WO2022268071A1 - 一种车路协同信息处理方法、装置和终端设备 - Google Patents

一种车路协同信息处理方法、装置和终端设备 Download PDF

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Publication number
WO2022268071A1
WO2022268071A1 PCT/CN2022/100100 CN2022100100W WO2022268071A1 WO 2022268071 A1 WO2022268071 A1 WO 2022268071A1 CN 2022100100 W CN2022100100 W CN 2022100100W WO 2022268071 A1 WO2022268071 A1 WO 2022268071A1
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event
events
target
information
preset
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PCT/CN2022/100100
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English (en)
French (fr)
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张�杰
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大唐高鸿智联科技(重庆)有限公司
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Priority to EP22827564.0A priority Critical patent/EP4280057A1/en
Priority to US18/277,976 priority patent/US20240124015A1/en
Priority to KR1020237044712A priority patent/KR20240012565A/ko
Publication of WO2022268071A1 publication Critical patent/WO2022268071A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/147—Digital output to display device ; Cooperation and interconnection of the display device with other functional units using display panels
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/451—Execution arrangements for user interfaces
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
    • G06F3/1454—Digital output to display device ; Cooperation and interconnection of the display device with other functional units involving copying of the display data of a local workstation or window to a remote workstation or window so that an actual copy of the data is displayed simultaneously on two or more displays, e.g. teledisplay
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/4401—Bootstrapping
    • G06F9/4411—Configuring for operating with peripheral devices; Loading of device drivers
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G2380/00—Specific applications
    • G09G2380/10—Automotive applications

Definitions

  • the present disclosure relates to the field of communication technologies, and in particular to a method, device and terminal equipment for vehicle-road coordination information processing.
  • Vehicle wireless communication technology (Vehicle to Everything, V2X) is an information communication technology that connects vehicles with surrounding things. Vehicles can organically connect important traffic participation elements through V2X, and can support vehicles to obtain more information than a single vehicle can perceive. Information. After the vehicle obtains the information, it can generally be displayed on the Human Machine Interface (HMI) system to help the driver gain a comprehensive control of the surrounding environment.
  • HMI Human Machine Interface
  • the information processing method at the application level is out of touch with the user's decision-making ability; processing methods such as correlation and priority ignore events and events The relationship between; and the lack of personalized treatment in the information display processing method.
  • Embodiments of the present disclosure provide a vehicle-road collaborative information processing method, device, and terminal equipment to solve the problem in related technologies that the amount of information obtained through V2X is too large to be processed in depth, resulting in a disconnection from the driver's decision-making process.
  • An embodiment of the present disclosure provides an information processing method applied to a terminal device, including:
  • the at least two target events in the plurality of event information belong to events with driving decision homogeneity, the at least two target events are merged to generate a compound event;
  • the driving decision homogeneity event is an event with a preset influence relationship.
  • the method also includes:
  • the display manner includes at least one of the following: voice display, text reminder, and icon display.
  • the Methods also include:
  • the at least two target events in the at least two first events are determined according to a preset valid period range.
  • the above-mentioned determination of at least two first events among the plurality of event information sequentially received according to the preset time range can also be understood as: from among the plurality of event information sequentially received within the preset time range , identifying at least two first events.
  • the preset influence relationship includes at least one of the following:
  • the causal relationship is used to indicate that the first target event is the cause of the second target event;
  • the impact amplification relationship is used to indicate that after the first target event occurs, the consequences of the second target event are strengthened;
  • the impact weakening relationship is used to indicate that after the first target event occurs, the consequences of the second target event are weakened;
  • time series relationship is used to indicate that the second target event occurs after the first target event
  • a new event relationship is generated; the new event relationship is used to indicate that the first target event and the second target event lead to the occurrence of the third target event.
  • the merging of the at least two target events to generate a composite event includes:
  • the composite event is merged and processed to generate the composite event
  • the preset compound event template includes: triggering events among the at least two target events, conditional events among the at least two target events, action information created according to the at least two target events, and Display behavior information for displaying at least two of the above target events;
  • the preset composite event template also includes time information and location information of the conditional event
  • the display behavior information includes at least one of the following: voice broadcast information and icon information.
  • displaying the composite event according to a preset display strategy further includes:
  • the filtered compound event is displayed according to the preset display manner.
  • displaying the composite event according to a preset display strategy further includes:
  • the method also includes:
  • a driving control strategy is generated according to the composite event
  • the vehicle is controlled to drive automatically.
  • An embodiment of the present disclosure also provides a terminal device, including a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • a terminal device including a processor, a memory, and a program or instruction stored in the memory and operable on the processor.
  • the program or instruction is executed by the processor, the The steps of the information processing method described in any one of the above.
  • An embodiment of the present disclosure also provides an information processing apparatus applied to a terminal device, including:
  • a receiving module configured to receive multiple event information sent by the information sensor device
  • a compound event generating module configured to combine at least two target events in the plurality of event information to generate a compound event when at least two target events belong to driving decision homogeneity events;
  • the driving decision homogeneity event is an event with a preset influence relationship.
  • the device also includes:
  • a display module configured to display the composite event according to a preset display method
  • the display manner includes at least one of the following: voice display, text reminder, and icon display.
  • the device also includes:
  • the first determination module is used to determine at least two first events in the plurality of event information received sequentially according to a preset time range
  • the second determining module is configured to determine the at least two target events in the at least two first events according to a preset valid period range.
  • the above-mentioned determination of at least two first events among the plurality of event information sequentially received according to the preset time range can also be understood as: from among the plurality of event information sequentially received within the preset time range , identifying at least two first events.
  • the preset influence relationship includes at least one of the following:
  • the causal relationship is used to indicate that the first target event is the cause of the second target event;
  • the impact amplification relationship is used to indicate that after the first target event occurs, the consequences of the second target event are strengthened;
  • the impact weakening relationship is used to indicate that after the first target event occurs, the consequences of the second target event are weakened;
  • time series relationship is used to indicate that the second target event occurs after the first target event
  • a new event relationship is generated; the new event relationship is used to indicate that the first target event and the second target event lead to the occurrence of the third target event.
  • the composite event generation module includes:
  • a compound event production unit configured to merge and process the compound event according to a preset compound event template, and generate the compound event
  • the preset compound event template includes: triggering events among the at least two target events, conditional events among the at least two target events, action information created according to the at least two target events, and Display behavior information for displaying at least two of the above target events;
  • the preset composite event template also includes time information and location information of the conditional event
  • the display unit is used for displaying behavior information including at least one of the following: voice broadcast information and icon information.
  • the display unit is also used for:
  • the filtered compound event is displayed according to the preset display manner.
