Prompt method and device, autonomous vehicle and storage medium

Abstract

This disclosure provides a prompting method, apparatus, autonomous vehicle, and storage medium, belonging to the field of autonomous driving. The method includes: identifying a target vehicle whose driving route intersects with the driving route of the autonomous vehicle; and performing driving operations according to the positions of the autonomous vehicle and the target vehicle. This enables the autonomous vehicle to perform corresponding driving operations based on the driving routes of the oncoming vehicle, improving safety. During the execution of the driving operation, prompting information is output through the autonomous vehicle's output device. This prompting information indicates the meeting status between the autonomous vehicle and the target vehicle, allowing the oncoming vehicle and other intelligent agents to accurately and fully understand the driving operations performed by the autonomous vehicle. This minimizes conflicts between the operations of oncoming vehicles and other intelligent agents and the autonomous vehicle's driving operations, reducing the probability of traffic accidents and improving safety.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving, and more particularly to a prompting method, device, autonomous vehicle, and storage medium. Background Technology

[0002] Autonomous vehicles, also known as driverless vehicles, are intelligent vehicles that operate automatically and safely without any human intervention, thanks to computer systems. In recent years, autonomous vehicles have gradually replaced traditional modes of transportation, making people's lives more convenient.

[0003] To reduce the probability of traffic accidents and improve operational accuracy, autonomous vehicles typically need to identify the current environmental information and perform driving operations based on the identified environmental information, such as slowing down when an obstacle is detected ahead.

[0004] However, the environment in which autonomous vehicles operate may also include other intelligent agents. If other intelligent agents misjudge the driving operations of the autonomous vehicle and perform operations that conflict with the driving operations of the autonomous vehicle, traffic accidents may still occur, resulting in poor safety. Summary of the Invention

[0005] This application provides a notification method, device, autonomous vehicle, and storage medium, which can solve the problem of poor safety in related technologies. The technical solution provided by this application is as follows:

[0006] According to a first aspect provided in the embodiments of this application, a notification method is provided, the method comprising:

[0007] Identify the target vehicle, which is a vehicle whose driving route intersects with the driving route of the autonomous vehicle;

[0008] Drive operations are performed according to the positions of the autonomous vehicle and the target vehicle;

[0009] During the execution of the driving operation, the autonomous vehicle outputs a prompt message through its output device. The prompt message is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a car horn, or a warning light.

[0010] In one possible implementation, identifying the target vehicle includes:

[0011] When performing a change from the first lane to the second lane, a vehicle in the second lane is identified as the target vehicle;

[0012] The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes:

[0013] Perform a waiting operation in the area where the first lane and the second lane meet;

[0014] When the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other, the autonomous vehicle performs the operation of moving from the first lane to the second lane.

[0015] In one possible implementation, during the execution of the driving operation, the output of prompt information via the output device of the autonomous vehicle includes:

[0016] During the waiting operation, the output device outputs a first prompt message, which is used to indicate that the autonomous vehicle is waiting to merge into the second lane.

[0017] During the operation of moving from the first lane to the second lane, a second prompt message is output through the output device. The second prompt message is used to indicate that the autonomous vehicle is merging into the second lane.

[0018] In one possible implementation, identifying the target vehicle includes:

[0019] Identify vehicles that have moved from other lanes into the current first lane as the target vehicle;

[0020] Alternatively, identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane as the target vehicle;

[0021] The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes:

[0022] Based on the positions of the autonomous vehicle and the target vehicle, perform deceleration, lane changing, or maintain the current driving operation.

[0023] In one possible implementation, during the execution of the driving operation, the output of prompt information via the output device of the autonomous vehicle includes:

[0024] During the deceleration operation, a third prompt message is output through the output device, indicating that the autonomous vehicle is avoiding the target vehicle; or...

[0025] During the lane-changing operation, a fourth prompt message is output through the output device, which is used to prompt the autonomous vehicle that it is changing lanes.

[0026] While maintaining the current driving operation, the output device outputs a fifth prompt message, which is used to indicate that the autonomous vehicle has not taken evasive action.

[0027] In one possible implementation, identifying the target vehicle includes:

[0028] Identify, in the first lane currently in which the autonomous vehicle is located, a vehicle in front of the autonomous vehicle that is traveling at a speed less than that of the autonomous vehicle, and designate it as the target vehicle.

[0029] The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes:

[0030] Perform an operation to overtake the target vehicle;

[0031] After completing the operation of overtaking the target vehicle, continue driving in the first lane.

[0032] In one possible implementation, during the execution of the driving operation, the output of prompt information via the output device of the autonomous vehicle includes:

[0033] During the operation of overtaking the target vehicle, a sixth prompt message is output through the output device. The sixth prompt message is used to indicate that the autonomous vehicle is overtaking.

[0034] After completing the operation of overtaking the target vehicle, the output device outputs a seventh prompt message, which is used to remind the autonomous vehicle to drive normally.

[0035] In one possible implementation, identifying the target vehicle includes:

[0036] Identify, in the first lane currently in which the autonomous vehicle is located, a vehicle that is behind the autonomous vehicle and whose speed is greater than that of the autonomous vehicle, as the target vehicle;

[0037] The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes:

[0038] Perform an operation to avoid the target vehicle;

[0039] After the target vehicle passes the autonomous vehicle, the driving operation continues in the first lane.

[0040] In one possible implementation, during the execution of the driving operation, the output of prompt information via the output device of the autonomous vehicle includes:

[0041] During the operation of avoiding the target vehicle, the output device outputs an eighth prompt message, which is used to prompt the autonomous vehicle that it is avoiding the target vehicle, or to prompt the target vehicle to maintain a safe distance from the autonomous vehicle.

[0042] In one possible implementation, during the execution of the driving operation, the output of prompt information via the output device of the autonomous vehicle includes:

[0043] During the process of the target vehicle overtaking the autonomous vehicle, if the distance between the target vehicle and the autonomous vehicle is less than a preset distance, a ninth prompt message is output through the output device. The ninth prompt message is used to indicate that the distance between the vehicles is too close.

[0044] In one possible implementation, identifying the target vehicle includes:

[0045] Identify vehicles on the road that are traveling in the opposite direction to the autonomous vehicle and designate them as the target vehicles.

