WO2021244142A1

WO2021244142A1 - Road condition prompting method and apparatus, electronic device, and storage medium

Info

Publication number: WO2021244142A1
Application number: PCT/CN2021/086899
Authority: WO
Inventors: 李昌远; 胡达; 彭归航
Original assignee: 北京航迹科技有限公司
Priority date: 2020-06-01
Filing date: 2021-04-13
Publication date: 2021-12-09
Also published as: CN111645703B; CN111645703A; CN113954869A; CN113954869B

Abstract

The present application provides a road condition prompting method and apparatus, an electronic device, and a storage medium, being applied to a vehicle control system provided in a self-driving vehicle. The method comprises: according to a planned driving route within a preset period of time and the current driving speed, a vehicle control system determines whether a self-driving vehicle is about to perform a target driving behavior having a turning angle greater than or equal to a preset angle within the preset period of time; if the self-driving vehicle is about to perform said target driving behavior within the preset period of time, the vehicle control system calculates vehicle movement state data when the target driving behavior is performed; and the vehicle control system controls, according to the vehicle movement state data, the self-driving vehicle to drive, and outputs prompt information before the target driving behavior is performed. The present application outputs the prompt information before the self-driving vehicle performs the target driving behavior, so as to prompt a passenger to be prepared for prevention, thereby improving the riding safety of the self-driving vehicle.

Description

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

Priority statement

This application claims the priority of the Chinese patent application with the application number 202010486452.0 filed on June 1, 2020, which is incorporated herein by reference in its entirety.

Technical field

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

Background technique

Self-driving cars are a type of smart cars, also known as wheeled mobile robots, which mainly rely on the intelligent driving instrument in the car, which is based on a computer system, to achieve the purpose of unmanned driving. Autonomous vehicles use on-board sensors to perceive the surrounding environment of the vehicle, automatically plan the driving route, and control the steering and speed of the vehicle based on the road, vehicle location and obstacle information obtained from the perception, so that the vehicle can be safely and reliably on the road Driving. Self-driving cars are a combination of many technologies such as automatic control, architecture, artificial intelligence, and visual computing. It is a product of the highly developed computer science, pattern recognition and intelligent control technology. It is also an important indicator of scientific research strength and industrial level. The field of national defense and national economy has broad application prospects.

In the prior art, self-driving cars travel automatically. Passengers learn about special routes (such as turning, turning the front of the car, etc.) through electronic maps throughout the entire journey. It is difficult for passengers to predict and prepare for situations that have a greater impact on the passenger’s own posture. There are security risks.

Summary of the invention

In view of this, the purpose of this application is to provide a road condition reminding method, device, electronic equipment, and storage medium that can remind passengers of the target driving behavior to be carried out by the autonomous vehicle to solve the problem of how to improve the automatic driving behavior in the prior art. The problem of the safety of driving a car is to feed back the vehicle motion state data that may cause safety hazards to the passengers in advance, so that the passengers can respond to the driving situation of the autonomous vehicle in advance.

According to an aspect of the present application, there is provided an electronic device, which 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 running, the processor and the storage medium communicate through a bus, and the processor executes the machine-readable instructions to perform the following operations: a road condition reminding method applied to a vehicle control system installed in an autonomous vehicle , Including: the vehicle control system determines whether the autonomous vehicle will perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time according to the planned driving route and the current driving speed within the preset time; if the vehicle control system is in If the target driving behavior with a turning angle greater than the preset angle is to be performed within the preset time, the vehicle motion state data when the target driving behavior is performed is calculated; the vehicle control system controls the autonomous vehicle to drive according to the vehicle motion state data, and the target driving behavior Output prompt information before proceeding.

In some embodiments, the output of the prompt information before the target driving behavior is performed includes: the vehicle control system generates the 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 : On-vehicle display equipment and color-changing windows on autonomous vehicles; vehicle motion state data includes any one or more of the following: average centripetal force, rotation direction, driving trajectory and path type; prompt information includes any one or more of the following Species: animation, electronic map graphics and colors.

In some embodiments, the outputting prompt information before the target driving behavior is performed includes: the vehicle control system determines the action, the torso tilt angle, and the tilt direction of the avatar based on the average centripetal force and rotation direction in the vehicle motion state data , And generate a corresponding avatar animation; the avatar’s actions are generated based on the average centripetal force and the rotation direction, the torso tilt angle is proportional to the average centripetal force, and the tilt direction is the same as the rotation direction; The control system displays the avatar animation through a display device provided on the autonomous vehicle before the target driving behavior is performed.

In some embodiments, the outputting prompt information before the target driving behavior is performed includes: a vehicle control system determines a display graphic and a display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is For an arrow with the same shape as the driving track, the color depth of the display color is proportional to the average centripetal force; the vehicle control system will have the display color on the display device set in the autonomous vehicle before the target driving behavior The display graphics are displayed on the electronic map.

In some embodiments, the outputting prompt information before the target driving behavior is performed includes: the vehicle control system determines the display strategy of the color-changing window according to the path type, rotation direction, and average centripetal force in the vehicle motion state data; The display strategy includes at least one display color and display mode; before the target driving behavior is performed, the vehicle control system controls the color-changing window to adjust the display content according to the display strategy.

