CN113954869B

CN113954869B - Road condition reminding method and device, electronic equipment and storage medium

Info

Publication number: CN113954869B
Application number: CN202111247971.2A
Authority: CN
Inventors: 李昌远; 胡达; 彭归航
Original assignee: Beijing Voyager Technology Co Ltd
Current assignee: Beijing Voyager Technology Co Ltd
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2024-04-09
Anticipated expiration: 2040-06-01
Also published as: CN111645703B; CN113954869A; CN111645703A; WO2021244142A1

Abstract

The application provides a road condition reminding method, a device, electronic equipment and a storage medium, which are applied to a vehicle control system arranged in an automatic driving vehicle, wherein the method comprises the following steps: the vehicle control system judges whether the automatic driving vehicle is about to perform target driving behaviors with turning angles larger than or equal to a preset angle in the preset time according to the planned driving route and the current driving speed in the preset time; if the vehicle control system is about to perform the target running behavior with the turning angle larger than the preset angle in the preset time, calculating the vehicle motion state data when performing the target running behavior; the vehicle control system controls the automatic driving vehicle to run according to the vehicle motion state data, and outputs prompt information before the target running behavior is performed. According to the method and the device, the prompt information is output before the automatic driving vehicle performs the target driving action, so that passengers are reminded to prepare for precaution, and the safety of riding of the automatic driving vehicle is improved.

Description

Road condition reminding method and device, electronic equipment and storage medium

The application is a division of Chinese patent application filed in China patent office, application number 2020104864520 and application name of 'a road condition reminding method, device, electronic equipment and storage medium' on month 01 of 2020.

Technical Field

The application relates to the field of automatic driving, in particular to a road condition reminding method, a road condition reminding device, electronic equipment and a storage medium.

Background

An automatic driving automobile is an intelligent automobile, is also called a wheeled mobile robot, and mainly depends on an intelligent driver mainly comprising a computer system in the automobile to realize the purpose of unmanned driving. And (5) automatically driving the automobile. The vehicle-mounted sensor is used for sensing the surrounding environment of the vehicle, automatically planning the driving route and controlling the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road. The automatic driving automobile integrates a plurality of technologies such as automatic control, architecture, artificial intelligence, visual computing and the like, is a highly developed product of computer science, pattern recognition and intelligent control technology, is an important mark for measuring scientific research strength and industrial level, and has wide application prospect in the fields of national defense and national economy.

In the prior art, an automatic driving automobile automatically runs, passengers are all informed of special paths (such as turning, turning head and the like) through an electronic map in the whole course, and passengers are difficult to expect and prepare under the condition of great influence on the self-posture of the passengers, so that potential safety hazards exist.

Disclosure of Invention

In view of the foregoing, an object of the present application is to provide a road condition reminding method, apparatus, electronic device and storage medium, which can remind a passenger of a target driving behavior of an automatic driving vehicle, so as to solve the problem of how to improve the safety of the automatic driving vehicle in the prior art, and achieve the purpose of feeding back the vehicle motion state data, which may cause a potential safety hazard, to the passenger in advance, so that the passenger can respond to the running situation of the automatic driving vehicle in advance.

According to one aspect of the present application, an electronic device is provided that may include a storage medium and a processor in communication with the storage medium. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is in operation, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the following operations:

a road condition reminding method is applied to a vehicle control system arranged in an automatic driving vehicle, and comprises the following steps:

the vehicle control system judges whether the automatic driving vehicle is about to perform target driving behaviors with turning angles larger than or equal to a preset angle in the preset time according to the planned driving route and the current driving speed in the preset time;

If the vehicle control system is about to perform the target running behavior with the turning angle larger than the preset angle in the preset time, calculating the vehicle motion state data when performing the target running behavior;

the vehicle control system controls the automatic driving vehicle to run according to the vehicle motion state data, and outputs prompt information before the target running behavior is performed.

In some embodiments, the outputting the prompt information before the target driving behavior is performed includes:

the vehicle control system generates prompt information according to the vehicle motion state data;

the vehicle control system outputs the prompt information through any one or more of the following output devices: a vehicle-mounted display device and a color-changing window on an autonomous vehicle;

the vehicle motion state data includes any one or more of the following: average centripetal force, rotation direction, travel track and path type;

the prompt information comprises any one or more of the following: animation, electronic map graphics and colors.

the vehicle control system determines the action, the trunk inclination angle and the inclination direction of the avatar according to the average centripetal force and the rotation direction in the vehicle motion state data and generates a corresponding avatar animation; the motion of the avatar is generated according to the average centripetal force and the rotation direction, the trunk inclination angle is proportional to the average centripetal force, and the inclination direction is the same as the rotation direction;

The vehicle control system displays the avatar animation through a display device provided on the autonomous vehicle before the target driving behavior is performed.

the vehicle control system determines a display graph and a display color according to the running track and the average centripetal force in the vehicle motion state data; the display graph is an arrow with the same shape as the running track, and the color depth of the display color is proportional to the average centripetal force;

the vehicle control system displays the display graph with the display color on a display device arranged in the automatic driving vehicle before the target driving behavior is carried out.

the vehicle control system determines a display strategy of the color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the transformation strategy comprises at least one display color and display mode;

and before the target driving behavior is carried out, the vehicle control system controls the color-changing vehicle window to adjust display content according to the display strategy.

In some embodiments, the vehicle control system determines a display strategy for the color changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data, and the display strategy comprises:

the vehicle control system determines a first display mode according to the path type in the vehicle motion state data; the first display mode is that the whole color-changing car window circularly changes between the current color and the color corresponding to the path type according to the change frequency;

the vehicle control system determines the transformation frequency according to the average centripetal force in the vehicle motion state data; the transformation frequency is proportional to the average centripetal force;

the vehicle control system determines a display strategy as a display strategy for the first display mode at the shift frequency for the variable speed window.