[0046] In one possible implementation, performing the driving operation according to the position of the autonomous vehicle and the position of the target vehicle includes:

[0047] Based on the positions of the autonomous vehicle and the target vehicle, the distance between the autonomous vehicle and the target vehicle is obtained;

[0048] When the distance is less than the preset distance, a deceleration operation is performed;

[0049] After the deceleration operation is performed, the deceleration operation is stopped when the distance is not less than the preset distance.

[0050] In one possible implementation, performing the driving operation according to the position of the autonomous vehicle and the position of the target vehicle includes:

[0051] Based on the positions of the autonomous vehicle and the target vehicle, determine the meeting point between the autonomous vehicle and the target vehicle;

[0052] Perform driving operations based on the stated meeting point.

[0053] In one possible implementation, performing the driving operation based on the meeting point includes:

[0054] Determine the position of the obstacle in front of the autonomous vehicle;

[0055] If the meeting point is behind the obstacle, then a deceleration or stopping operation is performed;

[0056] If the meeting point is in front of the obstacle, then an acceleration operation is performed.

[0057] In one possible implementation, the driving operation is a deceleration operation or a stopping operation, and during the execution of the driving operation, the output device of the autonomous vehicle outputs prompt information, including:

[0058] During the execution of the driving operation, the autonomous vehicle outputs a warning message for avoiding obstacles through its output device.

[0059] In one possible implementation, the driving operation is an acceleration operation, and during the execution of the driving operation, the output device of the autonomous vehicle outputs prompt information, including:

[0060] During the execution of the driving operation, the output device of the autonomous vehicle outputs a prompt message requesting the target vehicle to give way.

[0061] In one possible implementation, determining the position of the obstacle in front of the autonomous vehicle includes:

[0062] The location of obstacles within the image of the convex mirrors placed along the road is identified.

[0063] In one possible implementation, identifying vehicles on the current road traveling in the opposite direction to the autonomous vehicle as the target vehicle includes at least one of the following:

[0064] Listen to the horn sounds emitted by vehicles and identify the vehicle emitting the horn sound as the target vehicle;

[0065] Identify the lights emitted by a vehicle and designate the vehicle emitting the lights as the target vehicle;

[0066] Send a vehicle identification request to the vehicle-to-everything (V2X) wireless device, receive vehicle information returned by the V2X wireless device, and designate the vehicle corresponding to the vehicle information as the target vehicle.

[0067] In one possible implementation, the output of prompt information via the output device of the autonomous vehicle includes at least one of the following:

[0068] The prompt message is displayed on the display screen;

[0069] The prompt message is played through the speaker;

[0070] Illuminate the indicator light corresponding to the driving operation;

[0071] Light up the indicator light corresponding to the current environmental information;

[0072] Perform the horn blasting operation according to the horn blasting rhythm corresponding to the driving operation.

[0073] According to a second aspect provided in the embodiments of this application, a prompting device is provided, the device comprising:

[0074] The target vehicle identification module is used to identify target vehicles, which are vehicles whose driving routes intersect with the driving routes of autonomous vehicles.

[0075] The driving operation execution module is used to execute driving operations according to the position of the autonomous vehicle and the position of the target vehicle;

[0076] The prompt information output module is used to output prompt information through the output device of the autonomous vehicle during the execution of the driving operation. The prompt information is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a car horn, or a prompt light.

[0077] In one possible implementation, the target vehicle identification module includes:

[0078] The first identification unit is used to identify a vehicle in the second lane as the target vehicle when performing an operation to change from the first lane to the second lane;

[0079] The driving operation execution module includes:

[0080] A waiting unit is used to perform a waiting operation in the boundary area between the first lane and the second lane;

[0081] The lane-changing unit is used to perform the operation of moving from the first lane to the second lane when the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other.

[0082] In one possible implementation, the prompt information output module includes:

[0083] The first prompting unit is used to output a first prompting message through the output device during the waiting operation. The first prompting message is used to prompt the autonomous vehicle that it is waiting to merge into the second lane.

[0084] The second prompting unit is used to output a second prompting message through the output device during the operation of moving from the first lane to the second lane. The second prompting message is used to prompt the autonomous vehicle that it is merging into the second lane.

[0085] In one possible implementation, the target vehicle identification module includes:

[0086] The second identification unit is used to identify vehicles that have traveled from other lanes to the current first lane as the target vehicle;

[0087] The third identification unit is used to identify, or to identify, vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane as the target vehicle;

[0088] The driving operation execution module includes:

[0089] The first execution unit is used to perform deceleration operations, lane changing operations, or maintain the current driving operation according to the position of the autonomous vehicle and the position of the target vehicle.

[0090] In one possible implementation, the prompt information output module includes:

[0091] The third prompting unit is used to output a third prompting message through the output device during the deceleration operation. The third prompting message is used to indicate that the autonomous vehicle is avoiding the target vehicle; or...

[0092] The fourth prompting unit is used to output a fourth prompting message through the output device during the lane-changing operation, the fourth prompting message being used to prompt the autonomous vehicle that it is changing lanes;

[0093] The fifth prompting unit is used to output a fifth prompting message through the output device while maintaining the current driving operation. The fifth prompting message is used to prompt the autonomous vehicle that it has not avoided the obstacle.

[0094] In one possible implementation, the target vehicle identification module includes:

[0095] The fourth identification unit is used to identify, in the first lane currently in which the autonomous vehicle is located in front of it and whose speed is less than that of the autonomous vehicle, as the target vehicle.

[0096] The driving operation execution module includes:

[0097] The overtaking unit is used to perform the operation of overtaking the target vehicle;

[0098] The first normal driving unit is used to continue driving in the first lane after completing the operation of overtaking the target vehicle.

[0099] In one possible implementation, the prompt information output module includes:

[0100] The sixth prompting unit is used to output a sixth prompting message through the output device during the operation of overtaking the target vehicle. The sixth prompting message is used to prompt the autonomous vehicle that it is overtaking.

[0101] The seventh prompting unit is used to output a seventh prompting message through the output device after the operation of overtaking the target vehicle is completed. The seventh prompting message is used to prompt the autonomous vehicle to drive normally.

