CN110001510B - Vehicle and pedestrian interaction method and system and vehicle - Google Patents

Vehicle and pedestrian interaction method and system and vehicle Download PDF

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Publication number
CN110001510B
CN110001510B CN201910274952.5A CN201910274952A CN110001510B CN 110001510 B CN110001510 B CN 110001510B CN 201910274952 A CN201910274952 A CN 201910274952A CN 110001510 B CN110001510 B CN 110001510B
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vehicle
pedestrian
preset
lamp
light
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CN110001510A (en
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刘毅林
陆宇哲
叶奕航
郭彦东
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The embodiment of the invention relates to the technical field of automobiles, and discloses a method and a system for interaction between a vehicle and a pedestrian and the vehicle, wherein the method comprises the following steps: acquiring a real-time state of a vehicle; whether the real-time state of the vehicle meets a preset state or not is judged, and if the real-time state of the vehicle meets the preset state, whether the vehicle meets a preset working condition or not can be further judged; and if so, controlling the vehicle to respond to the position of the pedestrian and output a preset light effect. By implementing the embodiment of the invention, the vehicle can respond to the position of the pedestrian to output the preset light effect, and the pedestrian can change the light effect of the vehicle by moving and the like, so that the interaction between the pedestrian and the vehicle is realized.

Description

Vehicle and pedestrian interaction method and system and vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for interaction between a vehicle and a pedestrian and the vehicle.
Background
In recent years, with the development of automobile manufacturing industry, more and more people begin to use automobiles, so that the contact frequency between pedestrians and automobiles on roads is increased. In order to remind pedestrians of paying attention to the position of an automobile, most automobiles in the market are provided with outline marker lamps, steering lamps and the like so as to remind the pedestrians of paying attention to the position of the automobile.
In practice, the traditional vehicle only outputs a certain fixed light effect to remind pedestrians in a unilateral way so that the pedestrians can know the position of the vehicle and avoid the vehicle, and the output control of the light effect is too traditional and is not intelligent enough; moreover, the contact between the pedestrian and the automobile is limited to the effect of outputting a warning light to the pedestrian from one side of the automobile, and the pedestrian and the automobile do not have meaningful interaction.
Disclosure of Invention
The embodiment of the invention discloses a method and a system for interaction between a vehicle and a pedestrian, which can respond to the position of the pedestrian and output a preset light effect so as to realize the interaction between the pedestrian and the vehicle.
The embodiment of the invention discloses a first aspect of an interaction method of a vehicle and a pedestrian, which comprises the following steps:
acquiring a real-time state of a vehicle;
judging whether the real-time state meets a preset state or not, and if so, judging whether the vehicle meets a preset working condition or not;
and if so, controlling the vehicle to respond to the position of the pedestrian and output a preset light effect.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the real-time status at least includes an instantaneous speed of the vehicle, and the determining whether the real-time status satisfies a preset status includes:
judging whether the instant speed of the vehicle included in the real-time state is less than or equal to a preset speed threshold included in a preset state, if so, determining that the real-time state meets the preset state;
or judging whether the real-time speed of the vehicle included in the real-time state is reduced to zero, and if so, determining that the real-time state meets a preset state.
As an alternative implementation, in a first aspect of an embodiment of the present invention, the controlling the vehicle to output a preset light effect in response to a position of a pedestrian includes:
acquiring position information of a pedestrian, and judging whether the pedestrian moves;
and if the pedestrian does not move, controlling the vehicle to respond to the position of the pedestrian and output a first preset light effect.
As an optional implementation manner, in the first aspect of this embodiment of the present invention, the method further includes:
and if the pedestrian moves, controlling the vehicle to output a second preset light effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian, which is included in the position information of the pedestrian.
As an alternative implementation, in the first aspect of the embodiments of the present invention, the controlling the vehicle to output the second preset lamp effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian included in the position information of the pedestrian includes:
determining the number and the positions of initial starting lamp particles in the vehicle lamp when the second preset lamp effect is output;
determining a target moving direction of the initial starting light particles according to the moving direction of the pedestrian included in the position information of the pedestrian;
determining the number of movable limit lamp particles according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles;
calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the pedestrian position;
calculating the number of target light particles to be moved according to the angle occupied by each light particle to be moved and the included angle between the position of the pedestrian and the central axis of the vehicle;
and on the basis of starting the initial starting light particles, moving the light particles with the number of the target light particles according to the target moving direction so as to output a second preset light effect to move along with the moving direction of the pedestrian.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the acquiring the position information of the pedestrian includes:
judging whether the number of pedestrians is more than one;
and if so, acquiring the position information of the pedestrian closest to the vehicle as the position information of the pedestrian.
The second aspect of the embodiment of the present invention discloses an interactive system between a vehicle and a pedestrian, comprising:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring real-time state information of a vehicle;
the first judging unit is used for judging whether the real-time state meets a preset state or not;
the second judging unit is used for judging whether the vehicle meets a preset working condition or not when the first judging unit judges that the real-time state meets a preset state;
and the first control unit is used for controlling the vehicle to respond to the position of the pedestrian and output a preset lamp effect when the second judgment unit judges that the vehicle meets a preset working condition.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the real-time status at least includes an instantaneous speed of the vehicle, and a manner that the first determining unit is configured to determine whether the real-time status satisfies a preset status specifically is:
the first judging unit is used for judging whether the instant speed of the vehicle included in the real-time state is less than or equal to a preset speed threshold included in a preset state or not, and if so, determining that the real-time state meets the preset state;
or, the real-time state is used for judging whether the instant speed of the vehicle included in the real-time state is reduced to zero, and if yes, the real-time state is determined to meet a preset state.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the first control unit includes:
an acquisition subunit, configured to acquire position information of a pedestrian;
a judging subunit, configured to judge whether the pedestrian is moving;
and the first control subunit is used for controlling the vehicle to output a first preset light effect when the judging subunit judges that the pedestrian does not move.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the first control unit further includes:
and the second control subunit is used for controlling the vehicle to output a second preset light effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian included in the pedestrian position information when the judging subunit judges that the pedestrian moves.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second control subunit is configured to control, according to the moving direction of the pedestrian included in the pedestrian position information, a manner that the vehicle outputs the second preset lamp effect to move along the moving direction of the pedestrian is specifically:
the second control subunit is used for determining the number and the positions of the initial starting lamp particles in the vehicle lamp when the second preset lamp effect is output; determining a target moving direction of the initial starting light particles according to the moving direction of the pedestrian included in the position of the pedestrian; determining the number of movable limit lamp particles according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles; calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the pedestrian position; calculating the number of target lamp particles required to move according to the angle occupied by each movable lamp particle and the included angle between the pedestrian position and the central axis of the vehicle; and on the basis of starting the initial starting light particles, moving the light particles with the number of the target light particles according to the target moving direction so as to output a second preset light effect to move along with the moving direction of the pedestrian.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the manner of acquiring the position information of the pedestrian by the acquiring subunit is specifically:
the acquiring subunit is used for judging whether the number of the pedestrians is more than one; and if so, acquiring the position information of the pedestrian closest to the vehicle as the position information of the pedestrian.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the system further includes:
and the second control unit is used for controlling the vehicle to respond to the position of the pedestrian and output a preset sound effect when the second judgment unit judges that the vehicle meets the preset working condition.
