be encountered, at this time, the rear vehicle may perform driving operation over the automatic driving vehicle, for safe running, the automatic driving vehicle needs to actively perform avoidance so as to avoid conflict with the driving operation of the rear vehicle, and for timely avoidance, the automatic driving vehicle needs to identify a vehicle which is located behind the automatic driving vehicle in the first lane where the automatic driving vehicle is currently located and has a running speed greater than the running speed of the automatic driving vehicle, and use the vehicle as a target vehicle.

1002. The autonomous vehicle performs a driving operation according to the position of the autonomous vehicle and the position of the target vehicle.

After determining that the driving route of the automatic driving vehicle intersects with the target vehicle, the automatic driving vehicle needs to determine which driving operation to execute according to the position of the automatic driving vehicle and the position of the target vehicle so as to realize safe automatic driving.

Optionally, the autonomous vehicle may further determine what driving operation to perform according to the position of the autonomous vehicle and the position of the target vehicle, the speed of the autonomous vehicle and the speed of the target vehicle, and the actual conditions of the road, so as to achieve safe autonomous driving.

Alternatively, in the case of the step (1-1) above, the step 1002 may include the steps of:

(2-1) performing a waiting operation at a boundary area of the first lane and the second lane;

when the automatic driving vehicle is converged into an adjacent lane, namely when the current first lane is changed into an adjacent second lane, the converging time needs to be determined according to the position of the automatic driving vehicle and the position of a target vehicle, and when meeting conditions are not met, the automatic driving vehicle executes waiting operation in a junction area of the first lane and the second lane.

In addition, the determination of the integration timing may take into account not only the position of the autonomous vehicle and the position of the target vehicle, but also the speed of the autonomous vehicle and the speed of the target vehicle.

In one possible implementation, when there is another vehicle having a higher speed and a shorter distance from the autonomous vehicle in a second lane adjacent to the first lane in which the autonomous vehicle is located, the autonomous vehicle needs to perform a waiting operation in an intersection area of the first lane and the second lane.

(2-2) performing an operation of traveling from the first lane to the second lane when the position of the autonomous vehicle and the position of the target vehicle satisfy a vehicle-meeting condition.

When the automatic driving vehicle determines that the meeting condition is met, namely when no target vehicle which is close to the automatic driving vehicle and has a high speed exists in the second lane, the automatic driving vehicle carries out operation of driving from the first lane to the second lane.

In the case of step (1-2) above, step 1002 may include the steps of:

(2-3) performing a deceleration operation, a lane change operation, or a current keeping operation according to the position of the autonomous vehicle and the position of the target vehicle.

The target vehicle of the adjacent lane of the automatic driving vehicle is converged into the first lane and is ready to run ahead of the automatic driving vehicle, and the automatic driving vehicle needs to determine the driving operation which the automatic driving vehicle needs to perform according to the position of the automatic driving vehicle and the position of the target vehicle.

In one possible implementation manner, when the automatic driving vehicle determines that the automatic driving vehicle needs to keep running in the current lane according to the position of the automatic driving vehicle and the position of the target vehicle, but needs to decelerate and avoid the target vehicle to be merged, the automatic driving vehicle executes deceleration operation to avoid.

For example, the autonomous vehicle determines that a target vehicle to which an adjacent lane is to be merged is close to the autonomous vehicle and is fast, and performs a deceleration operation to avoid the target vehicle for safety.

In one possible implementation manner, the autonomous vehicle executes lane change operation for avoidance when determining that the autonomous vehicle needs to change lanes to drive for avoidance of the target vehicle to be imported according to the position of the autonomous vehicle and the position of the target vehicle, the speed of the autonomous vehicle and the speed of the target vehicle and whether the adjacent other lane meets the lane change condition.

For example, the autonomous vehicle determines that a target vehicle to which an adjacent lane is to be merged is close to the autonomous vehicle and is fast, and the other lane adjacent to the autonomous vehicle satisfies a lane change condition. Lane changing for avoidance can also avoid the influence of sudden deceleration operation on normal running of the rear vehicle in the first lane, avoid rear-end collision caused by the rear vehicle not responding to the sudden deceleration of the automatic driving vehicle, and improve safety.

In one possible implementation, when the autonomous vehicle determines that the autonomous vehicle does not need to avoid according to the position of the autonomous vehicle and the position of the target vehicle and the speed of the autonomous vehicle and the speed of the target vehicle, the autonomous vehicle maintains the current driving operation and does not avoid the target vehicle.

For example, when the autonomous vehicle determines that the target vehicle to which the adjacent lane is to be merged is far from the autonomous vehicle and the autonomous vehicle does not affect the merging of the target vehicle, the autonomous vehicle maintains the current running operation without avoiding the target vehicle.

In the case of the above step (1-3), step 1002 may include the steps of:

(2-4) performing an operation to override the target vehicle.

When a target vehicle with a running speed lower than that of the automatic driving vehicle exists in front of the automatic driving vehicle in a first lane where the automatic driving vehicle is currently located, the automatic driving vehicle performs a driving operation exceeding the target vehicle.

Wherein performing an operation that overrides the target vehicle comprises: the autonomous vehicle travels from the first lane into the adjacent lane, and performs an acceleration operation, overtakes the target vehicle, and travels from the adjacent lane into the first lane when the autonomous vehicle is located in front of the target vehicle, thereby traveling in front of the target vehicle.

(2-5) continuing to perform the driving operation in the first lane after completion of the operation to perform the override of the target vehicle.

In the case of the above steps (1-4), step 1002 may include the steps of:

and (2-6) performing an operation of avoiding the target vehicle.

When a target vehicle with a running speed higher than that of the automatic driving vehicle exists behind the automatic driving vehicle in a first lane where the automatic driving vehicle is located, if the rear vehicle executes a driving operation of overtaking, the automatic driving vehicle executes an operation of avoiding the target vehicle.

(2-7) continuing to perform the driving operation in the first lane after the target vehicle overrides the autonomous vehicle.

When the target vehicle performs the operation of overriding the automatic driving vehicle, the target vehicle can travel from the first lane to the adjacent lane and perform the acceleration operation, and at the moment, the automatic driving vehicle can perform the deceleration operation or can also normally travel without performing the deceleration operation. And then, when the target vehicle is positioned in front of the automatic driving vehicle, the automatic driving vehicle drives from the adjacent lane to the first lane, and at the moment, the automatic driving vehicle can execute deceleration operation to avoid the target vehicle until the target vehicle is converged into the first lane, and the automatic driving vehicle can recover the original driving speed and safely drive behind the target vehicle.

1003. The automatic driving vehicle outputs prompt information through an output device of the automatic driving vehicle in the process of executing driving operation, the prompt information is used for prompting the meeting state of the automatic driving vehicle and a target vehicle, and the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp.

The meeting state may include a distance between the autonomous vehicle and the target vehicle, a driving operation currently performed by the autonomous vehicle, whether the autonomous vehicle is currently avoiding, and the like.

In the case of the step (2-1), the step 1003 may include the steps of:

(3-1) outputting, by the output device, a first prompt message for prompting that the autonomous vehicle is waiting to merge into the second lane during the execution of the waiting operation, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle performs a waiting operation, the first prompt information is displayed through the display screen, and when other agents check the first prompt information of the autonomous vehicle, it may be determined that the autonomous vehicle is waiting to merge into the second lane, so as to avoid the autonomous vehicle.

In one possible implementation manner, the first prompt message corresponding to the waiting operation may include text message or picture message, for example, the text message may be "waiting for import", and the picture message may be any picture that can embody that the autonomous vehicle performs the waiting operation.

(b) Referring to fig. 11, for the speaker, when the autonomous driving vehicle performs a waiting operation, the speaker plays a first prompt message, where the first prompt message is a voice message, and the other intelligent agents may listen to the first prompt message to know that the autonomous driving vehicle is currently waiting to merge into the lane, so as to avoid the autonomous driving vehicle.

(c) Referring to fig. 11, for the warning light, in the process of executing the waiting operation by the autonomous vehicle, the turn light corresponding to the waiting operation is turned on, so that other agents can make sure that the autonomous vehicle is waiting to merge into the lane, thereby avoiding the autonomous vehicle.

(d) Referring to fig. 11, for the warning light, in the process of executing the waiting operation by the autonomous driving vehicle, the current environmental information may be detected, and the warning light corresponding to the current environmental information is turned on, so that the other intelligent agents may specify the position of the autonomous driving vehicle, thereby avoiding the autonomous driving vehicle.

(e) Referring to fig. 11, for the car horn, in the process of performing the waiting operation by the autonomous vehicle, the whistle operation may be performed in a whistle rhythm corresponding to the waiting operation.

The autonomous vehicle is provided with a mechanical whistle or an electronic whistle, and a whistle operation can be performed through the mechanical whistle or the electronic whistle. The autonomous vehicle may set the number of blasts per fixed period to determine the blast rhythm. The period may be one second or one minute, etc.

The automatic driving vehicle can establish a corresponding relation between waiting operation and whistling rhythm, when the automatic driving vehicle executes the waiting operation, the corresponding relation is inquired to obtain the whistling rhythm corresponding to the waiting operation, and the whistling operation is executed according to the whistling rhythm corresponding to the waiting operation, so that other intelligent bodies can know that the automatic driving vehicle is waiting to merge into a lane currently, and the automatic driving vehicle is avoided.

Optionally, when the autonomous vehicle starts to perform the waiting operation, the whistle operation is not performed for the time, the waiting duration is counted, and when the waiting duration exceeds the preset duration, it indicates that the waiting duration is too long, and then the whistle operation is performed.

In the case of the step (2-2), the step 1003 may include the steps of:

(3-2) outputting, by the output device, a second prompt message for prompting that the autonomous vehicle is merging into the second lane during the operation of traveling from the first lane to the second lane, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle performs an operation of traveling from the first lane to the second lane, the second prompt information is displayed through the display screen, and when the other agent views the second prompt information of the autonomous vehicle, it may be determined that the current autonomous vehicle is traveling from the first lane to the second lane, so as to avoid the autonomous vehicle. In addition, the second prompt message can also prompt that the target vehicle keeps the distance from the automatic driving vehicle.

In one possible implementation, the second prompt message corresponding to the operation of driving from the first lane to the second lane may include text message or picture message, for example, the text message may be "merging into the first lane", and the picture message may be any picture that can embody the operation of driving from the first lane to the second lane performed by the autonomous vehicle.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle performs an operation of traveling from the first lane to the second lane, the speaker plays the second prompt message, where the second prompt message is a voice message, and the other agents may listen to the second prompt message to know that the autonomous vehicle is currently merging into the first lane, so as to avoid the autonomous vehicle.

(c) Referring to fig. 11, for the warning light, in the process that the autonomous vehicle performs the operation of traveling from the first lane to the second lane, the turn light corresponding to the operation of traveling from the first lane to the second lane is turned on, so that the other intelligent agents can make sure that the autonomous vehicle is converging into the first lane, thereby avoiding the autonomous vehicle.

(d) Referring to fig. 11, for the warning light, in the process that the autonomous vehicle performs the operation of traveling from the first lane to the second lane, the current environmental information may be detected, and the warning light corresponding to the current environmental information is turned on, so that the other intelligent agents may specify the position of the autonomous vehicle, thereby avoiding the autonomous vehicle.