[0102] In one possible implementation, the target vehicle identification module includes:

[0103] The fifth identification unit is used to identify, in the first lane currently in which the autonomous vehicle is located behind the autonomous vehicle and its speed is greater than that of the autonomous vehicle, as the target vehicle;

[0104] The driving operation execution module includes:

[0105] The first avoidance unit is used to perform the operation of avoiding the target vehicle;

[0106] The second normal driving unit is used to continue driving operations in the first lane after the target vehicle has overtaken the autonomous vehicle.

[0107] In one possible implementation, the prompt information output module includes:

[0108] The eighth prompting unit is used to output an eighth prompting message through the output device during the operation of avoiding the target vehicle. The eighth prompting message is used to prompt the autonomous vehicle that it is avoiding the target vehicle, or to prompt the target vehicle to maintain a distance from the autonomous vehicle.

[0109] In one possible implementation, the prompt information output module includes:

[0110] The ninth prompt unit is used to output a ninth prompt message through the output device if the distance between the target vehicle and the autonomous vehicle is less than a preset distance during the process of the target vehicle overtaking the autonomous vehicle. The ninth prompt message is used to indicate that the distance between the vehicles is too close.

[0111] In one possible implementation, the target vehicle identification module includes:

[0112] The sixth identification unit is used to identify vehicles on the road that are traveling in the opposite direction to the autonomous vehicle, and to identify them as the target vehicles.

[0113] In one possible implementation, the driving operation execution module includes:

[0114] The distance acquisition unit is used to acquire the distance between the autonomous vehicle and the target vehicle based on the position of the autonomous vehicle and the position of the target vehicle;

[0115] A deceleration unit is used to perform a deceleration operation when the distance is less than a preset distance;

[0116] The deceleration stop unit is used to stop the deceleration operation after it has been performed, when the distance is not less than the preset distance.

[0117] In one possible implementation, the driving operation execution module includes:

[0118] The meeting position determination unit is used to determine the meeting position between the autonomous vehicle and the target vehicle based on the position of the autonomous vehicle and the position of the target vehicle.

[0119] The second execution unit is used to perform driving operations based on the meeting position.

[0120] In one possible implementation, the second execution unit is further configured to:

[0121] Determine the position of the obstacle in front of the autonomous vehicle;

[0122] If the meeting point is behind the obstacle, then a deceleration or stopping operation is performed;

[0123] If the meeting point is in front of the obstacle, then an acceleration operation is performed.

[0124] In one possible implementation, the driving operation is a deceleration operation or a stopping operation, and the prompt information output module includes:

[0125] The second avoidance unit is used to output avoidance prompts for the autonomous vehicle through the output device of the autonomous vehicle during the execution of the driving operation.

[0126] In one possible implementation, the driving operation is an acceleration operation, and the prompt information output module includes:

[0127] The third avoidance unit is used to output a prompt message requesting the target vehicle to avoid the driver during the execution of the driving operation via the output device of the autonomous vehicle.

[0128] In one possible implementation, the second execution unit is further configured to:

[0129] The location of obstacles within the image of the convex mirrors placed along the road is identified.

[0130] In one possible implementation, the sixth identification unit is further configured to perform at least one of the following:

[0131] Listen to the horn sounds emitted by vehicles and identify the vehicle emitting the horn sound as the target vehicle;

[0132] Identify the lights emitted by a vehicle and designate the vehicle emitting the lights as the target vehicle;

[0133] Send a vehicle identification request to the vehicle-to-everything (V2X) wireless device, receive vehicle information returned by the V2X wireless device, and designate the vehicle corresponding to the vehicle information as the target vehicle.

[0134] In one possible implementation, the prompt information output module includes:

[0135] The display unit is used to display the prompt information through the display screen;

[0136] A playback unit is used to play the prompt information through the speaker;

[0137] The first illumination unit is used to illuminate the indicator light corresponding to the driving operation;

[0138] The second lighting unit is used to illuminate the indicator light corresponding to the current environmental information;

[0139] The horn unit is used to perform horn-honking operations according to the horn-honking rhythm corresponding to the driving operation.

[0140] According to a third aspect provided in the embodiments of this application, an autonomous driving vehicle is provided, the autonomous driving vehicle including: an output device, a processor and a memory;

[0141] The output device includes at least one of a display screen, a speaker, a car horn, or an indicator light;

[0142] The memory stores at least one line of program code, which is loaded and executed by the processor to perform the operations performed in the prompting method as described in the first aspect.

[0143] According to a fourth aspect provided in the embodiments of this application, a computer-readable storage medium is provided, wherein at least one instruction is stored in the computer-readable storage medium, the instruction being loaded and executed by a processor to perform the operation performed in the prompting method as described in the first aspect.

[0144] The beneficial effects of the technical solutions provided in this application include at least the following:

[0145] The method, apparatus, autonomous vehicle, and storage medium provided in this application identify target vehicles whose routes intersect with the autonomous vehicle's own. Driving operations are then performed according to the positions of the autonomous vehicle and the target vehicles, enabling the autonomous vehicle to execute corresponding driving operations based on the routes of oncoming vehicles, thus improving safety. During the driving operation, the autonomous vehicle's output device outputs prompts indicating the meeting status between the autonomous vehicle and the target vehicle. This ensures that oncoming vehicles and other intelligent agents accurately and fully understand the driving operations performed by the autonomous vehicle, minimizing conflicts between their operations and those of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety. Furthermore, by actively interacting with oncoming vehicles and other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, enhance traffic safety, and decrease traffic accidents.

[0146] In addition, based on the speed of autonomous vehicles and the lanes they are in, the situations where autonomous vehicles travel in the same direction as other vehicles and their routes intersect are further divided into four types. This clarifies the situations in which autonomous vehicles will intersect with other vehicles traveling in the same direction, making it easier for autonomous vehicles to perform corresponding driving operations according to various situations.

