CN113415289B - Identification device and method for unmanned vehicle - Google Patents
Identification device and method for unmanned vehicle Download PDFInfo
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- CN113415289B CN113415289B CN202110871897.5A CN202110871897A CN113415289B CN 113415289 B CN113415289 B CN 113415289B CN 202110871897 A CN202110871897 A CN 202110871897A CN 113415289 B CN113415289 B CN 113415289B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
Abstract
The invention provides an identification device and method of an unmanned vehicle, comprising the following steps: the sensing module is used for acquiring environmental information of the vehicle; the information acquisition module is used for acquiring the running information of the vehicle; the information processing module is used for extracting the running information of the vehicle and the environmental information of the vehicle and determining the running state of the vehicle; the display module is used for displaying the running state of the vehicle. The invention utilizes the induction module, the information acquisition module and the information processing module to realize effective detection of the vehicle running state and analysis of the vehicle running state, thereby utilizing the display module to visually display the vehicle running state and realizing the function of reminding and marking other vehicles.
Description
Technical Field
The present invention relates to a marking device, and more particularly, to a marking device and method for an unmanned vehicle.
Background
With the deep development of electric vehicles and unmanned vehicle technologies, various automobile manufacturers introduce unmanned technologies into automobiles, but the existing unmanned technologies mainly stay at level L2, can only play a role in assisting driving, realize functions of assisting with vehicles, assisting lane changing and the like, are far away from the real unmanned technologies, and cannot recognize vehicles in time when other vehicles change lanes and overtake, so that driving dangers are easily caused.
Disclosure of Invention
The invention provides an identification device and method of an unmanned vehicle, which are used for identifying the unmanned vehicle.
The invention provides an identification device and method of an unmanned vehicle, comprising the following steps:
the sensing module is used for acquiring environmental information of the vehicle;
the information acquisition module is used for acquiring the running information of the vehicle;
the information processing module is used for extracting the running information of the vehicle and the environmental information of the vehicle and determining the running state of the vehicle;
the display module is used for displaying the running state of the vehicle.
Further, the display module comprises a first display and a second display, the first display and the second display are respectively installed on the left side and the right side of the vehicle, and the first display and the second display are used for displaying the running state of the vehicle.
Further, the induction module comprises a radar unit and a camera unit, the radar unit is used for acquiring environment information around the vehicle, and the camera unit is used for acquiring environment image information around the vehicle.
Further, in the running process of the vehicle, the information acquisition module acquires running information of the vehicle, wherein the running information comprises the rotation angle of a steering wheel, an accelerator pedal signal, a brake pedal signal and the signal change of a steering lamp of the vehicle.
Furthermore, the identification device of the unmanned vehicle further comprises an interconnection module, wherein the interconnection module is used for interconnection among a plurality of identification devices and sending the vehicle running information processed by the information processing module;
the identification means comprises an interconnection process: when a plurality of identification devices are close to each other, the interconnection modules of the identification devices are communicated with each other.
Still further, the identification device further comprises a vehicle environment information fitting process:
s101, the interconnection module acquires the running information of the vehicle where the other identification devices are located and sends the running information to the information processing module;
s102, the sensing module determines the positions of the vehicles where the other identification devices are located and sends the positions to the information processing module;
and S103, the information processing module fits the running information of the vehicles where the rest identification devices are located with the running information of the vehicle where the identification device is located according to the positions of the vehicles where the rest identification devices are located, and constructs an overall environment information graph of the vehicles where the identification devices are located.
Further, the step S103 of fitting the operation information of the vehicle in which the remaining identification devices are located with the operation information of the vehicle in which the identification device is located by the information processing module according to the positions of the vehicles in which the remaining identification devices are located, and constructing the overall environment information of the vehicle in which the identification devices are located includes:
s1031 determines positions of vehicles where the rest of the identification devices are located, and constructs a basic environment information graph by taking the vehicle where the identification device is located as a center according to the positions of the vehicles where the rest of the identification devices are located;
s1032 combines the environmental information of the vehicles where the other identification devices are located and the environmental information of the vehicle where the identification device is located according to the positions of the vehicles where the other identification devices are located in the environmental information map, fits the environmental information of the vehicle where the identification device is located into the basic environmental information map, and constructs an overall environmental information map.
Further, the S1032 combines the environmental information of the vehicle in which the remaining identification device is located and the environmental information of the vehicle in which the identification device is located according to the positions of the vehicle in which the remaining identification device is located in the environmental information map, and fits the combined environmental information into the basic environmental information map, and the constructing of the overall environmental information map further includes an obstacle fitting process:
s201, extracting environment information of vehicles where other identification devices are located and obstacle information in the environment information of the vehicles where the identification devices are located, and determining the positions of the obstacles according to a basic environment information graph;
s202, overlapping the environment information of the vehicles where the other identification devices are located and the obstacle information in the environment information of the vehicle where the identification device is located in a basic environment information map.