The third aspect of the embodiment of the invention discloses a vehicle, and the vehicle comprises the interaction system of the vehicle and the pedestrian, which is disclosed by the second aspect of the embodiment of the invention.
The fourth aspect of the embodiment of the present invention discloses an interactive system between a vehicle and a pedestrian, comprising:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the vehicle-pedestrian interaction method disclosed by the first aspect of the embodiment of the invention.
A fifth aspect of the embodiments of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute a method for interaction between a vehicle and a pedestrian as disclosed in the first aspect of the embodiments of the present invention.
A sixth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect of embodiments of the present invention.
A seventh aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where when the computer program product runs on a computer, the computer is caused to perform part or all of the steps of any one of the methods in the first aspect of the present embodiment.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the interactive system of the vehicle and the pedestrian can acquire the real-time state of the vehicle; whether the real-time state of the vehicle meets a preset state or not is judged, and if the real-time state of the vehicle meets the preset state, whether the vehicle meets a preset working condition or not can be further judged; if yes, controlling the vehicle to respond to the position of the pedestrian and output preset light effect and sound effect to interact with the pedestrian; for example, the vehicle can be controlled to output the preset light effect to move along the moving direction of the pedestrian, the pedestrian can also change the light effect output by the vehicle in moving and other ways, and the interaction between the vehicle and the pedestrian is realized; in addition, compared with the traditional vehicle which can only output fixed light effects, by implementing the embodiment of the invention, a vehicle driver can also self-define the vehicle light effects and control the vehicle to output the self-defined light effects to interact with pedestrians, so that the whole human-vehicle interaction process is more intelligent and entertaining; and then the requirement that the vehicle driver expresses individuation is met, and the driving experience degree of the vehicle driver is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for vehicle-pedestrian interaction according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another method for vehicle-pedestrian interaction disclosed in the embodiments of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle-pedestrian interaction system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another vehicle-pedestrian interaction system disclosed in the embodiments of the present invention;
fig. 5 is a schematic view of a through-type light strip disclosed in the embodiment of the present invention;
FIG. 6 is a schematic diagram of a lamp effect mode control logic according to an embodiment of the present invention;
fig. 7 is a schematic diagram for assisting in explaining a light effect control method according to an embodiment of the present invention;
fig. 8 is a schematic diagram of another auxiliary explanation light effect control method disclosed in the embodiment of the present invention;
fig. 9 is a schematic diagram for explaining a light effect control method in an auxiliary manner according to an embodiment of the disclosure;
FIG. 10 is a schematic diagram of a link topology for assisting in explaining a method for interaction between a vehicle and a pedestrian according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of another vehicle-pedestrian interaction system according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "first", "second" and "third" etc. in the description and claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order. The terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a method and a system for interaction between a vehicle and a pedestrian, which can remind the pedestrian of paying attention to the vehicle so as to avoid safety accidents.
The technical solution of the present invention will be described in detail with reference to specific examples.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle-pedestrian interaction method according to an embodiment of the present invention, and as shown in fig. 1, the vehicle-pedestrian interaction method may include the following steps:
101. the interactive system of the vehicle and the pedestrian obtains the real-time state of the vehicle.
In the embodiment of the present invention, the real-time state of the vehicle obtained by the interactive system between the vehicle and the pedestrian may include, but is not limited to: the instant running speed of the vehicle, the gear information of the vehicle, whether a vehicle-mounted control system is started or not, whether a vehicle ignition gear is started or not and the like.
102. Judging whether the real-time state of the vehicle meets a preset state or not by an interactive system of the vehicle and the pedestrian; if yes, go to step 103; if not, the flow is ended.
In the embodiment of the invention, the real-time state of the vehicle acquired by the interactive system of the vehicle and the pedestrian at least comprises the real-time speed of the vehicle; it should be noted that: the instantaneous speed of the vehicle may be obtained by a wheel speed sensor of the vehicle.
As an optional implementation manner, the manner in which the interactive system between the vehicle and the pedestrian determines whether the real-time state of the vehicle satisfies the preset state may be: the interactive system of the vehicle and the pedestrian judges whether the vehicle instant speed included by the real-time state of the vehicle is less than or equal to a preset speed threshold included by a preset state (wherein, the typical value of the preset speed threshold can be 3km/h), if so, the real-time state of the vehicle is determined to meet the preset state, and the step 103 is executed; if not, the flow is ended.
As another optional implementation manner, the manner in which the interactive system between the vehicle and the pedestrian determines whether the real-time state of the vehicle satisfies the preset state may be: judging whether the vehicle instant speed included by the real-time state of the vehicle is reduced to zero or not by the interactive system of the vehicle and the pedestrian, if so, determining that the real-time state of the vehicle meets the preset state, and executing step 103; if not, the flow is ended. It should be noted that: the process of reducing the instant speed of the vehicle to zero may be a process of intermittently stopping the vehicle (such as waiting for a traffic light, avoiding a pedestrian, and the like) when the vehicle is driving, and the embodiment of the invention is not limited.