[0147] In addition, by using output devices to prompt other vehicles with the driving operations of the autonomous vehicle, other intelligent agents can clearly understand the driving operations being performed by the autonomous vehicle and can perform corresponding operations based on the driving operations of the autonomous vehicle, which can reduce the probability of traffic accidents and improve the safety of autonomous vehicles. Attached Figure Description

[0148] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0149] Figure 1 This is a flowchart illustrating an active interaction process according to an exemplary embodiment;

[0150] Figure 2 This is a flowchart illustrating the identification of surrounding intelligent agents according to an exemplary embodiment;

[0151] Figure 3 This is a flowchart illustrating an environmental risk assessment according to an exemplary embodiment;

[0152] Figure 4 This is a flowchart illustrating a status indication method according to an exemplary embodiment;

[0153] Figure 5 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0154] Figure 6 This is a flowchart illustrating a prompting method according to an exemplary embodiment;

[0155] Figure 7 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0156] Figure 8 This is a flowchart illustrating a prompting method according to an exemplary embodiment;

[0157] Figure 9 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0158] Figure 10 This is a flowchart illustrating a prompting method according to an exemplary embodiment;

[0159] Figure 11 This is a flowchart illustrating another prompting method according to an exemplary embodiment;

[0160] Figure 12 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0161] Figure 13 This is a flowchart illustrating another prompting method according to an exemplary embodiment;

[0162] Figure 14 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0163] Figure 15 This is a block diagram illustrating a prompting device according to an exemplary embodiment;

[0164] Figure 16 This is a block diagram illustrating another prompting device according to an exemplary embodiment;

[0165] Figure 17This is a flowchart illustrating a prompting method according to an exemplary embodiment;

[0166] Figure 18 This is a schematic diagram illustrating a prompt message according to an exemplary embodiment;

[0167] Figure 19 This is a schematic diagram of the structure of an autonomous vehicle according to an exemplary embodiment. Detailed Implementation

[0168] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0169] With a large number of vehicles on the road and drivers exhibiting diverse personalities and behaviors, autonomous vehicles perform varying driving maneuvers. When interacting with other vehicles, autonomous vehicles must not only make informed driving decisions but also clearly express their intentions to avoid misinterpretations by other vehicles. Furthermore, autonomous vehicles need to promptly alert other vehicles to abnormal driving maneuvers, thereby mitigating risks.

[0170] Current autonomous driving solutions focus on the decision-making, planning, and control of the autonomous vehicle's internal driving operations, enabling it to drive safely and effectively in various road conditions. However, these driving operations are not transparent to other vehicles, inevitably leading to misunderstandings.

[0171] For example, heavy-duty trailers are large and their lane-changing process is relatively slow. Vehicles behind a heavy-duty trailer might interpret this slow lane change as yielding and then speed up in the trailer's target lane, potentially leading to a collision and a significant safety hazard. Alternatively, driver fatigue could cause the vehicle to drift out of the center of the lane, drive slowly in the fast lane, or attempt to cut in front of an autonomous vehicle. In these situations, the autonomous vehicle needs to provide timely warnings to alert these vehicles and avoid the risks. Furthermore, autonomous vehicles, especially heavy trucks, can obstruct the view of other vehicles. If the autonomous vehicle can provide necessary warnings to other vehicles whose view is obstructed, it can improve their understanding of the autonomous vehicle's behavior.

[0172] To address these issues, autonomous vehicles need to proactively interact with other vehicles using a variety of methods. This interaction involves both explicitly expressing the autonomous vehicle's ideas, plans, and actions, and assisting other vehicles in understanding the surrounding environment and the autonomous vehicle's intentions.

[0173] In related solutions, vehicles typically employ a passive-response interaction method. For example, if another vehicle forcibly crosses the target lane during a lane change, the vehicle passively cancels the lane change and turns off its turn signal to ensure safety. However, it does not proactively provide necessary reminders or warnings to other vehicles before canceling the lane change. Another example is when encountering a risk on the side, the vehicle often needs to borrow lanes from the other side or even change lanes to avoid the risk. The usual approach in this situation is to activate the turn signal and wait for the right moment to change lanes. However, vehicles in the target lane, misunderstanding the vehicle's intentions, often ignore the turn signal and fail to yield, preventing the vehicle from avoiding the risk in a timely manner.

[0174] In summary, most current solutions for interacting with other vehicles are passive and reactive, and the field of autonomous driving currently lacks a systematic overall solution for interacting with other vehicles.

[0175] This application proposes a systematic solution to the problem of proactive interaction between autonomous vehicles and other intelligent agents in the environment during operation. Intelligent agents include any individual or group with intelligence capable of making decisions and taking actions based on various perceptual information. For example, intelligent agents in a traffic environment are mainly humans, including drivers, pedestrians, engineering workers, and service personnel in specific scenarios, and may also include other autonomous vehicles.

[0176] The varied behaviors of ordinary vehicles mainly refer to the different intentions and actions of the drivers, as well as the differences in vehicle performance. Special vehicles, engineering personnel, and service personnel in specific scenarios often have unique behavioral patterns and norms. Pedestrian behavior, compared to other human intelligent agents, exhibits greater randomness. Generally speaking, human behavior is largely predictable, while the behavior of other autonomous vehicles can vary significantly.

[0177] To address the issue of proactively interacting with other intelligent agents, the following sub-problems need to be solved: (1) when to interact; (2) with whom to interact; (3) how to interact; and (4) how to handle feedback after the interaction. The solutions to these problems will be detailed later.

[0178] See Figure 1 The active interaction process proposed in this application includes the following steps:

[0179] (1) Identify surrounding intelligent agents

[0180] In this embodiment, the autonomous vehicle can identify surrounding intelligent agents by classifying them and identifying abnormal behavior, thereby guiding the process of proactive interaction. Different types of intelligent agents have different behavioral capabilities and patterns; behaviors that exceed their normal capabilities and patterns are considered abnormal behaviors.

[0181] The process of identifying surrounding intelligent agents is as follows Figure 2 As shown, autonomous vehicles collect information from multiple sensors and identify obstacles based on this information. They can then classify the identified obstacles using agent classification technology to determine the types of agents present in the surrounding area. Subsequently, the agents can be tracked, their behavior predicted, and any abnormal behavior identified based on their actions.

[0182] (2) Assess environmental risks

[0183] The process of assessing environmental risks is as follows: Figure 3 As shown, the autonomous vehicle of this application collects environmental information through configured multi-sensor systems to obtain the current road structure, reconstructs the road structure, and uses the reconstructed road structure to determine the passable area. Furthermore, it identifies areas where the current road structure differs from the known road structure, performs scene recognition on these areas to determine the scene, such as a construction scene, a vehicle malfunction scene, or a road obstruction scene, and assesses the passage risk in these areas.

[0184] (3) Choosing the timing of interaction

[0185] Autonomous vehicles detect the state of other autonomous vehicles or other intelligent agents, and select an appropriate time to interact based on the detected state information.

