CN116802101A - Prompt method and device for vehicle - Google Patents

Prompt method and device for vehicle Download PDF

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Publication number
CN116802101A
CN116802101A CN202180080111.6A CN202180080111A CN116802101A CN 116802101 A CN116802101 A CN 116802101A CN 202180080111 A CN202180080111 A CN 202180080111A CN 116802101 A CN116802101 A CN 116802101A
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China
Prior art keywords
lane change
vehicle
state
instruction
lane
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CN202180080111.6A
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Chinese (zh)
Inventor
陈东
吴易霖
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN116802101A publication Critical patent/CN116802101A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • 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

Abstract

A method of prompting for a vehicle, the method comprising: determining an execution state of a motion change behavior of the vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle; generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state, and trigger information for describing that a trigger of the execution state is an automatic driving module or a driver; and controlling a player of the vehicle to play the prompt content. The method is beneficial to relieving psychological burden of drivers and increasing safety of an automatic driving system. An apparatus is also provided.

Description

Prompt method and device for vehicle
Copyright declaration
The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office patent files or records.
Technical Field
The present application relates to the field of autopilot, and more particularly to a prompting method and apparatus for a vehicle.
Background
An autonomous vehicle refers to an intelligent vehicle in which the vehicle is automatically controlled by a computer system in part or in whole functions.
Currently, the interaction between the driver and the autonomous vehicle is limited to operation instructions, i.e. the vehicle prompts the driver to do some kind of operation, e.g. "please hold the steering wheel" or "take over immediately", through a display screen mounted inside. The movement change behavior of the driver on the vehicle is not clear, so that psychological burden is generated on the driver due to instinctive reaction, and the driver lacks safety.
Disclosure of Invention
The embodiment of the application provides a prompting method and a prompting device for a vehicle, which are beneficial to relieving psychological burden of a driver and increasing safety of an automatic driving system.
In a first aspect, a method and an apparatus for prompting a vehicle are provided, where the method includes:
determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
And controlling a player of the vehicle to play the prompt content.
In a second aspect, there is provided a reminder device for a vehicle, the device comprising a processor for:
determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
and controlling a player of the vehicle to play the prompt content.
In a third aspect, there is provided a computer system comprising: a memory for storing computer executable instructions; a processor for accessing the memory and executing the computer-executable instructions to perform the operations of the method of the first aspect described above.
In a fourth aspect, a computer storage medium is provided in which program code is stored, which program code is operable to instruct the execution of the method of the first aspect described above.
In a fifth aspect, a computer program product is provided, the program product comprising program code operable to instruct the execution of the method of the first aspect described above.
Therefore, in the embodiment of the application, the execution state of the movement variation behavior of the vehicle is determined in response to the movement control instruction output by the automatic driving module of the vehicle and the operation instruction of the driver to the vehicle; generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver; the player of the vehicle is controlled to play the prompt content, so that a driver can know the execution state of the movement behavior of the vehicle in time, and psychological burden of the driver caused by worry about safe automatic driving operation is relieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a typical application scenario diagram.
Fig. 2 shows a schematic block diagram of a prompting method for a vehicle according to an embodiment of the present application.
Fig. 3 shows a schematic diagram of a state machine for performing state switching indicating a motion-changing behavior of a vehicle.
Fig. 4 shows a schematic block diagram of an apparatus for information prompting according to an embodiment of the application.
Detailed Description
The following description of the technical solutions according to the embodiments of the present application will be given with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The automatic driving (including automatic driving of L1-L5) vehicle refers to an intelligent vehicle with part or all of the functions of the vehicle being automatically controlled by a computer system, wherein in the running process of the vehicle, taking the L3-level automatic driving vehicle as an example, a task planning layer of an automatic driving module plans a path of the vehicle reaching a task target point by integrating perception observation information of surrounding environment and task information given by a driver in the vehicle, the behavior planning layer gives the optimal behavior of the current vehicle according to the given global path and environment information, then a non-collision local path is planned by a motion planning layer according to the appointed behavior, and a control layer controls the vehicle to run along the given local path until the vehicle reaches the target point.
In general, an automatic driving vehicle is provided with a display screen to display information, including all or part of information such as sensing observation information of surrounding environment, map information, planned global and local path information and the like. The interaction between the driver and the vehicle is limited to the operation instructions, for example, as shown in fig. 1. The vehicle prompts the driver of an operation instruction of "please hold the steering wheel" and "take over immediately". The driver is actually unaware of what the vehicle is performing and why such behavior is performed, which intangibly increases the driver's demands much, while greatly increasing their psychological burden, reducing the driver's test or riding safety.
In view of the above, the embodiment of the application provides a prompting method for a vehicle, which is beneficial to eliminating psychological burden of a driver and can also increase safety of an automatic driving vehicle.
The method comprises the following steps:
determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
And controlling a player of the vehicle to play the prompt content.
Optionally, the operation instruction of the driver to the vehicle is used for representing the motion control intention of the driver to the vehicle.
Optionally, the player includes a display screen and/or a speaker.
Optionally, the prompt content may further include reason information for describing that the vehicle enters the execution state.
Fig. 2 shows a schematic block diagram of a prompting method 10 for a vehicle in accordance with another alternative embodiment of the application. The method 10 may be performed, for example, by a processor on the vehicle, as shown in fig. 2, the method 10 including some or all of the following:
s11, acquiring a motion control instruction output by an automatic driving module of the vehicle.
S12, acquiring an operation instruction of a driver on the vehicle, wherein the operation instruction is used for representing the motion control intention of the driver on the vehicle.
S13, determining the execution state of the motion change behavior of the vehicle according to the motion control instruction and the operation instruction.