In some embodiments, the vehicle control system determines the display strategy of the color-changing window according to the path type, rotation direction, and average centripetal force in the vehicle motion state data, including: The first display mode is determined by the path type; the first display mode is that the color-changing window as a whole cyclically changes between the current color and the color corresponding to the path type according to the conversion frequency; the vehicle control system is based on the movement of the vehicle The average centripetal force in the state data determines the transformation frequency; the transformation frequency is proportional to the average centripetal force; the vehicle control system determines that the display strategy is the display strategy of the first display mode of the variable speed window at the transformation frequency.

In some embodiments, the vehicle control system determines the display strategy of the color-changing glass according to the vehicle motion state data, including: the vehicle control system determines the second display according to the path type and the rotation direction in the vehicle motion state data The second display method is that a plurality of preset areas in the color-changing window are transformed into colors corresponding to the path type according to the order corresponding to the rotation direction; the vehicle control system is based on the vehicle motion state data The average centripetal force in, determines the transformation speed; the transformation speed is proportional to the average centripetal force; the vehicle control system determines that the display strategy is the display strategy of the second display mode for the color-changing window at the transformation speed.

In some embodiments, before the vehicle control system controls the self-driving vehicle to drive according to the vehicle motion state data, the method further includes: the vehicle control system controls the electronic map to display in a high-view display mode; After the self-driving vehicle completes the target driving behavior, the method further includes: the vehicle control system controls the electronic map to display in a low-view display mode.

In some embodiments, the output of prompt information before the target driving behavior is performed further includes: a vehicle control system generates a reminder audio according to the vehicle motion state data; and the vehicle control system controls the autonomous vehicle before the target driving behavior is performed The sound playback device set on the computer plays the reminder audio.

In some embodiments, the output of prompt information before the target driving behavior is performed further includes: the vehicle control system controls the passenger seat to vibrate before the target driving behavior is performed.

According to another aspect of the present application, there is also provided a road condition reminder device, which is applied to a vehicle control system installed in an automatic driving vehicle, and includes: a judgment module, which is used to determine the planned driving route and current driving speed within a preset time , To determine whether the self-driving vehicle will perform a target driving behavior with a turning angle greater than or equal to a preset angle within a preset time; the calculation module is used to perform a target driving behavior with a turning angle greater than the preset angle within the preset time, Then calculate the vehicle motion state data when the target driving behavior is performed; the control module is used to control the automatic driving vehicle to drive according to the vehicle motion state data, and output prompt information before the target driving behavior is performed.

In some embodiments, the control module includes: a generating unit 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, driving trajectory, and Path type; prompt information includes any one or more of the following: animation, electronic map graphics and colors; output unit, used to output prompt information through any one or more of the following output devices: vehicle display equipment and automatic driving Discoloration windows on the vehicle.

In some embodiments, the control module includes: a first determining unit, configured to determine the avatar's action, torso tilt angle, and tilt direction according to the average centripetal force and rotation direction in the vehicle motion state data, and generate Corresponding avatar animation; the action of the avatar is generated according to the average centripetal force and rotation direction, the torso tilt angle is proportional to the average centripetal force, and the tilt direction is the same as the rotation direction; the first display unit , Which is used to display 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 includes: a second determining unit, configured to determine a display graphic and a display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is related to the driving trajectory For arrows with the same shape, the color depth of the display color is proportional to the average centripetal force; the second display unit is used to display the display on the display device installed in the autonomous vehicle before the target driving behavior is performed. The display graphics of colors are displayed on the electronic map.

In some embodiments, the control module includes: a third determining unit, configured to determine a display strategy for the color-changing window according to the path type, rotation direction, and average centripetal force in the vehicle motion state data; the display strategy It includes at least one display color and display mode; a third display unit is used to control the color-changing window to adjust the display content according to the display strategy before the target driving behavior is performed. In some embodiments, the third determining unit includes: a first determining subunit, configured to determine a first display mode according to the path type in the vehicle motion state data; the first display mode is the The color-changing window as a whole cyclically changes between the current color and the color corresponding to the path type according to the change frequency; the second determining subunit is used to determine the change frequency according to the average centripetal force in the vehicle motion state data; The transformation frequency is proportional to the average centripetal force; the first strategy subunit is used to determine that the display strategy is the display strategy of the first display mode for the variable speed window at the transformation frequency.

In some embodiments, the third determining unit includes: a third determining subunit, configured to determine a second display mode according to the path type and rotation direction in the vehicle motion state data; the second display mode It is that the multiple preset areas in the color-changing window are transformed into the color corresponding to the path type in the order corresponding to the rotation direction; the fourth determining subunit is used to determine the average value according to the vehicle motion state data. The centripetal force determines the conversion speed; the conversion speed is proportional to the average centripetal force; the second strategy subunit is used to determine that the display strategy is the display strategy of the second display mode of the color-changing window at the conversion speed.

In some embodiments, the device further includes: a first display module for controlling the electronic map to display in a high-view display mode before controlling the autonomous vehicle to drive according to the vehicle motion state data; and a second display module, After controlling the autonomous driving vehicle to complete the target driving behavior, the electronic map is controlled to be displayed in a low-view display mode.

In some embodiments, the device further includes: an audio module, configured to generate reminder audio based on the vehicle motion state data; and a playback module, configured to control sound playback set on the self-driving vehicle before the target driving behavior is performed The device plays the reminder audio.

In some embodiments, the device further includes a vibration module for controlling the seat where the passenger is to vibrate before the target driving behavior is performed.