It is understood that the vehicle-pedestrian interaction system may determine that the vehicle satisfies the preset state when the real-time state of the vehicle is low-speed driving or intermittent parking, but is not limited to determining that the vehicle satisfies the preset state in the above two states. For convenience of description, the following description will be given by taking these two states as examples, and should not be construed as limiting the embodiments of the present invention.
By implementing the method, the vehicle is allowed to execute the output of subsequent light effect and sound effect when the vehicle is judged to meet the preset state, so that the vehicle is ensured to run according to normal driving specifications, the condition that the preset light effect or sound effect output by the vehicle influences the judgment of pedestrians or other vehicles on road conditions is avoided, and further accidents can be avoided.
103. Judging whether the vehicle meets a preset working condition or not by an interactive system of the vehicle and the pedestrian; if yes, go to step 104, otherwise, end the process.
In the embodiment of the present invention, the preset working conditions may include, but are not limited to: whether the gear of the vehicle is in a P gear (parking gear), whether an automatic hold (automatic parking function) is triggered, whether a vehicle-mounted control system is started, whether a vehicle ignition gear is started, whether a daytime running light and a position light of the vehicle are started, and the like.
In the embodiment of the invention, when the vehicle-pedestrian interaction system judges that the vehicle instant speed included in the real-time state of the vehicle is less than or equal to the preset speed threshold included in the preset state, if the daytime running light and the position light of the vehicle are not turned on, no matter whether the vehicle-mounted control system is started, step 104 can be executed; if the daytime running light or the position light is turned on, the process is ended.
When the real-time speed of the vehicle, which is included in the real-time state of the vehicle, is reduced to zero, if the gear of the vehicle is in the P gear, and the daytime running light and the position light of the vehicle are not turned on, the vehicle pedestrian interaction system can execute step 104 no matter whether the vehicle ignition gear is turned on or not and whether the vehicle-mounted control system is turned on or not; if the gear of the vehicle is not in the P gear, the daytime running light or the position light of the vehicle is turned on, the process is ended.
104. The interactive system of the vehicle and the pedestrian controls the vehicle to respond to the position of the pedestrian and output preset light effect.
In the embodiment of the present invention, the head and the tail of the vehicle may be provided with a through-type light strip formed by combining a right side lamp, a left side lamp and a middle lamp, as shown in fig. 5, wherein the through-type light strip is a programmable lamp, that is, the light effect output by the through-type light strip may be freely customized. The through type light band may store a plurality of different light effect mode control logics (fig. 6 is a schematic diagram of one of the light effect mode control logics), and a right side lamp (AR 1 to AR21 in fig. 6), a left side lamp (AL 1 to AL21 in fig. 6), and a middle lamp (BM 1 to BM48 in fig. 6) may be respectively disposed corresponding to the through type light band in fig. 5; in fig. 6, the horizontal axis represents a plurality of light particle groups, each of which contains a plurality of light particles; the vertical axis represents a time series, which may include a plurality of time instants, each of which may be in units of T milliseconds, and T may be set manually (e.g., 10, 20); the instant state is indicated by the light particles in the horizontal axis light particle group corresponding to a certain time (e.g., T1) being turned on. The blank boxes in fig. 6 indicate that the light particles are off, and the remaining boxes indicate that the light particles are on; the light particles can correspond to different brightness levels when being turned on, and can also correspond to different colors (such as white, red and yellow). It is understood that the brightness level shown in fig. 6 is a possible example, and in other possible embodiments, the brightness level of the light granules may also be 100%, 50%, 30%, or the like, and specific values may be set by human, and the embodiment of the present invention is not limited thereto. In addition, the communication instruction for controlling the run-through lamp strip to output the preset lamp effect can comprise a lamp effect mode and an instantaneous state, and a user or a vehicle controller can freely combine the lamp effect mode and the instantaneous state to determine the communication instruction of various lamp effects.
Based on the lamp structure and the setting method, the interaction system of the vehicle and the pedestrian can respond to the position of the pedestrian, and the lamp controller controls the penetrating lamp strip to output a preset lamp effect; in addition, the Vehicle may further be provided with an avas (acoustic Vehicle Alerting system), that is, a Vehicle low-speed prompting sound effect controller, where the controller may store sound effect files in formats such as WAV, and the like.
It should be noted that: the lamp controller may be any Electronic Control Unit (ECU) provided in the vehicle, and is configured to trigger and Control a lighting effect of the lamp.
It can be understood that: in the embodiment of the present invention, the vehicle-pedestrian interaction system may control the target vehicle to output only the preset light effect to respond to the pedestrian, may also control the target vehicle to output only the preset sound effect to respond to the pedestrian, and may also control the target vehicle to output the preset light effect and the preset sound effect to respond to the pedestrian at the same time.
As an optional implementation manner, after the interactive system between the vehicle and the pedestrian controls the vehicle to output the preset light effect and the preset sound effect in response to the position of the pedestrian, if it is detected that the instant speed of the vehicle is greater than the preset speed threshold value, or the vehicle does not meet the preset working condition, the vehicle may be controlled to stop outputting the preset light effect and the preset sound effect.
For example, if the instant speed of the vehicle is detected to exceed the typical value of the preset speed threshold value by 3km/h, the vehicle can be controlled to stop outputting the preset light effect and sound effect;
for another example, if it is detected that the daytime running light or the position light of the vehicle is turned on, the vehicle can be controlled to stop outputting the preset light effect and sound effect; alternatively, when it is detected that the shift position of the vehicle is adjusted, for example, when the shift position is shifted from the P-range to the D-range (forward range), the vehicle may be controlled to stop outputting the preset lamp effect and sound effect.