S14, determining description information of motion change behaviors, wherein the description information comprises state type information of the execution state and trigger information for triggering the vehicle to enter the execution state.
And S15, generating prompt contents according to the description information, wherein the prompt contents are used for broadcasting in the vehicle.
Optionally, in an embodiment of the present application, the processor may further control an output device on the vehicle to report the prompt content to the driver. For example, the processor may control a display screen on the vehicle to display the prompt to the driver. Alternatively, the processor may also control a speaker on the vehicle to play the prompt to the driver. Still alternatively, the processor may also control both the display and the speaker to communicate the prompt to the driver.
The prompt content generated by the processor is broadcasted to the driver, so that the driver can know the driving condition of the vehicle in time, psychological burden of the driver is greatly relieved, and safety of an automatic driving system is improved. In addition, the prompt content can be output to the driver through the loudspeaker, so that the driver can know the information of the current vehicle without paying attention to the information of the display screen all the time, and can know the driving condition of the vehicle in time, and the psychological burden of the driver can be further relieved.
Alternatively, in an embodiment of the present application, the movement variation behavior of the vehicle may include a lateral movement variation behavior and/or a longitudinal movement variation behavior, wherein the lateral movement variation behavior may include a lane-changing behavior, and the longitudinal movement variation behavior may include an in-lane behavior, such as following, cruising, accelerating and decelerating, and the like.
For example, the motion control commands output by the autopilot module may include lateral motion control commands and/or longitudinal motion control commands. Whereas lateral motion control commands include, for example, lane change control commands and longitudinal motion control commands include, for example, speed control commands. Alternatively, the lane change control command is used primarily to adjust the lateral motion control parameter such that the speed of the vehicle in the lateral direction changes, and the speed control command is used primarily to adjust the longitudinal motion control parameter such that the speed of the vehicle in the longitudinal direction changes.
As another example, the driver's operation instructions to the vehicle may include lateral movement operation instructions and/or longitudinal movement operation instructions. Similarly, the lateral movement operation instruction may include a lane change operation instruction, and the longitudinal movement operation instruction may include a speed operation instruction. Alternatively, the lane change operation instruction is mainly used to operate a driving operation member on the vehicle so that the speed of the vehicle in the lateral direction is changed, and the speed operation instruction is mainly used to operate a driving operation member on the vehicle so that the speed of the vehicle in the longitudinal direction is changed.
Alternatively, in the embodiment of the present application, the processor may periodically acquire the motion control instruction output by the autopilot module and the operation instruction of the driver on the vehicle, for example, the motion control instruction and the operation instruction may be updated in real time through a timer.
Further, the processor may determine an execution state in which the motion change behavior of the vehicle is based on the motion control instruction and the operation instruction obtained each time. In particular, the processor may utilize a finite state machine to switch the execution state in which the motion-changing behavior of the vehicle is located. The states in the finite state machine may be determined based on the context of the vehicle during driving. For example, a distinction from the direction of movement of the vehicle may include a lateral movement state and a longitudinal movement state. For another example, the motion change behavior of the vehicle in a single motion direction may be further refined, and for example, the lateral motion direction may further include an automatic lane change state, an automatic lane change cancellation state, a manual lane change cancellation state, and the like.
Alternatively, states in the state machine may be divided into a trigger state, an interrupt state, and a completion state according to state type information. That is, the state type information determined in step S14 may include one of a trigger state, an interrupt state, and a completion state. The trigger state refers to that the processor obtains a trigger instruction for triggering the execution of the motion change behavior, the interrupt state refers to that the processor obtains an interrupt instruction for interrupting the execution of the motion change behavior, and the completion state refers to that the processor obtains vehicle parameter information representing that the execution of the motion change behavior is completed. The vehicle parameter information may include at least one of a positioning parameter, a wheel speed parameter, an acceleration parameter, and an orientation parameter, among others.
Further, if the motion change state includes a lane change behavior, the state type information may include a lane change trigger state, a lane change interruption state, or a lane change completion state.
Specifically, if the processor obtains a lane change trigger instruction that triggers execution of a lane change behavior, the lane change trigger state may be determined as state type information; if the processor obtains a lane changing interruption instruction for interrupting the execution of the lane changing behavior, determining a lane changing interruption state as state type information; and if the vehicle parameter information representing the behavior of the completed execution lane change is obtained, determining the lane change completion state as state type information.
Alternatively, if the motion change behavior of the vehicle is a lane change behavior, the operation instruction may be a lane change operation instruction, and the motion control instruction may be a lane change control instruction. Further, if the trigger information is a driver and the state type information is a lane change trigger state, the operation instruction is a lane change trigger operation instruction; if the trigger information is a driver and the state type information is a lane change interruption state, the operation instruction is a lane change interruption operation instruction; if the trigger information is an automatic driving module and the state type information is a lane change trigger state, the lane change control instruction is a lane change trigger control instruction; if the trigger information is an automatic driving module and the state type information is a lane change interruption state, the lane change control instruction is a lane change interruption control instruction.
In the embodiment of the application, under the condition that the vehicle does not execute the lane change behavior and receives the instruction for triggering the vehicle to execute the lane change behavior, a lane change triggering instruction is generated; and generating a lane change interruption instruction under the condition that the vehicle is executing lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior and the lane change direction indicated by the instruction triggering the vehicle to execute the lane change behavior is inconsistent with the lane change direction of the lane change behavior executed by the vehicle.
Alternatively, in the embodiment of the application, the driver may acquire the operation instruction based on an operation of a driving operation member of the vehicle. The steering operation member may include, for example, at least one member of a steering wheel, a steering lever, a brake, a throttle, and a man-machine interaction screen.
When the driving operation member includes a steering lever, the processor may acquire a toggle position of the steering lever in response to an operation of the steering lever by the driver, so that the operation lane change operation instruction may be acquired based on the toggle position.