Based on any of the above aspects, the vehicle control system monitors the target driving behavior that will turn beyond the preset angle. When the target driving behavior is monitored, the vehicle motion state data when the target driving behavior is performed is calculated. Before the vehicle performs the target driving behavior, it outputs prompt information to remind passengers to prepare for precautions, thereby improving the safety of the self-driving vehicle.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative work.

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

FIG. 2 shows a flowchart of a first specific prompt information output method in a road condition reminding method provided by an embodiment of the present application;

FIG. 3 shows a flowchart of a second specific prompt information output method in a road condition reminding method provided by an embodiment of the present application;

FIG. 4 shows a flow chart of a third specific prompt information output method in a road condition reminding method provided by an embodiment of the present application;

FIG. 5 shows a schematic structural diagram of a road condition reminding device provided by an embodiment of the present application;

Fig. 6 shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be described clearly and completely in conjunction with the drawings in the embodiments of this application. It should be understood that this application is attached The drawings are only for the purpose of illustration and description, and are not used to limit the scope of protection of this application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowchart used in this application shows operations implemented according to some embodiments of this application. It should be understood that the operations of the flowchart may be implemented out of order, and steps without logical context may be reversed in order or implemented at the same time. In addition, under the guidance of the content of this application, those skilled in the art can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of the present application.

In order to enable those skilled in the art to use the content of this application, in conjunction with a specific application scenario "automatic driving of a vehicle", the following implementation manners are given. For those skilled in the art, without departing from the spirit and scope of the application, the general principles defined here can be applied to other embodiments and application scenarios. Although this application is mainly described around the driving of an autonomous vehicle, it should be understood that this is only an exemplary embodiment.

It should be noted that the term "including" will be used in the embodiments of this application to indicate the existence of the features declared thereafter, but it does not exclude the addition of other features.

The positioning technology used in this application can be based on Global Positioning System (GPS), 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 technology, etc., or any combination thereof. One or more of the above positioning systems can be used interchangeably in this application.

One aspect of the present application relates to a vehicle control system for an autonomous driving vehicle. The system can monitor the vehicle turning angle of the planned route segment within a preset time when the autonomous vehicle is following the planned route, and determine in advance whether there is a driving behavior that exceeds the preset angle. When the target driving behavior is monitored, it will immediately Calculate the vehicle motion state data of the self-driving vehicle during the target driving behavior, and generate prompt information to display to the passengers, reminding the passengers to take countermeasures in advance.

It is worth noting that before the application was filed, most autonomous vehicles only used electronic maps to feed back the current driving status to passengers. However, the road condition reminding method provided in the present application can provide passengers with advance reminders for special driving behaviors. Therefore, the vehicle control system of the present application can provide a safer riding experience for the passengers of the self-driving vehicle.

In some embodiments, the 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 in this application. In some embodiments, the processor may include one or more processing cores (e.g., a single-core processor (S) or a multi-core processor (S)). For example only, the processor may include a central processing unit (Central Processing Unit, CPU), an application specific integrated circuit (ASIC), a dedicated instruction set processor (Application Specific Instruction-set Processor, ASIP), and a 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 Computing (RISC), or microprocessor, etc., or any combination thereof.

The following describes in detail the road condition reminding method provided by the embodiment of the present application that adopts the above-mentioned vehicle control system.

Referring to FIG. 1, it is a schematic flowchart of a road condition reminding method provided by an embodiment of this application. The specific execution process of the method is as follows:

Step S101: The vehicle control system determines whether the autonomous vehicle will perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time according to the planned driving route and the current driving speed within the preset time;

Step S102: If the vehicle control system will perform a target driving behavior with a turning angle greater than the preset angle within a preset time, calculate the vehicle motion state data when the target driving behavior is performed;

Step S103: The vehicle control system controls the self-driving vehicle to drive according to the vehicle motion state data, and outputs prompt information before the target driving behavior is performed.

Specifically, the vehicle control system in the self-driving vehicle determines whether the self-driving vehicle will continue to travel according to the planned route for a preset time according to the current speed of the vehicle when the self-driving vehicle is driving according to a pre-planned planned route. The target driving behavior with an angle greater than or equal to the preset angle. The preset time can be set according to the data processing capability of the vehicle control system. For example, the preset time can be 10 seconds, 15 seconds, 20 seconds, etc., the vehicle control system The better the data processing capability of the vehicle, the shorter the preset time can be to reduce the calculation pressure of the vehicle control system. The above-mentioned preset angle can be 30 degrees, 60 degrees, 90 degrees, etc. The angle can be determined according to the driving speed of the autonomous vehicle when turning, because here is considered the average centripetal force of the autonomous vehicle when passing the turn. Influence, generally speaking, the lower the driving speed, the larger the preset angle can be.

The vehicle motion state data includes motion data and environmental data. When the vehicle control system determines that a turn greater than the preset angle will be made within the preset time, the vehicle control system will base on the trajectory and angle of the turn and the speed of the autopilot vehicle during the turn (it can be linear speed or it can be Angular velocity) to calculate the motion data; the vehicle control system analyzes the path type of the road section where the autonomous vehicle will turn according to the turning trajectory and the surrounding road conditions, that is, the environmental data.

Before the vehicle control system controls the self-driving vehicle to perform the target driving behavior of the turn according to the calculated vehicle motion state data, the vehicle control system will advance the prompt information generated based on the above-mentioned vehicle motion state data through the output device loaded on the self-driving vehicle. Output to remind passengers that the self-driving vehicle is about to perform target driving behaviors that will have a greater impact on it, so that passengers can take safety measures in advance.

