CN110077314A - A kind of information interacting method of automatic driving vehicle, system and electronic equipment - Google Patents
A kind of information interacting method of automatic driving vehicle, system and electronic equipment Download PDFInfo
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- CN110077314A CN110077314A CN201910264289.0A CN201910264289A CN110077314A CN 110077314 A CN110077314 A CN 110077314A CN 201910264289 A CN201910264289 A CN 201910264289A CN 110077314 A CN110077314 A CN 110077314A
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- Prior art keywords
- information
- vehicle
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- pedestrian
- action signal
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Classifications
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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
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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
- B60Q1/503—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 using luminous text or symbol displays in or on the vehicle, e.g. static text
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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
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
Abstract
The invention discloses a kind of information interacting method of automatic driving vehicle, system and electronic equipments, this method comprises: obtaining the environmental information of vehicle periphery；Based on the environmental information, vehicle action signal is generated；Control vehicle is moved according to the vehicle action signal, and determines interactive information according to the vehicle action signal；The interactive information is transmitted, so that pedestrian and/or surrounding vehicles adjust current kinetic behavior according to the interactive information；Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.Interactive information is passed to pedestrian or surrounding vehicles by way of one or more combinations such as text, symbol, sound, light by the present invention, with the next step movement and intention to pedestrian or surrounding vehicles prompt vehicle, to allow pedestrian or surrounding vehicles to make corresponding movement in next step accordingly, the obstacle of information exchange is avoided, information exchange efficiency is promoted.
Description
Technical field
The present invention relates to unmanned technical field more particularly to a kind of information interacting method of automatic driving vehicle, it is
System and electronic equipment.
Background technique
In the prior art, the medium that automobile is interacted with pedestrian is only limitted to headlight for vehicles and loudspeaker, and it is big that mode is only limitted to automobile
The flashing of lamp and the buzzing of loudspeaker, in the case where having driver in the car, vehicle exchanged with pedestrian there is obstacle when, driver
It can be by carrying out exchanging limbs or communication with pedestrian.
But with the development of unmanned technology and maturation, complete unpiloted automobile will finally move towards street corner, however
Unpiloted automobile mixes the place even without traffic lights due to not having driver, in pedestrian and vehicle, can not
Effectively and timely exchanged by the way of above-mentioned limbs exchange or communication with pedestrian, so as to cause pedestrian because
It can not understand the intention of pilotless automobile and take some potential dangerous plays or pilotless automobile because of no legal principle
It solves the intention of pedestrian and comes to a halt, cause the low of efficiency of operation.
Summary of the invention
In order to solve the problems, such as to carry out between automatic driving vehicle and pedestrian in the prior art it is timely and effective exchange,
The present invention provides a kind of information interacting method of automatic driving vehicle, system and electronic equipments.
In order to solve the above-mentioned technical problem, in a first aspect, the present invention provides a kind of information exchanges of automatic driving vehicle
Method, which comprises
Obtain the environmental information of vehicle periphery；
Based on the environmental information, vehicle action signal is generated；
Control vehicle is moved according to the vehicle action signal, and determines interaction letter according to the vehicle action signal
Breath；
The interactive information is transmitted, so that pedestrian and/or surrounding vehicles adjust current kinetic row according to the interactive information
For；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.
Further, the environmental information for obtaining vehicle periphery, comprising:
By image recognition technology, pedestrian information, obstacle information, traffic information and the traffic letter of vehicle periphery are obtained
Signal lamp information；
It is described to be based on the environmental information, generate vehicle action signal, comprising:
Judge in the environmental information with the presence or absence of pedestrian；
If so, the motion track information of analysis pedestrian, according to the motion track information, current vehicle speed information, current barrier
Hinder object information, current traffic information and Current traffic signal information, generates vehicle action signal.
It is further, described that interactive information is determined according to the vehicle action signal, comprising:
Pre-establish the first mapping relations between vehicle action signal and interactive information；
Interactive information corresponding with current vehicle action signal is determined according to first mapping relations.
Further, the interactive information includes the text information and/or the symbolic information, the transmitting friendship
Mutual information, comprising:
The text information and/or the symbolic information are shown by display screen；
Wherein, shown display screen is arranged on glass for vehicle window or vehicle body, and the display screen is that LED display or LCD are shown
Screen.
Further, the interactive information includes the audio-frequency information, the transmitting interactive information, comprising:
Play the audio-frequency information.