  • the display unit is also used for:
  • the device also includes:
  • a driving strategy generating module configured to generate a driving control strategy according to the composite event when the vehicle is in an automatic driving mode
  • a control module configured to control the automatic driving of the vehicle according to the driving control strategy.
  • An embodiment of the present disclosure also provides a readable storage medium, wherein a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the information processing method as described in any one of the preceding items are implemented .
  • the at least two target events Events are merged and processed to generate composite events, wherein the driving decision homogeneity event is an event with a preset influence relationship, which can improve the efficiency of receiving V2X information, and realize the use of event correlation to process event conflicts and prevent multiple events.
  • the occurrence of an event is disconnected from the driver's decision-making process.
  • FIG. 1 shows one of the flow charts of the information processing method provided by the embodiment of the present disclosure
  • FIG. 2 shows a schematic structural diagram of a system in a V2X scenario provided by an embodiment of the present disclosure
  • Fig. 3 shows the second flowchart of the information processing method provided by the embodiment of the present disclosure
  • FIG. 4 shows one of the specific flowcharts of the information processing method provided by the embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of a time window provided by an embodiment of the present disclosure
  • FIG. 6 shows a schematic diagram of a driving decision-making path provided by an embodiment of the present disclosure
  • FIG. 7 shows the second specific flow chart of the information processing method provided by the embodiment of the present disclosure
  • FIG. 8 shows a schematic structural diagram of a terminal device provided by an embodiment of the present disclosure
  • FIG. 9 shows a schematic structural diagram of an information processing device provided by an embodiment of the present disclosure.
  • the present disclosure aims at the problem in related technologies that the amount of information obtained through V2X is large and cannot be processed in depth, resulting in disconnection from the driver's decision-making process, and provides an information processing method, device and terminal equipment.
  • an embodiment of the present disclosure provides an information processing method applied to a terminal device, including:
  • Step 101 Receive a plurality of event information sent by an information sensor device.
  • the systems applied in the V2X scene basically have vehicle-mounted equipment, roadside equipment, Global Positioning System (Global Positioning System, GPS), and sensing equipment, etc., and the above-mentioned equipment and vehicle owner
  • the controller communicates, such as Ethernet communication, controller area network (Controller Area Network, CAN) communication, serial port communication, universal serial bus (Universal Serial Bus, USB) communication, V2X communication, etc., one or more of the above devices After the multiple event information is processed, it is transmitted to the main controller of the vehicle.
  • the information sensing device may be one or more of the above-mentioned devices.
  • a plurality of event information refers to two or more event information.
  • the terminal device can be a vehicle-mounted device, such as a vehicle main controller or a vehicle-mounted terminal, or other devices or devices capable of information processing on a vehicle.
  • the terminal device can also be an electronic device with an operation processing system, such as a mobile phone or a tablet computer Or wearable devices, etc., can also be other electronic devices with a display screen and a processor, or a software development kit (Software Development Kit, SDK) supporting V2X or a rule engine in the cloud.
  • Step 102 In the case that at least two target events in the plurality of event information belong to events with driving decision homogeneity, merge the at least two target events to generate a composite event;
  • the driving decision homogeneity event is an event with a preset influence relationship.
  • the target events will be merged and processed to generate a composite event, so that subsequent users can make decisions based on the user's decision-making ability for the composite event deal with.
  • the at least Two target events in the plurality of event information belong to events with driving decision homogeneity
  • the at least Two target events are merged and processed to generate a composite event, wherein the driving decision homogeneity event is an event with a preset influence relationship, which can improve the efficiency of receiving V2X information and realize the use of event correlation to handle event conflicts , preventing the occurrence of multiple events from disconnecting the driver's decision-making process.
  • the method also includes:
  • the display manner includes at least one of the following: voice display, text reminder, and icon display.
  • a new display mode is also provided to display the composite event, so as to serve as a visual aid for the user's decision-making.
  • the terminal device receives a plurality of event information sent by the information sensor device, and on the basis of simply processing the event information, judges whether there is a relationship between the events. When it is judged that there is a certain relationship between the events (such as the homogeneity of the driving decision), the events are merged and processed by the rule engine to generate a compound event. For compound event setting rules, judge according to the user's decision-making ability whether a new display method is needed to achieve the effect of visual assistance.
  • the terminal device receives event 1 information, event 2 information...event n information, a total of n event information, and judges whether event 1 and event 2 are in the same time and space window, that is, whether event 1 and event 2 are at the same preset time Effectively occur within the segment, and the place of occurrence is within the range of the preset place.
  • event 1 and event 2 occurred in the same time and space window. If it is judged that event 1 and event 2 occurred in the same time and space window, then query time 1 and time according to the preset homogeneity event grouping list 2 Whether it is in the homogeneity event group list at the same time, if it exists at the same time, event 1 and event 2 are considered as homogeneity events, event 1 and event 2 are combined and processed to generate a composite event, query the display strategy of the composite event, Display according to the display strategy.
  • the Methods also include:
  • the at least two target events in the at least two first events are determined according to a preset valid period range.
  • determining at least two first events among the plurality of event information received sequentially can also be understood as: from the plurality of event information sequentially received within the preset time range , at least two first events are determined.
  • the preset time range can be understood as a time sliding window of a preset length, and at least two events within the time sliding window among the plurality of event information are determined as at least two first events.
  • homogeneity of decision-making means that the user will reach a unique driving decision after seeing two or more pieces of information.
  • the homogeneity of driving decisions has the following criteria: two or more events Simultaneous occurrence (within the preset time period), and these times are all within the validity period; two or more influence each other.
  • the specific type of the preset valid period range is not limited here, for example: the preset valid period range may refer to the preset time range, and the specific determination method for determining at least two target events according to the preset valid period range may be See expression below.
  • Each first event corresponds to a time stamp, and when the time stamp of a certain first event is within a preset time range, the first event may be determined as a target event.
  • any two or more traffic events have the possibility of occurring simultaneously.
  • the so-called simultaneous occurrence means that two or more event messages are received by the terminal within a certain time range.
  • four events Event 1, Event 2, Event 3, Event 4) occur in sequence.
  • the solid line box represents the range of the validity period of the event (which can be understood as the time stamp corresponding to the event), and the dotted line box represents the time range of the event occurrence (which can be understood as the preset time range).
  • event 1 (Event 1) and Event 2 (Event 2) meet the condition of simultaneous occurrence
  • time point 3 (Time3) Event 1 (Event 1), Event 2 (Event 2) and Event 3 (Event 3) meet the condition of simultaneous occurrence.
  • Event 2 At time point 4 (Time4), only Event 2 (Event 2), Event 3 (Event 3), and Event 4 (Event 4) qualify as concurrent events. Although Event 1 (Event 1), Event 2 (Event 2) and Event 3 (Event 3) used to be simultaneous events, but at time point 4 (Time4), Event 1 (Event 1) can no longer be considered as simultaneous events , because Event 1 has expired.
