CN111098864B

CN111098864B - Prompt method, device, automatic driving vehicle and storage medium

Info

Publication number: CN111098864B
Application number: CN201911370677.3A
Authority: CN
Inventors: 郭瑞; 孙正伟; 郭晋文; 郭立鹏; 董国勇; 方啸; 崔迪潇
Original assignee: Zhijia Usa; Suzhou Zhijia Technology Co Ltd
Current assignee: Zhijia Usa; Suzhou Zhijia Technology Co Ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2024-04-09
Anticipated expiration: 2039-12-26
Also published as: CN111098864A

Abstract

The disclosure provides a prompting method, a prompting device, an automatic driving vehicle and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: through gathering the environmental information in the present scope, when confirming that there is the dangerous area of predetermineeing in the first lane that is located at present according to environmental information, confirm the traffic area again, in the in-process of going to the traffic area and going in the traffic area from first lane, through the suggestion information that output device output corresponds with the dangerous area of predetermineeing, make other intelligent agent can know the existence of this dangerous area of predetermineeing, and understand the driving operation of autopilot vehicle more, can carry out corresponding operation according to the driving operation of autopilot vehicle, the condition that the operation of other intelligent agent and the driving operation of autopilot vehicle conflict has been avoided as far as possible, can reduce the probability of occurrence of traffic accident, improve the security.

Description

Prompt method, device, automatic driving vehicle and storage medium

Technical Field

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

Background

An autonomous vehicle, also called an unmanned vehicle, is an intelligent vehicle that is unmanned through a computer system, and that can automatically and safely operate the vehicle without any human active operation. In recent years, the appearance of automatic driving vehicles gradually replaces the traditional vehicles, so that the life of people is more convenient.

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

However, the environment where the automatic driving vehicle is located may further include other agents, and if the other agents misjudge the driving operation of the automatic driving vehicle and perform the operation that conflicts with the driving operation of the automatic driving vehicle, traffic accidents may still occur, so that the safety is poor.

Disclosure of Invention

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

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

collecting environment information in the current range;

when the preset dangerous area exists in the first lane where the current traffic lane is located according to the environmental information, the traffic area is redetermined;

and in the process of driving from the first vehicle to the passing area and in the passing area, outputting prompt information corresponding to the preset dangerous area through an output device of an automatic driving vehicle, wherein the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp.

In one possible implementation manner, the outputting device for automatically driving the vehicle outputs the prompt information corresponding to the preset dangerous area, including at least one of the following:

displaying first prompt information through the display screen, wherein the first prompt information is used for prompting the position of the preset dangerous area;

playing second prompt information through the loudspeaker, wherein the second prompt information is used for prompting the position of the preset dangerous area;

and executing the whistling operation according to the whistling rhythm.

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

Displaying text information through a first display screen, wherein the text information is used for prompting the position of the preset dangerous area;

displaying image information through a second display screen, wherein the image information is used for prompting that a dangerous area exists currently;

the first display screen is a display screen on one side of the automatic driving vehicle, which is close to the preset dangerous area, and the second display screen is a display screen on one side of the automatic driving vehicle, which is far away from the preset dangerous area.

In one possible implementation, after the redefining of the traffic area, the method further includes:

and when the passing area is a second lane which is different from the first lane, outputting prompt information corresponding to lane changing operation through the output equipment in the process of moving from the first lane to the second lane.

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

displaying lane change prompting information through the display screen;

playing the voice prompt information of lane change through the loudspeaker;

and turning on a turn signal corresponding to the lane change operation.

and when the traffic area is not in any lane, outputting prompt information for keeping the vehicle distance through the output equipment in the process of driving from the first lane to the traffic area and in the process of driving in the traffic area.

In one possible implementation manner, the outputting, by the output device, the prompt information for maintaining the vehicle distance includes at least one of the following:

displaying and maintaining vehicle distance prompt information through the display screen;

and playing and maintaining the voice prompt information of the vehicle distance through the loudspeaker.

In one possible implementation, the method further includes:

determining that the preset dangerous area exists in the first vehicle track where the vehicle is currently located according to the environment information, and executing parking operation when no passing area exists in the preset range;

and outputting prompt information corresponding to the parking operation through the output equipment.

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

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

playing a parking voice prompt message through the loudspeaker, wherein the parking voice prompt message is used for prompting the automatic driving vehicle to park;

and a warning lamp corresponding to the parking operation is lighted.

In one possible implementation, the method further includes:

and when the preset dangerous area exists in the first vehicle track where the environment information is located currently, but no passing area exists in the preset range, sending help seeking information to a management server connected with the automatic driving vehicle through a wireless network, wherein the help seeking information is used for indicating that the automatic driving vehicle cannot pass.

In one possible implementation, the method further includes:

detecting current state information of the automatic driving vehicle in real time;

and outputting prompt information corresponding to the state information through the output equipment.

In one possible implementation manner, the outputting, by the output device, the prompt information corresponding to the state information includes at least one of the following:

Illuminating a prompt lamp corresponding to the currently executed driving operation;

and (5) illuminating a prompt lamp corresponding to the current environmental information.

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

the environment information acquisition module is used for acquiring environment information in the current range;

the passing area determining module is used for determining a passing area again when a preset dangerous area exists in the first vehicle lane where the passing area is currently located according to the environmental information;

the prompt information output module is used for outputting the prompt information corresponding to the preset dangerous area through the output equipment of the automatic driving vehicle in the process of driving from the first vehicle to the passing area and driving in the passing area, and the output equipment comprises at least one of a display screen, a loudspeaker, a vehicle flute or a prompt lamp.

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

the information display unit is used for displaying first prompt information through the display screen, wherein the first prompt information is used for prompting the position of the preset dangerous area;

the voice playing unit is used for playing second prompt information through the loudspeaker, and the second prompt information is used for prompting the position of the preset dangerous area;

And the whistle executing unit is used for executing whistle operation according to the whistle rhythm.

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

In one possible implementation manner, the prompt information output module is further configured to, when the traffic area is a second lane different from the first lane, output, through the output device, prompt information corresponding to a lane change operation in a process of traveling from the first lane to the second lane.

the lane change display unit is used for displaying lane change prompt information through the display screen;

The lane change playing unit is used for playing lane change voice prompt information through the loudspeaker;

and the lane change lighting unit is used for lighting the turn signal lamp corresponding to the lane change operation.

In one possible implementation manner, the prompt information output module is further configured to output, through the output device, a prompt information for keeping a vehicle distance during a process of traveling from the first lane to the traffic area and during a process of traveling in the traffic area when the traffic area is not in any lane.

the area display unit is used for displaying and maintaining vehicle distance prompt information through the display screen;

and the zone playing unit is used for playing and maintaining the vehicle distance voice prompt information through the loudspeaker.

In one possible implementation, the apparatus further includes:

the parking execution module is used for determining that the preset dangerous area exists in the first vehicle lane where the parking execution module is currently located according to the environment information, and executing parking operation when no passing area exists in the preset range;

the prompt information output module is further used for outputting prompt information corresponding to the parking operation through the output equipment.

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

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

and the parking lighting unit is used for lighting the indicator lamp corresponding to the parking operation.

In one possible implementation, the apparatus further includes:

the information sending module is used for determining that the preset dangerous area exists in the first vehicle track where the environment information is located currently according to the environment information, and sending help seeking information to a management server connected with the automatic driving vehicle through a wireless network when no passing area exists in the preset range, wherein the help seeking information is used for indicating that the automatic driving vehicle cannot pass.

In one possible implementation, the apparatus further includes:

the state detection module is used for detecting the current state information of the automatic driving vehicle in real time;

The prompt information output module is further used for outputting prompt information corresponding to the state information through the output equipment.

a first lighting unit for lighting a warning light corresponding to a currently executed driving operation;

and the second lighting unit is used for lighting the indicator lamp corresponding to the current environment information.

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

the output equipment comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp;

the memory has stored therein at least one piece of program code that is loaded and executed by the processor to perform the operations performed in the prompting method according to the first aspect.

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

The beneficial effects that technical scheme that this application embodiment provided include at least:

according to the method, the device, the automatic driving vehicle and the storage medium, through collecting the environmental information in the current range, when the preset dangerous area exists in the first lane where the automatic driving vehicle is located according to the environmental information, the passing area is redetermined, and in the process of moving from the first lane to the passing area and moving in the passing area, the output device outputs the prompt information corresponding to the preset dangerous area, so that other agents can know the existence of the preset dangerous area, understand the driving operation of the automatic driving vehicle, execute the corresponding operation according to the driving operation of the automatic driving vehicle, avoid the situation that the operation of other agents conflicts with the driving operation of the automatic driving vehicle as much as possible, reduce the occurrence probability of traffic accidents and improve the safety. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

In addition, through display screen demonstration prompt message, speaker voice broadcast prompt message, rhythmic whistle, the suggestion channel is diversified, can improve other intelligent agent and receive the probability of prompt message, avoids leading to unable output prompt message because of a certain output device is malfunctioning, and then causes the traffic accident, has improved autopilot security.

In addition, the prompt information is respectively displayed on one side of the automatic driving vehicle, which is close to the preset dangerous area, and one side of the automatic driving vehicle, which is far away from the preset dangerous area, the display screen, which is close to one side of the preset dangerous area, displays the text information, and prompts the position of the preset dangerous area, so that other intelligent agents, which are positioned on one side of the preset dangerous area, can know the dangerous condition early, avoid yielding or slowing down, and the occurrence probability of traffic accidents is reduced. The display screen far away from one side of the preset dangerous area displays image information to prompt that the dangerous area exists currently, so that other intelligent agents located on one side far away from the preset dangerous area can understand the driving behavior of the automatic driving vehicle, give avoidance in time, and improve safety.

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

In addition, when the traffic area is not located in any lane, the distance information is prompted to be kept through the output device in the process of moving from the first lane to the traffic area and in the process of moving in the traffic area, so that the safety of the automatic driving vehicle in free space is improved.

In addition, when the first lane where the first lane is located currently is determined to have the preset dangerous area according to the environmental information, but no passing area exists in the preset range, help seeking information is sent to a management server connected with the automatic driving vehicle through a wireless network, the help seeking information is used for indicating that the automatic driving vehicle cannot pass, help of the management server can be timely obtained, and the state type of the automatic driving vehicle can be sent to other agents through the management server, so that the other agents know the state of the automatic driving vehicle in advance, risks which may occur are avoided, and safety of the automatic driving vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart illustrating an active interaction process according to an exemplary embodiment;

FIG. 2 is a flow chart illustrating a method of identifying ambient agents according to an exemplary embodiment;

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

FIG. 4 is a flowchart illustrating a status prompting method according to an exemplary embodiment;

FIG. 5 is a schematic diagram of a hint information according to an exemplary embodiment;

FIG. 6 is a flowchart illustrating a prompting method according to an exemplary embodiment;

FIG. 7 is a flowchart illustrating another prompting method according to an exemplary embodiment;

FIG. 8 is a schematic diagram of a hint information according to an exemplary embodiment;

FIG. 9 is a block diagram of a prompting device, according to an exemplary embodiment;

FIG. 10 is a block diagram of another prompting device, according to an exemplary embodiment;

FIG. 11 is a flowchart illustrating a prompting method according to an exemplary embodiment;

FIG. 12 is a schematic diagram of a hint information according to an exemplary embodiment;

FIG. 13 is a flowchart illustrating a prompting method according to an exemplary embodiment;

FIG. 14 is a schematic diagram of a hint information according to an exemplary embodiment;

FIG. 15 is a flowchart illustrating a prompting method according to an exemplary embodiment;

FIG. 16 is a schematic diagram of a hint information according to an exemplary embodiment;

FIG. 17 is a flowchart illustrating a prompting method according to an exemplary embodiment;

FIG. 18 is a diagram illustrating a hint information according to an exemplary embodiment;

fig. 19 is a schematic structural view of an autonomous vehicle according to an exemplary embodiment.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The number of vehicles running on the road is large, and the driving operations performed by the vehicles are different due to different characters and different behaviors of the vehicle drivers. When the automatic driving vehicle interacts with other vehicles, the intention of the automatic driving vehicle is explicitly expressed besides reasonably deciding the driving operation of the automatic driving vehicle, so that the error judgment of the automatic driving vehicle by other vehicles is avoided. In addition, the automatic driving vehicle needs to prompt abnormal driving operation of other vehicles in time, so that risk factors are reduced.

The current autopilot schemes focus on the decision, planning and control of the driving operations inherent in the autopilot vehicle, so that the autopilot vehicle can safely and effectively run under different road conditions. These driving operations are not transparent to other vehicles and are inevitably misleading.

For example, a heavy trailer is large, the lane changing process is relatively slow, a rear vehicle positioned on the heavy trailer may understand the slow lane changing of the heavy trailer as avoiding the rear vehicle, and then quickly travel in a target lane of the heavy trailer, so that the rear vehicle and the heavy trailer may collide, thereby causing a large potential safety hazard. Alternatively, the driver may deviate the vehicle from the center of the lane due to fatigue driving, or run slowly in the fast lane, or attempt to forcibly insert the front of the automatically driven vehicle. At this time, the automatic driving vehicle needs to give prompt to warn the vehicle in time so as to avoid risk factors. Furthermore, autonomous vehicles, particularly heavy trucks, may affect the field of view of other vehicles, and if the autonomous vehicle is able to give the other vehicles that are obscured from view the necessary reminder, the other vehicles' understanding of the behavior of the autonomous vehicle can be enhanced.

In order to solve the above problems, the autonomous vehicle needs to actively interact with other vehicles by comprehensively utilizing various means. This interaction is both explicit in expressing the ideas, plans, and actions of the autonomous vehicle, as well as in assisting other vehicles in understanding the surrounding situation and the intent of the autonomous vehicle.

In the related scheme, the vehicle generally adopts a passive response type interaction mode, for example, other vehicles forcibly pass through a target lane of the vehicle in the lane change process, the vehicle passively cancels the lane change, and turns off a steering lamp to ensure safety, but does not actively carry out necessary reminding and warning on the other vehicles before canceling the lane change. For example, when the side encounters a risk, the vehicle often needs to borrow a road or even change the road to the other side to avoid the risk. The common scheme is to turn on the turn signal lamp and wait for the time of changing the lane, but the vehicle in the target lane often ignores the turn signal lamp of the vehicle and does not avoid the vehicle because the vehicle does not understand the motor of the vehicle, so that the vehicle cannot avoid risks in time.

In summary, most current implementations of interaction with other vehicles are passive responsive, and the current field of autopilot lacks an overall solution for systematically interacting with other vehicles.

In the embodiment of the application, a systematic solution is provided for the active interaction problem between the automatic driving vehicle and other intelligent agents in the environment in the driving process. An agent includes all intellectual individuals or groups of individuals that are able to make decisions and actions based on various sensory information. Such as in traffic environments where the agent is primarily a human, including drivers, pedestrians, engineering operators, special scene service personnel, etc., and may include other autonomous vehicles.

The behavior of a general vehicle mainly means that the driver driving the vehicle has different ideas, different mobility, and different performance of the vehicle. And special vehicles, engineering operators and special scene service personnel often have special behavior patterns and specifications. While pedestrian behavior is more random relative to other human agents. Generally, human behavior is generally predictable, while other autonomous vehicles may have tremendous differences in behavior.

In order to solve the problem of active interaction with other agents, the following sub-problems need to be solved: (1) what time to interact with; (2) who interacts with; (3) how to interact; (4) how to handle the feedback after interaction. Solutions to the above problems will be specifically developed later.

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

(1) Identifying surrounding agents

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

The flow of identifying surrounding agents is shown in fig. 2, and the autonomous vehicle collects multi-sensor information through the configured multi-sensors, identifies obstacles according to the multi-sensor information, can identify nearby obstacles, classifies the identified obstacles by using an agent classification technology, thereby determining the category of the agents existing around, then can track the agents, predicts the behaviors of the agents, and identifies whether the behaviors of the agents are abnormal behaviors according to the behaviors of the agents.

(2) Assessing environmental risk

The flow of evaluating the environmental risk is shown in fig. 3, where the autonomous vehicle of the present application collects environmental information through the configured multiple sensors, so as to obtain a current road structure, reconstruct the road structure, and determine the passable area of the road by using the reconstructed road structure. And the method also can determine the area of which the current road structure is inconsistent with the known road structure, identify the scene of the area, determine the scene of the area, such as a construction scene, a vehicle fault scene, a road shielding scene and the like, and evaluate the traffic risk of the area.

(3) Selecting interaction opportunities

The autonomous vehicle detects the state of the autonomous vehicle or the state of other agents, and selects a proper interaction opportunity according to the detected state information.

(4) Scheduling interaction means: the autonomous vehicle is equipped with an output device including at least one of a display screen, a speaker, a siren, or a warning light. The autonomous vehicle outputs information matching the type of state of the autonomous vehicle through the configured output device.

(5) Collecting interaction feedback: the driving operation of the automatic driving vehicle is fed back by other intelligent agents, and the automatic driving vehicle collects information of the other intelligent agents through the configured multiple sensors so as to further determine the behaviors of the other intelligent agents.

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

As shown in FIG. 1, through the identification of surrounding agents and the assessment of environmental risk, an autonomous vehicle has complete knowledge of environmental conditions, and then how to interact with other agents by active interaction means. The one-round active interaction process comprises the steps of selecting interaction time, scheduling interaction means, collecting interaction feedback and adjusting the behavior of the automatic driving vehicle. The application classifies interaction opportunities into five categories: a) Prompting a state of the autonomous vehicle; b) Avoiding special vehicles; c) Avoiding dangerous environment; d) The vehicle meeting risk is reduced; e) The abnormal intelligent agent is warned, and different interaction opportunities can occur simultaneously. The active interaction process under different computers will be explained later.

The first interaction mode: the state of the autonomous vehicle is prompted.

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

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

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

The autopilot vehicle may include an autopilot car, an autopilot truck, an autopilot motorcycle, and the like.

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

The components in the automatic driving vehicle comprise an engine, a chassis and a vehicle body accessory, wherein the vehicle body accessory comprises a vehicle networking wireless device, a sound receiver, a mechanical flute or electronic flute, an oil tank, a tire, a vehicle shell, a vehicle door, vehicle glass, a vehicle mirror, a license plate frame, a seat and a seat accessory, a vehicle bearing, an armrest, a handle, a cab and a cab accessory, an air bag, a safety belt, a glass lifter, an antenna, a windscreen wiper, a muffler, a loudspeaker, a vehicle sealing strip bumper, a luggage case, an exhaust pipe and the like. An autonomous vehicle may detect the operational status of different components.