Further, the interactive information includes the optical information, and the optical information includes colouring information and the sudden strain of a muscle of car light
Bright frequency information,
The transmitting interactive information, comprising:
The second mapping pre-established between the colouring information, the flicker frequency information and the interactive information is closed
System；
According to second mapping relations, the colouring information and flicker frequency of car light corresponding with current interactive information are determined
Information；
According to the colouring information of car light corresponding with current interactive information and the corresponding car light of flicker frequency information control into
Row flashing.
On the other hand, the present invention provides a kind of information interaction system of automatic driving vehicle, the system comprises:
Module is obtained, for obtaining the environmental information of vehicle periphery；
Generation module generates vehicle action signal for being based on the environmental information；
Determining module is moved for controlling vehicle according to the vehicle action signal, and is acted according to the vehicle
Signal determines interactive information；
Transfer module, for transmitting the interactive information, so that pedestrian and/or surrounding vehicles are according to the interactive information tune
Whole current kinetic behavior；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.
Further, the generation module, comprising:
Judging unit, for judging in the environmental information with the presence or absence of pedestrian；
Analytical unit, for analyzing the motion track information of pedestrian in the case where the judging result of judging unit, which is, is,
According to the motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal
Lamp information generates vehicle action signal；
The determining module, comprising:
First establishing unit, for pre-establishing the first mapping relations between vehicle action signal and interactive information；
Interactive information determination unit, for corresponding with current vehicle action signal according to first mapping relations determination
Interactive information.
Further, the interactive information includes the text information and/or the symbolic information, the transfer module packet
Display unit is included,
The display unit, for showing the text information and/or the symbolic information by display screen；
Wherein, on glass for vehicle window or on vehicle body, the display screen is that LED display or LCD are aobvious for shown display screen setting
Display screen；
The interactive information includes the audio-frequency information, and the transfer module includes:,
The broadcast unit, for playing the audio-frequency information；
The interactive information includes the optical information, and the optical information includes the colouring information and flicker frequency letter of car light
Breath, the transfer module include:
Second establishes unit, for pre-establishing the colouring information, the flicker frequency information and the interactive information
Between the second mapping relations；
Car light information determination unit, for determining vehicle corresponding with current interactive information according to second mapping relations
The colouring information and flicker frequency information of lamp；
Light prompt unit, for the colouring information and flicker frequency information according to car light corresponding with current interactive information
Corresponding car light is controlled to be flashed.
On the other hand, the present invention provides a kind of electronic equipment, the electronic equipment includes:
Processor is adapted for carrying out one or one or more instruction；And
Memory, the memory are stored with one or one or more instruction, and described one or one or more instruction are suitable for
Loaded by the processor and executed the information interacting method of automatic driving vehicle as described above.
Information interacting method, system and the electronic equipment of automatic driving vehicle disclosed by the invention, pass through the vehicle recognized
Environmental information around generates the action signal that vehicle will be taken in next step, on the one hand controls vehicle according to the action signal
It is moved, corresponding interactive information is on the other hand generated according to the action signal, and the interactive information is passed through into text, symbol
Number, one or more combined modes such as sound, light pass to pedestrian or surrounding vehicles, with to pedestrian or surrounding vehicles prompt
The next step of vehicle acts and is intended to, so that pedestrian or surrounding vehicles be allowed to make corresponding movement in next step accordingly, avoids information
Interactive obstacle promotes information exchange efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of flow chart of the information interacting method of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is the flow chart of the information interacting method of another automatic driving vehicle provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the information interacting method of another automatic driving vehicle provided in an embodiment of the present invention；
Fig. 4 is the flow chart of the information interacting method of another automatic driving vehicle provided in an embodiment of the present invention；
Fig. 5 is the structural block diagram of the information interaction system of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 6 is the working principle diagram of the information interaction system of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 7 is a kind of knot that the information interaction system of automatic driving vehicle provided in an embodiment of the present invention is arranged on vehicle
Structure schematic diagram；
Fig. 8 is the another kind that the information interaction system of automatic driving vehicle provided in an embodiment of the present invention is arranged on vehicle
Structural schematic diagram；
Fig. 9 is the another kind that the information interaction system of automatic driving vehicle provided in an embodiment of the present invention is arranged on vehicle
Structural schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
In several embodiments provided herein, described system embodiment is only schematical, such as institute
The division of module is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple moulds
Block or component can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point,
Shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, module or unit
Indirect coupling or communication connection, can be electrically or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
As shown in Figure 1, the embodiment of the invention discloses a kind of information interacting method of automatic driving vehicle, the method packet
It includes:
S101. the environmental information of vehicle periphery is obtained；
S103. it is based on the environmental information, generates vehicle action signal；
S105. control vehicle is moved according to the vehicle action signal, and is determined according to the vehicle action signal
Interactive information；
S107. the interactive information is transmitted, so that pedestrian and/or surrounding vehicles adjust current fortune according to the interactive information
Dynamic behavior；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.