In some embodiments, the vehicle control system determines a transformation strategy for the stained glass based on the vehicle motion state data, comprising:

the vehicle control system determines a second display mode according to the path type and the rotation direction in the vehicle motion state data; the second display mode is that a plurality of preset areas in the color-changing vehicle window are converted into colors corresponding to the path types according to the sequence corresponding to the rotating direction;

The vehicle control system determines a transformation speed according to the average centripetal force in the vehicle motion state data; said transition speed being proportional to said average centripetal force;

and the vehicle control system determines the display strategy to be that the color-changing window performs the display strategy of the second display mode at the conversion speed.

In some embodiments, before the vehicle control system controls the autonomous vehicle to travel in accordance with the vehicle motion state data, the method further comprises:

the vehicle control system controls the electronic map to be displayed in a high-visual-angle display mode;

after the vehicle control system controls the autonomous vehicle to complete the target traveling behavior, the method further includes:

the vehicle control system controls the electronic map to be displayed in a low-visual-angle display mode.

In some embodiments, the outputting the prompt information before the target driving behavior is performed further includes:

the vehicle control system generates reminding audio according to the vehicle motion state data;

and the vehicle control system controls sound playing equipment arranged on the automatic driving vehicle before the target driving behavior is carried out, and plays the reminding audio.

The vehicle control system controls the seat in which the passenger is located to vibrate before the target running behavior is performed.

According to another aspect of the present application, there is also provided a road condition reminding device applied to a vehicle control system provided in an autonomous vehicle, including:

the judging module is used for judging whether the automatic driving vehicle is about to perform target driving behaviors with turning angles larger than or equal to a preset angle in the preset time according to the planned driving route and the current driving speed in the preset time;

the calculation module is used for calculating vehicle motion state data when the target running behavior is carried out if the target running behavior with the turning angle larger than the preset angle is to be carried out in the preset time;

and the control module is used for controlling the automatic driving vehicle to run according to the vehicle motion state data and outputting prompt information before the target running behavior is performed.

In some embodiments, the control module includes:

the generating unit is used for generating prompt information according to the vehicle motion state data; the vehicle motion state data includes any one or more of the following: average centripetal force, rotation direction, travel track and path type; the prompt information comprises any one or more of the following: animation, electronic map graphics and colors;

An output unit for outputting the prompt information through any one or more of the following output devices: on-board display devices and color changing windows on an autonomous vehicle.

In some embodiments, the control module includes:

a first determining unit for determining the motion, the trunk inclination angle and the inclination direction of the avatar according to the average centripetal force and the rotation direction in the vehicle motion state data, and generating a corresponding avatar animation; the motion of the avatar is generated according to the average centripetal force and the rotation direction, the trunk inclination angle is proportional to the average centripetal force, and the inclination direction is the same as the rotation direction;

and the first display unit is used for displaying the avatar animation through a display device arranged on the automatic driving vehicle before the target driving behavior is carried out.

In some embodiments, the control module includes:

a second determining unit for determining a display pattern and a display color according to the running track and the average centripetal force in the vehicle motion state data; the display graph is an arrow with the same shape as the running track, and the color depth of the display color is proportional to the average centripetal force;

And the second display unit is used for displaying the display graph with the display color on the electronic map on display equipment arranged in the automatic driving vehicle before the target driving behavior is carried out.

In some embodiments, the control module includes:

the third determining unit is used for determining a display strategy of the color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the transformation strategy comprises at least one display color and display mode;

and the third display unit is used for controlling the color-changing car window to adjust display content according to the display strategy before the target driving behavior is carried out.

In some embodiments, the third determining unit includes:

the first determining subunit is used for determining a first display mode according to the path type in the vehicle motion state data; the first display mode is that the whole color-changing car window circularly changes between the current color and the color corresponding to the path type according to the change frequency;

a second determination subunit configured to determine the transformation frequency according to an average centripetal force in the vehicle motion state data; the transformation frequency is proportional to the average centripetal force;

And the first strategy subunit is used for determining the display strategy to be that the variable speed vehicle window carries out the display strategy of the first display mode at the conversion frequency.

In some embodiments, the third determining unit includes:

a third determining subunit, configured to determine a second display manner according to a path type and a rotation direction in the vehicle motion state data; the second display mode is that a plurality of preset areas in the color-changing vehicle window are converted into colors corresponding to the path types according to the sequence corresponding to the rotating direction;

a fourth determination subunit, configured to determine a transformation speed according to an average centripetal force in the vehicle motion state data; said transition speed being proportional to said average centripetal force;

and the second strategy subunit is used for determining the display strategy to be the display strategy of the second display mode of the color-changing vehicle window at the conversion speed.

In some embodiments, the apparatus further comprises:

the first display module is used for controlling the electronic map to display in a high-visual-angle display mode before controlling the automatic driving vehicle to run according to the vehicle motion state data;

and the second display module is used for controlling the electronic map to be displayed in a low-visual-angle display mode after the automatic driving vehicle is controlled to complete the target driving behavior.

In some embodiments, the apparatus further comprises:

the audio module is used for generating reminding audio according to the vehicle motion state data;

and the playing module is used for controlling sound playing equipment arranged on the automatic driving vehicle before the target driving behavior is carried out, and playing the reminding audio.

In some embodiments, the apparatus further comprises:

and the vibration module is used for controlling the seat where the passenger is to vibrate before the target driving behavior is performed.

