CN109808493B - Method and device for displaying driving behavior of automatic driving vehicle - Google Patents
Method and device for displaying driving behavior of automatic driving vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, equipment and a storage medium for displaying the running behavior of an automatic driving vehicle, wherein the method comprises the following steps: acquiring the expected running behavior of the automatic driving vehicle in a preset time period, wherein the preset time period is a time period of a preset time length after the current time; displaying the expected driving behavior in an interior region of the autonomous vehicle. The embodiment of the invention enables a person riding in the autonomous vehicle to know the driving intention of the autonomous vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a method, a device, equipment and a storage medium for displaying the running behavior of an automatic driving vehicle.
Background
The existing automatic driving vehicle is generally provided with a display screen on an in-vehicle control platform, and information such as a running track of the automatic driving vehicle can be displayed on the display screen. In this way, the person sitting in the driving position can easily understand the driving behavior of the autonomous vehicle. However, it is difficult for a person sitting in another place, particularly a person sitting in a rear seat, to understand the driving behavior of the autonomous vehicle. Since the following driving behavior of the autonomous vehicle cannot be displayed to the occupants in the vehicle, the occupants in the vehicle easily have no sense of safety, and the riding experience is poor.
Disclosure of Invention
The embodiment of the invention provides a method and a device for displaying the driving behavior of an automatic driving vehicle, which at least solve the technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a method for displaying driving behaviors of an autonomous vehicle, including:
acquiring the expected running behavior of the automatic driving vehicle in a preset time period, wherein the preset time period is a time period of a preset time length after the current time;
displaying the expected driving behavior in an interior region of the autonomous vehicle.
In one embodiment, the interior region of the autonomous vehicle comprises: a light permeable object within the autonomous vehicle;
the displaying the expected driving behavior in an interior region of the autonomous vehicle includes: projecting an image representing the expected driving behavior on a light permeable object within the autonomous vehicle.
In one embodiment, the light permeable object is a windshield of the autonomous vehicle;
the positions of the projections are: a position on the windshield at which a lane corresponding to the expected driving behavior is present.
In one embodiment, the obtaining of the expected driving behavior of the autonomous vehicle within the predetermined time period comprises:
and judging whether a display instruction is received or not, and if so, continuing to execute the step of acquiring the expected running behavior of the automatic driving vehicle in a preset time period.
In one embodiment, after obtaining the expected driving behavior of the autonomous vehicle within the predetermined time period and before displaying the expected driving behavior in the interior area of the autonomous vehicle, the method further comprises:
determining whether the expected driving behavior is one of specific driving behaviors stored in advance, and if so, further performing the step of displaying the expected driving behavior in an internal area of the autonomous vehicle; otherwise, ending the current flow; the specific driving behavior includes at least one of straight driving, turning, reversing, turning around, and lane changing.
In a second aspect, an embodiment of the present invention further provides an apparatus for displaying driving behavior of an autonomous vehicle, including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the expected running behavior of the automatic driving vehicle in a preset time period, and the preset time period is a time period of a preset time length after the current time;
a display module to display the expected travel behavior in an interior region of the autonomous vehicle.
In one embodiment, the interior region of the autonomous vehicle comprises: a light permeable object within the autonomous vehicle;
the display module is configured to project an image representing the expected driving behavior onto a light-permeable object within the autonomous vehicle.
In one embodiment, the light permeable object is a windshield of the autonomous vehicle;
the projection position of the display module is as follows: a position on the windshield at which a lane corresponding to the expected driving behavior is present.
In one embodiment, the method further comprises:
and the instruction receiving module is used for receiving a display instruction and indicating the acquisition module to acquire the expected driving behavior.
In one embodiment, the method further comprises:
the judging module is used for judging whether the expected driving behavior is one of specific driving behaviors stored in advance or not, and if so, the display module is instructed to display the expected driving behavior; the specific driving behavior includes at least one of straight driving, turning, reversing, turning around, and lane changing.
In a third aspect, an embodiment of the present invention provides an apparatus for displaying a driving behavior of an autonomous vehicle, where functions of the apparatus may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the device may be configured to include a processor and a memory, the memory being used to store a program that supports the device to perform the above-described method of displaying driving behavior of an autonomous vehicle, and the processor being configured to execute the program stored in the memory. The device may also include a communication interface for communicating with other devices or a communication network.
In a fourth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer software instructions for an apparatus for displaying automated vehicle driving behavior, including a program for executing the method for displaying automated vehicle driving behavior described above.