(e) Referring to fig. 11, for the siren, in the course of the autonomous vehicle performing the operation of traveling from the first lane to the second lane, the operation of whistling may be performed in a whistling rhythm corresponding to the lane change operation.

The automatic driving vehicle can establish a corresponding relation between lane changing operation and whistle rhythm, when the automatic driving vehicle drives from a first lane to a second lane, the corresponding relation is inquired to obtain the whistle rhythm corresponding to the lane changing operation, and the whistle operation is executed according to the whistle rhythm corresponding to the lane changing operation, so that other intelligent bodies can know that the automatic driving vehicle is changing lanes and converges into the second lane.

In the case of the above step (2-3), step 1003 may include the following steps:

(3-3) outputting, by the output device, a third prompt message for prompting the autonomous vehicle to avoid the target vehicle during the deceleration operation, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle performs a deceleration operation, the third prompt message is displayed through the display screen, and when other agents view the third prompt message of the autonomous vehicle, it may be determined that the current autonomous vehicle is decelerating to avoid the target vehicle.

In one possible implementation manner, the third prompt message corresponding to the deceleration operation may include text information or picture information, for example, the text information may be "deceleration and avoidance", and the picture information may be any picture that can embody that the automatic driving vehicle performs the deceleration operation.

Optionally, the prompt information of decelerating and avoiding the target vehicle is displayed through the first display screen, and the picture of the target vehicle is displayed through the second display screen. The first display screen and the second display screen are different display screens of the autonomous vehicle and can be located on different two sides of the autonomous vehicle.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle performs a deceleration operation, a third prompt message is played through the speaker, where the third prompt message is a voice message, and other agents may listen to the third prompt message to know that the autonomous vehicle is currently decelerating to avoid the target vehicle.

(c) Referring to fig. 11, for the warning light, in the process of executing the deceleration operation by the autonomous vehicle, the brake light corresponding to the deceleration operation is turned on, so that other intelligent agents can make sure that the autonomous vehicle is decelerating and avoiding the target vehicle.

(d) Referring to fig. 11, in the process of performing the deceleration operation on the autonomous driving vehicle, the current environmental information may be detected, and the indicator corresponding to the current environmental information may be turned on, so that the other agents may specify the position of the autonomous driving vehicle.

(e) Referring to fig. 11, with respect to the siren, in the course of performing the deceleration operation of the autonomous vehicle, the whistle operation may be performed in a whistle rhythm corresponding to the deceleration operation.

The corresponding relation between the speed reduction operation and the whistle rhythm can be established by the automatic driving vehicle, the corresponding relation is inquired in the process that the automatic driving vehicle executes the speed reduction operation, the whistle rhythm corresponding to the speed reduction operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the speed reduction operation, so that other intelligent bodies can know that the automatic driving vehicle is currently decelerated.

In the case of the above step (2-3), step 1003 may include the following steps:

(3-4) outputting, by the output device, a fourth prompting message for prompting that the autonomous vehicle is changing lanes during the performance of the lane changing operation, which may include at least one of the following.

(a) Referring to fig. 11, with respect to the display screen, when the autonomous vehicle performs a lane change operation, the fourth prompt information is displayed through the display screen, and when the other agent views the fourth prompt information of the autonomous vehicle, it may be determined that the current autonomous vehicle is changing lanes.

In one possible implementation, the fourth prompting message corresponding to the lane change operation may include text information or picture information, for example, the text information may be "lane change avoidance", and the picture information may be any picture that can embody that the autonomous vehicle performs the lane change operation.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle performs a lane change operation, a fourth prompt message is played through the speaker, and the fourth prompt message is a voice message, and other agents may listen to the fourth prompt message to know that the autonomous vehicle is currently changing lanes.

(c) Referring to fig. 11, for the warning light, in the process of performing the lane change operation by the autonomous vehicle, the turn light corresponding to the lane change operation is turned on, so that other agents can make sure that the autonomous vehicle is changing lanes.

(d) Referring to fig. 11, in the process of executing the lane change operation by the autonomous vehicle, the current environmental information may be detected, and the indicator corresponding to the current environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous vehicle.

(e) Referring to fig. 11, for the car siren, in the course of performing the lane change operation by the autonomous vehicle, the whistle operation may be performed in a whistle rhythm corresponding to the lane change operation.

The corresponding relation between the lane changing operation and the whistle rhythm can be established by the automatic driving vehicle, when the automatic driving vehicle executes the lane changing operation, the corresponding relation is inquired, the whistle rhythm corresponding to the lane changing operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the lane changing operation, so that other intelligent bodies can know that the automatic driving vehicle is currently changing lanes.

In the case of the above step (2-3), step 1003 may include the following steps:

(3-5) outputting, by the output device, a fifth prompting message for prompting the autonomous vehicle not to avoid while maintaining the current driving operation, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle keeps the current driving operation, the fifth prompt message is displayed through the display screen, and when other agents check the fifth prompt message of the autonomous vehicle, it can be determined that the current autonomous vehicle is normally driven and does not perform avoidance.

In one possible implementation manner, the fifth prompting message may include text information or picture information, for example, the text information may be "no avoidance", and the picture information may be any picture that can embody normal driving of the autonomous vehicle.

Alternatively, the prompt information that the current running is being maintained is displayed through the first display screen, and the picture of the target vehicle is displayed through the second display screen. The first display screen and the second display screen are different display screens of the autonomous vehicle and can be located on different two sides of the autonomous vehicle.

(b) Referring to fig. 11, for the speaker, when the autonomous driving vehicle keeps the current driving operation, the fifth prompt information is played through the speaker, and the fifth prompt information is a voice message, and other agents may listen to the fifth prompt information to know that the autonomous driving vehicle is currently and normally driving and does not perform avoidance.

(c) Referring to fig. 11, for the warning light, in the process of maintaining the current driving operation of the autonomous vehicle, the warning light corresponding to the current driving operation is turned on, so that other intelligent agents can clearly determine that the autonomous vehicle is normally driven and does not perform avoidance.

(d) Referring to fig. 11, for the warning light, in the process that the autonomous vehicle keeps the current driving operation, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous vehicle.

(e) Referring to fig. 11, with respect to the siren, while the autonomous vehicle maintains the current driving operation, the operation of whistling may be performed in a whistling rhythm corresponding to the maintenance of the current driving operation.

The automatic driving vehicle can establish a corresponding relation between the current driving operation and the whistle rhythm, when the automatic driving vehicle keeps the current driving operation, the corresponding relation is inquired to obtain the whistle rhythm corresponding to the current driving operation, and the whistle operation is executed according to the whistle rhythm corresponding to the current driving operation, so that other intelligent bodies can know that the automatic driving vehicle keeps the current driving and does not carry out avoidance.

In the case of the above step (2-4), step 1003 may include the following steps:

(3-6) outputting, by the output device, sixth prompt information for prompting that the autonomous vehicle is overtaking, during execution of the operation to overtake the target vehicle, which may include at least one of the following.

(a) Referring to fig. 11, with respect to the display screen, when the autonomous vehicle performs an operation of passing, sixth prompt information is displayed through the display screen, and when other agents view the sixth prompt information of the autonomous vehicle, it may be determined that the current autonomous vehicle is passing.

In one possible implementation manner, the sixth prompt message corresponding to the overtaking operation may include text information or picture information, for example, the text information may be "overtaking", and the picture information may be any picture that can embody an operation of the autonomous vehicle to perform overtaking.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle performs a passing operation, a sixth prompt message is played through the speaker, and the sixth prompt message is a voice message, and other agents may listen to the sixth prompt message to know that the autonomous vehicle is currently passing.

(c) Referring to fig. 11, for the warning light, when the autonomous vehicle performs the overtaking operation, if the lane change operation is involved, the turn light corresponding to the lane change operation is turned on, so that other agents can make sure that the autonomous vehicle overtakes.

(d) Referring to fig. 11, in the process of the autonomous vehicle performing the overtaking operation, the present environmental information may be detected, and the indicator corresponding to the present environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous vehicle.

(e) Referring to fig. 11, in the process of the autonomous vehicle performing the passing operation, the high beam and the low beam may be switched at night to prompt the target vehicle, so that other agents may clarify the location of the autonomous vehicle.

(f) For the car horn, in the process of the automatic driving vehicle executing the overtaking operation, the whistle operation can be executed according to the whistle rhythm corresponding to the overtaking operation.

The automatic driving vehicle can establish a corresponding relation between the overtaking operation and the whistling rhythm, and then in the process of executing the overtaking operation by the automatic driving vehicle, the corresponding relation is inquired to obtain the whistling rhythm corresponding to the overtaking operation, and the whistling operation is executed according to the whistling rhythm corresponding to the overtaking operation, so that other intelligent bodies can know that the automatic driving vehicle is overtaking currently.

The automatic driving vehicle can establish a corresponding relation between the distance and the whistling rhythm, then in the process that the automatic driving vehicle executes overtaking operation, the distance between the automatic driving vehicle and the target vehicle is obtained, the corresponding relation is inquired, the whistling rhythm corresponding to the distance is obtained, and the whistling operation is executed according to the whistling rhythm corresponding to the distance, so that other intelligent bodies can know the distance between the automatic driving vehicle and the target vehicle.

In the case of the above step (2-5), step 1003 may include the steps of:

(3-7) outputting, by the output device, a seventh prompt message for prompting the autonomous vehicle to normally travel after the execution of the operation to override the target vehicle is completed, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle normally travels, the seventh prompt message is displayed through the display screen, and when the seventh prompt message of the autonomous vehicle is checked by another agent, it can be determined that the current autonomous vehicle normally travels.

In one possible implementation manner, the seventh prompt message corresponding to the passing operation may include text information or picture information, for example, the text information may be "normal driving", and the picture information may be any picture capable of embodying normal driving of the autonomous vehicle.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle is running normally, a seventh prompt message is played through the speaker, where the seventh prompt message is a voice message, and other agents may listen to the seventh prompt message to know that the autonomous vehicle is running normally.

(c) Referring to fig. 11, for the warning light, in the process of normal driving of the autonomous vehicle, the turn light corresponding to the normal driving operation is turned on, so that other agents can clearly determine that the autonomous vehicle is normally driven.

(d) Referring to fig. 11, for the warning light, in the normal driving process of the autonomous driving vehicle, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous driving vehicle.

(e) Referring to fig. 11, for the car whistle, in the course of normal driving of the autonomous vehicle, a whistle operation may be performed in a whistle rhythm corresponding to the normal driving operation.

The automatic driving vehicle can establish a corresponding relation between normal driving operation and whistle rhythm, and then in the normal driving process of the automatic driving vehicle, the corresponding relation is inquired to obtain the whistle rhythm corresponding to the normal driving operation, and the whistle operation is executed according to the whistle rhythm corresponding to the normal driving operation, so that other intelligent bodies can know that the automatic driving vehicle is normally driven currently.

In the case of the above step (2-6), step 1003 may include the following steps:

(3-8) outputting, by the output device, an eighth prompt message for prompting that the autonomous vehicle is avoiding or for prompting that the target vehicle maintains a vehicle distance from the autonomous vehicle during the operation of avoiding the target vehicle, which may include at least one of the following.