Based on any one of the above aspects, the vehicle control system monitors a target driving behavior which is about to turn beyond a preset angle, and when the target driving behavior is monitored, the vehicle control system calculates vehicle motion state data when the target driving behavior is performed, and outputs prompt information before the vehicle performs the target driving behavior so as to remind passengers to prepare for precautions, thereby improving the riding safety of the automatic driving vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a flowchart of a road condition reminding method provided in an embodiment of the present application;

fig. 2 is a flowchart illustrating a first specific prompting message output method in the road condition prompting method provided in the embodiment of the present application;

fig. 3 is a flowchart illustrating a second specific prompting message output method in the road condition prompting method provided in the embodiment of the present application;

fig. 4 is a flowchart illustrating a third specific prompting message output method in the road condition prompting method provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of a road condition reminding device according to an embodiment of the present application;

fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.

In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

In order to enable one skilled in the art to use the present disclosure, in connection with a specific application scenario "autonomous vehicle driving", the following embodiments are given. It will be apparent to those having ordinary skill in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present application. Although the present application is primarily described in terms of autonomous vehicle travel, it should be understood that this is but one exemplary embodiment.

It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features stated hereinafter, but not to exclude the addition of other features.

Positioning techniques used in the present application may be based on global positioning system (Global Positioning System, GPS), global navigation satellite system (Global Navigation Satellite System, GLONASS), COMPASS navigation system (COMPASS), galileo positioning system, quasi-zenith satellite system (Quasi-Zenith Satellite System, QZSS), wireless fidelity (Wireless Fidelity, wiFi) positioning techniques, or the like, or any combination thereof. One or more of the above-described positioning systems may be used interchangeably throughout this application.

One aspect of the present application relates to a vehicle control system for an autonomous vehicle. The system can monitor the turning angle of the vehicle through the planned route section in the preset time when the automatic driving vehicle proceeds according to the planned route, determine whether the running behavior exceeding the preset angle exists in advance, immediately calculate the vehicle motion state data of the automatic driving vehicle when the target running behavior is monitored, generate prompt information and display the prompt information to passengers, and remind the passengers to take countermeasures in advance.

It is noted that, before the application of the present application, the automatic driving vehicle mostly uses only the electronic map to feed back the current driving state to the passenger. However, the road condition reminding method provided by the application can remind passengers in advance according to special driving behaviors. Thus, the vehicle control system of the present application may provide a safer ride experience for the passengers of an autonomous vehicle.

In some embodiments, a vehicle control system may include a processor. The processor may process information and/or data related to the service request to perform one or more functions described herein. In some embodiments, a processor may include one or more processing cores (e.g., a single core processor (S) or a multi-core processor (S)). By way of example only, the Processor may include a central processing unit (Central Processing Unit, CPU), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), special instruction set Processor (Application Specific Instruction-set Processor, ASIP), graphics processing unit (Graphics Processing Unit, GPU), physical processing unit (Physics Processing Unit, PPU), digital signal Processor (Digital Signal Processor, DSP), field programmable gate array (Field Programmable Gate Array, FPGA), programmable logic device (Programmable Logic Device, PLD), controller, microcontroller unit, reduced instruction set computer (Reduced Instruction Set Computing, RISC), microprocessor, or the like, or any combination thereof.

The following describes the road condition reminding method provided by the embodiment of the present application using the vehicle control system in detail.

Referring to fig. 1, a flow chart of a road condition reminding method provided in an embodiment of the present application is shown, and the method specifically includes:

step S101, the vehicle control system judges whether the automatic driving vehicle is about to perform a target driving behavior with a turning angle larger than or equal to a preset angle in preset time according to a planned driving route and a current driving speed in the preset time;

step S102, if the vehicle control system is about to perform a target running behavior with a turning angle larger than a preset angle in a preset time, calculating vehicle motion state data when performing the target running behavior;

step S103, the vehicle control system controls the automatic driving vehicle to run according to the vehicle motion state data, and outputs prompt information before the target running behavior is performed.

Specifically, when the autonomous vehicle travels according to a planned travel route, the vehicle control system in the autonomous vehicle determines, according to the travel speed of the current vehicle, whether a target travel behavior with a turning angle greater than or equal to a preset angle is to be performed for a preset time, which may be set according to the data processing capability of the vehicle control system, for example, the preset time may be 10 seconds, 15 seconds, 20 seconds, etc., and the better the data processing capability of the vehicle control system, the shorter the preset time may be, so as to reduce the calculation pressure of the vehicle control system. The above-mentioned preset angle may be 30 degrees, 60 degrees, 90 degrees, etc., which may be determined according to the traveling speed of the autonomous vehicle while turning, and since it is considered herein that the average centripetal force of the autonomous vehicle while passing through the turn affects the passenger, in general, the lower the traveling speed, the larger the preset angle may be.

The vehicle motion state data includes motion data and environmental data. When the vehicle control system judges that the vehicle can make a turn larger than a preset angle in a preset time, the vehicle control system calculates motion data according to the track and the angle of the turn and the speed (the linear speed or the angular speed) of the automatic driving vehicle when making the turn; the vehicle control system analyzes what type of path the automated guided vehicle is about to make a turn, i.e., environmental data, based on the turn's track and surrounding road conditions.

Before the vehicle control system controls the automatic driving vehicle to conduct the target driving behavior of the turn according to the calculated vehicle motion state data, the vehicle control system can output the prompt information generated according to the vehicle motion state data through the loading output equipment on the automatic driving vehicle in advance so as to remind passengers that the automatic driving vehicle is about to conduct the target driving behavior with larger influence on the automatic driving vehicle, and the passengers can conduct safety measures in advance.