The combination of a software system and a hardware system is required for realizing automatic driving of an automatic driving vehicle, and the software system comprises a sensing module, a positioning module and a decision module. The sensing module and the positioning module identify and classify other intelligent agents, and the decision module judges whether the other intelligent agents are special vehicles, meet with an automatic driving vehicle, have abnormality and the like according to the behaviors of the other intelligent agents, and then interact with the other intelligent agents through an active interaction means. The hardware system comprises components which are equipped for the automatic driving vehicle and used for interacting with other intelligent agents, including a prompt lamp, a vehicle flute, a display screen, a loudspeaker, a vehicle networking wireless device and the like.

402. The autonomous vehicle determines the state type to which the state information pertains.

According to each piece of detected state information, the automatic driving vehicle determines whether the automatic driving vehicle has automatic driving capability and side parking capability, and further determines the state type of the automatic driving vehicle so as to output prompt information corresponding to the state type through the output equipment of the automatic driving vehicle.

In one possible implementation, the autopilot vehicle presets a condition that the status information should satisfy when the autopilot vehicle has autopilot capability, and when the autopilot vehicle detects the status information, it is determined whether the status information satisfies the preset condition, thereby determining whether the autopilot vehicle has autopilot capability. For example, if the automatically driven vehicle is set in advance under the door closing condition and the automatically driven vehicle has the automatically driven capability, the automatically driven vehicle detects the state information of the automatically driven vehicle, and determines that the automatically driven vehicle does not have the automatically driven capability because the automatically driven vehicle does not have the door closing condition and does not satisfy the preset condition.

By side parking capability is meant the ability of an autonomous vehicle to park after traveling from a current location to the edge of a current road, e.g., the autonomous vehicle is currently in a lane on one side of the road, can travel a small distance and then reach the edge of the current road. Alternatively, the autonomous vehicle may perform a lane change operation in a lane currently located in the middle of the road so as to reach the edge of the current road.

The automatic driving vehicle presets the condition which should be met by the state information when the automatic driving vehicle has the side parking capability, the automatic driving vehicle detects the state information, whether the state information meets the preset condition is judged, and further whether the automatic driving vehicle has the side parking capability is determined. For example, when the automatic driving vehicle is preset that the oil amount remaining amount is not smaller than the first preset threshold value but not larger than the second preset threshold value, the automatic driving vehicle has the side parking capability, but does not have the automatic driving capability, the automatic driving vehicle detects the state information of the automatic driving vehicle, and the automatic driving vehicle is determined not to have the side parking capability because the oil amount remaining amount is smaller than the first preset threshold value and does not satisfy the preset condition.

The automatic driving vehicle divides the state types of the automatic driving vehicle into a normal state type, a first fault state type and a second fault state type according to whether the automatic driving vehicle has automatic driving capability or not and whether the automatic driving vehicle has side parking capability or not.

The normal state type indicates that the automatic driving vehicle has no fault and can continue to run without intervention on the driving operation of the automatic driving vehicle. When the status information indicates that the autonomous vehicle has an autonomous capability, the status type is determined to be a normal status type.

The first fault status type indicates that the autonomous vehicle has failed at its primary level, which may affect the normal driving of the autonomous vehicle, but may still be parked alongside. When the state information indicates that the autonomous vehicle does not have the autonomous capability but has the side parking capability, the state type is determined to be the first fault state type.

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

It should be noted that, in the embodiment of the present application, the status type is divided into the normal status type, the first fault status type and the second fault status type only by whether the automatic driving vehicle has the automatic driving capability and the side parking capability, and in another embodiment, the status type may be further divided according to other standards.

It should be noted that, in the embodiment of the present application, whether the automatic driving vehicle has the automatic driving capability and the side parking capability is determined only by the state information of the automatic driving vehicle, so as to determine the state type of the automatic driving vehicle.

The status information may include information of a plurality of dimensions, such as a traveling speed, a state of opening and closing of a door, a temperature of a vehicle, and the like. In one possible implementation manner, the autonomous vehicle establishes a correspondence between state information and state types in multiple dimensions, and when any one state information is acquired, the correspondence is queried to obtain the state type corresponding to the state information.

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

For example, the automatic driving vehicle determines that the automatic driving vehicle is in a normal state according to the state information that the vehicle door is closed, and determines that the automatic driving vehicle is in a first fault state according to the state information that the vehicle temperature is higher than the preset temperature, then the priority of the first fault state is higher than that of the normal state due to sequential increment of the preset normal state type, the first fault state type and the second fault state type, and when the automatic driving vehicle is determined to be in the normal state type and the first fault state type respectively according to the two state information, the state type of the automatic driving vehicle is determined to be in the first fault state type.

403. When the state type is a normal state type, outputting prompt information corresponding to the normal state type through an output device of the automatic driving vehicle.

The autonomous vehicle is configured with an output device including at least one of a display screen, a speaker, a siren, or a warning light. The number of the display screens can be one or more, and the facing directions can comprise the front, the rear, the left side, the right side and the top, so that the effect of displaying information in the directions is realized. And the display screen may include various types of display screens such as a subtitle screen, a video screen, and the like. The speakers may be one or more and may be mounted on the roof or side. The vehicle flute may comprise a mechanical flute or an electronic flute, etc. The indicator lights include turn lights, fog lights, outline marker lights, etc.

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

In one possible implementation manner, the output device outputs the prompt information corresponding to the normal state type, and the prompt information may include at least one of the following:

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

By configuring the display screen, the display screen of the automatic driving vehicle displays first prompt information in the driving process of the automatic driving vehicle, and when other intelligent agents look over the first prompt information of the automatic driving vehicle, the current normal driving of the automatic driving vehicle can be determined, and no fault exists.

In one possible implementation, the first prompt information may include text information or picture information, for example, the text information may be "i am now normal", and the picture information may be any picture that can show that the automatic driving vehicle is running normally.

In one possible implementation, an autonomous vehicle is configured with multiple display screens, each facing a different direction, each of which may display different information. For example, an autonomous vehicle is configured with 5 display screens, each of which faces forward, rearward, left, right, top, and five directions, such that the agent in each of the five directions can view the prompt information displayed by the autonomous vehicle.

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

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

In one possible implementation, one or more speakers may be provided, the speakers may be placed on the roof of the autonomous vehicle, the sound diffusing effect may be better, and the speakers may be placed in front of, behind, to the left or to the right of the vehicle.

(3) Aiming at the prompt lamp, the prompt lamp corresponding to the currently executed driving operation is lightened in the process of executing the driving operation by the automatic driving vehicle, so that other intelligent agents can clearly and clearly know the driving operation being executed by the automatic driving vehicle. For example, the driving operation currently performed by the automatically driven vehicle may be straight, turning, lane changing, reversing, accelerating, braking, stopping, etc., and the automatically driven vehicle may light a hazard warning flash (double flash) when stopping, and the automatically driven vehicle may light a turn signal when lane changing.

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

The environmental information may include temperature, humidity, rainfall, haze index, etc. For example, in a foggy day, the fog lamp is turned on when the concentration of fog is greater than a preset threshold, and the outline marker lamp is turned on in a dark condition or in a condition that the field of view is unclear.

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

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

Alternatively, the autonomous vehicle may preset a dangerous driving operation, which may be high-speed traveling, lane changing, collision with another vehicle, too close to an obstacle, or the like. When detecting that the automatic driving vehicle is executing dangerous driving operation, the output device can output prompt information corresponding to the dangerous operation. Such as prompting other vehicles via speakers that the autonomous vehicle is currently traveling too fast.

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

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

In one possible implementation manner, the output device outputs the prompt information corresponding to the first fault state type, and the prompt information may include at least one of the following:

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

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

In one possible implementation, the third prompt information may include text information or picture information, for example, the text information may be "i am now malfunctioning", and the picture information may be any picture that may represent that the autonomous vehicle is malfunctioning.

In one possible implementation, an autonomous vehicle is configured with multiple display screens, each facing a different direction, each of which may display different information. For example, an autonomous vehicle is configured with 5 display screens, each of which faces forward, rearward, left, right, top, and five directions, such that the agent in the five directions can view the prompt information of the autonomous vehicle.

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

The fourth prompt information is voice information, and the speaker of the automatic driving vehicle plays the fourth prompt information in the running process of the automatic driving vehicle through the speaker, so that other intelligent agents can listen to the fourth prompt information, and know that the automatic driving vehicle is currently parked close to the side.

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

Wherein, the automatic driving vehicle is provided with a mechanical flute or an electronic flute, and the whistling operation can be carried out through the mechanical flute or the electronic flute. The automatic driving vehicle can set the number of whistling times in each fixed period, so that the whistling rhythm is determined, and different state types correspond to different whistling rhythms. The period may be one second or one minute, etc.

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

The automatic driving vehicle can automatically perform the whistle operation, or the whistle button is arranged on the steering wheel, and the whistle operation can be performed when the driver presses the whistle button.

(4) Aiming at the prompt lamp, the prompt lamp corresponding to the currently executed driving operation is lightened in the process of executing the driving operation by the automatic driving vehicle, so that other intelligent agents can clearly and clearly know the driving operation being executed by the automatic driving vehicle. For example, the driving operation currently performed by the automatically driven vehicle may be straight, turning, lane changing, reversing, accelerating, braking, stopping, etc., and the automatically driven vehicle may light a hazard warning flash (double flash) when stopping, and the automatically driven vehicle may light a turn signal when lane changing.

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

405. After the autonomous vehicle continues to travel to the edge of the current road, a stopping operation is performed. Execution continues with step 408.

When the state type of the automatic driving vehicle is determined to be the first fault state type, the automatic driving vehicle does not have the automatic driving capability but still has the capability of stopping by the side, and the automatic driving vehicle can continue to travel to the edge of the current road and then execute the stopping operation.

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

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

In one possible implementation manner, the output device outputs the prompt information corresponding to the second fault state type, and the prompt information may include at least one of the following:

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

By configuring the display screen, the display screen of the automatic driving vehicle displays fifth prompt information in the running process of the automatic driving vehicle, and when other intelligent agents look over the fifth prompt information of the automatic driving vehicle, the current state type of the automatic driving vehicle can be determined to be the second fault state type.

In one possible implementation, the fifth prompt information may include text information or picture information, for example, the text information may be "i am now has serious trouble", and the picture information may be any picture that can represent that the autonomous vehicle has serious trouble.

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

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

(3) And aiming at the vehicle whistle, when the state type of the automatic driving vehicle is the second fault state type, the whistle operation can be executed according to the second whistle rhythm.

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

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

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

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

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

In one possible implementation manner, the output device outputs the prompt information corresponding to the parking state type, and the prompt information may include at least one of the following:

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

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

In one possible implementation, the parking prompt information may be "please notice of parking", and the parking identifier may be any identifier that can embody parking of the autonomous vehicle.

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

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

In one possible implementation, one or more speakers may be provided, the speakers may be placed on the roof of the autonomous vehicle, the sound diffusing effect may be better, the speakers may be placed on the front, rear, or right side of the vehicle, and the sound diffusing effect may be relatively worse.

(3) And aiming at the vehicle whistle, when the state type of the automatic driving vehicle is a parking state type, the whistle operation can be executed according to the third whistle rhythm.

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

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

In one possible implementation, when the state type is determined to be the first fault state type or the second fault state type during running, the autonomous vehicle sends help seeking information to a management server connected with the autonomous vehicle through a wireless network, wherein the help seeking information is used for indicating that the autonomous vehicle has a fault. The management server receives the help-seeking information of the automatic driving vehicle, sends out alarm information, and the management personnel checks the alarm information to timely rescue the automatic driving vehicle.

The automatic driving vehicle can be configured with a vehicle networking wireless device, and is communicated with other devices through the vehicle networking wireless device.

The help seeking information carries position information and state type of the automatic driving vehicle. Through the position information, the manager can clearly know the position of the automatic driving vehicle, and through the state type, the fault condition of the automatic driving vehicle can be known.

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

Optionally, the management server sends alarm information to the control terminal closest to the management server, so that the management server can inform the management personnel closest to the management server, and rescue of the automatic driving vehicle in the fastest time is achieved.

Other intelligent agents can include intelligent equipment, such as mobile phones, computers, internet of vehicles wireless equipment and the like, the intelligent equipment can be connected with a management server, the management server is logged in, after the automatic driving vehicle reports help seeking information to the management server, the management server can forward the help seeking information to the intelligent equipment logged in the management server, the intelligent equipment acquires the help seeking information of the automatic driving vehicle, the position information and the state information of the automatic driving vehicle are known, a user of the intelligent equipment can go to the position of the automatic driving vehicle, and the automatic driving vehicle is maintained. Or the risk of the road section where the automatic driving vehicle is located can be predicted, so that the automatic driving vehicle can bypass or run at a reduced speed in advance, the traffic safety is improved, and the traffic accidents are reduced.

As shown in fig. 5, the status types of the autonomous vehicle are classified into three types: normal, faulty and severe faults, and the prompt modes under three status types are given respectively.

First, when the autonomous vehicle is traveling normally, text prompt messages can be displayed on the five-direction display screens, dangerous driving operations of the autonomous vehicle can be prompted through the speakers, and prompt lamps corresponding to the driving operations or environmental information are turned on.

Secondly, when the automatic driving vehicle breaks down, the vehicle can be driven to the road edge and then stopped, in the driving process, text prompt information is displayed through the display screens in five directions, the automatic driving vehicle is stopped by the side through a loudspeaker, whistle warning is carried out in a rhythmic mode, a prompt lamp corresponding to driving operation or environmental information is lightened, and help seeking information is sent through a wireless network. After parking, text prompt information is displayed through a display screen in five directions, an automatic driving vehicle is prompted to park through a loudspeaker, whistle warning is performed rhythmically, a prompt lamp corresponding to a parking state and a prompt lamp corresponding to environment information are lightened, and help seeking information is sent through a wireless network.

Again, when a serious failure occurs in the automatically driven vehicle, the vehicle remains traveling in the current lane and is then stopped in the lane. In the driving process, text prompt information is displayed through the display screens in five directions, other vehicles are prompted through a loudspeaker to keep the distance between the vehicles, whistle warning is performed in a rhythmic mode, a prompt lamp corresponding to driving operation or environmental information is lightened, and help seeking information is sent through a wireless network. After the vehicle is parked in the current lane, text prompt information is displayed through a display screen in five directions, the vehicle is automatically driven to park through a loudspeaker, whistle warning is carried out in a rhythmic mode, a prompt lamp corresponding to a parking state and a prompt lamp corresponding to environment information are lightened, and help seeking information is sent through a wireless network.

According to the method provided by the embodiment of the application, the current state information of the automatic driving vehicle is detected in real time, the state type of the current state information of the automatic driving vehicle is determined, and the output equipment of the automatic driving vehicle outputs the prompt information corresponding to the state type, so that other intelligent agents accurately and fully understand the current state of the automatic driving vehicle, can execute operation according to the current state of the automatic driving vehicle, and can avoid the situation that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle as much as possible, so that the occurrence probability of traffic accidents can be reduced, and the safety is improved. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

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

In addition, through display screen, speaker, warning light or car flute, the state type of suggestion other agent autopilot vehicle has made clear concrete suggestion mode and suggestion content, and other agents can know the state type of autopilot vehicle clearly from this to can carry out corresponding operation according to the state of autopilot vehicle, can reduce the probability of occurrence of traffic accident, improved autopilot vehicle's security.

In addition, when the state type of the automatic driving vehicle is determined to be the first fault state type in the driving process, the automatic driving vehicle continues to drive to the edge of the current road, and then the stopping operation is executed, and when the state type of the automatic driving vehicle is determined to be the second fault state type in the driving process, the stopping operation is executed in the current lane, and the prompting information corresponding to the stopping state type is output through the output device, so that the stopping state type of the automatic driving vehicle is expanded, the function is more perfect, and the safety of the automatic driving vehicle is improved.

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

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

FIG. 6 is a flow chart illustrating a prompting method, as shown in FIG. 6, according to an exemplary embodiment, including:

601. and collecting environment information in the current range.

602. And when the preset dangerous area exists in the first vehicle lane where the traffic area is currently located according to the environmental information, the traffic area is redetermined.

603. In the process of driving from the first vehicle to the traffic area and driving in the traffic area, the output equipment of the automatic driving vehicle outputs prompt information corresponding to the preset dangerous area, and the output equipment comprises at least one of a display screen, a loudspeaker, a vehicle flute or a prompt lamp.

According to the method provided by the embodiment of the application, the passing area is redetermined when the preset dangerous area exists in the first lane where the current environment is located according to the environment information, the first lane where the current environment is located is determined to be in the passing area, the first lane is driven, the prompt information corresponding to the preset dangerous area is output through the output equipment of the automatic driving vehicle, the existence of the preset dangerous area can be known by other intelligent agents, the driving operation of the automatic driving vehicle is understood, corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the condition that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as far as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

In one possible implementation manner, the output device of the automatic driving vehicle outputs prompt information corresponding to the preset dangerous area, including at least one of the following:

displaying first prompt information through a display screen, wherein the first prompt information is used for prompting the position of a preset dangerous area;

Playing second prompt information through a loudspeaker, wherein the second prompt information is used for prompting the position of a preset dangerous area;

and executing the whistling operation according to the whistling rhythm.

In one possible implementation, displaying, through a display screen, a first prompt message includes:

displaying text information through a first display screen, wherein the text information is used for prompting the position of a preset dangerous area;

In one possible implementation, after redefining the traffic area, the method further includes:

when the traffic area is a second lane different from the first lane, outputting prompt information corresponding to lane change operation through the output device in the process of moving from the first lane to the second lane.

In one possible implementation manner, the output device outputs the prompt information corresponding to the lane change operation, including at least one of the following:

Displaying lane change prompting information through a display screen;

playing the voice prompt information of lane change through a loudspeaker;

turning on a turn signal corresponding to a lane change operation.

when the traffic area is not in any lane, the prompting information for keeping the vehicle distance is output through the output equipment in the process of driving from the first lane to the traffic area and in the process of driving in the traffic area.

In one possible implementation manner, the output device outputs the prompt information for keeping the vehicle distance, including at least one of the following:

displaying and maintaining vehicle distance prompt information through a display screen;

and playing and maintaining the voice prompt information of the vehicle distance through a loudspeaker.

In one possible implementation, the method further includes:

determining that a preset dangerous area exists in a first vehicle lane where the parking device is currently located according to the environmental information, and executing parking operation when no passing area exists in a preset range;

In one possible implementation manner, the output device outputs the prompt information corresponding to the parking operation, including at least one of the following:

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

playing a parking voice prompt message through a loudspeaker, wherein the parking voice prompt message is used for prompting an automatic driving vehicle to park;

and a warning lamp corresponding to the parking operation is lighted.