The environmental information generation vehicle that the embodiment of the present invention passes through the vehicle periphery recognized will be taken dynamic in next step
Make signal, on the one hand control vehicle and moved according to the action signal, is on the other hand generated according to the action signal corresponding
Interactive information, and the interactive information is passed into row by way of one or more combinations such as text, symbol, sound, light
People or surrounding vehicles, to the next step movement of pedestrian or surrounding vehicles prompt vehicle and to be intended to, to allow pedestrian or surrounding vehicle
Make accordingly it is corresponding act in next step, avoid the obstacle of information exchange, promote information exchange efficiency.
As shown in Fig. 2, in some embodiments, the information interacting method of automatic driving vehicle can also include following step
It is rapid:
S201. by image recognition technology, obtain the pedestrian information of vehicle periphery, obstacle information, traffic information and
Traffic lights information；
In the embodiment of the present invention, by looking around camera, using the technology of image recognition technology and artificial intelligence, identify
Environmental information around automatic driving vehicle, wherein the environmental information includes but is not limited to pedestrian information, obstacle information, road conditions
Information and traffic lights information.
S203. judge in the environmental information with the presence or absence of pedestrian；If so, the motion track information of analysis pedestrian, according to
The motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal lamp letter
Breath generates vehicle action signal；
In embodiments of the present invention, according to the environmental information around the automatic driving vehicle recognized, judge that the environment is believed
It whether there is pedestrian in breath, if it exists pedestrian, analyze the motion track information of pedestrian (for example, the location information of pedestrian, behavior letter
Breath etc.), according to the motion track information of pedestrian, current vehicle speed information, current obstacle information, current traffic information and current
Traffic lights information generates the action signal that vehicle will be taken in next step, which includes but is not limited to: parking,
Move on, wait a moment, left-hand rotation, right-hand rotation, reversing, lane change etc.；
If pedestrian information is not present in the environmental information of vehicle periphery, further determine whether that there are current barrier letters
Breath, and if it exists, then according to current obstacle information, current traffic information and Current traffic signal information, it is dynamic to generate vehicle
Make signal；
If pedestrian information is both not present in the environmental information of vehicle periphery, obstacle information is also not present, then according to current
Traffic information and Current traffic signal information generate vehicle action signal.
S205. control vehicle is moved according to the vehicle action signal, and is pre-established vehicle action signal and handed over
The first mapping relations between mutual information determine interaction corresponding with current vehicle action signal according to first mapping relations
Information；
In embodiments of the present invention, after generating vehicle action signal, control vehicle according to the vehicle action signal into
Row movement, for example control vehicle parking, move on, wait a moment, left-hand rotation, right-hand rotation, reversing, lane change etc., at the same time, according to
The vehicle action signal determines interactive information, determines the mode of interactive information, such as can be in the following way: such as 1 institute of table
Show, pre-establish the first mapping relations between vehicle action signal and interactive information, is determined according to first mapping relations
Interactive information corresponding with current vehicle action signal, for example, vehicle action signal is parking, then according to the first mapping relations,
It can determine that interactive information is " vehicle has stopped, and asks pedestrian and other vehicle priority passes ".It should be noted that the present embodiment
In vehicle action signal and interactive information between the first mapping relations be not limited to table 1.