According to the embodiment, the target running behavior which is about to turn beyond the preset angle is monitored through the vehicle control system, when the target running behavior is monitored, the vehicle motion state data when the target running behavior is carried out is calculated, and prompt information is output before the vehicle carries out the target running behavior so as to remind passengers to prepare for precaution, so that the riding safety of the automatic driving vehicle is improved.

In some embodiments, the step S103 includes:

step 1031, the vehicle control system generates prompt information according to the vehicle motion state data;

wherein the vehicle control system outputs the prompt information through any one or more of the following output devices: a vehicle-mounted display device and a color-changing window on an autonomous vehicle;

Specifically, the output device mounted on the autopilot vehicle may be a vehicle-mounted display device or a color-changing window instead of a conventional window glass, or may be a vehicle-mounted audio, a car seat, or the like.

The color-changing window is a window formed by a plurality of pieces of color-changing glass with the same or different shapes, the color-changing glass used for the color-changing window can be electrochromic glass, the electrochromic material used for the electrochromic glass can generate a phenomenon of stable and reversible color change under the action of an applied lower driving voltage or current, the color and transparency of the electrochromic material can be reversibly changed in appearance, the electrochromic material is divided into an inorganic electrochromic material and an organic electrochromic material, the inorganic electrochromic material can be tungsten trioxide, the organic electrochromic material can be polythiophene and derivatives thereof, viologen, tetrathiafulvalene, metal phthalocyanine compounds and the like. Electrochromic glass generally consists of a glass substrate, a transparent conductive layer, an electrochromic layer, an ion conductor layer and an ion storage layer. The above is merely a schematic description of embodiments of the color-changing glass, but is not limited thereto, and the embodiments of the color-changing glass are not limited thereto.

The vehicle motion state data includes motion data and environmental data. The motion data includes an average centripetal force, an angular velocity, a linear velocity, a rotation direction and the like, and the average centripetal force can be calculated from the angular velocity or the linear velocity, so that the average centripetal force indirectly reflects the angular velocity and the linear velocity, and the situation that a passenger can be influenced when the vehicle turns is mainly reminded in the embodiment of the application, the average centripetal force is a main factor influencing the posture of the passenger when the vehicle turns, so that the transportation data in the vehicle motion state data can only comprise the average centripetal force and the rotation direction; the environment data comprises a driving track and a path type, and the environment data mainly provides a data basis by determining the shape of the turning route or determining the conditions of display strategies, colors and the like when prompt information is generated.

Since the output device on the automatic driving vehicle is provided with the vehicle-mounted display device, the prompt information can be an animation generated by the vehicle motion state data or a graph added in the electronic map; on the other hand, the mode that the color-changing car window can display the prompt information is mainly displayed in a color change mode, so that the prompt information can also be in a color determined by the car motion state data.

In some embodiments, the step S103, as shown in fig. 2, includes:

step S201, the vehicle control system determines the action, the trunk inclination angle and the inclination direction of the virtual image according to the average centripetal force and the rotation direction in the vehicle motion state data, and generates a corresponding virtual image animation; the motion of the avatar is generated according to the average centripetal force and the rotation direction, the trunk inclination angle is proportional to the average centripetal force, and the inclination direction is the same as the rotation direction;

step S202, the vehicle control system displays the virtual image animation through a display device arranged on the automatic driving vehicle before the target driving behavior is carried out.

Specifically, in a scene in which presentation of the hint information is performed in the form of an avatar animation, the hint information is an avatar animation capable of reflecting the influence of the target traveling behavior on the passenger. The virtual image can be presented as one or more cartoon doll images, can be in sitting posture or standing posture, and the influence of the automatic driving vehicle on passengers when the automatic driving vehicle performs target driving behaviors is represented by specific postures such as actions of the virtual image, body inclination angles, inclination directions and the like, namely, the average centripetal force and the rotation directions in the vehicle motion state data are reflected.

The vehicle control system needs to determine the action of the avatar according to the average centripetal force, for example, the action of the avatar may be a skew of the head with the value of the average centripetal force in a range of small values; the average centripetal force is in a range with larger values, and the avatar's action may be to lift both arms over the top of the head and sweat the cheeks.

The trunk tilt angle of the avatar is proportional to the average centripetal force, that is, the greater the average centripetal force, the greater the trunk tilt angle of the avatar; the trunk inclination angle of the avatar may be a fixed number of angles, for example, 20 degrees, 40 degrees, 60 degrees, and a corresponding numerical range of average centripetal force may be set for each angle.

The inclination direction of the avatar is the same as the rotation direction.

The actions, the trunk inclination angle and the inclination direction of the virtual image are realized on a preset virtual image, the virtual image animation is generated, and the virtual image animation is displayed through display equipment arranged on an automatic driving vehicle. When the display device used for displaying the virtual image animation and the display device used for the electronic map are the same device, the virtual image animation can cover the electronic map which is being displayed by the display device, and can also display a preset area on the device, so that the display is performed under the condition that the main picture of the electronic map is not influenced by passengers.

The advantage of prompt information display through the virtual image animation is that the virtual image animation can vividly display the vehicle motion state data to passengers, and the passengers can quickly know the influence and the influence degree of the upcoming target driving behavior of the automatic driving vehicle on the passengers according to the actions and the trunk postures of the virtual image, so that the passengers can make countermeasures in advance, the threat of the target driving behavior on the safety of the passengers is reduced, and the passengers safely take the automatic driving vehicle.

In some embodiments, the step S103, as shown in fig. 3, includes:

step S301, a vehicle control system determines a display graph and a display color according to the running track and the average centripetal force in the vehicle motion state data; the display graph is an arrow with the same shape as the running track, and the color depth of the display color is proportional to the average centripetal force;

step S302, the vehicle control system displays the display graph with the display color on the electronic map on a display device arranged in the automatic driving vehicle before the target driving behavior is carried out.