In one possible implementation, the method further includes:

determining that a preset dangerous area exists in the first vehicle lane where the vehicle is currently located according to the environmental information, and when no passing area exists in the preset range,

in one possible implementation, the method further includes:

detecting current state information of an automatic driving vehicle in real time;

In one possible implementation manner, the output device outputs the prompt information corresponding to the state information, where the prompt information includes at least one of the following:

FIG. 7 is a flow chart illustrating another prompting method according to an exemplary embodiment, for use with an autonomous vehicle, as shown in FIG. 7, the method comprising:

701. The autonomous vehicle collects environmental information in the current range and performs step 702 or 708.

Autopilot vehicles may include autopilot cars, autopilot trucks, autopilot motorcycles, and the like. The components in an autonomous vehicle include the engine, chassis, and body accessories including internet of vehicles wireless devices, acoustic receivers, mechanical or electronic whistles, oil tanks, tires, vehicle housings, doors, automotive glass, mirrors, license plate frames, seat and seat accessories, automotive bearings, armrests, handles, cabs and cab accessories, airbags, safety belts, glass lifters, antennas, wipers, mufflers, horns, automotive weather strip bumpers, luggage cases, exhaust pipes, and the like.

In this embodiment of the present application, considering that an autonomous vehicle may encounter a dangerous area during a driving process, when the dangerous area is located in front of a lane where the autonomous vehicle is currently located and the autonomous vehicle, the driving of the autonomous vehicle may be hindered, and the autonomous vehicle needs to change a driving route, or perform a stopping operation, so as to avoid a traffic accident.

Therefore, in order to timely detect a dangerous area and realize safe automatic driving, the automatic driving vehicle needs to collect environmental information in the current range in the driving process. For example, an autonomous vehicle may configure an acquisition device by which environmental information of the current environment is acquired.

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

The acquisition device may include at least one of a camera, a laser radar, a millimeter wave radar, an infrared sensor, a humidity sensor, or a temperature sensor, and may acquire different types of environmental information through different acquisition devices. For example, the environmental information may include temperature, humidity, road surface flatness, width of a road passable area, distance between an obstacle and an autonomous vehicle, shape information of a nearby vehicle, and the like.

702. When the autonomous vehicle determines that the preset dangerous area exists in the first lane where the autonomous vehicle is currently located according to the environmental information, the traffic area is redetermined, step 703 or step 705 is performed, and step 707 is performed.

The preset dangerous area refers to an area where vehicles are prevented from passing, and may include an area where a faulty vehicle is located, a road construction area, a road closed area, or the like.

In one possible implementation, the preset dangerous area may be an area with a safe traffic width smaller than a preset lane width, and when the detected environmental information is that the passable width of the road ahead is smaller than the preset lane width, the preset dangerous area is determined to be ahead.

In another possible implementation manner, the autopilot vehicle may reconstruct a road structure according to road information included in the environmental information, determine whether the reconstructed road structure is consistent with a road structure stored in the autopilot vehicle, if not, determine an area in which the road structure changes, perform scene recognition on the area, and determine a current scene of the area, so as to determine whether the area is a preset dangerous area. For example, if the area is in a construction scene and cannot pass temporarily through scene recognition, the area is determined to be a preset dangerous area, or if the area is in a vehicle fault scene and other vehicles cannot pass through scene recognition, the area is determined to be the preset dangerous area.

The automatic driving vehicle can determine the condition that the environmental information of the preset dangerous area should meet, when the automatic driving vehicle runs in the first lane and the environmental information is collected, whether the environmental information of the first lane meets the preset condition is judged, and when the environmental information meets the preset condition, the preset dangerous area is determined to exist in the first lane where the automatic driving vehicle is currently located. And when the environmental information does not meet the preset condition, determining that a preset dangerous area does not exist in the first lane where the automatic driving vehicle is currently located.

Or the automatic driving vehicle determines the environmental characteristics corresponding to the environmental information of the preset dangerous area, when the automatic driving vehicle runs in the first lane and the environmental information of the first lane is acquired, the environmental characteristics corresponding to the environmental information are acquired and matched with the environmental characteristics corresponding to the preset dangerous area, and when the similarity of the environmental characteristics and the environmental characteristics is higher than a preset threshold value, the fact that the preset dangerous area exists in the first lane where the automatic driving vehicle is currently located is determined. And when the similarity of the two is not higher than a preset threshold value, determining that a preset dangerous area does not exist in the first lane where the automatic driving vehicle is currently located.

When the autonomous vehicle determines that a preset dangerous area exists in the first vehicle road, the passing area needs to be determined again in order to ensure safety.

For example, the autonomous vehicle may determine, as the redetermined traffic area, an area having a passable width greater than a preset lane width based on the collected environmental information.

In one possible implementation, the autonomous vehicle determines that a preset dangerous area exists in a first lane where the autonomous vehicle is currently located according to the environmental information, at this time, the autonomous vehicle determines the first lane where the autonomous vehicle is currently located, detects a lane boundary, and determines a second lane adjacent to the first lane.

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

Further, after the autonomous vehicle determines the second lane, it may be determined whether the second lane has a preset hazard zone. The manner of determining whether the second lane has the preset dangerous area is similar to the manner of determining whether the first lane has the preset dangerous area, which is not described herein. And when the second lane does not have the preset dangerous area, determining the second lane as a passing area of the automatic driving vehicle. When the second lane also has a preset dangerous area, the second lane is no longer determined as a passing area.

In another possible implementation manner, the automatic driving vehicle determines that a preset dangerous area exists in the first vehicle track where the automatic driving vehicle is currently located according to the environmental information, and at this time, the automatic driving vehicle can determine whether a passable area exists in other spaces except the current road according to the environmental information. If the boundary between the road and the free space road surface outside the road is detected, determining the width of the passable area of the free space road surface, and determining the passable area of the free space road surface as the passable area of the automatic driving vehicle when the width of the passable area is larger than the width of the automatic driving vehicle.

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

Depending on the type of traffic zone determined, the following steps 703 or 705 may be performed.

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

And when the automatic driving vehicle detects that a preset dangerous area exists in front of the current lane, and the redetermined passing area is a second lane which is different from the first lane, lane changing operation is carried out, and the automatic driving vehicle moves from the first lane to the second lane.

704. In the process of moving from the first lane to the second lane, the automatic driving vehicle outputs prompt information corresponding to lane change operation through the output device.

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

In one possible implementation manner, the output device outputs the prompt information corresponding to the lane change operation, and may include at least one of the following:

(1) When the automatic driving vehicle performs lane changing operation with respect to the display screen, lane changing prompting information is displayed through the display screen, and the lane changing prompting information is used for prompting the automatic driving vehicle to change lanes.

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

In one possible implementation, the lane change reminder information may include text information or picture information, for example, the text information may be "i am changing lanes" and the picture information may be any picture that may indicate that the autonomous vehicle is changing lanes.

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

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

(3) Aiming at the prompting lamp, in the process that the automatic driving vehicle executes lane changing driving operation, a steering lamp corresponding to the currently executed lane changing driving operation is lightened, so that other intelligent agents can clearly and automatically drive the vehicle to change lanes.

The prompting lamp comprises a steering lamp, a fog lamp, a marker lamp and the like.

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

705. When the traffic zone is not in any lane, the autonomous vehicle travels from the first lane to the traffic zone.

706. And in the process of driving from the first lane to the traffic area and in the process of driving in the traffic area, the automatic driving vehicle passes through the output device, and the prompt information for keeping the vehicle distance is output.

When the automatic driving vehicle detects that a preset dangerous area exists in front of a current lane, the redetermined traffic area is on a free space road surface, and the automatic driving vehicle runs from a first lane to the traffic area and then runs in the traffic area when the automatic driving vehicle is not on any lane.

The automatic driving vehicle lacks lane constraint in the process of running from the first lane to the passing area and running in the passing area, has higher probability of unknown risk and poorer safety, so that the prompting information for keeping the vehicle distance is required to be output through the output equipment in the process of running from the first lane to the passing area and in the process of running in the passing area.

In one possible implementation manner, the output device outputs the prompt information corresponding to the vehicle distance maintenance, which may include at least one of the following:

(1) Aiming at the display screen, in the process that the automatic driving vehicle runs from the first lane to the passing area and runs in the passing area, the display screen is used for displaying the prompt information for keeping the vehicle distance, and the prompt information for keeping the vehicle distance is used for prompting other intelligent agents and the automatic driving vehicle.

By configuring the display screen, the display screen of the automatic driving vehicle displays the prompt information of the vehicle distance between the vehicle and the automatic driving vehicle in the driving process of the automatic driving vehicle, and when other intelligent agents check the prompt information of the vehicle distance between the vehicle and the automatic driving vehicle, the current requirement of the vehicle distance between the vehicle and the automatic driving vehicle can be determined.

In one possible implementation, the distance maintenance prompt information may include text information or picture information, for example, the text information may be "please maintain the distance between vehicles", and the picture information may be any picture that can embody that the distance between vehicles needs to be maintained with the automatic driving vehicles.

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

The vehicle distance keeping prompt information is voice information, and the speaker of the automatic driving vehicle plays the vehicle distance keeping prompt information in the running process of the automatic driving vehicle through the speaker, so that other intelligent agents can listen to the vehicle distance keeping prompt information, and know that the vehicle distance keeping with the automatic driving vehicle is needed currently.

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

The prompt information corresponding to the preset dangerous area comprises a text with a dangerous character, a picture of the preset dangerous area, position information of the preset dangerous area, voice information of the dangerous area, whistle prompt of the dangerous area and the like.

In one possible implementation manner, the output device outputs the prompt information corresponding to the preset dangerous area, and the prompt information may include at least one of the following:

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

By configuring the display screen, the display screen of the automatic driving vehicle displays first prompt information in the running process of the automatic driving vehicle, and when other intelligent agents look over the first prompt information of the automatic driving vehicle, the first vehicle road where the automatic driving vehicle is currently located can be determined to have a preset dangerous area.

In one possible implementation manner, the first prompt information may include text information or picture information, for example, the text information may be "front road is not passed", and the picture information may be any picture that can embody a position of a preset dangerous area.

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

The automatic driving vehicle is close to one side of the preset dangerous area and one side far away from the preset dangerous area respectively displays prompt information, a display screen close to one side of the preset dangerous area displays text information, and the position of the preset dangerous area is prompted, so that other intelligent bodies positioned close to one side of the preset dangerous area can know that dangerous conditions exist early, yielding or slowing down can be avoided early, and the occurrence probability of traffic accidents is reduced. The display screen far away from one side of the preset dangerous area displays image information to prompt that the dangerous area exists currently, so that other intelligent agents located on one side far away from the preset dangerous area can understand the driving behavior of the automatic driving vehicle, give avoidance in time, and improve safety.

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

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

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

It should be noted that, step 707 may be executed simultaneously with steps 703-704 or steps 705-706, and the output device may output different types of prompt information simultaneously, for example, in a process of traveling from the first lane to the second lane, may output prompt information corresponding to a lane change operation, or may output prompt information corresponding to a preset dangerous area. The information may be "a construction area exists in front of the lane change.

708. And determining that a preset dangerous area exists in the first vehicle track where the vehicle is currently located according to the environment information, and executing parking operation by the automatic driving vehicle when no passing area exists in the preset range.

When the fact that a preset dangerous area exists in the first vehicle road where the automatic driving vehicle is located currently is determined according to the environment information, but no passing area exists in the preset range, the automatic driving vehicle cannot pass, and parking operation is carried out on the automatic driving vehicle to ensure safety.

709. Through the output device, the automatically driven vehicle outputs the prompt information corresponding to the parking operation.

In one possible implementation manner, the output device outputs prompt information corresponding to the parking operation, and may include at least one of the following:

(1) When the automatic driving vehicle executes the parking operation, the display screen is used for displaying parking text prompt information and parking identification, and the parking text prompt information and the parking identification are used for prompting the automatic driving vehicle to park.

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

In one possible implementation, the parking text prompt message may be "please notice of parking", and the parking identifier may be any identifier that can embody parking of the autonomous vehicle.

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

Through configuration speaker, when the automated driving vehicle carried out the parking operation, the speaker broadcast parking voice prompt message of automated driving vehicle makes other intelligent agent can listen to parking voice prompt message, knows the current parking of automated driving vehicle.

(3) Aiming at the prompt lamp, when the automatic driving vehicle executes the parking operation, the prompt lamp corresponding to the parking operation is lightened, so that other intelligent agents can clearly and automatically drive the vehicle to park.

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

In one possible implementation, when it is determined during the driving that the autonomous vehicle is unable to pass, the autonomous vehicle sends help-seeking information to a management server connected to the autonomous vehicle through a wireless network, the help-seeking information being used to indicate that the autonomous vehicle is unable to pass. The management server receives the help-seeking information of the automatic driving vehicle, sends out alarm information, and the management personnel checks the alarm information to timely rescue the automatic driving vehicle.

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

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

Optionally, the management server sends alarm information to the control terminal closest to the management server, so that the management server can inform the management personnel closest to the management server, and the automatic driving vehicle can be processed in the fastest time.

Other intelligent agents can include intelligent equipment, such as mobile phones, computers, internet of vehicles wireless equipment and the like, the intelligent equipment can be connected with a management server, the management server is logged in, after the automatic driving vehicle reports help seeking information to the management server, the management server can forward the help seeking information to the intelligent equipment logged in the management server, the intelligent equipment acquires the help seeking information of the automatic driving vehicle, the position information and the state information of the automatic driving vehicle are known, a user of the intelligent equipment can go to the position of the automatic driving vehicle, and a preset dangerous area is processed. Or the road section where the automatic driving vehicle is located can be predicted to have a preset dangerous area and can not pass, so that the road section can be bypassed in advance, the passing safety is improved, and the traffic accidents are reduced.

In the embodiment of the application, in the running process of the automatic driving vehicle, the current state information of the automatic driving vehicle is detected in real time, and the prompt information corresponding to the state information is output through the output device. And the process may be performed in parallel in performing the processes 701-709 described above.

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

Wherein, through this output device, output the prompt message corresponding to state information, can include at least one of following:

(1) In the process of executing the driving operation by the automatic driving vehicle, the prompt lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly and automatically drive the driving operation executed by the vehicle. For example, the driving operation currently performed by the automatically driven vehicle may be straight, turning, lane changing, reversing, accelerating, braking, stopping, etc., and the automatically driven vehicle may light a hazard warning flash (double flash) when stopping, and the automatically driven vehicle may light a turn signal when lane changing.

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

As shown in fig. 8, the traffic area is determined according to the difference of the automatic driving vehicle, and is divided into three cases of a lane, a free space road surface and a no-traffic area, and the prompt modes of the automatic driving vehicle in the three cases are respectively given.

First, when the traffic area is the lane with the lowest risk, the automatic driving vehicle avoids the preset dangerous area and moves to the lane from the current lane. In the lane changing process, displaying lane changing prompt information through a display screen, prompting the position of a dangerous area through the display screen close to one side of the dangerous area, and displaying a dangerous image through the display screen far away from one side of the dangerous area; prompting other vehicles to keep the distance between vehicles and prompting the position of a preset dangerous area through a loudspeaker; turning on a turn signal corresponding to a lane change operation; and (5) carrying out whistling warning in a rhythmic manner.

Secondly, when the passing area is a free space road surface, the automatic driving vehicle runs on the free space road surface, the prompt information for keeping the vehicle distance is displayed through a display screen, the position of the dangerous area is prompted through the display screen close to one side of the dangerous area, and the dangerous image is displayed through the display screen far away from one side of the dangerous area; prompting other vehicles to keep the distance between vehicles and prompting the position of a preset dangerous area through a loudspeaker; and (5) carrying out whistling warning in a rhythmic manner.

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

According to the method provided by the embodiment of the application, through collecting the environmental information in the current range, when the preset dangerous area exists in the first lane where the current dangerous area exists according to the environmental information, the passing area is redetermined, and in the process of moving from the first lane to the passing area and moving in the passing area, the output device outputs the prompt information corresponding to the preset dangerous area, so that other intelligent bodies can know the existence of the preset dangerous area, understand the driving operation of the automatic driving vehicle, execute the corresponding operation according to the driving operation of the automatic driving vehicle, avoid the situation that the operation of other intelligent bodies conflicts with the driving operation of the automatic driving vehicle as much as possible, reduce the occurrence probability of traffic accidents, and improve the safety. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

Fig. 9 is a block diagram of a prompting device, as shown in fig. 9, according to an exemplary embodiment, the device includes:

the environmental information acquisition module 901 is used for acquiring environmental information in the current range;

the traffic area determining module 902 is configured to re-determine a traffic area when it is determined that a preset dangerous area exists in a first lane where the traffic area is currently located according to the environmental information;

The prompt information output module 903 is configured to output, through an output device of the autopilot vehicle, a prompt information corresponding to a preset dangerous area in a process of traveling from the first lane to the traffic area and traveling in the traffic area, where the output device includes at least one of a display screen, a speaker, a whistle, and a prompt lamp.

In one possible implementation, as shown in fig. 10, the prompt information output module 903 includes at least one of the following:

an information display unit 911 for displaying first prompt information for prompting a position of a preset dangerous area through a display screen;

the voice playing unit 912 is configured to play, through a speaker, a second prompt message, where the second prompt message is used to prompt a position of a preset dangerous area;

the whistle executing unit 913 is configured to execute the whistle operation according to the whistle rhythm.

In one possible implementation, as shown in fig. 10, the information display unit 911 is further configured to:

In one possible implementation, as shown in fig. 10, the prompt information output module 903 is further configured to output, through an output device, a prompt information corresponding to a lane change operation during a process of traveling from the first lane to the second lane when the traffic area is a second lane different from the first lane.

a lane change display unit 914 for displaying lane change prompt information through the display screen;

a lane change playing unit 915, configured to play the lane change voice prompt information through a speaker;

the lane change lighting unit 916 is configured to light a turn signal corresponding to a lane change operation.

In one possible implementation manner, as shown in fig. 10, the prompt information output module 903 is further configured to output, through an output device, a prompt information for keeping a vehicle distance during a process of traveling from the first lane to the traffic area and during a process of traveling in the traffic area when the traffic area is not in any lane.

an area display unit 917 for displaying a distance keeping prompt message through a display screen;

and the zone playing unit 918 is configured to play the voice prompt information for keeping the vehicle distance through a speaker.