The first mapping relations between 1 vehicle action signal of table and interactive information
| Vehicle action signal | Interactive information |
| Parking | Vehicle has stopped, and asks pedestrian and other vehicle priority passes |
| It moves on | Vehicle is moved on according to current lane, and pedestrian and other vehicles is asked to pay attention to avoiding |
| Waiting a moment | Vehicle waits in situ 2 minutes, asks pedestrian or other vehicle priority passes |
| Turn left | Vehicle will turn left, and pedestrian and other vehicles is asked to pay attention to avoiding |
| It turns right | Vehicle will turn left, and pedestrian and other vehicles is asked to pay attention to avoiding |
| Reversing | Vehicle will move backward, and pedestrian and other vehicles is asked to pay attention to avoiding |
| Lane change | Vehicle will ask pedestrian and other vehicles to pay attention to avoiding to left/right lane change |
S207. the interactive information is shown by display screen, so that pedestrian and/or surrounding vehicles are according to the interactive information
Adjust current kinetic behavior；
In the present embodiment, when the interactive information includes the text information and/or the symbolic information, pass through display
Screen shows the text information and/or the symbolic information, wherein shown display screen is arranged on glass for vehicle window or vehicle body, institute
Stating display screen is LED display or LCD display；
LED display in the present embodiment includes but is not limited to LED transparent screen, should when display screen is LED transparent screen
LED transparent screen is arranged on automobile window glass, i.e. LED transparent screen is combined with automobile window glass, the vehicle in the present embodiment
Glass pane can be any one block of glass on automobile.
The symbolic information in the present embodiment includes but is not limited to arrow or token passing, for example, if interaction
When information is " vehicle has stopped, and asks pedestrian and other vehicle priority passes ", the interaction letter can be transmitted in the following manner
Breath:
(1) text information of " vehicle has stopped, and asks pedestrian and other vehicle priority passes " is shown by display screen；
(2) show that root vehicle stops relevant arrow or token passing by display screen, or display with allow pedestrian or
The arrow or token passing of other vehicle priority passes；
(3) text information of " vehicle has stopped, and asks pedestrian and other vehicle priority passes " is shown simultaneously by display screen
And arrow or token passing.
The environmental information (such as pedestrian's motion track information) that the embodiment of the present invention passes through the vehicle periphery recognized generates
Vehicle in next step will take action signal (such as stop, move on, wait a moment, turn left, turn right, move backward, lane change
Deng), on the one hand control vehicle is moved according to the action signal, on the other hand generates corresponding interaction according to the action signal
Information, and by display screen (such as LED transparent screen) by the interactive information by text is new and/or symbolic information pass to pedestrian or
Surrounding vehicles, to the next step movement of pedestrian or surrounding vehicles prompt vehicle and to be intended to, to allow pedestrian or surrounding vehicles evidence
This makes corresponding movement in next step, avoids the obstacle of information exchange, promotes information exchange efficiency.
As shown in figure 3, in some embodiments, the information interacting method of automatic driving vehicle can also include following step
It is rapid:
S301. by image recognition technology, obtain the pedestrian information of vehicle periphery, obstacle information, traffic information and
Traffic lights information.
S303. judge in the environmental information with the presence or absence of pedestrian；If so, the motion track information of analysis pedestrian, according to
The motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal lamp letter
Breath generates vehicle action signal.
S305. control vehicle is moved according to the vehicle action signal, and is pre-established vehicle action signal and handed over
The first mapping relations between mutual information determine interaction corresponding with current vehicle action signal according to first mapping relations
Information.
Wherein, S301-S305 is similar to S201-S205, and details are not described herein.
S307. the interactive information is played, so that pedestrian and/or surrounding vehicles adjust current fortune according to the interactive information
Dynamic behavior；
In the present embodiment, when the interactive information includes audio-frequency information, the audio-frequency information is played, for example, when interaction
When information is " vehicle has stopped, and asks pedestrian and other vehicle priority passes ", interaction letter is played by playback equipments such as loudspeaker
Breath, attract pedestrian's note that prompt Pedestrians and vehicles had taken up braking maneuver, Pedestrians priority can be allowed to pass through.
The environmental information (such as pedestrian's motion track information) that the embodiment of the present invention passes through the vehicle periphery recognized generates
Vehicle in next step will take action signal (such as stop, move on, wait a moment, turn left, turn right, move backward, lane change
Deng), on the one hand control vehicle is moved according to the action signal, on the other hand generates corresponding interaction according to the action signal
Information, and played out the interactive information by playback equipments such as loudspeaker, to prompt the next of vehicle to pedestrian or surrounding vehicles
Step movement and intention avoid the obstacle of information exchange so that pedestrian or surrounding vehicles be allowed to make corresponding movement in next step accordingly,
Promote information exchange efficiency.