By implementing the method, the interactive system of the vehicle and the pedestrian can automatically interrupt the output of the light effect and the sound effect when the vehicle does not meet the preset state or the preset working condition so as to ensure that the vehicle runs according to the normal driving standard, so that the judgment of the pedestrian or other vehicles on the road condition is prevented from being influenced by the preset light effect or the sound effect output by the vehicle, and further, the occurrence of accidents can be avoided.
Therefore, by implementing the method described in fig. 1, the preset light effect and sound effect can be output in response to the position of the pedestrian to interact with the pedestrian, so as to attract the attention of the pedestrian and prevent the vehicle from colliding with the pedestrian. In addition, by implementing the embodiment of the invention, a vehicle driver can interact with pedestrians through a self-defined light effect, so that the whole human-vehicle interaction process is more intelligent and entertaining; and then can satisfy vehicle driver's individualized demand of expression, let vehicle driver's interesting issue parking latency, improved vehicle driver's driving experience degree.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another vehicle-pedestrian interaction method disclosed in the embodiment of the present invention, and as shown in fig. 2, the vehicle-pedestrian interaction method may include the following steps:
201; step 201 is the same as step 101 in the first embodiment, and is not described herein again.
202. Judging whether the real-time state of the vehicle meets a preset state or not by an interactive system of the vehicle and the pedestrian; if yes, go to step 203; if not, the flow is ended.
203. Judging whether the vehicle meets a preset working condition or not by an interactive system of the vehicle and the pedestrian; if yes, go to step 204, otherwise, end the process.
204. The method comprises the steps that a vehicle-pedestrian interaction system obtains position information of a pedestrian;
in the embodiment of the invention, the interactive system of the vehicle and the pedestrian can acquire the position information of the pedestrian around the vehicle through the camera device carried by the vehicle. It is to be understood that the manner of acquiring the pedestrian position information by the system is not limited to the above-mentioned one, and for convenience of description, the following description will be given by taking the example of acquiring the position information of the pedestrian around the vehicle by the image pickup device, and should not be construed as limiting the embodiment of the present invention.
As an alternative embodiment, the way for the vehicle-pedestrian interaction system to acquire the position information of the pedestrian may be: the interactive system of the vehicle and the pedestrian acquires an image of the pedestrian around the vehicle through the camera device, and when the image of the pedestrian is judged to have a plurality of pedestrians, the system can use the coordinate information of the pedestrian closest to the vehicle in the image as the position information of the pedestrian.
By implementing the method, the interactive system between the vehicle and the pedestrian can track and process the pedestrian closest to the vehicle as the target pedestrian when a plurality of pedestrians exist around the vehicle, and because the pedestrian closest to the vehicle feels the light effect and the sound effect output by the vehicle firstly, the light effect and the sound effect are output in response to the position information of the pedestrian closest to the vehicle, so that the system is most valuable.
205. Judging whether the pedestrian moves or not by an interactive system of the vehicle and the pedestrian; if not, go to step 206; if so, go to step 207.
In the embodiment of the present invention, the pedestrian position information acquired by the vehicle-pedestrian interaction system may include coordinates of a pedestrian, the vehicle-pedestrian interaction system may track the coordinates of the pedestrian within a preset time period (specific numerical values may be set manually), and if the coordinates of the pedestrian do not change within the preset time period, it is determined that the pedestrian is not moving, and step 206 may be executed; if the coordinates of the pedestrian have changed for a predetermined period of time, it may be determined that the pedestrian is moving, and step 207 may be performed.
206. The vehicle-pedestrian interaction system controls the vehicle to output a first preset light effect in response to the position of the pedestrian.
In the embodiment of the invention, based on the lamp structure and the arrangement mode described in the step 104 in the first embodiment, the interactive system between the vehicle and the pedestrian can respond to the position of the pedestrian, and the lamp controller controls the through-type lamp strip to output the first preset lamp effect; in addition, the vehicle can also control a loudspeaker of the vehicle to output a first preset sound effect through the AVAS controller.
As an optional implementation manner, before the vehicle and pedestrian interaction system controls the vehicle to output the first preset light effect and the first preset sound effect, a preset light effect template can be output for a user to select; and checking the light effect template selected by the user from the preset light effect template as a first preset light effect.
As another optional implementation, before the vehicle and the pedestrian interaction system controls the vehicle to output the first preset light effect and the first preset sound effect, the light effect customization scheme transmitted by the user through the mobile terminal may be further acquired as the first preset light effect.
It should be noted that: based on the structure and arrangement of the lamp described in step 104 in the first embodiment, the light effect output by the pass-through light strip can be freely customized by a user or a vehicle controller. Therefore, by implementing the method, the interactive system of the vehicle and the pedestrian can output the corresponding light effect according to the light effect customizing method input by the user, so that the whole human-vehicle interactive process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
It can be understood that: in the embodiment of the present invention, the vehicle-pedestrian interaction system may control the target vehicle to output only the preset light effect to respond to the pedestrian, may also control the target vehicle to output only the preset sound effect to respond to the pedestrian, and may also control the target vehicle to output the preset light effect and the preset sound effect to respond to the pedestrian at the same time.
207. And the vehicle-pedestrian interaction system controls the vehicle to output a second preset light effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian included by the position information of the pedestrian.
In the embodiment of the invention, based on the lamp structure and the arrangement mode described in the step 104 in the first embodiment, the interactive system between the vehicle and the pedestrian can respond to the position of the pedestrian, and the lamp controller controls the through-type lamp strip to output the second preset lamp effect; in addition, the vehicle can also control a loudspeaker of the vehicle to output a second preset sound effect through the AVAS controller.
As an optional implementation manner, before the vehicle is controlled to output the second preset light effect to move along with the moving direction of the pedestrian according to the moving direction of the pedestrian included in the position information of the pedestrian, the vehicle-pedestrian interaction system may output a preset light effect template for the user to select; checking a light effect template selected by a user from the preset light effect templates as a second preset light effect; or the interactive system of the vehicle and the pedestrian can also acquire a light effect customization scheme transmitted by the user through the mobile terminal as a second preset light effect.