[0186] (4) Dispatch and interaction methods: The autonomous vehicle is equipped with output devices, including at least one of a display screen, speaker, horn, or indicator light. The autonomous vehicle outputs information that matches the autonomous vehicle's state type through the configured output devices.

[0187] (5) Collect interactive feedback: Other intelligent agents will provide feedback on the driving operation of the autonomous vehicle. The autonomous vehicle will collect information from other intelligent agents through the configured multi-sensor system, and then determine the behavior of other intelligent agents.

[0188] (6) Adjusting the behavior of autonomous vehicles: Autonomous vehicles replan their operations based on the detected behavior of other intelligent agents. For example, when an autonomous vehicle detects that another intelligent agent is occupying its lane, the autonomous vehicle will stop or slow down to avoid it.

[0189] like Figure 1As shown, through the identification of surrounding intelligent agents and the assessment of environmental risks, the autonomous vehicle has gained a complete understanding of the environmental conditions. The next step is to actively interact with other intelligent agents. A round of active interaction includes several steps: selecting the interaction timing, scheduling the interaction methods, collecting interaction feedback, and adjusting the autonomous vehicle's behavior. This application categorizes interaction timings into five types: a) informing the autonomous vehicle of its status; b) avoiding special vehicles; c) avoiding dangerous environments; d) reducing the risk of oncoming traffic; and e) warning abnormal intelligent agents. Different interaction timings can occur simultaneously. The active interaction process under different timings will be explained below.

[0190] The first interaction method: Prompt the autonomous vehicle's status.

[0191] Figure 4 This is a flowchart illustrating a status indication method according to an exemplary embodiment, applied to autonomous vehicles, such as... Figure 4 As shown, the method includes:

[0192] 401. Real-time detection of the current status information of autonomous vehicles.

[0193] In this embodiment, the autonomous vehicle detects its current state information in real time, determines its state type based on the state information, and outputs a prompt message corresponding to the state type.

[0194] Autonomous vehicles can include autonomous cars, autonomous trucks, autonomous motorcycles, and other vehicles.

[0195] The status information of autonomous vehicles is used to represent their state. This status information includes the vehicle's speed, distance traveled, remaining fuel, the operational status of each component, and the on / off status of warning lights.

[0196] The components of an autonomous vehicle include the engine, chassis, and body accessories. Body accessories include vehicle-to-everything (V2X) wireless equipment, sound receivers, mechanical or electronic horns, fuel tanks, tires, body shells, doors, automotive glass, mirrors, license plate frames, seats and seat accessories, automotive bearings, armrests, handles, grab handles, the cab and cab accessories, airbags, seat belts, power windows, antennas, windshield wipers, mufflers, horns, vehicle weatherstripping and bumpers, trunk, and exhaust pipes. Autonomous vehicles can monitor the operational status of these components.

[0197] Autonomous driving requires a combination of software and hardware systems. The software system includes a perception module, a localization module, and a decision-making module. The perception and localization modules identify and classify other intelligent agents. The decision-making module determines, based on the behavior of other intelligent agents, whether they are special vehicles, whether they will encounter the autonomous vehicle, and whether there are any anomalies, and then interacts with them through proactive interaction methods. The hardware system includes components equipped on the autonomous vehicle for interacting with other intelligent agents, including indicator lights, horns, displays, speakers, and vehicle-to-everything (V2X) wireless devices.

[0198] 402. Determine the state type to which the state information of the autonomous vehicle belongs.

[0199] Based on each detected state information, the autonomous vehicle determines whether it has autonomous driving capabilities and the ability to pull over to the side of the road, and then determines the state type of the autonomous vehicle so that the output device of the autonomous vehicle can output the prompt information corresponding to the state type.

[0200] In one possible implementation, the autonomous vehicle is pre-set to meet certain conditions for its state information when it possesses autonomous driving capabilities. When the autonomous vehicle detects state information, it determines whether the pre-set conditions are met, thereby determining whether the autonomous vehicle possesses autonomous driving capabilities. For example, if the autonomous vehicle is pre-set to possess autonomous driving capabilities when the doors are closed, then if the autonomous vehicle detects its state information and finds that the doors are not closed, thus failing to meet the pre-set conditions, it is determined that the autonomous vehicle does not possess autonomous driving capabilities.

[0201] The ability to pull over to the side of the road refers to the ability of an autonomous vehicle to travel from its current position to the edge of the road and then stop. For example, if an autonomous vehicle is currently in a lane on the side of the road, it can travel a short distance to reach the edge of the road. Alternatively, if an autonomous vehicle is currently in a lane in the middle of the road, it can perform a lane change maneuver to reach the edge of the road.

[0202] Autonomous vehicles are pre-programmed with conditions that must be met for their parking ability to be considered. When an autonomous vehicle detects this parking information, it determines whether the pre-programmed conditions are met, thus determining whether the vehicle possesses the parking ability. For example, an autonomous vehicle might be pre-programmed to have the parking ability when its remaining fuel level is not less than a first preset threshold but not greater than a second preset threshold, but it does not possess autonomous driving capability. In this case, the autonomous vehicle detects its parking information and finds that its remaining fuel level is less than the first preset threshold, failing to meet the pre-programmed conditions, and therefore determines that the vehicle does not possess the parking ability.

[0203] Based on whether autonomous vehicles have autonomous driving capabilities and the ability to pull over to the side of the road, the state types of autonomous vehicles are divided into normal state type, first fault state type, and second fault state type.

[0204] A normal state indicates that the autonomous vehicle is not malfunctioning and can continue driving without intervention. When the status information indicates that the autonomous vehicle possesses autonomous driving capabilities, the state type is determined to be normal.

[0205] The first fault state type indicates that the autonomous vehicle has experienced a basic fault, which may affect its normal driving, but it can still pull over to the side of the road. When the status information indicates that the autonomous vehicle does not have autonomous driving capabilities but has the ability to pull over to the side of the road, the status type is determined to be the first fault state type.

[0206] The second fault state type indicates that the autonomous vehicle has experienced a relatively serious malfunction and is unable to pull over to the side of the road. When the status information indicates that the autonomous vehicle lacks both autonomous driving capabilities and the ability to pull over to the side of the road, the status type is determined to be the second fault state type.