As shown in figure 4, in some embodiments, the information interacting method of automatic driving vehicle can also include following step
It is rapid:
S401. by image recognition technology, obtain the pedestrian information of vehicle periphery, obstacle information, traffic information and
Traffic lights information.
S403. judge in the environmental information with the presence or absence of pedestrian；If so, the motion track information of analysis pedestrian, according to
The motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal lamp letter
Breath generates vehicle action signal.
S405. control vehicle is moved according to the vehicle action signal, and is pre-established vehicle action signal and handed over
The first mapping relations between mutual information determine interaction corresponding with current vehicle action signal according to first mapping relations
Information.
Wherein, S401-S405 is similar to S201-S205, and details are not described herein.
S407. the second mapping pre-established between car light colouring information, flicker frequency information and the interactive information is closed
System；According to second mapping relations, the colouring information and flicker frequency information of car light corresponding with current interactive information are determined；
It is flashed according to the colouring information of car light corresponding with current interactive information and the corresponding car light of flicker frequency information control；
In the present embodiment, when the interactive information includes the optical information, the optical information includes the colouring information of car light
When with flicker frequency information, second pre-established between car light colouring information, flicker frequency information and the interactive information is reflected
Relationship is penetrated, according to mapping relations, determines the colouring information and flicker frequency information of car light corresponding with current interactive information, than
Such as, interactive information is " vehicle has stopped, and asks pedestrian and other vehicle priority passes ", then the colouring information of corresponding left front car light
For green, flicker frequency information is lasting flashing, then controls car light and flashed according to the colouring information and flicker frequency information.
Wherein, it should be noted that the car light in the present embodiment can be the car light of any one position on vehicle.
The environmental information (such as pedestrian's motion track information) that the embodiment of the present invention passes through the vehicle periphery recognized generates
Vehicle in next step will take action signal (such as stop, move on, wait a moment, turn left, turn right, move backward, lane change
Deng), on the one hand control vehicle is moved according to the action signal, on the other hand generates corresponding interaction according to the action signal
Information, and the interactive information is transmitted by car light colouring information and flicker frequency information, to be prompted to pedestrian or surrounding vehicles
The next step of vehicle acts and is intended to, so that pedestrian or surrounding vehicles be allowed to make corresponding movement in next step accordingly, avoids information
Interactive obstacle promotes information exchange efficiency.
In the following, introducing the information exchange of automatic driving vehicle disclosed by the embodiments of the present invention in conjunction with specific application scenarios
The working principle of method:
When passing through image recognition technology, pedestrian is perceived in vehicle front, when needing to jaywalk, it is according to current vehicle
Speed, and behavior and the position of anticipation pedestrian, determine the movement for taking brake, and determine that Pedestrians priority is allowed to pass through, and on the one hand control
Vehicle processed takes brake, display reminding pedestrian passes through on another aspect LED transparent screen arrow or token passing or not
Mutual text interactive information, and by car light, prompt rear it is possible come vehicle, there is pedestrian to pass through here, and cooperate loudspeaker,
The sound for issuing " vehicle has stopped, and asks Pedestrians priority current ", attracts pedestrian's note that prompt Pedestrians and vehicles has taken up
Braking maneuver can allow Pedestrians priority to pass through.
As shown in figure 5, the embodiment of the invention also discloses a kind of information interaction system of automatic driving vehicle, the system
Include:
Module 501 is obtained, for obtaining the environmental information of vehicle periphery.
Generation module 503 generates vehicle action signal for being based on the environmental information；
In some embodiments, the generation module 503, comprising:
Judging unit, for judging in the environmental information with the presence or absence of pedestrian；
Analytical unit, for analyzing the motion track information of pedestrian in the case where the judging result of judging unit, which is, is,
According to the motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal
Lamp information generates vehicle action signal.
Determining module 505 is moved for controlling vehicle according to the vehicle action signal, and dynamic according to the vehicle
Interactive information is determined as signal；
In some embodiments, the determining module 505, comprising:
First establishing unit, for pre-establishing the first mapping relations between vehicle action signal and interactive information；
Interactive information determination unit, for corresponding with current vehicle action signal according to first mapping relations determination
Interactive information.
Transfer module 507, for transmitting the interactive information, so that pedestrian and/or surrounding vehicles believe according to the interaction
Breath adjustment current kinetic behavior；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of；
In some embodiments, when the interactive information includes the text information and/or the symbolic information, the biography
Passing module 507 includes display unit,
The display unit, for showing the text information and/or the symbolic information by display screen；
Wherein, on glass for vehicle window or on vehicle body, the display screen is that LED display or LCD are aobvious for shown display screen setting
Display screen.