By implementing the method, the interactive system of the vehicle and the pedestrian can output corresponding light effects according to the light effect customization method input by the user, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
As an optional implementation manner, according to the moving direction of the pedestrian included in the position information of the pedestrian, the manner of controlling the vehicle to output the second preset light effect to move along the moving direction of the pedestrian may be: the interactive system of the vehicle and the pedestrian determines the number and the positions of initial starting lamp particles in the vehicle lamp according to the second preset lamp effect; determining the moving direction of the pedestrian according to the moving track of the pedestrian so as to determine the target moving direction of the initially started light particles according to the moving direction of the pedestrian; determining the number of movable limit lamp particles in the lamp according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles; calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the position of the pedestrian contained in the position information of the pedestrian; calculating the number of target lamp particles to be moved according to the angle occupied by each movable lamp particle and the included angle between the pedestrian position and the central axis of the vehicle, wherein the included angle is included by the moving track; then, on the basis of starting the initial starting of the lamp grains, moving the lamp grains with the number of the target lamp grains according to the determined target moving direction so as to output a second preset lamp effect to move along the moving track of the pedestrian and control the vehicle to output a second preset sound effect.
It should be noted that: the effect that light removed along with the pedestrian is through on the basis of starting the initial light grain that enables, and the removal direction according to the pedestrian removes the realization of the light grain of certain quantity, and because vehicle sensor detects pedestrian occasionally the detection range restriction, consequently, the initial light grain quantity that enables mobilizable in the light grain also is limited. In the embodiment of the invention, the movable limit number of the lamp beads refers to: and when the initially started lamp particles determined according to the second preset lamp effect move to the left and right side boundaries of the detection range of the sensor, the number of the lamp particles which can be moved is the maximum.
For example, assume that the second predetermined lamp effect is: controlling a first number of initial starting lamp particles positioned on the left side of a central axis of a vehicle in the vehicle lamp to start to form a first light band; controlling a second number of initial starting lamp particles on the right side of the central axis in the vehicle lamp to start to form a second light band so as to form two light bands similar to eyes; and controlling a third number of light particles between the first light band and the second light band to remain off to simulate an "eye distance". As shown in fig. 7, it is assumed that the first number of initially activated light particles located on the left side of the central axis of the vehicle, which are activated, is 11 light particles in 21 light particles on the left side of the central axis of the vehicle, and 6 light particles in the middle 48 light particles which are closest to the left side light particles, that is, 17 initially activated light particles located on the left side of the central axis of the vehicle form a first light band; the second number of initially activated light particles located to the right of the vehicle centerline axis is 11 of the 21 right light particles in the light fixture and the 6 closest to the right light particle in the middle 48 light particles, i.e., a total of 17 initially activated light particles located to the right of the vehicle centerline axis form a second band of light; and controlling the 36 light particles between the first light band and the second light band to be kept closed to form an eye distance. That is, the total number of the lamp particles forming the first light band, the second light band and the intermediate off between the two light bands is 17+17+ 36-70, and the total number of the lamp particles in the vehicle lamp is 21+21+ 48-90, so that the number of the limit lamp particles movable to the left in the vehicle lamp is (90-70)/2-10, and the number of the limit lamp particles movable to the right in the second light band is (90-70)/2-10.
In the embodiment of the invention, the first angle is an included angle between a central axis of the vehicle and a detection range boundary of a pedestrian position contained in the position information of the pedestrian. Wherein the detection range of the pedestrian position is related to the detection range of the sensor for detecting the pedestrian outside the vehicle. For example, referring to fig. 8, if the camera is used to detect the movement information of the pedestrian outside the vehicle, and the setting position of the camera is located on the central axis of the vehicle, and the detection range that the camera can shoot is 90 °, the first angle may be 45 °. That is, the angle between the real-time position of the detected pedestrian and the central axis of the vehicle varies within the range of 0 ° to 45 °. In the embodiment of the invention, if the effect that the light moves along with the pedestrian is required to be realized, the movement of the target light particles corresponds to the change of the included angle between the real-time position of the pedestrian and the central axis of the vehicle.
Further referring to fig. 8, assuming that the number of the limit light particles movable to the left is 10, and an angle change of 45 ° is required, the angle corresponding to each movable light particle is 45 °/10 °/4.5 °/one, that is, the number of light particles corresponding to each degree is: 10 particles/45 degree 0.2222 particles/degree. As shown in fig. 8, assuming that the currently detected pedestrian real-time position is located at a position deviated from the central axis of the vehicle by 20 ° to the left (i.e. the included angle between the pedestrian real-time position and the central axis of the vehicle is 20 °), the number of target light particles to be moved in the vehicle light is 0.2222 × 20 to 4.4444 light particles moved to the left, which is rounded to 4 light particles moved to the left. Further, the first and second bands of light may be controlled to move simultaneously 4 light locations to the left upon activation of the initially activated light, and the first and second bands of light may be left off with 36 light remaining therebetween to exhibit the effect of the first and second bands of light moving from the initial position with the pedestrian to a position offset 20 degrees to the left from the central axis of the vehicle.
By way of example with reference to fig. 9, if the pedestrian moves from a position 20 ° away from the vehicle central axis to a position 41 ° away from the vehicle central axis, the target moving amount of the target lamp is 0.2222 × 20+41, 4.4444+9.1102, 13.5542, rounded to 14. It should be noted that: when the first light band and the second light band are at the initial positions, the number of the limit light particles of the first light band and the second light band which can move rightwards is 10 and is less than 14, but when the pedestrian is located at a position 20 degrees deviated from the central axis of the vehicle at the left side, the first light band and the second light band move leftwards by 4 light particles, namely the number of the limit light particles of the second light band which can move rightwards is increased to 10+4 to 14, so that on the basis of starting the initially started light particles, the first light band and the second light band are controlled to simultaneously move rightwards by 14 light particle positions, and 36 light particles are kept to be closed between the first light band and the second light band, so that the first light band and the second light band are displayed to move along with the pedestrian from a position deviated from the central axis of the vehicle at the left side by 20 degrees to a position deviated from the central axis of the.