In this embodiment, the vehicle control system monitors the target driving behavior that will turn beyond the preset angle. When the target driving behavior is monitored, the vehicle motion state data when the target driving behavior is performed is calculated, and the vehicle performs the Prompt messages are output before the target driving behavior to remind passengers to prepare for precautions, thereby improving the safety of the self-driving vehicle.

In some embodiments, the above step S103 includes:

The vehicle control system generates prompt information based on the vehicle motion state data. Among them, the vehicle control system outputs prompt information through any one or more of the following output devices: on-board display devices and color-changing windows on autonomous vehicles. The vehicle motion state data includes any one or more of the following: average centripetal force, rotation direction, driving trajectory, and path type. The prompt information includes any one or more of the following: animation, electronic map graphics and colors. Specifically, the output device mounted on the self-driving vehicle may be a vehicle-mounted display device or a color-changing window that replaces the traditional window glass, or it may be a vehicle-mounted audio, a car seat, and the like.

Among them, the above-mentioned color-changing car window is a car window composed of multiple pieces of color-changing glass of the same or different shapes. The color-changing glass used for the color-changing car window may be electrochromic glass, and the electrochromic material used for the electrochromic glass The phenomenon of stable and reversible color change can occur under the action of a lower driving voltage or current, which is manifested as a reversible change in color and transparency in appearance. Electrochromic materials are divided into inorganic electrochromic materials and organic electrochromic materials. For the color changing material, inorganic electrochromic materials can be selected, such as tungsten trioxide, and organic electrochromic materials can be selected such as polythiophenes and their derivatives, viologens, tetrathiafulvalene, metal phthalocyanine compounds, and the like. Electrochromic glass is generally composed of a glass substrate, a transparent conductive layer, an electrochromic layer, an ion conductor layer, and an ion storage layer. The above is only a schematic description of the specific implementation of the color-changing glass, but it is not limited thereto, and the specific implementation of the color-changing glass is not limited in this application.

The vehicle motion state data includes motion data and environmental data. The motion data includes the average centripetal force, angular velocity, linear velocity and rotation direction, etc. Since the average centripetal force can be calculated from the angular velocity or the linear velocity, the average centripetal force indirectly reflects the angular velocity and the linear velocity. When the self-driving vehicle makes a turn, it will give targeted reminders to the conditions that will affect the passengers. The average centripetal force is the main factor that affects the attitude of the passengers when the vehicle makes a turn. Therefore, the transportation data in the vehicle motion state data can be only Including average centripetal force and rotation direction; environmental data includes driving trajectory and path type, environmental data is mainly used to determine the shape of the turning route or need to determine the display strategy, color, etc., to provide a data basis when generating prompt information.

Since the output device on the self-driving vehicle has an on-board display device, the prompt information can be an animation generated by the vehicle's motion state data, or a graphic added to the electronic map; on the other hand, considering the display of the color-changing window The way of prompting information is mainly to display the color change, so the prompting information can also be the color determined by the vehicle motion state data.

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

Step S201: The vehicle control system determines the action, torso tilt angle and tilt direction of the avatar based on the average centripetal force and rotation direction in the vehicle motion state data, and generates a corresponding avatar animation; the action of the avatar is based on the above average Centripetal force and rotation direction are generated, the above-mentioned trunk tilt angle is proportional to the above-mentioned average centripetal force, and the above-mentioned tilt direction is the same as the rotation direction;

Step S202: The vehicle control system displays the above-mentioned avatar animation through the display device provided on the autonomous vehicle before the target driving behavior is performed.

Specifically, in a scenario where the prompt information is displayed in the form of an avatar animation, the prompt information is an avatar animation that can reflect the impact of the target driving behavior on passengers. The avatar can be presented as one or more cartoon doll images, which can be sitting or standing. The actions of the avatar, the tilt angle and direction of the torso, and other specific postures are used to show that the autonomous vehicle is in progress. The impact on passengers during the target driving behavior, that is, reflects the average centripetal force and rotation direction in the vehicle motion state data.

The vehicle control system needs to determine the action of the avatar based on the average centripetal force. For example, if the value of the average centripetal force is in the range of smaller values, the action of the avatar can be tilting the head; the value of the average centripetal force is in the range of larger values. The action of the avatar can be raised arms above the head and sweating on the cheeks.

The inclination angle of the torso of the avatar is directly proportional to the average centripetal force, that is, the greater the average centripetal force, the greater the inclination angle of the torso of the avatar; the inclination angle of the torso of the avatar can also be a fixed angle, for example, it can be 20 Degrees, 40 degrees, 60 degrees, and set the corresponding average centripetal force value interval for each angle.

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

The actions, torso tilt angle and tilt direction of the above-mentioned avatar are realized on the preset avatar to generate avatar animation, and display the avatar animation through the display device installed on the autonomous vehicle. When the display device used for the avatar animation display and the display device used for the electronic map are the same device, the avatar animation can cover the electronic map being displayed by the display device, or display the preset area on the device. It is displayed without affecting passengers' viewing of the main screen of the electronic map.

The advantage of displaying prompt information through avatar animation is that avatar animation can visually display vehicle motion state data to passengers. Passengers can quickly understand the target driving behavior of the autonomous vehicle according to the action and torso posture of the avatar. Passengers can take countermeasures in advance to reduce the threat to their own safety caused by target driving behaviors, and ride in autonomous vehicles safely.