In some embodiments, when the interactive information includes the audio-frequency information, the transfer module 507 includes:
The broadcast unit, for playing the audio-frequency information.
In some embodiments, when the interactive information includes the optical information, the optical information includes the color of car light
Information and flicker frequency information, the transfer module 507 include:
Second establishes unit, for pre-establishing the colouring information, the flicker frequency information and the interactive information
Between the second mapping relations；
Car light information determination unit, for determining vehicle corresponding with current interactive information according to second mapping relations
The colouring information and flicker frequency information of lamp；
Light prompt unit, for the colouring information and flicker frequency information according to car light corresponding with current interactive information
Corresponding car light is controlled to be flashed.
In the following, by the work for the information interaction system for introducing automatic driving vehicle of the embodiment of the present invention in conjunction with specific case
Principle:
As shown in fig. 6, the acquisition module may include perception component 1 in practical applications, generation module may include
Perception data processor 10 and decision-making module 9, determining module may include control module 8, vehicle control ECU7 and human-computer interaction
ECU6, transfer module may include front windshield LED transparent screen 2, glass for vehicle window LED transparent screen 5, rear seat windscreen LED saturating
Bright screen 11, car light 3 and loudspeaker 4.The setting position of above-mentioned all parts in the car is as shown in Fig. 7, Fig. 8, Fig. 9.
The connection type of above-mentioned component is as follows: perception component 1 is connected by Ethenet with perception data processor 10
It connects and is transmitted with signal, perception data processor 10 is communicated with decision-making module 9 by PCIE agreement, decision-making module 9 and control
Module 8 is communicated by PCIE agreement, and control module 8 is led to vehicle control ECU 7 by CAN or Ethernet
News, control module 8 are communicated with human-computer interaction ECU 6 also by CAN or Ethernet.Human-computer interaction module 6 passes through CAN
Or Ethernet transmits a signal to LED transparent screen 2, LED transparent screen 5 and LED transparent screen 1, car light 3 and loudspeaker 4.
Working principle is as follows: perception component 1 can identify pedestrian and other barriers of road, then pass through ether
The data of perception are transferred to perception data processor 10 by net, and processing result is transferred to decision by PCIE by data processor 10
The result for handling decision (is included but are not limited to: being stopped or moved on after processing module 9 carries out operation by module 9
Or hang on) it is transferred to control module 8, after control module 8 is handled, give vehicle control ECU 7 He processing result
Human-computer interaction ECU 6 believes vehicle, that is, actions to be taken while being taken action by vehicle control ECU7 control vehicle
Breath passes to human-computer interaction ECU 6, generates information or audio-frequency information after handling signal by human-computer interaction ECU 6, finally by
Information is shown or is played to pedestrian by LED transparent screen 2 and car light 3, loudspeaker 4, LED transparent screen 5, LED transparent screen 11, to reach
To the purpose for carrying out information interchange with pedestrian.
For example, when perception component 1 monitors pedestrian in vehicle front, when needing to jaywalk, row that it will be perceived
People's information (including but are not limited to the information such as position, movement) passes to perception data processor 10, and data processor 10 carries out
Perception fusion etc. calculates, and processing result is transferred to decision-making module 9, decision-making module 9 is according to current speed, and anticipation pedestrian
Behavior and position, determine to take the movement of brake, and determine that Pedestrians priority is allowed to pass through, decision-making module 9 transmits decision information
To control module 8,8 one side of control module controls vehicle by vehicle control ECU 7 and takes brake, on the other hand passes through
Human-computer interaction ECU 6 display reminding pedestrian passes through on LED transparent screen 2,5,11 arrow or token passing, and pass through car light
3 flashing, prompt rear it is possible come vehicle, there is pedestrian to pass through here, cooperate loudspeaker 4, issue " vehicle has stopped, and asks pedestrian
The sound of priority pass " attracts pedestrian's note that prompt Pedestrians and vehicles has had taken up braking maneuver, can allow Pedestrians priority
Pass through.