By implementing the method, the light effect output by the vehicle can move along with the moving track of the pedestrian and interact with the pedestrian so as to achieve the effect of attracting the attention of the pedestrian, and in addition, the user can also customize the light effect to be output, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
In order to better understand the flow of the interaction method between the vehicle and the pedestrian disclosed in the embodiment of the present invention, the following description is made with reference to the link topology diagram of fig. 8, wherein the vehicle body controller can be used to control the electrical equipment condition of the vehicle body, such as the control of a vehicle light, a wiper, a washer, a door lock, an electric window, a skylight, an electric rearview mirror, etc.; the AVAS controller is an AVAS (automatic Vehicle Alerting system), and the Vehicle low-speed prompting sound effect controller is used for controlling the loudspeaker of the Vehicle to output sound effects; the lamp controller may be any Electronic Control Unit (ECU) disposed in the vehicle, and is used for triggering and controlling the lighting effect of the lamp; the large screen controller is used for logic control of the vehicle-mounted screen; the intelligent unit in the vehicle and the intelligent driving module can be used for information processing; the mobile terminal can be a smart phone, a smart watch and the like of a user; the remote information processor is called a vehicle-mounted T-BOX for short, and the vehicle networking system comprises four parts, namely a host, the vehicle-mounted T-BOX, a mobile phone APP and a background system. The host is mainly used for video and audio entertainment and vehicle information display; the vehicle-mounted T-BOX is mainly used for communicating with a background system or a mobile phone APP to realize vehicle information display and control of the mobile phone APP; the camera device can be any camera matched with a vehicle; the central gateway is the core of the vehicle internal communication local area network, and can realize the sharing of information on each bus and the network management and fault diagnosis functions in the vehicle.
As shown in fig. 8, the real-time state and the working condition of the vehicle can be obtained through the vehicle body controller, and then whether the vehicle meets the preset condition can be judged according to the real-time state and the working condition of the vehicle, if yes, the camera device can obtain the position information of the pedestrian, and send the position information of the pedestrian to the intelligent unit or the intelligent driving module in the vehicle for data analysis, and then send the analysis result to the large-screen controller, and the large-screen controller matches out a light effect mode and an instantaneous state according to the analysis result to combine into a communication instruction to be sent to the lamp controller, so that the lamp controller controls the lamp to respond to the position of the pedestrian to output the preset light effect according to the communication instruction, and in the process, the large-screen controller can also send an instruction to the AVAS controller through the central gateway, so that the AVAS controller controls the vehicle;
in addition, the user can also use the mobile terminal to send lamp effect or sound effect customization information to the remote information processor through the 4G network, and the remote information processor sends the customization information to the large screen controller, so that the large screen controller generates a communication instruction according to the customization information and sends the communication instruction to the lamp controller and the AVAS controller, and the user-defined lamp effect and sound effect are output. Similarly, the customized information can also be a preset light effect template which is selected by the user on the vehicle-mounted large screen and is output by the vehicle-mounted large screen.
It can be seen that, compared with the method described in the embodiment of fig. 1, the method described in fig. 2 can output a preset light effect to interact with a pedestrian when detecting that the pedestrian does not move, and can also output another preset light effect to move along with the moving track of the pedestrian when detecting that the pedestrian moves, so as to interact with the pedestrian, so as to achieve the effect of attracting the eyes of the pedestrian, and the output light effect can be a user-defined light effect input by a user, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an interactive system between a vehicle and a pedestrian according to an embodiment of the present invention. As shown in fig. 3, the vehicle-pedestrian interaction system may include:
an acquisition unit 301 for acquiring real-time status information of a vehicle;
a first judging unit 302, configured to judge whether a real-time state of the vehicle satisfies a preset state;
a second judging unit 303, configured to judge whether the vehicle meets a preset working condition when the first judging unit 302 judges that the real-time state of the vehicle meets the preset state;
and the first control unit 304 is used for controlling the vehicle to respond to the position of the pedestrian and output preset light effect and sound effect when the second judging unit 303 judges that the vehicle meets the preset working condition.
As an alternative embodiment, the manner of determining whether the real-time state of the vehicle satisfies the preset state by the first determining unit 302 may be: judging whether the real-time speed of the vehicle included in the real-time state of the vehicle is less than or equal to a preset speed threshold included in a preset state, if so, determining that the real-time state of the vehicle meets the preset state;
as another optional implementation manner, the manner of determining whether the real-time state of the vehicle satisfies the preset state by the first determining unit 302 may further be: and judging whether the real-time speed of the vehicle included in the real-time state of the vehicle is reduced to zero, if so, determining that the real-time state of the vehicle meets the preset state.
By implementing the method, the vehicle is allowed to execute subsequent output of the light effect and the sound effect when the vehicle is judged to meet the preset state, so that the vehicle is ensured to run according to normal driving specifications, the condition that the preset light effect or the sound effect output by the vehicle influences the judgment of pedestrians or other vehicles on road conditions is avoided, and further accidents can be avoided.
As another optional embodiment, the vehicle-pedestrian interaction system may further include:
and a stopping unit 305, configured to, after the first control unit 304 controls the vehicle to output the preset light effect and sound effect in response to the position of the pedestrian, stop controlling the vehicle to output the preset light effect and sound effect if the speed of the vehicle is detected to be greater than the preset speed threshold or the preset working condition is not satisfied.
By implementing the method, when the vehicle does not meet the preset state or the preset working condition, the output of the light effect and the sound effect can be automatically interrupted, so that the vehicle can be ensured to run according to the standard driving standard, the condition that the preset light effect or the sound effect output by the vehicle influences the judgment of pedestrians or other vehicles on the road condition can be avoided, and further, the occurrence of accidents can be avoided.