  • the preset validity period range may refer to the preset buffer zone range, and the preset buffer zone range may be understood as: a vehicle-centered preset range, and the specific range of at least two target events is determined according to the preset validity period range.
  • the determination method can refer to the following expression:
  • the start position and end position determine the impact space range of the first event.
  • the impact space range is within the preset buffer range, it is judged that the first event is included in the preset buffer range, that is, the first event can be determined for the target event.
  • the preset influence relationship includes at least one of the following:
  • the causal relationship is used to indicate that the first target event is the cause of the second target event;
  • the impact amplification relationship is used to indicate that after the first target event occurs, the consequences of the second target event are strengthened;
  • the impact weakening relationship is used to indicate that after the first target event occurs, the consequences of the second target event are weakened;
  • time series relationship is used to indicate that the second target event occurs after the first target event
  • a new event relationship is generated; the new event relationship is used to indicate that the first target event and the second target event lead to the occurrence of the third target event.
  • event 1 is the cause of event 2;
  • Event 1 and Event 2 must lead to new events.
  • Event impacts can therefore be identified through questionnaires or statistical analysis of past event libraries.
  • the merging of the at least two target events to generate a composite event includes:
  • the preset compound event template includes: triggering events among the at least two target events, conditional events among the at least two target events, action information created according to the at least two target events, and Display behavior information for displaying at least two of the above target events;
  • the preset composite event template also includes time information and location information of the conditional event
  • the display behavior information includes at least one of the following: voice broadcast information and icon information.
  • the following two events are respectively: receiving a red light reminder and receiving a slippery road information within 1 minute as an example.
  • the generated composite event can be defined according to the template shown in Table 1 below.
  • each compound event can be defined according to the above template.
  • the time and location windows are defined in the above template, and the time and location windows are correlation detection.
  • the composite event definition set forms the merge validity judgment rule base.
  • event 1 and event 2 After receiving event 1, in the process of understanding the event, if event 2 is received, event 1 and event 2 will be combined and processed, and a composite event will be generated for unified understanding, judging possible actions, and taking action.
  • displaying the composite event according to a preset display strategy includes:
  • the filtered compound event is displayed according to the preset display manner.
  • filter conditions can also be added, only if any of the two or more events in the composite event cannot be filtered out by a certain filter condition, Only then can the two or more events be displayed.
  • Influence amplification relationship stop broadcasting event 1 (not interrupt), broadcast event 2, enhance the icon of event 2, add event 1;
  • Time series relationship change to broadcast event 1 and event 2, voice is merged, and event 2 and event 1 are merged;
  • displaying the composite event according to a preset display strategy includes:
  • the composite event after the composite event is generated, the composite event can also be broadcast to the first terminal (such as a vehicle-mounted device) that is within the preset distance range of the terminal device and communicates with the terminal device, and can also As the first terminal moves or the distance from the terminal device changes, the first terminal is updated, and the composite event is sent to the updated first terminal.
  • the first terminal such as a vehicle-mounted device
  • the event information sent by the information sensing device is received, the event information is parsed and the event information is cached, and the status of the surrounding vehicles is obtained at the same time, the original event information is determined in the cached event information, and the original event is mapped to the data, according to the event ID number ( Identity Document, ID) to de-duplicate event information, in the case of receiving new event information, to detect the correlation between the new event information and the original event, and to judge the validity of the merger when a correlation is detected. After judging that it is possible to merge, merge them into composite events, and display events with higher correlations, and if no correlation is detected, determine new events and events with higher priority for display.
  • the event ID number Identity Document, ID
  • While generating the composite event determine the maximum possible path distance (Most Probable Path, MPP) and time distance between the surrounding vehicle and the terminal according to the status of the surrounding vehicles, broadcast the composite event to the surrounding vehicles according to the MPP distance and time distance, and follow the The real-time distance changes of surrounding vehicles update the vehicles that need to broadcast compound events. It is also necessary to perform failure judgment on compound events, and stop displaying and broadcasting after the failure is judged.
  • MPP maximum possible path distance
  • the method also includes:
  • a driving control strategy is generated according to the composite event
  • the vehicle is controlled to drive automatically.
  • a driving strategy is generated according to the composite event, and automatic driving is performed according to the driving strategy.
  • a judgment rule template is defined for compound events: including the design of time window, the design of location window and the logical relationship of events, and the nature of compound events is defined according to the association relationship of compound events on decision nodes , and define the display behavior according to the nature of the compound event, and ensure that the decision-making homogeneity information is merged when it reaches the user.
  • the embodiment of the present disclosure improves the efficiency of information absorption and decision-making; uses event correlation to handle conflicts; and improves the diversity and personalization of information display.
  • an embodiment of the present disclosure also provides a terminal device, including a processor 800; and a memory 810 connected to the processor 800 through a bus interface, and the memory 810 is used to store the processor 800
  • the programs and data used when performing operations, the processor 800 calls and executes the programs and data stored in the memory 810 .
  • the terminal device further includes a transceiver 820 connected to the bus interface for receiving and sending data under the control of the processor 800 ; the processor 800 is used for reading the program in the memory 810 .
  • the transceiver 820 is configured to receive multiple event information sent by the information sensor device;
  • the processor 800 is configured to, in the case that at least two target events in the plurality of event information belong to events with driving decision homogeneity, merge the at least two target events to generate a composite event;
  • the driving decision homogeneity event is an event with a preset influence relationship.
  • the processor 800 is further configured to display the composite event according to a preset presentation manner; the presentation manner includes at least one of the following: voice presentation, text reminder, and icon presentation.
  • the processor 800 is further configured to determine at least two first events among the plurality of event information received sequentially according to a preset time range; and determine the at least two first events according to a preset valid period range.
  • the at least two target events in the first event That is to say: it can also be understood that the processor 800 is also configured to determine at least two first events from the plurality of event information received sequentially within a preset time range; The at least two target events of the at least two first events.
  • the preset influence relationship includes at least one of the following:
  • the causal relationship is used to indicate that the first target event is the cause of the second target event;
  • the impact amplification relationship is used to indicate that after the first target event occurs, the consequences of the second target event are strengthened;
  • the impact weakening relationship is used to indicate that after the first target event occurs, the consequences of the second target event are weakened;
  • time series relationship is used to indicate that the second target event occurs after the first target event
  • a new event relationship is generated; the new event relationship is used to indicate that the first target event and the second target event lead to the occurrence of the third target event.