(a) Referring to fig. 11, for the display screen, when the autonomous vehicle performs an avoidance operation, the eighth prompt message is displayed through the display screen, and when other agents view the eighth prompt message of the autonomous vehicle, it may be determined that the current autonomous vehicle is avoiding. Or the eighth prompt message may prompt the target vehicle to keep the distance from the autonomous vehicle, and when the other agents check the eighth prompt message of the autonomous vehicle, the other agents pay attention to keeping the distance from the autonomous vehicle.

In a possible implementation manner, the eighth prompt message corresponding to the avoidance operation may include text information or picture information, for example, the text information may be "avoiding" or "please keep the distance between vehicles", and the picture information may be any picture that can embody the operation of the autonomous vehicle to perform avoidance or prompt to keep the distance between vehicles.

(b) Referring to fig. 11, for the speaker, when the autonomous vehicle performs an avoidance operation, an eighth prompt message is played through the speaker, where the eighth prompt message is a voice message, and other agents may listen to the eighth prompt message to know that the autonomous vehicle is currently avoiding or to clearly determine that the distance should be kept currently.

(c) Referring to fig. 11, for the warning light, in the process of performing an avoidance operation by the autonomous vehicle, the warning light corresponding to the avoidance operation is turned on, so that other intelligent agents can make sure that the autonomous vehicle is avoiding or that the distance should be kept currently.

(d) Referring to fig. 11, in the process of performing an avoidance operation on the autonomous driving vehicle, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous driving vehicle.

(e) Referring to fig. 11, for the car horn, in the process of performing an avoidance operation by the autonomous vehicle, a whistle operation may be performed in a whistle rhythm corresponding to the avoidance operation.

The corresponding relation between the avoidance operation and the whistle rhythm can be established by the automatic driving vehicle, the corresponding relation is inquired in the process of executing the avoidance operation by the automatic driving vehicle, the whistle rhythm corresponding to the avoidance operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the avoidance operation, so that other intelligent bodies can know that the automatic driving vehicle is avoiding currently.

And in the process that the target vehicle exceeds the automatic driving vehicle, if the distance between the target vehicle and the automatic driving vehicle is less than the preset distance, outputting ninth prompt information through an output device, wherein the ninth prompt information is used for prompting that the distance between the vehicles is too short, and at least one of the following items can be included.

(a) Referring to fig. 11, for the display screen, in the process that the target vehicle passes through the autonomous vehicle, the autonomous vehicle displays the ninth prompt message through the display screen, and when other agents view the ninth prompt message of the autonomous vehicle, it may be determined that the current distance to the autonomous vehicle is too close.

In a possible implementation manner, the ninth prompt message corresponding to the overtaking operation may include text information or picture information, for example, the text information may be "too close to vehicle distance", and the picture information may be any picture capable of reflecting too close to vehicle distance.

(b) Referring to fig. 11, for the speaker, in the process that the target vehicle passes through the autonomous vehicle, the autonomous vehicle plays a ninth prompt message through the speaker, where the ninth prompt message is a voice message, and other agents may listen to the ninth prompt message to know that the distance between the autonomous vehicle and the current vehicle is too short.

(c) Referring to fig. 11, for the warning light, in the process that the target vehicle passes the autonomous vehicle, the autonomous vehicle lights the warning light corresponding to the too-close distance, so that other intelligent agents can clearly determine that the current distance between the autonomous vehicle and the autonomous vehicle is too close.

(d) Referring to fig. 11, for the warning light, in the process that the target vehicle surpasses the automatic driving vehicle, the automatic driving vehicle may detect the current environmental information, and light the warning light corresponding to the current environmental information, so that other agents may clarify the position of the automatic driving vehicle.

(e) Referring to fig. 11, for a vehicle whistle, an autonomous vehicle may perform a whistle operation in a whistle rhythm during the target vehicle overriding the autonomous vehicle.

The automatic driving vehicle can establish a corresponding relation between the distance and the whistle rhythm, and when the target vehicle surpasses the automatic driving vehicle, the automatic driving vehicle obtains the distance between the automatic driving vehicle and the target vehicle, inquires the corresponding relation, obtains the whistle rhythm corresponding to the distance, and executes whistle operation according to the whistle rhythm corresponding to the distance, so that other intelligent bodies can know the distance between the automatic driving vehicle and the target vehicle.

Or when the target vehicle exceeds the automatic driving vehicle, the automatic driving vehicle acquires the distance between the automatic driving vehicle and the target vehicle, and when the distance is smaller than a preset distance, the whistle operation is executed according to the whistle rhythm. And when the distance is not less than the preset distance, the whistle operation is not performed any more.

After the target vehicle overtakes, the automatic driving vehicle outputs prompt information corresponding to normal driving through the output device.

As shown in fig. 11, the following four cases are classified into the following cases when the vehicle travels in the same direction on the road and the travel route intersects with each other: the automatic driving vehicles converge into the adjacent lanes, the vehicles in the adjacent lanes converge into the automatic driving vehicle lanes, the automatic driving vehicles overtake and other vehicles overtake, the automatic driving vehicles converge into the adjacent lanes and are divided into two conditions of a waiting process and a converging process, the vehicles in the adjacent lanes converge into the automatic driving vehicle lanes and are divided into three conditions of deceleration avoidance, lane change avoidance and avoidance, the automatic driving vehicles overtake are divided into two conditions of overtaking and overtaking, the other vehicles overtake are divided into two conditions of overtaking and overtaking, and prompt modes under various conditions are respectively given.

According to the method provided by the embodiment of the application, the driving operation is executed according to the position of the automatic driving vehicle and the position of the target vehicle by identifying the target vehicle of which the driving route is intersected with the driving route of the automatic driving vehicle, so that the automatic driving vehicle can execute the corresponding driving operation according to the driving route of the vehicle meeting, and the safety is improved. In the process of executing the driving operation, the output device of the automatic driving vehicle outputs the prompt information which is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, so that the meeting vehicle and other intelligent agents accurately and fully understand the driving operation executed by the automatic driving vehicle, the condition that the operation of the meeting vehicle and other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with the vehicle meeting vehicle and other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, according to the running speed and the lane of the automatic driving vehicle and other vehicles, the conditions that the automatic driving vehicle runs in the same direction on the road and the running routes are intersected are divided into four, the condition that the automatic driving vehicle is intersected with other vehicles when running in the same direction is clarified, and the subsequent automatic driving vehicle can conveniently execute corresponding driving operation according to various conditions.

In addition, the driving operation of the automatic driving vehicle of other vehicles is prompted through the output equipment, other intelligent agents can clearly know the driving operation which is executed by the automatic driving vehicle, corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the probability of occurrence of traffic accidents can be reduced, and the safety of the automatic driving vehicle is improved.

FIG. 12 is a flow chart illustrating a method of prompting, as shown in FIG. 12, for use with an autonomous vehicle, the method including:

1201. the autonomous vehicle identifies a vehicle in the road currently located in the direction opposite to the traveling direction of the autonomous vehicle as a target vehicle.

Since many vehicles exist on the road, and vehicles on the same road as the autonomous vehicles and in the opposite direction to the autonomous vehicles meet the autonomous vehicles, and affect the traveling of the autonomous vehicles, in order to safely meet the autonomous vehicles and realize safe autonomous driving, the autonomous vehicles need to identify target vehicles, that is, vehicles in the opposite direction to the autonomous vehicles in the current road.

1202. And the automatic driving vehicle determines the meeting position of the automatic driving vehicle and the target vehicle according to the position of the automatic driving vehicle and the position of the target vehicle.

When there is no obstacle in front of the autonomous vehicle in the lane in which the autonomous vehicle is located, the autonomous vehicle may determine a meeting location according to the location of the autonomous vehicle and the location of the target vehicle, and the speed of the autonomous vehicle and the speed of the target vehicle.

When an obstacle exists in front of the automatically-driven vehicle in a lane where the automatically-driven vehicle is located, the automatically-driven vehicle needs to determine the position of the obstacle in front of the automatically-driven vehicle, and determine a vehicle-meeting position according to the position of the obstacle and the positions of the automatically-driven vehicle and a target vehicle, wherein the vehicle-meeting position can be located behind the obstacle, namely the automatically-driven vehicle and the target vehicle complete vehicle meeting first and then travel through the obstacle. The meeting position can also be positioned in front of the barrier, namely the automatic driving vehicle firstly runs through the barrier and then meets other vehicles. The following two cases are specifically distinguished:

and (1-1) the meeting position is behind the barrier.

In one possible implementation, the autonomous vehicle determines that the other vehicles running in opposite directions are closer to the obstacle and faster, and then the autonomous vehicle determines that the meeting position is behind the obstacle.

And (1-2) the meeting position is positioned in front of the barrier.

In one possible implementation, the autonomous vehicle determines that the other vehicles running in opposite directions are far away from the obstacle and the speed is slow, and the autonomous vehicle determines that the meeting position is in front of the obstacle when the autonomous vehicle is close to the obstacle.

When the road where the automatically-driven vehicle is located is blocked, for example, the road section is a curve or a winding road, and the automatically-driven vehicle cannot determine whether a target vehicle running in opposite directions exists in the front or not and whether an obstacle exists in the front or not, the automatically-driven vehicle needs to perform a speed reduction operation to realize safe running, and prompt information corresponding to the speed reduction operation is output through an output device, for example, a whistle operation can be performed according to a whistle rhythm corresponding to the speed reduction operation.

The automatic driving vehicle needs to comprehensively utilize multiple means to identify vehicles in the shading area of the automatic driving vehicle in the road, wherein the vehicles are opposite to the driving direction of the automatic driving vehicle, and the specific process comprises at least one of the following steps:

(1) and monitoring the whistle sound emitted by the vehicle, and taking the vehicle emitting the whistle sound as a target vehicle.

When there is the sheltering zone in the road place ahead that the autonomous driving vehicle goes, the autonomous driving vehicle can monitor the whistle sound that other vehicles sent, and the whistle sound that sends when receiving other vehicles can confirm that the place ahead has other vehicles.

The automatic driving vehicle can set flute sound characteristics corresponding to the flute sound emitted by the vehicle, monitor the sound in the current environment, judge whether the similarity between the sound characteristics and the flute sound characteristics is higher than a preset threshold value, and determine that other vehicles exist in the current environment if the similarity between the sound characteristics and the flute sound characteristics is higher than the preset threshold value. Or if the similarity between the sound feature and the whistle feature is higher than a preset threshold value and the source direction of the sound is the front of the automatic driving vehicle, determining that other vehicles exist in front.

(2) And identifying the light emitted by the vehicle, and taking the vehicle emitting the light as a target vehicle.

When a shielded area exists in front of a driving road of the automatic driving vehicle, the automatic driving vehicle can recognize light emitted by other vehicles, and when the light emitted by other vehicles is received, the existence of other vehicles in front can be determined.

The automatic driving vehicle can set light characteristics corresponding to light emitted by the vehicle, the automatic driving vehicle can shoot a picture of a front environment, the light characteristics in the picture are extracted, whether the similarity between the light characteristics and the set light characteristics is higher than a preset threshold value or not is judged, and if the similarity is higher than the preset threshold value, other vehicles in the front are determined.

(3) And sending a vehicle identification request to the wireless equipment in the Internet of vehicles, receiving vehicle information returned by the wireless equipment in the Internet of vehicles, and taking the vehicle corresponding to the vehicle information as a target vehicle.

