WO2026000340A1 - 控制方法、装置和车辆 - Google Patents

控制方法、装置和车辆

Info

Publication number
WO2026000340A1
WO2026000340A1 PCT/CN2024/102372 CN2024102372W WO2026000340A1 WO 2026000340 A1 WO2026000340 A1 WO 2026000340A1 CN 2024102372 W CN2024102372 W CN 2024102372W WO 2026000340 A1 WO2026000340 A1 WO 2026000340A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
information
driver
display
prompt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/102372
Other languages
English (en)
French (fr)
Inventor
姜欣言
金舟
高妍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
Shenzhen Yinwang Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Priority to PCT/CN2024/102372 priority Critical patent/WO2026000340A1/zh
Publication of WO2026000340A1 publication Critical patent/WO2026000340A1/zh
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking

Definitions

  • This application relates to the field of smart cockpits, and more specifically, to a control method, device, and vehicle.
  • This application provides a control method, device, and vehicle that, when it is determined that the driver of another vehicle needs reassurance, controls the vehicle to provide information for reassuring the driver of the other vehicle, thereby helping to alleviate the driver's negative emotions and improving driving safety.
  • this application provides a control method that can be executed by a vehicle, for example, by the vehicle's computing platform, or by a chip or circuitry used in the vehicle; or, the method can also be executed by a cloud server for vehicle communication.
  • the method includes: acquiring first driving behavior information of a first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane changing behavior, lane changing frequency, horn duration, horn frequency, and headlight flashing duration; when the first driving behavior information triggers an emotional calming condition for the first vehicle, controlling a second vehicle to display first prompt information, the first prompt information being used to calm the driver of the first vehicle.
  • the vehicle when it is determined, based on the driving behavior of other vehicles around the vehicle, that the driver of another vehicle needs reassurance, the vehicle is controlled to provide information to reassure that driver. This helps alleviate the negative emotions of the other driver, thereby improving driving safety.
  • another vehicle attempts to cut in front of the vehicle or other vehicles, or intends to cut in front of another vehicle, providing information to reassure that driver can alleviate their negative emotions and reduce or eliminate their intention to cut in or cut in front of other vehicles, thus improving driving safety.
  • controlling the second vehicle to display the first notification information may include: controlling the second vehicle's display device (such as an external display screen, windows, taillights, headlights, etc.) and/or external sound device to display the first notification information.
  • controlling the second vehicle's display device such as an external display screen, windows, taillights, headlights, etc.
  • external sound device to display the first notification information.
  • the first prompt information includes at least one of the following: text information, image information, animation information, and audio information.
  • controlling the first vehicle to display the first prompt information includes: controlling the second vehicle to display the first prompt information in a first area according to the first location of the first vehicle, wherein the first area corresponds to the first location.
  • the area where the own vehicle is positioned relative to the other vehicle is controlled to display reassurance information, which enables the driver of the other vehicle to receive the reassurance information in a timely manner, helps to ensure the reassurance effect of the reassurance information, and thus improves driving safety.
  • the method further includes: when the first vehicle changes to the second position, controlling the second vehicle to display the first prompt information in a second area, the second area corresponding to the second position.
  • the second position is different from the first position, and the second region and the first region can be the same or different.
  • the area where the driver's vehicle is positioned relative to the other vehicle after the change in position is controlled to display reassurance information. This helps to ensure that the driver of the other vehicle continuously receives the reassurance information, which helps to ensure the reassurance effect of the reassurance information and thus improves driving safety.
  • controlling the second vehicle to display the first prompt information includes: controlling the second vehicle to display the first prompt information based on at least one of the following: the driving experience of the driver of the second vehicle, or the road conditions ahead of the second vehicle.
  • controlling the second vehicle to display the first warning message based on the driver's driving experience and/or the road conditions ahead of the second vehicle can be understood as: determining the specific content of the first warning message based on the driver's driving experience and/or the road conditions ahead of the second vehicle, and then controlling the second vehicle to display the first warning message.
  • the method further includes: detecting second driving behavior information of the first vehicle within a first duration from the start of displaying the first prompt information; controlling the second vehicle to stop displaying the first prompt information when the second driving behavior information no longer triggers the emotional calming condition; or, controlling the second vehicle to display a second prompt information when the second driving behavior information still triggers the emotional calming condition, wherein the second prompt information and the first prompt information are of different types.
  • the difference in type between the second prompt message and the first prompt message may include at least one of the following: the content of the first prompt message and the second prompt message are different; or, the prompting methods of the first prompt message and the second prompt message are different.
  • the effectiveness of the reassurance messages can be determined based on the driving behavior of the other vehicle. If the reassurance messages are ineffective, other types of prompts can be used instead, which helps to improve the effectiveness of the reassurance messages for drivers of other vehicles, thereby improving driving safety.
  • the method further includes: upon detecting a first emotion of the driver of the second vehicle, controlling the second vehicle to display a third prompt message, the third prompt message being used to soothe the driver of the second vehicle, the first emotion including anger and/or impatience.
  • control of the second vehicle to provide the third notification information may include at least one of the following: a display device controlling the second vehicle (such as an in-cabin display screen), a lighting device of the second vehicle (such as ambient lighting), or an in-cabin sound device of the second vehicle to provide the third notification information.
  • a display device controlling the second vehicle such as an in-cabin display screen
  • a lighting device of the second vehicle such as ambient lighting
  • an in-cabin sound device of the second vehicle to provide the third notification information may include at least one of the following: a display device controlling the second vehicle (such as an in-cabin display screen), a lighting device of the second vehicle (such as ambient lighting), or an in-cabin sound device of the second vehicle to provide the third notification information.
  • the third prompt information includes at least one of the following: text information, image information, animation information, audio information, and lighting information.
  • a prompting device when it is determined that the driver of the vehicle is in a state of anger and/or impatience, a prompting device can be used to provide reassuring information, which helps to alleviate the driver's negative emotions and thus improve driving safety.
  • the method further includes: detecting the driver's emotions of the second vehicle during a second duration starting from the start of the third prompt message; controlling the second vehicle to prompt a fourth prompt message when the driver's first emotions have not subsided, the fourth prompt message being of a different type than the third prompt message; or, controlling the second vehicle to prompt a fifth prompt message when the driver's first emotions have subsided, the fifth prompt message being of the same type as the third prompt message; wherein the difference in type between the fourth and third prompt messages includes at least one of the following: different content; different prompting methods; or, when both the third and fourth prompt messages include voice information, the timbre and/or tone of the voice information in the third and fourth prompt messages are different.
  • the effectiveness of the reassurance message can be determined based on the driver's mood. If the reassurance message is ineffective, other types of messages can be used instead, which helps to improve the effectiveness of the reassurance message for the driver and thus improve driving safety.
  • controlling the second vehicle to display the third prompt information includes: controlling the second vehicle to display the third prompt information based on the prompt information preferences of the driver of the second vehicle.
  • the prompt message preference is used to indicate the soothing style and/or soothing method of the third prompt message preferred by the driver of the second vehicle.
  • determining the reassurance information for the driver based on the driver's preferences helps to improve the effectiveness of the reassurance information for the driver, thereby improving driving safety.
  • controlling the second vehicle to provide a third prompt message includes: controlling the second vehicle to provide a third prompt message based on at least one of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle ahead of the second vehicle.
  • the second vehicle is controlled to display a third prompt message based on at least one of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle preceding the second vehicle.
  • This can be understood as: determining the content of the third prompt message based on one or more of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the limited driving experience of the driver of the vehicle preceding the second vehicle, and then controlling the second vehicle to display the third prompt message.
  • the method further includes: upon detecting a first emotion of the driver of the second vehicle, performing at least one of the following: adjusting the air conditioning temperature of the second vehicle; or controlling the second vehicle to activate a first fragrance, the first fragrance being used to stabilize the emotion.
  • a control device comprising an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire first driving behavior information of a first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane-changing behavior, lane-changing frequency, horn duration, horn frequency, and headlight flashing duration; the processing unit is configured to: when the first driving behavior information triggers an emotional calming condition for the first vehicle, control a second vehicle to display first prompt information, the first prompt information being used to calm the driver of the first vehicle.
  • the processing unit is used to: control the second vehicle to display a first prompt message in a first area according to the first orientation of the first vehicle, wherein the first area corresponds to the first orientation.
  • the processing unit is further configured to: when the first vehicle changes to the second position, control the second area of the second vehicle to display the first prompt information, the second area corresponding to the second position.
  • the processing unit is used to: control the second vehicle to display a first prompt message based on at least one of the following information: the driving experience of the driver of the second vehicle, or the road conditions ahead of the second vehicle.
  • the device further includes a first detection unit, which is configured to: detect second driving behavior information of the first vehicle within a first duration after the first prompting of the first prompting information; the processing unit is further configured to: control the second vehicle to stop prompting the first prompting information when the second driving behavior information no longer triggers the emotional calming condition; or, control the second vehicle to prompt the second prompting information when the second driving behavior information still triggers the emotional calming condition, wherein the second prompting information is of a different type than the first prompting information.
  • a first detection unit which is configured to: detect second driving behavior information of the first vehicle within a first duration after the first prompting of the first prompting information
  • the processing unit is further configured to: control the second vehicle to stop prompting the first prompting information when the second driving behavior information no longer triggers the emotional calming condition; or, control the second vehicle to prompt the second prompting information when the second driving behavior information still triggers the emotional calming condition, wherein the second prompting information is of a different type than the first prompting information.
  • the device further includes a second detection unit, and the processing unit is further configured to: when the second detection unit detects a first emotion of the driver of the second vehicle, control the second vehicle to display a third prompt message, the third prompt message being used to soothe the driver of the second vehicle, the first emotion including anger and/or impatience.
  • the second detection unit is further configured to: detect the driver's emotions of the second vehicle within a second duration following the prompting of the third prompting information; the processing unit is further configured to: control the second vehicle to prompt a fourth prompting information when the driver's first emotions have not subsided, wherein the fourth prompting information is of a different type than the third prompting information; or, control the second vehicle to prompt a fifth prompting information when the driver's first emotions have subsided, wherein the fifth prompting information is of the same type as the third prompting information; wherein the difference in type between the fourth and third prompting information includes at least one of the following: different content; different prompting methods; or, when both the third and fourth prompting information include voice information, the timbre and/or tone of the voice information in the third and fourth prompting information are different.
  • the processing unit is used to: control the second vehicle to display a third prompt message based on the prompt message preferences of the driver of the second vehicle.
  • the processing unit is used to control the second vehicle to display a third prompt message based on at least one of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle ahead of the second vehicle.
  • the processing unit further includes: when the second detection unit detects the first emotion of the driver of the second vehicle, performing at least one of the following: adjusting the air conditioning temperature of the second vehicle; or controlling the second vehicle to turn on the first fragrance, the first fragrance being used to stabilize the emotion.
  • a control device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.
  • control device also includes a memory.
  • a vehicle that includes means as described in any of the possible implementations of the second to third aspects.
  • a computer program product comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.
  • the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.
  • a computer-readable medium in a sixth aspect, storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.
  • a chip including circuitry for performing the method in any of the possible implementations of the first aspect described above.
  • FIG. 1 is a functional block diagram of the vehicle provided in an embodiment of this application.
  • FIG. 2 is a schematic block diagram of the control system provided in an embodiment of this application.
  • FIG. 3 is a schematic flowchart of the control method provided in an embodiment of this application.
  • FIG. 4 is a schematic diagram of the vehicle display area provided in an embodiment of this application.
  • Figure 5 is a schematic diagram of an application scenario of the control method provided in the embodiment of this application.
  • Figure 6 is another schematic diagram of an application scenario of the control method provided in the embodiments of this application.
  • FIG. 7 is another schematic flowchart of the control method provided in the embodiments of this application.
  • Figure 8 is another schematic diagram of an application scenario of the control method provided in the embodiments of this application.
  • Figure 9 is another schematic diagram of an application scenario of the control method provided in the embodiments of this application.
  • FIG. 10 is a schematic diagram of the GUI provided in an embodiment of this application.
  • FIG 11 is another schematic flowchart of the control method provided in the embodiments of this application.
  • FIG. 12 is a schematic block diagram of the control device provided in an embodiment of this application.
  • FIG 13 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 1 is a functional block diagram of a vehicle provided in an embodiment of this application.
  • the vehicle 100 may include a perception system 120, a prompting device 130, and a computing platform 150.
  • the perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100.
  • the perception system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or other positioning systems.
  • the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, sound sensors (including in-cabin sound sensors and external sound sensors), and visual sensors (including in-cabin visual sensors and external visual sensors).
  • IMU inertial measurement unit
  • lidar millimeter-wave radar
  • ultrasonic radar sound sensors
  • sound sensors including in-cabin sound sensors and external sound sensors
  • visual sensors including in-cabin visual sensors and external visual sensors.
  • the prompting device 130 may include any of the following: a sound-emitting device, a display device, or a lighting device.
  • the sound-emitting device may include a speaker, a loudspeaker, etc.
  • Display devices are mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD).
  • An in-vehicle display screen is a physical display screen and an important component of an in-vehicle infotainment system.
  • An in-vehicle display screen may include a human-machine interface (HMI).
  • HMI human-machine interface
  • a head-up display also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device in front of the user (e.g., the windshield), thereby reducing the user's gaze shift time, avoiding pupil changes caused by gaze shifts, and improving driving safety and comfort.
  • the lighting device involved in this application is used to display lights or to display patterns through lights.
  • the lighting device may be an ambient light or a breathing light composed of light-emitting diode (LED) beads or light strips, wherein the light strip may include multiple LED beads; or, the lighting device may also be other types of lights.
  • the lighting device can be installed on the dashboard, center console screen, or other similar locations.
  • the lighting device can be a digital light processing (DLP) based device (hereinafter referred to as DLP headlights), which can project specific patterns onto the road surface outside the vehicle to alert other road users.
  • DLP headlights digital light processing based device
  • the lighting device can also include the vehicle's taillights, which can be matrix taillights composed of LED bulbs, capable of displaying a series of patterns and/or text.
  • Computing platform 150 may include processors 151 to 15n.
  • a processor is a circuit with signal processing capabilities.
  • the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP).
  • the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable; for example, the processor may be an application-specific integrated circuit (ASIC) or a programmable logic device.
  • PLD programmable logic device
  • FPGA field-programmable gate array
  • the process of a processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the aforementioned units.
  • the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), or deep learning processing unit (DPU).
  • the computing platform 150 may also include a memory for storing instructions, and some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.
  • the structure of the vehicle 100 described above is merely illustrative. In actual applications, various components of the vehicle 100 may be added or removed as needed.
  • FIG. 2 shows a schematic block diagram of the control system provided in an embodiment of this application.
  • the system includes an emotion detection module 210, a vehicle-to-others emotion soothing module 220, a vehicle-to-owns emotion soothing module 230, and a fusion control module 240.
  • the emotion detection module 210 may include one or more sensors in the perception system 120 of the vehicle 100, or it may also include one or more processors in the computing platform 150; in some implementations, the emotion detection module 210 may also include one or more processors in a cloud server communicating with the vehicle 100.
  • the vehicle-to-others emotion soothing module 220, the vehicle-to-owns emotion soothing module 230, and the fusion control module 240 may each include one or more processors in the computing platform 150.
  • the functions of each module in the system shown in Figure 2 are described in items (a) to (iv) below.
  • the emotion detection module 210 includes a self-vehicle emotion detection module 211 and a other-vehicle emotion detection module 212.
  • the self-vehicle emotion detection module 211 determines the driver's emotion based on one or more of the following: voice detected by the in-cabin sound sensor, driver facial and/or body language information detected by the in-cabin visual sensor, and vehicle control information, combined with speech recognition algorithms, sound source recognition algorithms, facial landmark detection algorithms, and emotion recognition algorithms.
  • the other-vehicle emotion detection module 212 determines the degree of danger of other vehicles based on the behavioral information of other vehicles detected by the external sound sensor and/or external visual sensor (such as prolonged honking, frequent lane changes, or frequent flashing of lights); alternatively, the other-vehicle emotion detection module 212 can also obtain information about other vehicles around the self-vehicle from the RSU or cloud server, such as the driver's emotion information, speed, and/or acceleration of other vehicles, and combine this information to determine the degree of danger of other vehicles. It is understandable that, in some cases, the degree of danger of other vehicles can reflect the driver's emotion. Furthermore, the emotion detection module 210 sends the detection results to the other vehicle emotion soothing module 220, the own vehicle emotion soothing module 230, and the fusion control module 240 respectively.
  • the other vehicle's emotional reassurance module 220 determines that the other vehicle's driving behavior information meets the other vehicle's emotional reassurance conditions (such as the other vehicle's danger level being greater than or equal to a danger level threshold), it controls the own vehicle to display reassurance information to soothe the other vehicle's driver's emotions.