  • the processor 800 is specifically configured to, according to a preset composite event template, perform merge processing on the composite event to generate the composite event;
  • the preset compound event template includes: triggering events among the at least two target events, conditional events among the at least two target events, action information created according to the at least two target events, and Display behavior information for displaying at least two of the above target events;
  • the preset composite event template also includes time information and location information of the conditional event
  • the display behavior information includes at least one of the following: voice broadcast information and icon information.
  • the processor 800 is specifically further configured to filter the composite event according to a preset filter condition; and display the filtered composite event according to the preset presentation manner.
  • the processor 800 is further configured to broadcast the composite event to a first terminal located within a preset distance range of the terminal device.
  • the processor 800 is specifically further configured to, when the vehicle is in the automatic driving mode, generate a driving control strategy according to the composite event; and control the vehicle to automatically drive according to the driving control strategy.
  • the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 800 and various circuits of the memory represented by the memory 810 are linked together.
  • the bus architecture can also link together various other circuits such as peripherals, voltage regulators, and power management circuits, etc., which are well known in the art and therefore will not be further described herein.
  • the bus interface provides the interface.
  • Transceiver 820 may be a plurality of elements, including a transmitter and a transceiver, providing a means for communicating with various other devices over a transmission medium.
  • the user interface 830 may also be an interface capable of connecting externally and internally to required devices, and the connected devices include but not limited to keypads, displays, speakers, microphones, joysticks, and the like.
  • the processor 800 is responsible for managing the bus architecture and general processing, and the memory 810 can store data used by the processor 800 when performing operations.
  • an embodiment of the present disclosure also provides an information processing apparatus, which is applied to a terminal device, including:
  • a receiving module 901, configured to receive multiple event information sent by the information sensor device
  • a composite event generation module 902 configured to merge the at least two target events to generate a composite event when at least two target events in the plurality of event information belong to events with driving decision homogeneity ;
  • the driving decision homogeneity event is an event with a preset influence relationship.
  • the at least two target events in the plurality of event information belong to events with driving decision homogeneity
  • the at least two The target events are merged and processed to generate a composite event, wherein the driving decision homogeneity event is an event with a preset influence relationship, which can improve the efficiency of receiving V2X information, and realize the use of event correlation to process event conflicts and prevent The occurrence of multiple events is disconnected from the driver's decision-making process.
  • the device also includes:
  • a display module configured to display the composite event according to a preset display method
  • the display manner includes at least one of the following: voice display, text reminder, and icon display.
  • the device also includes:
  • a first determining module configured to determine at least two first events among the plurality of event information received sequentially according to a preset time range
  • the second determination module is configured to determine the at least two target events in the at least two first events according to the preset valid period range.
  • the device further includes: a first determining module, configured to determine at least two first events from the plurality of event information sequentially received within a preset time range; a second determining module, configured to The at least two target events in the at least two first events are determined according to the preset valid period range.
  • the preset influence relationship includes at least one of the following:
  • the causal relationship is used to indicate that the first target event is the cause of the second target event;
  • the impact amplification relationship is used to indicate that after the first target event occurs, the consequences of the second target event are strengthened;
  • the impact weakening relationship is used to indicate that after the first target event occurs, the consequences of the second target event are weakened;
  • time series relationship is used to indicate that the second target event occurs after the first target event
  • a new event relationship is generated; the new event relationship is used to indicate that the first target event and the second target event lead to the occurrence of the third target event.
  • the composite event generation module 902 includes:
  • a compound event production unit configured to merge and process the compound event according to a preset compound event template, and generate the compound event
  • the preset compound event template includes: triggering events among the at least two target events, conditional events among the at least two target events, action information created according to the at least two target events, and Display behavior information for displaying at least two of the above target events;
  • the preset composite event template also includes time information and location information of the conditional event
  • the display unit is used for displaying behavior information including at least one of the following: voice broadcast information and icon information.
  • the display unit is also used for:
  • the filtered compound event is displayed according to the preset display manner.
  • the display unit is also used for:
  • the device also includes:
  • a driving strategy generating module configured to generate a driving control strategy according to the composite event when the vehicle is in an automatic driving mode
  • a control module configured to control the automatic driving of the vehicle according to the driving control strategy.
  • the information processing device provided by the embodiments of the present disclosure is a device capable of executing the above-mentioned information processing method, and all embodiments of the above-mentioned information processing method are applicable to the device, and can achieve the same or similar technical effects .
  • the division of the above modules is only a division of logical functions, and may be fully or partially integrated into a physical entity or physically separated during actual implementation.
  • these modules can all be implemented in the form of calling software through processing elements; they can also be implemented in the form of hardware; some modules can also be implemented in the form of calling software through processing elements, and some modules can be implemented in the form of hardware.
  • the first determining module can be a processing element set up separately, or can be integrated into a certain chip of the above-mentioned device.
  • it can also be stored in the memory of the above-mentioned device in the form of program code, and can be controlled by one of the above-mentioned devices.
  • the processing element invokes and executes the functions of the above-identified modules.
  • the implementation of other modules is similar.
  • all or part of these modules can be integrated together, and can also be implemented independently.
  • the processing element mentioned here may be an integrated circuit with signal processing capability.
  • each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or an instruction in the form of software.
  • each module, unit, subunit or submodule may be one or more integrated circuits configured to implement the above method, for example: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC), or, one or Multiple microprocessors (digital signal processor, DSP), or, one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), etc.
  • ASIC Application Specific Integrated Circuit
  • DSP digital signal processor
  • FPGA Field Programmable Gate Array
  • the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processors that can call program codes.
  • these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).
  • SOC system-on-a-chip
  • An embodiment of the present disclosure also provides a readable storage medium, wherein a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the information processing method as described in any one of the preceding items are implemented .
  • each component or each step can be decomposed and/or reassembled. These decompositions and/or recombinations should be considered equivalents of the present disclosure. Also, the steps for executing the above series of processes can naturally be executed in chronological order according to the illustrated order, but they are not necessarily executed in chronological order, and some steps can be executed in parallel or independently of each other.
  • the object of the present disclosure can also be achieved by running a program or a group of programs on any computing device.
  • the computing device may be a known general-purpose device. Therefore, the object of the present disclosure can also be achieved only by providing a program product including program codes for realizing the method or device. That is, such a program product also constitutes the present disclosure, and a storage medium storing such a program product also constitutes the present disclosure. Obviously, the storage medium may be any known storage medium or any storage medium developed in the future. It should also be pointed out that, in the device and method of the present disclosure, obviously, each component or each step can be decomposed and/or reassembled. These decompositions and/or recombinations should be considered equivalents of the present disclosure. Also, the steps for performing the above series of processes may naturally be performed in chronological order in the order described, but need not necessarily be performed in chronological order. Certain steps may be performed in parallel or independently of each other.