When a shielded area exists in front of a running road of the automatic driving vehicle, the automatic driving vehicle can send a vehicle identification request to the internet of vehicles wireless device, the internet of vehicles wireless device receives the request of the automatic driving vehicle, screens vehicle information in a preset range of the position of the automatic driving vehicle and returns the vehicle information to the automatic driving vehicle, and the automatic driving vehicle receives the vehicle information returned by the internet of vehicles wireless device, so that whether other vehicles exist in front or not can be determined.

The preset range is a circular area formed by taking the automatic driving vehicle as a circle center and taking the preset distance as a radius, or a sector area formed by taking the automatic driving vehicle as a circle center, taking the preset distance as a radius and taking the preset angle as a vertex angle, and the like.

The wireless device of the internet of vehicles can be a street lamp arranged on the roadside, a charging pile or other public facilities, or can also be a management server for logging in an automatic driving vehicle and the like. The wireless device of the internet of vehicles can collect the vehicle information sent by a plurality of devices and send the vehicle information to other devices, so that the vehicle information is shared.

The vehicle information may include a position of the vehicle, and when the autonomous vehicle receives the vehicle information, the vehicle existing within the preset range and a specific position of the vehicle may be determined.

In addition, the autonomous vehicle may also detect an obstacle in front of the autonomous vehicle and within a shielded area of the autonomous vehicle. The shaded area is an area in front of the field of view of the autonomous vehicle. Alternatively, a convex mirror may be provided in the road, which has a reflective effect in which obstacles in the shaded area of the autonomous vehicle may reflect. When the convex mirror is located within the field of view of the autonomous vehicle, the autonomous vehicle may photograph the convex mirror to obtain a picture of the convex mirror, and identify the position of an obstacle included in the picture of the convex mirror.

The automatic driving vehicle can acquire the relative position of the automatic driving vehicle and the convex mirror, and can also acquire the position and the angle of an obstacle in a picture of the convex mirror, so that the relative position of the obstacle and the automatic driving vehicle is determined.

The convex mirror is arranged at the position with poor vision, such as a mountain road or a curve, the driver can see the scene in the blind area through the convex mirror, the blind area can be reduced, the automatic driving vehicle can identify the picture in the convex mirror, and whether the front part has the obstacle or not and the position of the obstacle can be identified according to the picture in the convex mirror.

The autonomous vehicle may then plan a meeting location according to the location of the autonomous vehicle, the location of the target vehicle, and the location of the obstacle. After the position of the target vehicle and the position of the obstacle are both clear, the way of planning the meeting position is similar to the above way, and is not described herein again.

1203. The automatic driving vehicle executes driving operation according to the meeting position.

In the step 1202, when the vehicle is determined to be in the meeting place and the vehicle reaches the meeting place within the preset distance, the vehicle is decelerated, and the vehicle can run along the edge of the road to leave a space for meeting with the target vehicle.

For the case of (1-1) in step 1202 above, step 1203 may include (2-1) and (2-2):

and (2-1) when the meeting position is behind the obstacle, if the autonomous vehicle is far away from the obstacle, the autonomous vehicle performs a deceleration operation.

And (2-2) when the meeting position is behind the obstacle, if the autonomous vehicle is closer to the obstacle, the autonomous vehicle performs a parking operation.

For the case of (1-2) in step 1202 above, step 1203 may include (2-3):

And (2-3) when the meeting position is positioned in front of the obstacle, the automatic driving vehicle performs acceleration operation, quickly passes by the obstacle and meets the target vehicle.

When the autonomous vehicle meets a target vehicle when there is no obstacle in front of the autonomous vehicle, the autonomous vehicle needs to run at a reduced speed to avoid the target vehicle for safety.

In a possible implementation manner, in a vehicle meeting process, the automatic driving vehicle acquires a distance between the automatic driving vehicle and the target vehicle, when the distance between the automatic driving vehicle and the target vehicle is not less than a preset distance, the automatic driving vehicle normally runs, as the distance between the automatic driving vehicle and the target vehicle is closer and closer, when the distance between the automatic driving vehicle and the target vehicle is less than the preset distance, the deceleration operation is executed so that the automatic driving vehicle and the target vehicle can safely meet, and then as the distance between the automatic driving vehicle and the target vehicle is farther and farther, when the distance between the automatic driving vehicle and the target vehicle is not less than the preset distance, the deceleration operation is stopped, and at this time, the normal running speed can be recovered.

In a possible implementation manner, when the automatically driven vehicle meets the target vehicle, if the target vehicle is not decelerated in advance and the meeting risk is high under the condition of high-speed opposite driving, the automatically driven vehicle is forced to stop and avoid, a parking driving operation needs to be executed to realize safe meeting, and prompt information corresponding to the parking driving operation is output through an output device, wherein the prompt manner is similar to the above (2-2), and is not repeated herein.

1204. The automatic driving vehicle outputs prompt information through an output device of the automatic driving vehicle in the process of executing driving operation, the prompt information is used for prompting the meeting state of the automatic driving vehicle and a target vehicle, and the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp.

For the case of (2-1) in step 1203 above, step 1204 may include:

(3-1) outputting a prompt message for avoidance of the autonomous vehicle through an output device of the autonomous vehicle, referring to fig. 13, during execution of the deceleration operation, may include at least one of:

(a) referring to fig. 13, for the display screen, when the autonomous vehicle performs a deceleration operation, the display screen displays a prompt message for decelerating and avoiding the target vehicle, where the prompt message is used to prompt the autonomous vehicle to decelerate and avoid the target vehicle, and when other agents check the prompt message, it may be determined that the current autonomous vehicle is decelerating and avoiding the target vehicle, or the prompt message may be a prompt message for prompting the other party to pass.

In one possible implementation manner, the prompt message for decelerating and avoiding the target vehicle may include text information or picture information, for example, the text information may be "deceleration, please look ahead", and the picture information may be any picture that can embody the deceleration operation performed by the autonomous vehicle.

(b) Referring to fig. 13, for the speaker, when the autonomous vehicle performs a deceleration operation, the speaker plays the prompt message of decelerating and avoiding the target vehicle, where the prompt message of decelerating and avoiding the target vehicle is a voice message for prompting the autonomous vehicle to decelerate, so that the target vehicle can listen to the prompt message to know the current deceleration of the autonomous vehicle.

(c) Referring to fig. 13, for the warning lamp, in the process of performing the deceleration operation of the autonomous vehicle, the brake lamp corresponding to the currently performed deceleration operation is turned on, so that the target vehicle can be made clear that the autonomous vehicle is decelerating.

(d) Referring to fig. 13, in the process of performing the deceleration operation on the autonomous driving vehicle, the current environmental information may be detected, and the indicator corresponding to the current environmental information may be turned on, so that the other agents may specify the position of the autonomous driving vehicle.

In the meeting, the automatic driving vehicle needs to ensure that the high beam is in a closed state for safe driving.

For the case of (2-2) in step 1203 above, step 1204 may include:

(3-2) in the process of performing the parking operation, referring to fig. 13, the guidance information for parking avoidance of the autonomous vehicle is output through the output device of the autonomous vehicle.

(a) Referring to fig. 13, for the display screen, when the autonomous vehicle parks, the display screen of the autonomous vehicle displays the prompt information and parking identifier of the parking avoidance target vehicle, and when other agents check the prompt information and parking identifier of the parking avoidance target vehicle of the autonomous vehicle, it may be determined that the current autonomous vehicle executes the parking operation.

In a possible implementation manner, the parking prompt message may be "please leave the vehicle, please look ahead", and the parking identifier may be any identifier that can represent that the autonomous vehicle parks.

(b) Referring to fig. 13, for the speaker, when the autonomous vehicle performs a parking operation, a prompt message of parking the target vehicle is played through the speaker, where the prompt message is a voice message for prompting the autonomous vehicle to park, so that the target vehicle can listen to the prompt message to know that the autonomous vehicle is currently parked.

(c) Referring to fig. 13, with respect to the warning lamp, in the process of performing the parking operation by the autonomous vehicle, a brake lamp and a hazard warning flash lamp (double flash lamp) corresponding to the currently performed parking operation are turned on, so that the target vehicle can specify that the autonomous vehicle is parking.

(d) Referring to fig. 13, in the process of executing the parking operation by the autonomous vehicle, the current environmental information may be detected, and the indicator corresponding to the current environmental information may be turned on, so that the other intelligent agents may specify the position of the autonomous vehicle.

For the case of (2-3) in step 1203 above, step 1204 may include:

(3-3) in the course of performing the acceleration operation, referring to fig. 13, the guidance information requesting avoidance of the target vehicle is output through the output device of the autonomous vehicle.

(a) Referring to fig. 13, for the display screen, when the autonomous vehicle performs an acceleration operation, the display screen displays a prompt message requesting avoidance of the target vehicle, and when the target vehicle views the prompt message of the autonomous vehicle, it may be determined that the autonomous vehicle needs to be avoided at present, and then the target vehicle may actively avoid the autonomous vehicle, or the prompt message may be a prompt message prompting an acceleration detour of the autonomous vehicle.

In one possible implementation manner, the prompt message requesting the target vehicle to avoid may include text message or picture message, for example, the text message may be "accelerating, please avoid", and the picture message may be any picture that can embody the acceleration operation performed by the autonomous vehicle.

(b) Referring to fig. 13, for the speaker, when the autonomous driving vehicle performs an acceleration operation, the speaker plays the prompt information requesting the avoidance of the target vehicle, where the prompt information is a voice message, and the target vehicle can listen to the prompt information to know that the autonomous driving vehicle needs to be avoided at present, so that the target vehicle can actively avoid the autonomous driving vehicle.

(c) Referring to fig. 13, in the process of executing the acceleration operation by the autonomous driving vehicle, the current environmental information may be detected, and the indicator corresponding to the current environmental information may be turned on, so that the other agents may specify the position of the autonomous driving vehicle.

When no obstacle exists in front of the automatically-driven vehicle, and no obstacle exists in front of the automatically-driven vehicle, the automatically-driven vehicle performs deceleration operation and avoidance operation close to the road edge, and corresponding prompt information is output through output equipment, wherein the prompt mode is similar to the prompt mode (3-1) in the step 1204, and is not repeated herein.

As shown in fig. 13, when the autonomous vehicle and the target vehicle travel in opposite directions to meet each other, if the road on which the autonomous vehicle is located is not obstructed, the meeting position is planned according to whether there is an obstacle in front of the autonomous vehicle and the positions of the autonomous vehicle and the target vehicle. If the road where the automatic driving vehicle is located is shielded, the automatic driving vehicle needs to execute speed reduction operation and simultaneously whistle to warn other vehicles to pay attention, obstacles in a shielding area of the automatic driving vehicle in the road are identified through the convex mirror, a target vehicle opposite to the driving direction of the automatic driving vehicle is screened and identified through whistle monitoring, light identification and internet-of-vehicles wireless equipment, and after the target vehicle is identified, the meeting position is planned according to the position of the automatic driving vehicle, the position of the target vehicle and the position of the obstacles.

When no obstacle exists in front of the automatic driving vehicle or an obstacle exists in front of the automatic driving vehicle and the meeting position is behind the obstacle, the automatic driving vehicle performs deceleration or parking operation during meeting, when the obstacle exists in front of the automatic driving vehicle and the meeting position is in front of the obstacle, the automatic driving vehicle performs acceleration operation, and the automatic driving vehicle outputs prompt information corresponding to the automatic driving vehicle driving operation through an output device.