The invention also discloses an identification method applying the identification device of the unmanned vehicle, which comprises the following steps:
s301, an information acquisition module acquires running information of a vehicle;
s302, if the vehicle starts unmanned driving, the information processing module determines the driving state of the vehicle;
the S303 display module displays the running state of the vehicle.
Further, if the vehicle enables unmanned driving, the determining, by the information processing module, the driving state of the vehicle includes:
s3021, if the vehicle starts to drive unmanned, extracting the running state of the vehicle by the information processing module, and collecting the steering wheel rotation angle, the accelerator pedal signal and the brake pedal signal of the vehicle;
and the S3022 information processing module acquires the running state of the vehicle according to the steering wheel rotation angle, the accelerator pedal signal and the brake pedal signal of the vehicle.
Compared with the prior art, the vehicle running state detection system has the advantages that the effective detection of the vehicle running state is realized by the induction module, the information acquisition module and the information processing module, the analysis of the vehicle running state is realized, the vehicle running state is visually displayed by the display module, and the reminding and identification functions of other vehicles are realized.
Drawings
FIG. 1 is a block diagram of a marker device according to an embodiment of the present invention;
FIG. 2 is a process diagram according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The embodiment of the invention discloses a marking device and a method of an unmanned vehicle, which comprises the following steps:
the sensing module is used for acquiring environmental information of the vehicle;
the sensing module can scan and detect the environmental information around the vehicle by adopting modes of laser, radar, camera shooting and the like;
the information acquisition module is used for acquiring the running information of the vehicle;
the information acquisition module is used for acquiring running information of the vehicle, wherein the running information comprises accelerator pedal information, brake pedal information, tire pressure information, electric quantity information and the like of the vehicle;
the information processing module is used for extracting the running information of the vehicle and the environmental information of the vehicle and determining the running state of the vehicle;
the information processing module collects and analyzes the information collected by the sensing module and the information collecting module, and determines the running state of the vehicle;
the display module is used for displaying the running state of the vehicle.
The display module can be selected as a display screen and is used for displaying the running state of the vehicle to the outside.
According to the embodiment of the invention, the sensing module, the information acquisition module and the information processing module are utilized to effectively detect the vehicle running state, so that the vehicle running state is analyzed, the vehicle running state is visually displayed by the display module, and the function of reminding and identifying other vehicles is realized.
Optionally, the display module includes a first display and a second display, the first display and the second display are respectively installed on the left side and the right side of the vehicle, and the first display and the second display are used for displaying the running state of the vehicle.
Wherein, the first display and the second display can be selected as LED running water display screens.
According to the embodiment of the invention, the first display and the second display are adopted, so that the state display can be carried out on the vehicles on two sides.
Optionally, the sensing module includes a radar unit and a camera unit, the radar unit is used for acquiring environmental information around the vehicle, and the camera unit is used for acquiring environmental image information around the vehicle.
Optionally, in the vehicle running process, the information acquisition module acquires running information of the vehicle, wherein the running information includes changes of a steering wheel rotation angle, an accelerator pedal signal, a brake pedal signal and an automobile steering lamp signal.
The information processing module can acquire the current running state of the vehicle according to the running information and analyze the future running state.
If the steering wheel rotation angle and the automobile steering lamp signal change to the same direction, the driver has a steering or lane changing tendency;
if the accelerator pedal signal is weakened or strengthened, the driver wants to drive at a constant speed or in an accelerated manner;
if the brake pedal signal is strengthened, the driver intends to reduce the speed for braking.
The embodiment of the invention can effectively analyze the current driving condition of the vehicle and the future driving direction by collecting the operation information.
Optionally, the identification device of the unmanned vehicle further includes an interconnection module, where the interconnection module is used for interconnection among a plurality of identification devices and sending vehicle operation information processed by the information processing module;
when a plurality of identification devices approach, the interconnection modules are communicated and interconnected, so that the identification devices can acquire the running information of the vehicle where other identification devices are located, and information sharing is realized;
the identification means comprises an interconnection process: when a plurality of identification devices are close to each other, the interconnection modules of the identification devices are communicated and connected.
In particular, the identification device further comprises a vehicle environment information fitting process:
s101, the interconnection module acquires the running information of the vehicle where the other identification devices are located and sends the running information to the information processing module;
s102, the sensing module determines the positions of the vehicles where the other identification devices are located and sends the positions to the information processing module;
and S103, the information processing module fits the running information of the vehicles where the rest identification devices are located with the running information of the vehicle where the identification device is located according to the positions of the vehicles where the rest identification devices are located, and constructs an overall environment information graph of the vehicles where the identification devices are located.