Specifically, in a scene where the prompt information is displayed through graphic display in the electronic map, the prompt information is a display graphic with display colors.

The vehicle control system needs to generate an arrow pattern identical to the travel track as a presentation pattern based on the travel track in the vehicle motion state data.

The display color is a preset basic color or a color set with a group of colors from light to dark. The color depth of the display color is proportional to the average centripetal force, and the larger the average centripetal force is, namely the larger the influence on passengers when the automatic driving vehicle turns is, the darker the display color is. For example, a reddish color is exhibited, when the average centripetal force is smaller, a reddish color is exhibited, and when the average centripetal force is larger, a darker reddish wine is employed.

The vehicle control system displays the display graph with the display color on the electronic map, wherein the display graph can be integrated with the electronic map, namely, can be displayed according to the display mode of the electronic map, can also be mutually independent with the electronic map, and can be displayed in a preset area on the interface of the electronic map.

The advantage of displaying the prompt information through the graphic display in the electronic map is that the graph can intuitively display the track of the going-on target driving behavior, the influence degree of the target situation behavior on the passengers is displayed through the depth of the color, and in some special scenes, the electronic map can not well display the specific condition of the road to the passengers, but the situation can be improved through the graphic display, for example, when the vehicle is about to enter the ramp, the electronic map generally displays the ramp from the bird's eye view angle, the part of the road overlapped from the angle is not displayed, the arrow graph generated by the vehicle control system according to the driving track can be a three-dimensional display graph, and when the display graph is displayed, the passengers can know the angle of the three-dimensional structure of the ramp, and the display color of the display graph is set according to the average centripetal force. By the method for displaying the prompt information through the graphic display, passengers can make countermeasures in advance, and the threat of the target driving behavior on the safety of the passengers is reduced, so that the riding safety of the automatic driving automobile is improved.

When the virtual image animation and the electronic map graph are used for displaying prompt information, if at least two vehicle-mounted display devices are arranged on the automatic driving vehicle, the vehicle control system displays the virtual image animation and the electronic map graph on different vehicle-mounted display devices respectively; if only one vehicle-mounted display device is arranged on the automatic driving vehicle, the vehicle control system can sequentially display the virtual image animation and the electronic map graph according to a preset display sequence.

In some embodiments, the step S103, referring to fig. 4, includes:

step S401, a vehicle control system determines a display strategy of a color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the transformation strategy comprises at least one display color and display mode;

and step S402, before the target running behavior is carried out, the vehicle control system controls the color-changing vehicle window to adjust the display content according to the display strategy.

Specifically, in a scene where the color-changing vehicle window is used for displaying prompt information, the prompt information is dynamic transformation of one or more colors on the color-changing vehicle window.

The display strategy comprises two aspects of display colors and display modes, the display colors are generally the corresponding relation between preset path types and at least one display color, and the display colors can be determined according to the path types.

The display mode is a mode of dynamically changing the color of the color-changing vehicle window determined by the path type, the rotation direction and the average centripetal force.

The color-changing vehicle window displays the display color in the display mode under the control of the vehicle control system, and the display color is the display strategy determined by the vehicle control system.

The specific display strategy can be adaptively set according to the combination mode of the color-changing glass in the color-changing vehicle window, and the embodiment of the application takes the example that the color-changing vehicle window is formed by vertically arranging and combining a plurality of strip-shaped color-changing glass to carry out specific display strategy illustration:

in some embodiments, the step S401 includes:

step 4011, the vehicle control system determines a first display mode according to the path type in the vehicle motion state data; the first display mode is that the whole color-changing car window circularly changes between the current color and the color corresponding to the path type according to the change frequency;

step 4012, the vehicle control system determines the conversion frequency according to the average centripetal force in the vehicle motion state data; the frequency of the transformation is proportional to the average centripetal force;

step 4013, the vehicle control system determines that the display strategy is a display strategy of the first display mode of the variable speed vehicle window at the conversion frequency.

Specifically, the first display mode is that the whole color of the color-changing car window is circularly changed, under the display mode, the path type of the automatic driving car is reflected through the display color, the rotation direction cannot be well reflected, and passengers are required to know the rotation direction according to the electronic map.

In the first display mode, the color of the whole color of the color-changing window is circularly changed, so that the change frequency needs to be determined, and the change frequency is in direct proportion to the average centripetal force, namely, the larger the average centripetal force is, the faster the change frequency is, and passengers can know the influence degree of the upcoming target driving behavior on themselves through the color change frequency of the color-changing window.

In some embodiments, the step S401 includes:

the vehicle control system determines a second display mode according to the path type and the rotation direction in the vehicle motion state data; the second display mode is that a plurality of preset areas in the color-changing vehicle window are converted into colors corresponding to the path types according to the sequence corresponding to the rotation direction;

step 4014, the vehicle control system determines a transformation speed according to the average centripetal force in the vehicle motion state data; the transition speed is proportional to the average centripetal force;

Step 4015, the vehicle control system determines that the display strategy is a display strategy of performing the second display mode at the changing speed of the color changing vehicle window.

Specifically, the second display mode is similar to a display mode of a revolving horse lamp mode, and the color changing sequence of each piece of color changing glass on the color changing window is determined according to the rotation direction, for example, the rotation direction is right rotation, and then the color changing sequence is that the color changing glass on the color changing window changes from left to right.

Since the color changes from left to right, the influence degree of the upcoming target driving behavior on the passengers can be reflected by the transformation speed, and the transformation speed is proportional to the average centripetal force, i.e. the larger the average centripetal force is, the faster the transformation speed is.