Further, for example, if the trigger information is a driver, the processor may determine a lane-change direction indicated by a steering lever based on the lane-change operation instruction; and if the lane change direction indicated by the steering rod is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change operation instruction as the lane change interruption operation instruction. For another example, if the trigger information is a driver, the processor may determine the lane change operation instruction as a lane change trigger operation instruction in a case where the lane change is not performed by the vehicle.
Alternatively, for example, if the trigger information is an autopilot module, the processor may determine the indicated lane change direction based on a lane change control instruction output by the autopilot module, and if the lane change direction indicated by the lane change control instruction is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determine the lane change control instruction as a lane change interruption control instruction. For another example, if the trigger information is an autopilot module, the processor may determine the lane change control command as a lane change trigger control command if the vehicle is not executing a lane change.
Optionally, in an embodiment of the present application, the description information determined in step S14 may further include cause information that triggers the vehicle to enter the execution state of the motion change behavior. Taking lane change behavior as an example, the reason information may include overtaking lane change, obstacle avoidance lane change or navigation lane change. Taking in-lane behavior as an example, the cause information may include lane keeping, following, emergency braking, or the like.
In one embodiment, the processor may obtain perceived observation information of the environment and determine the cause information based on the perceived observation information.
In another embodiment, the processor may obtain perceived observation information of the environment and motion parameter information of the vehicle, and determine the cause information based on the perceived observation information and the motion parameter information.
The reason reasoning of the vehicle executing the motion variation behavior is mainly to judge according to the specific execution state and in combination with the reason type of the motion variation behavior of the vehicle in the current execution state, taking automatic lane change as an example:
firstly, judging whether the difference between the time length required by the current lane to reach the middle and the time length required by the left lane change or the right lane change is larger than a corresponding threshold value and whether the vehicle is in a condition capable of navigating and changing lanes, if so, the reason for changing lanes of the vehicle is that the navigation and changing lanes; secondly, judging whether an obstacle exists in front or not and whether the current speed of the vehicle is greater than a threshold value of the lane changing speed, if so, then the reason for lane changing of the vehicle is that the lane changing is avoided; then according to whether a moving vehicle exists in front of the vehicle, if so, the vehicle is overtaking and lane changing in the range of departure, and the reason for lane changing of the vehicle is overtaking and lane changing; if the above reasons are not judged to be the same, the reason for the time-varying lane of the vehicle is unknown, and the reason for the time-varying lane of the vehicle can be increased by expanding more scenes in the future.
And similarly, different reasons can be set according to different states of the vehicle state machine and different states according to different current scenes of the vehicle, and then the reason of the current vehicle behavior is calculated in an inference mode.
In the embodiment of the application, the sensing observation information of the vehicle on the environment and/or the motion parameter information of the vehicle are mainly obtained through sensors carried on the vehicle, such as a positioning sensor, a temperature sensor, a pressure sensor and the like. The vehicle-to-environment perceived observation information may include, for example, information of dynamic and/or static obstacles, lane information, positioning information, and the like. The motion parameter information of the vehicle may include, for example, information of a motion speed, an acceleration, a wheel speed, an orientation, and the like of the vehicle. The perceived observation information of the vehicle on the environment can also be information given by adopting the Internet of vehicles. The autopilot module may be implemented by a central domain controller onboard the vehicle, which may be the same processor used to perform the method 10, or may be another processor onboard the vehicle. The information output by the autopilot module may include information of a mission planning layer, information of a behavior planning layer, information of a movement planning layer, and the like. The operation instruction of the vehicle by the driver may include an instruction issued to the vehicle by the driver through the operation device. The operating device may include a virtual device and a physical device. For example, the driver may issue a lane change command to the vehicle via the interactive interface, and the driver may issue a lane change command to the vehicle via the steering column.
The execution state of the motion change behavior described above to the vehicle may be switched by a finite state machine. Taking the motion change behavior as the lane change behavior as an example, the states of the finite state machine can include a manual lane change state (i.e. a shift lever lane change state), an automatic lane change state, a manual lane change cancellation state, an automatic lane change cancellation state and corresponding intermediate states thereof, and other states such as avoidance, emergency stop, following, taking over and the like can be added according to the requirements of actual scenes. A timer may be started during the state switching, i.e. the state switching is timed. For example, the state of the state machine may be determined at the start of a timer, the duration of which is the time the state machine is maintained in one state, and switched to the determined state. The starting time of the timer may be referred to herein as a state determination time, or may be referred to as a clock pulse.
The state machine can be generalized to 4 elements, namely, an active state, a condition, an action, and a minor state. Specifically, the current state refers to the state in which it is currently located; the conditions, also called events, when a condition is met will trigger an action, or perform a state transition; the action is not necessary, and when the condition is satisfied, the action may be performed, or any action may not be performed; the inferior state refers to a new state to which the condition is to be migrated after the condition is satisfied, and once activated, the inferior state becomes an active state.
Optionally, in the embodiment of the present application, the state jump of the state machine is related not only to the motion control command output by the autopilot module and the operation command of the driver on the vehicle, but also to at least one of the previous execution state and the motion change behavior in the previous execution state.
The operation of the state machine according to the embodiment of the present application, which is exemplified by lane change behavior, will be described in detail with reference to fig. 3. As shown in fig. 3, the state machine defines several states: a start state S000, an automatic lane change state S001, an automatic lane change cancel state S010, a manual lane change state S011, a manual lane change accept state S100, a manual lane change cancel state S101, a manual lane change reject state S110, and a wait state S111. The manual lane change state and the automatic lane change state may be combined into one state, i.e., a lane change state, and the manual lane change cancellation state and the automatic lane change cancellation state may be combined into one state, i.e., a lane change cancellation state.