In one possible implementation, as shown in fig. 10, the apparatus further includes:

the parking execution module 904 is configured to determine, according to the environmental information, that a preset dangerous area exists in the first lane where the parking execution module is currently located, and execute a parking operation when no traffic area exists in a preset range;

the prompt information output module 903 is further configured to output, through an output device, a prompt information corresponding to a parking operation.

a parking display unit 919, configured to display, through a display screen, parking text prompt information and a parking identifier, where the parking text prompt information and the parking identifier are used to prompt the automatic driving vehicle to park;

a parking playing unit 920 for playing a parking voice prompt message through a speaker, wherein the parking voice prompt message is used for prompting the automatic driving vehicle to park;

And a parking lighting unit 921 for lighting a warning lamp corresponding to a parking operation.

the information sending module 905 is configured to determine, according to the environmental information, that a preset dangerous area exists in the first lane where the first lane is currently located, and when a passing area does not exist in the preset range, send, through a wireless network, help seeking information to a management server connected to the automatic driving vehicle, where the help seeking information is used to indicate that the automatic driving vehicle cannot pass through.

a state detection module 906, configured to detect current state information of the autonomous vehicle in real time;

the prompt information output module 903 is further configured to output, through an output device, prompt information corresponding to the status information.

a first lighting unit 922 for lighting a warning lamp corresponding to a currently performed driving operation;

and a second lighting unit 923 for lighting the indicator lamp corresponding to the current environmental information.

Third interaction mode: and prompting the target vehicle in the range of the automatic driving vehicle.

FIG. 11 is a flowchart illustrating a prompting method, as shown in FIG. 11, according to an exemplary embodiment, the method comprising:

1101. the autonomous vehicle obtains the vehicle characteristics of any vehicle within the current range.

There are many special types of vehicles in daily life, including ambulances, fire-fighting vehicles, police vehicles, etc., which need to perform tasks and need to be passed on roads with priority. Therefore, when a common vehicle encounters such a vehicle, the common vehicle needs to avoid, and the normal running of the vehicle cannot be hindered.

In order to solve the above-mentioned problem, the autonomous vehicle may set a condition that the target vehicle belonging to the preset avoidance type should meet, so as to identify the target vehicle belonging to the preset avoidance type in the driving process, when the target vehicle is located in a lane where the autonomous vehicle is currently located or in a lane adjacent to the lane where the autonomous vehicle is currently located, the autonomous vehicle may obstruct normal driving of the target vehicle, and the autonomous vehicle needs to perform operations of accelerating, decelerating and avoiding, or lane change driving, so as to avoid affecting the normal driving of the target vehicle.

The target vehicle may include, among other things, an ambulance, fire truck, police car, or other special type of vehicle.

In order to identify a target vehicle in time without affecting the normal running of the target vehicle, the automatic driving vehicle needs to acquire the vehicle characteristics of any vehicle in the current range in the running process so as to determine whether the vehicle is the target vehicle according to the vehicle characteristics.

Alternatively, the autonomous vehicle may be equipped with an acquisition device by which the vehicle characteristics of any vehicle within the current range are acquired.

The current range of the autonomous vehicle refers to a range in which the autonomous vehicle can recognize environmental information, and may be determined according to a maximum distance of the environmental information collected by the collecting device of the autonomous vehicle, and may be a circular area formed by taking the autonomous vehicle as a center of a circle and a maximum distance of the environmental information collected as a radius, or a sector area formed by taking the autonomous vehicle as a center of a circle, a maximum distance of the environmental information collected as a radius, and a collection angle of the collecting device as a vertex angle.

The acquisition device may comprise at least one of a camera, a laser radar, a millimeter wave radar, an infrared sensor, a humidity sensor or a temperature sensor, and different types of vehicle features may be acquired by different acquisition devices. For example, the vehicle features may include an outline feature, a lamp status, a whistling status, etc.

1102. And matching the vehicle characteristics with preset vehicle characteristics corresponding to the preset avoidance types by the automatic driving vehicle.

The automatic driving vehicle can set the preset vehicle characteristics corresponding to the preset avoidance type according to the characteristics of the target vehicle belonging to the preset avoidance type. When the automatic driving vehicle is in the driving process, the vehicle characteristics in the current range are obtained, and the vehicle characteristics are matched with the preset vehicle characteristics corresponding to the preset avoidance type, so that whether the vehicle belongs to the target vehicle of the preset avoidance type or not is determined.

For example, for a police car, an autonomous vehicle may determine preset vehicle characteristics for the police car including: the vehicle body is provided with marked characters, a colored vehicle lamp is arranged above the vehicle roof, and the vehicle lamp flickers and sounds a warning flute in the driving process.

1103. When the similarity between the vehicle characteristics and the preset vehicle characteristics is larger than a preset threshold value, the automatic driving vehicle determines that the vehicle is a target vehicle belonging to a preset avoidance type.

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

It should be noted that, the steps 1101-1103 are optional steps, and the automatic driving vehicle may determine the target vehicle belonging to the preset avoidance type in the steps 1101-1103, but may determine the target vehicle belonging to the preset avoidance type in other manners.

In one possible implementation, the profile characteristics and indicator light status of any vehicle within range are obtained. When the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type, and the state of the prompting lamp is the lighting state, the vehicle is determined to be a target vehicle belonging to the preset avoidance type.

The appearance characteristics of the vehicle may include the outline of the vehicle, the body color, the vehicle size, the vehicle logo, the number of wheels, etc., and the warning lights include warning lights, hazard warning lights, etc. of the vehicle.

The autonomous vehicle may set a preset profile of the target vehicle and a warning light that the target vehicle should illuminate while performing the task. And when the automatic driving vehicle runs, the appearance characteristics and the prompt lamp state of the vehicle in the current range are acquired, the appearance characteristics of the vehicle are matched with the preset appearance characteristics, whether the similarity of the appearance characteristics and the preset appearance characteristics is higher than a preset threshold value or not is judged, the prompt lamp state of the vehicle is judged to be in a lighting state, and if the similarity of the appearance characteristics and the preset appearance characteristics of the vehicle is higher than the preset threshold value and the prompt lamp state of the vehicle is in the lighting state, the vehicle is determined to be a target vehicle belonging to a preset avoidance type.

The automatic driving vehicle can be provided with a camera, the appearance characteristics and the state of the indicator lights of the vehicle are collected through the camera, and the indicator lights are indicator lights used for indicating that tasks are being executed in the target vehicle, such as indicator lights on the roof of the vehicle.

In another possible implementation, the profile and whistling status of any vehicle within range is acquired. When the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type, and the whistling state is a whistling state, determining that the vehicle is a target vehicle belonging to the preset avoidance type.

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

The automatic driving vehicle can be provided with a camera, the appearance characteristics of the vehicle can be collected through the camera, the automatic driving vehicle can be provided with a sound receiver, and the sound emitted by the vehicle can be collected through the sound receiver.

Alternatively, it is contemplated that the sound emitted by the vehicle may include whistling, horn sounds, and other noise in the environment. Therefore, in order to improve accuracy, the automatic driving vehicle can also set a preset whistling feature that the target vehicle should whistle when executing a task, and when the automatic driving vehicle obtains the appearance feature and the sound feature of the vehicle in the current range in the driving process, the appearance feature of the vehicle is matched with the preset appearance feature, and whether the similarity of the appearance feature and the preset appearance feature is higher than a preset threshold value is judged; and matching the sound characteristic with a preset flute sound characteristic, judging whether the similarity of the sound characteristic and the preset flute sound characteristic is higher than a preset threshold value, and if the similarity of the appearance characteristic and the preset appearance characteristic is higher than the preset threshold value, and the similarity of the sound characteristic and the preset flute sound characteristic is higher than the preset threshold value, determining that the vehicle is a target vehicle belonging to a preset avoidance type.

In another possible implementation, the profile, indicator light status, and whistling status of any vehicle within range are obtained. When the appearance characteristics of the vehicle are matched with the preset appearance characteristics corresponding to the preset avoidance type, the state of the indicator lamp is in a lighting state, and the whistling state is in a whistling state, the vehicle is determined to be a target vehicle belonging to the preset avoidance type. The specific process is similar to the two possible implementations, and is not repeated here.

When the fact that the target vehicle belonging to the preset avoidance type exists in the current range of the automatic driving vehicle is determined, if the automatic driving vehicle and the target vehicle run in opposite directions, the automatic driving vehicle does not normally run when meeting with the target vehicle, and the avoidance of the target vehicle is not needed.

Or when the fact that the target vehicle belonging to the preset avoidance type does not exist in the current range of the automatic driving vehicle is determined, the automatic driving vehicle normally runs without avoiding the target vehicle.

1104. The autonomous vehicle performs a driving operation for avoiding the target vehicle.

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

Thus, step 1104 above may include the following implementations (1) - (3):

(1) If the autonomous vehicle travels in the same direction as the target vehicle and the autonomous vehicle is located behind the target vehicle, travel behind the target vehicle is maintained.

For example, when the autonomous vehicle recognizes the tail of the target vehicle by the camera disposed in front of the autonomous vehicle, it is possible to determine that the autonomous vehicle travels in the same direction as the target vehicle, and the autonomous vehicle is located behind the target vehicle and may travel behind the target vehicle.

(2) If the autonomous vehicle is traveling in the same direction as the target vehicle and the autonomous vehicle is in front of the target vehicle, the target vehicle is avoided.

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

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

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

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

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

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

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

(3) If the autonomous vehicle travels in opposition to the target vehicle, the autonomous vehicle may travel normally without avoiding the target vehicle when the autonomous vehicle does not meet the target vehicle, and the deceleration operation is performed when the autonomous vehicle meets the target vehicle.

1105. In the course of performing the driving operation, the prompt information of the target vehicle is output through the output device of the automatically driven vehicle.

Step 1105 may include at least one of the following steps (1) or (2):

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

(1-1) referring to fig. 12, first hint information for hint the location of other agent target vehicles is displayed through a display screen.

Through configuration display screen, in the driving process of the automatic driving vehicle, the display screen of the automatic driving vehicle displays first prompt information, when other agents look over the first prompt information of the automatic driving vehicle, the fact that the target vehicle exists in the current range of the automatic driving vehicle can be determined, and other agents can avoid the target vehicle, so that the target vehicle can normally drive.

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

(1-2) referring to fig. 12, a second prompt message for prompting the location of the other agent target vehicle is played through the speaker.

The second prompt information is voice information, and is played by the loudspeaker of the automatic driving vehicle in the driving process of the automatic driving vehicle, so that other intelligent agents can listen to the second prompt information to know the position of the target vehicle, and the other intelligent agents can avoid the target vehicle, so that the target vehicle can normally drive.

(1-3) referring to fig. 12, a warning lamp corresponding to a driving operation is lighted.

In the process of executing the driving operation by the automatic driving vehicle, the prompt lamp corresponding to the currently executed driving operation is lightened, so that other intelligent agents can clearly and automatically drive the driving operation executed by the vehicle. For example, the driving operation currently performed by the automatically driven vehicle may be straight, turning, lane changing, reversing, accelerating, braking, stopping, or the like, and when the deceleration operation is performed, a brake lamp corresponding to the deceleration operation may be turned on, and when the stopping operation is performed, the automatically driven vehicle may turn on a hazard warning flash (double flash), and when the lane changing operation is performed, the automatically driven vehicle may turn on a turn lamp corresponding to the lane changing operation.

(1-4) referring to fig. 12, the whistling operation is performed in accordance with the whistling tempo corresponding to the target vehicle.

The autonomous vehicle is equipped with a mechanical whistle or an electronic whistle through which the whistle operation can be performed. The automatic driving vehicle can set the number of whistling times in each fixed period, so that the whistling rhythm is determined, and different target vehicles correspond to different whistling rhythms. The period may be one second or one minute, etc.

After the automatic driving vehicle detects the target vehicle, the target vehicle types can be divided according to the characteristics of the target vehicle, the automatic driving vehicle can establish the corresponding relation between different types of target vehicles and the whistle rhythm, when the automatic driving vehicle identifies the target vehicle, the target vehicle types are confirmed, the corresponding relation is inquired, the whistle rhythm corresponding to the target vehicle types is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the target vehicle types, so that other intelligent agents can know the target vehicle types existing in the current range of the automatic driving vehicle.

(2) And outputting prompt information corresponding to the driving operation executed by the automatic driving vehicle through the output device.

(2-1) referring to fig. 12, when the driving operation is a deceleration operation, a prompt message of decelerating avoidance target vehicle is output through the output device.

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

And in the process of executing the deceleration operation, outputting prompt information corresponding to the deceleration operation through at least one of a display screen, a loudspeaker and a prompt lamp.

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

In one possible implementation, the deceleration prompt information may include text information or picture information, for example, the text information may be "deceleration is being performed to avoid the ambulance", and the picture information may be any picture that can embody that the autonomous vehicle performs the deceleration operation.

Aiming at the loudspeaker, when the automatic driving vehicle performs deceleration operation, the loudspeaker is used for playing the prompt information of the deceleration avoidance target vehicle, and the deceleration prompt information is voice information and is used for prompting the automatic driving vehicle to decelerate, so that other intelligent agents can listen to the deceleration prompt information and know that the automatic driving vehicle decelerates currently.

Aiming at the prompt lamp, in the process of executing the deceleration driving operation of the automatic driving vehicle, a brake lamp corresponding to the currently executed deceleration operation is lightened, so that other intelligent agents can clearly and definitely decelerate the automatic driving vehicle.

(2-2) referring to fig. 12, when the driving operation is an acceleration operation, a prompt requesting lane change to avoid the target vehicle is output through the output device.

If the automatic driving vehicle and the target vehicle run in the same direction, the automatic driving vehicle is positioned in front of the target vehicle, and the automatic driving vehicle and the target vehicle are positioned in the same lane, but when no passing area exists in the adjacent lane, the acceleration operation is performed until the lane changing operation is performed when the passing area exists in the adjacent lane.

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

Aiming at the display screen, when the automatic driving vehicle executes acceleration operation, a prompt message requesting lane change to avoid the target vehicle is displayed through the display screen, when other intelligent agents look at the prompt message of the automatic driving vehicle, the current automatic driving vehicle can be determined to execute lane change operation, and then the vehicles in the adjacent lanes can know the intention and the reason of lane change of the automatic driving vehicle, so that the automatic driving vehicle is actively avoided, and the automatic driving vehicle is convenient to execute lane change operation.

In one possible implementation manner, the prompt information corresponding to the acceleration operation may include text information or picture information, for example, the text information may be "accelerating, needing to change lanes as soon as possible, avoiding an ambulance", and the picture information may be any picture capable of representing the execution operation of the automatic driving vehicle.

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

(2-3) referring to fig. 12, when the driving operation is a lane change operation, a warning message for lane change to avoid the target vehicle is output through the output device.

If the automatic driving vehicle and the target vehicle run in the same direction, the automatic driving vehicle is positioned in front of the target vehicle, and the automatic driving vehicle and the target vehicle are positioned in the same lane, and when a passing area exists in the adjacent lane, the automatic driving vehicle performs lane changing operation.

In the process of executing lane changing operation, the prompting information of changing lanes to avoid the target vehicle is output through at least one of a display screen, a loudspeaker and a prompting lamp.

Aiming at the display screen, when the automatic driving vehicle executes lane changing operation, the display screen is used for displaying prompt information of the lane changing avoidance target vehicle, and when other intelligent agents look at the prompt information of the automatic driving vehicle, the current automatic driving vehicle can be determined to be changing lanes.

In one possible implementation, the prompt information may include text information or picture information, for example, the text information may be "lane change, avoid ambulance", and the picture information may be any picture that can embody that the autonomous vehicle performs lane change operation.

Aiming at the loudspeaker, when the automatic driving vehicle executes lane changing operation, the loudspeaker is used for playing the prompt information of the lane changing avoidance target vehicle, the lane changing prompt information is voice information, and other intelligent agents can listen to the prompt information to know that the automatic driving vehicle is currently changing lanes.

Aiming at the prompting lamp, in the process that the automatic driving vehicle executes lane changing operation, the steering lamp corresponding to the lane changing operation is lightened, so that other intelligent agents can clearly and automatically drive the vehicle to change lanes.

As shown in fig. 12, by judging whether there is a target vehicle belonging to a preset avoidance type in the current range of the autonomous vehicle, if there is a target vehicle, displaying the position of the target vehicle through a display screen, playing the position of the target vehicle through a speaker, and determining in sequence the driving direction, the relative position, whether the autonomous vehicle is located in the same lane, whether a meeting is performed, and the situation of the neighboring lanes of the autonomous vehicle according to the processing flow shown in fig. 12, determining what driving operation is performed by the autonomous vehicle, and prompting the driving operation performed by the autonomous vehicle through the display screen, the speaker, the prompting lamp and the whistle of the autonomous vehicle.

It should be noted that, when the automatic driving vehicle is the target vehicle, the automatic driving vehicle normally runs, and does not need to avoid other target vehicles belonging to the preset avoidance type in the current range, so that the prompting method provided by the embodiment of the application does not need to be executed. Or, the automatic driving vehicle is the target vehicle, but no task is currently being executed, and other target vehicles belonging to the preset avoidance type in the current range still need to be avoided, so that the method provided by the embodiment of the application can be adopted.

According to the method, the target vehicle belonging to the preset avoidance type in the current range is identified, the driving operation for avoiding the target vehicle is executed, in the process of executing the driving operation, the prompt information of the target vehicle is output through the output equipment of the automatic driving vehicle, so that other intelligent agents can know the existence of the target vehicle, actively avoid the target vehicle, understand the driving operation of the automatic driving vehicle, execute corresponding operation according to the driving operation of the automatic driving vehicle, avoid the situation that the operation of other intelligent agents conflicts with the driving operation of the automatic driving vehicle as much as possible, reduce the occurrence probability of traffic accidents and improve the safety. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

In addition, by matching the vehicle characteristics with the preset vehicle characteristics corresponding to the preset avoidance type, the target vehicle belonging to the preset avoidance type can be identified, and the identification accuracy is improved.

In addition, whether the vehicle is a target vehicle can be determined according to the vehicle appearance characteristics and the prompt lamp state or the appearance characteristics and the whistling state, a mode for identifying the target vehicle is provided, the identification channels are diversified, and the identification accuracy can be improved by adopting the diversified identification mode.

In addition, what kind of driving operation is ultimately to be performed by the autonomous vehicle is determined according to the traveling direction, the relative position, whether or not the autonomous vehicle is located in the same lane, whether or not the vehicle is meeting, and the situation of the neighboring lanes of the autonomous vehicle. It is clear how the autonomous vehicle avoids the target vehicle when the target vehicle is identified, so that the target vehicle can pass smoothly without being blocked.

In addition, through multiple modes such as display screen, speaker, warning light and car flute carry out the suggestion, the suggestion channel is diversified, can improve other intelligent agent and receive the probability of warning message, avoids leading to unable output warning message because of a certain output device is malfunctioning, and then causes the traffic accident, has improved autopilot security.

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

Fourth interaction mode: and prompting the meeting state of the automatic driving vehicle and the target vehicle.

FIG. 13 is a flowchart illustrating a prompting method, as shown in FIG. 13, for use with an autonomous vehicle, according to an exemplary embodiment, the method comprising:

1301. the autonomous vehicle identifies a target vehicle, which is a vehicle whose travel route intersects with the travel route of the autonomous vehicle.