  • the other vehicle's emotional reassurance module 220 can also obtain the other vehicle's position relative to the own vehicle from the fusion control module 240. Furthermore, when it determines that the other vehicle's danger level is higher than a danger level threshold, the other vehicle's emotional reassurance module 220 controls the area corresponding to the other vehicle's position to display reassurance information 1 to soothe the other vehicle's driver's emotions.
  • the system can control the display of reassurance information 1 on the rear area of the vehicle (such as the rear windshield, the license plate, the blank area below the rear windshield, etc.); when another vehicle is to the left rear of the vehicle, the system can control the display of reassurance information 1 on the rear area of the vehicle and/or the left rear door area (such as the left rear door window, the blank area below the left rear door window, etc.); when another vehicle is to the right rear of the vehicle, the system can control the display of reassurance information 1 on the rear area of the vehicle and/or the right rear door area (such as the right rear door window, the blank area below the right rear door window, etc.).
  • the system can control the display of reassurance information 1 on the rear area of the vehicle and/or the left rear door area (such as the left rear door window, the blank area below the right rear door window, etc.).
  • the other vehicle emotion reassurance module 220 can also obtain information such as road conditions ahead of the vehicle and the driver's driving experience from the fusion control module 240, and then determine the specific content of reassurance information 1 based on at least one of the aforementioned pieces of information.
  • the vehicle emotion soothing module 230 is used to: control the vehicle's prompting device to display soothing information 2 when the driver's emotion is anger and/or irritability, in order to soothe the driver's emotions.
  • the prompting device may include the prompting device 130 shown in Figure 1.
  • the vehicle emotion soothing module 230 may also obtain the driver's identity information from the fusion control module 240. This identity information is associated with the driver's preferences, and the vehicle emotion soothing module 230 can determine the type of soothing information 2 (such as humor, playfulness, shared ashamed, etc.) based on the driver's preferences.
  • the vehicle emotion detection module 211 can continuously detect the driver's emotions and adjust the soothing information accordingly based on the changes in the driver's emotions. For example, when the driver's emotions are calmed, the same type of reassuring message is continuously displayed until the driver's anger and/or impatience decrease to a certain threshold. If the driver's emotions are not calmed within a certain period of time (e.g., 30 or 40 seconds), the reassuring message is switched to another type (e.g., switching from a resentment-based reassuring message to a playful safety message).
  • a certain period of time e.g. 30 or 40 seconds
  • the vehicle emotion reassurance module 230 can also obtain information about the road conditions ahead of the vehicle, the driving experience of the driver of the vehicle in front, and the danger level of other vehicles from the fusion control module 240, and then determine the specific content of the reassurance message 2 based on at least one of the aforementioned information.
  • reassurance message when the type of reassurance message is "shared anger,” it can be understood as the content of the reassurance message catering to the user's emotions or helping the user express those emotions, thereby achieving the purpose of releasing the user's emotions. For example, when a user is in a state of anger, a message of shared anger could be... Messages that express user anger from the user's perspective, such as "This person is too much, how could they treat us like this!
  • the fusion control module 240 is used to send the location information of the other vehicle, the road conditions ahead of the own vehicle, the driving experience information of the own vehicle driver, and the gender information of the other vehicle driver to the other vehicle emotion soothing module 220; the fusion control module 240 is also used to send the identity information of the own vehicle driver, the road conditions ahead of the own vehicle, the driving experience information of the driver of the vehicle in front, and the danger level of the other vehicle to the own vehicle emotion soothing module 230.
  • the above modules are merely examples, and in actual applications, these modules may be added or removed as needed.
  • the other vehicle's emotional calming module 220 and the self-vehicle's emotional calming module 230 can be combined into one module.
  • the system architecture shown in Figure 2 may also include a prompting module, which may include the prompting device 130 shown in Figure 1.
  • control system architecture provided in the embodiments of this application has been described above. The following details the process of implementing the control method provided in the embodiments of this application based on the control system shown in Figure 2.
  • FIG 3 shows a schematic flowchart of a control method provided in an embodiment of this application. This method can be applied to the vehicle 100 shown in Figure 1, or it can be executed by the system shown in Figure 2. More specifically, the method 300 can be executed by the other vehicle emotion soothing module 220, and the method may include:
  • driving behavior information may include at least one of the following: dangerous lane-changing behavior, lane-changing frequency, horn duration, horn frequency, and headlight flashing duration.
  • driving behavior information may also include information such as the speed and acceleration of other vehicles.
  • the horn duration and frequency of other vehicles can be determined based on information collected by the vehicle's external sound sensor; the headlight flashing duration of other vehicles can be determined based on information collected by the vehicle's external vision sensor, where headlight flashing can be used to switch between high beam and low beam; the speed and/or acceleration of other vehicles can be determined based on information collected by the vehicle's radar sensor or external vision sensor.
  • the vehicle can receive information such as the speed and acceleration of other vehicles from a cloud server or RSU.
  • a dangerous lane-changing behavior of a vehicle can refer to a lane change that affects the driving path of other vehicles (such as cars) on the road.
  • the lane change causes other vehicles to avoid the vehicle by suddenly slowing down or changing lanes.
  • the distance between vehicle 1 and the self-driving vehicle is less than or equal to a certain distance (e.g., 50 meters, or 100 meters, or other distance).
  • this information 1 includes the reassurance information 1 in the foregoing embodiments.
  • the driving behavior information of vehicle 1 is determined to meet the emotional calming condition when at least one of the following conditions is met: vehicle 1 engages in dangerous lane changing behavior; the duration of vehicle 1's horn honking is greater than or equal to duration threshold 1; the duration of vehicle 1's headlight flashing is greater than or equal to duration threshold 2; the horn honking frequency of vehicle 1 is greater than or equal to frequency threshold 1; or, the lane changing frequency of vehicle 1 is greater than or equal to frequency threshold 2.
  • the danger level of another vehicle can be determined based on its driving behavior information.
  • the danger level of vehicle 1 is greater than or equal to a danger level threshold, the driving behavior information of vehicle 1 is determined to meet the emotional reassurance condition.
  • the danger level of another vehicle can be characterized by danger level sub-segments.
  • a larger S1 value indicates a higher danger level.
  • W represents the horn detection result; W is 0 if the horn duration is less than a duration threshold of 1 and the horn frequency is less than a frequency threshold of 1, otherwise W is 1.
  • V represents the visual sensor detection result; V is 0 if the headlight flashing duration is less than a duration threshold of 2 and the other vehicle's lane-changing frequency is less than a frequency threshold of 2, otherwise V is 1.
  • a and b represent the weights of the horn detection result and the visual sensor detection result, respectively.
  • a can be 1
  • b can be 2, or a and b can take other values.
  • S1 is greater than or equal to 0 and less than or equal to 3.
  • W represents the horn detection result. W is 0 if the horn duration is less than the duration threshold 1 and the horn frequency is less than the frequency threshold 1; otherwise, W is 1.
  • FL represents the headlight detection result. FL is 0 if the headlight flashing duration is less than the duration threshold 2; otherwise, FL is 1.
  • CL represents the lane-changing detection result of another vehicle. CL is 0 if the lane-changing frequency of another vehicle is less than the frequency threshold 2; otherwise, CL is 1.
  • A represents the motion parameter detection result of another vehicle.
  • Ac is 0 if the speed and acceleration of another vehicle are less than the speed threshold and the acceleration threshold is less than the acceleration threshold; otherwise, Ac is 1.
  • a', b', c', and d' represent the weights of the horn detection result, headlight detection result, lane-changing detection result, and motion parameter detection result of another vehicle, respectively.
  • a', b', c', and d' can all be 1, or they can take other values. When a', b', c', and d' are all 1, S2 is greater than or equal to 0 and less than or equal to 4.
  • duration threshold 1 can be 3 seconds, 2 seconds, or other values; frequency threshold 1 can be 5 times per second, 3 times per second, or other values; duration threshold 2 can be 1 second, 2 seconds, or other values; frequency threshold 2 can be 3 times per minute, or other values; speed threshold can be the road speed limit, 120% of the road speed limit, or other values; acceleration threshold can be 10 km/ s2 , or other values.
  • threshold 1 when using S1 to characterize the vehicle's danger level, threshold 1 can be 1, or other values; or, when using S2 to characterize the vehicle's danger level, threshold 1 can be 1, 2, or other values.
  • information 1 includes one or more of text information, image information, and audio information
  • controlling the vehicle prompt information 1 may include at least one of the following: controlling the vehicle's external sound device (such as an external speaker) to play audio information; controlling the vehicle's display device (such as a window or an external display device) to display text information and/or image information; controlling the vehicle's external lighting device (such as DLP headlights or taillights) to display text information and/or image information.
  • controlling the vehicle's external sound device such as an external speaker
  • controlling the vehicle's display device such as a window or an external display device
  • controlling the vehicle's external lighting device such as DLP headlights or taillights
  • Area 1 may include the rear area of the vehicle, for example, at least one of the following: the rear windshield A shown in FIG. 4(a), the blank area B between the license plate and the windshield, the blank area C below the license plate, or the vehicle taillight F; or, area 1 may include the left rear side area of the vehicle, for example, the left rear window D shown in FIG.
  • area 1 may include the right rear side area of the vehicle, for example, the blank area near the right rear window and/or the right rear door handle (not shown in the figure); or, area 1 may also include the front area of the vehicle, for example, the vehicle's headlights (such as DLP headlights).
  • vehicle's headlights such as DLP headlights
  • the projection device can be positioned at location G as shown in Figure 4(b), aligned with the roof between the driver's and passenger's seats.
  • the direction of the light outlet and the focus of the projection device are adjusted so that the projected image can be displayed on the target window.
  • displays such as e-ink screens or LED screens
  • the display of information 1 in area 1 of the vehicle can be controlled according to the orientation of vehicle 1 relative to the vehicle itself, that is, area 1 corresponds to the orientation of vehicle 1 relative to the vehicle itself.
  • the display of information 1 in the rear area of the vehicle is controlled.
  • the distance threshold 1 can be 10 cm, 30 cm, or other values.
  • the display of information 1 is controlled on the rear windshield A shown in Figure 4. It should be understood that the display devices at blank areas B and/or blank areas C can also be controlled to display information 1.
  • the display of information 1 in the left rear area of the vehicle is controlled.
  • the display of information 1 is controlled on the left rear window D shown in Figure 4.
  • the display device at the blank area E can also be controlled to display information 1.
  • at least one of the following can also be controlled to display information 1: the rear windshield A, blank area B, or blank area C.
  • the specific content of information 1 displayed at different locations can be the same or different.
  • the display of information 1 in the right rear area of the vehicle is controlled.
  • the display device in the blank area near the right rear door handle can also be controlled to display information 1.
  • at least one of the following can also be controlled to display information 1: the rear windshield A, blank area B, or blank area C.
  • the specific content of information 1 displayed in different locations can be the same or different.
  • the vehicle's front area is controlled to display information 1.
  • the vehicle's DLP headlights are controlled to project information 1 to reassure the driver of vehicle 1.
  • Information 1 can be textual information used to reassure the driver of Vehicle 1.
  • this textual information can be a general reassurance (or comforting message), such as "Don't rush, safety first" as shown in Figure 5(a), or "There are many roads, but safety is the first priority" as shown in Figure 5(b).
  • this textual information can be reassurance information determined based on the road conditions ahead of the vehicle; for example, if the nearest intersection ahead has a green light and the vehicle is stopped, and if the vehicle is yielding to other road users, then when the driving behavior information of Vehicle 1 triggers the emotional reassurance condition, the textual information can be reassurance information determined based on the yielding road conditions, as shown in Figure 5(b).
  • the text message "There's someone giving way ahead, don't rush, buddy" can be used as an example.
  • the text message could be a reassuring message based on the driver's experience. For instance, if the driver is a novice (i.e., lacks driving experience), the text message could be something like "I'm a new driver, please understand.”
  • the text message could be a reassuring message based on a time period.
  • the text message could be something like "Everyone's in a hurry to get to work, please understand”; or if the vehicle is traveling during rush hour, the text message could be something like "Don't rush, drive smoothly so you can get home faster.”
  • the text message could be a reassuring message based on the geographical location of the route, such as a reassuring sentence expressed in the local dialect. It should be noted that in some implementations, the content of Message 1 above can also be played through an external sound device, meaning that Message 1 can also be audio information.
  • information 1 may also include images such as emoticons and karaoke words that have a calming effect, such as the cute karaoke word "( ⁇ )" shown in Figure 5(c); or, information 1 may also include animations that have a calming effect.
  • images such as emoticons and karaoke words that have a calming effect, such as the cute karaoke word "( ⁇ )" shown in Figure 5(c); or, information 1 may also include animations that have a calming effect.
  • Information 1 can be pre-set content, or it can be generated in response to the driver's settings and/or input. For example, when it is determined that the driving behavior information of Vehicle 1 meets the emotional calming conditions, a prompting device (such as an in-cabin display screen or in-cabin device) prompts the driver of Vehicle 1 to need calming, and then Information 1 is generated based on the detected voice of the driver. In one example, taking Vehicle 1 as being located behind the vehicle, as shown in Figure 6(a), when the driving behavior information of Vehicle 1 is detected to meet the emotional calming conditions, the central control screen displays "The driver of the car behind seems a little anxious.
  • a prompting device such as an in-cabin display screen or in-cabin device
  • the driver of the self-driving car can input voice commands. For example, as shown in Figure 6(b), when the driver of the self-driving car observes through the rearview mirror that the driver of vehicle 1 is female, if the self-driving car detects the driver's voice command "Miss, don't worry, safety first," then the text message "Miss, don't worry, safety first” is generated and displayed on the rear area of the self-driving car, for example, as shown in Figure 6(c), the aforementioned information is displayed on the rear windshield.
  • the driver of the self-driving car can still be prompted by the central control screen that the following vehicle needs to be calmed.
  • the self-driving car detects the driver's voice command "Please tell him I have an urgent matter, please understand," the information 1 "Sorry, sorry, I have an urgent matter that affected your driving, please understand ( ⁇ o ⁇ )" is generated and displayed in the area corresponding to the location of the self-driving car and vehicle 1.
  • Information 1 can also be generated through a large language model (LLM).
  • the vehicle prompts the driver of vehicle 1 through a prompting device that the driver needs to be calmed down.
  • the driver of the vehicle can input the voice "Please calm down the beautiful lady for me”.
  • the vehicle detects the aforementioned voice of the driver of the vehicle, it can generate the text of Information 1 based on the aforementioned voice, such as "Hey sister, you don't need to be angry. What is more important than arriving at your destination safely?" and display the above information in the area corresponding to the location of the vehicle and vehicle 1.
  • the driving behavior of vehicle 1 is detected, and a decision is made on whether to continue displaying information 1 based on the driving behavior of vehicle 1.
  • the controlled vehicle stops displaying information 1.
  • the controlled vehicle displays information 2.
  • the type of information 2 is different from the type of information 1.
  • information 1 is a general reassurance message
  • information 2 can be a humorous reassurance message
  • information 1 is text information
  • information 2 can be a reassurance message containing images or animations
  • information 1 is text information
  • information 2 can include audio information.
  • the duration 1 can be 30 seconds, 20 seconds, or other durations.
  • vehicle 1 refers to any vehicle other than official vehicles (such as ambulances, police cars, and fire trucks).
  • the control method provided in this application can determine whether the drivers of other vehicles need reassurance based on their driving behavior. When it is determined that other drivers need reassurance, the control method displays reassurance information in the vehicle, which helps alleviate their negative emotions and improves driving safety. Furthermore, based on the relative positions of other vehicles, the control method can display reassurance information in areas where the vehicle and other vehicles are positioned relative to the vehicle, ensuring that the drivers of other vehicles receive the reassurance information promptly and guaranteeing its effectiveness.
  • Figure 7 shows another schematic flowchart of the control method provided in this application embodiment.
  • This method can be applied to the vehicle 100 shown in Figure 1, or it can be executed by the system shown in Figure 2.
  • Method 700 can be executed before method 300, after method 300, or synchronously with method 300. More specifically, this method can be executed by the vehicle emotion soothing module 230, and the method may include:
  • S701 acquires the driver's biometric information, voice information, and vehicle control information.
  • biometric information may include facial features and/or limb features
  • voice information may include tone of voice, preset vocabulary, etc.
  • vehicle control information may include at least one of the following: the driver's grip on the steering wheel, horn frequency, horn duration, pedal (such as accelerator pedal and/or deceleration pedal) opening and rate of change of opening.
  • pedal such as accelerator pedal and/or deceleration pedal
  • the tone of voice spoken by the driver and whether there is any uncivilized language can be determined; based on...