It should be understood that, in the embodiment of the present application, the manual lane change canceling state refers to a state in which a lane change is manually canceled, including a state in which an automatic lane change is manually canceled and a state in which a manual lane change is manually canceled, and the automatic lane change canceling state refers to a state in which a lane change is automatically canceled, including a state in which an automatic lane change is automatically canceled and a state in which a manual lane change is automatically canceled.
The state machine is switched from one state to another under the control of a timer. That is, when each state determination time comes, the state is switched once. Here, the state switching may be a state in which the front and rear states are different from each other, or a state in which the front and rear states are the same.
Before the state machine works, the processor can calculate whether the current vehicle is in automatic driving or not and the macroscopic actions being executed, including manual, ready, automatic, request taking over, start failure, stop and the like, according to the task information of the vehicle.
After the vehicle starts automatic driving, the first state entered by the state machine is the start state S000. 1. At present, start state S000, the vehicle is in lane keeping or following mode:
● Condition 200: the operation instruction indicates that the vehicle changes lanes;
the following states: a manual lane change state S011;
at this time, the driver is the trigger that triggers the vehicle to perform the lane change function in the manual lane change state S011.
● Condition 201: the operating instruction indicates that the vehicle is not lane-changing and the motion control instruction indicates that the vehicle is lane-changing;
The following states: an automatic lane change state S001;
at this time, the trigger triggering the vehicle to execute the lane change behavior in the manual lane change state S011 is the automatic driving module.
● Condition 202: the motion control instruction and the operation instruction both indicate that the vehicle is not lane-changing;
the following states: start state S000.
2. At present, automatic lane change state S001:
● Condition 203: the operation instruction indicates that the vehicle does not change lanes or the lane changing direction indicated by the operation instruction is consistent with the lane changing direction of the lane changing behavior of the vehicle in the automatic lane changing state S001;
the following states: automatic lane change status S001.
● Condition 204: the lane change direction indicated by the operation instruction is inconsistent with the lane change direction of the lane change behavior of the vehicle in the automatic lane change state S001;
the following states: manual lane change cancellation state S101.
● Condition 205: the movement change behavior of the vehicle in the automatic lane change state S001 is in-lane behavior, and the lane change direction indicated by the operation instruction is inconsistent with the lane change direction indicated by the operation instruction or the movement control instruction in the start state S000;
the following states: manual lane change cancellation state S101.
● Condition 206: the motion change behavior of the vehicle in the automatic lane change state S001 is in-lane behavior, and the vehicle does not execute lane change, and at the moment, the operation instruction indicates the vehicle to change lanes or not change lanes;
The following states: and an automatic lane change cancel state S010.
● Condition 207: the motion change behavior of the vehicle in the automatic lane change state S001 is in-lane behavior, and the vehicle has performed lane change, wherein the operation instruction indicates the vehicle to perform lane change or no lane change;
the following states: wait state S111.
3. At present, automatic lane change cancellation state S010:
● Condition 208: when the timer overflows, the motion control instruction and the operation instruction are not updated;
the following states: wait state S111.
4. At present, manual lane change state S011:
● Condition 209: the motion change behavior of the vehicle in the manual lane change state S011 is lane change behavior, and the operation instruction indicates that the vehicle does not change lanes or the lane change direction indicated by the operation instruction is consistent with the lane change direction of the vehicle in the manual lane change state S011;
the following states: manual lane change accept state S100.
● Condition 210: the motion change behavior of the vehicle in the manual lane change state S011 is lane change behavior, and the lane change direction indicated by the operation instruction is inconsistent with the lane change direction of the vehicle in the manual lane change cancellation state S101;
the following states: manual lane change cancellation state S101.
● Condition 211: the motion change behavior of the vehicle in the manual lane change state S011 is an in-lane behavior, and the motion control instruction and the operation instruction are not updated when the timer overflows;
The following states: manual lane change rejection state S110.
● Condition 212: the motion change behavior of the vehicle in the manual lane change state S011 is an in-lane behavior, and the lane change direction indicated by the operation instruction at present is inconsistent with the lane change direction indicated by the operation instruction in the start state S000;
the following states: manual lane change cancellation state S101.
5. At present, manual lane change accepting state S100:
● Condition 213: the motion change behavior of the vehicle in the manual lane change receiving state S100 is lane change behavior, and the lane change direction indicated by the operation instruction is consistent with the lane change direction of the vehicle in the manual lane change receiving state S100;
the following states: manual lane change accept state S100.
● Condition 214: the motion change behavior of the vehicle in the manual lane change receiving state S100 is lane change behavior, and the lane change direction indicated by the operation instruction is inconsistent with the lane change direction of the vehicle in the manual lane change receiving state S100;
the following states: manual lane change cancellation state S101.
● Condition 215: the motion change behavior of the vehicle in the manual lane change acceptance state S100 is an in-lane behavior, and the vehicle has performed lane change;
the following states: wait state S111.
● Condition 216: the motion change behavior of the vehicle in the manual lane change acceptance state S100 is an in-lane behavior, and the vehicle does not perform lane change;
The following states: manual lane change cancellation state S101.
● Condition 217: the motion change behavior of the vehicle in the manual lane change receiving state S100 is in-lane behavior, and the lane change direction indicated by the operation instruction is inconsistent with the lane change direction of the vehicle in the manual lane change state S011;
the following states: manual lane change cancellation state S101.
● Condition 218: the motion change behavior of the vehicle in the manual lane change receiving state S100 is in-lane behavior, and the lane change direction indicated by the operation instruction is consistent with the lane change direction of the vehicle in the manual lane change state S011;
the following states: wait to state S111.