There are many vehicles on the road, which are classified into a vehicle traveling in the same direction as the autonomous vehicle and a vehicle traveling in opposite directions to the autonomous vehicle, and a vehicle traveling in the same lane as the autonomous vehicle, a vehicle traveling in an adjacent lane to the autonomous vehicle, and a vehicle traveling in a non-adjacent lane to the autonomous vehicle, according to the traveling direction. The vehicle in the non-adjacent lane with the autonomous vehicle does not intersect with the autonomous vehicle, so that the running of the autonomous vehicle is not affected, and the vehicle in the same lane as the autonomous vehicle and the vehicle in the adjacent lane with the autonomous vehicle are possibly intersected with the autonomous vehicle, so that the autonomous vehicle needs to comprehensively consider the situations of the autonomous vehicle and the meeting vehicle to determine what driving operation is performed for safe running.

Therefore, in order to realize a safe meeting, it is necessary to identify a target vehicle, i.e., a vehicle whose travel route meets the travel route of the autonomous vehicle, during travel of the autonomous vehicle. The method is concretely divided into the following cases:

(1-1) identifying a vehicle in a second lane as a target vehicle when performing an operation of changing from the first lane to the second lane.

When the automatic driving vehicle runs on the first lane where the automatic driving vehicle is currently located, the situation that a closed, repaired or abnormal vehicle is not passed in front of the first lane where the automatic driving vehicle is currently located can be encountered, the automatic driving vehicle needs to be converged into an adjacent lane, namely, the automatic driving vehicle is changed from the first lane where the automatic driving vehicle is currently located to an adjacent second lane, so that normal running is realized, before changing lanes, the automatic driving vehicle needs to identify whether other vehicles exist in the second lane, and the vehicles in the second lane are used as target vehicles.

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

When the autonomous vehicle travels in the first lane where the vehicle is currently located, other vehicles in adjacent lanes may meet the condition that the other vehicles enter the first lane and are ready to travel in front of the autonomous vehicle, and when the other vehicles enter, the normal travel of the autonomous vehicle may be affected, or the condition that the traveling direction of the other vehicles in the adjacent lanes points to the first lane may meet, which means that the vehicle is traveling towards the first lane and may be about to enter the first lane.

In order to achieve safe driving, an autonomous vehicle needs to recognize whether other vehicles in adjacent lanes are ready to merge or are merging, and take such vehicles as target vehicles.

(1-3) identifying, as the target vehicle, a vehicle that is located in front of the autonomous vehicle and that has a traveling speed that is less than the traveling speed of the autonomous vehicle in the first lane in which the current lane is located.

When the autonomous vehicle travels in the first lane where it is currently located, it may be encountered that the traveling speed of the preceding vehicle in the same lane is smaller than the traveling speed of the autonomous vehicle, at which time the autonomous vehicle is about to perform an operation exceeding the preceding vehicle. In order to ensure safe driving during overrun, an autonomous vehicle needs to identify, as a target vehicle, a vehicle that is located in front of the autonomous vehicle and whose driving speed is smaller than that of the autonomous vehicle.

(1-4) identifying, as the target vehicle, a vehicle that is located behind the autonomous vehicle and that has a traveling speed greater than the traveling speed of the autonomous vehicle in the first lane in which the current lane is located.

When the automatic driving vehicle runs in the first lane where the automatic driving vehicle is currently located, the situation that the running speed of the rear vehicle located in the same lane is larger than the running speed of the automatic driving vehicle may be encountered, at this time, the rear vehicle may execute a driving operation exceeding the automatic driving vehicle, the automatic driving vehicle needs to actively avoid collision with the driving operation of the rear vehicle for safe running, and the automatic driving vehicle needs to identify, as a target vehicle, a vehicle located behind the automatic driving vehicle in the first lane where the automatic driving vehicle is currently located and having a running speed larger than the running speed of the automatic driving vehicle for timely avoidance.

1302. The autonomous vehicle performs a driving operation according to the position of the autonomous vehicle and the position of the target vehicle.

After determining that the automatic driving vehicle has a running route intersection with the target vehicle, it is necessary to determine which driving operation to perform according to the position of the automatic driving vehicle and the position of the target vehicle, so as to implement safe automatic driving.

Optionally, the autopilot vehicle may further determine what kind of driving operation is performed according to the position of the autopilot vehicle and the position of the target vehicle, the speed of the autopilot vehicle and the speed of the target vehicle, and the actual condition of the road, so as to implement safe autopilot.

Alternatively, for the case of step (1-1) above, step 1302 may include the steps of:

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

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

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

In one possible implementation, when there is another vehicle in a second lane adjacent to the first lane where the autonomous vehicle is located that is closer to the autonomous vehicle and is faster, the autonomous vehicle needs to perform a waiting operation in the intersection area of the first lane and the second lane.

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

The autonomous vehicle performs an operation of traveling from the first lane to the second lane when it is determined that the meeting condition is satisfied, that is, when there is no target vehicle in the second lane that is closer to the autonomous vehicle and has a faster speed.

For the case of step (1-2) above, step 1302 may include the steps of:

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

The target vehicle of the adjacent lane of the automatic driving vehicle enters the first lane and is ready to travel in front of the automatic driving vehicle, and the automatic driving vehicle needs to determine driving operations which the automatic driving vehicle needs to execute according to the position of the automatic driving vehicle and the position of the target vehicle.

In one possible implementation manner, the automatic driving vehicle determines that the automatic driving vehicle needs to keep running in a current lane according to the position of the automatic driving vehicle and the position of the target vehicle, and when the automatic driving vehicle needs to avoid the target vehicle which is ready to be converged by deceleration, the automatic driving vehicle executes deceleration operation to avoid.

For example, the autonomous vehicle determines that the target vehicle into which the adjacent lane is to be merged is closer to the autonomous vehicle and has a faster speed, and the autonomous vehicle performs a deceleration operation to avoid the target vehicle for safety.

In one possible implementation, the autonomous vehicle determines that the autonomous vehicle needs to change lanes to avoid the target vehicle ready for entering when the autonomous vehicle performs lane change operation to avoid according to whether the position of the autonomous vehicle and the position of the target vehicle, the speed of the autonomous vehicle and the speed of the target vehicle, and the adjacent other side lanes satisfy lane change conditions.

For example, the autonomous vehicle determines that the target vehicle into which the adjacent lane is ready to merge is closer to the autonomous vehicle, has a faster speed, and the other side lane adjacent to the autonomous vehicle satisfies the lane change condition, and for safety, the autonomous vehicle performs a lane change operation to avoid the target vehicle. The lane change avoidance can also avoid the influence of suddenly executing the deceleration operation on the normal running of the rear vehicle in the first lane, avoid the rear vehicle from coming short of the rear vehicle to deal with the rear collision caused by the sudden deceleration of the automatic driving vehicle, and improve the safety.

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

For example, when the autonomous vehicle determines that the target vehicle in which the adjacent lane is ready to merge is far from the autonomous vehicle, and the autonomous vehicle does not affect the merging of the target vehicle, the autonomous vehicle keeps the current driving operation without avoiding the target vehicle.

For the case of steps (1-3) above, step 1302 may include the steps of:

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

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

Wherein performing an operation to overrun the target vehicle includes: the autonomous vehicle travels from the first lane into an adjacent lane, and performs an acceleration operation beyond the target vehicle, and when the autonomous vehicle is located in front of the target vehicle, travels from the adjacent lane into the first lane, thereby traveling in front of the target vehicle.

(2-5) continuing to perform the driving operation in the first lane after the operation of performing the overrun target vehicle is completed.

For the case of steps (1-4) above, step 1302 may include the steps of:

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

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

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

When the target vehicle performs an operation exceeding the automatic driving vehicle, the target vehicle may travel from the first lane into an adjacent lane and perform an acceleration operation, and at this time, the automatic driving vehicle may perform a deceleration operation or may also normally travel without performing the deceleration operation. And when the target vehicle is positioned in front of the automatic driving vehicle, the automatic driving vehicle can drive from the adjacent lane to the first lane, at the moment, the automatic driving vehicle can execute a deceleration operation to avoid the target vehicle until the completion of the convergence of the target vehicle into the first lane, and the automatic driving vehicle can restore the original driving speed and safely drive behind the target vehicle.

1303. In the process of executing driving operation, the automatic driving vehicle outputs prompt information through an output device of the automatic driving vehicle, the prompt information is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, and the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp.

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

For the case of step (2-1) above, step 1303 may include the steps of:

(3-1) outputting, by the output device, first prompt information for prompting that the autonomous vehicle is waiting to enter the second lane in the course of performing the waiting operation, may include at least one of the following.

(a) Referring to fig. 14, for the display screen, when the autonomous vehicle performs a waiting operation, a first prompt message is displayed through the display screen, and when other agents view the first prompt message of the autonomous vehicle, it can be determined that the autonomous vehicle is waiting to enter the second lane, thereby avoiding the autonomous vehicle.

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

(b) Referring to fig. 14, for the speaker, when the autonomous vehicle performs the waiting operation, the first prompt information is played through the speaker, and the first prompt information is voice information, so that other intelligent agents can listen to the first prompt information to know that the autonomous vehicle is waiting to enter the lane, thereby avoiding the autonomous vehicle.

(c) Referring to fig. 14, for the warning lamp, in the process of the automatic driving vehicle performing the waiting operation, the turn lamp corresponding to the waiting operation is turned on, so that other agents can make sure that the automatic driving vehicle is waiting for entering the lane, thereby avoiding the automatic driving vehicle.

(d) Referring to fig. 14, in the process of executing a waiting operation for the warning light, the automatic driving vehicle may detect current environmental information, and light the warning light corresponding to the current environmental information, so that other agents may clearly determine the position of the automatic driving vehicle, thereby avoiding the automatic driving vehicle.

(e) Referring to fig. 14, for the siren, in the course of the automatic driving vehicle performing the waiting operation, the siren operation may be performed in accordance with the siren rhythm corresponding to the waiting operation.

Wherein, the automatic driving vehicle is provided with a mechanical flute or an electronic flute, and the whistling operation can be carried out through the mechanical flute or the electronic flute. The autonomous vehicle may set the number of blasts per fixed period to determine the blast tempo. The period may be one second or one minute, etc.

The automatic driving vehicle can establish the corresponding relation between the waiting operation and the whistle rhythm, and then the corresponding relation is inquired when the automatic driving vehicle executes the waiting operation, the whistle rhythm corresponding to the waiting operation is obtained, the whistle operation is executed according to the whistle rhythm corresponding to the waiting operation, other intelligent agents can know that the automatic driving vehicle is waiting to enter a lane, and accordingly the automatic driving vehicle is avoided.

Optionally, when the automatic driving vehicle starts to execute the waiting operation, the whistle operation is not executed temporarily, the waiting time is counted, when the waiting time exceeds the preset time, the waiting time is represented to be too long, and the whistle operation is executed again.

For the case of step (2-2) above, step 1303 may include the steps of:

(3-2) outputting, by the output device, second hint information for hint that the automated driving vehicle is converging into the second lane in the course of performing the operation of traveling from the first lane to the second lane, may include at least one of the following.

(a) Referring to fig. 14, with respect to the display screen, when the autonomous vehicle performs an operation of traveling from the first lane to the second lane, a second prompt message is displayed through the display screen, and when other agents view the second prompt message of the autonomous vehicle, it can be determined that the autonomous vehicle is currently traveling from the first lane to the second lane, thereby avoiding the autonomous vehicle. In addition, the second prompt information can prompt the target vehicle to keep the distance from the automatic driving vehicle.

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

(b) Referring to fig. 14, when the autonomous vehicle performs an operation of traveling from the first lane to the second lane with respect to the speaker, a second prompt message is played through the speaker, the second prompt message is a voice message, and other agents can listen to the second prompt message to learn that the autonomous vehicle is currently entering the first lane, so as to avoid the autonomous vehicle.

(c) Referring to fig. 14, with respect to the indicator lamp, in the course of the automated guided vehicle performing the operation of traveling from the first lane to the second lane, the turn lamp corresponding to the operation of traveling from the first lane to the second lane is turned on, so that other agents can make sure that the automated guided vehicle is remitted into the first lane, thereby avoiding the automated guided vehicle.

(d) Referring to fig. 14, for the indicator lamp, in the process that the autonomous vehicle performs the operation of moving from the first lane to the second lane, the current environmental information may be detected, and the indicator lamp corresponding to the current environmental information may be turned on, so that other intelligent agents may determine the position of the autonomous vehicle, thereby avoiding the autonomous vehicle.

(e) Referring to fig. 14, for the siren, in the course of the automated driving vehicle performing the operation of traveling from the first lane to the second lane, the whistling operation may be performed in accordance with the whistling rhythm corresponding to the lane change operation.

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

For the case of step (2-3) above, step 1303 may include the steps of:

(3-3) outputting, through the output device, third prompt information for prompting that the automated driving vehicle is avoiding the target vehicle in the course of performing the deceleration operation, may include at least one of the following.

(a) Referring to fig. 14, for the display screen, when the automatically driven vehicle performs the deceleration operation, the third prompt information is displayed through the display screen, and when other agents view the third prompt information of the automatically driven vehicle, it can be determined that the currently automatically driven vehicle is decelerating to avoid the target vehicle.

In one possible implementation manner, the third prompting information corresponding to the deceleration operation may include text information or picture information, for example, the text information may be "deceleration avoidance", and the picture information may be any picture capable of representing that the automatic driving vehicle performs the deceleration operation.

Optionally, prompt information of the target vehicle in deceleration avoidance is displayed through the first display screen, and a picture of the target vehicle is displayed through the second display screen. The first display screen and the second display screen are different display screens of the automatic driving vehicle and can be positioned on different sides of the automatic driving vehicle.

(b) Referring to fig. 14, when the automatic driving vehicle performs the deceleration operation with respect to the speaker, a third prompt message is played through the speaker, the third prompt message is a voice message, and other intelligent agents can listen to the third prompt message to learn that the automatic driving vehicle is currently decelerating and avoiding the target vehicle.

(c) Referring to fig. 14, for the indicator lamp, in the process of the automatic driving vehicle performing the deceleration operation, the brake lamp corresponding to the deceleration operation is turned on, so that other intelligent agents can clearly determine that the automatic driving vehicle is decelerating and avoiding the target vehicle.

(d) Referring to fig. 14, in the process of performing a deceleration operation on the warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clarify the position of the automatically driven vehicle.

(e) Referring to fig. 14, for the siren, in the course of the deceleration operation performed by the autonomous vehicle, the whistling operation may be performed in accordance with the whistling rhythm corresponding to the deceleration operation.

The automatic driving vehicle can establish a corresponding relation between the deceleration operation and the whistle rhythm, and then the corresponding relation is inquired when the automatic driving vehicle executes the deceleration operation, the whistle rhythm corresponding to the deceleration operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the deceleration operation, so that other intelligent agents can know that the automatic driving vehicle is currently decelerating.

For the case of step (2-3) above, step 1303 may include the steps of:

(3-4) outputting, by the output device, fourth hint information for hint that the automated driving vehicle is changing lanes during the course of performing the lane change operation, may include at least one of the following.

(a) Referring to fig. 14, with respect to the display screen, when the autonomous vehicle performs a lane changing operation, a fourth hint information is displayed through the display screen, and when other agents view the fourth hint information of the autonomous vehicle, it can be determined that the autonomous vehicle is currently changing lanes.

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

(b) Referring to fig. 14, when the automatic driving vehicle performs the lane changing operation with respect to the speaker, a fourth prompt message is played through the speaker, the fourth prompt message is a voice message, and other intelligent agents can listen to the fourth prompt message to learn that the automatic driving vehicle is currently changing lanes.

(c) Referring to fig. 14, with respect to the warning lamp, in the course of the lane changing operation performed by the automated guided vehicle, the turn lamp corresponding to the lane changing operation is turned on, so that other agents can make sure that the automated guided vehicle is changing lanes.

(d) Referring to fig. 14, in the course of executing lane changing operation for the warning light, the present environmental information may be detected, and the warning light corresponding to the present environmental information may be turned on, so that other agents may clarify the position of the automatically driven vehicle.

(e) Referring to fig. 14, for a whistle, in the course of an automated driving vehicle performing a lane change operation, the whistle operation may be performed in accordance with a whistle rhythm corresponding to the lane change operation.

The automatic driving vehicle can establish a corresponding relation between lane changing operation and a whistle rhythm, and when the automatic driving vehicle executes the lane changing operation, the corresponding relation is inquired to obtain the whistle rhythm corresponding to the lane changing operation, and the whistle operation is executed according to the whistle rhythm corresponding to the lane changing operation, so that other intelligent agents can know that the automatic driving vehicle is currently changing lanes.

For the case of step (2-3) above, step 1303 may include the steps of:

(3-5) outputting, through the output device, a fifth prompt message for prompting that the autonomous vehicle does not avoid in the process of maintaining the current driving operation, which may include at least one of the following.

(a) Referring to fig. 14, for the display screen, when the autonomous vehicle maintains the current driving operation, a fifth prompt message is displayed through the display screen, and when other agents view the fifth prompt message of the autonomous vehicle, it can be determined that the current autonomous vehicle is normally driving and avoidance is not performed.

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

Alternatively, the prompt information that the current running is being kept is displayed through the first display screen, and the screen of the target vehicle is displayed through the second display screen. The first display screen and the second display screen are different display screens of the automatic driving vehicle and can be positioned on different sides of the automatic driving vehicle.

(b) Referring to fig. 14, for the speaker, when the autonomous vehicle keeps the current driving operation, a fifth prompt message is played through the speaker, where the fifth prompt message is a voice message, and other intelligent agents can listen to the fifth prompt message, learn that the autonomous vehicle is currently running normally, and do not avoid.

(c) Referring to fig. 14, with respect to the warning lamp, while the autonomous vehicle is maintaining the current driving operation, the warning lamp corresponding to the maintaining of the current driving operation is turned on, so that other agents can make sure that the autonomous vehicle is normally driving, and do not avoid.

(d) Referring to fig. 14, in the process of maintaining the current driving operation of the automatically driven vehicle with respect to the warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clearly determine the position of the automatically driven vehicle.

(e) Referring to fig. 14, for the siren, in the course of maintaining the current running operation of the autonomous vehicle, the siren operation may be performed in accordance with a siren tempo corresponding to maintaining the current running operation.

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

For the case of the above step (2-4), step 1303 may include the following steps:

(3-6) outputting, by the output device, a sixth hint information for hint that the autonomous vehicle is overtaking during the performing of the operation of overriding the target vehicle, which may include at least one of the following.