  • Information collected from in-cabin visual sensors is combined with facial landmark detection algorithms and emotion recognition algorithms to obtain emotion detection results and determine the driver's emotions.
  • S702 determines whether the driver of the vehicle is in an emotional state based on at least one of biometric information, voice information, or vehicle control information.
  • the driver's emotion 1 can be represented by an emotion score.
  • Emotion 1 can be anger and/or impatience.
  • CR represents the detection result of facial information.
  • CR ⁇ 1*CR1 + ⁇ 2*CR2 + ⁇ 3*CR3 + ⁇ 4*CR4.
  • CR1 is set to 1; otherwise, it is set to 0.
  • CR2 is set to 1; otherwise, it is set to 0.
  • CR3 is set to 1; otherwise, it is set to 0.
  • CR4 is set to 1; otherwise, it is set to 0.
  • ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 represent the weights of the four items.
  • ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 can each be 0.25; alternatively, ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 can take other values, and the sum of ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 is 1.
  • the value of CR can range from 0 to 1.
  • VO1 is set to 1; otherwise, VO1 is set to 0.
  • VO2 is set to 1; otherwise, VO2 is set to 0.
  • ⁇ 1 and ⁇ 2 represent the weights of the two items, and ⁇ 1 and ⁇ 2 can each be 0.5; alternatively, ⁇ 1 and ⁇ 2 can take other values, and their sum is 1.
  • the value of VO can range from 0 to 1.
  • VC represents the detection result of vehicle control information.
  • VC ⁇ 1*VC1 + ⁇ 2*VC2 + ⁇ 3*VC3 + ⁇ 4*VC4.
  • VC1 is set to 1; otherwise, VC1 is set to 0.
  • rate of change of the vehicle's pedal opening is detected to be greater than or equal to the rate of change threshold (e.g., 50%/s, or other values)
  • VC2 is set to 1; otherwise, VC2 is set to 0.
  • the duration of the vehicle's headlight flashing is detected to be greater than or equal to the duration threshold 2
  • VC3 is set to 1; otherwise, VC3 is set to 0.
  • VC4 When the horn honking duration is detected to be greater than or equal to the duration threshold 1, or the horn honking frequency is detected to be greater than or equal to the frequency threshold 1, VC4 is set to 1; otherwise, VC4 is set to 0. ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 can be set to 0.3, 0.3, 0.2, and 0.2 respectively; or ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 can also be set to other values, and the sum of ⁇ 1, ⁇ 2, ⁇ 3, and ⁇ 4 is 1.
  • the value of VC can range from 0 to 1.
  • Threshold 2 can be 0.7 or other values.
  • Threshold 3 can be 1, 1.5, or other values.
  • the driver's facial expressions and tone of voice are used as a benchmark.
  • the driver's emotions can be categorized into several types, such as happiness, sadness, anger (and/or impatience), and disgust.
  • a multi-dimensional vector can be used to represent the user's emotional state. Different combinations of emotional dimensions correspond to different dimensional emotional spaces, and each emotional dimension has a range of values, with the emotional dimension value falling anywhere within that range. Any emotion can be represented by a set of values, which represent the position of that emotion in the dimensional emotional space. When the emotional dimension value falls into the "anger" dimensional emotional space, the driver is determined to be in emotion 1; otherwise, the driver is determined not to be in emotion 1.
  • the control prompt device displays information a, which is used to calm the driver of the vehicle.
  • the prompting device may include one or more of the following: an in-cabin display device (such as a central control screen, instrument panel, HUD, etc.), an in-cabin sound device (such as a speaker, enclosure, etc.), and an in-cabin lighting device.
  • the information a includes the reassurance information 2 in the aforementioned embodiments.
  • information 'a' can include at least one of text information, audio information, animation information, or lighting information.
  • Text information can include soothing sentences; audio information can include calming music, soothing voice messages, etc.; animation information can include soothing animations (such as displaying a wooden fish striking animation); lighting information can include cool-toned lighting (such as blue or green lighting) or lighting with a soothing effect (such as yellow lighting).
  • text information can also include humorous or sympathetic soothing sentences. For example, a sympathetic sentence could be: "This is infuriating! How could they treat us like this, Master? Let's not stoop to their level!; or, a humorous sentence could be displayed: "Master, your little mouth is pouting so much you could hang a bottle on it! Don't be angry!
  • soothing voice messages can include various emotional types, such as gentle, humorous, playful, and sympathetic. Different types of sentences can be played with different tones depending on the type.
  • the driver's identity information can be obtained, indicating the driver's preferences, such as a preference for gentle, humorous, playful, or sympathetic soothing methods. Based on the driver's preferences, the type of information 'a' can be determined. For example, if the driver prefers gentle soothing methods, information 'a' could include gentle speech; if the driver prefers humorous soothing methods, information 'a' could include... It can include humorous text and/or voice.
  • the content of information a can be determined based on the road conditions ahead of the vehicle. For example, if the driver is detected to be in mood 1 when the road ahead is congested, information a can include the following text and/or voice: "This car is about to be completely blocked. Driver, you must hold on and get through this congestion so that we can reach a smooth road ahead.”
  • information a can be determined based on the driving experience of the driver of the vehicle in front of the driver. For example, as shown in Figure 8, information a could include text and/or voice messages such as: "Driver, don't be impatient, the driver in front might be a new driver, let's wait for him.”
  • information a when a high speed or acceleration of the vehicle is detected, and the driver is in emotional state 1, the content of information a can be determined based on the vehicle's motion state. For example, as shown in Figure 9, information a could include text and/or voice messages such as: "Calm down, the bearings are sparking!
  • the content of information a can be determined based on the danger level of vehicle 1.
  • information a may include text and/or voice messages such as: "The car behind us may be in a hurry. Let's not get angry with him. Taking a step back will make things better.”
  • the content of information 'a' can be determined based on the time period. For instance, if the vehicle travels during the morning rush hour, information 'a' could be a reassuring message based on the morning rush hour, such as text and/or voice messages like, "Master, everyone is in a hurry to get to work. Let's be magnanimous and forgive them.” Or, if the vehicle travels during the evening rush hour, information 'a' could be a reassuring message based on the evening rush hour, such as text and/or voice messages like, "Master, don't rush. Driving smoothly will get you back to your cozy home faster.”
  • the content of information a can be determined based on the geographical location of the route traveled.
  • information a may include comforting words and/or speech in the local dialect as determined by the geographical location.
  • a soothing message can be played via a voice assistant.
  • the voice assistant's appearance can also be changed when the driver is determined to be in emotion 1.
  • the voice assistant's appearance is a voice ball as shown in Figure 9(a)
  • the shape of the voice ball can be changed when the driver is determined to be in emotion 1.
  • the voice ball can be changed to the shape of a wooden fish as shown in Figure 9(b), or the voice ball can display a dynamic wooden fish striking action; or, when the driver is determined to be in emotion 1, the voice ball's expression can be changed, for example, the voice ball's expression can be changed to a frustrated expression as shown in Figure 9(c), and a stroking action can be configured.
  • the virtual human's clothing can be changed when the driver is determined to be in emotion 1.
  • the virtual human's clothing can be changed to the style shown in Figure 9(e); or, when the driver is determined to be in emotion 1, the virtual human's clothing can be changed to a cassock, etc.
  • the voice assistant is a linear image, and the driver is determined to be in emotion 1, the color of the voice assistant can be changed, for example, by changing the color of the voice assistant to a cool color.
  • the text and/or voice information can be pre-set content, or it can be information generated by LLM.
  • a prompting device such as an in-cabin display screen or in-cabin device
  • the driver can input the voice message "Voice assistant, I am indeed a little angry, please comfort me using the voice of celebrity 'a'.”
  • the vehicle detects the driver's voice, it can generate the text of information 'a' based on the voice, such as "Don't get angry about what happened on the road, it's not worth ruining your health!
  • control prompt device when the control prompt device displays message 'a', it can also adjust the air conditioner temperature, such as lowering the air conditioner temperature or raising the air conditioner temperature if it is too low; or it can control the release of fragrances with a calming effect.
  • the driver's emotional level can be determined based on an emotion score. Different reassurance methods can be used when the driver is in different emotional levels, as shown in Table 1 or Table 2. It should be understood that Table 1 and Table 2 are merely illustrative examples. In actual implementation, emotion 1 can be divided into fewer or more levels, or other reassurance methods can be used for different emotional levels.
  • the soothing style for the driver in emotional state 1 can be determined in response to user settings.
  • an interface for setting the soothing style can be provided to the user via an HMI.
  • an interface for selecting a soothing style can be provided to the user via a central control screen, as shown in Figure 10(a).
  • the central control screen displays "Please select your preferred soothing style,” and then provides five options: “Option 1,” “Option 2,” “Option 3,” “Option 4,” and “Custom.”
  • “Option 1,” “Option 2,” “Option 3,” and “Option 4" can correspond to four styles: “Humorous,” “Gentle,” “Shared Anger,” and “Celebrity,” respectively.
  • subsequent soothing actions can display soothing text information corresponding to the selected type or play soothing voice information corresponding to the selected type.
  • option four corresponding to the "Celebrity” style
  • the system can redirect to a page for selecting a specific celebrity. If the user selects a celebrity (e.g., celebrity A), the system can play soothing voice messages in that celebrity's voice during subsequent comforting actions.
  • the system can further specify the style of comforting with the celebrity's voice (e.g., humorous, gentle, or sympathetic).
  • the "Custom” option allows users to edit the desired tone of the comforting voice. For instance, when the user clicks on the "Custom” option, the HMI can display the interface shown in Figure 10(b), prompting the user to "Import a reference voice, or click the microphone below to record your voiceprint.” If a user wants to use a family member's voice for comforting others, and the vehicle has an audio file containing their family member's voice saved, the user can click the "Please Select Audio File” button to import the audio file. The vehicle will then extract the family member's voiceprint from the audio file to use their voice for comforting others.
  • the user can click the microphone button to record their family member's voice, which the vehicle will then use for comforting others.
  • the user selects the "Custom" comforting style, they can further customize the specific style of comforting others with a custom voice (such as humorous, gentle, or sympathetic).
  • the aforementioned information collection process (such as voiceprint collection process)/feature extraction process is carried out with the user's knowledge and permission. That is, the information collection process/feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.
  • the soothing method for the driver in emotional state 1 can be determined in response to user settings.
  • an interface for setting the soothing method can be provided to the user via an HMI.
  • an interface for selecting a soothing method can be provided to the user via a central control screen, as shown in Figure 10(c).
  • the central control screen displays "Please select your desired soothing method,” and then provides four options: “Option a,” “Option b,” “Option c,” and “Option d.”
  • “Option a,” “Option b,” “Option c,” and “Option d” can correspond to the four soothing methods: "Set Style Voice,” “Music,” “Ambient Light,” and “Animation,” respectively.
  • the subsequent soothing action uses the method corresponding to that option or a combination of multiple options to soothe the user.
  • the system detects that a user clicks on the two options corresponding to the "set style voice" and “ambient light” soothing methods (such as option a and option c), and when the driver's mood is detected as 1, the system controls the ambient light to display a soothing light, and simultaneously controls the in-cabin sound device to play a voice with a set style (such as a humorous style, a custom style, or a default style) to soothe the driver.
  • a set style such as a humorous style, a custom style, or a default style
  • GUI graphical user interface
  • the driver's emotion when prompting message a, the driver's emotion is detected. If the driver's emotion 1 does not improve (e.g., emotion score E remains unchanged or increases) within a duration 2 starting from the start of prompting message a, the prompting device is controlled to prompt message b.
  • Message b and message a are of different types. Specifically, when both message a and message b include voice information, the different types can include different tones of voice information; for example, message a may include a tone of righteous indignation, while message b may include a gentle tone.
  • the different types can include different timbres of voice information; for example, message a may include a robotic voice, while message b may include a voice timbre of the driver's family member.
  • the different types can include different prompting methods; for example, message a may include music and... If the light is used, then information b can include voice and/or text; alternatively, different types can include different content, for example, information a includes content expressing shared ashamed, while information b includes humorous content.
  • Duration 2 can be 20 seconds, 30 seconds, or other durations.
  • the control method provided in this application embodiment can provide reassuring information through a prompting device when it is determined that the driver of the vehicle is in a state of anger and/or irritability, which helps to alleviate the driver's negative emotions and thus improve driving safety.
  • FIG 11 shows another schematic flowchart of the control method provided in an embodiment of this application.
  • This method 1100 can be executed by the vehicle 100 shown in Figure 1, or it can be executed by the system shown in Figure 2.
  • the method 1100 may include:
  • the first driving behavior information of the first vehicle obtains the first driving behavior information of the first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane changing behavior, lane changing frequency, horn duration, horn frequency, and headlight flashing duration.
  • the first vehicle may include vehicle 1 in method 300, or the first vehicle may include other vehicles around the vehicle.
  • the method for obtaining the first driving behavior information can be referred to the description in S301, and will not be repeated here.
  • the second vehicle when the first driving behavior information triggers the emotional calming condition of the first vehicle, the second vehicle is controlled to display the first prompt information, which is used to calm the driver of the first vehicle.
  • the first driving behavior information may include the driving behavior information of vehicle 1 in S302.
  • the method for determining the first driving behavior information that triggers the emotional calming condition of the first vehicle can be referred to the description in S302 regarding the driving behavior information of vehicle 1 satisfying the emotional calming condition, which will not be repeated here.
  • the second vehicle may include the self-driving vehicle in method 300
  • the first prompt information may include information 1 in S302, the specific content and/or form of the first prompt information, and the specific implementation of controlling the second vehicle to prompt the first prompt information, which can be referred to the description in S302, and will not be repeated here.
  • controlling the first vehicle to display the first prompt information includes: controlling the second vehicle to display the first prompt information in a first area based on the first vehicle's first location, wherein the first area corresponds to the first location.
  • the first orientation of the first vehicle is its orientation relative to the second vehicle
  • the first region may include region 1 in method 300. More specifically, when the first orientation is behind the second vehicle, the first region may be the rear region of the second vehicle; when the first orientation is to the left rear of the second vehicle, the first region may include the rear region and/or the left rear side region of the second vehicle; when the first orientation is to the right rear of the second vehicle, the first region may include the rear region and/or the right rear side region of the second vehicle; when the first orientation is in front of the second vehicle, the first region may be the front region of the second vehicle.
  • a more detailed correspondence between the first region and the first orientation can be found in the description in method 300, and will not be repeated here.
  • the method further includes: when the first vehicle changes to the second position, controlling the second vehicle to display a first prompt message in a second area, the second area corresponding to the second position.
  • the second position is different from the aforementioned first position, and the second area and the first area may be the same or different.
  • the first prompt information is displayed in the rear control area, and then changed to be displayed in the rear control area and/or the left rear side area; as another example, when the first vehicle changes from behind the second vehicle to in front, the first prompt information is displayed in the rear control area, and then changed to be displayed in the front control area.
  • controlling the second vehicle to display the first warning information includes: controlling the second vehicle to display the first warning information based on at least one of the following: the driving experience of the driver of the second vehicle, or the road conditions ahead of the second vehicle.
  • the driving experience of the driver of the second vehicle can be determined in response to the driver's input, and the road frame ahead of the second vehicle can be detected by the perception system of the second vehicle.
  • Controlling the second vehicle to display the first warning message based on the driver's experience and/or the road conditions ahead can be understood as: determining the specific content of the first warning message based on the driver's experience and/or the road conditions ahead, and then controlling the second vehicle to display the first warning message.
  • a more specific implementation can be found in the description of method 300, and will not be repeated here.
  • the method further includes: detecting second driving behavior information of the first vehicle within a first duration from the start of displaying the first prompt information; controlling the second vehicle to stop displaying the first prompt information when the second driving behavior information no longer triggers the emotional calming condition; or, controlling the second vehicle to display a second prompt information when the second driving behavior information still triggers the emotional calming condition, wherein the second prompt information is of a different type than the first prompt information.
  • the second prompt message may include information 2 in method 300; the first duration may be 10 seconds, or 20 seconds, or other durations, for example, the first duration and duration 1 in method 300 may be the same.
  • the second prompt message and the first prompt message may be of different types, including at least one of the following: the first prompt message and the second prompt message...
  • the content of the messages may differ; for example, the first message may be a general reassurance message, while the second message may be a humorous reassurance message.
  • the methods of displaying the first and second messages may differ; for example, the first message may be text, while the second message may be audio.
  • the method further includes: upon detecting a first emotion of the driver of the second vehicle, controlling the second vehicle to display a third prompt message, the third prompt message being used to soothe the driver of the second vehicle, the first emotion including anger and/or impatience.
  • the first emotion can be emotion 1 as described in method 700
  • the third prompt information can include information a as described in method 700.