The advantage of show prompt message through the window that discolours that above embodiment provided lies in the area of the window that discolours is great, and the passenger realizes the colour change of window that discolours easily, can use different show strategies according to the demand, in the strategy that discolours according to the order of predetermineeing to discolour the glass of window that discolours, can use the window that discolours of different combination modes according to the demand of discolour strategy, except the window that discolours of above-mentioned vertical combination side by side, can also use the glass that discolours that has special shape such as arrow-shaped as the component part of window that discolours, the show mode in the actual show strategy is similar with above-mentioned second show mode, and is not repeated here.

In some embodiments, the method further comprises, prior to the vehicle control system controlling the autonomous vehicle to travel in accordance with the vehicle motion state data:

step 501, a vehicle control system controls an electronic map to be displayed in a high-visual-angle display mode;

step 502, the vehicle control system controls the electronic map to be displayed in a low-visual angle display mode.

Specifically, the electronic map is displayed by using a bird's eye view angle to show the running route and the surrounding road condition of the automatic driving vehicle, and in a normal running state, the electronic map is displayed by using a low view angle display mode, and when the vehicle control system is about to control the automatic driving vehicle to perform the target running behavior, the vehicle control system controls the electronic map to display by using a high view angle display mode until the automatic driving vehicle completes the target running behavior.

In order to enable a passenger to know the specific shape of a road and the road conditions of the starting point and the ending point of the target driving behavior when the passenger can automatically drive the vehicle to perform the target driving behavior, a high-visual-angle display mode is adopted to display an electronic map, so that the passenger can acquire road information as much as possible.

Besides the visual reminding modes, the auxiliary reminding can be performed by combining hearing and touch, so that the situation that passengers do not notice the reminding information displayed by the vehicle-mounted display equipment and the color-changing vehicle window is avoided, and the specific method is as follows:

step 601, a vehicle control system generates reminding audio according to the vehicle motion state data;

step 602, the vehicle control system controls the sound playing device arranged on the automatic driving vehicle before the target driving behavior is performed to play the reminding audio.

Or, in step 603, the vehicle control system controls the seat in which the passenger is located to vibrate before the target driving behavior is performed.

Specifically, the voice prompt and the seat vibration can be combined with the visual prompt modes in any mode, and passengers can select the most adaptive prompt mode combination.

Because the passenger can be lower to the running behavior attention degree of vehicle when taking the autopilot car, can not make the passenger receive prompt message in the first time through the visual warning of forms such as on-vehicle display device and the car window that discolours, consequently, remind the passenger to pay attention to the visual display device that traveles such as on-vehicle display device and car window on the autopilot car through the vibrations of warning audio frequency or saddle, can further improve the effective probability that the road conditions were reminded to improve the safe degree that the autopilot car was taken.

According to the embodiment provided by the application, the target running behavior which is to turn beyond the preset angle is monitored through the vehicle control system, when the target running behavior is monitored, the vehicle motion state data when the target running behavior is carried out is calculated, prompt information is output through at least one form of the virtual image animation, the graph and the color-changing window before the vehicle carries out the target running behavior, and passengers are reminded to make precautionary preparation, so that the aim of improving the riding safety of the automatic driving vehicle is achieved.

Based on the same inventive concept, the embodiment of the application also provides a road condition reminding device corresponding to the road condition reminding method, and because the principle of solving the problem by the device in the embodiment of the application is similar to that of the road condition reminding method in the embodiment of the application, the implementation of the device can be referred to the implementation of the method, and the repetition is omitted.

Referring to fig. 5, a road condition reminding device provided in an embodiment of the present application is applied to a vehicle control system disposed in an automatic driving vehicle, and includes:

a judging module 70, configured to judge whether the automatic driving vehicle is about to perform a target driving behavior with a turning angle greater than or equal to a preset angle in a preset time according to the planned driving route and the current driving speed in the preset time;

A calculation module 71, configured to calculate vehicle motion state data when performing a target driving behavior when the turning angle is greater than a preset angle, if the target driving behavior is to be performed within the preset time;

the control module 72 is configured to control the autonomous vehicle to travel according to the vehicle motion status data, and output a prompt message before the target traveling behavior is performed.

In some embodiments, the control module 72 includes:

a generating unit 721 for generating a prompt message according to the vehicle motion state data; the vehicle motion state data includes any one or more of the following: average centripetal force, rotation direction, travel track and path type; the prompt information comprises any one or more of the following: animation, electronic map graphics and colors;

an output unit 722, configured to output the prompt information through any one or more of the following output devices: on-board display devices and color changing windows on an autonomous vehicle.

In some embodiments, the control module 72 includes:

a first determining unit 723 for determining an action, a trunk inclination angle, and an inclination direction of an avatar according to an average centripetal force and a rotation direction in the vehicle motion state data and generating a corresponding avatar animation; the motion of the avatar is generated according to the average centripetal force and the rotation direction, the trunk inclination angle is proportional to the average centripetal force, and the inclination direction is the same as the rotation direction;

And a first display unit 724 for displaying the avatar animation through a display device provided on the autonomous vehicle before the target driving behavior is performed.

In some embodiments, the control module 72 includes:

a second determining unit 725 for determining a display pattern and a display color according to the running track and the average centripetal force in the vehicle motion state data; the display graph is an arrow with the same shape as the running track, and the color depth of the display color is proportional to the average centripetal force;

and a second display unit 726, configured to display the display graphic having the display color on a display device provided in the autonomous vehicle, before the target driving behavior is performed.

In some embodiments, the control module 72 includes:

a third determining unit 727 for determining a display strategy of the color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the transformation strategy comprises at least one display color and display mode;

and the third display unit 728 is used for controlling the color-changing vehicle window to adjust display content according to the display strategy before the target driving behavior is performed.