The information processing module acquires the actual position of the vehicle according to a positioning system such as a GPS and the like, acquires an area map of the vehicle, and fits the running information of the vehicle where the other identification devices are located with the running information of the vehicle where the identification device is located on the area map.
The single identification device is installed on single vehicle, detects optional angle limited scheduling problem because of the inductor, leads to having obvious detection dead angle, if to longer, higher vehicle of afterbody such as trigger, most of inductors are difficult for detecting trigger structure, when unmanned, very easily takes place to bump. According to the embodiment of the invention, through the vehicle environment information fitting process, the road condition information acquired by the plurality of identification devices is fitted, so that the sharing of the road condition information is realized, and the defect that the information acquired by a single identification device is limited is overcome.
Specifically, the step S103 of fitting the operation information of the vehicle in which the remaining identification devices are located with the operation information of the vehicle in which the identification device is located by the information processing module according to the positions of the vehicles in which the remaining identification devices are located, and constructing the overall environment information of the vehicle in which the identification devices are located includes:
s1031 determines positions of vehicles where the other identification devices are located, and constructs a basic environment information map by taking the vehicle where the identification device is located as a center according to the positions of the vehicles where the other identification devices are located;
the information processing module acquires the actual position of a vehicle according to positioning systems such as a GPS and the like, acquires a map of an area where the vehicle is located, and forms a basic environment information map;
s1032 combines the environmental information of the vehicles where the other identification devices are located and the environmental information of the vehicle where the identification device is located according to the positions of the vehicles where the other identification devices are located in the environmental information map, fits the environmental information of the vehicle where the identification device is located into the basic environmental information map, and constructs an overall environmental information map.
The information processing module establishes coordinates on the basic environment information graph, and determines the relative positions of other vehicles on the coordinates by taking the vehicle where the identification device is located as a coordinate zero point; and carrying out calibration fitting on the environmental information detected by each vehicle according to the relative position of each vehicle on the coordinate to obtain a calibrated overall environmental information graph.
The embodiment of the invention realizes the fitting of the environmental information acquired by each identification device by utilizing the shared vehicle information and constructing the integral environmental information graph, so that the vehicle can acquire the road information from multiple angles, the defect that the information acquired by a single identification device is limited is solved, and the signal identification function is realized.
Specifically, in S1032, according to the positions of the vehicles where the other identification devices are located in the environment information map, the environment information of the vehicle where the other identification devices are located and the environment information of the vehicle where the identification device is located are combined and fitted into the basic environment information map, and the constructing of the overall environment information map further includes an obstacle fitting process:
s201, extracting environment information of vehicles where other identification devices are located and obstacle information in the environment information of the vehicles where the identification devices are located, and determining positions of obstacles according to a basic environment information graph;
s202, overlapping the environment information of the vehicle where the rest identification devices are located and the obstacle information in the environment information of the vehicle where the identification device is located in the basic environment information map.
The method comprises the following steps of establishing a coordinate system of each vehicle by taking each vehicle as a coordinate zero point, taking one vehicle as an example: determining the specific coordinates of the obstacle detected by the vehicle in the vehicle coordinate system, calibrating the coordinates of the obstacle detected by the vehicle according to the coordinate position of the vehicle in the overall environment information graph, fitting the coordinates into the overall environment information graph, and obtaining the coordinate position of the obstacle in the overall environment information graph system; and (3) carrying out coordinate superposition on the obstacles detected by each vehicle, and if each obstacle is in the same coordinate or adjacent coordinates (the actual difference of the coordinates is not more than 2m), determining that the plurality of obstacles are the same object.
The invention also discloses an identification method applying the identification device of the unmanned vehicle, which comprises the following steps:
s301, an information acquisition module acquires running information of a vehicle;
s302, if the vehicle starts unmanned driving, the information processing module determines the driving state of the vehicle;
the S303 display module displays the running state of the vehicle.
The invention discloses a vehicle driving method and device, which comprises the steps that when an existing vehicle runs in an unmanned driving mode, no obvious prompt is provided, so that other vehicles cannot know the running condition of the vehicle, and when other vehicles change lanes in a short distance, the unmanned driving mode vehicle is easy to collide due to the fact that the unmanned driving mode vehicle cannot respond quickly.
Optionally, in S302, if the vehicle enables unmanned driving, determining, by the information processing module, a driving state of the vehicle includes:
s3021, if the vehicle starts unmanned driving, extracting the running state of the vehicle by the information processing module, and acquiring the steering wheel rotation angle, an accelerator pedal signal and a brake pedal signal of the vehicle;
and the S3022 information processing module acquires the running state of the vehicle according to the steering wheel rotation angle, the accelerator pedal signal and the brake pedal signal of the vehicle.
The information processing module can acquire the current running state of the vehicle according to the running information and analyze the future running state.