One of the above technical solutions has the following advantages or beneficial effects:
according to the embodiment of the invention, the expected driving behavior of the automatic driving vehicle is obtained in advance and displayed in the inner area of the automatic driving vehicle, so that a person sitting in the vehicle can know the driving intention of the automatic driving vehicle.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
FIG. 1 is a flowchart of an implementation of a method for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic view of a location of an autonomous vehicle on a driving surface according to an embodiment of the invention;
FIG. 3 is a schematic view of the road surface as viewed from the front windshield outward of the autonomous vehicle in the position shown in FIG. 2;
FIG. 4A is a first schematic diagram illustrating the projected effect of the expected driving behavior of an autonomous vehicle on a front windshield according to an embodiment of the present invention;
FIG. 4B is a schematic diagram of the projected effect of the expected driving behavior of the autonomous vehicle on the front windshield according to the embodiment of the invention;
FIG. 4C is a schematic diagram of the projected effect of the expected driving behavior of the autonomous vehicle on the front windshield according to the embodiment of the invention;
FIG. 4D is a fourth schematic diagram illustrating the projected effect of the expected driving behavior of the autonomous vehicle on the front windshield in accordance with the exemplary embodiment of the present invention;
FIG. 5 is a flowchart of an implementation of a method for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
FIG. 6 is a flowchart of an implementation of a method for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an apparatus for displaying the driving behavior of an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
The embodiment of the invention mainly provides a method and a device for displaying the running behavior of an automatic driving vehicle, and the technical scheme is developed and described through the following embodiments respectively.
Fig. 1 is a flowchart of an implementation of a method for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention, including:
s11: the expected running behavior of the autonomous vehicle is obtained within a predetermined time period, wherein the predetermined time period is a time period which is a predetermined time length after the current time.
S12: the expected driving behavior is displayed in an interior region of the autonomous vehicle.
In one possible embodiment, the starting point of the predetermined time period may be the current time or a time after the current time.
For example, when the current time is t 0:
the predetermined period of time may be t0, t0+ tp, or,
the predetermined time period may also be [ t0 +. DELTA.t, t0 +. DELTA.t + tp ].
Where tp is the predetermined time length, and Δ t is a time interval between the start of the predetermined time period and the current time.
The expected driving behavior is the driving behavior that the autonomous vehicle will make in the future period of time, such as going straight, turning, backing up, turning around, changing lanes, etc. The different driving behaviors are embodied as different driving routes. Through step S12, a traveling behavior to be made by the autonomous vehicle (e.g., a traveling path to be traveled) may be displayed so that a person inside the autonomous vehicle knows the traveling intention of the autonomous vehicle.
When the predetermined time period is [ t0+ [ delta ] t, t0+ [ delta ] t + tp ], a certain reaction time can be reserved for the vehicle interior personnel because the automatic driving vehicle starts to make the expected driving behavior after the time period of [ delta ] t at the current moment.
In one possible embodiment, the interior region of the autonomous vehicle in S12 includes a light permeable object within the autonomous vehicle, e.g., a screen within the autonomous vehicle, an interior side of a windshield (including forward, lateral, rear windshields) of the autonomous vehicle, etc.
Correspondingly, step S12 may specifically be: an image representing the expected driving behavior is projected on a light permeable object within the autonomous vehicle.
Specifically, the image may be projected at a position inside the front windshield, inside the left windshield, or inside the right windshield of the autonomous vehicle, or the like. The specific projected position may be a position on the windshield where a lane corresponding to the expected driving behavior is present. Thus, when the vehicle occupant looks out through the windshield, the image representing the expected driving behavior is superimposed on the image of the corresponding lane, so that the lane to which the autonomous vehicle is going to drive can be visually seen. Wherein the image representing the expected driving behavior may be a line and/or an arrow.
Referring to fig. 2, a position of an autonomous vehicle on a driving road according to an embodiment of the present invention is schematically shown, in fig. 2, the autonomous vehicle is about to reach an intersection at which driving behaviors such as straight driving, left turning, right turning, turning around, and the like can be performed. Fig. 3 is a schematic view of the road surface as viewed from the front windshield outward when the autonomous vehicle is in the position shown in fig. 2.
The embodiment of the invention can project the expected driving behavior of the automatic driving vehicle on the front windshield, and as shown in fig. 4A to 4D, the projection effect diagrams of the expected driving behavior of straight driving, left turning, right turning and turning around are shown respectively. For persons sitting in different positions in the car, the viewed projection effect may be slightly different; however, due to the width of the lanes, it is ensured that the lines and/or arrows representing the expected driving behavior seen by the persons at any position are located on the respective lane.