[0207] It should be noted that the embodiments of this application only classify the state type into normal state type, first fault state type and second fault state type based on whether the autonomous vehicle has autonomous driving capability and the ability to park on the side of the road. In another embodiment, the state type can also be classified according to other criteria.

[0208] It should be noted that the embodiments of this application only determine whether an autonomous vehicle has autonomous driving capabilities and the ability to park on the side of the road by using the state information of the autonomous vehicle, and thus determine the state type of the autonomous vehicle. In another embodiment, the state type of the autonomous vehicle can also be determined by other methods.

[0209] State information can include information from multiple dimensions, such as driving speed, door open / closed status, and vehicle temperature. In one possible implementation, the autonomous vehicle establishes a correspondence between the multi-dimensional state information and state types. When any state information is acquired, the correspondence is queried to obtain the state type corresponding to that state information.

[0210] Autonomous vehicles are pre-defined with priorities for normal state type, first fault state type, and second fault state type, with the priorities of the three state types increasing sequentially. Therefore, when different state types are determined based on different dimensions of state information of the autonomous vehicle, the state type with the highest priority among the determined state types is selected.

[0211] For example, an autonomous vehicle determines that it is in a normal state based on the door being closed, and determines that it is in a first fault state based on the vehicle temperature being higher than a preset temperature. Since the preset normal state type, first fault state type, and second fault state type have increasing priorities in sequence, and the first fault state has a higher priority than the normal state, when the autonomous vehicle is determined to be in a normal state type and a first fault state type based on two state information, the state type of the autonomous vehicle is determined to be the first fault state type.

[0212] 403. When the state type is normal, the output device of the autonomous vehicle outputs a prompt message corresponding to the normal state type.

[0213] Autonomous vehicles are equipped with output devices, including at least one of a display screen, a speaker, a horn, or indicator lights. The number of display screens can be one or more, and their facing direction can include front, rear, left, right, and top, displaying information in multiple directions. The display screens can include various types such as text screens and image screens. There can be one or more speakers, which can be mounted on the roof or side of the vehicle. The horn can include a mechanical or electronic horn. Indicator lights include turn signals, fog lights, and side marker lights.

[0214] Autonomous vehicles can establish a correspondence between normal state types and prompt information. When an autonomous vehicle determines that the state information belongs to a normal state type, it queries the correspondence to obtain the prompt information corresponding to the normal state type, and outputs the prompt information corresponding to the normal state type through the output device of the autonomous vehicle.

[0215] In one possible implementation, the output device outputs a prompt message corresponding to the normal state type, which may include at least one of the following:

[0216] (1) Regarding the display screen, when the autonomous vehicle determines that the current state information belongs to the normal state type, the first prompt information is displayed on the display screen. The first prompt information is used to prompt the autonomous vehicle to drive normally.

[0217] By configuring the display screen, the autonomous vehicle will display the first prompt information during its operation. When other intelligent agents view the first prompt information, they can confirm that the autonomous vehicle is operating normally and there is no malfunction.

[0218] In one possible implementation, the first prompt message may include text or image information. For example, the text message may be "I am currently working normally," and the image information may be any image that shows the autonomous vehicle is driving normally.

[0219] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions—for example, those in front, behind, to the left, right, and top—to view the information displayed by the autonomous vehicle.

[0220] (2) Regarding the speaker, when the autonomous vehicle determines that the current state information belongs to the normal state type, a second prompt message is played through the speaker. The second prompt message is used to prompt the autonomous vehicle to drive normally.

[0221] The second prompt message is a voice message. By configuring a speaker, the speaker of the autonomous vehicle plays the second prompt message during the autonomous vehicle's operation, so that other intelligent agents can hear the second prompt message and know that the autonomous vehicle is currently operating normally.

[0222] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0223] (3) Regarding the indicator lights, during the driving operation performed by the autonomous vehicle, the indicator light corresponding to the currently performed driving operation is illuminated, so that other intelligent agents can clearly understand the driving operation being performed by the autonomous vehicle. For example, the driving operation currently being performed by the autonomous vehicle may be going straight, turning, changing lanes, reversing, accelerating, braking, parking, etc. When parking, the autonomous vehicle can illuminate the hazard warning lights (double flashers), and when changing lanes, the autonomous vehicle can illuminate the turn signals.

[0224] (4) Regarding the indicator lights, during the driving operation of the autonomous vehicle, it can detect the current environmental information and light up the indicator lights corresponding to the current environmental information so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0225] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0226] In addition, the prompts output by the autonomous vehicle may include at least one of the following: the current driving speed of the autonomous vehicle, the driving operation currently being performed, or the distance between the autonomous vehicle and the obstacle.

[0227] The driving operation currently being performed by the autonomous vehicle can include going straight, turning, changing lanes, reversing, accelerating, and braking. The autonomous vehicle can provide prompts for any of the currently performed driving operations through a display screen or speaker.

[0228] Alternatively, autonomous vehicles may be pre-programmed with dangerous driving maneuvers, such as high-speed driving, lane changing, collisions with other vehicles, or excessively close proximity to obstacles. When a dangerous driving maneuver is detected, the aforementioned output device can output a corresponding warning message, such as alerting other vehicles via a loudspeaker that the autonomous vehicle is currently traveling too fast.

[0229] 404. When the status type is the first fault status type, the output device of the autonomous vehicle outputs the prompt information corresponding to the first fault status type.

[0230] Autonomous vehicles can establish a correspondence between a first fault state type and a prompt message. When an autonomous vehicle determines that a state information belongs to the first fault state type, it queries the correspondence to obtain the prompt message corresponding to the first fault state type and outputs the prompt message corresponding to the first fault state type through the autonomous vehicle's output device.

[0231] In one possible implementation, the output device outputs a prompt message corresponding to the first fault state type, which may include at least one of the following:

[0232] (1) Regarding the display screen, when the autonomous vehicle determines that the current status information belongs to the first fault status type, the third prompt information is displayed on the display screen. The third prompt information is used to prompt the autonomous vehicle that a fault has occurred.

[0233] By configuring the display screen, during the operation of the autonomous vehicle, the display screen of the autonomous vehicle will show a third prompt message. When other intelligent agents view the third prompt message of the autonomous vehicle, they can determine that the current state type of the autonomous vehicle is the first fault state type.