The embodiment of the invention also discloses a kind of electronic equipment, the electronic equipment is for implementing above-mentioned automatic driving vehicle
Information interacting method.The electronic equipment can be such as PC (PersonalComputer, personal computer), mobile phone, PDA
Terminal devices such as (tablet computers) are also possible to the service equipments such as application server, cluster server.The electronic equipment
Internal structure may include but be not limited to: processor, network interface and memory.Wherein, the processor in electronic equipment, network connect
Mouth and memory can pass through bus or other modes connect.
Wherein, processor (or CPU (Central Processing Unit, central processing unit)) is electronic equipment
Calculate core and control core.Network interface optionally may include that standard wireline interface and wireless interface (such as WI-FI, is moved
Dynamic communication interface etc.).Memory (Memory) is the memory device in equipment, for storing program and data.It is understood that
It is that memory herein can be high-speed RAM storage equipment, is also possible to non-labile storage equipment (non-volatile
Memory), a for example, at least disk storage equipment；It optionally can also be that at least one is located remotely from depositing for aforementioned processor
Storage device.Memory provides memory space, which stores the operating system of electronic equipment, it may include but be not limited to:
Windows system (a kind of operating system), Linux (a kind of operating system), Android (Android, a kind of Mobile operating system)
System, a kind of IOS (Mobile operating system) system etc., the present invention is to this and is not construed as limiting；Also, in the memory space also
House and be suitable for by one or more than one instructions that processor load and executes, these instruct can be one or one with
On computer program (including program code).In this specification embodiment, processor is loaded and is executed in memory and stores
One or one or more instruction, to realize the information interacting method of automatic driving vehicle described in above method embodiment.
The embodiment of the invention also provides a kind of storage medium, the storage medium be may be disposed among electronic equipment to protect
Deposit the information interacting method of the automatic driving vehicle for realizing embodiment of the method it is relevant at least one instruction, at least one section
Program, code set or instruction set, at least one instruction, an at least Duan Chengxu, the code set or the instruction set can be set by electronics
The information interacting method that standby processor is loaded and executed to realize the automatic driving vehicle of above method embodiment offer.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or
The various media that can store program code such as CD.
It should be understood that embodiments of the present invention sequencing is for illustration only, do not represent the advantages or disadvantages of the embodiments.
And above-mentioned this specification specific embodiment is described.Other embodiments are within the scope of the appended claims.One
In a little situations, the movement recorded in detail in the claims or step can be executed according to the sequence being different from embodiment and
Still desired result may be implemented.In addition, process depicted in the drawing not necessarily requires the particular order shown or company
Continuous sequence is just able to achieve desired result.In some embodiments, multitasking and parallel processing it is also possible or
It may be advantageous.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device
Speech, since it is substantially similar to the method embodiment, so being described relatively simple, referring to the part of embodiment of the method in place of correlation
Explanation.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of information interacting method of automatic driving vehicle, which is characterized in that the described method includes:
Obtain the environmental information of vehicle periphery；
Based on the environmental information, vehicle action signal is generated；
Control vehicle is moved according to the vehicle action signal, and determines interactive information according to the vehicle action signal；
The interactive information is transmitted, so that pedestrian and/or surrounding vehicles adjust current kinetic behavior according to the interactive information；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.
2. the method according to claim 1, wherein
The environmental information for obtaining vehicle periphery, comprising:
By image recognition technology, pedestrian information, obstacle information, traffic information and the traffic lights of vehicle periphery are obtained
Information；
It is described to be based on the environmental information, generate vehicle action signal, comprising:
Judge in the environmental information with the presence or absence of pedestrian；
If so, the motion track information of analysis pedestrian, according to the motion track information, current vehicle speed information, current barrier
Information, current traffic information and Current traffic signal information generate vehicle action signal.
3. the method according to claim 1, wherein described determine interaction letter according to the vehicle action signal
Breath, comprising:
Pre-establish the first mapping relations between vehicle action signal and interactive information；
Interactive information corresponding with current vehicle action signal is determined according to first mapping relations.
4. the method according to claim 1, wherein the interactive information includes the text information and/or institute
State symbolic information, the transmitting interactive information, comprising:
The text information and/or the symbolic information are shown by display screen；
Wherein, shown display screen is arranged on glass for vehicle window or vehicle body, and the display screen is LED display or LCD display.
5. the method according to claim 1, wherein the interactive information includes the audio-frequency information, the biography
Pass the interactive information, comprising:
Play the audio-frequency information.