In one possible embodiment, the length of the predetermined period of time is variable. The time length of the predetermined period of time may be determined according to the execution time of the expected driving behavior. The predetermined period of time may be set to a longer length of time when the execution time required for the expected travel behavior is longer. The predetermined period of time may be set to a shorter length of time when the execution time required for the expected travel behavior is shorter.
The embodiment of the present invention further provides another method for displaying a driving behavior of an autonomous vehicle, and as shown in fig. 5, the method includes:
s50: it is determined whether a display instruction is received, and if so, step S11 is performed.
S11: the expected running behavior of the autonomous vehicle is obtained within a predetermined time period, wherein the predetermined time period is a time period which is a predetermined time length after the current time.
S12: displaying the expected driving behavior in an interior region of the autonomous vehicle.
S11 and S12 are the same as the corresponding steps in the above embodiments, and are not described again.
The display instruction in S50 may be issued in various ways. For example, the instruction is issued by a person riding in the autonomous vehicle, the instruction is automatically issued for a predetermined period of time, the instruction is automatically issued when a specific road condition occurs, and the like. In this way, in the case of receiving a display instruction, the expected driving behavior is acquired and displayed; in the case where the display instruction is not received, the expected running behavior is not acquired.
Or, the expected driving behavior can be acquired and displayed under a general condition, and when the instruction of stopping displaying is received, the expected driving behavior is not acquired any more; and then, when a display instruction is received, restarting to acquire and display the expected driving behavior.
The embodiment of the present invention further provides another method for displaying a driving behavior of an autonomous vehicle, for example, fig. 6 is a flowchart for implementing the method, including:
s11: the expected running behavior of the autonomous vehicle is obtained within a predetermined time period, wherein the predetermined time period is a time period which is a predetermined time length after the current time.
S60: judging whether the expected driving behavior is one of specific driving behaviors stored in advance, and if so, executing step S12; otherwise, ending the current flow; wherein the specific driving behavior comprises at least one of straight driving, turning, backing, turning around and lane changing.
S12: displaying the expected driving behavior in an interior region of the autonomous vehicle.
S11 and S12 are the same as the corresponding steps in the above embodiments, and are not described again.
With the present embodiment, a specific driving behavior can be displayed, and only when the expected driving behavior belongs to the specific driving behavior, the expected driving behavior is displayed; otherwise, it is not displayed. The present embodiment may also be combined with the steps in the above embodiments, that is, when the display instruction is received and the expected driving behavior is one of the specific driving behaviors stored in advance, the expected driving behavior is displayed; otherwise, the expected driving behavior is not displayed.
The embodiment of the invention also provides a device for displaying the running behavior of the automatic driving vehicle. Referring to fig. 7, fig. 7 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention, including:
an obtaining module 701, configured to obtain an expected driving behavior of an autonomous vehicle within a predetermined time period, where the predetermined time period is a time period after a current time by a predetermined time length;
a display module 702 for displaying the expected driving behavior in an interior region of the autonomous vehicle.
In one possible embodiment, the interior region of the autonomous vehicle comprises: a light permeable object within the autonomous vehicle;
the display module 702 is configured to project lines and/or arrows representing the expected driving behavior onto a light-permeable object within the autonomous vehicle.
In one possible embodiment, the light permeable object is a windshield of the autonomous vehicle;
the positions of the projection of the display module 702 are: a position on the windshield at which a lane corresponding to the expected driving behavior is present.
The embodiment of the invention also provides a device for displaying the running behavior of the automatic driving vehicle. Referring to fig. 8, fig. 8 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention, including:
an acquisition module 701, a display module 702 and an instruction receiving module 803;
the obtaining module 701 and the display module 702 are the same as the corresponding modules in the above embodiments, and are not described again.
An instruction receiving module 803, configured to receive a display instruction and instruct the obtaining module 701 to obtain an expected driving behavior.
The embodiment of the invention also provides a device for displaying the running behavior of the automatic driving vehicle. Referring to fig. 9, fig. 9 is a schematic structural diagram of an apparatus for displaying driving behavior of an autonomous vehicle according to an embodiment of the present invention, including:
an acquisition module 701, a judgment module 903 and a display module 702;
the obtaining module 701 and the display module 702 are the same as the corresponding modules in the above embodiments, and are not described again.
A determining module 903, configured to determine whether the expected driving behavior acquired by the acquiring module 701 is one of specific driving behaviors stored in advance, and if so, instruct the display module 702 to display the expected driving behavior; the specific driving behavior includes at least one of straight driving, turning, reversing, turning around, and lane changing.
The functions of each module in each apparatus in the embodiments of the present invention may refer to the corresponding description in the above method, and are not described herein again.