(a) Referring to fig. 14, for the display screen, when the autonomous vehicle performs an operation of overtaking, a sixth hint information is displayed through the display screen, and when other agents view the sixth hint information of the autonomous vehicle, it can be determined that the current autonomous vehicle is overtaking.

In one possible implementation, the sixth prompting message corresponding to the overtaking operation may include text information or picture information, for example, the text information may be "overtaking", and the picture information may be any picture that may embody an operation of the automatic driving vehicle to execute overtaking.

(b) Referring to fig. 14, when the automatic driving vehicle performs the overtaking operation with respect to the speaker, a sixth prompt message is played through the speaker, the sixth prompt message being a voice message, and other agents can listen to the sixth prompt message to learn that the automatic driving vehicle is currently overtaking.

(c) Referring to fig. 14, regarding the indicator lamp, when the lane change operation is involved in the process of the overtaking operation of the automatic driving vehicle, the turn signal lamp corresponding to the lane change operation is turned on, so that other intelligent agents can clearly and automatically drive the vehicle to overtake.

(d) Referring to fig. 14, in the process of executing the overtaking operation for the warning light, the present environmental information may be detected, and the warning light corresponding to the present environmental information may be turned on, so that other agents may clearly determine the position of the automatically driven vehicle.

(e) Referring to fig. 14, for the indicator lights, the high beam and the low beam may be changed during the process of the automatic driving vehicle performing the overtaking operation, so as to indicate the target vehicle, so that other agents may clarify the position of the automatic driving vehicle.

(f) In the process of executing the overtaking operation of the automatically driven vehicle with respect to the siren, the siren operation may be executed in accordance with the siren rhythm corresponding to the overtaking operation.

The automatic driving vehicle can establish the corresponding relation between the overtaking operation and the whistle rhythm, and then the corresponding relation is inquired when the automatic driving vehicle executes the overtaking operation, the whistle rhythm corresponding to the overtaking operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the overtaking operation, so that other intelligent agents can know that the automatic driving vehicle is overtaking currently.

The automatic driving vehicle can establish a corresponding relation between the distance and the whistle rhythm, and when the automatic driving vehicle executes the overtaking operation, the distance between the automatic driving vehicle and the target vehicle is acquired, the corresponding relation is inquired, the whistle rhythm corresponding to the distance is obtained, the whistle operation is executed according to the whistle rhythm corresponding to the distance, and other intelligent agents can know the distance between the automatic driving vehicle and the target vehicle.

For the case of step (2-5) above, step 1303 may include the steps of:

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

(a) Referring to fig. 14, for the display screen, when the autonomous vehicle is normally traveling, a seventh prompt message is displayed through the display screen, and when other agents view the seventh prompt message of the autonomous vehicle, it is determined that the autonomous vehicle is currently normally traveling.

In one possible implementation, the seventh prompting information corresponding to the overtaking operation may include text information or picture information, for example, the text information may be "normal running" and the picture information may be any picture that may represent normal running of the autopilot vehicle.

(b) Referring to fig. 14, for the speaker, when the autonomous vehicle is running normally, a seventh prompt message is played through the speaker, the seventh prompt message is a voice message, and other intelligent agents can listen to the seventh prompt message to learn that the autonomous vehicle is running normally currently.

(c) Referring to fig. 14, for the indicator lamp, in the course of normal running of the autonomous vehicle, the turn lamp corresponding to the normal running operation is turned on, so that other agents can clearly and normally run of the autonomous vehicle.

(d) Referring to fig. 14, for the indicator lamp, in the normal running process of the automatic driving vehicle, the current environmental information may be detected, and the indicator lamp corresponding to the current environmental information may be turned on, so that other agents may determine the position of the automatic driving vehicle.

(e) Referring to fig. 14, for the siren, during normal running of the autonomous vehicle, the siren operation may be performed in accordance with a siren rhythm corresponding to the normal running operation.

The automatic driving vehicle can establish the corresponding relation between the normal driving operation and the whistle rhythm, and then the corresponding relation is inquired when the automatic driving vehicle normally runs, the whistle rhythm corresponding to the normal driving operation is obtained, the whistle operation is executed according to the whistle rhythm corresponding to the normal driving operation, and other intelligent agents can know that the automatic driving vehicle normally runs at present.

For the case of the above step (2-6), step 1303 may include the following steps:

(3-8) outputting, by the output device, eighth hint information for hint that the autonomous vehicle is avoiding or eighth hint information for hint that the target vehicle is maintaining a distance from the autonomous vehicle during the performing of the operation of avoiding the target vehicle, may include at least one of the following.

(a) Referring to fig. 14, for the display screen, when the autonomous vehicle performs the avoidance operation, the eighth prompt information is displayed through the display screen, and when other agents view the eighth prompt information of the autonomous vehicle, it can be determined that the current autonomous vehicle is avoiding. Or the eighth prompt message may be a prompt target vehicle to maintain a vehicle distance from the autonomous vehicle, and when other agents view the eighth prompt message of the autonomous vehicle, the other agents pay attention to maintaining the vehicle distance from the autonomous vehicle.

In one possible implementation manner, the eighth prompting information corresponding to the avoidance operation may include text information or picture information, for example, the text information may be "avoidance" or "please keep the distance between vehicles", and the picture information may be any picture that can embody the avoidance operation performed by the autopilot vehicle or prompt to keep the distance between vehicles.

(b) Referring to fig. 14, when the automatic driving vehicle performs the avoidance operation with respect to the speaker, an eighth prompt message is played through the speaker, where the eighth prompt message is a voice message, and other intelligent agents can listen to the eighth prompt message, learn that the automatic driving vehicle is currently avoiding or explicitly that the vehicle distance should be currently maintained.

(c) Referring to fig. 14, with respect to the warning lamp, in the process of the automatic driving vehicle performing the avoidance operation, the warning lamp corresponding to the avoidance operation is turned on, so that other intelligent agents can make sure that the automatic driving vehicle is avoiding or make sure that the distance between vehicles should be maintained currently.

(d) Referring to fig. 14, in the process of performing the avoidance operation for the warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clearly determine the position of the autonomous vehicle.

(e) Referring to fig. 14, in the course of the operation of performing avoidance by the autonomous vehicle with respect to the vehicle flute, the whistle operation may be performed in accordance with the whistle rhythm corresponding to the avoidance operation.

The automatic driving vehicle can establish the corresponding relation between the avoidance operation and the whistle rhythm, and then the corresponding relation is inquired when the automatic driving vehicle executes the avoidance operation, the whistle rhythm corresponding to the avoidance operation is obtained, and the whistle operation is executed according to the whistle rhythm corresponding to the avoidance operation, so that other intelligent agents can know that the automatic driving vehicle is currently avoiding.

In the process that the target vehicle exceeds the automatic driving vehicle, if the distance between the target vehicle and the automatic driving vehicle is smaller than the preset distance, outputting ninth prompt information through the output device, wherein the ninth prompt information is used for prompting that the vehicle distance is too close and can comprise at least one of the following.

(a) Referring to fig. 14, for the display screen, in the process that the target vehicle passes over the automatic driving vehicle, the automatic driving vehicle passes through the display screen, and a ninth prompt message is displayed, and when other agents view the ninth prompt message of the automatic driving vehicle, it can be determined that the current vehicle distance from the automatic driving vehicle is too close.

In one possible implementation, the ninth prompting information corresponding to the overtaking operation may include text information or picture information, for example, the text information may be "too close to the vehicle distance", and the picture information may be any picture capable of showing that the vehicle distance is too close to the vehicle distance.

(b) Referring to fig. 14, for the speaker, in the process that the target vehicle surpasses the automatic driving vehicle, the automatic driving vehicle passes through the speaker, and plays the ninth prompt information, where the ninth prompt information is voice information, and other intelligent agents can listen to the ninth prompt information to know that the current distance from the automatic driving vehicle is too short.

(c) Referring to fig. 14, for the indicator lamp, in the process that the target vehicle exceeds the automatic driving vehicle, the automatic driving vehicle lights the indicator lamp corresponding to the too close vehicle distance, so that other intelligent agents can clearly and definitely present the too close vehicle distance with the automatic driving vehicle.

(d) Referring to fig. 14, for the indicator lamp, in the process that the target vehicle exceeds the automatically driven vehicle, the automatically driven vehicle may detect current environmental information, and light the indicator lamp corresponding to the current environmental information, so that other agents may determine the position of the automatically driven vehicle.

(e) Referring to fig. 14, for a whistle, the autonomous vehicle may perform a whistle operation in accordance with a whistle rhythm during the target vehicle overruns the autonomous vehicle.

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

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

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

As shown in fig. 14, the case where the road intersects with the travel route of the autonomous vehicle in the same direction is classified into the following four cases: the automatic driving vehicles are gathered into adjacent lanes, the adjacent lane vehicles are gathered into the automatic driving vehicle lane, the automatic driving vehicles overtake and other vehicles overtake, the automatic driving vehicles are gathered into the adjacent lanes and are divided into two conditions of waiting process and gathering process, the adjacent lane vehicles are gathered into the automatic driving vehicles to be in deceleration avoidance, lane change avoidance and non-avoidance, the automatic driving vehicles overtake is divided into two conditions of overtaking front and overtaking rear, the other vehicles overtake is divided into two conditions of overtaking front and overtaking rear, and prompt modes under various conditions are respectively given.

According to the method provided by the embodiment of the invention, the driving operation is performed according to the position of the automatic driving vehicle and the position of the target vehicle by identifying the target vehicle with the running route intersected with the running route of the automatic driving vehicle, so that the automatic driving vehicle can perform the corresponding driving operation according to the running route of the meeting vehicle, and the safety is improved. In the process of executing the driving operation, through the output equipment of the automatic driving vehicle, the prompt information is output, and the prompt information is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, so that the meeting vehicle and other intelligent agents accurately and fully understand the driving operation executed by the automatic driving vehicle, the situation that the operation of the meeting vehicle and other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as far as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. And moreover, the automatic driving vehicle interacts with other intelligent agents through the active meeting vehicle, so that misunderstanding can be eliminated, risks can be reduced, traffic safety can be improved, and traffic accidents can be reduced.

In addition, according to the running speeds of the automatic driving vehicle and other vehicles and the lanes where the automatic driving vehicle and the other vehicles are located, the situation that the road and the automatic driving vehicle run in the same direction and the running route are intersected is subdivided into four types, the situation that the automatic driving vehicle and the other vehicles run in the same direction is clarified, and the automatic driving vehicle can conveniently execute corresponding driving operation according to various situations.

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

Fig. 15 is a flowchart illustrating a prompting method, as shown in fig. 15, applied to an autonomous vehicle, according to an exemplary embodiment, the method comprising:

1501. the autonomous vehicle identifies, as a target vehicle, a vehicle in the road on which the autonomous vehicle is currently located that is opposite to the traveling direction of the autonomous vehicle.

There are many vehicles on the road, and the vehicles which are on the same road and have the opposite running direction with the automatic driving vehicles can meet with the automatic driving vehicles and influence the running of the automatic driving vehicles, so that in order to meet the vehicles safely, the automatic driving vehicles need to identify the target vehicles, namely the vehicles which are on the road and have the opposite running direction with the automatic driving vehicles in the running process.

1502. The automatic driving vehicle determines the meeting position of the automatic driving vehicle and the target vehicle according to the position of the automatic driving vehicle and the position of the target vehicle.

When there is no obstacle in front of the autonomous vehicle in the lane in which the autonomous vehicle is located, the autonomous vehicle may determine the meeting position based on the position of the autonomous vehicle and the position of the target vehicle, and the speed of the autonomous vehicle and the speed of the target vehicle.

When an obstacle exists in front of the autonomous vehicle in a lane where the autonomous vehicle is located, the autonomous vehicle needs to determine the position of the obstacle in front of the autonomous vehicle, and determine a meeting position according to the position of the obstacle and the positions of the autonomous vehicle and the target vehicle, wherein the meeting position can be located behind the obstacle, i.e. the autonomous vehicle completes a meeting with the target vehicle first and then moves past the obstacle. The meeting location may also be in front of an obstacle, i.e., the autonomous vehicle travels past the obstacle before meeting with other vehicles. The method is concretely divided into the following two cases:

(1-1) the meeting location is behind an obstacle.

In one possible implementation, the autonomous vehicle determines that the other vehicles traveling in opposite directions are closer to the obstacle and are faster, and the autonomous vehicle determines the meeting location to be behind the obstacle.

(1-2) the meeting location is forward of the obstacle.

In one possible implementation, the autonomous vehicle determines that the other vehicles traveling in opposite directions are farther from the obstacle, the speed is slower, the autonomous vehicle is closer to the obstacle, and the autonomous vehicle determines that the meeting location is in front of the obstacle.

When a road where the automatic driving vehicle is located is shielded, for example, the road section is a curve or a mountain road, the automatic driving vehicle cannot determine whether a target vehicle running in opposite directions exists in front of the road section and whether an obstacle exists in front of the road section, the automatic driving vehicle needs to execute deceleration operation so as to realize safe running, and prompt information corresponding to the deceleration operation is output through the output device, for example, the whistling operation can be performed according to the whistling rhythm corresponding to the deceleration operation.

The automatic driving vehicle needs to comprehensively utilize multiple means to identify the vehicle which is opposite to the running direction of the automatic driving vehicle in the shielding area of the automatic driving vehicle in the road as a target vehicle, and the specific process comprises at least one of the following steps:

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

When a shielding area exists in front of a driving road of the automatic driving vehicle, the automatic driving vehicle can monitor whistle sounds emitted by other vehicles, and when the whistle sounds emitted by the other vehicles are received, the existence of the other vehicles in front can be determined.

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

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

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

The automatic driving vehicle can set the light characteristics corresponding to the light emitted by the vehicle, the automatic driving vehicle can shoot a picture of the front environment, extract the light characteristics in the picture, judge whether the similarity between the light characteristics and the set light characteristics is higher than a preset threshold value, and if so, determine that other vehicles exist in front.

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

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

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

The wireless equipment of the internet of vehicles can be street lamps, charging piles or other public facilities arranged on the road side, or can be a management server for logging in an automatic driving vehicle, and the like. The vehicle networking wireless device can collect vehicle information sent by a plurality of devices and send the vehicle information to other devices, so that sharing of the vehicle information is realized.

The vehicle information may include a position of the vehicle, and when the vehicle information is received by the autonomous vehicle, the vehicle existing in the preset range and a specific position of the vehicle may be determined.

In addition, the autonomous vehicle may detect an obstacle in a shielded area of the autonomous vehicle in front of the autonomous vehicle. The shielding region refers to a region in front of the view range of the autonomous vehicle. Alternatively, a convex mirror may be provided in the road, which has a reflecting effect, in which a barrier in the screening area of the autonomous vehicle may reflect. When the convex mirror is positioned in the visual field of the automatic driving vehicle, the automatic driving vehicle can shoot the convex mirror to obtain a convex mirror picture, and the position of the obstacle contained in the convex mirror picture is identified.

The automatic driving vehicle can acquire the relative position of the automatic driving vehicle and the convex mirror, and can also acquire the position and the angle of the obstacle in the convex mirror image, so that the relative position of the obstacle and the automatic driving vehicle can be determined.

The position that the field of vision such as dish mountain highway or bend is relatively poor can be provided with the convex mirror, and the driver can reduce the blind area through the scene in the convex mirror sees the blind area, and the picture in the convex mirror can be discerned to the autopilot vehicle, confirms whether the place ahead exists the barrier and discerns the position of barrier according to the picture in the convex mirror.

Thereafter, the autonomous vehicle may plan a meeting location according to the location of the autonomous vehicle, the location of the target vehicle, and the location of the obstacle. After the position of the target vehicle and the position of the obstacle are clear, the way of planning the meeting position is similar to the way described above, and will not be described again here.

1503. The autonomous vehicle performs a driving operation according to the meeting position.

In the case where there is no obstacle in the step 1502, after the automated driving vehicle determines the meeting position, when the meeting position is within the preset distance, the deceleration operation is performed, and the vehicle may also travel towards the road edge, so as to make room for meeting with the target vehicle.

For the case of (1-1) in step 1502 described above, step 1503 may include (2-1) and (2-2):

(2-1) if the automated guided vehicle is farther from the obstacle when the meeting position is located behind the obstacle, the automated guided vehicle performs a deceleration operation.

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

For the case of (1-2) in step 1502 described above, step 1503 may include (2-3):

(2-3) when the meeting position is in front of the obstacle, the autonomous vehicle performs an acceleration operation to quickly bypass the obstacle and meet the target vehicle.

When no obstacle exists in front of the automatic driving vehicle, the automatic driving vehicle and the target vehicle meet, and the automatic driving vehicle needs to run at a reduced speed for safety so as to avoid the target vehicle.

In one possible implementation manner, during a meeting process, the automatic driving vehicle obtains a distance between the automatic driving vehicle and the target vehicle, when the distance between the automatic driving vehicle and the target vehicle is not smaller than a preset distance, the automatic driving vehicle runs normally, when the distance between the automatic driving vehicle and the target vehicle is smaller and smaller, a deceleration operation is performed so that the automatic driving vehicle and the target vehicle meet safely, and then when the distance between the automatic driving vehicle and the target vehicle is larger and larger, the automatic driving vehicle stops executing the deceleration operation, and when the distance between the automatic driving vehicle and the target vehicle is not smaller than the preset distance, the automatic driving vehicle can resume to a normal running speed.

In one possible implementation manner, when the automatic driving vehicle and the target vehicle meet, if the target vehicle does not decelerate in advance and the risk of meeting is high under the condition of high-speed opposite running, the automatic driving vehicle is forced to stop and avoid, a parking driving operation needs to be executed to realize safe meeting, and a prompt message corresponding to the parking driving operation is output through an output device, and the prompt mode is similar to the above (2-2) and is not repeated here.

1504. In the process of executing driving operation, the automatic driving vehicle outputs prompt information through an output device of the automatic driving vehicle, the prompt information is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, and the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp.

For the case of (2-1) in step 1503 described above, step 1504 may include:

(3-1) in the course of performing the deceleration operation, referring to fig. 16, the output of the prompt message for avoidance of the autonomous vehicle by the output device of the autonomous vehicle may include at least one of:

(a) Referring to fig. 16, for the display screen, when the automatic driving vehicle performs the deceleration operation, the prompt information of the deceleration avoidance target vehicle is displayed through the display screen, where the prompt information of the deceleration avoidance target vehicle is used to prompt the automatic driving vehicle to decelerate and avoid the target vehicle, and when other agents view the prompt information, it may be determined that the current automatic driving vehicle is decelerating and avoiding the target vehicle, or the prompt information may be prompt information prompting the opponent to pass.

In one possible implementation manner, the prompt information of the deceleration avoidance target vehicle may include text information or picture information, for example, the text information may be "deceleration please advance", and the picture information may be any picture that can embody that the automatic driving vehicle performs the deceleration operation.