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

Step S301: The vehicle control system determines the display graphic and display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is an arrow with the same shape as the driving trajectory, and the color depth of the display color is proportional to the average centripetal force. Proportional

Step S302: Before the target driving behavior is performed, the vehicle control system displays the display graphics with the display colors on the electronic map on the display device provided in the autonomous driving vehicle.

Specifically, in a scenario where the prompt information is displayed through graphic display in an electronic map, the prompt information is a display graphic with a display color.

The vehicle control system needs to generate an arrow graphic identical to the driving trajectory according to the driving trajectory in the vehicle motion state data as a display graphic.

The display color is a preset basic color, or a set of colors ranging from light to dark. The color depth of the display color is proportional to the average centripetal force. The greater the average centripetal force, that is, the greater the impact of the autonomous vehicle on passengers when turning, the darker the display color. For example, the display color is red. When the average centripetal force is small, the display color is light red, and when the average centripetal force is large, a darker wine red is used.

The vehicle control system displays the display graphics with the above display colors on the electronic map. The display graphics can be integrated with the electronic map, that is, displayed according to the display mode of the electronic map, or can be independent of the electronic map. The preset area on the interface is displayed.

The advantage of displaying the prompt information through the graphic display in the electronic map is that the graphic can more intuitively show the trajectory of the target driving behavior that is about to be carried out, and the degree of influence of the target situation behavior on the passengers can be expressed through the color depth. In some special scenarios, the electronic map cannot show passengers the specific conditions of the road well, and the display of prompt information through graphic display can improve this situation. For example, when the vehicle is about to enter the ramp, generally speaking, the electronic map Most of the display is displayed from a bird’s-eye view. From this angle, the overlapping part of the road will not be displayed. The arrow graphic generated by the vehicle control system according to the driving trajectory can be a three-dimensional display graphic. The display graphic is displayed. At the time, the display will be displayed from the perspective that enables passengers to understand the three-dimensional structure of the ramp, and the display color of the display graphic will be set according to the average centripetal force. The method of displaying prompt information through the above graphic display enables passengers to make countermeasures in advance to reduce the threat to their own safety caused by target driving behaviors, thereby improving the safety of self-driving cars.

When the avatar animation and the electronic map graphics are used to display the prompt information at the same time, if at least two on-board display devices are installed on the autonomous vehicle, the vehicle control system will display the avatar animation and the electronic map graphics in different On the vehicle-mounted display device; if only one vehicle-mounted display device is installed on the self-driving vehicle, the vehicle control system can sequentially display the avatar animation and the electronic map graphics according to the preset display sequence.

In some embodiments, the foregoing step S103, as shown in FIG. 4, includes:

Step S401: The vehicle control system determines a display strategy for the color-changing window based on the path type, rotation direction and average centripetal force in the vehicle motion state data; the display strategy includes at least one display color and display method;

Step S402: Before the target driving behavior is performed, the vehicle control system controls the color-changing window to adjust the display content according to the display strategy.

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

The display strategy includes two aspects of display color and display mode. The display color is generally a corresponding relationship between a preset path type and at least one display color, and the display color can be determined according to the path type.

The display mode is the dynamic change of the color of the discolored window determined by the path type, the direction of rotation and the average centripetal force.

Under the control of the vehicle control system, the color-changing window displays the above-mentioned display color through the above-mentioned display method, which is the display strategy determined by the vehicle control system.

The specific display strategy can be adaptively set according to the combination of the color-changing glass in the color-changing window. In the embodiment of the present application, the color-changing window is composed of a plurality of long strips of color-changing glass, which are vertically arranged and combined. As an example, give an example of a specific display strategy:

In some embodiments, the above step S401 includes:

a1. The vehicle control system determines the first display mode according to the path type in the vehicle motion state data; the first display mode is that the color-changing window as a whole cyclically changes between the current color and the color corresponding to the path type according to the conversion frequency ；

a2. The vehicle control system determines the conversion frequency according to the average centripetal force in the vehicle motion state data; the conversion frequency is directly proportional to the average centripetal force;

a3. The vehicle control system determines that the display strategy is the display strategy of the first display mode for the variable speed window at the above-mentioned frequency.

Specifically, the first display method is to perform the color cycle change of the color-changing window as a whole. In this display method, the path type of the self-driving vehicle is reflected by the display color, and the direction of rotation cannot be well reflected. The map knows the direction of rotation.

In the first display method, the overall color of the color-changing window changes cyclically, so it is necessary to determine the conversion frequency, and the conversion frequency is proportional to the average centripetal force, that is, the greater the average centripetal force, the faster the conversion frequency, and passengers can pass through the color-changing window The frequency of color change is used to understand the impact of the upcoming target driving behavior on itself.

In some embodiments, the above step S401 includes:

The vehicle control system determines the second display mode according to the path type and rotation direction in the vehicle motion state data; the second display mode is that the multiple preset areas in the color-changing window are transformed into a sequence corresponding to the rotation direction. The color corresponding to the above path type;

a4. The vehicle control system determines the conversion speed according to the average centripetal force in the vehicle motion state data; the conversion speed is directly proportional to the average centripetal force;

a5. The vehicle control system determines that the display strategy is the display strategy of the second display mode for the color-changing window at the above conversion speed.