If the steering wheel rotation angle and the automobile steering lamp signal change to the same direction, the driver has a steering or lane changing tendency;
if the accelerator pedal signal is weakened or strengthened, the driver wants to drive at a constant speed or in an accelerated manner;
if the brake pedal signal is strengthened, the driver intends to reduce the speed for braking.
The embodiment of the invention can effectively analyze the current driving condition of the vehicle and the future driving direction by collecting the operation information.
Finally, it should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the modifications and equivalents of the specific embodiments of the present invention can be made by those skilled in the art after reading the present specification, but these modifications and variations do not depart from the scope of the claims of the present application.
Claims (7)
1. Identification means of an unmanned vehicle, characterized in that the identification means of an unmanned vehicle comprises:
the sensing module is used for acquiring environmental information of the vehicle;
the information acquisition module is used for acquiring the running information of the vehicle;
the information processing module is used for extracting the running information of the vehicle and the environmental information of the vehicle and determining the running state of the vehicle;
the display module is used for displaying the running state of the vehicle;
the identification device of the unmanned vehicle further comprises an interconnection module, wherein the interconnection module is used for interconnecting a plurality of identification devices and sending the vehicle running information processed by the information processing module;
the identification means comprises an interconnection process: when a plurality of identification devices are close to each other, the interconnection modules of the identification devices are communicated and connected;
the identification means further comprises a vehicle environment information fitting process:
s101, the interconnection module acquires the running information of the vehicle where the other identification devices are located and sends the running information to the information processing module;
s102, the sensing module determines the positions of the vehicles where the other identification devices are located and sends the positions to the information processing module;
s103, the information processing module fits the running information of the vehicles where the rest identification devices are located with the running information of the vehicle where the identification device is located according to the positions of the vehicles where the rest identification devices are located, and an overall environment information graph of the vehicles where the identification devices are located is constructed;
the S103 information processing module fits the running information of the vehicles where the rest of the identification devices are located with the running information of the vehicle where the identification device is located according to the positions of the vehicles where the rest of the identification devices are located, and the construction of the overall environmental information of the vehicles where the identification devices are located comprises the following steps:
s1031 determines positions of vehicles where the rest of the identification devices are located, and constructs a basic environment information graph by taking the vehicle where the identification device is located as a center according to the positions of the vehicles where the rest of the identification devices are located;
s1032 combines the environmental information of the vehicles where the other identification devices are located and the environmental information of the vehicle where the identification device is located according to the positions of the vehicles where the other identification devices are located in the environmental information graph, and fits the environmental information of the vehicles into the basic environmental information graph to construct the whole environmental information graph.
2. The unmanned vehicle identification device of claim 1, wherein the display module comprises a first display and a second display, the first display and the second display are respectively mounted on the left side and the right side of the vehicle, and the first display and the second display are used for displaying the running state of the vehicle.
3. The unmanned vehicle identification device of claim 1, wherein the sensing module comprises a radar unit and a camera unit, the radar unit is configured to obtain environmental information around the vehicle, and the camera unit is configured to collect environmental image information around the vehicle.
4. The unmanned vehicle identification device of claim 1, wherein the information collection module collects vehicle operation information during vehicle operation, the operation information including steering wheel rotation angle, accelerator pedal signal, brake pedal signal, and change in turn signal of a car.
5. The identification device of the unmanned vehicle of claim 1, wherein the S1032 combines the environmental information of the vehicle where the remaining identification devices are located and the environmental information of the vehicle where the identification device is located according to the positions of the vehicles where the remaining identification devices are located in the environmental information map, and fits the combined environmental information and environmental information into the basic environmental information map, and the constructing of the overall environmental information map further comprises an obstacle fitting process:
s201, extracting environment information of vehicles where other identification devices are located and obstacle information in the environment information of the vehicles where the identification devices are located, and determining positions of obstacles according to a basic environment information graph;
s202, overlapping the environment information of the vehicle where the rest identification devices are located and the obstacle information in the environment information of the vehicle where the identification device is located in the basic environment information map.
6. Method for identification of an identification means of an unmanned vehicle according to any of claims 1-5, characterised in that the method comprises the display process:
s301, an information acquisition module acquires running information of a vehicle;
s302, if the vehicle starts unmanned driving, the information processing module determines the driving state of the vehicle;
the S303 display module displays the running state of the vehicle.
7. The identification method according to claim 6, wherein the step S302 of determining, by the information processing module, the driving state of the vehicle if the vehicle is unmanned, comprises:
s3021, if the vehicle starts unmanned driving, extracting the running state of the vehicle by the information processing module, and acquiring the steering wheel rotation angle, an accelerator pedal signal and a brake pedal signal of the vehicle;
and the S3022 information processing module acquires the running state of the vehicle according to the steering wheel rotation angle, the accelerator pedal signal and the brake pedal signal of the vehicle.
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