It can be seen that the system described in fig. 3 can respond to the position of the pedestrian to output the preset light effect and sound effect to interact with the pedestrian, so as to attract the attention of the pedestrian and prevent the vehicle from colliding with the pedestrian. In addition, by implementing the embodiment of the invention, a vehicle driver can interact with pedestrians through a self-defined light effect, so that the whole human-vehicle interaction process is more intelligent and entertaining; and then can satisfy vehicle driver's individualized demand of expression, let vehicle driver's interesting issue parking latency, improved vehicle driver's driving experience degree.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of another vehicle-pedestrian interaction system according to an embodiment of the present invention. The vehicle-pedestrian interaction system shown in fig. 4 is optimized from the vehicle-pedestrian interaction system shown in fig. 3. Compared with the vehicle-pedestrian interaction system shown in fig. 3, the vehicle-pedestrian interaction system shown in fig. 4 includes a first control unit 304 that may include:
an acquisition subunit 3041 for acquiring position information of a pedestrian;
a determination subunit 3042 configured to determine whether the pedestrian is moving according to the position information of the pedestrian;
the first control subunit 3043 is configured to control the vehicle to output a first preset light effect and a first preset sound effect when the determining subunit 3042 determines that the pedestrian is not moving.
As an optional implementation, the first control unit 304 may further include:
a first determining subunit 3044, configured to output a preset light effect template for a user to select before the first controlling subunit 3043 controls the vehicle to output the first preset light effect and the first preset sound effect; checking a light effect template selected by a user from the preset light effect templates as a first preset light effect;
or, the first determining subunit 3044 is configured to, before the first control subunit 3043 controls the vehicle to output the first preset light effect and the first preset sound effect, obtain a light effect customization scheme transmitted by the user through the mobile terminal, and use the light effect customization scheme as the first preset light effect.
By implementing the method, the interactive system of the vehicle and the pedestrian can output corresponding light effects according to the light effect customization method input by the user, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
As another optional implementation, the first control unit 304 may further include:
a second determining subunit 3045, configured to determine a moving trajectory of the pedestrian according to the position information of the pedestrian when the determining subunit 3042 determines that the pedestrian is moving;
the second control subunit 3046 is configured to control the vehicle to output a second preset light effect to follow the movement track of the pedestrian according to the movement track of the pedestrian, and to control the vehicle to output a second preset sound effect.
By implementing the method, the light effect output by the vehicle can move along with the moving track of the pedestrian so as to improve the interaction with the pedestrian.
As another optional implementation, the first control unit 304 may further include:
a third determining subunit 3047, configured to output a preset light effect template for the user to select before the second controlling subunit 3046 controls the vehicle to output a second preset light effect to follow the movement track of the pedestrian according to the movement track of the pedestrian and controls the vehicle to output a second preset sound effect; checking a light effect template selected by a user from the preset light effect templates as a second preset light effect;
or, the third determining subunit 3047 is configured to, before the second control subunit 3046 controls the vehicle to output the second preset light effect to move along the moving track of the pedestrian according to the moving track of the pedestrian and controls the vehicle to output the second preset sound effect, obtain the light effect customization scheme transmitted by the user through the mobile terminal as the second preset light effect.
By implementing the method, the interactive system of the vehicle and the pedestrian can output corresponding light effects according to the light effect customization method input by the user, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
As another alternative embodiment, the second control subunit 3046 is configured to control the vehicle to output the second preset light effect to follow the movement track of the pedestrian according to the movement track of the pedestrian, and the manner of controlling the vehicle to output the second preset sound effect may be: determining the number and the positions of initial starting lamp particles in the vehicle lamp according to the second preset lamp effect; determining the moving direction of the pedestrian according to the moving track of the pedestrian so as to determine the target moving direction of the initial starting lamp particles according to the moving direction of the pedestrian; determining the number of movable limit lamp particles according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles; calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the position of the pedestrian contained in the position information of the pedestrian; calculating the number of target lamp particles to be moved according to the angle occupied by each movable lamp particle and the included angle between the pedestrian position and the central axis of the vehicle, wherein the included angle is included by the moving track of the pedestrian; and on the basis of starting the initial starting of the lamp grains, moving the lamp grains with the target number according to the target moving direction so as to output a second preset lamp effect to move along the moving track of the pedestrian, and controlling the vehicle to output a second preset sound effect.
As another alternative, the manner of the acquiring subunit 3041 for acquiring the position information of the pedestrian may be: judging whether the number of pedestrians is more than one; and if so, acquiring the coordinate information of the pedestrian closest to the vehicle to determine the position information of the pedestrian according to the coordinate information of the pedestrian closest to the vehicle.
By implementing the method, the interactive system between the vehicle and the pedestrian can track and process the pedestrian closest to the vehicle as the target pedestrian when a plurality of pedestrians exist around the vehicle, and because the pedestrian closest to the vehicle feels the light effect and the sound effect output by the vehicle firstly, the light effect and the sound effect are output in response to the position information of the pedestrian closest to the vehicle, so that the system is most valuable.
It can be seen that, compared with the system described in the embodiment of fig. 3, the system described in fig. 4 can output a preset light effect to interact with a pedestrian when detecting that the pedestrian does not move, and can output another preset light effect to move along with the moving track of the pedestrian when detecting that the pedestrian moves, so as to interact with the pedestrian, so as to achieve the effect of attracting the attention of the pedestrian, and the output light effect can be a user-defined light effect input by a user, so that the whole human-vehicle interaction process is more intelligent and entertaining; the requirement that the user expresses individuation is met, the user is interested in issuing the parking waiting time, and the driving experience of the user is improved.
EXAMPLE five
Referring to fig. 11, fig. 11 is a schematic structural diagram of another vehicle-pedestrian interaction system according to an embodiment of the present invention. As shown in fig. 11, the vehicle-pedestrian interaction system may include:
a memory 901 in which executable program code is stored;
a processor 902 coupled to a memory 901;
the processor 902 calls the executable program code stored in the memory 901 to execute the method for interaction between a vehicle and a pedestrian in any one of fig. 1 to 2.