6. the light is believed the method according to claim 1, wherein the interactive information includes the optical information
Breath includes the colouring information and flicker frequency information of car light,
The transmitting interactive information, comprising:
Pre-establish the second mapping relations between the colouring information, the flicker frequency information and the interactive information；
According to second mapping relations, the colouring information and flicker frequency letter of car light corresponding with current interactive information are determined
Breath；
It is dodged according to the colouring information of car light corresponding with current interactive information and the corresponding car light of flicker frequency information control
It is bright.
7. a kind of information interaction system of automatic driving vehicle, which is characterized in that the system comprises:
Module is obtained, for obtaining the environmental information of vehicle periphery；
Generation module generates vehicle action signal for being based on the environmental information；
Determining module is moved for controlling vehicle according to the vehicle action signal, and according to the vehicle action signal
Determine interactive information；
Transfer module, for transmitting the interactive information, so that pedestrian and/or surrounding vehicles work as according to interactive information adjustment
Preceding motor behavior；
Wherein, the interactive information includes one of text information, symbolic information, audio-frequency information, optical information or a variety of.
8. system according to claim 7, which is characterized in that
The generation module, comprising:
Judging unit, for judging in the environmental information with the presence or absence of pedestrian；
Analytical unit, for analyzing the motion track information of pedestrian in the case where the judging result of judging unit, which is, is, according to
The motion track information, current vehicle speed information, current obstacle information, current traffic information and Current traffic signal lamp letter
Breath generates vehicle action signal；
The determining module, comprising:
First establishing unit, for pre-establishing the first mapping relations between vehicle action signal and interactive information；
Interactive information determination unit, for determining interaction corresponding with current vehicle action signal according to first mapping relations
Information.
9. system according to claim 7, which is characterized in that
The interactive information includes the text information and/or the symbolic information, and the transfer module includes display unit,
The display unit, for showing the text information and/or the symbolic information by display screen；
Wherein, on glass for vehicle window or on vehicle body, the display screen is LED display or LCD display for shown display screen setting；
The interactive information includes the audio-frequency information, and the transfer module includes:,
The broadcast unit, for playing the audio-frequency information；
The interactive information includes the optical information, and the optical information includes the colouring information and flicker frequency information of car light, institute
Stating transfer module includes:
Second establishes unit, for pre-establishing between the colouring information, the flicker frequency information and the interactive information
The second mapping relations；
Car light information determination unit, for determining car light corresponding with current interactive information according to second mapping relations
Colouring information and flicker frequency information；
Light prompt unit, for colouring information and flicker frequency the information control according to car light corresponding with current interactive information
Corresponding car light is flashed.
10. a kind of electronic equipment, which is characterized in that the electronic equipment includes:
Processor is adapted for carrying out one or one or more instruction；And
Memory, the memory are stored with one or one or more instruction, and described one or one or more instruction are suitable for by institute
State the information interacting method that processor loads and executes automatic driving vehicle as claimed in any one of claims 1 to 6.
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| CN110606019A (en) * | 2019-08-27 | 2019-12-24 | 中国第一汽车股份有限公司 | Pedestrian giving method and device for automatic driving of vehicle, vehicle and storage medium |
| CN110803101A (en) * | 2019-12-09 | 2020-02-18 | 新石器慧通（北京）科技有限公司 | Method and device for prompting driving state of unmanned vehicle |
| CN111223334A (en) * | 2020-01-19 | 2020-06-02 | 上海汽车集团股份有限公司 | Pedestrian reminding method and device applied to unmanned vehicle |
| CN111332192A (en) * | 2020-02-18 | 2020-06-26 | 北京九曜智能科技有限公司 | Human-vehicle light interaction device for automatic driving |
| CN111428637A (en) * | 2020-03-24 | 2020-07-17 | 新石器慧通（北京）科技有限公司 | Method for actively initiating human-computer interaction by unmanned vehicle and unmanned vehicle |
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| CN111572475A (en) * | 2020-06-02 | 2020-08-25 | 新石器慧通（北京）科技有限公司 | Remote driving assistance method and system |
| CN112721797A (en) * | 2020-10-27 | 2021-04-30 | 湖南大学 | Information prompt system and method for automatic driving vehicle |
| CN112757252A (en) * | 2021-01-21 | 2021-05-07 | 深圳市普渡科技有限公司 | Robot movement intention display method, robot, and storage medium |
| CN112912810A (en) * | 2021-01-27 | 2021-06-04 | 华为技术有限公司 | Control method and device |
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