6. At present, the manual lane change cancellation state S101:
● Condition 219: the motion change behavior of the vehicle in the manual lane change canceling state S101 is lane change behavior, and the operation instruction indicates no lane change or the lane change direction indicated by the operation instruction is consistent with the lane change direction of the vehicle in the manual lane change canceling state S101;
the following states: automatic lane change status S001.
● Condition 220: the motion change behavior of the vehicle in the manual lane change canceling state S101 is lane change behavior, the operation instruction indicates no lane change or the lane change direction indicated by the operation instruction is inconsistent with the lane change direction of the vehicle in the manual lane change canceling state S101, and a timer overflows;
The following states: wait state S111.
● Condition 221: the motion change behavior of the vehicle in the manual lane change cancellation state S101 is an in-lane behavior, and a timer overflows;
the following states: wait state S111.
7. At present, manual lane change rejection state S110:
● Condition 222: the motion change behavior of the vehicle in the manual lane change rejection state S110 is lane change behavior, and the lane change direction indicated by the operation instruction is consistent with the lane change direction of the vehicle in the manual lane change rejection state S110;
the following states: manual lane change accept state S100.
● Condition 223: the motion change behavior of the vehicle in the manual lane change rejection state S110 is lane change behavior, and the operation instruction indicates no lane change;
the following states: automatic lane change status S001.
● Condition 224: the motion change behavior of the vehicle in the manual lane change rejection state S110 is an in-lane behavior, the operation instruction is not updated, and the operation instruction currently instructs the vehicle to perform lane change;
the following states: manual lane change rejection state S110.
● Condition 225: the motion change behavior of the vehicle in the manual lane change rejection state S110 is an in-lane behavior, the operation instruction is not updated, and the operation instruction currently indicates that the vehicle does not perform lane change;
The following states: start state S000.
8. A waiting state S111;
● A condition 226, the operating instruction is not updated, and the operating instruction currently indicates that the vehicle is not performing lane changes;
the following states: start state S000.
Although the embodiments of the present application show the switching of the driving behavior of the vehicle being accomplished by a finite state machine, other algorithms should not be excluded, e.g. based on rules, neural networks, probabilistic methods, etc.
Having described the prompting method for a vehicle according to an embodiment of the present application, a prompting device for implementing a vehicle according to an embodiment of the present application will be described below.
Fig. 4 shows a schematic block diagram of a reminder device 300 for a vehicle according to an embodiment of the application.
As shown in fig. 4, the prompting device 300 includes a processor 310, and may further include a memory 320.
It should be understood that the prompting device 300 may also include other components, such as input/output devices, communication interfaces, etc., which are not limited in this regard.
Memory 320 is used to store computer-executable instructions.
The memory 320 may be various kinds of memories, for example, may include a high-speed random access memory (Random Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory, which is not limited by the embodiment of the present application.
The processor 310 may include, but is not limited to, a microprocessor, a Field-programmable gate array (Field-Programmable Gate Array, FPGA), a central processor (Central Processing unit, CPU), a graphics processor (Graphics Processing Unit, GPU), or the like.
The processor 310 is configured to access the memory 320 and execute the computer-executable instructions to perform the operations of the prompting method for a vehicle according to the embodiment of the present application.
Specifically, in the embodiment of the present application, the processor 310 is configured to:
determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
and controlling a player of the vehicle to play the prompt content.
Optionally, in an embodiment of the present application, the state type information of the execution state includes a trigger state, an interrupt state, or a completion state, where the trigger state is used to indicate that a trigger instruction for triggering execution of the motion change behavior is obtained, the interrupt state is used to indicate that an interrupt instruction for interrupting execution of the motion change behavior is obtained, and the completion state is used to indicate that vehicle parameter information indicating that execution of the motion change behavior is completed is obtained.
Optionally, in an embodiment of the present application, the motion variation behavior includes a lateral motion variation behavior and/or a longitudinal motion variation behavior.
Optionally, in an embodiment of the present application, the lateral motion change behavior includes a lane change behavior, and the state type information of the lane change behavior includes a lane change trigger state, a lane change interruption state, or a lane change completion state.
Optionally, in an embodiment of the present application, the processor 310 is specifically configured to:
if a lane change trigger instruction for triggering and executing the lane change behavior is obtained, determining the lane change trigger state as the state type information;
if a lane changing interruption instruction for interrupting the execution of the lane changing behavior is obtained, determining the lane changing interruption state as the state type information;
and if the vehicle parameter information representing that the lane change behavior is completed is obtained, determining the lane change completion state as the state type information.
Optionally, in an embodiment of the present application, the processor 310 is further configured to:
generating a lane change triggering instruction under the condition that the vehicle does not execute the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior;
and generating the lane change interruption instruction under the condition that the vehicle is executing the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior and the lane change direction indicated by the instruction triggering the vehicle to execute the lane change behavior is inconsistent with the lane change direction of the lane change behavior executed by the vehicle.
Optionally, in an embodiment of the present application, the lane-changing triggering instruction is issued by the autopilot module or the driver, and the lane-changing interruption instruction is issued by the autopilot module or the driver.
Optionally, in an embodiment of the present application, the vehicle parameter information includes at least one of a positioning parameter, a wheel speed parameter, an acceleration parameter, and an orientation parameter.
Optionally, in an embodiment of the present application, the processor 310 is specifically configured to:
the operation instruction is acquired based on an operation of a driving operation member of the vehicle by the driver.
Optionally, in an embodiment of the present application, the operation instruction includes a lateral movement operation instruction and/or a longitudinal movement operation instruction of the driver on the vehicle.
Optionally, in an embodiment of the present application, the lateral movement operation instruction includes a lane change operation instruction of the driver, and the longitudinal movement operation instruction includes a speed operation instruction of the driver.