In addition, the meeting position is determined according to the positions of the automatic driving vehicle and the target vehicle and the position of the obstacle, so that the influence of the obstacle on the meeting of the automatic driving vehicle and the target vehicle can be avoided, and the meeting safety is improved.

In addition, when the automatic driving vehicle executes the driving operation, the output equipment outputs the prompt information, so that the target vehicle can clearly determine the driving intention of the automatic driving vehicle and give avoidance, the conflict with the driving operation of the automatic driving vehicle is avoided, and the safety is improved.

In addition, when the road where the automatic driving vehicle is located is shielded, the position of the barrier is identified through the convex mirror, the risks possibly existing in the road can be determined through whistle monitoring, light identification and internet of vehicles screening, the driving operation is executed after the risks are determined, and the safety is improved.

The fifth interaction mode is as follows: and prompting abnormal intelligent agents within the range of the automatic driving vehicle.

FIG. 14 is a flow diagram illustrating a method of prompting, as shown in FIG. 14, including:

1401. and acquiring the behavior data of the agents within the current range.

1402. And identifying abnormal agents within the range according to the collected behavior data.

1403. And outputting prompt information of the abnormal intelligent agent through an output device of the automatic driving vehicle, wherein the output device comprises at least one of a display screen, a loudspeaker or a prompt lamp.

According to the method provided by the embodiment of the application, the abnormal intelligent bodies in the range are identified by collecting the behavior data of the intelligent bodies in the current range, the prompt messages of the abnormal intelligent bodies are output through the output equipment of the automatic driving vehicle, so that the automatic driving vehicle can know the existence of the abnormal intelligent bodies, the abnormal intelligent bodies are avoided, other intelligent bodies can also know the existence of the abnormal intelligent bodies, the abnormal intelligent bodies are avoided, the driving operation of the automatic driving vehicle is understood, the corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent bodies conflicts with the driving operation of the automatic driving vehicle is avoided as far as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. Moreover, the automatic driving vehicle actively interacts with other intelligent bodies, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In one possible implementation, identifying abnormal agents within range based on the collected behavioral data includes at least one of:

when the intelligent agent is a vehicle and the vehicle is determined to run in the area which is not matched with the vehicle according to the behavior data, determining that the vehicle is an abnormal vehicle;

when the intelligent body is a pedestrian and the pedestrian is determined to execute abnormal actions according to the behavior data, determining that the pedestrian is an abnormal pedestrian;

and when the intelligent body is an animal and the animal is determined to be detained in the road according to the behavior data, determining that the animal is an abnormal animal.

In one possible implementation, identifying abnormal agents within range from the collected behavioral data includes:

matching the behavior data with preset abnormal behavior data;

In one possible implementation, the prompt information of the abnormal intelligent agent is output through an output device of the automatic driving vehicle, and the prompt information comprises at least one of the following items:

displaying first prompt information through a display screen, wherein the first prompt information is used for prompting the position of an abnormal intelligent agent;

playing second prompt information through a loudspeaker, wherein the second prompt information is used for prompting the position of the abnormal intelligent agent;

and executing the whistle operation according to the whistle rhythm corresponding to the abnormal intelligent agent.

In one possible implementation manner, displaying, by a display screen, first prompt information includes:

displaying the category of the abnormal intelligent agent through a first display screen;

the first display screen is a display screen on one side, close to the abnormal intelligent agent, of the automatic driving vehicle, and the second display screen is a display screen on one side, far away from the abnormal intelligent agent, of the automatic driving vehicle.

In one possible implementation, outputting, by an output device of an autonomous vehicle, a prompt for an abnormal agent includes:

When the running route of the automatic driving vehicle conflicts with the route of the abnormal intelligent body, in the process of executing the driving operation of avoiding the abnormal intelligent body, the prompt information is output through the output device, and the prompt information is used for prompting the automatic driving vehicle to avoid the abnormal intelligent body.

In one possible implementation, the driving operation of avoiding the abnormal agent includes at least one of:

lane change operation;

a deceleration operation;

and (5) parking operation.

In one possible implementation, the driving operation of avoiding the abnormal intelligent agent comprises lane changing operation, and the prompt information is output through an output device and comprises at least one of the following items:

displaying lane change prompt information through a display screen;

playing lane changing voice prompt information through a loudspeaker;

turning on a turn light corresponding to lane change operation;

and executing the whistle operation according to the whistle rhythm corresponding to the lane change operation.

In one possible implementation, the driving operation of avoiding the abnormal intelligent agent includes a deceleration operation, and the prompt information is output through an output device, and the prompt information includes at least one of the following:

displaying deceleration prompt information through a display screen;

playing deceleration voice prompt information through a loudspeaker;

Lightening a prompt lamp corresponding to the deceleration operation;

In one possible implementation manner, the driving operation of avoiding the abnormal intelligent agent comprises a parking operation, and the prompt information is output through an output device and comprises at least one of the following items:

displaying parking prompt information and a parking mark through a display screen, wherein the parking prompt information and the parking mark are used for prompting the automatic driving vehicle to park;

the method comprises the steps of playing parking prompt information through a loudspeaker, wherein the parking prompt information is used for prompting an automatic driving vehicle to park;

and lightening a prompt lamp corresponding to the parking operation.

In one possible implementation, the method further comprises:

FIG. 15 is a flow diagram illustrating another prompting method, as shown in FIG. 15, in accordance with an exemplary embodiment, including:

1501. the autonomous vehicle collects behavior data of agents currently within range.

Vehicles running on the road, pedestrians and animals coming and going can be called intelligent bodies. When the vehicle runs, the vehicle cannot run along the road center line or even run left or right suddenly due to fatigue driving, distraction or mobile phone playing of a driver, or the non-motor vehicle and the automatic driving vehicle rush to run. When the pedestrian walks, it is probably forbidden that the rear vehicle suddenly goes out of the vehicle or the pedestrian optimistically seizes the road with the automatic driving vehicle. Animals may be caught in the road and influence the autonomous vehicle. All the behaviors belong to abnormal behaviors, and an agent with the abnormal behavior is an abnormal agent.

When the abnormal intelligent agent is in the current range of the automatic driving vehicle, the safe driving of the automatic driving vehicle can be influenced, and the automatic driving needs to change lanes for driving, decelerate for driving or execute parking operation so as to avoid traffic accidents.

Therefore, in order to timely identify the abnormal intelligent agents in the current range and realize safe automatic driving, the behavior data of the intelligent agents in the current range needs to be collected during the driving process of the automatic driving vehicle, so as to identify the abnormal intelligent agents in the range according to the collected behavior data.

Optionally, the autonomous vehicle may be configured with a collection device, and the collection device collects behavior data of agents currently located within the range.

The acquisition equipment can comprise at least one of a camera, a laser radar, a millimeter wave radar, an infrared sensor, a humidity sensor or a temperature sensor, and different types of behavior data can be acquired through different acquisition equipment. For example, the behavior data may include a travel route of the vehicle, a travel speed of the vehicle, a walking direction of a pedestrian, a position of an animal, and the like.

1502. The autonomous vehicle matches the behavior data with preset abnormal behavior data.

The autonomous driving vehicle can set preset abnormal behavior data according to the behavior characteristics of the abnormal intelligent agent. When the automatic driving vehicle runs, acquiring the behavior data of the intelligent agent in the current range, and matching the behavior data with the preset abnormal behavior data to determine whether the intelligent agent is an abnormal intelligent agent.

Optionally, in consideration of the fact that the intelligent agent includes multiple categories, the autonomous vehicle may set preset abnormal behavior data corresponding to the intelligent agent of each category, and then the autonomous vehicle recognizes the intelligent agent, and when acquiring the behavior data of the intelligent agent, determines the category to which the intelligent agent belongs according to the behavior data, acquires the preset abnormal behavior data corresponding to the category, and matches the behavior data with the preset abnormal behavior data.

For example, for an abnormal vehicle, the autonomous vehicle may determine that the preset abnormal behavior data of the abnormal vehicle includes: the driving route sways left and right, does not drive on a specified lane according to road regulations, does not drive along the road center line, and the like. For an abnormal pedestrian, the autonomous vehicle may determine that the preset abnormal behavior data of the abnormal pedestrian includes: crossing traffic, standing in the road, sudden fleeing, etc. For abnormal animals, the autonomous vehicle may determine that the preset behavior data of the abnormal animal includes: stay on the road or stop at the side of the road.

1503. And when the similarity of the behavior data and the preset abnormal behavior data is greater than a preset threshold value, the automatic driving vehicle determines that the intelligent agent is an abnormal intelligent agent.

The method comprises the steps that the similarity between behavior data and preset abnormal behavior data is calculated by the automatic driving vehicle, whether the similarity is larger than a preset threshold value or not is judged, if the similarity is larger than the preset threshold value, the behavior data are similar to the preset abnormal behavior data, the currently recognized intelligent agent can be determined to be an abnormal intelligent agent, and if the similarity is not larger than the preset threshold value, the behavior data are not similar to the preset abnormal behavior data, the currently recognized intelligent agent can be determined not to be the abnormal intelligent agent.

When the similarity between the behavior data and the preset abnormal behavior data is calculated, a first feature vector corresponding to the behavior data and a second feature vector corresponding to the preset abnormal behavior data can be obtained, and the similarity between the first feature vector and the second feature vector is calculated and used as the similarity between the behavior data and the preset abnormal behavior data. The similarity may be calculated in a cosine distance manner or in an euclidean distance manner, which is not limited in the embodiment of the present application.

Wherein the preset threshold may be set by the autonomous vehicle by default, or may be set according to the need for recognition accuracy.

Optionally, the preset abnormal behavior data may also include multiple types for the same category of agents, the autonomous vehicle may set multiple types of preset abnormal behavior data for each agent, and when the behavior data of an agent is identified, the preset abnormal behavior data whose similarity with the behavior data is greater than the preset threshold may be determined from the multiple types of preset abnormal behavior data in the above manner of calculating the similarity, at this time, not only may the agent be determined as an abnormal agent, but also which type of abnormal behavior the abnormal agent has occurred.

The first point to be noted is that the autonomous vehicle may include one or more agents currently within range, and similar operations may be performed for each agent to identify whether each agent is an abnormal agent.

The second point to be noted is that the

step

1502 and 1503 are optional steps, and the autonomous vehicle may also identify the abnormal agent in other manners.

For example, in one possible implementation, identifying abnormal agents within range from the collected behavioral data may further include at least one of:

(1) and when the intelligent agent is a vehicle and the driving route of the vehicle is determined to be abnormal according to the behavior data, determining that the vehicle is an abnormal vehicle.

The automatic driving vehicle can acquire behavior data of the vehicle within the current range, the behavior data can include positions of the vehicle at multiple moments in the current period, a driving route of the vehicle can be determined according to the position change condition of the vehicle, and whether the driving route is abnormal is judged, for example, whether the driving direction corresponding to the driving route changes for multiple times, whether the driving direction corresponding to the driving route is matched with the driving direction specified by the lane where the vehicle is located, and the like. When the driving route of the vehicle is determined to be abnormal according to the behavior data, the vehicle can be determined to be an abnormal vehicle.

The automatic driving vehicle can collect behavior data in every other period, wherein the period can be 1 second, 1 minute or 2 minutes and the like.