[0234] In one possible implementation, the third prompt information may include text information or image information. For example, the text information may be "I am currently experiencing a malfunction," and the image information may be any image that can demonstrate that the autonomous vehicle has malfunctioned.

[0235] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0236] (2) Regarding the speaker, when the autonomous vehicle determines that the current state information belongs to the first fault state type, the fourth prompt message is played through the speaker. The fourth prompt message is used to prompt the autonomous vehicle to pull over.

[0237] The fourth prompt is a voice message. By configuring a speaker, the autonomous vehicle plays this fourth prompt during its operation, allowing other intelligent agents to hear it and understand that the autonomous vehicle is currently pulling over.

[0238] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0239] (3) Regarding the car horn, when the state type of the autonomous vehicle is the first fault state type, the horn can be sounded according to the first horn rhythm.

[0240] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm; different status types correspond to different horn rhythms. This cycle can be one second or one minute, etc.

[0241] Alternatively, the first horn-honking rhythm can be a preset rhythm. Or, the autonomous vehicle can establish a correspondence between a first fault state type and a horn-honking rhythm. When the autonomous vehicle determines that the state information belongs to the first fault state type, it queries this correspondence to obtain the first horn-honking rhythm corresponding to that first fault state type, and performs the horn-honking operation according to the first horn-honking rhythm corresponding to the first fault state type, so that other intelligent agents can understand the current state of the autonomous vehicle.

[0242] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0243] (4) Regarding the indicator lights, during the driving operation performed by the autonomous vehicle, the indicator light corresponding to the currently performed driving operation is illuminated, so that other intelligent agents can clearly understand the driving operation being performed by the autonomous vehicle. For example, the driving operation currently being performed by the autonomous vehicle may be going straight, turning, changing lanes, reversing, accelerating, braking, or stopping. When stopping, the autonomous vehicle can illuminate the hazard warning lights (double flashers), and when changing lanes, the autonomous vehicle can illuminate the turn signals.

[0244] (5) Regarding the indicator lights, during the driving operation of the autonomous vehicle, it can detect the current environmental information and light up the indicator lights corresponding to the current environmental information so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0245] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0246] 405. After the autonomous vehicle continues to the edge of the current road, it will stop. Proceed to step 408.

[0247] When the autonomous vehicle's state type is determined to be the first fault state type, the autonomous vehicle does not have autonomous driving capabilities but still has the ability to pull over to the side of the road. The autonomous vehicle will continue to drive to the edge of the current road and then perform a parking operation.

[0248] 406. When the status type is the second fault status type, the output device of the autonomous vehicle outputs the prompt information corresponding to the second fault status type.

[0249] Autonomous vehicles can establish a correspondence between a second fault state type and a prompt message. When an autonomous vehicle determines that a state information belongs to the second fault state type, it queries the correspondence to obtain the prompt message corresponding to the second fault state type and outputs the prompt message corresponding to the second fault state type through the autonomous vehicle's output device.

[0250] In one possible implementation, the output device outputs a prompt message corresponding to the second fault state type, which may include at least one of the following:

[0251] (1) Regarding the display screen, when the autonomous vehicle determines that the current status information belongs to the second fault status type, the fifth prompt information is displayed on the display screen. The fifth prompt information is used to prompt that the autonomous vehicle has a serious fault.

[0252] By configuring the display screen, the autonomous vehicle displays a fifth prompt message during its operation. When other intelligent agents view the fifth prompt message, they can determine that the current state of the autonomous vehicle is the second fault state type.

[0253] In one possible implementation, the fifth prompt message may include text or image information. For example, the text message may be "I am currently experiencing a serious malfunction," and the image information may be any image that demonstrates a serious malfunction in the autonomous vehicle.

[0254] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0255] (2) Regarding the speaker, when the autonomous vehicle determines that the current state information belongs to the second fault state type, the sixth prompt message is played through the speaker. The sixth prompt message is used to prompt the autonomous vehicle to maintain a safe distance.

[0256] The sixth prompt message is a voice message. By configuring a speaker, the speaker of the autonomous vehicle plays the sixth prompt message during the autonomous vehicle's operation, so that other intelligent agents can hear the sixth prompt message and thus maintain a safe distance from the autonomous vehicle.

[0257] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0258] (3) Regarding the car horn, when the state type of the autonomous vehicle is the second fault state type, the horn can be sounded according to the second horn rhythm.

[0259] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm; different status types correspond to different horn rhythms. This cycle can be one second or one minute, etc.

[0260] In addition, the second horn rhythm can be a preset rhythm. Alternatively, the autonomous vehicle can establish a correspondence between the second fault state type and the horn rhythm. When the autonomous vehicle determines that the state information belongs to the second fault state type, it queries the correspondence to obtain the horn rhythm corresponding to the second fault state type, and performs the horn operation according to the horn rhythm corresponding to the second fault state type, so that other intelligent agents can understand the current state of the autonomous vehicle.

[0261] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0262] (4) Regarding the indicator lights, during the driving operation performed by the autonomous vehicle, the indicator light corresponding to the currently performed driving operation is illuminated, so that other intelligent agents can clearly understand the driving operation being performed by the autonomous vehicle. For example, the driving operation currently being performed by the autonomous vehicle may be going straight, turning, changing lanes, reversing, accelerating, braking, or stopping. When stopping, the autonomous vehicle can illuminate the hazard warning lights (double flashers), and when changing lanes, the autonomous vehicle can illuminate the turn signals.

[0263] (5) Regarding the indicator lights, during the driving operation of the autonomous vehicle, it can detect the current environmental information and light up the indicator lights corresponding to the current environmental information so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0264] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0265] 407. The autonomous vehicle performs a parking operation in the current lane.

[0266] When the autonomous vehicle is detected to be in the second fault state type, the autonomous vehicle does not have autonomous driving capability and does not have the ability to pull over. The autonomous vehicle continues to drive in the current lane and performs a parking operation in the current lane after driving a certain distance, or performs a parking operation directly in the current lane.

[0267] 408. Autonomous vehicles output prompt information corresponding to the parking status type through output devices.

[0268] Autonomous vehicles can establish a correspondence between parking status types and prompt information. When an autonomous vehicle determines that the status information belongs to the parking status type, it queries the correspondence to obtain the prompt information corresponding to the parking status type, and outputs the prompt information corresponding to the parking status type through the output device of the autonomous vehicle.