Alternatively, in an embodiment of the present application, the lane change operation instruction is for operating the driving operation member such that the speed of the vehicle in the lateral direction is changed, and the speed operation instruction is for operating the driving operation member such that the speed of the vehicle in the longitudinal direction is changed.
Optionally, in an embodiment of the present application, the trigger information is the driver, and the lane change operation instruction is a lane change trigger operation instruction or a lane change interruption operation instruction.
Optionally, in an embodiment of the present application, the driving operation component includes a steering lever, and the processor 310 is specifically configured to:
responding to the operation of the driver on the steering rod, and acquiring the poking position of the steering rod;
and acquiring the lane change operation instruction based on the toggle position.
Optionally, in an embodiment of the present application, the trigger information is the driver, and the processor 310 is further configured to:
determining the lane change direction indicated by the steering rod based on the lane change operation instruction;
and if the lane change direction indicated by the steering rod is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change operation instruction as the lane change interruption operation instruction.
Optionally, in an embodiment of the present application, the driving operation component includes at least one component of a steering wheel, a steering rod, a brake, a throttle, and a man-machine interaction screen.
Optionally, in an embodiment of the present application, the motion control command includes a lateral motion control command and/or a longitudinal motion control command for the vehicle output by the autopilot module.
Optionally, in an embodiment of the present application, the lateral motion control instruction includes a lane change control instruction output by the autopilot module, and the longitudinal motion control instruction includes a speed control instruction output by the autopilot module.
Optionally, in an embodiment of the present application, the lane-changing control instruction is configured to adjust a lateral movement control parameter so that a speed of the vehicle in a lateral direction changes, and the speed control instruction is configured to adjust a longitudinal movement control parameter so that a speed of the vehicle in a longitudinal direction changes.
Optionally, in an embodiment of the present application, the trigger information is the autopilot module, and the lane change control instruction is a lane change trigger control instruction or a lane change interrupt control instruction.
Optionally, in an embodiment of the present application, the trigger information is the autopilot module, and the processor is further configured to:
and if the lane change direction indicated by the lane change control instruction is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change control instruction as the lane change interruption control instruction.
Optionally, in an embodiment of the present application, the description information further includes reason information that triggers the vehicle to enter an execution state of the motion change behavior.
Optionally, in an embodiment of the present application, the processor 310 is further configured to:
acquiring perception observation information of the vehicle on the environment;
the processor 310 is specifically configured to:
and determining the reason information according to the perception observation information.
Optionally, in an embodiment of the present application, the processor 310 is further configured to:
acquiring motion parameter information of the vehicle;
the processor 310 is specifically configured to:
and determining the reason information according to the perception observation information and the motion parameter information.
Optionally, in an embodiment of the present application, if the motion variation behavior is a lateral motion variation behavior, the cause information includes an overtaking lane, an obstacle avoidance lane, or a navigation lane; if the movement change behavior is longitudinal movement change behavior, the reason information comprises lane keeping, vehicle following or emergency braking.
Optionally, in an embodiment of the present application, the processor 310 is further configured to:
and broadcasting the prompt content to the driver.
Optionally, in an embodiment of the present application, the processor 310 is specifically configured to:
and broadcasting the prompt content to the driver through a display screen or a loudspeaker in the vehicle.
Optionally, the prompting device 300 may implement a corresponding flow implemented by the execution body in the prompting method 10 for a vehicle according to the embodiment of the present application, which is not described herein for brevity.
The embodiment of the application also provides a computer storage medium, in which a program code is stored, the program code can be used for indicating to execute the video processing method of the embodiment of the application.
It should be understood that, in the embodiment of the present application, the term "and/or" is merely an association relationship describing the association object, which means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present application.
In addition, each functional unit in the embodiments 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 integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising 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 method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Unless defined otherwise, all technical and scientific terms used in the embodiments of the application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application.

Claims (55)

  1. A cue method for a vehicle, comprising:
    determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
    generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
    and controlling a player of the vehicle to play the prompt content.
  2. The prompting method according to claim 1, wherein the state type information of the execution state includes a trigger state for indicating that a trigger instruction for triggering execution of the motion change behavior is obtained, an interrupt state for indicating that an interrupt instruction for interrupting execution of the motion change behavior is obtained, or a completion state for indicating that vehicle parameter information indicating that execution of the motion change behavior is completed is obtained.
  3. A prompting method according to claim 2, characterized in that the movement variation behaviour comprises a lateral movement variation behaviour and/or a longitudinal movement variation behaviour.
  4. A prompting method according to claim 3 wherein said lateral motion change behavior comprises a lane change behavior and said state type information of lane change behavior comprises a lane change trigger state, a lane change interrupt state or a lane change completion state.
  5. The hint method of claim 4, wherein the determining the descriptive information for the execution state includes:
    if a lane change trigger instruction for triggering and executing the lane change behavior is obtained, determining the lane change trigger state as the state type information;
    if a lane changing interruption instruction for interrupting the execution of the lane changing behavior is obtained, determining the lane changing interruption state as the state type information;
    and if the vehicle parameter information representing that the lane change behavior is completed is obtained, determining the lane change completion state as the state type information.
  6. The method of claim 5, further comprising:
    generating a lane change triggering instruction under the condition that the vehicle does not execute the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior;
    And generating the lane change interruption instruction under the condition that the vehicle is executing the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior and the lane change direction indicated by the instruction triggering the vehicle to execute the lane change behavior is inconsistent with the lane change direction of the lane change behavior executed by the vehicle.
  7. The prompting method according to claim 5 or 6, wherein the lane-change triggering instruction is issued by the automatic driving module or the driver, and the lane-change interruption instruction is issued by the automatic driving module or the driver.