Specifically, the second display method is a display method similar to a revolving lantern, which determines the color change sequence of each color changing glass on the color changing window according to the rotation direction. For example, if the rotation direction is right turn, then the color change sequence is the color change on the window Change colors from left to right.

Since the color changes from left to right, the speed change can be used to reflect the impact of the upcoming target driving behavior on passengers. Therefore, the change speed is proportional to the average centripetal force, that is, the greater the average centripetal force, the faster the change speed.

The advantage of displaying the prompt information through the color-changing window provided by the above embodiments is that the area of the color-changing window is large, and passengers are easily aware of the color change of the color-changing window. According to different needs, different display strategies can be used. In the strategy of changing the color of the color glass in a preset order, different combinations of color-changing windows can be used according to the needs of the color-changing strategy. In addition to the above-mentioned vertical side-by-side combination of color-changing windows, you can also use arrow-shaped color changes with special shapes. As a component of the color-changing window, the actual display strategy in the display method is similar to the second display method mentioned above, and will not be repeated here.

In some embodiments, before the vehicle control system controls the self-driving vehicle to drive according to the vehicle motion state data, the above method further includes:

b1. The electronic map controlled by the vehicle control system is displayed in a high-view display mode.

After the vehicle control system controls the self-driving vehicle to complete the target driving behavior, the method further includes:

b2. The vehicle control system controls the electronic map to be displayed in a low-view display mode.

Specifically, electronic maps mostly use a bird's-eye view to display the driving route and surrounding road conditions of autonomous vehicles. Under normal driving conditions, electronic maps are mostly displayed in a low-view display mode. When the vehicle control system is about to control the autonomous vehicle During the target driving behavior, the vehicle control system controls the electronic map to be displayed in a high-view display mode until the autonomous vehicle completes the target driving behavior.

In order that passengers can understand the specific shape of the road and the road conditions at the start and end points of the target driving behavior when the autonomous vehicle is performing the target driving behavior, a high-view display method is used to display the electronic map so that the passengers can do everything possible. It is possible to obtain road information.

In addition to the above-mentioned visual reminders, you can also combine auditory and tactile sensations to provide auxiliary reminders to prevent passengers from not paying attention to the prompt information displayed on the vehicle display device and color-changing windows. The specific methods are as follows:

c1. The vehicle control system generates a reminder audio based on the above-mentioned vehicle motion state data;

c2. The vehicle control system controls the sound playback device provided on the aforementioned autonomous vehicle to play the aforementioned reminder audio before the target driving behavior is performed.

Or, c3, the vehicle control system controls the seat of the passenger to vibrate before the target driving behavior is performed.

Specifically, the voice prompt and seat vibration can be combined with the above-mentioned several visual reminding methods by setting arbitrarily, and passengers can choose the most suitable combination of the reminding methods.

Since passengers may pay less attention to the driving behavior of the vehicle when riding in an autonomous vehicle, visual reminders in the form of on-board display devices and color-changing windows may not enable passengers to receive prompt information in the first time. Therefore, through reminders Audio or vehicle seat vibrations can remind passengers to pay attention to visual display devices such as on-board display devices and color-changing windows on self-driving vehicles, which can further increase the effective probability of road condition reminders, thereby improving the safety of self-driving vehicles.

The embodiment provided by this application monitors the target driving behavior that will turn over a preset angle through the vehicle control system. When the target driving behavior is monitored, the vehicle motion state data when the target driving behavior is performed is calculated, Before the vehicle performs the target driving behavior, prompt information is output through at least one of avatar animation, graphics, and color-changing windows to remind passengers to prepare for precautions, thereby achieving the purpose of improving the safety of the self-driving vehicle.

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. Since the principle of the device in the embodiment of the application to solve the problem is similar to the above-mentioned road condition reminding method of the embodiment of the application, the implementation of the device You can refer to the implementation of the method, and the repetition will not be repeated here.

Referring to FIG. 5, a road condition reminding device provided in an embodiment of this application, which is applied to a vehicle control system installed in an automatic driving vehicle, includes:

The judging module 70 is used for judging whether the self-driving vehicle will perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time according to the planned driving route and the current driving speed within the preset time;

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

The control module 72 is used to control the automatic driving vehicle to drive according to the vehicle motion state data, and output prompt information before the target driving behavior is performed.

In some embodiments, the control module 72 includes:

The generating unit is used to generate 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, driving trajectory, and path type; the prompt information includes any one or more of the following Species: animation, electronic map graphics and colors;

The output unit is used to output prompt information through any one or more of the following output devices: vehicle-mounted display devices and color-changing windows on autonomous vehicles.

In some embodiments, the control module 72 includes:

The first determining unit is used to determine the action, torso tilt angle and tilt direction of the avatar based on the average centripetal force and rotation direction in the vehicle motion state data, and generate a corresponding avatar animation; the avatar's action is Generated according to the average centripetal force and the rotation direction, the torso tilt angle is proportional to the average centripetal force, and the tilt direction is the same as the rotation direction;

The first display unit is configured to display the avatar animation through a display device provided on the autonomous driving vehicle before the target driving behavior is performed.

In some embodiments, the control module 72 includes:

The second determining unit is used to determine the display graphic and display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is an arrow with the same shape as the driving trajectory, and the color depth of the display color is the same as that of the driving trajectory. The average centripetal force is directly proportional;

The second display unit is configured to display the display graphic with the display color on the electronic map on the display device provided in the autonomous driving vehicle before the target driving behavior is performed.