(2) And when the intelligent agent is a vehicle and the vehicle is determined to run in the area which is not matched with the vehicle according to the behavior data, determining that the vehicle is an abnormal vehicle.

The autonomous vehicle may collect behavior data of a vehicle currently located within a range, where the behavior data may include a position of the vehicle, determine a region where the vehicle is currently located according to the position of the vehicle, and determine whether the vehicle matches the region, for example, a motor vehicle should travel in a motor vehicle lane, a non-motor vehicle should travel in a non-motor vehicle lane, and the like. When it is determined that the vehicle is traveling in an area not matching the vehicle based on the behavior data, it is determined that the vehicle is an abnormal vehicle.

(3) And when the intelligent agent is a pedestrian and the walking route of the pedestrian is determined to conflict with the running route of any vehicle according to the behavior data, determining that the pedestrian is an abnormal pedestrian.

Wherein, the collision of the walking route of the pedestrian and the running route of the vehicle may include: the pedestrian's route of walking and the route of traveling of vehicle are crossed, and pedestrian and vehicle are located same position at the same moment, or pedestrian's route of walking and the route of traveling of vehicle coincide and pedestrian are located the vehicle place ahead or can also include other condition, and this application embodiment does not limit this.

Optionally, the automatic driving vehicle acquires a current walking route of the pedestrian and a current driving route of the vehicle, determines whether the walking route and the driving route conflict, and if so, determines that the pedestrian is an abnormal pedestrian.

Alternatively, the autonomous vehicle may also predict the pedestrian's travel path and the vehicle's travel path in the next cycle. That is, the autonomous vehicle may collect behavior data of the vehicle currently located within the range, where the behavior data may include a position and a driving direction of the vehicle, and the driving route of the vehicle may be predicted according to the position and the driving direction of the vehicle. In addition, the pedestrian behavior data can be collected, the pedestrian behavior data comprise the position and the walking direction of the pedestrian, and the walking route of the pedestrian can be predicted according to the position and the walking direction of the pedestrian. And judging whether the walking route conflicts with the driving route, if so, indicating that the pedestrian and the vehicle are about to have a collision accident, and determining that the pedestrian is an abnormal pedestrian.

(4) And when the intelligent agent is a vehicle and the running route of the vehicle is determined to conflict with the running route of any pedestrian according to the behavior data, determining that the vehicle is an abnormal vehicle.

This step (4) is similar to the step (3) described above and will not be described herein again.

(5) And when the intelligent body is a pedestrian and the pedestrian is determined to execute the abnormal action according to the behavior data, determining that the pedestrian is the abnormal pedestrian.

The autonomous vehicle may collect behavior data of a pedestrian currently located within a range to determine an action performed by the pedestrian, and determine whether the action is an abnormal action, so as to determine whether the pedestrian is an abnormal pedestrian.

For example, the autonomous vehicle determines an operation such as crossing a road, crossing a hurdle, staying on the road, running on the road, going out of the vehicle in the middle of the road as an abnormal operation in advance, determines whether or not the operation of the pedestrian is a predetermined abnormal operation, and determines that the pedestrian is an abnormal pedestrian when the operation of the pedestrian is any one of the predetermined abnormal operations.

Or, the automatic driving vehicle determines the actions of normally walking at the roadside, staying at the bus station and the like as normal actions in advance, judges whether the actions of the pedestrian belong to preset normal actions, and determines the pedestrian as an abnormal pedestrian when the actions of the pedestrian do not belong to all preset normal actions.

(6) And when the intelligent body is an animal and the animal is determined to be detained in the road according to the behavior data, determining that the animal is an abnormal animal.

The automatic driving vehicle can collect the behavior data of the animal in the current range, the behavior data comprises the positions of the animal at a plurality of moments in the current period, when the position of the animal is determined to be in the road and does not change within the plurality of moments, the animal is shown to be staying in the road, and the action is determined to be an abnormal animal.

1504. And outputting prompt information of the abnormal intelligent agent through output equipment of the automatic driving vehicle.

The prompt message of the abnormal intelligent agent comprises a text with an abnormal word, a picture of the abnormal intelligent agent, the position of the abnormal intelligent agent, voice information for broadcasting the abnormal intelligent agent, a whistle for prompting the abnormal intelligent agent and the like.

In a possible implementation manner, the outputting, by the output device, the prompt information of the abnormal agent may include at least one of the following:

(1) referring to fig. 16, for the display screen, when an abnormal agent exists in the range where the autonomous vehicle is currently located, first prompt information for prompting the position of the abnormal agent is displayed through the display screen.

By configuring the display screen, the display screen of the automatic driving vehicle displays the first prompt information in the running process of the automatic driving vehicle, and when other intelligent agents check the first prompt information of the automatic driving vehicle, the abnormal intelligent agents in the range where the automatic driving vehicle is located currently can be determined.

In a possible implementation manner, the first prompt message may include text information or picture information, for example, the text information may be "abnormal pedestrian exists", and the picture information may be any picture capable of representing the position of the abnormal pedestrian.

In one possible implementation manner, displaying, by a display screen, first prompt information includes: displaying the category of the abnormal intelligent agent through a first display screen; displaying the behavior data of the abnormal intelligent agent through a second display screen; the first display screen is a display screen on one side, close to the abnormal intelligent agent, of the automatic driving vehicle, and the second display screen is a display screen on one side, far away from the abnormal intelligent agent, of the automatic driving vehicle.

The prompt messages are respectively displayed on one side of the automatic driving vehicle close to the abnormal intelligent bodies and one side of the automatic driving vehicle far away from the abnormal intelligent bodies, and the display screen close to one side of the abnormal intelligent bodies displays the classes of the abnormal intelligent bodies, so that other intelligent bodies close to one side of the abnormal intelligent bodies can know the abnormal conditions as early as possible, avoid yielding or slow down as early as possible, and the occurrence probability of traffic accidents is reduced. The display screen far away from one side of the abnormal intelligent body displays the behavior data of the abnormal intelligent body, so that other intelligent bodies far away from one side of the abnormal intelligent body can understand the driving behavior of the automatic driving vehicle, avoidance is given in time, and the safety is improved.

(2) Referring to fig. 16, for the speaker, when the autonomous driving vehicle determines that the abnormal agent exists in the current range, the second prompt information is played through the speaker, and the second prompt information is used for prompting the position of the abnormal agent.

The second prompt information is voice information, and the loudspeaker of the automatic driving vehicle plays the second prompt information in the driving process of the automatic driving vehicle by configuring the loudspeaker, so that other intelligent agents can listen to the second prompt information and know the position of the abnormal intelligent agent.

(3) Referring to fig. 16, for the car whistle, when an abnormal agent exists in the current range of the autonomous vehicle, the whistle operation may be performed according to the whistle rhythm corresponding to the abnormal agent.

The autonomous vehicle is provided with a mechanical whistle or an electronic whistle, and a whistle operation can be performed through the mechanical whistle or the electronic whistle. The autonomous vehicle can set the number of whistling times in each fixed period to determine the whistling rhythm, and different intelligent agent categories correspond to different whistling rhythms. The period may be one second or one minute, etc.

The method comprises the steps that the type of an abnormal intelligent body can be obtained when an automatic driving vehicle collects behavior data of the intelligent body in a current range, the automatic driving vehicle can establish corresponding relations between different types and a whistle rhythm, when the automatic driving vehicle identifies the abnormal intelligent body, the type of the abnormal intelligent body is confirmed, the corresponding relation is inquired, the whistle rhythm corresponding to the type is obtained, whistle operation is executed according to the whistle rhythm corresponding to the type, the abnormal intelligent body can be warned, the abnormal intelligent body is initiatively reminded to correct dangerous behavior, other intelligent bodies can know the type of the abnormal intelligent body in the current range of the automatic driving vehicle, and other intelligent bodies are reminded of the abnormal intelligent body.

In the embodiment of the application, the automatic driving vehicle can establish connection with the management server, log in the management server, and send the abnormal intelligent agent notification message to the management server. And the management server receives the abnormal intelligent agent notification message sent by the automatic driving vehicle, issues the abnormal intelligent agent notification message, and the manager checks the abnormal intelligent agent notification message and processes the abnormal intelligent agent in time.

Wherein, the abnormal agent notification message carries the position information and the behavior data of the abnormal agent. Through the position information, a manager can clearly know the position of the abnormal intelligent agent, and can know the abnormal condition of the abnormal intelligent agent through the behavior data.

Wherein issuing the abnormal agent notification message may include: the management server sends alarm information to the control terminal, the control terminal displays the alarm information, a manager holding the control terminal checks the alarm information, the alarm information carries position information and behavior data of the abnormal intelligent body, and the manager goes to the position of the abnormal intelligent body and processes the abnormal intelligent body.

Optionally, the management server sends alarm information to the control terminal closest to the management server, and may notify the manager closest to the management server, so as to implement processing of the abnormal intelligent agent in the fastest time.

Other intelligent agents can comprise intelligent equipment, such as a mobile phone, a computer, a wireless device of the internet of vehicles and the like, the intelligent equipment can be connected with the management server to log in the management server, after the automatic driving vehicle sends an abnormal intelligent agent notification message to the management server, the management server can forward the abnormal intelligent agent notification message to the intelligent equipment logged in the management server, the intelligent equipment outputs the abnormal intelligent agent notification message, and a user of the intelligent equipment knows the position information and the behavior data of the abnormal intelligent agent and can go to the position of the abnormal intelligent agent to process the abnormal intelligent agent. Or the risk of the road section where the abnormal intelligent agent is located can be predicted so as to facilitate detour or deceleration driving in advance, the traffic safety is improved, and traffic accidents are reduced.

1505. And when the running route of the automatic driving vehicle conflicts with the route of the abnormal intelligent agent, the automatic driving vehicle executes the driving operation of avoiding the abnormal intelligent agent.

In order to ensure safe driving and avoid traffic accidents, when the driving route of the automatic driving vehicle conflicts with the route of the abnormal intelligent body, corresponding driving operation needs to be executed to avoid the abnormal intelligent body.

The automatic driving vehicle can obtain the current route of the abnormal intelligent agent and the running route of the automatic driving vehicle, judge whether the route of the abnormal intelligent agent conflicts with the running route of the automatic driving vehicle, and if the conflict occurs, the automatic driving vehicle needs to avoid the abnormal intelligent agent.

The driving operation for avoiding the abnormal intelligent agent comprises at least one of lane changing operation, speed reducing operation or parking operation.

For example, when the abnormal agent is a vehicle, if the abnormal agent and the autonomous vehicle are located in the same lane and travel in the same direction, and the abnormal agent is located behind the autonomous vehicle, the autonomous vehicle needs to perform lane change operation to avoid the abnormal agent; if the abnormal intelligent agent and the automatic driving vehicle are positioned on the same lane and run in the same direction, and the abnormal intelligent agent is positioned in front of the automatic driving vehicle, the automatic driving vehicle needs to execute deceleration operation to avoid the abnormal intelligent agent; when the abnormal agent is a pedestrian suddenly rushing into the approach and is positioned in front of the automatic driving vehicle, the automatic driving vehicle needs to execute parking operation to avoid.

1506. And outputting prompt information for prompting the automatic driving vehicle to avoid the abnormal intelligent agent through output equipment in the process of executing the driving operation of avoiding the abnormal intelligent agent by the automatic driving vehicle.