  • the method for determining that the driver of the second vehicle is in the first emotion can be referred to the description in S702; the specific content and/or form of the third prompt information, and the method for controlling the second vehicle to display the third prompt information can be referred to the description in S703, and will not be repeated here.
  • the method further includes: detecting the driver's emotions within a second duration starting from the start of the third prompt message; if the driver's first emotions have not subsided, controlling the second vehicle to prompt a fourth prompt message, the fourth prompt message being of a different type than the third prompt message; or, if the driver's first emotions have subsided, controlling the second vehicle to prompt a fifth prompt message, the fifth prompt message being of the same type as the third prompt message; wherein, the difference in type between the fourth and third prompt messages includes at least one of the following: different content; different prompting methods; or, when both the third and fourth prompt messages include voice information, the timbre and/or tone of the voice information in the third and fourth prompt messages are different.
  • the fourth prompt message may include message b in method 700, and the fifth prompt message may include message c in method 700;
  • the second duration may be 10 seconds, or 20 seconds, or other durations, for example, the second duration may be the same as duration 2 in method 700.
  • the specific implementation of the fourth prompt message can be referred to the description in S703, and will not be repeated here.
  • controlling the second vehicle to display the third prompt message includes: controlling the second vehicle to display the third prompt message based on the prompt message preferences of the driver of the second vehicle.
  • the prompting information preference is used to indicate the soothing style and/or soothing method of the third prompting information preferred by the driver of the second vehicle.
  • the prompting preference information may include the driver's identity information in the aforementioned embodiments, or the prompting information preference may be a preference determined in response to the settings of the driver of the second vehicle.
  • Controlling the second vehicle to display the third prompting information according to the prompting information preference of the driver of the second vehicle can be understood as: determining the specific style and/or soothing method of the third prompting information according to the prompting information preference of the driver of the second vehicle, and then controlling the second vehicle to display the third prompting information.
  • a more specific implementation can be found in the description in S703, which will not be repeated here.
  • controlling the second vehicle to provide a third prompt message includes: controlling the second vehicle to provide a third prompt message based on at least one of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle ahead of the second vehicle.
  • the driving experience of the driver of the vehicle preceding the second vehicle can be determined based on an icon affixed to the rear of the vehicle, such as a "probationary driver” or “new driver” sign on the rear of the vehicle, indicating limited driving experience (e.g., a novice driver).
  • the second vehicle is controlled to display a third notification message based on at least one of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver preceding the second vehicle.
  • determining the content of the third notification message based on one or more of the following: the road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the limited driving experience of the driver preceding the second vehicle, and then controlling the second vehicle to display the third notification message.
  • the method further includes: upon detecting a first emotion of the driver of the second vehicle, performing at least one of the following: adjusting the air conditioning temperature of the second vehicle; or controlling the second vehicle to activate a first fragrance, the first fragrance being used to stabilize the emotion.
  • the first fragrance may include fragrance 1 in the foregoing embodiments.
  • the control method provided in this application determines that the driver of another vehicle needs reassurance.
  • the first vehicle provides information to the driver of that other vehicle to help alleviate their negative emotions, thereby improving driving safety. For example, when another vehicle attempts to cut in front of the first vehicle or other vehicles, or intends to cut in front of another vehicle, providing information to reassure the driver of that other vehicle can alleviate their negative emotions and reduce or eliminate their intention to cut in or cut in front of other vehicles, thus improving driving safety.
  • the first vehicle's driving path affects the normal driving of another vehicle, causing the driver of that other vehicle to experience negative emotions, providing information to reassure the driver of that other vehicle can alleviate their negative emotions, thereby reducing the likelihood of the other vehicle driver engaging in behavior that threatens driving safety, thus contributing to improved driving safety.
  • cutting off another vehicle refers to a situation on the same road where the vehicle in front obstructs the passage of the vehicle behind, or where the vehicle behind deliberately obstructs the normal driving of the vehicle being overtaken during the overtaking process.
  • Figure 12 shows a schematic block diagram of a control device 2000 provided in an embodiment of this application.
  • the device 2000 may include units for executing the methods shown in Figures 3, 7, and 11. Furthermore, each unit in the device 2000 implements a corresponding process of the above-described method embodiments.
  • the device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission/reception functions.
  • the device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.
  • the device 2000 further includes a storage unit, which can be used to store instructions and/or data.
  • the processing unit 2020 can read the instructions and/or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.
  • the device 2000 further includes a detection unit for performing the detection actions in the aforementioned method embodiments.
  • the detection unit may include one or more sensors in the sensing system 120 shown in FIG1, and may also include one or more processors in the computing platform 150.
  • module or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and/or other suitable components that support the described functions.
  • processors e.g., shared processors, proprietary processors, or group processors
  • memory for executing one or more software or firmware programs, integrated logic circuits, and/or other suitable components that support the described functions.
  • the apparatuses of the above-described schemes are capable of implementing the corresponding steps performed by the computing platform 150 in the above-described methods. These functions can be implemented in hardware or by hardware executing corresponding software.
  • the hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.
  • the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, a portion of the acquisition unit 2010 and processing unit 2020 can be disposed in the other vehicle emotion soothing module 220 shown in FIG. 2, and another portion of the acquisition unit 2010 and processing unit 2020 can be disposed in the self vehicle emotion soothing module 230 shown in FIG. 2. Exemplarily, the operations performed by the acquisition unit 2010 and processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.
  • the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).
  • SoC system-on-a-chip
  • FIG 13 is another schematic block diagram of the control device provided in an embodiment of this application.
  • the control device 2100 shown in Figure 13 may include a processor 2110, a transceiver 2120, and a memory 2130.
  • the processor 2110, transceiver 2120, and memory 2130 are connected via internal connection paths.
  • the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments.
  • the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.