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Abstract

本公开提供了一种车路协同信息处理方法、装置和终端设备，所述方法包括：接收信息传感器设备发送的多个事件信息；在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；其中，所述驾驶决策同质性事件为具有预设影响关系的事件。

Description

一种车路协同信息处理方法、装置和终端设备
相关申请的交叉引用
本公开主张在2021年6月22日在中国提交的中国专利申请号No.202110690562.3的优先权，其全部内容通过引用包含于此。
技术领域
本公开涉及通信技术领域，特别涉及一种车路协同信息处理方法、装置和终端设备。
背景技术
车用无线通信技术(Vehicle to Everything，V2X)是将车辆与周围事物相连接的信息通信技术，车可以通过V2X将重要交通参与要素有机地联系在一起，可以支撑车辆获得比单个车辆感知更多的信息。车辆获得信息后一般可以在人机界面(Human Machine Interface，HMI)系统显示来帮助驾驶员获得对周围环境的全面把控。
但是随着车路协同系统发展，通过V2X获取的信息量越来越大，导致存在如下问题：应用层面的信息处理方法和用户决策能力脱节；相关性和优先级等处理方法忽略了事件和事件之间的关系；以及信息展示处理方法缺乏个性化处理。
发明内容
本公开实施例提供一种车路协同信息处理方法、装置和终端设备，用以解决相关技术中，通过V2X获取的信息量大，无法进行深入处理，导致和驾驶员的决策过程脱节的问题。
为了解决上述技术问题，本公开实施例提供如下技术方案：
本公开实施例提供一种信息处理方法，应用于终端设备，包括：
接收信息传感器设备发送的多个事件信息；
在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性 事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
可选地，所述方法还包括：
根据预设的展示方式，对所述复合事件进行展示；
所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
可选地，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件之前，所述方法还包括：
根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件；
根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。
上述根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件，也可以理解为：从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件。
可选地，所述预设影响关系包括以下至少一项：
因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
可选地，所述对所述至少两个目标事件进行合并处理，生成复合事件，包括：
根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复 合事件；
所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
可选地，所述根据预设的展示策略，对所述复合事件进行展示，还包括：
根据预设的过滤条件，对所述复合事件进行过滤；
根据所述预设的展示方式，对过滤后的复合事件进行展示。
可选地，所述根据预设的展示策略，对所述复合事件进行展示，还包括：
向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
可选地，所述方法还包括：
在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；
根据所述驾驶控制策略，控制所述车辆自动驾驶。
本公开实施例还提供一种终端设备，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如上任一项所述的信息处理方法的步骤。
本公开实施例还提供一种信息处理装置，应用于终端设备，包括：
接收模块，用于接收信息传感器设备发送的多个事件信息；
复合事件生成模块，用于在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
可选地，所述装置还包括：
展示模块，用于根据预设的展示方式，对所述复合事件进行展示；
所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
可选地，所述装置还包括：
第一确定模块，用于根据预设时间范围，确定依次接收到的所述多个事 件信息中的至少两个第一事件；
第二确定模块，用于根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。
上述根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件，也可以理解为：从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件。
可选地，所述预设影响关系包括以下至少一项：
因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
可选地，所述复合事件生成模块，包括：
复合事件生产单元，用于根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复合事件；
所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
展示单元，用于所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
可选地，所述展示单元，还用于：
根据预设的过滤条件，对所述复合事件进行过滤；
根据所述预设的展示方式，对过滤后的复合事件进行展示。
可选地，所述展示单元，还用于：
向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
可选地，所述装置还包括：
驾驶策略生成模块，用于在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；
控制模块，用于根据所述驾驶控制策略，控制所述车辆自动驾驶。
本公开实施例还提供一种可读存储介质，其中，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如上任一项所述的信息处理方法的步骤。
本公开的有益效果是：
本公开方案，通过接收信息传感器设备发送的多个事件信息，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件，其中，所述驾驶决策同质性事件为具有预设影响关系的事件，可以提高V2X信息的接收效率，以及实现利用事件的关联性来处理事件冲突，防止多个事件的发生与驾驶员决策过程的脱节问题。
附图说明
图1表示本公开实施例提供的信息处理方法的流程图之一；
图2表示本公开实施例提供的V2X场景的系统的结构示意图；
图3表示本公开实施例提供的信息处理方法的流程图之二；
图4表示本公开实施例提供的信息处理方法的具体流程图之一；
图5表示本公开实施例提供的时间窗口的示意图；
图6表示本公开实施例提供的驾驶决策路径示意图；
图7表示本公开实施例提供的信息处理方法的具体流程图之二；
图8表示本公开实施例提供的终端设备的结构示意图；
图9表示本公开实施例提供的信息处理装置的结构示意图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚，下面将结合附图及具体实施例对本公开进行详细描述。
本公开针对相关技术中，通过V2X获取的信息量大，无法进行深入处理，导致和驾驶员的决策过程脱节的问题，提供一种信息处理方法、装置和终端设备。
如图1所示，本公开实施例提供一种信息处理方法，应用于终端设备，包括：
步骤101：接收信息传感器设备发送的多个事件信息。
需要说明的是，请参阅图2，应用于V2X场景的系统，基本上都具备车载设备、路侧设备、全球定位系统(Global Positioning System，GPS)，以及感知设备等，且上述设备与车辆主控制器进行通信，比如以太网通信、控制器局域网络(Controller Area Network，CAN)通信、串口通信、通用串行总线(Universal Serial Bus，USB)通信，V2X通信等，上述一个或者多个设备对多个事件信息进行处理后，传输至车辆主控制器。