(b) Referring to fig. 16, for the speaker, when the automatic driving vehicle performs the deceleration operation, the prompt information of the deceleration avoidance target vehicle is played through the speaker, and the prompt information of the deceleration avoidance target vehicle is voice information and is used for prompting the automatic driving vehicle to decelerate, so that the target vehicle can listen to the prompt information, and the current deceleration of the automatic driving vehicle is known.

(c) Referring to fig. 16, with respect to the warning lamp, in the course of the deceleration operation performed by the automatically driven vehicle, a brake lamp corresponding to the currently performed deceleration operation is turned on, so that the target vehicle can clearly be decelerating the automatically driven vehicle.

(d) Referring to fig. 16, in the process of performing a deceleration operation on the warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clarify the position of the automatically driven vehicle.

In the event of a meeting, for safe driving, the autonomous vehicle needs to ensure that the high beam is off.

For the case of (2-2) in step 1503 described above, step 1504 may include:

(3-2) in the course of performing the parking operation, referring to fig. 16, a prompt message for the avoidance of the parking of the autonomous vehicle is outputted through the output device of the autonomous vehicle.

(a) Referring to fig. 16, for the display screen, when the autonomous vehicle parks, the display screen of the autonomous vehicle displays the prompt information and the parking identification of the parking avoidance target vehicle, and when other agents view the prompt information and the parking identification of the parking avoidance target vehicle of the autonomous vehicle, it can be determined that the current autonomous vehicle performs the parking operation.

In one possible implementation manner, the parking prompt information may be "parking avoidance, please advance", and the parking identifier may be any identifier capable of reflecting parking of the automatic driving vehicle.

(b) Referring to fig. 16, when the automatic driving vehicle performs a parking operation, a prompt message of parking avoidance of the target vehicle is played through the speaker, and the prompt message is a voice message for prompting the automatic driving vehicle to park, so that the target vehicle can listen to the prompt message, and learn that the automatic driving vehicle is currently parked.

(c) Referring to fig. 16, with respect to the indicator lamp, in the course of the parking operation performed by the automatically driven vehicle, a brake lamp, a hazard warning flash (double flash) corresponding to the currently performed parking operation are turned on, so that the target vehicle can clearly and automatically drive that the vehicle is parking.

(d) Referring to fig. 16, in the process of executing a parking operation for a warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clarify the position of the automatically driven vehicle.

For the case of (2-3) in step 1503 described above, step 1504 may include:

(3-3) in the course of performing the acceleration operation, referring to fig. 16, a prompt message requesting avoidance of the target vehicle is output through the output device of the autonomous vehicle.

(a) Referring to fig. 16, for the display screen, when the autonomous vehicle performs an acceleration operation, a prompt message requesting for the avoidance of the target vehicle is displayed through the display screen, and when the target vehicle views the prompt message of the autonomous vehicle, it may be determined that the avoidance of the autonomous vehicle is currently required, and then the target vehicle may actively avoid the autonomous vehicle, or the prompt message may be a prompt message prompting the acceleration detour of the autonomous vehicle.

In one possible implementation manner, the prompt information requesting the avoidance of the target vehicle may include text information or picture information, for example, the text information may be "accelerating, please avoid", and the picture information may be any picture capable of reflecting the acceleration operation performed by the automatic driving vehicle.

(b) Referring to fig. 16, for a speaker, when an automatic driving vehicle performs an acceleration operation, a prompt message requesting for avoiding the target vehicle is played through the speaker, the prompt message is a voice message, the target vehicle can listen to the prompt message, and knowing that the automatic driving vehicle needs to be avoided currently, the target vehicle can actively avoid the automatic driving vehicle.

(c) Referring to fig. 16, in the process of performing an acceleration operation on the warning light, the current environmental information may be detected, and the warning light corresponding to the current environmental information may be turned on, so that other agents may clearly determine the position of the automatically driven vehicle.

When no obstacle exists in front of the automatic driving vehicle, and when no obstacle exists in front of the automatic driving vehicle, the automatic driving vehicle performs the deceleration operation and the operation of avoiding near the edge of the road, and then the corresponding prompt information is output through the output device, and the prompt mode is similar to that of the step 1504 (3-1), and will not be described again.

As shown in fig. 16, when the autonomous vehicle and the target vehicle travel in opposite directions, if the road on which the autonomous vehicle is located is not blocked, the meeting position is planned according to whether there is an obstacle in front of the autonomous vehicle and the position of the autonomous vehicle and the target vehicle. If the road where the automatic driving vehicle is located is shielded, the automatic driving vehicle needs to execute deceleration operation and whistle to warn other vehicles to pay attention, the obstacle in the shielding area of the automatic driving vehicle in the road is identified through the convex mirror, the target vehicle opposite to the running direction of the automatic driving vehicle is identified through whistle monitoring, lamplight identification and screening of the internet of vehicles wireless equipment, and after the target vehicle is identified, the meeting position is planned according to the position of the automatic driving vehicle, the position of the target vehicle and the position of the obstacle.

When there is no obstacle in front of the automatic driving vehicle or there is an obstacle in front of the automatic driving vehicle and the meeting position is behind the obstacle, the automatic driving vehicle performs a deceleration or stopping operation when meeting, and when there is an obstacle in front of the automatic driving vehicle and the meeting position is in front of the obstacle, the automatic driving vehicle performs an acceleration operation, and the automatic driving vehicle outputs a prompt message corresponding to the driving operation of the automatic driving vehicle through an output device.

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

In addition, in the process of executing driving operation of the automatic driving vehicle, the output device outputs prompt information, so that the target vehicle can clearly determine the driving intention of the automatic driving vehicle, give avoidance, avoid collision with the driving operation of the automatic driving vehicle and improve safety.

In addition, when the road where the automatic driving vehicle is located is shielded, the position of the obstacle is identified through the convex mirror, and the possible risk in the road can be clear through whistle monitoring, lamplight identification and internet of vehicles screening, and the driving operation is executed after the risk is clear, so that the safety is improved.

Fifth interaction mode: and prompting abnormal intelligent agents in the range of the automatic driving vehicle.

FIG. 17 is a flowchart illustrating a prompting method, as shown in FIG. 17, according to an exemplary embodiment, the method comprising:

1701. the autonomous vehicle collects behavioral data of agents within the current range.

Vehicles running on roads, pedestrians and animals coming and going can be called intelligent agents. When the vehicle is running, the driver can not run along the central line of the road due to fatigue driving, distraction or mobile phone playing, even the vehicle can run with left and right negligence, or the non-motor vehicle and the automatic driving vehicle can run on the road. Pedestrians may walk because there is no concern that the rear vehicle suddenly goes out of the vehicle or is overly optimistic to rob with the autonomous vehicle. Animals may remain in the road and affect the travel of the autonomous vehicle. All the behaviors belong to abnormal behaviors, and the agent with the abnormal behaviors is the abnormal agent.

When the abnormal agent is in the current range of the automatic driving vehicle, the safety driving of the automatic driving vehicle may be affected, and the automatic driving needs to change lanes, speed-down or perform parking operation to avoid traffic accidents.

Therefore, in order to timely identify the abnormal agent in the current range, safe automatic driving is realized, and behavior data of the agent in the current range needs to be collected in the running process of the automatic driving vehicle, so that the abnormal agent in the range is identified according to the collected behavior data.

Alternatively, the autonomous vehicle may configure a collection device by which behavioral data of agents currently in range is collected.

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

1702. The autonomous vehicle matches the behavior data with preset abnormal behavior data.

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

Optionally, considering that the intelligent agent includes multiple categories, the automatic driving vehicle may set preset abnormal behavior data corresponding to the intelligent agent of each category respectively, and when the automatic driving vehicle identifies the intelligent agent and collects the behavior data of the intelligent agent, the category to which the intelligent agent belongs is determined according to the behavior data, then the preset abnormal behavior data corresponding to the category is obtained, and the behavior data is matched with the preset abnormal behavior data.

For example, for an abnormal vehicle, the autonomous vehicle may determine preset abnormal behavior data for the abnormal vehicle including: the driving route swings left and right, does not run on a specified lane according to the road regulation, does not run along the road center line, and the like. For an abnormal pedestrian, the autonomous vehicle may determine preset abnormal behavior data for the abnormal pedestrian including: crossing traffic, standing in the road, suddenly jumping out, etc. For an abnormal animal, the autonomous vehicle may determine preset behavioral data for the abnormal animal including: stay on the road or stop at the road side.

1703. When the similarity between the behavior data and the preset abnormal behavior data is greater than a preset threshold value, the automatic driving vehicle determines that the agent is an abnormal agent.

The automatic driving vehicle calculates the similarity of the behavior data and the preset abnormal behavior data, judges whether the similarity is larger than a preset threshold value, if the similarity is larger than the preset threshold value, the behavior data is similar to the preset abnormal behavior data, the currently identified agent can be determined to be the abnormal agent, and if the similarity is not larger than the preset threshold value, the behavior data is not similar to the preset abnormal behavior data, the currently identified agent can be determined to be not the abnormal agent.

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

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

Optionally, for the same kind of agent, the preset abnormal behavior data may also include multiple types, the autopilot vehicle may set multiple types of preset abnormal behavior data for each agent, and when the behavior data of the agent is identified, the preset abnormal behavior data with similarity greater than a preset threshold value with respect to the behavior data may be determined from the multiple types of preset abnormal behavior data by adopting the above-mentioned manner of calculating similarity, where not only the agent is determined to be an abnormal agent, but also which type of abnormal behavior occurs to the abnormal agent may be determined.

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

A second point to be noted is that steps 1702-1703 are optional steps, and the autonomous vehicle may also identify abnormal agents in other ways.

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

(1) When the agent is a vehicle and the running route of the vehicle is determined to be abnormal according to the behavior data, the vehicle is determined to be an abnormal vehicle.

The automatic driving vehicle can collect behavior data of the vehicle in the current range, the behavior data can comprise positions of the vehicle at a plurality of moments in the current period, a driving route of the vehicle can be determined according to the position change condition of the vehicle, whether the driving route is abnormal or not is judged, such as whether the driving direction corresponding to the driving route is changed a plurality of times or not, whether the driving direction corresponding to the driving route is matched with the driving direction specified by the lane where the vehicle is located or not, and the like. When it is determined that the travel route of the vehicle is abnormal based on the behavior data, it is determined that the vehicle is an abnormal vehicle.

Wherein, the automatic driving vehicle can collect the behavior data in every other period, and one period can be 1 second, 1 minute or 2 minutes, etc.

(2) When the agent is a vehicle and it is determined that the vehicle is traveling in an area that does not match the vehicle according to the behavior data, the vehicle is determined to be an abnormal vehicle.

The autonomous vehicle may collect behavior data of the vehicle in a current location area, where the vehicle is located, determine a current location area of the vehicle according to the location of the vehicle, determine whether the vehicle matches the current location area, e.g., the vehicle should travel in a motor vehicle lane, the non-motor vehicle should travel in a non-motor vehicle lane, etc. When it is determined that the vehicle is traveling in an area that does not match the vehicle based on the behavior data, it is determined that the vehicle is an abnormal vehicle.

(3) When the intelligent body is a pedestrian, and the traveling route of the pedestrian is determined to conflict with the traveling route of any vehicle according to the behavior data, the pedestrian is determined to be an abnormal pedestrian.

Wherein, the collision of the traveling route of the pedestrian with the traveling route of the vehicle may include: the traveling route of the pedestrian crosses the traveling route of the vehicle, the pedestrian is located at the same position as the vehicle at the same time, or the traveling route of the pedestrian coincides with the traveling route of the vehicle and the pedestrian is located in front of the vehicle or other situations may be included, which are not limited in the embodiment of the present application.

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

Alternatively, the autonomous vehicle may also predict the travel route of the pedestrian and the travel route of the vehicle in the next cycle. That is, the autonomous vehicle may collect behavior data of the vehicle in the current range, and the behavior data may include a position and a traveling direction of the vehicle, and a traveling route of the vehicle may be predicted according to the position and the traveling direction of the vehicle. In addition, the behavior data of the pedestrians can be collected, the behavior data comprise the positions and the walking directions of the pedestrians, and the walking route of the pedestrians can be predicted according to the positions and the walking directions of the pedestrians. Judging whether the traveling route and the traveling route conflict, if so, determining that the pedestrian is an abnormal pedestrian.

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

The step (4) is similar to the step (3) described above, and will not be described again here.

(5) When the intelligent agent is a pedestrian and the pedestrian is determined to execute abnormal actions according to the behavior data, the pedestrian is determined to be an abnormal pedestrian.

The autonomous vehicle may collect behavior data of pedestrians in a current range, thereby determining actions performed by the pedestrians, and determining whether the actions are abnormal actions so as to determine whether the pedestrians are abnormal pedestrians.

For example, an autonomous vehicle determines an action such as crossing a road, crossing a column, staying on a road, running on a road, going out from a vehicle in the middle of a road, or the like as an abnormal action in advance, determines whether or not the action of a pedestrian belongs to a preset abnormal action, and determines that the pedestrian is an abnormal pedestrian when the action of the pedestrian belongs to any preset abnormal action.

Or, the automatic driving vehicle determines the actions such as normal walking at the roadside, stopping at the bus station and the like as normal actions in advance, judges whether the actions of the pedestrians belong to preset normal actions, and determines that the pedestrians are abnormal pedestrians when the actions of the pedestrians do not belong to all preset normal actions.

(6) When the agent is an animal and it is determined from the behavioral data that the animal is detained in the road, the animal is determined to be an abnormal animal.

The automatic driving vehicle can collect behavior data of animals in the current range, the behavior data comprise positions of the animals at a plurality of moments in the current period, and when the positions of the animals are determined to be positioned in a road and are unchanged in the plurality of moments, the animals are indicated to stay in the road, and the animal is determined to act as an abnormal animal.

1704. And outputting prompt information of the abnormal intelligent agent through output equipment of the automatic driving vehicle.

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

In one possible implementation manner, the output device outputs the prompt information of the abnormal intelligent agent, which may include at least one of the following:

(1) Referring to fig. 18, for the display screen, when an abnormal agent exists in the range where the autonomous vehicle is currently located, first prompt information for prompting the location of the abnormal agent is displayed through the display screen.

By configuring the display screen, the display screen of the automatic driving vehicle displays first prompt information in the driving process of the automatic driving vehicle, and when other agents look over the first prompt information of the automatic driving vehicle, abnormal agents in the current range of the automatic driving vehicle can be determined.

In one possible implementation, the first prompt information may include text information or picture information, for example, the text information may be "abnormal pedestrians exist", and the picture information may be any picture that can represent the position of the abnormal pedestrians.

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

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

(2) Referring to fig. 18, when the autonomous vehicle determines that there is an abnormal agent in the current range, a second prompt message is played through the speaker, the second prompt message being used to prompt the location of the abnormal agent.

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

(3) Referring to fig. 18, for a whistle, when an abnormal agent exists in a current range of an autonomous vehicle, a whistle operation may be performed according to a whistle rhythm corresponding to the abnormal agent.

Wherein, the automatic driving vehicle is provided with a mechanical flute or an electronic flute, and the whistling operation can be carried out through the mechanical flute or the electronic flute. The automatic driving vehicle can set the number of whistling times in each fixed period, so that the whistling rhythm is determined, and different intelligent body types correspond to different whistling rhythms. The period may be one second or one minute, etc.

When the automatic driving vehicle collects behavior data of the agents in the current range, the types of the abnormal agents can be obtained, the automatic driving vehicle can establish corresponding relations between different types and the whistle rhythms, when the automatic driving vehicle identifies the abnormal agents, the types of the abnormal agents are confirmed, the corresponding relations are inquired, the whistle rhythms corresponding to the types are obtained, whistle operation is carried out according to the whistle rhythms corresponding to the types, the abnormal agents can be warned, the abnormal agents are actively reminded to correct dangerous behaviors, other agents can know the types of the abnormal agents existing in the current range of the automatic driving vehicle, and other agents are reminded of the abnormal agents.

In the embodiment of the application, the automatic driving vehicle can establish connection with the management server, log in the management server and send the abnormal agent notification message to the management server. The management server receives the abnormal agent notification message sent by the automatic driving vehicle, issues the abnormal agent notification message, and the management personnel checks the abnormal agent notification message to timely process the abnormal agent.

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

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

Optionally, the management server sends alarm information to the control terminal closest to the management server, so that the management server can inform the management personnel closest to the management server, and abnormal intelligent agents can be processed in the fastest time.

Other intelligent agents can include intelligent equipment, such as mobile phones, computers, internet of vehicles wireless equipment and the like, the intelligent equipment can be connected with a management server, the management server is logged in, after an automatic driving vehicle sends an abnormal intelligent agent notification message to the management server, the management server can forward the abnormal intelligent agent notification message to the intelligent equipment logged in the management server, the intelligent equipment outputs the abnormal intelligent agent notification message, a user of the intelligent equipment knows the position information and behavior data of the abnormal intelligent agent and can go to the position of the abnormal intelligent agent to process the abnormal intelligent agent. Or the risk of the road section where the abnormal intelligent agent is located can be predicted, so that the road section can bypass or run at a reduced speed in advance, the traffic safety is improved, and the traffic accidents are reduced.

1705. When the travel route of the automatically driven vehicle collides with the route of the abnormal agent, the automatically driven vehicle performs a driving operation of avoiding the abnormal agent.

In order to ensure safe driving and avoid traffic accidents, when the driving route of the automatic driving vehicle collides with the route of the abnormal agent, corresponding driving operation needs to be performed to avoid the abnormal agent.

The automatic driving vehicle can acquire the current route of the abnormal agent and the driving route of the automatic driving vehicle, judge whether the route of the abnormal agent conflicts with the driving route of the automatic driving vehicle, and if so, the automatic driving vehicle needs to avoid the abnormal agent.

The driving operation of avoiding the abnormal agent includes at least one of a lane change operation, a deceleration operation, or a parking operation.

For example, when the abnormal agent is a vehicle, if the abnormal agent and the autonomous vehicle are located in the same lane and travel in the same direction, and the abnormal agent is located behind the autonomous vehicle, the autonomous vehicle needs to perform lane change operation to avoid the abnormal agent; if the abnormal agent and the automatic driving vehicle are located in the same lane and run in the same direction, and the abnormal agent is located in front of the automatic driving vehicle, the automatic driving vehicle needs to execute a deceleration operation to avoid the abnormal agent; when the abnormal agent is a pedestrian who suddenly makes an access, and is located in front of the automatically driven vehicle, the automatically driven vehicle needs to perform a parking operation to avoid.

1706. In the process of executing the driving operation of avoiding the abnormal intelligent agent, the automatic driving vehicle outputs the prompt information for prompting the automatic driving vehicle to avoid the abnormal intelligent agent through the output equipment.