  • transceiver 2120 may include, but is not limited to, transceiver devices such as input/output interfaces, to realize communication between device 2100 and other devices or communication networks.
  • the memory 2130 can be volatile memory and/or non-volatile memory.
  • the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.
  • the volatile memory can be random access memory (RAM).
  • RAM can be used as an external cache.
  • RAM includes a variety of forms, such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDR SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous linked dynamic random access memory
  • DR RAM direct rambus RAM
  • Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive/send data/information for implementing the methods in the above embodiments.
  • This application also provides an intelligent driving device, which includes the control device 2000 or control device 2100 in the above embodiments.
  • the intelligent driving devices involved in the embodiments of this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • intelligent driving devices may be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • transportation vehicles such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.
  • industrial vehicles such as forklifts, trailers, tractors, etc.
  • engineering vehicles such as excavators, bulldozers, cranes, etc.
  • agricultural equipment such as lawnmowers, harvesters, etc.
  • amusement equipment toy vehicles, etc.
  • the embodiments of this application do not specifically limit the type of vehicle.
  • the aforementioned intelligent driving device can be the vehicle 100 shown in Figure 1.
  • This application also provides a computer program product, which includes computer program code.
  • the computer program code When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.
  • At least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.
  • prefixes such as “first” and “second” in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects.
  • the use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.
  • the disclosed systems, apparatuses, and methods can be implemented in other ways.
  • the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.
  • the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separate.
  • the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
  • the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

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Abstract

一种控制方法、实现该控制方法的控制装置和包括该控制装置的车辆，该控制方法包括：获取第一车辆的第一驾驶行为信息，第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长；在第一驾驶行为信息触发第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，第一提示信息用于安抚第一车辆的驾驶员。该方法在确定他车驾驶员需要安抚时，控制自车提示用于安抚他车驾驶员的信息，有助于缓解他车驾驶员的负面情绪，从而提高行车安全性。

Description

控制方法、装置和车辆 技术领域
本申请涉及智能座舱领域，更具体地，涉及一种控制方法、装置和车辆。
背景技术
车辆在道路上行驶时，会与附近行驶的车辆产生关系，发生一系列交互，如超车、跟车、变道、加塞、急刹车、排队等。车辆之间发生这些交互时，其背后的驾驶员之间的自然交互被物理阻隔，信息不通畅，易导致误会、情绪阻隔、情绪压抑，从而产生一些情绪摩擦，如抱怨、指责、路怒，而由于车辆自身的隔断性质，导致情绪只能通过鸣笛、闪灯等方式传递，不但无法有效疏解情绪反而有可能造成负面情绪的广泛传播。任何一个交通参与者的负面情绪对自身驾驶、乘客以及他车安全带来极大的安全隐患。
因此，一种安抚驾驶员的情绪的车辆的控制方案亟待开发。
发明内容
本申请提供一种控制方法、装置和车辆，在确定他车驾驶员需要安抚时，控制自车提示用于安抚他车驾驶员的信息，有助于缓解他车驾驶员的负面情绪，从而提高行车安全性。
第一方面，本申请提供了一种控制方法，该方法可以由车辆执行，例如，可以由车辆的计算平台执行，或者，也可以由用于车辆的芯片或电路执行；或者，该方法也可以由于车辆通信的云端服务器执行。
该方法包括：获取第一车辆的第一驾驶行为信息，第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长；在第一驾驶行为信息触发第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，第一提示信息用于安抚第一车辆的驾驶员。
在上述技术方案中，根据自车周围的他车的驾驶行为确定他车驾驶员需要安抚时，控制自车提示用于安抚他车驾驶员的信息，有助于缓解他车驾驶员的负面情绪，从而提高行车安全性。在他车想要加塞自车或其他车辆，或者他车有别车意图时，通过自车提示用于安抚他车驾驶员的信息，能够缓解他车驾驶员的负面情绪，降低或消除他车驾驶员的加塞意图或别车意图，从而提高行车安全性。或者，在自车行驶路径影响他车正常行驶，从而导致他车驾驶员产生负面情绪时，通过自车提示用于安抚他车驾驶员的信息，能够缓解他车驾驶员的负面情绪，从而降低他车驾驶员做出威胁行车安全的行为的可能性，有助于提高行车安全性。
在一些实现方式中，控制第二车辆提示第一提示信息可以包括：控制第二车辆的显示装置(如舱外显示屏、车窗、尾灯、前灯等)和/或舱外发声装置提示第一提示信息。
在一些实现方式中，第一提示信息包括文字信息、图像信息、动画信息、音频信息中的至少一项。
结合第一方面，在第一方面的某些实现方式中，控制第一车辆显示第一提示信息，包括：根据第一车辆的第一方位，控制第二车辆的第一区域提示第一提示信息，其中，第一区域与第一方位相对应。
在上述技术方案中，根据他车相对于自车的位置，控制自车与他车的方位相对的区域显示安抚信息，能够使他车驾驶员及时接收到安抚信息，有助于保证安抚信息的安抚效果，进而提高行车安全。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在第一车辆变换至第二方位时，控制第二车辆的第二区域显示第一提示信息，第二区域与第二方位相对应。
在一些实现方式中，第二方位和第一方位不同，第二区域和第一区域可以相同，或者也可以不同。
在上述技术方案中，在他车位置发生变化时，根据他车位置变化后的方位，控制自车与他车位置变化后的方位相对的区域显示安抚信息，有助于保证他车驾驶员持续接收安抚信息，有助于保证安抚信息的安抚效果，进而提高行车安全。
结合第一方面，在第一方面的某些实现方式中，控制第二车辆提示第一提示信息，包括：根据如下至少一项信息，控制第二车辆提示第一提示信息：第二车辆的驾驶员的驾驶经验，或第二车辆的前方路况。
在一些实现方式中，根据第二车辆的驾驶员的驾驶经验和/或第二车辆的前方路况，控制第二车辆提示第一提示信息，可以理解为：根据第二车辆的驾驶员的驾驶经验和/或第二车辆的前方路况，确定第一提示信息的具体内容，进而控制第二车辆提示第一提示信息。
在上述技术方案中，可以根据不同的驾驶场景提示不同的安抚信息，有助于提高安抚信息针对他车驾驶员的有效性，并且能够提高车辆的智能性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在开始提示第一提示信息起的第一时长内，检测第一车辆的第二驾驶行为信息；在第二驾驶行为信息不再触发情绪安抚条件时，控制第二车辆停止提示第一提示信息；或者，在第二驾驶行为信息仍触发情绪安抚条件时，控制第二车辆提示第二提示信息，第二提示信息和第一提示信息的类型不同。
在一些实现方式中，第二提示信息和第一提示信息的类型不同可以包括如下至少一项：第一提示信息和第二提示信息的内容不同；或者，第一提示信息和第二提示信息的提示方式不同。
在上述技术方案中，在提示用于安抚他车的驾驶员的安抚信息时，可以根据他车的驾驶行为确定安抚信息是否有效，在安抚信息无效时更换其他类型的提示信息，有助于提高安抚信息针对他车驾驶员的有效性，从而提高行车安全性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在检测到第二车辆的驾驶员的第一情绪时，控制第二车辆提示第三提示信息，第三提示信息用于安抚第二车辆的驾驶员，第一情绪包括愤怒情绪和/或急躁情绪。
在一些实现方式中，控制第二车辆提示第三提示信息可以包括：控制第二车辆的显示装置(如舱内显示屏)、第二车辆的灯光装置(如氛围灯)、第二车辆的舱内发声装置中的至少一项提示第三提示信息。
在一些实现方式中，第三提示信息包括文字信息、图像信息、动画信息、音频信息、灯光信息中的至少一项。
在上述技术方案中，在确定自车驾驶员处于愤怒情绪和/或急躁情绪时，可以通过提示装置提示安抚信息，有助于缓解自车驾驶员的负面情绪，从而提高行车安全性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在开始提示第三提示信息起的第二时长内，检测第二车辆的驾驶员的情绪；在第二车辆的驾驶员的第一情绪未缓解时，控制第二车辆提示第四提示信息，第四提示信息和第三提示信息的类型不同；或者，在第二车辆的驾驶员的第一情绪缓解时，控制第二车辆提示第五提示信息，第五提示信息和第三提示信息的类型相同；其中，第四提示信息和第三提示信息类型不同包括如下至少一项：内容不同；提示方式不同；或者，在第三提示信息和第四提示信息均包括语音信息时，第三提示信息中语音信息和第四提示信息中语音信息的音色不同和/或语气不同。
在上述技术方案中，在提示用于安抚自车驾驶员的安抚信息时，可以根据自车驾驶员的情绪确定安抚信息是否有效，在安抚信息无效时更换其他类型的提示信息，有助于提高安抚信息针对自车驾驶员的有效性，从而提高行车安全性。
结合第一方面，在第一方面的某些实现方式中，控制第二车辆提示第三提示信息，包括：根据第二车辆的驾驶员的提示信息偏好，控制第二车辆提示第三提示信息。
在一些实现方式中，提示信息偏好用于指示第二车辆的驾驶员偏好的第三提示信息的安抚风格和/或安抚方式。
在上述技术方案中，根据自车驾驶员的偏好确定用于安抚自车驾驶员的安抚信息，有助于提高安抚信息针对自车驾驶员的有效性，从而提高行车安全性。
结合第一方面，在第一方面的某些实现方式中，控制第二车辆的提示第三提示信息，包括：根据如下至少一项信息，控制第二车辆提示第三提示信息：第二车辆的前方路况，第一车辆的情绪安抚条件触发情况，或第二车辆的前车驾驶员的驾驶经验。
在一些实现方式中，根据第二车辆的前方路况，第一车辆的情绪安抚条件触发情况，或第二车辆的前车驾驶员的驾驶经验中的至少一项，控制第二车辆提示第三提示信息，可以理解为：根据第二车辆的前方路况、第一车辆的情绪安抚条件被触发，或第二车辆的前车驾驶员的驾驶经验较少中的一项或多项，确定第三提示信息的内容，进而控制第二车辆提示第三提示信息。
在上述技术方案中，可以根据不同的驾驶场景提示不同的安抚信息，有助于提高安抚信息针对自车 驾驶员的有效性，并且能够提高车辆的智能性。
结合第一方面，在第一方面的某些实现方式中，该方法还包括：在检测到第二车辆的驾驶员的第一情绪时，执行如下至少一项：调节第二车辆的空调温度；或控制第二车辆开启第一香氛，第一香氛用于稳定情绪。
第二方面，提供了一种控制装置，该装置包括获取单元和处理单元，其中，获取单元用于：获取第一车辆的第一驾驶行为信息，第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长；处理单元用于：在第一驾驶行为信息触发第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，第一提示信息用于安抚第一车辆的驾驶员。
结合第二方面，在第二方面的某些实现方式中，处理单元用于：根据第一车辆的第一方位，控制第二车辆的第一区域提示第一提示信息，其中，第一区域与第一方位相对应。
结合第二方面，在第二方面的某些实现方式中，处理单元还用于：在第一车辆变换至第二方位时，控制第二车辆的第二区域显示第一提示信息，第二区域与第二方位相对应。
结合第二方面，在第二方面的某些实现方式中，处理单元用于：根据如下至少一项信息，控制第二车辆提示第一提示信息：第二车辆的驾驶员的驾驶经验，或第二车辆的前方路况。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第一检测单元，第一检测单元用于：在开始提示第一提示信息的第一时长内，检测第一车辆的第二驾驶行为信息；处理单元还用于：在第二驾驶行为信息不再触发情绪安抚条件时，控制第二车辆停止提示第一提示信息；或者，在第二驾驶行为信息仍触发情绪安抚条件时，控制第二车辆提示第二提示信息，第二提示信息和第一提示信息的类型不同。
结合第二方面，在第二方面的某些实现方式中，该装置还包括第二检测单元，处理单元还用于：在第二检测单元检测到第二车辆的驾驶员的第一情绪时，控制第二车辆提示第三提示信息，第三提示信息用于安抚第二车辆的驾驶员，第一情绪包括愤怒情绪和/或急躁情绪。
结合第二方面，在第二方面的某些实现方式中，第二检测单元还用于：在提示第三提示信息起的第二时长内，检测第二车辆的驾驶员的情绪；处理单元还用于：在第二车辆的驾驶员的第一情绪未缓解时，控制第二车辆提示第四提示信息，第四提示信息和第三提示信息的类型不同；或者，在第二车辆的驾驶员的第一情绪缓解时，控制第二车辆提示第五提示信息，第五提示信息和第三提示信息的类型相同；其中，第四提示信息和第三提示信息类型不同包括如下至少一项：内容不同；提示方式不同；或者，在第三提示信息和第四提示信息均包括语音信息时，第三提示信息中语音信息和第四提示信息中语音信息的音色不同和/或语气不同。
结合第二方面，在第二方面的某些实现方式中，处理单元用于：根据第二车辆的驾驶员的提示信息偏好，控制第二车辆提示第三提示信息。
结合第二方面，在第二方面的某些实现方式中，处理单元用于：根据如下至少一项信息，控制第二车辆提示第三提示信息：第二车辆的前方路况，第一车辆的情绪安抚条件触发情况，或第二车辆的前车驾驶员的驾驶经验。
结合第二方面，在第二方面的某些实现方式中，处理单元还包括：在第二检测单元检测到第二车辆的驾驶员的第一情绪时，执行如下至少一项：调节第二车辆的空调温度；或控制第二车辆开启第一香氛，第一香氛用于稳定情绪。
第三方面，提供了一种控制装置，该装置包括：处理器，用于执行该存储器中存储的计算机程序，以使得该装置执行上述第一方面任一种可能实现方式中的方法。
结合第三方面，在第三方面的某些实现方式中，该控制装置还包括存储器。
第四方面，提供了一种车辆，该车辆包括如第二至第三方面任一种可能实现方式中的装置。
第五方面，提供了一种计算机程序产品，上述计算机程序产品包括：计算机程序代码，当上述计算机程序代码在计算机或处理器上运行时，使得计算机或处理器执行上述第一方面任一种可能实现方式中的方法。
需要说明的是，上述计算机程序代码可以全部或部分存储在存储介质上，其中存储介质可以与处理器封装在一起的，也可以与处理器单独封装。
第六方面，提供了一种计算机可读介质，上述计算机可读介质存储有指令，当上述指令被处理器执行时，使得处理器实现上述第一方面中任一种可能实现方式中的方法。
第七方面，提供了一种芯片，该芯片包括电路，该电路用于执行上述第一方面中任一种可能实现方式中的方法。
第二方面至第七方面中未详尽描述的有益效果，可以参考第一方面中的描述，在此不再赘述。
附图说明
图1是本申请实施例提供的车辆的功能框图示意；
图2是本申请实施例提供的控制系统的示意性框图；
图3是本申请实施例提供的控制方法的示意性流程图；
图4是本申请实施例提供的自车显示区域的示意图；
图5是本申请实施例提供的控制方法的应用场景的一种示意图；
图6是本申请实施例提供的控制方法的应用场景的又一种示意图；
图7是本申请实施例提供的控制方法的又一示意性流程图；
图8是本申请实施例提供的控制方法的应用场景的再一种示意图；
图9是本申请实施例提供的控制方法的应用场景的再一种示意图；
图10是本申请实施例提供的GUI的示意图；
图11是本申请实施例提供的控制方法的再一示意性流程图；
图12是本申请实施例提供的控制装置的示意性框图；
图13是本申请实施例提供的控制装置的又一示意性框图。
具体实施方式
下面将结合附图，对本申请中的技术方案进行描述。
图1是本申请实施例提供的车辆的一个功能框图示意。如图1所示，该车辆100可以包括感知系统120、提示装置130和计算平台150，其中，感知系统120可以包括用于感测车辆100周边的环境的信息的若干种传感器。例如，感知系统120可以包括定位系统，定位系统可以是全球定位系统(global positioning system，GPS)，也可以是北斗系统或者其他定位系统。又例如，感知系统120还可以包括惯性测量单元(inertial measurement unit，IMU)、激光雷达、毫米波雷达、超声波雷达、声音传感器(包括舱内声音传感器、舱外声音传感器)以及视觉传感器(包括舱内视觉传感器、舱外视觉传感器)中的一种或者多种。