在本公开实施例中，信息传感设备可以为上述设备中的一个或者几个。
多个事件信息是指两个或者两个以上的事件信息。
终端设备可以为车载设备，比如车辆主控制器或者车载终端，也可以为车辆上其他的能进行信息处理的装置或者设备，终端设备还可以为具有操作处理系统的电子设备，比如手机、平板电脑或者可穿戴式设备等，也可以为具有显示屏幕以及处理器的其他电子设备，也可以为支持V2X的软件开发工具包(Software Development Kit，SDK)或者云端的规则引擎。
步骤102：在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
在本公开实施例中，通过建立一定的引擎规则，识别在一定的时间和空间窗口内，事件信息和事件信息之间在驾驶决策上是否存在一定的关系，比如是否具有驾驶决策同质性，若经过判断，事件信息中两个或者两个以上的 目标事件属于驾驶决策同质性事件，则对目标事件进行合并处理，生成复合事件，以便后续用户针对复合事件，按照用户的决策能力进行决策处理。
需要说明的是，对于用户来说，在非常短的时间内，对于多个事件的处理，往往会产生困惑，首先是对事件的理解需要时间，另外就是决策存在复杂性，多个事件同时展示或者依次展示都会增加用户的决策负担。因此，本公开实施例，通过接收信息传感器设备发送的多个事件信息，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件，其中，所述驾驶决策同质性事件为具有预设影响关系的事件，可以提高V2X信息的接收效率，以及实现利用事件的关联性来处理事件冲突，防止多个事件的发生与驾驶员决策过程的脱节问题。
可选地，所述方法还包括：
根据预设的展示方式，对所述复合事件进行展示；
所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
在本公开实施例中，还提供一种新的展示方式展示复合事件，来对用户的决策起到视觉辅助的作用。
下面结合图3，说明本公开实施例提供的信息处理方法，终端设备接收信息传感器设备发送的多个事件信息，并在对事件信息进行简单处理的基础上，判断事件之间是否存在关系，在判断事件存在一定关系(比如驾驶决策同质性)的情况下，通过规则引擎对事件进行合并处理，产生复合事件。对于复合事件设定规则，按照用户的决策能力来判断，是否需要新的展示方式来达到视觉辅助的效果。
下面结合图4，具体说明时间本公开实施例提供的信息处理方法。
终端设备接收到事件1信息、事件2信息……事件n信息，一共n个事件信息，判断事件1和事件2是否在同一个时间空间窗口，也就是事件1和事件2是否在同一预设时间段内有效发生，且发生地点在预设地点范围内，若判断出事件1和事件2发生在在同一个时间空间窗口，则根据预设的同质性事件组队列表，查询时间1和时间2是否同时在该同质性事件组队列表中，若同时存在，则认为事件1和事件2为同质性事件，将事件1和事件2合并 处理，生成复合事件，查询复合事件展示策略，根据展示策略，进行展示。
可选地，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件之前，所述方法还包括：
根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件；
根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。
其中，根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件，也可以理解为：从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件。
而预设时间范围可以理解为预设长度的时间滑窗，将多个事件信息中位于时间滑窗内的至少两个事件确定为至少两个第一事件。
需要说明的是，所谓决策同质性就是指用户在看到两个或者两个以上的信息会达成唯一的驾驶决策，驾驶决策同质性有以下的判别条件：两个或者两个以上的事件同时发生(在预设时间段内)，且这些时间均在有效期内；两个或者两个以上的相互有影响。
需要说明的是，预设有效期范围的具体类型在此不做限定，例如：预设有效期范围可以指的是预设时间范围，而根据预设有效期范围确定至少两个目标事件的具体确定方式可以参见以下表述。
每一个第一事件均对应有时间戳，当某个第一事件的时间戳位于预设时间范围内时，则该第一事件可以被确定为目标事件。
例如：理论上，任意两种以上的交通事件都有同时发生的可能性。所谓的同时发生，是指两个或者两个以上的事件信息被终端在一定时间范围内收到。如图5所示，四个事件(Event 1、Event 2、Event 3、Event 4)依次发生。实线框代表事件有效期范围(可以理解为该事件对应的时间戳)，虚线框代表事件发生时间范围(可以理解为预设时间范围)，在时间点2(Time2)，事件1(Event 1)和事件2(Event 2)符合同时发生的条件，在时间点3(Time3)，事件1(Event 1)、事件2(Event 2)和事件3(Event 3)符合同时发生的事 件。到了时间点4(Time4)，只有事件2(Event 2)、事件3(Event 3)和事件4(Event 4)符合同时发生的事件。虽然事件1(Event 1)、事件2(Event 2)和事件3(Event 3)曾经是同时发生事件，但是到了时间点4(Time4)，事件1(Event 1)已经不能继续考虑成同时发生事件，因为事件1(Event 1)已经失效了。
又例如：预设有效期范围可以指的是预设缓冲区范围，而预设缓冲区范围可以理解为：以车辆为中心的预设范围，而根据预设有效期范围确定至少两个目标事件的具体确定方式可以参见以下表述：
计算某一个第一事件的影响空间范围，也就是在空间上持续的空间覆盖，按照该第一事件发生时，对应的开始位置，到该第一事件结束时，对应的结束位置，并通过上述开始位置和结束位置确定该第一事件的影响空间范围，当影响空间范围位于根据预设缓冲区范围内时，判断该第一事件包含在预设缓冲区范围内，即该第一事件可以确定为目标事件。
可选地，所述预设影响关系包括以下至少一项：
因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
需要说明的是，之所以两个或以上的事件存在决策同质性是因为这些事件存在相互影响，这些影响关系包括：因果关系、影响放大关系、影响减弱关系、时间序列关系、催生新事件关系等。
下面以事件1和事件2为例，说明解释上述的影响关系。
因果关系：事件1是事件2发生的原因；
影响放大关系：事件1发生了以后，事件2的后果可能加强；
影响减弱关系：事件1发生了以后，事件2的后果可能减弱；
时间序列关系：事件1发生了以后，事件2通常发生在其后；
催生新事件关系：事件1和事件2必然导致新的事件。
需要说明的是，事件影响是通过先验知识来确认的。因此事件影响可以通过问卷调查或者是统计分析过去的事件库来识别。
可选地，所述对所述至少两个目标事件进行合并处理，生成复合事件，包括：
根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复合事件；
所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
在本公开实施例中，在属于同质性事件的两个事件中，确定两个事件中的促发事件和条件事件，根据两个事件创建行动信息以及展示行为信息，如果有其他的事件信息，也可以选择合并处理。
下面以两个事件分别为：收到红灯提醒和1分钟内收到过湿滑的路面信息为例，生成的复合事件可以根据如下表1所示的模板定义。
表1 复合事件模板表
Figure PCTCN2022100100-appb-000001
需要说明的是，每个复合事件都可以根据上述模板定义。上述模板中定义了时间和地点窗口，时间和地点窗口就是关联性检测。复合事件定义集合就形成合并有效性判断规则库。
相关技术中，收到单个事件后，理解该单个事件，之后判断可采取的行动，并对应采取行动，在此同时，如果收到另一个单个事件，则单独理解这个单个事件，再判断可以采取的行动，这就在获取的事件量大的情况下，会导致获取的事件信息与驾驶决策过程脱节。
在复合事件定义完成后，决策路径如图6所示。
在收到事件1后，在理解事件的过程中，如果接收到事件2，则将事件1与事件2合并处理，并生成复合事件，统一进行理解，判断可采取的行动，并采取行动。
可选地，所述根据预设的展示策略，对所述复合事件进行展示，包括：
根据预设的过滤条件，对所述复合事件进行过滤；
根据所述预设的展示方式，对过滤后的复合事件进行展示。
在本公开实施例中，在对符合事件进行展示的过程中，还可以增加过滤条件只有在复合事件中的两个或者两个以上的事件中的任何一个都不能被某种过滤条件过滤掉，则才能对该两个或者两个以上的事件进行展示。