  8. The prompting method according to any one of claims 2 to 7, characterized in that the vehicle parameter information includes at least one of a positioning parameter, a wheel speed parameter, an acceleration parameter, and a heading parameter.
  9. The presentation method according to any one of claims 1 to 8, wherein the acquiring the operation instruction of the driver on the vehicle includes:
    the operation instruction is acquired based on an operation of a driving operation member of the vehicle by the driver.
  10. A prompting method according to claim 9, characterized in that the operating instructions comprise lateral movement operating instructions and/or longitudinal movement operating instructions of the driver on the vehicle.
  11. The prompting method according to claim 10, wherein the lateral movement operation instruction includes a lane change operation instruction of the driver, and the longitudinal movement operation instruction includes a speed operation instruction of the driver.
  12. The presentation method as claimed in claim 11, wherein the lane change operation instruction is for operating the driving operation member such that a speed of the vehicle in a lateral direction is changed, and the speed operation instruction is for operating the driving operation member such that a speed of the vehicle in a longitudinal direction is changed.
  13. The presentation method as claimed in claim 11 or 12, wherein the trigger information is the driver, and the lane change operation instruction is a lane change trigger operation instruction or a lane change interrupt operation instruction.
  14. The presentation method according to any one of claims 11 to 13, wherein the driving operation member includes a steering lever, the acquiring the operation instruction based on the operation of the driving operation member of the vehicle by the driver includes:
    responding to the operation of the driver on the steering rod, and acquiring the poking position of the steering rod;
    and acquiring the lane change operation instruction based on the toggle position.
  15. The prompting method according to claim 14, wherein the trigger information is the driver, the method further comprising:
    determining the lane change direction indicated by the steering rod based on the lane change operation instruction;
    and if the lane change direction indicated by the steering rod is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change operation instruction as the lane change interruption operation instruction.
  16. A method of prompting according to any one of claims 9 to 15 in which the steering operating component includes at least one component of a steering wheel, steering lever, brake, throttle and man-machine interaction screen.
  17. A prompting method according to any one of claims 1 to 8 wherein the motion control instructions include lateral and/or longitudinal motion control instructions to the vehicle output by the autopilot module.
  18. The prompting method according to claim 17 wherein said lateral movement control command includes a lane change control command output by said autopilot module and said longitudinal movement control command includes a speed control command output by said autopilot module.
  19. A method as claimed in claim 18, wherein the lane change control command is for adjusting a lateral movement control parameter such that the speed of the vehicle in the lateral direction changes, and the speed control command is for adjusting a longitudinal movement control parameter such that the speed of the vehicle in the longitudinal direction changes.
  20. The prompting method according to claim 18 or 19, wherein the trigger information is the automatic driving module, and the lane change control command is a lane change trigger control command or a lane change interrupt control command.
  21. The prompting method according to claim 20, wherein the trigger information is the autopilot module, the method further comprising:
    and if the lane change direction indicated by the lane change control instruction is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change control instruction as the lane change interruption control instruction.
  22. A prompting method according to any one of claims 1 to 21 wherein the descriptive information further includes cause information that triggers the vehicle to enter an execution state of the motion change behavior.
  23. A prompting method according to claim 22, characterized in that the prompting method further comprises:
    Acquiring perception observation information of the vehicle on the environment;
    the determining the description information of the execution state comprises the following steps:
    and determining the reason information according to the perception observation information.
  24. A prompting method according to claim 23, characterized in that the prompting method further comprises:
    acquiring motion parameter information of the vehicle;
    the determining the cause information according to the perception observation information comprises the following steps:
    and determining the reason information according to the perception observation information and the motion parameter information.
  25. The prompting method according to any one of claims 22 to 24, wherein if the motion change behavior is a lateral motion change behavior, the cause information includes a lane crossing, a lane avoidance, or a lane navigation; if the movement change behavior is longitudinal movement change behavior, the reason information comprises lane keeping, vehicle following or emergency braking.
  26. A prompting method according to any one of claims 1 to 25 wherein a driver's operating instructions to the vehicle are used to characterize the driver's intent to control the movement of the vehicle.
  27. A method of prompting according to any one of claims 1 to 26 in which the player includes a display screen and/or a speaker.
  28. A reminder device for a vehicle, comprising a processor for:
    determining an execution state of a motion change behavior of a vehicle in response to a motion control instruction output by an autopilot module of the vehicle and an operation instruction of a driver to the vehicle;
    generating prompt content according to the execution state, wherein the prompt content comprises state type information for describing the execution state and trigger information for describing that a trigger of the execution state is the automatic driving module or the driver;
    and controlling a player of the vehicle to play the prompt content.
  29. The apparatus according to claim 28, wherein the state type information of the execution state includes a trigger state indicating that a trigger instruction for triggering execution of the motion change behavior is obtained, an interrupt state indicating that an interrupt instruction for interrupting execution of the motion change behavior is obtained, or a completion state indicating that vehicle parameter information indicating that execution of the motion change behavior is completed is obtained.
  30. A reminder device according to claim 29, wherein the movement variation behaviour comprises lateral movement variation behaviour and/or longitudinal movement variation behaviour.
  31. The cue device of claim 30, wherein the lateral motion change behavior comprises a lane change behavior, and wherein the state type information of the lane change behavior comprises a lane change trigger state, a lane change interrupt state, or a lane change completion state.
  32. The prompting device of claim 31, wherein the processor is configured to:
    if a lane change trigger instruction for triggering and executing the lane change behavior is obtained, determining the lane change trigger state as the state type information;
    if a lane changing interruption instruction for interrupting the execution of the lane changing behavior is obtained, determining the lane changing interruption state as the state type information;
    and if the vehicle parameter information representing that the lane change behavior is completed is obtained, determining the lane change completion state as the state type information.