提示装置130可以包括如下任一项：发声装置、显示装置、灯光装置。其中，发声装置可以包括扬声器、音箱等。显示装置主要分为两类，第一类是车载显示屏；第二类是投影显示屏，例如抬头显示装置(head up display，HUD)。车载显示屏是一种物理显示屏，是车载信息娱乐系统的重要组成部分，车载显示屏可以包括人机交互界面(human machine interface，HMI)。抬头显示，也称平视显示系统，主要用于在用户前方的显示设备(例如挡风玻璃)上显示例如时速、导航等驾驶信息，以降低用户视线转移时间，避免因用户视线转移而导致的瞳孔变化，提升行驶安全性和舒适性。本申请涉及的灯光装置用于显示灯光，或者用于通过灯光显示图案。该灯光装置可以是由发光二极管(light emitting diode，LED)灯珠或灯带构成的氛围灯或呼吸灯，其中，灯带可以包括多个LED灯珠；或者，该灯光装置也可以为其他类型的灯。该灯光装置可以设置仪表盘、中控屏等位置，该灯光装置也可以设置在仪表屏、中控屏等显示屏的四周，或者也可以设置在其他便于向驾驶员提示信息的位置，例如方向盘处。或者，该灯光装置也可以为基于数字光处理(digital light processing，DLP)的装置(以下简称DLP大灯)，通过DLP大灯可以向车辆外的路面投影特定图案，以实现提示道路中其他交通参与者的目的。又或者，该灯光装置还可以包括车辆100的尾灯，该尾灯可以为由LED灯珠构成的矩阵式尾灯，通过该尾灯可以显示一系列图案和/或文字。
车辆100的部分或所有功能可以由计算平台150控制。计算平台150可包括处理器151至15n，处理器是一种具有信号的处理能力的电路，在一种实现中，处理器可以是具有指令读取与运行能力的电路，例如中央处理单元(central processing unit，CPU)、微处理器、图形处理器(graphics processing unit，GPU)(可以理解为一种微处理器)、或数字信号处理器(digital signal processor，DSP)等；在另一种实现中，处理器可以通过硬件电路的逻辑关系实现一定功能，该硬件电路的逻辑关系是固定的或可以重构的，例如处理器为专用集成电路(application-specific integrated circuit，ASIC)或可编程逻辑器件 (programmable logic device，PLD)实现的硬件电路，例如现场可编程门阵列(field programmable gate array，FPGA)。在可重构的硬件电路中，处理器加载配置文档，实现硬件电路配置的过程，可以理解为处理器加载指令，以实现以上部分或全部单元的功能的过程。此外，处理器还可以是针对人工智能设计的硬件电路，其可以理解为一种ASIC，例如神经网络处理单元(neural network processing unit，NPU)、张量处理单元(tensor processing unit，TPU)、深度学习处理单元(deep learning processing unit，DPU)等。此外，计算平台150还可以包括存储器，存储器用于存储指令，处理器151至15n中的部分或全部处理器可以调用存储器中的指令，以实现相应的功能。
可选地，以上车辆100的结构仅仅是示意性的，实际应用中，上述车辆100中的各个部件可以根据实际需要增添或者删除。
图2示出了本申请实施例提供的控制系统的示意性框图。如图2所示，该系统包括情绪检测模块210、他车情绪安抚模块220、自车情绪安抚模块230和融合控制模块240。其中，情绪检测模块210可以包括车辆100的感知系统120中的一个或多个传感器，或者还可以包括计算平台150中的一个或多个处理器；在一些实现方式中，情绪检测模块210也可以包括与车辆100通信的云端服务器中的一个或多个处理器。他车情绪安抚模块220、自车情绪安抚模块230和融合控制模块240可以分别包括计算平台150中的一个或多个处理器。图2所示系统中各模块的作用如以下(一)至(四)项所述。
(一)情绪检测模块210包括自车情绪检测模块211和他车情绪检测模块212。其中，自车情绪检测模块211根据舱内声音传感器检测的语音、舱内视觉传感器检测的驾驶员面容信息和/或肢体信息、车控信息中的一项或多项，结合语音识别算法、声源识别算法、人脸关键点检测算法、情绪识别算法等得到情绪检测结果，确定自车驾驶员的情绪。他车情绪检测模块212根据舱外声音传感器和/或舱外视觉传感器检测的他车行为信息(如是否长时间鸣笛、频繁换道或频繁闪灯)，确定他车的危险程度；或者，他车情绪检测模块212还可以从RSU或云端服务器获取自车周围的他车的信息，如他车的驾驶员的情绪信息、他车的速度和/或加速度等信息，并结合这些信息确定他车的危险程度。可以理解的是，在某些情况下，他车的危险程度可以反映他车驾驶员的情绪。进一步地，情绪检测模块210将检测结果分别发送至他车情绪安抚模块220、自车情绪安抚模块230和融合控制模块240。
(二)他车情绪安抚模块220在确定他车的驾驶行为信息满足他车的情绪安抚条件(如他车危险程度大于或等于危险程度阈值)时，控制自车提示用于安抚他车驾驶员情绪的安抚信息。他车情绪安抚模块220还可以从融合控制模块240获取他车相对于自车的方位。进一步地，他车情绪安抚模块220在确定他车的危险程度高于危险程度阈值，控制自车与他车的方位相对应的区域显示安抚信息1，以安抚他车驾驶员的情绪。例如，他车位于自车的后方时，可以控制自车的车尾区域(如后挡风玻璃、车牌和后挡风玻璃的空白区域、车牌下方的空白区域等)显示安抚信息1；在他车位于自车左后方时，可以控制自车的车尾区域和/或左后车门区域(如左后车门的车窗、左后车门的车窗下空白区域等)显示安抚信息1；在他车位于自车右后方时，可以控制自车的车尾区域和/或右后车门区域(如右后车门的车窗、右后车门的车窗下空白区域等)显示安抚信息1。此外，他车情绪安抚模块220还可以从融合控制模块240处获取自车前方路况信息、自车驾驶员的驾驶经验等信息，进而根据前述信息中的至少一项确定安抚信息1的具体内容。
(三)自车情绪安抚模块230用于：在自车驾驶员的情绪为愤怒情绪和/或急躁情绪时，控制自车的提示装置提示安抚信息2，以安抚自车驾驶员的情绪。其中，提示装置可以包括图1所示的提示装置130。在一些实现方式中，自车情绪安抚模块230还可以从融合控制模块240获取自车驾驶员的身份信息，该身份信息与自车驾驶员的偏好相关联，自车情绪安抚模块230可以根据自车驾驶员的偏好，确定安抚信息2的类型(如幽默、调皮、同仇敌忾等)。进一步地，在控制自车的提示装置提示安抚信息2时，自车情绪检测模块211可以持续检测自车驾驶员的情绪，进而根据自车驾驶员的情绪变化情况，进行安抚信息的调整。例如，在自车驾驶员的情绪得到缓解时，则持续提示同一类型的安抚信息直至自车驾驶员的愤怒情绪和/或急躁情绪降至某一阈值；若一定时长内(如30秒或40秒等)自车驾驶员的情绪未得到缓解，则将安抚信息切换至另一种类型(如将同仇敌忾类型的安抚信息切换为调皮类型的安全信息)。此外，自车情绪安抚模块230还可以从融合控制模块240处获取自车前方路况信息、前车驾驶员的驾驶经验、他车的危险程度等，进而根据前述信息中的至少一项确定安抚信息2的具体内容。
需要说明的是，安抚信息的类型为同仇敌忾时，可以理解为安抚信息的内容顺应用户的情绪或帮助用户表达情绪，从而达到释放用户情绪的目的。例如，在用户处于愤怒情绪时，同仇敌忾类信息可以为 从用户角度出发、用于释放用户愤怒情绪的文字和/或语音，如“这人太过分了，怎么能这样对我们！”等内容的信息。
(四)融合控制模块240用于向他车情绪安抚模块220发送他车的位置信息、自车前方路况信息、自车驾驶员的驾驶经验信息、他车驾驶员的性别信息等信息；融合控制模块240还用于向自车情绪安抚模块230发送自车的驾驶员的身份信息、自车前方路况信息、前车驾驶员的驾驶经验信息、他车的危险程度等信息。
应理解，上述各模块仅为一个示例，实际应用中，上述模块有可能根据实际需要添加或删除。例如，图2中所示的系统架构中，他车情绪安抚模块220和自车情绪安抚模块230可以合并为一个模块。又例如，图2中所示的系统架构中还可以包括提示模块，该提示模块可以包括图1所示的提示装置130。
以上介绍了本申请实施例提供的控制系统架构，以下详细介绍基于图2所示控制系统实现本申请实施例提供的控制方法的流程。
图3示出了本申请实施例提供的控制方法的一种示意性流程图。该方法可以应用于图1所示的车辆100中，或者该方法可以由图2所示的系统执行。更为具体地，该方法300可以由他车情绪安抚模块220执行，该方法可以包括：
S301，获取自车周围他车的驾驶行为信息。
在一些实现方式中，驾驶行为信息可以包括如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长。或者，驾驶行为信息还可以包括他车的速度、加速度等信息。一示例中，可以根据自车舱外声音传感器采集的信息，确定他车的鸣笛时长和鸣笛频率等；可以根据自车舱外视觉传感器采集的信息，确定他车的前照灯闪烁持续时长，其中，前照灯闪烁可以为前照灯进行远光灯和近光灯切换；可以根据自车的雷达传感器或自车舱外视觉传感器采集的信息，确定他车的速度和/或加速度。又一示例中，自车可以从云端服务器或RSU接收他车的速度、加速度等信息。
示例性地，某车的危险换道行为可以指该车换道影响道路上其他车辆(如自车)的行驶路径，例如，该车换道造成其他车辆通过急减速或换道等方式躲避该车。
S302，在车辆1的驾驶行为信息满足情绪安抚条件时，控制自车提示信息1，该信息1用于安抚车辆1的驾驶员。
示例性地，车辆1和自车之间的距离小于或等于一定距离(例如，50米，或者100米，或者其他距离)。在一些实现方式中，该信息1包括前述实施例中的安抚信息1。
在一些实现方式中，在车辆1的驾驶行为信息满足如下至少一项时，确定车辆1的驾驶行为信息满足情绪安抚条件：车辆1存在危险换道行为；车辆1的鸣笛时长大于或等于时长阈值1；车辆1的前照灯闪烁持续时长大于或等于时长阈值2；车辆1的鸣笛频率大于或等于频率阈值1；或者，车辆1的换道频率大于或等于频率阈值2。
在又一些实现方式中，可以根据他车的驾驶行为信息确定他车的危险程度，在车辆1的危险程度大于或等于危险程度阈值时，确定车辆1的驾驶行为信息满足情绪安抚条件。其中，他车的危险程度可以根据危险程度分表征。
一示例中，可以根据如下公式确定他车的危险程度分：S1＝a*W+b*V，S1数值越大，则代表他车危险程度越高。其中，W代表鸣笛的检测结果，在鸣笛时长小于时长阈值1，且鸣笛频率小于频率阈值1时，W取0，否则，W取1；V代表视觉传感器检测结果，在前照灯闪烁持续时长小于时长阈值2，且他车换道频率小于频率阈值2时，V取0，否则，V取1；a和b分别代表鸣笛检测结果和视觉传感器检测结果所占权重，a可以取1，b可以取2，或者a和b也可以取其他数值。在a取1，b取2时，S1大于或等于0，且小于或等于3。
又一示例中，可以根据如下公式确定他车的危险程度分：S2＝a’*W+b’*FL+c’*CL+d’*Ac，S2数值越大，则代表他车危险程度越高。其中，W代表鸣笛的检测结果，在鸣笛时长小于时长阈值1，且鸣笛频率小于频率阈值1时，W取0，否则，W取1；FL代表前照灯检测结果，在前照灯闪烁持续时长小于时长阈值2时，FL取0，否则，FL取1；CL代表他车换道检测结果，他车换道频率小于频率阈值2时，CL取0，否则，CL取1；A代表他车运动参数检测结果，他车速度小于速度阈值且加速度小于加速度阈值时，Ac取0，否则，Ac取1；a’，b’，c’，d’分别代表鸣笛检测结果、前照灯检测结果、他车换道检测结果和他车运动参数检测结果所占权重，a’，b’，c’，d’可以均取1，或者，也可以取其他数值。在a’，b’，c’，d’均取1时，S2大于或等于0，且小于或等于4。
示例性地，前述时长阈值1可以为3秒，或者2秒，或者也可以为其他数值；频率阈值1可以为每秒5次，或者每秒3次，或者也可以为其他数值；时长阈值2可以为1秒，或者2秒，或者也可以为其他数值；频率阈值2可以为每分钟3次，或者也可以为其他数值；速度阈值可以为道路限速，或者也可以为道路限速的120％，或者还可以为其他数值；加速度阈值可以为10km/s2，或者也可以为其他数值。示例性地，在使用S1表征车辆危险程度时，阈值1可以为1，或者也可以为其他数值；或者，在使用S2表征车辆危险程度时，阈值1可以为1，或者也可以为2，或者也可以为其他数值。
需要说明的是，在实际实现时，也可以通过除了上述公式以外的其他方式衡量他车的危险程度。
在一些实现方式中，信息1包括文字信息、图像信息、音频信息中的一项或多项；控制自车提示信息1，可以包括如下至少一项：控制自车的舱外发声装置(如舱外扬声器)播放音频信息；控制自车的显示装置(如车窗、或自车外部的显示装置)显示文字信息和/或图像信息；控制自车的舱外灯光装置(如DLP大灯、尾灯)显示文字信息和/或图像信息。
示例性地，在通过显示装置和/或舱外灯光装置提示信息1时，车辆1可以通过区域1提示信息1。区域1可以包括车辆尾部区域，例如，图4中的(a)所示的后挡风玻璃A、车牌和挡风玻璃之间的空白区域B、车牌下方的空白区域C或车辆尾灯F中的至少一个；或者，区域1可以包括车辆左后侧区域，例如，图4中的(a)所示的左后车窗D和/或左后车门门把手附近的空白区域E；又或者，区域1可以包括车辆右后侧区域，例如，车辆的右后车窗和/或右后车门门把手附近的空白区域(图中未示出)；再或者，区域1还可以包括车辆的车头区域，例如，车辆的前车灯(如DLP大灯)。
在需要在后挡风玻璃A、左后车窗D或右后车窗上的任一位置显示信息时，可以通过自车中的一个或多个投影装置向相应位置的玻璃处投影实现。一示例中，投影装置可以设置在图4中的(b)所示的位置G处，即自车顶盖、与主驾驶位和副驾驶位之间对齐的位置，在需要向后挡风玻璃A、左后车窗D或右后车窗投影时，调节投影装置的出光口方向和焦距，以使得投影装置所投射画面可以在目标车窗上对外显示。此外，可以在空白区域B、空白区域C、右后车门门把手附近的空白区域设置显示屏(如墨水屏、LED屏等)，以实现在上述空白区域显示安抚信息的目的。
在一些实现方式中，可以根据车辆1相对于自车的方位，控制自车的区域1显示信息1，即区域1和车辆1相对于自车的方位相对应。
一示例中，在车辆1位于自车后方，且车辆1的头部和自车尾部之间的距离大于或等于距离阈值1时，控制车辆尾部区域显示信息1。其中，距离阈值1可以为10厘米，或者30厘米，或者也可以为其他数值。例如，如图5中的(a)所示，在他车(如车辆1)位于位置1或位置2或自车正后方时，控制图4所示的后挡风玻璃A显示信息1。应理解，也可以控制空白区域B和/或空白区域C处的显示装置显示信息1。
又一示例中，在车辆1位于自车左后方，且车辆1的头部位于自车尾部和头部之间时，控制车辆左后侧区域显示信息1。例如，如图5中的(b)所示，在他车(如车辆1)位于位置3时，控制图4所示的左后车窗D显示信息1。应理解，也可以控制空白区域E处的显示装置显示信息1。在一些实现方式中，在控制左后车窗D和/或空白区域E显示信息1时，也可以控制后挡风玻璃A、空白区域B，或空白区域C中的至少一个显示信息1。不同位置显示的信息1的具体内容可以相同，或者，也可以不同。
再一示例中，在车辆1位于自车右后方，且车辆1的头部位于自车尾部和头部之间时，控制车辆右后侧区域显示信息1。例如，如图5中的(c)所示，在他车(如车辆1)位于位置4时，控制自车的右后侧车窗显示信息1。应理解，也可以控制右后车门门把手附近的空白区域处的显示装置显示信息1。在一些实现方式中，在控制右后车窗和/或右后车门门把手附近的空白区域处的显示装置显示信息1时，也可以控制后挡风玻璃A、空白区域B，或空白区域C中的至少一个显示信息1。不同位置显示的信息1的具体内容可以相同，或者，也可以不同。
再一示例中，在车辆1位于自车前方，且车辆1的尾部和自车头部之间的距离小于或等于距离阈值2时，控制车辆的车头区域显示信息1。例如，车辆1加速且换道行驶至自车前方时，控制自车的DLP大灯投影信息1，以安抚车辆1的驾驶员。
在一些实现方式中，信息1可以为用于安抚车辆1的驾驶员的文字信息。一示例中，该文字信息可以为普适性的安抚信息(或劝解信息)，如图5中的(a)所示的“亲爱的别急，安全第一”，或者如图5中的(b)所示的“道路千万条，安全第一条哇”。又一示例中，该文字信息可以为根据自车前方路况确定的安抚信息；例如，前方最近邻路口绿灯，而自车停止的情况，若自车在让行其他道路交通参与者，此时车辆1的驾驶行为信息触发情绪安抚条件时，文字信息可以为根据让行的路况确定的安抚信息，如图 5中的(c)所示的“前面在让行，别急啊老铁”。再一示例中，该文字信息可以为根据自车驾驶员的经验确定的安抚信息，例如在自车驾驶员为新手驾驶员(即驾驶经验不足)时，文字信息还可以为根据自车驾驶员的驾驶经验确定的安抚信息，如图5中的(c)所示的“我是新手呀，请谅解一下”。再一示例中，该文字信息可以为根据时间段确定的安抚信息，例如，车辆行驶时间段为上班高峰，则文字信息可以为根据上班高峰确定的安抚信息，例如“大家都急着上班，谅解一下下啦”；又例如，车辆行驶时间段为下班高峰，则文字信息可以为根据下班高峰确定的安抚信息，例如“别急啦，平稳行驶，才能更快回到自己的温馨小窝啦”。再一示例中，该文字信息可以为根据所行驶路段的地理位置确定的安抚信息，例如，该文字信息可以为根据地理位置确定的该区域方言表达的安抚句子。需要说明的是，在一些实现方式中，也可以通过舱外发声装置播放如上信息1的内容，即信息1也可以为音频信息。
在一些场景中，信息1还可以包括具有安抚效果的表情包、颜文字等图像，如图5中的(c)所示的卖萌颜文字“(。·ω·。)”；或者，信息1还可以包括具有安抚效果的动画等。
在一些实现方式中，信息1可以为预先设定的内容，或者信息1也可以是响应于自车驾驶员的设置和/或输入生成的。例如，在确定车辆1的驾驶行为信息满足情绪安抚条件时，通过提示装置(如舱内显示屏、舱内)提示车辆1的驾驶员需要安抚，进而根据检测到的自车驾驶员的语音生成信息1。一示例中，以车辆1为位于自车后方为例，如图6中的(a)所示，在检测到车辆1的驾驶行为信息满足情绪安抚条件时，通过中控屏显示“后车司机好像有点着急，如果您有想跟他传达的话，我们可以帮您转达哦”。进一步地，自车驾驶员可以输入语音，例如，如图6中的(b)所示，自车驾驶员通过后视镜观察到车辆1的驾驶员为女性时，若检测到自车驾驶员的语音“小姐姐别着急，安全第一”，则生成文字信息“小姐姐别着急，安全第一”，并通过自车的车尾区域显示该信息，例如，如图6中的(c)所示，通过后挡风玻璃显示前述信息。又一示例中，在自车抢行车辆1导致车辆1的驾驶行为信息满足情绪安抚条件时，仍可以通过中控屏向自车驾驶员提示后车需要安抚，进一步地，在自车检测到自车驾驶员的语音“请跟他说一下我有急事，麻烦谅解”时，生成信息1“抱歉抱歉，有点急事影响到您驾驶了，还麻烦您谅解一下(ㄒoㄒ)”，并通过自车与车辆1的方位相对应的区域显示上述信息。在实际实现时，信息1也可以是通过大语言模型(large language model，LLM)生成的，例如，自车通过提示装置提示车辆1的驾驶员需要安抚，自车驾驶员接收到车辆1的驾驶员需要安抚的信息后，可以输入语音“帮我安抚一下美女姐姐吧”，则自车检测到自车驾驶员的前述语音时，可以根据前述语音生成信息1的文本，例如“诶呦姐姐，您犯不着生气啊，啥能比安全到达目的地重要啊”，并通过自车与车辆1的方位相对应的区域显示上述信息。
在一些实现方式中，在控制自车的区域1显示信息1的过程中，检测车辆1的驾驶行为，根据车辆1的驾驶行为确定是否继续显示信息1。一示例中，在车辆1的驾驶行为不再满足情绪安抚条件(如车辆1的危险程度小于阈值1)时，控制自车停止提示信息1。又一示例中，从控制自车提示信息1起算的时长1内，若车辆1的驾驶行为仍满足情绪安抚条件，则控制自车提示信息2。信息2的类型和信息1的类型不同，例如，信息1为普适性安抚信息，则信息2可以为幽默式安抚信息；或者，信息1为文字信息，则信息2可以为包含图像或动画的安抚信息；又或者，信息1为文字信息，则信息2可以包括音频信息。其中，时长1可以为30秒，或者也可以为20秒，或者，还可以为其他时长。