In some embodiments, the control module 72 includes:

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

The third display unit is configured to control the color-changing window to adjust the display content according to the display strategy before the target driving behavior is performed.

In some embodiments, the third determining unit includes:

The first determining sub-unit is used to determine a first display mode according to the path type in the vehicle motion state data; the first display mode is that the color-changing window as a whole varies between the current color and the path type according to the conversion frequency Cycle between the corresponding colors;

The second determining subunit is configured to determine 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 first strategy subunit is used to determine that the display strategy is the display strategy of the first display mode of the variable-speed window at the conversion frequency.

In some embodiments, the third determining unit includes:

The third determining subunit is used to determine a second display mode according to the path type and rotation direction in the vehicle motion state data; the second display mode is that the multiple preset areas in the color-changing window are in accordance with the The sequence corresponding to the rotation direction is transformed into the color corresponding to the path type;

The fourth determining subunit is configured to determine the transformation speed according to the average centripetal force in the vehicle motion state data; the transformation speed is proportional to the average centripetal force;

The second strategy subunit is used to determine that the display strategy is the display strategy of the second display mode for the color-changing window at the conversion speed.

In some embodiments, the device further includes:

The first display module is used to control the electronic map to display in a high-view display mode before controlling the automatic driving vehicle to drive according to the vehicle motion state data;

The second display module is used to control the electronic map to display in a low-view display mode after controlling the autonomous vehicle to complete the target driving behavior.

In some embodiments, the device further includes:

An audio module for generating reminder audio according to the vehicle motion state data;

The playing module is used to control the sound playing device set on the autonomous vehicle to play the reminder audio before the target driving behavior is performed.

In some embodiments, the device further includes:

The vibration module is used to control the seat of the passenger to vibrate before the target driving behavior.

For the description of the processing flow of each module in the device and the interaction flow between the modules, reference may be made to the relevant description in the foregoing method embodiment, which will not be described in detail here.

The embodiment of the present application also provides a computer device 80. As shown in FIG. The memory 82 stores machine-readable instructions executable by the processor 81 (for example, execution instructions corresponding to the judgment module, the calculation module, and the control module in the apparatus in FIG. 5). When the computer device 80 is running, The processor 81 and the memory 82 communicate through a bus 83, and when the machine-readable instructions are executed by the processor 81, the steps of the above road condition reminding method are executed.

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

Specifically, the storage medium can be a general storage medium, such as a portable disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned road condition reminding method can be executed, so as to improve the safety of the self-driving car. , And then output prompt information before the vehicle performs the target driving behavior to remind passengers to prepare for precautions, so as to achieve the effect of improving the safety of the self-driving vehicle.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, which will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device, and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other divisions in actual implementation. For example, multiple modules or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some communication interfaces, devices or modules, and may be in electrical, mechanical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

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

If the function is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

The above are only specific implementations of this application, but the scope of protection of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and they should all be covered Within the scope of protection of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A road condition reminding method, which is characterized in that it is applied to a vehicle control system installed in an automatic driving vehicle, and includes:

The vehicle control system determines whether the self-driving vehicle will perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time according to the planned driving route and the current driving speed within the preset time;

If the vehicle control system is about to perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time, calculate the vehicle motion state data when the target driving behavior is performed;

The vehicle control system controls the self-driving vehicle to drive according to the vehicle motion state data, and outputs prompt information before the target drive behavior is performed.
The method according to claim 1, wherein the outputting prompt information before the target driving behavior is performed comprises:

The vehicle control system generates prompt information based on the vehicle motion state data;

The vehicle control system outputs prompt information through any one or more of the following output devices: on-board display devices and color-changing windows on autonomous vehicles;

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

The prompt information includes any one or more of the following: animation, electronic map graphics and colors.
The method according to claim 2, wherein the outputting prompt information before the target driving behavior is performed comprises:

The vehicle control system determines the action, torso tilt angle and tilt direction of the avatar based on the average centripetal force and rotation direction in the vehicle motion state data, and generates the corresponding avatar animation; the avatar’s actions are based on the average Generated by the centripetal force and the direction of rotation, the inclination angle of the torso is proportional to the average centripetal force, and the direction of inclination is the same as the direction of rotation;

The vehicle control system displays the avatar animation through a display device set on the autonomous vehicle before the target driving behavior is performed.
The method according to claim 2, wherein the outputting prompt information before the target driving behavior is performed comprises:

The vehicle control system determines the display graphic and display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is an arrow with the same shape as the driving trajectory, and the color depth of the display color is the same as the average centripetal force Proportional

Before the target driving behavior is performed, the vehicle control system displays the display graphic with the display color on the electronic map on the display device provided in the autonomous driving vehicle.
The method according to claim 2, wherein the outputting prompt information before the target driving behavior is performed comprises:

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

The vehicle control system controls the color-changing window to adjust the display content according to the display strategy before the target driving behavior is performed.
The method according to claim 5, wherein the vehicle control system determines the display strategy of the color-changing window according to the path type, the rotation direction and the average centripetal force in the vehicle motion state data, comprising:

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

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 that the display strategy is a display strategy in which the color-changing window performs the first display mode at the conversion frequency.
The method according to claim 5, wherein the vehicle control system determines the display strategy of the color-changing glass according to the vehicle motion state data, comprising:

The vehicle control system determines a second display mode according to the path type and rotation direction in the vehicle motion state data; the second display mode is that multiple preset areas in the color-changing window correspond to the rotation direction The sequence is transformed into the color corresponding to the path type;

The vehicle control system determines the conversion speed according to the average centripetal force in the vehicle motion state data; the conversion speed is proportional to the average centripetal force;

The vehicle control system determines that the display strategy is a display strategy in which the color-changing window performs the second display mode at the conversion speed.
The method according to any one of claims 3-7, characterized in that, before the vehicle control system controls the self-driving vehicle to drive according to the vehicle motion state data, the method further comprises:

The electronic map controlled by the vehicle control system is displayed in a high-view display mode;

After the vehicle control system controls the self-driving vehicle to complete the target driving behavior, the method further includes:

The vehicle control system controls the electronic map to be displayed in a low-view display mode.
The method according to any one of claims 3-7, wherein the outputting prompt information before the target driving behavior is performed, further comprises:

The vehicle control system generates a reminder audio according to the vehicle motion state data;

Before the target driving behavior is performed, the vehicle control system controls the sound playing device provided on the autonomous driving vehicle to play the reminding audio.
The method according to any one of claims 3-7, wherein the outputting prompt information before the target driving behavior is performed, further comprises:

The vehicle control system controls the seat of the passenger to vibrate before the target driving behavior.
A road condition reminder, which is characterized in that it is applied to a vehicle control system installed in an automatic driving vehicle, and includes:

The judgment module is used for judging whether the autonomous vehicle will perform a target driving behavior with a turning angle greater than or equal to the preset angle within the preset time according to the planned driving route and the current driving speed within the preset time;

The calculation module is used to calculate the vehicle motion state data when the target driving behavior is to be performed if the target driving behavior with a turning angle greater than or equal to the preset angle is to be performed within the preset time;

The control module is used to control the automatic driving vehicle to drive according to the vehicle motion state data, and output prompt information before the target driving behavior is performed.
The device according to claim 11, wherein the control module comprises:

The generating unit is configured to generate 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, driving trajectory, and path type; the prompt information includes any of the following One or more: animation, electronic map graphics and colors;

The output unit is used to output the prompt information through any one or more of the following output devices: on-board display devices and color-changing windows on autonomous vehicles.
The device according to claim 12, wherein the control module comprises:

The first determining unit is used to determine the action, torso tilt angle and tilt direction of the avatar based on the average centripetal force and rotation direction in the vehicle motion state data, and generate a corresponding avatar animation; the avatar's action is Generated according to the average centripetal force and the rotation direction, the torso tilt angle is proportional to the average centripetal force, and the tilt direction is the same as the rotation direction;

The first display unit is configured to display the avatar animation through a display device provided on the autonomous driving vehicle before the target driving behavior is performed.
The device according to claim 12, wherein the control module comprises:

The second determining unit is used to determine the display graphic and display color according to the driving trajectory and the average centripetal force in the vehicle motion state data; the display graphic is an arrow with the same shape as the driving trajectory, and the color depth of the display color is the same as that of the driving trajectory. The average centripetal force is directly proportional;

The second display unit is configured to display the display graphic with the display color on the electronic map on the display device provided in the autonomous driving vehicle before the target driving behavior is performed.
The device according to claim 12, wherein the control module comprises:

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

The third display unit is configured to control the color-changing window to adjust the display content according to the display strategy before the target driving behavior is performed.
The device according to claim 15, wherein the third determining unit comprises:

The first determining sub-unit is used to determine a first display mode according to the path type in the vehicle motion state data; the first display mode is that the color-changing window as a whole varies between the current color and the path type according to the conversion frequency Cycle between the corresponding colors;

The second determining subunit is configured to determine 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 first strategy subunit is used to determine that the display strategy is the display strategy of the first display mode of the variable-speed window at the conversion frequency.
The device according to claim 15, wherein the third determining unit comprises:

The third determining subunit is used to determine a second display mode according to the path type and rotation direction in the vehicle motion state data; the second display mode is that the multiple preset areas in the color-changing window are in accordance with the The sequence corresponding to the rotation direction is transformed into the color corresponding to the path type;

The fourth determining subunit is configured to determine the transformation speed according to the average centripetal force in the vehicle motion state data; the transformation speed is proportional to the average centripetal force;

The second strategy subunit is used to determine that the display strategy is the display strategy of the second display mode for the color-changing window at the conversion speed.
The device according to any one of claims 13-17, wherein the device further comprises:

The first display module is used to control the electronic map to display in a high-view display mode before controlling the automatic driving vehicle to drive according to the vehicle motion state data;

The second display module is used for controlling the electronic map to display in a low-view display mode after controlling the autonomous driving vehicle to complete the target driving behavior.
The device according to any one of claims 13-17, wherein the device further comprises:

An audio module for generating reminder audio according to the vehicle motion state data;

The playing module is used to control the sound playing device set on the autonomous vehicle to play the reminder audio before the target driving behavior is performed.
The device according to any one of claims 13-17, wherein the device further comprises:

The vibration module is used to control the seat of the passenger to vibrate before the target driving behavior.
An electronic device, characterized by comprising: a processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the bus The storage media communicate through a bus, and the processor executes the machine-readable instructions to execute the steps of the method according to any one of claims 1 to 10.
A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the method according to any one of claims 1 to 10 are executed.