An embodiment of the present invention further provides an apparatus for displaying a driving behavior of an autonomous vehicle, and as shown in fig. 10, the apparatus for displaying a driving behavior of an autonomous vehicle according to an embodiment of the present invention includes:
a memory 11 and a processor 12, the memory 11 storing a computer program operable on the processor 12. The processor 12, when executing the computer program, implements the method of displaying the driving behavior of an autonomous vehicle in the above-described embodiments. The number of the memory 11 and the processor 12 may be one or more.
The apparatus may further include:
and the communication interface 13 is used for communicating with external equipment and exchanging and transmitting data.
The memory 11 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 11, the processor 12 and the communication interface 13 are implemented independently, the memory 11, the processor 12 and the communication interface 13 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA), or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, and does not indicate only one bus or one type of bus.
Optionally, in a specific implementation, if the memory 11, the processor 12 and the communication interface 13 are integrated on a chip, the memory 11, the processor 12 and the communication interface 13 may complete communication with each other through an internal interface.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
In summary, the method and the device for displaying the driving behavior of the autonomous vehicle according to the embodiments of the present invention obtain the expected driving behavior to be generated in advance, and display the expected driving behavior in the internal area of the autonomous vehicle, so that the person riding in the autonomous vehicle can know the driving intention of the autonomous vehicle.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (12)
1. A method of displaying driving behavior of an autonomous vehicle, comprising:
acquiring the expected running behavior of the automatic driving vehicle in a preset time period, wherein the preset time period is a time period of a preset time length after the current time; a time interval exists between the starting point of the preset time period and the current moment, and the time length of the preset time period is determined according to the execution time of the expected driving behavior;
displaying the expected driving behavior in an interior region of the autonomous vehicle.
2. The method of claim 1, wherein the interior region of the autonomous vehicle comprises: a light permeable object within the autonomous vehicle;
the displaying the expected driving behavior in an interior region of the autonomous vehicle includes: projecting an image representing the expected driving behavior on a light permeable object within the autonomous vehicle.
3. The method of claim 2, wherein the light permeable object is a windshield of the autonomous vehicle;
the positions of the projections are: a position on the windshield at which a lane corresponding to the expected driving behavior is present.
4. The method of any of claims 1 to 3, wherein said obtaining an expected driving behavior of the autonomous vehicle over a predetermined period of time comprises:
and judging whether a display instruction is received or not, and if so, continuing to execute the step of acquiring the expected running behavior of the automatic driving vehicle in a preset time period.
5. The method of any of claims 1-3, wherein after obtaining the expected driving behavior of the autonomous vehicle within a predetermined time period and before displaying the expected driving behavior in the interior region of the autonomous vehicle, further comprising:
determining whether the expected driving behavior is one of specific driving behaviors stored in advance, and if so, further performing the step of displaying the expected driving behavior in an internal area of the autonomous vehicle; otherwise, ending the current flow; the specific driving behavior includes at least one of straight driving, turning, reversing, turning around, and lane changing.
6. An apparatus for displaying the driving behavior of an autonomous vehicle, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the expected running behavior of the automatic driving vehicle in a preset time period, and the preset time period is a time period of a preset time length after the current time; a time interval exists between the starting point of the preset time period and the current moment, and the time length of the preset time period is determined according to the execution time of the expected driving behavior;
a display module to display the expected travel behavior in an interior region of the autonomous vehicle.
7. The apparatus of claim 6, wherein the interior region of the autonomous vehicle comprises: a light permeable object within the autonomous vehicle;
the display module is configured to project an image representing the expected driving behavior onto a light-permeable object within the autonomous vehicle.
8. The apparatus of claim 7, wherein the light permeable object is a windshield of the autonomous vehicle;
the projection position of the display module is as follows: a position on the windshield at which a lane corresponding to the expected driving behavior is present.
9. The apparatus of any of claims 6 to 8, further comprising:
and the instruction receiving module is used for receiving a display instruction and indicating the acquisition module to acquire the expected driving behavior.
10. The apparatus of any of claims 6 to 8, further comprising:
the judging module is used for judging whether the expected driving behavior is one of specific driving behaviors stored in advance or not, and if so, the display module is instructed to display the expected driving behavior; the specific driving behavior includes at least one of straight driving, turning, reversing, turning around, and lane changing.
11. An apparatus for displaying the driving behavior of an autonomous vehicle, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-5.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| CN106165000A (en) * | 2014-03-31 | 2016-11-23 | 株式会社电装 | Vehicle display control unit |
| CN106896978A (en) * | 2015-12-21 | 2017-06-27 | 德尔福技术有限公司 | System for configuring the man-machine interface on multiple displays |
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