在一些实现方式中，车辆1为除了公务车(如救护车、警车、消防车)以外的其他车辆。
本申请实施例提供的控制方法，可以根据自车周围的他车的驾驶行为确定他车驾驶员是否需要安抚，在确定他车驾驶员需要安抚时，控制自车提示用于安抚他车驾驶员的信息，有助于缓解他车驾驶员的负面情绪，从而提高行车安全性。此外，可以根据他车相对于自车的位置，控制自车与他车的方位相对的区域显示安抚信息，能够使他车驾驶员及时接收到安抚信息，有助于保证安抚信息的安抚效果。
图7示出了本申请实施例提供的控制方法的又一种示意性流程图。该方法可以应用于图1所示的车辆100中，或者该方法可以由图2所示的系统执行。该方法700可以在方法300之前执行，或者也可以在方法300之后执行，或者还可以与方法300同步执行。更为具体地，该方法可以由自车情绪安抚模块230执行，该方法可以包括：
S701，获取自车驾驶员的生物特征信息、语音信息以及自车的车控信息。
示例性地，生物特征信息可以包括面容特征信息和/或肢体特征信息；语音信息可以包括语气、预设词汇等信息；车控信息可以包括如下至少一项：驾驶员手握方向盘的力度、鸣笛频率、鸣笛时长、踏板(如加速踏板和/或减速踏板)开度及开度变化率。示例性地，可以根据自车舱内声音传感器采集的信息，结合语音识别算法、声源识别算法，确定驾驶员所发出语音的语气以及是否存在不文明用语；可以根据 自车舱内视觉传感器采集的信息，结合人脸关键点检测算法、情绪识别算法等得到情绪检测结果，确定自车驾驶员的情绪。
S702，根据生物特征信息、语音信息或车控信息中的至少一项，确定自车驾驶员是否处于情绪1。
在一些实现方式中，自车驾驶员的情绪1可以根据情绪分表征。情绪1可以为愤怒情绪和/或急躁情绪。示例性地，可以根据如下公式确定自车驾驶员的情绪分：E＝α*CR+β*VO+γ*VC，E的数值越大，则代表自车驾驶员越愤怒或越急躁。α、β和γ可以分别取1，或者α、β和γ也可以取其他数值。其中：
CR代表面容信息的检测结果，CR＝α1*CR1+α2*CR2+α3*CR3+α4*CR4，在检测到自车驾驶员皱眉时，CR1取1，否则，CR1取0；在检测到自车驾驶员的上眼睑剧烈抬升、且下眼睑绷紧时，CR2取1，否则，CR2取0；在检测到自车驾驶员的鼻翼扩张时，CR3取1，否则，CR3取0；在检测到自车驾驶员的嘴唇紧闭，或者上唇紧绷漏出牙齿时，CR4取1，否则，CR4取0。α1、α2、α3和α4分别代表四项所占权重，α1、α2、α3和α4可以分别取0.25；或者，α1、α2、α3和α4也可以取其他数值，且α1、α2、α3和α4的和为1。CR的取值范围可以为0至1。
VO代表语音信息的检测结果，VO＝β1*VO1+β2*VO2，在检测到自车驾驶员声音高亢、尖锐时，VO1取1，否则，VO1取0；在检测到自车驾驶员用词激烈、使用攻击性词语时，VO2取1，否则，VO2取0。β1和β2分别代表两项所占权重，β1和β2可以分别取0.5；或者，β1和β2也可以取其他数值，且β1和β2的和为1。VO的取值范围可以为0至1。
VC代表车控信息的检测结果，VC＝γ1*VC1+γ2*VC2+γ3*VC3+γ4*VC4，在检测到方向盘处握力大于正常行驶时所需握力时，VC1取1，否则，VC1取0；在检测到自车踏板开度变化率大于或等于变化率阈值(如50％/s，或者其他数值)，VC2取1，否则，VC2取0；在检测到自车前照灯闪烁持续时长大于或等于时长阈值2时，VC3取1，否则，VC3取0；在检测到鸣笛时长大于或等于时长阈值1，或鸣笛频率大于或等于频率阈值1时，VC4取1，否则，VC4取0。γ1、γ2、γ3和γ4可以分别取0.3、0.3、0.2、0.2；或者，γ1、γ2、γ3和γ4也可以取其他数值，且γ1、γ2、γ3和γ4的和为1。VC的取值范围可以为0至1。
更为具体地，在CR、VO、VC中的任一项取值大于或等于阈值2时，确定自车驾驶员处于情绪1，其中，阈值2可以为0.7，或者也可以为其他数值。或者，在E的取值大于或等于阈值3时，确定自车驾驶员处于情绪1，其中，阈值3可以为1，或者1.5，或者也可以为其他数值。
在又一些实现方式中，以自车驾驶员的面部表情和语气作为基准，自车驾驶员的情绪可以分为高兴，悲伤、愤怒(和/或急躁)、厌恶等几类。可以采用一个多维度向量来表示用户的情感状态，即不同的情感维度的组合对应不同的维度情感空间，每个情感维度具有取值范围，情感维度数值可位于该取值范围内的任意位置。任何情感都可以通过一组数值进行表示，这组数值代表了这个情感在维度情感空间中的位置。在情感维度数值落入“愤怒”维度情感空间时，确定自车驾驶员处于情绪1，否则，确定自车驾驶员未处于情绪1。
S703，在自车驾驶员处于情绪1时，控制提示装置提示信息a，信息a用于安抚自车驾驶员。
示例性地，提示装置可以包括舱内显示装置(如中控屏、仪表屏、HUD等)、舱内发声装置(如扬声器、音箱等)、舱内灯光装置中的一项或多项。在一些实现方式中，该信息a包括前述实施例中的安抚信息2。
在一些实现方式中，信息a可以包括文字信息、音频信息、动画信息或灯光信息中的至少一项。其中，文字信息可以包括安抚性句子；音频信息可以包括舒缓类音乐、安抚性语音等；动画信息可以包括安抚性动画(如显示敲木鱼动画等)；灯光信息可以包括冷色调灯光(如蓝色或绿色灯光)或具有安抚效果的灯光(如黄色灯光)。进一步地，文字信息还可以包括幽默类或同仇敌忾类等安抚句子，例如，同仇敌忾类句子可以包括：“太让人气愤了，怎么可以这么对我们呢，主人，咱们不跟他一般见识”；或者，也可以显示如下幽默类句子：“主人，你的小嘴撅的能挂瓶子啦，快别气啦”。此外，安抚性语音可以包括多种情感化类型，如温柔、幽默、调皮、同仇敌忾等，在类型不同时，可以以不同语调播放不同类型的句子。
一示例中，可以获取自车驾驶员的身份信息，该身份信息指示自车驾驶员的偏好，如喜好温柔、幽默、调皮或同仇敌忾类安抚方式，进而根据自车驾驶员的偏好，确定信息a的类型。例如，在自车驾驶员喜好温柔类安抚方式时，则信息a可以包括温柔类语音；在自车驾驶员喜好幽默类安抚方式时，则信息a 可以包括幽默类文字和/或语音。
又一示例中，可以根据自车前方路况确定信息a的内容，例如，前方道路拥堵时检测到自车驾驶员处于情绪1，则信息a可以包括如下内容的文字和/或语音：“本车车要被堵成车片了，主人你要坚持住呀，坚持过这段拥堵，带本车车冲向前方的一路坦途”。
再一示例中，在检测到自车前方他车尾部贴有“实习”标签，或者“新手司机”等标签，且检测到自车驾驶员处于情绪1时，可以确定自车前车驾驶员的驾驶经验较少，进而根据自车前方他车的驾驶员的驾驶经验确定信息a的内容。例如，如图8所示，信息a可以包括如下内容的文字和/或语音：“主人，不要急躁，前面可能是新手呢，咱们等等他”。
再一示例中，在检测到自车速度或加速度较高，且自车驾驶员处于情绪1时，可以根据自车的运动状态确定信息a的内容。例如，如图9所示，信息a可以包括如下内容的文字和/或语音：“消消气，轴承都要冒火星子啦”。
再一示例中，在通过方法300确定车辆1的危险程度高于阈值1时，可以根据车辆1的危险程度确定信息a的内容。例如，信息a可以包括如下内容的文字和/或语音：“后面的车可能是有急事呢，咱们别和他生气，退一步海阔天空呀”。
再一示例中，可以根据时间段确定的信息a的内容，例如，车辆行驶时间段为上班高峰，则信息a可以为根据上班高峰确定的安抚信息，例如信息a可以包括如下内容的文字和/或语音：“主人，大家都急着上班呢，咱们大人有大量，原谅一下他们”；又例如，车辆行驶时间段为下班高峰，则信息a可以为根据下班高峰确定的安抚信息，例如信息a可以包括如下内容的文字和/或语音：“主人别急别急，平稳行驶，才能更快回到自己的温馨小窝啦”。
再一示例中，可以根据所行驶路段的地理位置确定的信息a的内容，例如，该信息a可以包括根据地理位置确定的该区域方言表达的安抚文字和/或语音。
在一些实现方式中，可以通过语音助手播放安抚信息。在确定驾驶员处于情绪1时，也可以改变语音助手的形象。一示例中，在语音助手的形象为图9中的(a)所示的语音球时，在确定驾驶员处于情绪1时，可以改变语音球的形状，例如将语音球改为图9中的(b)所示的木鱼形状，或者语音球也可以显示动态的敲木鱼动作；或者，在确定驾驶员处于情绪1时，可以改变语音球的表情，例如将语音球的表情改为图9中的(c)所示的沮丧表情，且配置抚摸的动作。又一示例中，在语音助手的形象为图9中的(d)所示的虚拟人时，在确定驾驶员处于情绪1时，可以更换虚拟人的着装，例如将虚拟人的着装改为图9中的(e)所示的样式；或者，在确定驾驶员处于情绪1时，也可以将虚拟人的着装改为袈裟等。再一示例中，在语音助手为线型形象时，在确定驾驶员处于情绪1时，可以该改变语音助手的颜色，例如将语音助手的颜色改为冷色调的颜色。
在一些实现方式中，在信息a包括文字信息和/或语音信息时，文字信息和/或语音信息可以为预先设定的内容，或者文字信息和/或语音信息也可以是LLM生成的信息。例如，在确定自车驾驶员处于情绪1时，通过提示装置(如舱内显示屏、舱内)对自车驾驶员进行初步安抚，例如提示“主人主人，您别生气啦”的文字信息和/或语音信息。进一步地，自车驾驶员听到或按到前述信息后，自车驾驶员可以输入语音“语音助手，我确实有点生气，你用明星a的语气安慰我一下吧”，则自车检测到自车驾驶员的前述语音时，可以根据前述语音生成信息a的文本，例如“您可别跟这路上的事儿置气，气坏了身子不值当啊！您想想，这都啥呀，犯不着上火！咱大人有大量，不跟他们一般见识。您呐，好好开车，顺顺心心的，一会儿就到地儿啦”，并通过明星a的音色播放上述文本。
在一些实现方式中，控制提示装置提示信息a时，还可以调节空调的温度，例如降低空调温度，或者在空调温度过低时还可以提高空调温度；或者，还可以控制释放具有镇静效果的香氛等。
在一些实现方式中，可以根据情绪分确定自车驾驶员的情绪等级，在自车驾驶员处于不同情绪等级时，采用不同的安抚方式，具体的可以如表1或表2所示。应理解，表1和表2仅为示例性说明，在实际实现时，情绪1还可以分为更少或更多的等级，或者，不同情绪等级也可以采用其他安抚方式。
表1
表2
在一些实现方式中，自车驾驶员处于情绪1时的安抚风格，可以为响应于用户的设定确定的。示例性地，可以通过HMI向用户提供设置安抚风格的接口。例如，通过中控屏向用户提供选择安抚风格的接口，如图10中的(a)所示，通过中控屏显示“请选择您喜好的安抚风格”，进而提供“选项一”、“选项二”、“选项三”、“选项四”、“自定义”五个选项。其中，“选项一”、“选项二”、“选项三”、“选项四”可以分别对应“幽默”、“温柔”、“同仇敌忾”、“明星”四种风格。一示例中，在检测到用户点击“幽默”、“温柔”、“同仇敌忾”中任一个风格对应的选项时，后续在进行安抚时，可以显示已选类型对应的安抚性文字信息，或者播放已选类型对应的安抚性语音信息。又一示例中，在检测到用户点击“明星”风格对应的选项四时，可以跳转至选择具体明星的页面，在检测到用户选择某一明星(如明星a)时，后续在进行安抚时，可以播放该明星音色的安抚性语音信息。可选地，用户选择“明星”安抚风格的情况下，还可以进一步设定使用明星音色安抚时的具体风格(如幽默、温柔或同仇敌忾)。再一示例中，“自定义”选项支持用户编辑自己想要的安抚语音的音色。例如，在检测到用户点击“自定义”选项时，HMI可以弹出图10中(b)所示界面，通过该界面提示用户“请导入参考语音，或点击下面话筒录入声纹”。若用户想要后续进行安抚时使用自己家人音色的安抚语音，且自车中保存有包含自己家人语音的音频文件，则用户可以点击“请选择音频文件”按钮导入包含自己家人语音的音频文件，自车自车该音频文件提取用户家人的声纹，以在后续安抚时使用用户家人的音色进行安抚；又或者，用户家人此时在自车上，则用户也可以点击话筒按钮，并录入用户家人的语音，则自车在后续安抚时使用用户家人的音色进行安抚。可选地，用户选择“自定义”安抚风格的情况下，还可以进一步设定使用自定义音色安抚时的具体风格(如幽默、温柔或同仇敌忾)。
可以理解的是，上述涉及的信息采集过程(如声纹采集过程等)/特征提取过程，是在用户知情且经得用户允许的情况下执行的，即，信息采集过程/特征提取过程符合法律法规要求，不属于妨害公共利益行为。
在一些实现方式中，自车驾驶员处于情绪1时的安抚方式，可以为响应于用户的设定确定的。示例性地，可以通过HMI向用户提供设置安抚方式的接口。例如，通过中控屏向用户提供选择安抚方式的接口，如图10中的(c)所示，通过中控屏显示“请选择您想要的安抚方式”，进而提供“选项a”、“选项b”、“选项c”、“选项d”四个选项。其中，“选项a”、“选项b”、“选项c”、“选项d”可以分别对应“已设定风格语音”、“音乐”、“氛围灯”、“动画”四中安抚方式。进一步地，在检测到用户点击四个选项中的一个或多个选项时，后续进行安抚时，采用该选项对应的方式或多个选项的组合对应的方式对用户进行安抚。例如，检测到用户点击“已设定风格语音”和“氛围灯”安抚方式对应的两个选项(如选项a和选项c)时，在检测到自车驾驶员的情绪1时，通过控制氛围灯显示具有安抚效果的灯光，同时控制舱内发声装置播放已设定风格(如幽默风格、自定义风格或默认风格)的语音的方式，对自车驾驶员进行安抚。
需要说明的是，图10所示图形用户界面(graphic user interface，GUI)的内容仅为示例性说明，在实际实现时，GUI的布局以及内容可以与图10所示不同，并且实际实现时的GUI中可以显示更多或更少的选项。
在一些实现方式中，在提示信息a时，检测自车驾驶员的情绪，在开始提示信息a起算的时长2内，自车驾驶员的情绪1未缓解(如情绪分E不变或变大)时，控制提示装置提示信息b。其中，信息b和信息a的类型不同。其中，在信息a和信息b均包括语音信息时，类型不同可以包括语音信息的语气不同，例如，信息a包括同仇敌忾类语气，则信息b可以包括温柔类语气；或者，在信息a和信息b均包括语音信息时，类型不同可以包括语音信息的音色不同，例如，信息a包括机器人音色的语音信息，信息b包括自车驾驶员家人音色的语音信息；又或者，例如类型不同可以包括提示方式不同，例如信息a包括音乐和 灯光，则信息b可以包括语音和/或文字；又或者，类型不同可以包括内容不同，例如信息a包括同仇敌忾类内容，信息b包括幽默类内容。在开始提示信息a起算的时长2内，自车驾驶员的情绪1得到缓解(如情绪分E变小或为0)时，控制提示装置提示信息c，信息c和信息a的类型相同。其中，时长2可以为20秒，或者30秒，或者还可以为其他时长。
本申请实施例提供的控制方法，在确定自车驾驶员处于愤怒情绪和/或急躁情绪时，可以通过提示装置提示安抚信息，有助于缓解自车驾驶员的负面情绪，从而提高行车安全性。
图11示出了本申请实施例提供的控制方法的再一示意性流程图，该方法1100可以由图1所示车辆100执行，或者也可以由图2所示系统执行。该方法1100可以包括：
S1110，获取第一车辆的第一驾驶行为信息，第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长。
示例性地，第一车辆可以包括方法300中的车辆1，或者，第一车辆也可以包括自车周围的其他车辆。获取第一驾驶行为信息的方式可以参考S301中的描述，在此不再赘述。
S1120，在第一驾驶行为信息触发第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，第一提示信息用于安抚第一车辆的驾驶员。
示例性地，在第一车辆为方法300中的车辆1时，第一驾驶行为信息可以包括S302中的车辆1的驾驶行为信息，确定第一驾驶行为信息触发第一车辆的情绪安抚条件的方法，可以参考S302中关于车辆1的驾驶行为信息满足情绪安抚条件的描述，在此不再赘述。
示例性地，第二车辆可以包括方法300中的自车，第一提示信息可以包括S302中的信息1，第一提示信息的具体内容和/或形式，以及控制第二车辆提示第一提示信息中的具体实现，可以参考S302中的描述，在此不再赘述。
在一些实现方式中，控制第一车辆显示第一提示信息，包括：根据第一车辆的第一方位，控制第二车辆的第一区域提示第一提示信息，其中，第一区域与第一方位相对应。
示例性地，第一车辆的第一方位为第一车辆相对于第二车辆的方位，第一区域可以包括方法300中的区域1。更为具体地，在第一方位为第二车辆的后方时，第一区域可以为第二车辆的车尾区域；在第一方位为第二车辆的左后方时，第一区域可以包括第二车辆的车尾区域和/或左后侧区域；在第一方位为第二车辆的右后方时，第一区域可以包括第二车辆的车尾区域和/或右后侧区域；在第一方位为第二车辆的前方时，第一区域可以为第二车辆的车头区域。更为具体的第一区域和第一方位之间的对应关系，可以参考方法300中的描述，在此不再赘述。
在一些实现方式中，该方法还包括：在第一车辆变换至第二方位时，控制第二车辆的第二区域显示第一提示信息，第二区域与第二方位相对应。
示例性地，第二方位和前述第一方位不同，第二区域和第一区域可以相同，也可以不同。例如，在第一车辆由第二车辆的后方变换至左后方时，由控制车尾区域显示第一提示信息，变更至控制车尾区域和/或左后侧区域显示第一提示信息；再例如，在第一车辆由第二车辆的后方变换至前方时，由控制车尾区域显示第一提示信息，变更至控制车头区域显示第一提示信息。
在一些实现方式中，控制第二车辆提示第一提示信息，包括：根据如下至少一项信息，控制第二车辆提示第一提示信息：第二车辆的驾驶员的驾驶经验，或第二车辆的前方路况。
示例性地，第二车辆的驾驶员的驾驶经验可以为响应于第二车辆的驾驶员的输入确定的，第二车辆的前方路框可以为第二车辆的感知系统检测的。根据第二车辆的驾驶员的驾驶经验和/或第二车辆的前方路况，控制第二车辆提示第一提示信息，可以理解为：根据第二车辆的驾驶员的驾驶经验和/或第二车辆的前方路况，确定第一提示信息的具体内容，进而控制第二车辆提示第一提示信息。更为具体的实现方式，可以参考方法300中的描述，在此不再赘述。
在一些实现方式中，该方法还包括：在开始提示第一提示信息起的第一时长内，检测第一车辆的第二驾驶行为信息；在第二驾驶行为信息不再触发情绪安抚条件时，控制第二车辆停止提示第一提示信息；或者，在第二驾驶行为信息仍触发情绪安抚条件时，控制第二车辆提示第二提示信息，第二提示信息和第一提示信息的类型不同。
示例性地，在第一提示信息为方法300中的信息1时，第二提示信息可以包括方法300中的信息2；第一时长可以为10秒，或者也可以为20秒，或者还可以为其他时长，例如，第一时长和方法300中的时长1可以相同。第二提示信息和第一提示信息的类型不同可以包括如下至少一项：第一提示信息和第二提 示信息的内容不同，例如，第一提示信息为普适性安抚信息，第二提示信息为幽默式安抚信息；或者，第一提示信息和第二提示信息的提示方式不同，例如，第一提示信息为文字信息，第二提示信息为音频信息。
在一些实现方式中，该方法还包括：在检测到第二车辆的驾驶员的第一情绪时，控制第二车辆提示第三提示信息，第三提示信息用于安抚第二车辆的驾驶员，第一情绪包括愤怒情绪和/或急躁情绪。
示例性地，第一情绪可以为包括方法700中的情绪1，第三提示信息可以包括方法700中的信息a。更为具体地，确定第二车辆的驾驶员处于第一情绪的方法可以参考S702中的描述；第三提示信息的具体内容和/或形式，以及控制第二车辆提示第三提示信息的方法可以参考S703中的描述，在此不再赘述。
在一些实现方式中，该方法还包括：在开始提示第三提示信息起的第二时长内，检测第二车辆的驾驶员的情绪；在第二车辆的驾驶员的第一情绪未缓解时，控制第二车辆提示第四提示信息，第四提示信息和第三提示信息的类型不同；或者，在第二车辆的驾驶员的第一情绪缓解时，控制第二车辆提示第五提示信息，第五提示信息和第三提示信息的类型相同；其中，第四提示信息和第三提示信息类型不同包括如下至少一项：内容不同；提示方式不同；或者，在第三提示信息和第四提示信息均包括语音信息时，第三提示信息中语音信息和第四提示信息中语音信息的音色不同和/或语气不同。