In some embodiments, the third determining unit 727 includes:

a first determining subunit 7271 configured to determine a first display mode according to a path type in the vehicle motion state data; the first display mode is that the whole color-changing car window circularly changes between the current color and the color corresponding to the path type according to the change frequency;

a second determination subunit 7272 for determining said transformation frequency from an average centripetal force in said vehicle motion state data; the transformation frequency is proportional to the average centripetal force;

a first policy subunit 7273, configured to determine a display policy for the variable speed window to perform the display policy of the first display mode at the frequency of the transformation.

In some embodiments, the third determining unit 727 includes:

a third determining subunit 7274 configured to determine a second display mode according to the path type and the rotation direction in the vehicle motion state data; the second display mode is that a plurality of preset areas in the color-changing vehicle window are converted into colors corresponding to the path types according to the sequence corresponding to the rotating direction;

a fourth determination subunit 7275 for determining a conversion speed according to the average centripetal force in the vehicle motion state data; said transition speed being proportional to said average centripetal force;

And a second policy subunit 7276 configured to determine that the display policy is a display policy for the color-changing window in the second display mode at the changing speed.

In some embodiments, the apparatus further comprises:

a first display module 73, configured to control the electronic map to display in a display mode with a high viewing angle before controlling the autonomous vehicle to run according to the vehicle motion state data;

and the second display module 74 is used for controlling the electronic map to be displayed in a low-visual-angle display mode after the automatic driving vehicle is controlled to complete the target driving behavior.

In some embodiments, the apparatus further comprises:

an audio module 75 for generating alert audio based on the vehicle motion status data;

and the playing module 76 is used for controlling sound playing equipment arranged on the automatic driving vehicle before the target driving behavior is carried out, and playing the reminding audio.

In some embodiments, the apparatus further comprises:

and the vibration module 77 is used for controlling the seat where the passenger is to vibrate before the target driving behavior is performed.

The process flow of each module in the apparatus and the interaction flow between the modules may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.

The embodiment of the present application further provides a computer device 80, as shown in fig. 6, which is a schematic structural diagram of the computer device 80 provided in the embodiment of the present application, including: a processor 81, a memory 82, and a bus 83. The memory 82 stores machine-readable instructions executable by the processor 81 (e.g., execution instructions corresponding to the determining module, the calculating module, the control module in the apparatus of fig. 5, etc.), when the computer device 80 is running, the processor 81 communicates with the memory 82 through the bus 83, and the machine-readable instructions are executed by the processor 81 to execute the steps of the road condition prompting method.

The embodiment of the application also provides a computer readable storage medium, and a computer program is stored on the computer readable storage medium, and the computer program executes the steps of the road condition reminding method when being run by a processor.

Specifically, the storage medium can be a general storage medium, such as a mobile magnetic disk, a hard disk, and the like, and when the computer program on the storage medium is run, the road condition reminding method can be executed, so that the problem of how to improve the riding safety of the automatic driving automobile is solved, and further, prompt information is output before the automobile performs the target driving behavior, so that passengers are reminded to prepare for precautions, and the effect of improving the riding safety of the automatic driving automobile is achieved.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, which are not described in detail in this application. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The road condition reminding method is characterized by being applied to a vehicle control system arranged in an automatic driving vehicle and comprising the following steps of:

judging whether the automatic driving vehicle is about to perform target driving behaviors with turning angles larger than or equal to a preset angle in preset time according to a planned driving route and current driving speed in the preset time;

if the target running behavior with the turning angle larger than the preset angle is to be performed within the preset time, calculating vehicle motion state data when the target running behavior is performed;

before the target running behavior is carried out, generating and outputting prompt information according to the vehicle motion state data;

wherein the vehicle motion state data includes at least one of motion data and environment data, the environment data is data for determining a shape of a turning route, and the prompt information includes any one or more of the following: virtual image animation, electronic map graph and display color of color-changing car window;

the trunk inclination angle of the avatar in the avatar animation is generated according to the motion data;

the display graph of the electronic map graph is used for displaying the track of the upcoming target driving behavior, and the depth of the display color of the display graph represents the influence degree of the target driving behavior on passengers;

The display color and the display mode of the color-changing vehicle window are set according to the combination mode of the color-changing glass in the color-changing vehicle window, and the display mode is a mode of dynamically changing the color of the color-changing vehicle window.

2. The method of claim 1, wherein the motion data comprises at least one of an average centripetal force, an angular velocity, a linear velocity, and a rotational direction; the virtual figure is at least one cartoon figure, and the at least one cartoon figure is in a sitting position or a standing position; the action of the avatar includes at least one of tilting the head, lifting the head by two arms, and sweating the cheeks, wherein the action of the avatar is determined according to the value of the average centripetal force; the motion and tilt directions of the avatar are generated according to the motion data; the trunk inclination angle of the virtual image is set according to the numerical interval of the motion data;

the display graphics and the display colors of the display graphics are generated according to the motion data and the environment data; the display graph and the electronic map are mutually independent and are displayed in a preset area on an interface of the electronic map;

The display color of the color-changing car window is determined according to the environmental data, and the display mode of the color-changing car window is determined according to the motion data and the environmental data;

any one or more of the prompt messages are output by adopting the following output devices: a vehicle-mounted display device and a color-changing window on an autonomous vehicle;

the environmental data includes at least one of a travel track and a path type.