还需要说明的是，针对不同的事件之间的影响关系，有不同的复合事件的展示行为定义，还以上述的事件1和事件2为例，说明展示行为定义。
因果关系：停止播报事件1(不是中断)，播报事件2，事件2的图标做与事件1的关联示意；
影响放大关系：停止播报事件1(不是中断)，播报事件2，事件2的图标做增强处理，添加事件1；
影响减弱关系：如果事件1播报没有完成，延迟播报事件2，缩短事件2播报时间，两个事件图标做合并处理；
时间序列关系：改为播报事件1和事件2，语音做合并处理，事件2和事件1做合并处理；
催生新事件关系：停止播报事件1(不是中断)，播报事件2，事件2的图标做增强处理，添加事件1，并添加新事件提示。
可选地，所述根据预设的展示策略，对所述复合事件进行展示，包括：
向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
在本公开实施例中，在生成复合事件后，还可以向位于终端设备的预设距离范围内，且与终端设备进行通信的第一终端(比如车载设备)进行播报该复合事件，并且还可以随着第一终端的移动，或者与终端设备之间的距离的改变，更新第一终端，并向更新后的第一终端发送该复合事件。
下面结合图7，具体说明信息处理方法的流程。
首先接收信息传感设备发送的事件信息，解析事件信息并缓存事件信息的同时获取周边车状态，在缓存的事件信息中确定原始事件信息，对原始事件进行数据映射，根据事件的身份标识号(Identity Document，ID)对事件信息进行去重，在接收新事件信息的情况下，将新的事件信息与原始事件进行关联性检测，在检测到有关联性的情况下，进行合并有效性判断，在判断可以进行合并后，合并成复合事件，并对相关性较高的事件进行展示，在检测到没有关联性的情况下，判断确定新事件和优先级较高的事件进行展示。在生成复合事件的同时，根据周边车状态，确定周边车与本终端的最大可能路径距离(Most Probable Path，MPP)与时间距离，根据MPP距离和时间距离对周边车播报复合事件，并且随着周边车辆实时距离的变化，更新需要播报复合事件的车辆。对复合事件还需要进行失效判断，在判断失效后，停止展示和播报。
可选地，所述方法还包括：
在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；
根据所述驾驶控制策略，控制所述车辆自动驾驶。
在本公开实施例中，在车辆处于自动驾驶模式下，根据复合事件生成驾 驶策略，并根据驾驶策略进行自动驾驶。
需要说明的是，本公开实施例，对于复合事件定义了判断规则模板：包含时间窗的设计、地点窗的设计以及事件的逻辑关系，按照复合事件在决策节点上的关联关系来定义复合事件性质，以及按照复合事件性质来定义展示行为，并保证决策同质性信息在触达用户时，做合并处理。
随着车路协同系统的发展，单点事件引发的复合事件会越来越多。用户对信息展示的要求也会越来越高。运用复合事件来优化信息处理，不仅仅是给信息展示带来新的体验也会给驾驶决策带来新的输入方式。
本公开实施例，提高了信息吸收效率，提高了决策效率；利用事件关联性来处理冲突；提高了信息展示的多样性和个性化。
如图8所示，本公开实施例还提供一种终端设备，包括处理器800；以及通过总线接口与所述处理器800相连接的存储器810，所述存储器810用于存储所述处理器800在执行操作时所使用的程序和数据，处理器800调用并执行所述存储器810中所存储的程序和数据。
其中，所述终端设备还包括收发机820，收发机820与总线接口连接，用于在处理器800的控制下接收和发送数据；处理器800用于读取存储器810中的程序。
具体的，收发机820用于，接收信息传感器设备发送的多个事件信息；
处理器800用于，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
可选地，处理器800还用于，根据预设的展示方式，对所述复合事件进行展示；所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
可选地，处理器800还用于根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件；以及，根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。也就是说：还可以理解为处理器800还用于从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件；根据预设有效期范围，确定所述至少两个第一事件 中的所述至少两个目标事件。
可选地，所述预设影响关系包括以下至少一项：
因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
可选地，处理器800具体用于，根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复合事件；
所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
可选地，处理器800具体还用于，根据预设的过滤条件，对所述复合事件进行过滤；以及，根据所述预设的展示方式，对过滤后的复合事件进行展示。
可选地，处理器800具体还用于，向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
可选地，处理器800具体还用于，在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；以及，根据所述驾驶控制策略，控制所述车辆自动驾驶。
其中，在图8中，总线架构可以包括任意数量的互联的总线和桥，具体 由处理器800代表的一个或多个处理器和存储器810代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机820可以是多个元件，即包括发送机和收发机，提供用于在传输介质上与各种其他装置通信的单元。针对不同的终端，用户接口830还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。处理器800负责管理总线架构和通常的处理，存储器810可以存储处理器800在执行操作时所使用的数据。
如图9所示，本公开实施例还提供一种信息处理装置，应用于终端设备，包括：
接收模块901，用于接收信息传感器设备发送的多个事件信息；
复合事件生成模块902，用于在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
本公开实施例，通过接收信息传感器设备发送的多个事件信息，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件，其中，所述驾驶决策同质性事件为具有预设影响关系的事件，可以提高V2X信息的接收效率，以及实现利用事件的关联性来处理事件冲突，防止多个事件的发生与驾驶员决策过程的脱节问题。
可选地，所述装置还包括：
展示模块，用于根据预设的展示方式，对所述复合事件进行展示；
所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
可选地，所述装置还包括：
第一确定模块，用于根据预设时间范围，确定依次接收到的所述多个事件信息中的至少两个第一事件；
第二确定模块，用于根据预设有效期范围，确定所述至少两个第一事件 中的所述至少两个目标事件。
也就是说：所述装置还包括：第一确定模块，用于从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件；第二确定模块，用于根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。
可选地，所述预设影响关系包括以下至少一项：
因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
可选地，所述复合事件生成模块902，包括：
复合事件生产单元，用于根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复合事件；
所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
展示单元，用于所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
可选地，所述展示单元，还用于：
根据预设的过滤条件，对所述复合事件进行过滤；
根据所述预设的展示方式，对过滤后的复合事件进行展示。
可选地，所述展示单元，还用于：
向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
可选地，所述装置还包括：