示例性地，在第三提示信息为方法700中的信息a时，第四提示信息可以包括方法700中的信息b，第五提示信息可以包括方法700中的信息c；第二时长可以为10秒，或者也可以为20秒，或者还可以为其他时长，例如，第二时长和方法700中的时长2可以相同。示例性地，提示第四提示信息的具体实现可以参考S703中的描述，在此不再赘述。
在一些实现方式中，控制第二车辆提示第三提示信息，包括：根据第二车辆的驾驶员的提示信息偏好，控制第二车辆提示第三提示信息。
示例性地，提示信息偏好用于指示第二车辆的驾驶员偏好的第三提示信息的安抚风格和/或安抚方式，提示偏好信息可以包括前述实施例中的驾驶员的身份信息，或者该提示信息偏好也可以为响应于自车驾驶员的设定确定的偏好。根据第二车辆的驾驶员的提示信息偏好，控制第二车辆提示第三提示信息，可以理解为：根据第二车辆的驾驶员的提示信息偏好，确定第三提示信息的具体风格和/或安抚方式，进而控制第二车辆提示第三提示信息。更为具体的实现方式可以参考S703中的描述，在此不再赘述。
在一些实现方式中，控制第二车辆的提示第三提示信息，包括：根据如下至少一项信息，控制第二车辆提示第三提示信息：第二车辆的前方路况，第一车辆的情绪安抚条件触发情况，或第二车辆的前车驾驶员的驾驶经验。
示例性地，第二车辆的前车驾驶员的驾驶经验可以是根据前车车尾所粘贴的图标确定的，例如，根据前车车尾的“实习”标志或“新手上路”等标志，确定前车驾驶员的驾驶经验较少(如为新手司机)。更为具体地，根据第二车辆的前方路况，第一车辆的情绪安抚条件触发情况，或第二车辆的前车驾驶员的驾驶经验中的至少一项，控制第二车辆提示第三提示信息，可以理解为：根据第二车辆的前方路况、第一车辆的情绪安抚条件被触发，或第二车辆的前车驾驶员的驾驶经验较少中的一项或多项，确定第三提示信息的内容，进而控制第二车辆提示第三提示信息。更为具体的实现方式，可以参考S703中的描述，在此不再赘述。
在一些实现方式中，该方法还包括：在检测到第二车辆的驾驶员的第一情绪时，执行如下至少一项：调节第二车辆的空调温度；或控制第二车辆开启第一香氛，第一香氛用于稳定情绪。
示例性地，第一香氛可以包括前述实施例中的香氛1。
本申请实施例提供的控制方法，根据第一车辆的周围的他车的驾驶行为确定他车驾驶员需要安抚时，控制自车提示用于安抚他车驾驶员的信息，有助于缓解他车驾驶员的负面情绪，从而提高行车安全性。例如，在他车想要加塞自车或其他车辆，或者他车有别车意图时，通过自车提示用于安抚他车驾驶员的信息，能够缓解他车驾驶员的负面情绪，降低或消除他车驾驶员的加塞意图或别车意图，从而提高行车安全性。再例如，在自车行驶路径影响他车正常行驶，从而导致他车驾驶员产生负面情绪时，通过自车提示用于安抚他车驾驶员的信息，能够缓解他车驾驶员的负面情绪，从而降低他车驾驶员做出威胁行车安全的行为的可能性，有助于提高行车安全性。
需要说明的是，前述“别车”是指在同个行驶路段上，前车阻碍了后车的通行，或者后车在超车过程中故意阻碍被超车辆正常行驶。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有 一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
上文中结合图1至图11详细说明了本申请实施例提供的控制方法。下面将结合图12和图13详细说明本申请实施例提供的装置。应理解，装置实施例的描述与方法实施例的描述相互对应，因此，未详细描述的内容可以参见上文方法实施例，为了简洁，这里不再赘述。
图12示出了本申请实施例提供的控制装置2000的示意性框图，该装置2000可以包括用于执行图3、图7、图11所示方法的单元。并且，该装置2000中的各单元为了实现上述方法实施例的相应流程。该装置2000包括获取单元2010，获取单元2010可以用于实现相应的数据获取或收发功能。该装置2000还包括处理单元2020，处理单元2020可以用于实现相应的处理功能。
可选地，该装置2000还包括存储单元，该存储单元可以用于存储指令和/或数据，处理单元2020可以读取存储单元中的指令和/或数据，以使得装置实现前述各个方法实施例中的相关动作。
可选地，该装置2000还包括检测单元，该检测单元用于执行前述各个方法实施例中的检测动作，该检测单元可以包括图1所示的感知系统120中的一个或多个传感器，还可以包括计算平台150中的一个或多个处理器。
应理解，各单元执行上述相应步骤的具体过程在上述方法实施例中已经详细说明，为了简洁，在此不再赘述。
还应理解，这里的装置2000以功能单元的形式体现。这里的术语“模块”或“单元”可以指应用特有ASIC、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。
上述各个方案的装置具有实现上述方法中计算平台150所执行的相应步骤的功能。所述功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。所述硬件或软件包括一个或多个与上述功能相对应的模块；例如获取单元2010可以由收发机替代，其它单元，如处理单元等可以由处理器替代，用于执行各个方法实施例中相关的处理操作。
示例性地，获取单元2010和处理单元2020可以设置在图1所示车辆100中，或者也可以设置在图2所示的系统中，更具体地，上述获取单元2010和处理单元2020中的一部分可以设置于图2所示他车情绪安抚模块220中，获取单元2010和处理单元2020中的另一部分可以设置于图2所示自车情绪安抚模块230中。示例性地，上述获取单元2010和处理单元2020执行的操作可以由一个处理器执行，或者，也可以由不同的处理器执行。在具体实现过程中，上述一个或多个处理器可以为设置在图1所示的车辆100中的处理器；或者，上述装置2000可以为设置在车辆100中的芯片。
在具体实现过程中，以上装置中的各单元可以全部或部分集成在一起，或者也可以独立实现。在一种实现中，这些单元集成在一起，以片上系统(system-on-a-chip，SoC)的形式实现。
图13是本申请实施例提供的控制装置又一示意性框图。图13所示的控制装置2100可以包括：处理器2110、收发器2120以及存储器2130。其中，处理器2110、收发器2120以及存储器2130通过内部连接通路相连，该存储器2130用于存储指令，该处理器2110用于执行该存储器2130存储的指令，以实现上述各实施例中的方法。可选地，存储器2130既可以和处理器2110通过接口耦合，也可以和处理器2110集成在一起。
需要说明的是，上述收发器2120可以包括但不限于输入/输出接口(input/output interface)一类的收发装置，来实现装置2100与其他设备或通信网络之间的通信。
存储器2130可以是易失性存储器和/或非易失性存储器。其中，非易失性存储器可以是只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，RAM)。例如，RAM可以用作外部高速缓存。作为示例而非限定，RAM包括如下多种形式：静态随机存取存储器(static RAM，SRAM)、动态随机存取存储器(dynamic RAM，DRAM)、同步动态随机存取存储器(synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(doubledata rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，DR RAM)。
收发器2120使用例如但不限于收发器一类的收发装置，来实现装置2100与其他设备或通信网络之间的通信，以接收/发送用于实现上述各实施例中的方法的数据/信息。
本申请实施例还提供一种智能驾驶设备，该智能驾驶设备包括上述实施例中的控制装置2000或控制装置2100。
本申请实施例涉及的智能驾驶设备可以包括路上交通工具、水上交通工具、空中交通工具、工业设备、农业设备、或娱乐设备等。例如智能驾驶设备可以为车辆，该车辆为广义概念上的车辆，可以是交通工具(如商用车、乘用车、摩托车、飞行车、火车等)，工业车辆(如：叉车、挂车、牵引车等)，工程车辆(如挖掘机、推土车、吊车等)，农用设备(如割草机、收割机等)，游乐设备，玩具车辆等，本申请实施例对车辆的类型不作具体限定。
在一些实现方式中，上述智能驾驶设备可以为图1所示车辆100。
本申请实施例还提供一种计算机程序产品，该计算机程序产品包括计算机程序代码，当计算机程序代码在计算机上运行时，使得计算机实现本申请上述各实施例中的方法。
本申请实施例还提供一种计算机可读存储介质，该计算机可读介质存储有计算机指令，当计算机指令在计算机上运行时，使得计算机实现本申请上述各实施例中的方法。
本申请实施例还提供一种芯片，包括电路，用于执行本申请上述各实施例中的方法。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；本文中的“和/或”是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。
本申请实施例中采用诸如“第一”、“第二”的前缀词，仅仅为了区分不同的描述对象，对被描述对象的位置、顺序、优先级、数量或内容等没有限定作用。本申请实施例中对序数词等用于区分描述对象的前缀词的使用不对所描述对象构成限制，对所描述对象的陈述参见权利要求或实施例中上下文的描述，不应因为使用这种前缀词而构成多余的限制。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，各个实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (26)

  1. 一种控制方法，其特征在于，包括：
    获取第一车辆的第一驾驶行为信息，所述第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长；
    在所述第一驾驶行为信息触发所述第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，所述第一提示信息用于安抚所述第一车辆的驾驶员。
  2. 根据权利要求1所述的方法，其特征在于，所述控制第一车辆显示第一提示信息，包括：
    根据所述第一车辆的第一方位，控制所述第二车辆的第一区域提示所述第一提示信息，其中，所述第一区域与所述第一方位相对应。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在所述第一车辆变换至第二方位时，控制所述第二车辆的第二区域显示所述第一提示信息，所述第二区域与所述第二方位相对应。
  4. 根据权利要求1至3中任一项所述的方法，其特征在于，所述控制第二车辆提示第一提示信息，包括：
    根据如下至少一项信息，控制所述第二车辆提示所述第一提示信息：
    所述第二车辆的驾驶员的驾驶经验，或所述第二车辆的前方路况。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述方法还包括：
    在开始提示所述第一提示信息起的第一时长内，检测所述第一车辆的第二驾驶行为信息；
    在所述第二驾驶行为信息不再触发所述情绪安抚条件时，控制所述第二车辆停止提示所述第一提示信息；或者，
    在所述第二驾驶行为信息仍触发所述情绪安抚条件时，控制所述第二车辆提示第二提示信息，所述第二提示信息和所述第一提示信息的类型不同。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，所述方法还包括：
    在检测到所述第二车辆的驾驶员的第一情绪时，控制所述第二车辆提示第三提示信息，所述第三提示信息用于安抚所述第二车辆的驾驶员，所述第一情绪包括愤怒情绪和/或急躁情绪。
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：
    在开始提示所述第三提示信息起的第二时长内，检测所述第二车辆的驾驶员的情绪；
    在所述第二车辆的驾驶员的所述第一情绪未缓解时，控制所述第二车辆提示第四提示信息，所述第四提示信息和所述第三提示信息的类型不同；或者，
    在所述第二车辆的驾驶员的所述第一情绪缓解时，控制所述第二车辆提示第五提示信息，所述第五提示信息和所述第三提示信息的类型相同；
    其中，所述第四提示信息和所述第三提示信息类型不同包括如下至少一项：内容不同；提示方式不同；或者，在所述第三提示信息和所述第四提示信息均包括语音信息时，所述第三提示信息中语音信息和所述第四提示信息中语音信息的音色不同和/或语气不同。
  8. 根据权利要求6或7所述的方法，其特征在于，所述控制所述第二车辆提示第三提示信息，包括：
    根据所述第二车辆的驾驶员的提示信息偏好，控制所述第二车辆提示所述第三提示信息。
  9. 根据权利要求6至8中任一项所述的方法，其特征在于，所述控制所述第二车辆的提示第三提示信息，包括：
    根据如下至少一项信息，控制所述第二车辆提示所述第三提示信息：
    所述第二车辆的前方路况，所述第一车辆的所述情绪安抚条件触发情况，或所述第二车辆的前车驾驶员的驾驶经验。
  10. 根据权利要求6至9中任一项所述的方法，其特征在于，所述方法还包括：
    在检测到所述第二车辆的驾驶员的第一情绪时，执行如下至少一项：
    调节所述第二车辆的空调温度；或
    控制所述第二车辆开启第一香氛，所述第一香氛用于稳定情绪。
  11. 一种控制装置，其特征在于，包括：
    获取单元，用于获取第一车辆的第一驾驶行为信息，所述第一驾驶行为信息指示如下至少一项：危险换道行为、换道频率、鸣笛时长、鸣笛频率、前照灯闪烁持续时长；
    处理单元，用于在所述第一驾驶行为信息触发所述第一车辆的情绪安抚条件时，控制第二车辆提示第一提示信息，所述第一提示信息用于安抚所述第一车辆的驾驶员。
  12. 根据权利要求11所述的装置，其特征在于，所述处理单元用于：
    根据所述第一车辆的第一方位，控制所述第二车辆的第一区域提示所述第一提示信息，其中，所述第一区域与所述第一方位相对应。
  13. 根据权利要求12所述的装置，其特征在于，所述处理单元还用于：
    在所述第一车辆变换至第二方位时，控制所述第二车辆的第二区域显示所述第一提示信息，所述第二区域与所述第二方位相对应。
  14. 根据权利要求11至13中任一项所述的装置，其特征在于，所述处理单元用于：
    根据如下至少一项信息，控制所述第二车辆提示所述第一提示信息：
    所述第二车辆的驾驶员的驾驶经验，或所述第二车辆的前方路况。
  15. 根据权利要求11至14中任一项所述的装置，其特征在于，所述装置还包括第一检测单元，所述第一检测单元用于：
    在开始提示所述第一提示信息的第一时长内，检测所述第一车辆的第二驾驶行为信息；
    所述处理单元还用于：
    在所述第二驾驶行为信息不再触发所述情绪安抚条件时，控制所述第二车辆停止提示所述第一提示信息；或者，
    在所述第二驾驶行为信息仍触发所述情绪安抚条件时，控制所述第二车辆提示第二提示信息，所述第二提示信息和所述第一提示信息的类型不同。
  16. 根据权利要求11至15中任一项所述的装置，其特征在于，所述装置还包括第二检测单元，所述处理单元还用于：
    在所述第二检测单元检测到所述第二车辆的驾驶员的第一情绪时，控制所述第二车辆提示第三提示信息，所述第三提示信息用于安抚所述第二车辆的驾驶员，所述第一情绪包括愤怒情绪和/或急躁情绪。
  17. 根据权利要求16所述的装置，其特征在于，所述第二检测单元还用于：
    在提示所述第三提示信息起的第二时长内，检测所述第二车辆的驾驶员的情绪；
    所述处理单元还用于：
    在所述第二车辆的驾驶员的所述第一情绪未缓解时，控制所述第二车辆提示第四提示信息，所述第四提示信息和所述第三提示信息的类型不同；或者，
    在所述第二车辆的驾驶员的所述第一情绪缓解时，控制所述第二车辆提示第五提示信息，所述第五提示信息和所述第三提示信息的类型相同；
    其中，所述第四提示信息和所述第三提示信息类型不同包括如下至少一项：内容不同；提示方式不同；或者，在所述第三提示信息和所述第四提示信息均包括语音信息时，所述第三提示信息中语音信息和所述第四提示信息中语音信息的音色不同和/或语气不同。
  18. 根据权利要求16或17所述的装置，其特征在于，所述处理单元用于：
    根据所述第二车辆的驾驶员的提示信息偏好，控制所述第二车辆提示所述第三提示信息。
  19. 根据权利要求16至18中任一项所述的装置，其特征在于，所述处理单元用于：
    根据如下至少一项信息，控制所述第二车辆提示所述第三提示信息：
    所述第二车辆的前方路况，所述第一车辆的所述情绪安抚条件触发情况，或所述第二车辆的前车驾驶员的驾驶经验。
  20. 根据权利要求16至19中任一项所述的装置，其特征在于，所述处理单元还包括：
    在所述第二检测单元检测到所述第二车辆的驾驶员的第一情绪时，执行如下至少一项：
    调节所述第二车辆的空调温度；或
    控制所述第二车辆开启第一香氛，所述第一香氛用于稳定情绪。
  21. 一种控制装置，其特征在于，包括：
    处理器，用于执行存储器中存储的计算机程序，以使得所述装置执行如权利要求1至10中任一项所述的方法。
  22. 根据权利要求21所述的装置，其特征在于，所述装置还包括所述存储器。
  23. 一种车辆，其特征在于，包括如权利要求11至22中任一项所述的装置。
  24. 一种计算机可读存储介质，其特征在于，其上存储有指令，所述指令被处理器执行时，实现如权利要求1至10中任一项所述的方法。
  25. 一种计算机程序产品，其特征在于，所述计算机程序产品包括：计算机程序代码，当所述计算机程序代码被处理器运行时，实现如权利要求1至10中任一项所述的方法。
  26. 一种芯片，其特征在于，所述芯片包括电路，所述电路用于执行如权利要求1至10中任一项所述的方法。
PCT/CN2024/102372 2024-06-28 2024-06-28 控制方法、装置和车辆 Pending WO2026000340A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013006583A1 (de) * 2013-04-17 2013-12-19 Daimler Ag Verfahren zum Betrieb eines Fahrzeuges
CN107117096A (zh) * 2017-04-28 2017-09-01 深圳市车之友电子科技有限公司 车载多媒体激光显示系统和汽车
CN110481427A (zh) * 2019-08-28 2019-11-22 大陆投资(中国)有限公司 用于实现车与车之间可视化通信的方法和车载通信系统
CN113715833A (zh) * 2021-09-09 2021-11-30 重庆金康赛力斯新能源汽车设计院有限公司 一种防路怒方法、装置和系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013006583A1 (de) * 2013-04-17 2013-12-19 Daimler Ag Verfahren zum Betrieb eines Fahrzeuges
CN107117096A (zh) * 2017-04-28 2017-09-01 深圳市车之友电子科技有限公司 车载多媒体激光显示系统和汽车
CN110481427A (zh) * 2019-08-28 2019-11-22 大陆投资(中国)有限公司 用于实现车与车之间可视化通信的方法和车载通信系统
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