3. The method of claim 2, wherein generating and outputting a hint message in accordance with the vehicle motion state data comprises:

determining the action, the trunk inclination angle and the inclination direction of the avatar according to the average centripetal force and the rotation direction in the vehicle motion state data, and generating a corresponding avatar animation;

and displaying the avatar animation through a display device arranged on the automatic driving vehicle before the target driving behavior is carried out.

4. The method of claim 2, wherein generating and outputting a hint message in accordance with the vehicle motion state data comprises:

determining a display graph and a display color according to the running track and the average centripetal force in the vehicle motion state data; the display graph is an arrow with the same shape as the running track, and the color depth of the display color is proportional to the average centripetal force;

And before the target driving behavior is carried out, displaying the display graph with the display color on an electronic map on a display device arranged in the automatic driving vehicle.

5. The method of claim 2, wherein generating and outputting a hint message in accordance with the vehicle motion state data comprises:

determining a display strategy of the color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the display strategy comprises at least one display color and display mode;

before the target driving behavior is carried out, controlling the color-changing car window to adjust display content according to the display strategy.

6. The method of claim 5, wherein determining a display strategy for the color shifting vehicle window based on the path type, rotational direction, and average centripetal force in the vehicle motion state data comprises:

determining a first display mode according to the path type in the vehicle motion state data; the first display mode is that the whole color-changing car window circularly changes between the current color and the color corresponding to the path type according to the change frequency;

determining the transformation frequency according to the average centripetal force in the vehicle motion state data; the transformation frequency is proportional to the average centripetal force;

And determining the display strategy to be the display strategy of the first display mode of the color-changing vehicle window at the conversion frequency.

7. The method of claim 5, wherein determining a display strategy for the stained glass based on the vehicle motion status data comprises:

determining a second display mode according to the path type and the rotation direction in the vehicle motion state data; the second display mode is that a plurality of preset areas in the color-changing vehicle window are converted into colors corresponding to the path types according to the sequence corresponding to the rotating direction;

determining a transformation speed according to the average centripetal force in the vehicle motion state data; said transition speed being proportional to said average centripetal force;

and determining the display strategy to be the display strategy of the second display mode of the color-changing vehicle window at the changing speed.

8. The method according to any one of claims 3-7, further comprising:

before the target driving behavior is carried out, controlling the electronic map to be displayed in a high-visual-angle display mode;

and after the target driving behavior is carried out, controlling the electronic map to be displayed in a low-visual-angle display mode.

9. The method according to any one of claims 3 to 7, further comprising, before said generating and outputting a hint information in accordance with said vehicle motion state data:

generating reminding audio according to the vehicle motion state data;

and before the target driving behavior is carried out, controlling sound playing equipment arranged on the automatic driving vehicle to play the reminding audio.

10. The method according to any one of claims 3 to 7, further comprising, before said generating and outputting a hint information in accordance with said vehicle motion state data:

the seat in which the passenger is located is controlled to vibrate before the target driving behavior is performed.

11. A road condition reminding device, characterized by being applied to a vehicle control system provided in an autonomous vehicle, comprising:

the automatic driving system comprises a judging module, a control module and a control module, wherein the judging module is used for judging whether an automatic driving vehicle is about to perform a target driving action with a turning angle larger than or equal to a preset angle in preset time according to a planned driving route and a current driving speed in the preset time;

The control module is used for generating and outputting prompt information according to the vehicle motion state data before the target running behavior is carried out;

wherein the vehicle motion state data includes at least one of motion data and environment data, the environment data is data for determining a shape of a turning route, and the prompt information includes any one or more of the following: virtual image animation, electronic map graph and display color of color-changing car window; the trunk inclination angle of the avatar in the avatar animation is generated according to the motion data; the display graph of the electronic map graph is used for displaying the track of the upcoming target driving behavior, and the depth of the display color of the display graph represents the influence degree of the target driving behavior on passengers; the display color and the display mode of the color-changing vehicle window are set according to the combination mode of the color-changing glass in the color-changing vehicle window, and the display mode is a mode of dynamically changing the color of the color-changing vehicle window.

12. The apparatus of claim 11, wherein the device comprises a plurality of sensors,

the motion data includes at least one of an average centripetal force, an angular velocity, a linear velocity, and a rotational direction; the virtual figure is at least one cartoon figure, and the at least one cartoon figure is in a sitting position or a standing position; the action of the avatar includes at least one of tilting the head, lifting the head by two arms, and sweating the cheeks, wherein the action of the avatar is determined according to the value of the average centripetal force; the motion and tilt directions of the avatar are generated according to the motion data; the trunk inclination angle of the virtual image is set according to the numerical interval of the motion data;

the environmental data includes at least one of a travel track and a path type.

13. The apparatus of claim 12, wherein the control module comprises:

a first determining unit for determining the motion, the trunk inclination angle and the inclination direction of the avatar according to the average centripetal force and the rotation direction in the vehicle motion state data, and generating a corresponding avatar animation;

14. The apparatus of claim 12, wherein the control module comprises:

15. The apparatus of claim 12, wherein the control module comprises:

the third determining unit is used for determining a display strategy of the color-changing vehicle window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data; the display strategy comprises at least one display color and display mode;

16. The apparatus of claim 15, wherein the third determining unit comprises:

17. The apparatus of claim 15, wherein the third determining unit comprises:

18. The apparatus according to any one of claims 13-17, wherein the apparatus further comprises:

the first display module is used for controlling the electronic map to be displayed in a high-visual-angle display mode before the target driving behavior is carried out;

and the second display module is used for controlling the electronic map to be displayed in a low-visual-angle display mode after the target driving behavior is performed.

19. The apparatus according to any one of claims 13-17, wherein the apparatus further comprises:

20. The apparatus according to any one of claims 13-17, wherein the apparatus further comprises:

21. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1 to 10.

22. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 10.