In this embodiment of the application, the automated driving vehicle outputs the prompt message through the output device, and the prompt message is used for prompting that other agents are avoiding the abnormal agent in the current automated driving vehicle, so that other agents understand the behavior that the automated driving vehicle avoids the abnormal agent.

The prompt information can carry related information of the abnormal intelligent agent, such as the prompt information displayed through the display screen, the prompt information played through the loudspeaker, and the class, the position of the abnormal intelligent agent, the current abnormal action executed by the abnormal intelligent agent, and the like, which are not limited in the embodiment of the application.

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

(1) Referring to fig. 18, for the display screen, when the autonomous vehicle performs a lane change operation, lane change prompt information is displayed through the display screen, and when other agents view the prompt information of the autonomous vehicle, it can be determined that the autonomous vehicle is currently changing lanes.

In one possible implementation manner, the prompt information corresponding to the lane change operation may include text information or picture information, for example, the text information may be "lane change is being performed, abnormal agents are avoided", and the picture information may be any picture capable of representing the operation performed by the autonomous vehicle.

(2) Referring to fig. 18, when the automatic driving vehicle performs a lane change operation with respect to the speaker, a prompt message of the lane change avoidance abnormal agent is played through the speaker, the lane change prompt message is voice information, and other agents can listen to the prompt message to learn that the automatic driving vehicle is currently lane-changing.

(3) Referring to fig. 18, with respect to the warning lamp, in the course of the lane changing operation performed by the automated guided vehicle, the turn lamp corresponding to the lane changing operation is turned on, so that other agents can make clear that the automated guided vehicle is changing lanes.

(4) Referring to fig. 18, for the siren, in the course of the lane changing operation performed by the autonomous vehicle, the siren operation may be performed in accordance with a siren rhythm corresponding to the lane changing operation.

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

(1) Referring to fig. 18, for the display screen, when the automated guided vehicle performs a deceleration operation, deceleration prompt information for prompting the automated guided vehicle to decelerate is displayed through the display screen, and when other agents view the deceleration prompt information of the automated guided vehicle, it can be determined that the automated guided vehicle is currently decelerating.

In one possible implementation, the deceleration prompt information may include text information or picture information, for example, the text information may be "deceleration is being performed to avoid abnormal agents", and the picture information may be any picture that can embody that the automatic driving vehicle performs the deceleration operation.

(2) Referring to fig. 18, when the automatic driving vehicle performs the deceleration operation, the deceleration prompt information is played through the speaker, and the deceleration prompt information is voice information for prompting the automatic driving vehicle to decelerate, so that other intelligent agents can listen to the deceleration prompt information, and learn that the automatic driving vehicle decelerates currently.

(3) Referring to fig. 18, with respect to the warning lamp, in the course of the deceleration operation performed by the automatically driven vehicle, the warning lamp corresponding to the currently performed deceleration operation is turned on, so that other agents can make sure that the automatically driven vehicle is decelerating.

(4) Referring to fig. 18, for the siren, in the course of the deceleration operation performed by the autonomous vehicle, the whistling operation may be performed in accordance with the whistling rhythm corresponding to the deceleration operation.

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

(1) Referring to fig. 18, for the display screen, parking prompt information and a parking flag for prompting the automated driving vehicle to park are displayed through the display screen.

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

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

(2) Referring to fig. 18, in the course of the automated driving vehicle performing the parking driving operation with respect to the speaker, parking prompt information for prompting the automated driving vehicle to park is played through the speaker.

Through configuration speaker, in the automated driving vehicle driving process, the speaker of automated driving vehicle plays voice prompt message, makes other intelligent agent can listen to, knows that the automated driving vehicle is stopped at present.

(3) Referring to fig. 18, with respect to the warning lamp, in the course of the automated driving vehicle performing the parking driving operation, the warning lamp corresponding to the parking operation is turned on, so that other agents can clearly and automatically drive the vehicle to park.

(4) Referring to fig. 18, in the course of the parking driving operation performed on the vehicle flute, the flute operation may be performed in accordance with the flute tempo corresponding to the parking operation.

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

As shown in fig. 18, it is first determined whether there is an abnormal agent in the current range of the autonomous vehicle, if so, it is determined whether the driving route of the autonomous vehicle and the driving route of the abnormal agent are in conflict, so as to determine what driving operation is performed by the autonomous vehicle.

Under the condition of route conflict, the position of the abnormal intelligent agent is displayed through the display screen, the position of the abnormal intelligent agent is played through the loudspeaker, the whistling operation is executed according to the whistling rhythm corresponding to the abnormal intelligent agent, and the abnormal intelligent agent notification message is sent to the management server connected with the automatic driving vehicle. In the case of route collisions, the autonomous vehicle needs to change lanes, slow down to avoid or stop to avoid, and may be prompted in a similar manner.

According to the method provided by the embodiment of the application, the abnormal intelligent agent in the range is identified according to the collected behavior data by collecting the behavior data of the intelligent agent in the current range, and the prompt information of the abnormal intelligent agent is output through the output equipment of the automatic driving vehicle, so that the automatic driving vehicle can know the existence of the abnormal intelligent agent, the abnormal intelligent agent is avoided, other intelligent agents can also know the existence of the abnormal intelligent agent, so that the abnormal intelligent agent is avoided, the driving operation of the automatic driving vehicle is understood, the corresponding operation can be executed according to the driving operation of the automatic driving vehicle, the collision between the operation of the other intelligent agent and the driving operation of the automatic driving vehicle is avoided as much as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved. And moreover, the automatic driving vehicle interacts with other intelligent agents actively, so that misunderstanding can be eliminated, risks are reduced, traffic safety is improved, and traffic accidents are reduced.

In addition, the collected behavior data and the preset abnormal behavior data are matched, so that abnormal intelligent bodies can be identified, and the identification accuracy is improved.

In addition, through multiple modes such as display screen, speaker and car flute carrying out the suggestion, the suggestion channel is diversified, can improve other intelligent agent and receive the probability of prompt message, avoids leading to unable output prompt message and causes the traffic accident because of a certain output device malfunction, has improved autopilot security.

In addition, the prompt information is respectively displayed on one side, close to the abnormal intelligent body, of the automatic driving vehicle and one side, far away from the abnormal intelligent body, of the automatic driving vehicle, and the display screen on one side, close to the abnormal intelligent body, displays the category to which the abnormal intelligent body belongs, so that other intelligent bodies on one side, close to the abnormal intelligent body, can know that abnormal conditions exist early, avoid yielding or slowing down early, and the occurrence probability of traffic accidents is reduced. The display screen on one side far away from the abnormal intelligent body displays the abnormal intelligent body behavior data, so that other intelligent bodies on one side far away from the abnormal intelligent body can understand the driving behavior of the automatic driving vehicle, give avoidance in time, and improve the safety.

In addition, when it is determined that abnormal agents exist in the current range of the automatic driving vehicle, an abnormal agent notification message is sent to a management server connected with the automatic driving vehicle through a wireless network, the help of the management server can be timely obtained, the abnormal agents are processed, the abnormal agents are prevented from continuously influencing the running of other vehicles, the abnormal agent notification message is also sent to the other agents through the management server, so that the other agents know the road sections where the abnormal agents are located in advance, the running is avoided, the possible risk is avoided, and the safety of the automatic driving vehicle is improved.

Fig. 19 is a schematic structural view of an autonomous vehicle according to an exemplary embodiment. Generally, autonomous vehicle 1900 includes: a processor 1901 and a memory 1902.

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

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

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

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

The Radio Frequency circuit 1904 is configured to receive and transmit RF (Radio Frequency) signals, also referred to as electromagnetic signals. The radio frequency circuit 1904 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1904 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1904 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 1904 may communicate with other autonomous vehicles via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 8G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 1904 may also include NFC (Near Field Communication ) related circuits, which are not limited in this application.

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

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

The audio circuit 1907 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, inputting the electric signals to the processor 1901 for processing, or inputting the electric signals to the radio frequency circuit 1904 for realizing voice communication. For purposes of stereo acquisition or noise reduction, a plurality of microphones may be provided at different locations of autonomous vehicle 1900, respectively. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1901 or the radio frequency circuit 1904 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, audio circuit 1907 may also include a headphone jack.

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

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

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

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

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

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

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

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

A proximity sensor 1916, also referred to as a distance sensor, is typically provided on the front panel of autonomous vehicle 1900. The proximity sensor 1916 is used to collect the distance between the user and the front of the autonomous vehicle 1900. In one embodiment, when the proximity sensor 1916 detects a gradual decrease in the distance between the user and the front of the autonomous vehicle 1900, the processor 1901 controls the touch display 1905 to switch from the bright screen state to the off screen state; when the proximity sensor 1916 detects that the distance between the user and the front of the autonomous vehicle 1900 gradually increases, the processor 1901 controls the touch display 1905 to switch from the off-screen state to the on-screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 19 is not limiting and that autonomous vehicle 1900 may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.

The embodiment of the application also provides an automatic driving vehicle, which comprises: the system comprises an output device, a processor and a memory, wherein the output device comprises at least one of a display screen, a loudspeaker, a whistle or a prompt lamp, at least one program code is stored in the memory, and the at least one program code is loaded and executed by the processor to realize the operations executed in the method of the embodiment.

The present application also provides a computer readable storage medium having at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement the operations performed in the methods of the above embodiments.

The present application also provides a computer program having at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement the operations performed in the methods of the above embodiments.

The foregoing is merely for facilitating understanding of the technical solutions of the present application by those skilled in the art, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

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

collecting environment information in a current range, wherein the environment information comprises environment information of a first lane in which the first lane is currently located and environment information of a second lane adjacent to the first lane in a current road, the second lane is determined by detecting lane boundaries according to the environment information in the current range, and the environment information comprises temperature, humidity, rainfall, haze indexes, road flatness, width of a road passable area, distance between an obstacle and an automatic driving vehicle and appearance information of nearby vehicles;

Reconstructing a road structure according to road information contained in the environment information, judging whether the reconstructed road structure is consistent with the road structure stored in the automatic driving vehicle, if not, determining a changed area of the road structure in the road, performing scene recognition on the changed area, and determining the current scene of the changed area to determine whether the changed area is a preset dangerous area, wherein the preset dangerous area is an area with a safety passing width smaller than a preset lane width;

when the preset dangerous area exists in the first lane, determining a passing area again, wherein the passing area comprises the second lane and a free space road surface outside the road, and the second lane has higher priority than the free space road surface;

when the passing area is the second lane, the vehicle moves from the first lane to the second lane; in the process of driving from the first lane to the second lane, outputting prompt information corresponding to lane changing operation and prompt information corresponding to the preset dangerous area to at least one direction around the automatic driving vehicle through output equipment of the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area, wherein the prompt information corresponding to the preset dangerous area comprises information related to the position of the preset dangerous area and the current target condition of the preset dangerous area, the prompt information corresponding to the preset dangerous area comprises text with a dangerous word, a picture of the preset dangerous area, position information of the preset dangerous area, voice information broadcasting the dangerous area, and at least one of a plurality of display screens, a loudspeaker, a whistle or a prompt lamp, each display screen of the plurality of display screens faces different directions, displays different prompt information, and displays a prompt image of one side of the display screen close to the preset dangerous area, which is far away from the preset dangerous area, and displays the current dangerous area; after the vehicle is shifted to the second vehicle road, the vehicle runs in the second vehicle road, and the output of the prompt information corresponding to the lane shifting operation is stopped;

When the passing area is on the free space road surface, the vehicle runs from the first lane to the free space road surface; outputting, by the output device, prompt information for maintaining a vehicle distance and the prompt information corresponding to the preset dangerous area in a process of traveling from the first vehicle to the free space road and in a process of traveling in the free space road;

when the preset dangerous area exists in the first vehicle and the passing area does not exist in the preset range according to the environment information, parking operation is executed, prompt information corresponding to the parking operation is output through output equipment, help seeking information is sent to a management server connected with the automatic driving vehicle through a wireless network, the prompt information corresponding to the preset dangerous area is output through the output equipment, the help seeking information carries position information and state information of the automatic driving vehicle, and the help seeking information is used for indicating that the automatic driving vehicle cannot pass; the management server is used for sending alarm information to a control terminal closest to the control terminal, and the control terminal is used for displaying the alarm information, so that a manager holding the control terminal can check the alarm information and go to the position of the automatic driving vehicle to process the automatic driving vehicle;

The method further comprises the steps of: and in the running process of the automatic driving vehicle, detecting the current state information of the automatic driving vehicle in real time, and lighting a prompting lamp corresponding to the current running operation and a prompting lamp corresponding to the current environment information through the output equipment, wherein the state information of the automatic driving vehicle is used for representing the state of the automatic driving vehicle, and comprises the running speed, the running distance, the residual oil quantity, the running state of each part and the on-off state of the prompting lamp of the automatic driving vehicle.

2. The method according to claim 1, wherein the outputting, by the output device of the autonomous vehicle, the prompt information corresponding to the preset dangerous area to at least one direction around the autonomous vehicle according to the positional relationship between the other agents and the preset dangerous area includes at least one of:

displaying first prompt information to at least one direction around the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area through the display screen, wherein the first prompt information is used for prompting the position of the preset dangerous area;

Playing second prompt information to at least one direction around the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area through the loudspeaker, wherein the second prompt information is used for prompting the position of the preset dangerous area;

and executing the whistling operation according to the whistling rhythm.

3. The method according to claim 1, wherein the outputting, by the output device of the autonomous vehicle, the prompt information corresponding to the lane change operation to at least one direction around the autonomous vehicle according to the positional relationship between the other agents and the preset dangerous area includes at least one of:

displaying lane change prompting information through the display screen;

playing the voice prompt information of lane change through the loudspeaker;

and turning on a turn signal corresponding to the lane change operation.

4. The method according to claim 1, wherein the outputting, by the output device, the prompt information for maintaining the vehicle distance includes at least one of:

5. The method of claim 1, wherein outputting, via an output device, a reminder corresponding to the parking operation, comprises at least one of:

and illuminating a prompt lamp corresponding to the parking operation.

6. A reminder device for use with an autonomous vehicle, the device comprising:

the system comprises an environment information acquisition module, a control module and a control module, wherein the environment information acquisition module is used for acquiring environment information in a current range, the environment information comprises environment information of a first lane in which the environment information is currently located and environment information of a second lane adjacent to the first lane in a current road, the second lane is determined by detecting lane boundaries according to the environment information in the current range, and the environment information comprises temperature, humidity, rainfall, haze indexes, road flatness, width of a passable area of the road, distance between an obstacle and an automatic driving vehicle and appearance information of nearby vehicles;

A module for performing the steps of: reconstructing a road structure according to road information contained in the environment information, judging whether the reconstructed road structure is consistent with the road structure stored in the automatic driving vehicle, if not, determining a changed area of the road structure in the road, performing scene recognition on the changed area, and determining the current scene of the changed area to determine whether the changed area is a preset dangerous area, wherein the preset dangerous area is an area with a safety passing width smaller than a preset lane width;

the traffic area determining module is used for determining a traffic area again when the preset dangerous area exists in the first lane, the traffic area comprises the second lane and a free space road surface positioned outside a road, and the second lane has a higher priority than the free space road surface;

the prompt information output module is used for driving from the first lane to the second lane when the traffic area is the second lane; in the process of driving from the first lane to the second lane, outputting prompt information corresponding to lane changing operation and prompt information corresponding to the preset dangerous area to at least one direction around the automatic driving vehicle through output equipment of the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area, wherein the prompt information corresponding to the preset dangerous area comprises information related to the position of the preset dangerous area and the current target condition of the preset dangerous area, the prompt information corresponding to the preset dangerous area comprises text with a dangerous word, a picture of the preset dangerous area, position information of the preset dangerous area, voice information broadcasting the dangerous area, and at least one of a plurality of display screens, a loudspeaker, a whistle or a prompt lamp, each display screen of the plurality of display screens faces different directions, displays different prompt information, and displays a prompt image of one side of the display screen close to the preset dangerous area, which is far away from the preset dangerous area, and displays the current dangerous area; after the vehicle is shifted to the second vehicle road, the vehicle runs in the second vehicle road, and the output of the prompt information corresponding to the lane shifting operation is stopped;

The prompt information output module is further used for driving from the first lane to the free space pavement when the passing area is positioned on the free space pavement; outputting, by the output device, prompt information for maintaining a vehicle distance and the prompt information corresponding to the preset dangerous area in a process of traveling from the first vehicle to the free space road and in a process of traveling in the free space road;

the parking execution module is used for executing parking operation when the preset dangerous area exists in the first vehicle track according to the environment information and the passing area does not exist in the preset range;

the prompt information output module is also used for outputting prompt information corresponding to the parking operation through output equipment;

the information sending module is used for sending help seeking information to a management server connected with the automatic driving vehicle through a wireless network, outputting prompt information corresponding to the preset dangerous area through the output equipment, wherein the help seeking information carries the position information and the state information of the automatic driving vehicle, and the help seeking information is used for indicating that the automatic driving vehicle cannot pass through; the management server is used for sending alarm information to a control terminal closest to the control terminal, and the control terminal is used for displaying the alarm information, so that a manager holding the control terminal can check the alarm information and go to the position of the automatic driving vehicle to process the automatic driving vehicle;

The state detection module is used for detecting current state information of the automatic driving vehicle in real time in the running process of the automatic driving vehicle, wherein the state information of the automatic driving vehicle is used for representing the state of the automatic driving vehicle, and the state information comprises the running speed, the running distance, the residual oil quantity, the running state of each part and the on-off state of a prompt lamp of the automatic driving vehicle;

the prompt information output module is further used for lighting a prompt lamp corresponding to the currently executed driving operation and a prompt lamp corresponding to the current environment information through the output equipment.

7. The apparatus of claim 6, wherein the hint information output module comprises at least one of:

the information display unit is used for displaying first prompt information to at least one direction around the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area through the display screen, and the first prompt information is used for prompting the position of the preset dangerous area;

the voice playing unit is used for playing second prompt information to at least one direction around the automatic driving vehicle according to the position relation between other intelligent agents and the preset dangerous area through the loudspeaker, and the second prompt information is used for prompting the position of the preset dangerous area;

8. The apparatus of claim 6, wherein the hint information output module comprises at least one of:

9. The apparatus of claim 6, wherein the hint information output module comprises at least one of:

10. The apparatus of claim 6, wherein the hint information output module comprises at least one of:

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

at least one program code is stored in the memory, which is loaded and executed by the processor to implement the operations performed in the hint method of any of claims 1 to 5.

12. A computer readable storage medium having stored therein at least one instruction that is loaded and executed by a processor to implement the operations performed in the prompting method of any one of claims 1 to 5.