The embodiment of the invention discloses a computer-readable storage medium which stores a computer program, wherein the computer program enables a computer to execute the interaction method of a vehicle and a pedestrian in any one of figures 1-2.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The method and system for interaction between a vehicle and a pedestrian, and the vehicle disclosed in the embodiments of the present invention are described in detail above, and specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the embodiments above is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (15)

1. A method of vehicle-pedestrian interaction, the method comprising:
acquiring a real-time state of a vehicle;
judging whether the real-time state meets a preset state, if so, judging whether the vehicle meets a preset working condition, wherein the preset working condition at least comprises that a daytime running light and a position light of the vehicle are not started;
and if so, controlling the vehicle to respond to the position of the pedestrian and output a preset light effect.
2. The method of claim 1, wherein the real-time status comprises at least an instantaneous speed of the vehicle, and the determining whether the real-time status satisfies a predetermined status comprises:
judging whether the instant speed of the vehicle included in the real-time state is less than or equal to a preset speed threshold included in a preset state, if so, determining that the real-time state meets the preset state;
or judging whether the real-time speed of the vehicle included in the real-time state is reduced to zero, and if so, determining that the real-time state meets a preset state.
3. The method of claim 2, wherein controlling the vehicle to output a preset light effect in response to a position of a pedestrian comprises:
acquiring position information of a pedestrian, and judging whether the pedestrian moves;
and if the pedestrian does not move, controlling the vehicle to respond to the position of the pedestrian and output a first preset light effect.
4. The method of claim 3, further comprising:
and if the pedestrian moves, controlling the vehicle to output a second preset light effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian, which is included in the position information of the pedestrian.
5. The method according to claim 4, wherein the controlling the vehicle to output the second preset lamp effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian included in the position information of the pedestrian comprises:
determining the number and the positions of initial starting lamp particles in the vehicle lamp when the second preset lamp effect is output;
determining a target moving direction of the initial starting light particles according to the moving direction of the pedestrian included in the position information of the pedestrian;
determining the number of movable limit lamp particles according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles;
calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the pedestrian position;
calculating the number of target lamp particles to be moved according to the angle occupied by each movable lamp particle and the included angle between the pedestrian position and the central axis of the vehicle;
and on the basis of starting the initial starting light particles, moving the light particles with the number of the target light particles according to the target moving direction so as to output a second preset light effect to move along with the moving direction of the pedestrian.
6. The method of claim 3, wherein the obtaining the position information of the pedestrian comprises:
judging whether the number of pedestrians is more than one;
and if so, acquiring the position information of the pedestrian closest to the vehicle as the position information of the pedestrian.
7. The method according to any one of claims 1 to 6, further comprising:
and when the vehicle is judged to meet the preset working condition, controlling the vehicle to respond to the position of the pedestrian and output a preset sound effect.
8. A vehicle and pedestrian interaction system, the system comprising:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring real-time state information of a vehicle;
the first judging unit is used for judging whether the real-time state meets a preset state or not;
the second judgment unit is used for judging whether the vehicle meets a preset working condition or not when the first judgment unit judges that the real-time state meets the preset state, wherein the preset working condition at least comprises that the daytime running light and the position light of the vehicle are not turned on;
and the first control unit is used for controlling the vehicle to respond to the position of the pedestrian and output a preset lamp effect when the second judgment unit judges that the vehicle meets a preset working condition.
9. The system according to claim 8, wherein the real-time status at least includes an instantaneous speed of the vehicle, and the first determining unit is configured to determine whether the real-time status satisfies a preset status by:
the first judging unit is used for judging whether the instant speed of the vehicle included in the real-time state is less than or equal to a preset speed threshold included in a preset state or not, and if so, determining that the real-time state meets the preset state;
or, the real-time state is used for judging whether the instant speed of the vehicle included in the real-time state is reduced to zero, and if yes, the real-time state is determined to meet a preset state.
10. The system of claim 9, wherein the first control unit comprises:
an acquisition subunit, configured to acquire position information of a pedestrian;
a judging subunit, configured to judge whether the pedestrian is moving;
and the first control subunit is used for controlling the vehicle to respond to the position of the pedestrian and output a first preset light effect when the judging subunit judges that the pedestrian does not move.
11. The system of claim 10, wherein the first control unit further comprises:
and the second control subunit is used for controlling the vehicle to output a second preset light effect to move along the moving direction of the pedestrian according to the moving direction of the pedestrian included in the pedestrian position information when the judging subunit judges that the pedestrian moves.
12. The system according to claim 11, wherein the second control subunit is configured to control, according to the moving direction of the pedestrian included in the pedestrian position information, the manner in which the vehicle outputs the second preset light effect to move along the moving direction of the pedestrian is specifically:
the second control subunit is used for determining the number and the positions of the initial starting lamp particles in the vehicle lamp when the second preset lamp effect is output; determining the target moving direction of the initial starting light particles according to the moving direction of the pedestrian included in the position information of the pedestrian; determining the number of movable limit lamp particles according to the total number of the lamp particles of the vehicle lamp, the number of the initial starting lamp particles and the position of the initial starting lamp particles; calculating the angle occupied by each movable lamp particle according to the number of the movable limit lamp particles and a preset first angle; the first angle is an included angle between a central axis of the vehicle and a detection range boundary of the pedestrian position; calculating the number of target lamp particles required to move according to the angle occupied by each movable lamp particle and the included angle between the pedestrian position and the central axis of the vehicle; and on the basis of starting the initial starting light particles, moving the light particles with the number of the target light particles according to the target moving direction so as to output a second preset light effect to move along with the moving direction of the pedestrian.
13. The system according to claim 10, wherein the acquiring subunit is configured to acquire the position information of the pedestrian by:
the acquiring subunit is used for judging whether the number of the pedestrians is more than one; and if so, acquiring the position information of the pedestrian closest to the vehicle as the position information of the pedestrian.
14. The system of any one of claims 8 to 13, further comprising:
and the second control unit is used for controlling the vehicle to respond to the position of the pedestrian and output a preset sound effect when the second judgment unit judges that the vehicle meets the preset working condition.
15. A vehicle, characterized in that it comprises a system according to any one of claims 8 to 14.
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