驾驶策略生成模块，用于在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；
控制模块，用于根据所述驾驶控制策略，控制所述车辆自动驾驶。
需要说明的是，本公开实施例提供的信息处理装置是能够执行上述的信息处理方法的装置，则上述的信息处理方法的所有实施例均适用于该装置，且能够达到相同或者相似的技术效果。
需要说明的是，应理解以上各个模块的划分仅仅是一种逻辑功能的划分，实际实现时可以全部或部分集成到一个物理实体上，也可以物理上分开。且这些模块可以全部以软件通过处理元件调用的形式实现；也可以全部以硬件的形式实现；还可以部分模块通过处理元件调用软件的形式实现，部分模块通过硬件的形式实现。例如，第一确定模块可以为单独设立的处理元件，也可以集成在上述装置的某一个芯片中实现，此外，也可以以程序代码的形式存储于上述装置的存储器中，由上述装置的某一个处理元件调用并执行以上确定模块的功能。其它模块的实现与之类似。此外这些模块全部或部分可以集成在一起，也可以独立实现。这里所述的处理元件可以是一种集成电路，具有信号的处理能力。在实现过程中，上述方法的各步骤或以上各个模块可以通过处理器元件中的硬件的集成逻辑电路或者软件形式的指令完成。
例如，各个模块、单元、子单元或子模块可以是被配置成实施以上方法的一个或多个集成电路，例如：一个或多个特定集成电路(Application Specific Integrated Circuit，ASIC)，或，一个或多个微处理器(digital signal processor，DSP)，或，一个或者多个现场可编程门阵列(Field Programmable Gate Array，FPGA)等。再如，当以上某个模块通过处理元件调度程序代码的形式实现时，该处理元件可以是通用处理器，例如中央处理器(Central Processing Unit，CPU)或其它可以调用程序代码的处理器。再如，这些模块可以集成在一起，以片上系统(system-on-a-chip，SOC)的形式实现。
本公开的说明书和权利要求书中的术语“第一”、“第二”等是用于区别 类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本公开的实施例，例如除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。此外，说明书以及权利要求中使用“和/或”表示所连接对象的至少其中之一，例如A和/或B和/或C，表示包含单独A，单独B，单独C，以及A和B都存在，B和C都存在，A和C都存在，以及A、B和C都存在的7种情况。类似地，本说明书以及权利要求中使用“A和B中的至少一个”应理解为“单独A，单独B，或A和B都存在”。
本公开实施例还提供一种可读存储介质，其中，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如上任一项所述的信息处理方法的步骤。
此外，需要指出的是，在本公开的装置和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本公开的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序按时间顺序执行，但是并不需要一定按照时间顺序执行，某些步骤可以并行或彼此独立地执行。对本领域的普通技术人员而言，能够理解本公开的方法和装置的全部或者任何步骤或者部件，可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件、固件、软件或者它们的组合加以实现，这是本领域普通技术人员在阅读了本公开的说明的情况下运用他们的基本编程技能就能实现的。
因此，本公开的目的还可以通过在任何计算装置上运行一个程序或者一组程序来实现。所述计算装置可以是公知的通用装置。因此，本公开的目的也可以仅仅通过提供包含实现所述方法或者装置的程序代码的程序产品来实现。也就是说，这样的程序产品也构成本公开，并且存储有这样的程序产品的存储介质也构成本公开。显然，所述存储介质可以是任何公知的存储介质或者将来所开发出来的任何存储介质。还需要指出的是，在本公开的装置 和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本公开的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序按时间顺序执行，但是并不需要一定按照时间顺序执行。某些步骤可以并行或彼此独立地执行。
以上所述的是本公开的优选实施方式，应当指出对于本技术领域的普通人员来说，在不脱离本公开所述的原理前提下还可以作出若干改进和润饰，这些改进和润饰也在本公开的保护范围内。

Claims (12)

  1. 一种信息处理方法，应用于终端设备，包括：
    接收信息传感器设备发送的多个事件信息；
    在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
    其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
  2. 根据权利要求1所述的信息处理方法，其中，所述方法还包括：
    根据预设的展示方式，对所述复合事件进行展示；
    所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
  3. 根据权利要求1所述的信息处理方法，其中，在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件之前，所述方法还包括：
    从在预设时间范围内依次接收到的所述多个事件信息中，确定至少两个第一事件；
    根据预设有效期范围，确定所述至少两个第一事件中的所述至少两个目标事件。
  4. 根据权利要求1所述的信息处理方法，其中，所述预设影响关系包括以下至少一项：
    因果关系；所述因果关系用于指示第一目标事件是第二目标事件发生的原因；
    影响放大关系；所述影响放大关系用于指示在第一目标事件发生后，第二目标事件的后果加强；
    影响减弱关系；所述影响减弱关系用于指示在第一目标事件发生后，第二目标事件的后果减弱；
    时间序列关系；所述时间序列关系用于指示第二目标事件发生在第一目标事件之后；
    催生新事件关系；所述催生新事件关系用于指示第一目标事件和第二目标事件导致第三目标事件的发生。
  5. 根据权利要求1所述的信息处理方法，其中，所述对所述至少两个目标事件进行合并处理，生成复合事件，包括：
    根据预设的复合事件模板，对所述复合事件进行合并处理，生成所述复合事件；
    所述预设的复合事件模板包括：所述至少两个目标事件中的促发事件、所述至少两个目标事件中的条件事件、根据所述至少两个目标事件创建的行动信息以及针对所述至少两个目标事件进行展示的展示行为信息；
    其中，所述预设的复合事件模板还包括所述条件事件的时间信息和地点信息；
    所述展示行为信息包括以下至少之一：语音播报信息、图标信息。
  6. 根据权利要求2所述的信息处理方法，其中，所述根据预设的展示策略，对所述复合事件进行展示，包括：
    根据预设的过滤条件，对所述复合事件进行过滤；
    根据所述预设的展示方式，对过滤后的复合事件进行展示。
  7. 根据权利要求2所述的信息处理方法，其中，所述根据预设的展示策略，对所述复合事件进行展示，包括：
    向位于所述终端设备预设距离范围内的第一终端播报所述复合事件。
  8. 根据权利要求1所述的信息处理方法，其中，所述方法还包括：
    在车辆处于自动驾驶模式下，根据所述复合事件，生成驾驶控制策略；
    根据所述驾驶控制策略，控制所述车辆自动驾驶。
  9. 一种终端设备，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至8中任一项所述的信息处理方法的步骤。
  10. 一种信息处理装置，应用于终端设备，包括：
    接收模块，用于接收信息传感器设备发送的多个事件信息；
    复合事件生成模块，用于在所述多个事件信息中的至少两个目标事件均属于具有驾驶决策同质性事件的情况下，对所述至少两个目标事件进行合并处理，生成复合事件；
    其中，所述驾驶决策同质性事件为具有预设影响关系的事件。
  11. 根据权利要求10所述的信息处理装置，其中，所述装置还包括：
    展示模块，用于根据预设的展示方式，对所述复合事件进行展示；
    所述展示方式包括以下至少之一：语音展示、文字提醒、图标展示。
  12. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至8中任一项所述的信息处理方法的步骤。
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