  33. The reminder device of claim 32, wherein the processor is further configured to:
    generating a lane change triggering instruction under the condition that the vehicle does not execute the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior;
    and generating the lane change interruption instruction under the condition that the vehicle is executing the lane change behavior and receives an instruction triggering the vehicle to execute the lane change behavior and the lane change direction indicated by the instruction triggering the vehicle to execute the lane change behavior is inconsistent with the lane change direction of the lane change behavior executed by the vehicle.
  34. A reminder device according to claim 32 or 33 in which the lane-change triggering instruction is issued by the autopilot module or the driver and the lane-change interruption instruction is issued by the autopilot module or the driver.
  35. The reminder device according to any one of claims 29 to 34, wherein the vehicle parameter information includes at least one of a positioning parameter, a wheel speed parameter, an acceleration parameter, and an orientation parameter.
  36. A reminder device according to any one of claims 28 to 35, wherein the processor is specifically configured to:
    the operation instruction is acquired based on an operation of a driving operation member of the vehicle by the driver.
  37. A reminder device according to claim 36, in which the operating instructions comprise lateral movement operating instructions and/or longitudinal movement operating instructions of the driver on the vehicle.
  38. The presentation device as claimed in claim 37, wherein said lateral movement operation instruction includes a lane change operation instruction of said driver, and said longitudinal movement operation instruction includes a speed operation instruction of said driver.
  39. A reminder device according to claim 38, wherein the lane-changing operation instruction is for operating the driving operation member such that a speed of the vehicle in a lateral direction is changed, and the speed operation instruction is for operating the driving operation member such that the speed of the vehicle in a longitudinal direction is changed.
  40. The presentation device as claimed in claim 38 or 39, wherein said trigger information is said driver and said lane change operation command is a lane change trigger operation command or a lane change interrupt operation command.
  41. A reminder device according to any one of claims 36 to 40, wherein the driving operation member comprises a steering rod, the processor being specifically adapted to:
    responding to the operation of the driver on the steering rod, and acquiring the poking position of the steering rod;
    and acquiring the lane change operation instruction based on the toggle position.
  42. The reminder device of claim 41, wherein the trigger information is the driver, the processor being further configured to:
    determining the lane change direction indicated by the steering rod based on the lane change operation instruction;
    and if the lane change direction indicated by the steering rod is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change operation instruction as the lane change interruption operation instruction.
  43. A reminder device according to any one of claims 36 to 42, wherein the driving operation component comprises at least one component of a steering wheel, a steering rod, a brake, a throttle and a human-machine interaction screen.
  44. A reminder device according to any one of claims 28 to 43 in which the movement control instructions comprise lateral movement control instructions and/or longitudinal movement control instructions for the vehicle output by the autopilot module.
  45. The prompting device of claim 44 wherein said lateral movement control commands comprise lane change control commands output by said autopilot module and said longitudinal movement control commands comprise speed control commands output by said autopilot module.
  46. The prompting device of claim 45 wherein said lane-change control command is for adjusting a lateral motion control parameter such that a speed of said vehicle in a lateral direction is changed and said speed control command is for adjusting a longitudinal motion control parameter such that a speed of said vehicle in a longitudinal direction is changed.
  47. A prompting device according to claim 44 or 45 wherein said trigger information is said autopilot module and said lane change control command is a lane change trigger control command or a lane change interrupt control command.
  48. The reminder device of claim 47, wherein the trigger information is the autopilot module, the processor being further configured to:
    And if the lane change direction indicated by the lane change control instruction is inconsistent with the lane change direction of the lane change behavior being executed by the vehicle, determining the lane change control instruction as the lane change interruption control instruction.
  49. A reminder device according to any one of claims 28 to 48, wherein the descriptive information further includes cause information that triggers the vehicle to enter an execution state of the athletic change behavior.
  50. A reminder device as recited in claim 49, wherein the processor is further configured to:
    acquiring perception observation information of the vehicle on the environment;
    the processor is specifically configured to:
    and determining the reason information according to the perception observation information.
  51. A reminder device as recited in claim 50, wherein the processor is further configured to:
    acquiring motion parameter information of the vehicle;
    the processor is specifically configured to:
    and determining the reason information according to the perception observation information and the motion parameter information.
  52. A prompting device according to any one of claims 49 to 51 wherein if the movement variation behaviour is lateral movement variation behaviour, the cause information includes overtaking lane change, obstacle avoidance lane change or navigation lane change; if the movement change behavior is longitudinal movement change behavior, the reason information comprises lane keeping, vehicle following or emergency braking.
  53. A prompting device according to any one of claims 28 to 52 wherein a driver's operating instructions to the vehicle are used to characterize the driver's intent to control the movement of the vehicle.
  54. A method of prompting according to any one of claims 28 to 53 in which the player includes a display screen and/or a speaker.
  55. A computer storage medium for storing program code for instructing performance of the method of any one of claims 1 to 27.
CN202180080111.6A 2021-03-29 2021-03-29 Prompt method and device for vehicle Pending CN116802101A (en)

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JP4609482B2 (en) * 2007-11-20 2011-01-12 トヨタ自動車株式会社 Vehicle operation method presentation device
CN107499311B (en) * 2016-06-14 2020-01-31 斑马网络技术有限公司 Driving mode switching method, device and equipment
CA3026666C (en) * 2017-06-30 2021-10-12 Beijing Didi Infinity Technology And Development Co., Ltd. Systems and methods for switching driving mode of vehicle
CN108297877B (en) * 2017-10-10 2019-08-13 腾讯科技（深圳）有限公司 Control method for vehicle, system and device
CN110682859B (en) * 2019-09-25 2021-05-28 恒大恒驰新能源汽车科技(广东)有限公司 Driving mode prompting method, storage medium, electronic equipment and vehicle

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