In the embodiment of the application, the automatic driving vehicle outputs the prompt information through the output device, and the prompt information is used for prompting other intelligent bodies that the automatic driving vehicle is avoiding the abnormal intelligent body currently so that the other intelligent bodies can understand the behavior of the automatic driving vehicle avoiding the abnormal intelligent body.

The prompt information may carry related information of the abnormal agent, for example, the prompt information displayed on the display screen and the prompt information played through the speaker may carry a category to which the abnormal agent belongs, a location of the abnormal agent, an abnormal action currently executed by the abnormal agent, and the like.

When the driving operation is lane changing operation, the output device outputs prompt information for prompting the automatic driving vehicle to avoid the abnormal intelligent agent, and the prompt information may include at least one of the following items:

(1) referring to fig. 16, with respect to the display screen, when the autonomous vehicle performs a lane change operation, a lane change notice is displayed through the display screen, and when the other agent views the notice of the autonomous vehicle, it is determined that the current autonomous vehicle is changing lanes.

In one possible implementation manner, the prompt message corresponding to the lane changing operation may include text message or picture message, for example, the text message may be "lane changing, avoidance of abnormal agent", and the picture message may be any picture capable of embodying the operation performed by the autonomous vehicle.

(2) Referring to fig. 16, for the speaker, when the autonomous vehicle performs a lane change operation, the speaker plays the prompt information of the intelligent agent with abnormal lane avoidance, the prompt information of the lane change is a voice message, and other intelligent agents can listen to the prompt information to know that the autonomous vehicle changes lanes currently.

(3) Referring to fig. 16, for the warning light, in the process of performing the lane change operation by the autonomous vehicle, the turn light corresponding to the lane change driving operation is turned on, so that other agents can make sure that the autonomous vehicle is changing lanes.

(4) Referring to fig. 16, for the vehicle whistle, in the course of the lane change operation performed by the autonomous vehicle, the whistle operation may be performed in a whistle rhythm corresponding to the lane change operation.

When the driving operation is a deceleration operation, the output device outputs prompt information for prompting the automatic driving vehicle to avoid the abnormal intelligent agent, and the prompt information may include at least one of the following items:

(1) referring to fig. 16, with respect to the display screen, when the autonomous vehicle performs a deceleration operation, a deceleration notice for prompting deceleration of the autonomous vehicle is displayed through the display screen, and when another agent views the deceleration notice of the autonomous vehicle, it may be determined that the current autonomous vehicle is decelerating.

In one possible implementation manner, the deceleration prompting message may include text information or picture information, for example, the text information may be "decelerating, avoiding abnormal agent", and the picture information may be any picture that can embody the deceleration operation performed by the autonomous vehicle.

(2) Referring to fig. 16, for the speaker, when the autonomous vehicle performs a deceleration operation, a deceleration promoting message is played through the speaker, where the deceleration promoting message is a voice message for promoting deceleration of the autonomous vehicle, so that other agents can listen to the deceleration promoting message to know that the autonomous vehicle is currently decelerated.

(3) Referring to fig. 16, in the process of executing the deceleration operation by the autonomous vehicle, the warning light corresponding to the currently executed deceleration operation is turned on, so that the other agent can confirm that the autonomous vehicle is decelerating.

(4) Referring to fig. 16, with respect to the siren, in the course of performing the deceleration operation of the autonomous vehicle, the whistle operation may be performed in a whistle rhythm corresponding to the deceleration operation.

When the driving operation is a parking operation, the output device outputs prompt information for prompting the automatic driving vehicle to avoid the abnormal intelligent agent, and the prompt information can include at least one of the following items:

(1) referring to fig. 16, with respect to the display screen, parking guidance information and a parking sign for prompting the autonomous vehicle to park are displayed through the display screen.

And in the process of executing parking driving operation by the automatic driving vehicle, displaying parking prompt information and a parking mark through a display screen, wherein the parking prompt information and the parking mark are used for prompting the automatic driving vehicle to park.

Through configuration of the display screen, when the automatic driving vehicle parks, the display screen of the automatic driving vehicle displays parking prompt information and parking marks, and when other intelligent agents check the parking prompt information and the parking marks of the automatic driving vehicle, the current automatic driving vehicle can be determined to park.

(2) Referring to fig. 16, for the speaker, in the process of performing the parking driving operation by the autonomous vehicle, a parking guidance message for guiding the autonomous vehicle to park is played through the speaker.

Through configuration speaker, in the automatic driving vehicle driving process, the speaker of automatic driving vehicle plays voice prompt information, makes other intelligent agents can listen to, knows that automatic driving vehicle parks at present.

(3) Referring to fig. 16, in the process of executing the parking operation by the autonomous vehicle, the warning light corresponding to the parking operation is turned on, so that the other agents can clearly determine that the autonomous vehicle is parked.

(4) Referring to fig. 16, with respect to the car horns, in the process of performing the parking driving operation by the autonomous vehicle, the operation of whistling may be performed in a whistling rhythm corresponding to the parking operation.

The automatic driving vehicle can establish a corresponding relation between the parking operation and the whistle rhythm, and then when the automatic driving vehicle executes the parking driving operation, the corresponding relation is inquired to obtain the whistle rhythm corresponding to the parking operation, and the whistle operation is executed according to the whistle rhythm corresponding to the parking operation, so that other intelligent bodies can know that the automatic driving vehicle is parked currently.

As shown in fig. 16, it is first determined whether an abnormal agent exists in the current range of the autonomous vehicle, and if so, it is determined whether the driving route of the autonomous vehicle and the abnormal agent conflicts, so as to determine what kind of driving operation the autonomous vehicle performs, and the abnormal agent and the driving operation performed by the autonomous vehicle are prompted through a display screen, a speaker, a warning light, and a siren configured for the autonomous vehicle.

And under the condition of route conflict, displaying the position of the abnormal intelligent agent through a display screen, playing the position of the abnormal intelligent agent through a loudspeaker, executing whistle operation according to the whistle rhythm corresponding to the abnormal intelligent agent, and sending an abnormal intelligent agent notification message to a management server connected with the automatic driving vehicle. In the case of a route conflict, the autonomous vehicle needs to change lanes, decelerate for avoidance, or park for avoidance, and will also be prompted in a similar manner.

FIG. 17 is a block diagram illustrating a hinting apparatus according to an example embodiment, as shown in FIG. 17, including:

a behavior data acquisition module 1701 for acquiring the behavior data of the agents currently located within the range;

an identifying module 1702, configured to identify an abnormal agent within a range according to the collected behavior data;

and a prompt information output module 1703, configured to output prompt information of the abnormal agent through an output device of the autonomous vehicle, where the output device includes at least one of a display screen, a speaker, and a prompt lamp.

In one possible implementation, as shown in fig. 18, the identifying module 1702 includes at least one of:

a first determination unit 1710 configured to determine that the vehicle is an abnormal vehicle when the agent is the vehicle and it is determined that the travel route of the vehicle is abnormal according to the behavior data;

a second determination unit 1711 configured to determine that the vehicle is an abnormal vehicle when the agent is the vehicle and it is determined that the vehicle is traveling in an area not matching the vehicle according to the behavior data;

a third determining unit 1712, configured to determine that the pedestrian is an abnormal pedestrian when the agent is a pedestrian and it is determined that a walking route of the pedestrian conflicts with a running route of any vehicle according to the behavior data;

a fourth determining unit 1713, configured to determine that the vehicle is an abnormal vehicle when the agent is the vehicle and it is determined that the traveling route of the vehicle conflicts with the traveling route of any pedestrian according to the behavior data;

a fifth determination unit 1714 configured to determine that the pedestrian is an abnormal pedestrian when the agent is a pedestrian and it is determined that the pedestrian performs an abnormal action according to the behavior data;

a sixth determining unit 1715, configured to determine that the animal is an abnormal animal when the agent is an animal and it is determined from the behavior data that the animal stays in the road.

In one possible implementation, as shown in fig. 18, the identifying module 1702 includes:

a matching unit 1716, configured to match the behavior data with preset abnormal behavior data;

a seventh determining unit 1717, configured to determine that the agent is an abnormal agent when the similarity between the behavior data and the preset abnormal behavior data is greater than a preset threshold.

In one possible implementation, as shown in fig. 18, the prompt information output module 1703 includes at least one of:

a first display unit 1720, configured to display, through a display screen, first prompt information, where the first prompt information is used to prompt a position of an abnormal agent;

the first playing unit 1721 is configured to play second prompt information through a speaker, where the second prompt information is used to prompt a position of an abnormal agent;

the first whistle unit 1722 is used for executing whistle operation according to the whistle rhythm corresponding to the abnormal intelligent agent.

In one possible implementation, as shown in fig. 18, the first display unit 1720 is further configured to:

In one possible implementation, as shown in fig. 18, the prompt information output module 1703 includes:

and an avoidance prompting unit 1723, configured to output, through an output device, prompting information for prompting the autonomous vehicle to avoid the abnormal agent in a process of performing a driving operation for avoiding the abnormal agent when a running route of the autonomous vehicle conflicts with a route of the abnormal agent.

In one possible implementation, as shown in fig. 18, the driving maneuver to avoid the abnormal agent includes at least one of:

lane change operation;

a deceleration operation;

and (5) parking operation.

In one possible implementation, as shown in fig. 18, the driving operation of avoiding the abnormal intelligent agent includes a lane changing operation, and the avoidance prompting unit 1723 is further configured to perform at least one of the following:

displaying lane change prompt information through a display screen;

playing lane changing voice prompt information through a loudspeaker;

turning on a turn light corresponding to lane change operation;

In one possible implementation, as shown in fig. 18, the driving operation of avoiding the abnormal intelligent agent includes a deceleration operation, and the avoidance prompting unit 1723 is further configured to perform at least one of the following:

Displaying deceleration prompt information through a display screen;

playing deceleration voice prompt information through a loudspeaker;

lightening a prompt lamp corresponding to the deceleration operation;

In one possible implementation, as shown in fig. 18, the driving operation of avoiding the abnormal agent includes a parking operation, and the avoidance prompting unit 1723 is further configured to perform at least one of the following:

and lightening a prompt lamp corresponding to the parking operation.

In one possible implementation, as shown in fig. 18, the apparatus further includes:

a sending module 1704, configured to send an abnormal agent notification message to a management server connected to the autonomous vehicle through a wireless network.

FIG. 19 is a schematic diagram illustrating the structure of an autonomous vehicle according to an exemplary embodiment. Generally, autonomous vehicle 1900 includes: a processor 1901 and a memory 1902.

The processor 1901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 1901 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1901 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1901 may be integrated with a GPU (Graphics Processing Unit, image Processing interactor) which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 1901 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

The memory 1902 may include one or more computer-readable storage media, which may be non-transitory. The memory 1902 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1902 is configured to store at least one instruction for being possessed by the processor 1901 to implement the lane information acquisition method provided by the method embodiments herein.

In some embodiments, autonomous vehicle 1900 may also optionally include: a peripheral interface 1903 and at least one peripheral. The processor 1901, memory 1902, and peripheral interface 1903 may be connected by bus or signal lines. Various peripheral devices may be connected to peripheral interface 1903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1904, a touch screen display 1905, a camera 1906, an audio circuit 1907, a positioning component 1908, and a power supply 1909.

The peripheral interface 1903 may be used to connect at least one peripheral associated with an I/O (Input/Output) to the processor 1901 and the memory 1902. In some embodiments, the processor 1901, memory 1902, and peripherals interface 1903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1901, the memory 1902, and the peripheral interface 1903 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 1904 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 1904 communicates with a communication network and other communication devices via electromagnetic signals. The rf circuit 1904 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1904 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 1904 may communicate with other autonomous vehicles via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 8G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 1904 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1905 is a touch display screen, the display screen 1905 also has the ability to capture touch signals on or above the surface of the display screen 1905. The touch signal may be input to the processor 1901 as a control signal for processing. At this point, the display 1905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, display 1905 may be one, providing the front panel of autonomous vehicle 1900; in other embodiments, display 1905 may be at least two, each disposed on a different surface of autonomous vehicle 1900 or in a folded design; in still other embodiments, display 1905 may be a flexible display disposed on a curved surface or on a folding surface of autonomous vehicle 1900. Even more, the display 1905 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display 1905 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 1906 is used to capture images or video. Optionally, camera assembly 1906 includes a front camera and a rear camera. Typically, a front camera is provided on the front panel of autonomous vehicle 1900 and a rear camera is provided on the back of autonomous vehicle 1900. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera head assembly 1906 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1907 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals into the processor 1901 for processing, or inputting the electric signals into the radio frequency circuit 1904 for realizing voice communication. The microphones may be multiple and placed in different locations of the autonomous vehicle 1900 for stereo capture or noise reduction purposes. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1901 or the radio frequency circuitry 1904 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 1907 may also include a headphone jack.

The Location component 1908 is used to locate the current geographic Location of the autonomous vehicle 1900 for navigation or LBS (Location Based Service). The Positioning component 1908 may be a Positioning component based on a Global Positioning System (GPS) in the united states, a beidou System in china, a greiner System in russia, or a galileo System in the european union.

Power supply 1909 is used to power various components in autonomous vehicle 1900. The power source 1909 can be alternating current, direct current, disposable batteries, or rechargeable batteries. When power supply 1909 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, autonomous vehicle 1900 also includes one or more sensors 1910. The one or more sensors 1910 include, but are not limited to: acceleration sensor 1911, gyro sensor 1912, pressure sensor 1913, fingerprint sensor 1914, optical sensor 1915, and proximity sensor 1916.

The acceleration sensor 1911 may detect the magnitude of acceleration on three coordinate axes of a coordinate system established with the autonomous vehicle 1900. For example, the acceleration sensor 1911 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 1901 may control the touch screen 1905 to display a user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1911. The acceleration sensor 1911 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 1912 may detect the body direction and the rotation angle of the autonomous vehicle 1900, and the gyro sensor 1912 may collect the 3D motion of the user on the autonomous vehicle 1900 in cooperation with the acceleration sensor 1911. From the data collected by the gyro sensor 1912, the processor 1901 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensors 1913 may be disposed on the side frames of autonomous vehicle 1900 and/or on the lower layers of touch display 1905. When the pressure sensor 1913 is provided on the side frame of the autonomous vehicle 1900, the user's grip signal on the autonomous vehicle 1900 can be detected, and the processor 1901 can perform right-left hand recognition or quick operation based on the grip signal acquired by the pressure sensor 1913. When the pressure sensor 1913 is disposed at the lower layer of the touch display 1905, the processor 1901 controls the operability control on the UI interface according to the pressure operation of the user on the touch display 1905. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 1914 is configured to collect a fingerprint of the user, and the processor 1901 identifies the user according to the fingerprint collected by the fingerprint sensor 1414, or the fingerprint sensor 1914 identifies the user according to the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the user is authorized by the processor 1901 to have associated sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. Fingerprint sensor 1914 may be disposed on the front, back, or side of autonomous vehicle 1900. When a physical button or manufacturer Logo is provided on autonomous vehicle 1900, fingerprint sensor 1914 may be integrated with the physical button or manufacturer Logo.

The optical sensor 1915 is used to collect the ambient light intensity. In one embodiment, the processor 1901 may control the display brightness of the touch screen 1905 based on the ambient light intensity collected by the optical sensor 1915. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 1905 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 1905 is turned down. In another embodiment, the processor 1901 may also dynamically adjust the shooting parameters of the camera assembly 1906 according to the intensity of the ambient light collected by the optical sensor 1915.

Proximity sensor 1916, also known as a distance sensor, is typically disposed on the front panel of autonomous vehicle 1900. Proximity sensor 1916 is used to gather the distance between the user and the front of autonomous vehicle 1900. In one embodiment, the touch display 1905 is controlled by the processor 1901 to switch from a light screen state to a rest screen state when the proximity sensor 1916 detects that the distance between the user and the front of the autonomous vehicle 1900 is gradually decreasing; when proximity sensor 1916 detects that the distance between the user and the front of autonomous vehicle 1900 gradually becomes larger, touch display 1905 is controlled by processor 1901 to switch from the breath-screen state to the bright-screen state.

Those skilled in the art will appreciate that the configuration shown in FIG. 19 is not intended to be limiting of autonomous vehicle 1900 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.

The embodiment of the present application further provides an autonomous vehicle, and the autonomous vehicle includes: the system comprises an output device, a processor and a memory, wherein the output device comprises at least one of a display screen, a loudspeaker, a vehicle whistle or a prompting lamp, and at least one program code is stored in the memory and loaded and executed by the processor to realize the operation executed in the method of the embodiment.

The embodiment of the present application also provides a computer-readable storage medium, in which at least one program code is stored, and the at least one program code is loaded and executed by a processor to implement the operations performed in the method of the above embodiment.

The embodiment of the present application further provides a computer program, where at least one program code is stored in the computer program, and the at least one program code is loaded and executed by a processor to implement the operations performed in the method of the foregoing embodiment.

The above description is only for facilitating the understanding of the technical solutions of the present application by those skilled in the art, and is not intended to limit the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A prompting method applied to an autonomous vehicle, comprising:

acquiring behavior data of an agent in a current range, wherein the behavior data comprises a driving route of a vehicle, a driving speed of the vehicle, a walking direction of a pedestrian and a position of an animal;

Outputting prompt information of the abnormal intelligent agent through an output device of the automatic driving vehicle, wherein the output device comprises at least one of a display screen, a loudspeaker or a prompt lamp, and the prompt information is used for prompting other intelligent agents except the abnormal intelligent agent in the range; the prompt information is used for prompting the position, the category or the behavior data of the abnormal intelligent agent, or the prompt information corresponds to the driving operation executed by the automatic driving vehicle, or the prompt information comprises the behavior action indicating other intelligent agents;

when the display screen includes a first display screen and a second display screen, outputting, by an output device of the autonomous vehicle, prompt information of the abnormal agent, including:

displaying the category to which the abnormal agent belongs through the first display screen;

displaying the behavior data of the abnormal agent through the second display screen;

2. The method of claim 1, wherein identifying abnormal agents within the range from the collected behavioral data comprises at least one of:

3. The method of claim 1, wherein identifying abnormal agents within the range from the collected behavioral data comprises:

matching the behavior data with preset abnormal behavior data;

4. The method of claim 1, wherein the outputting, via an output device of the autonomous vehicle, the alert for the abnormal agent further comprises at least one of:

5. The method of claim 1, wherein the outputting, via an output device of the autonomous vehicle, the alert for the abnormal agent further comprises:

6. The method of claim 5, wherein the driving maneuver to avoid the anomalous agent comprises at least one of:

lane change operation;

a deceleration operation;

and (5) parking operation.

7. The method of claim 6, wherein the driving operation to avoid the abnormal agent comprises a lane change operation, and wherein outputting a prompt via the output device comprises at least one of:

displaying lane change prompt information through the display screen;

playing lane changing voice prompt information through the loudspeaker;

turning on a turn signal corresponding to the lane change operation;

8. The method of claim 6, wherein the driving maneuver to avoid the abnormal agent includes a deceleration maneuver, and wherein outputting a prompt via the output device includes at least one of:

displaying deceleration prompt information through the display screen;

playing deceleration voice prompt information through the loudspeaker;

lighting a prompting lamp corresponding to the deceleration operation;

9. The method of claim 6, wherein the driving maneuver to avoid the abnormal agent includes a parking maneuver, and wherein outputting a prompt via the output device includes at least one of:

and lightening a prompt lamp corresponding to the parking operation.

10. The method according to any one of claims 1-9, further comprising:

11. A prompting device, the device comprising:

the behavior data acquisition module is used for acquiring the behavior data of the intelligent agent in the current range, wherein the behavior data comprises a driving route of a vehicle, the driving speed of the vehicle, the walking direction of a pedestrian and the position of an animal;

the prompt information output module is used for outputting prompt information of the abnormal intelligent agent through output equipment of an automatic driving vehicle, the output equipment comprises at least one of a display screen, a loudspeaker or a prompt lamp, and the prompt information is used for prompting other intelligent agents except the abnormal intelligent agent in the range; the prompt information is used for prompting the position, the category or the behavior data of the abnormal intelligent agent, or the prompt information corresponds to the driving operation executed by the automatic driving vehicle, or the prompt information comprises the behavior action indicating other intelligent agents;

when the display screen comprises a first display screen and a second display screen, the prompt information output module is used for displaying the category to which the abnormal agent belongs through the first display screen; displaying the behavior data of the abnormal agent through the second display screen; the first display screen is a display screen on the automatic driving vehicle, which is close to one side of the abnormal intelligent agent, and the second display screen is a display screen on the automatic driving vehicle, which is far away from one side of the abnormal intelligent agent.

12. The apparatus of claim 11, wherein the identification module comprises at least one of:

13. The apparatus of claim 11, wherein the identification module comprises:

14. The apparatus of claim 11, wherein the prompt information output module comprises at least one of:

15. The apparatus of claim 11, wherein the prompt information output module comprises:

16. The apparatus of claim 15, wherein the driving maneuver to avoid the abnormal agent comprises at least one of:

lane change operation;

a deceleration operation;

and (5) parking operation.

17. The apparatus of claim 16, wherein the driving operation to avoid the abnormal agent comprises a lane change operation, and wherein the avoidance prompting unit is further configured to perform at least one of:

displaying lane change prompt information through the display screen;

playing lane changing voice prompt information through the loudspeaker;

turning on a turn signal corresponding to the lane change operation;

18. The apparatus of claim 16, wherein the driving maneuver to avoid the abnormal agent includes a deceleration maneuver, and wherein the avoidance prompting unit is further configured to perform at least one of:

displaying deceleration prompt information through the display screen;

playing deceleration voice prompt information through the loudspeaker;

lighting a prompting lamp corresponding to the deceleration operation;

19. The apparatus of claim 16, wherein the driving maneuver to avoid the abnormal agent comprises a parking maneuver, and wherein the avoidance prompting unit is further configured to perform at least one of:

and lightening a prompt lamp corresponding to the parking operation.

20. The apparatus of any one of claims 11-19, further comprising:

21. An autonomous vehicle, comprising: an output device, a processor, and a memory;

the memory stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the operations performed in the prompting method according to any one of claims 1 to 10.

22. A computer-readable storage medium having stored therein at least one instruction, which is loaded and executed by a processor to perform operations performed in the hinting method of any one of claims 1 through 10.