[0269] In one possible implementation, the output device outputs a prompt message corresponding to the parking status type, which may include at least one of the following:

[0270] (1) Regarding the display screen, when the autonomous vehicle determines that the current state information belongs to the parking state type, the display screen displays parking prompt information and parking sign, which are used to prompt the autonomous vehicle to stop.

[0271] By configuring the display screen, when the autonomous vehicle stops, the display screen shows parking prompts and parking signs. When other intelligent agents view the parking prompts and parking signs of the autonomous vehicle, they can determine that the current state of the autonomous vehicle is a parking state.

[0272] In one possible implementation, the parking prompt message could be "Please be careful when parking," and the parking sign could be any sign that indicates that the autonomous vehicle is parked.

[0273] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0274] (2) Regarding the speaker, when the autonomous vehicle determines that the current state information belongs to the parking state type, a parking prompt message is played through the speaker. The parking prompt message is used to prompt the autonomous vehicle to stop.

[0275] By configuring speakers, the autonomous vehicle can play voice prompts while it is in motion, allowing other intelligent agents to hear and understand the current status of the autonomous vehicle.

[0276] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion, or they can be placed at the front, rear, or right side of the vehicle for relatively poorer sound diffusion.

[0277] (3) Regarding the car horn, when the autonomous vehicle is in a parked state, it can perform the horn-honking operation according to the third horn-honking rhythm.

[0278] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm; different status types correspond to different horn rhythms. This cycle can be one second or one minute, etc.

[0279] In addition, the third horn rhythm can be a preset rhythm. Alternatively, the autonomous vehicle can establish a correspondence between parking state types and horn rhythms. When the autonomous vehicle determines that the state information belongs to the parking state type, it queries the correspondence to obtain the horn rhythm corresponding to the parking state type, and performs the horn operation according to the horn rhythm corresponding to the parking state type, so that other intelligent agents can understand the current state of the autonomous vehicle.

[0280] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0281] (4) Regarding the indicator lights, during the driving operation performed by the autonomous vehicle, the indicator light corresponding to the currently performed driving operation is illuminated, so that other intelligent agents can clearly understand the driving operation being performed by the autonomous vehicle. For example, the driving operation currently being performed by the autonomous vehicle may be going straight, turning, changing lanes, reversing, accelerating, braking, or stopping. When stopping, the autonomous vehicle can illuminate the hazard warning lights (double flashers), and when changing lanes, the autonomous vehicle can illuminate the turn signals.

[0282] (5) Regarding the indicator lights, during the driving operation of the autonomous vehicle, it can detect the current environmental information and light up the indicator lights corresponding to the current environmental information so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0283] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0284] In addition, autonomous vehicles can establish a connection with a management server, log in to the server, and report their location and status information. The management server also controls the autonomous vehicles, sending control commands to them, which the vehicles then execute accordingly. Administrators can remotely control the autonomous vehicles through the management server, enabling the unified management of one or more vehicles.

[0285] In one possible implementation, when the state type is determined to be either a first fault state type or a second fault state type during operation, the autonomous vehicle sends a distress signal to the management server connected to the autonomous vehicle via a wireless network. This distress signal indicates a malfunction in the autonomous vehicle. Upon receiving the distress signal, the management server issues an alarm, which is then reviewed by management personnel who can promptly provide assistance to the autonomous vehicle.

[0286] Among them, autonomous vehicles can be equipped with vehicle-to-everything (V2X) wireless devices to communicate with other devices.

[0287] The distress message includes the location and status information of the autonomous vehicle. The location information allows management to pinpoint the vehicle's location, while the status information reveals the vehicle's malfunction.

[0288] The alarm information can include: the management server sending alarm information to the control terminal, the control terminal displaying the alarm information, the management personnel holding the control terminal viewing the alarm information, the alarm information carrying the location information of the autonomous vehicle, the management personnel going to the location of the autonomous vehicle, driving the autonomous vehicle away, and performing maintenance on the autonomous vehicle.

[0289] Optionally, the management server can send alarm information to the nearest control terminal, which can notify the nearest management personnel and enable rescue of the autonomous vehicle in the shortest possible time.

[0290] Other intelligent agents can include intelligent devices such as mobile phones, computers, and vehicle-to-everything (V2X) wireless devices. These intelligent devices can establish connections with and log into the management server. After an autonomous vehicle reports a distress signal to the management server, the server forwards the distress signal to the intelligent device logged into the server. The intelligent device then obtains the distress information, location, and status of the autonomous vehicle. Users of the intelligent device can then travel to the location of the autonomous vehicle to perform repairs. Alternatively, they can anticipate potential risks on the road section where the autonomous vehicle is located, allowing them to detour or slow down in advance, thus improving traffic safety and reducing traffic accidents.

[0291] like Figure 5 As shown, the state types of autonomous vehicles are divided into three categories: normal, fault, and serious fault, and the prompting methods for each of the three state types are given.

[0292] First, when the autonomous vehicle is driving normally, text prompts can be displayed on screens in five directions, dangerous driving operations can be alerted through speakers, and indicator lights corresponding to driving operations or environmental information can be illuminated.

[0293] Secondly, when an autonomous vehicle malfunctions, it can pull over to the edge of the road and stop. During this process, it will display text prompts on five directional screens, announce the vehicle's intention to pull over via speaker, rhythmically sound its horn, illuminate indicator lights corresponding to driving operations or environmental information, and send a distress signal via wireless network. After stopping, it will again display text prompts on five directional screens, announce the vehicle's intention to stop via speaker, rhythmically sound its horn, illuminate indicator lights corresponding to the stopping status and environmental information, and send a distress signal via wireless network.

[0294] Secondly, in the event of a serious malfunction in the autonomous vehicle, it will remain in its current lane and then come to a stop within that lane. During this process, text prompts will be displayed on five directional screens, the vehicle will be alerted to maintain a safe distance via speakers, the horn will be sounded rhythmically as a warning, indicator lights corresponding to driving operations or environmental information will be illuminated, and a distress signal will be sent via wireless network. After stopping in the current lane, text prompts will be displayed on five directional screens, the autonomous vehicle will be alerted to stop via speakers, the horn will be sounded rhythmically as a warning, indicator lights corresponding to the stopping status and environmental information will be illuminated, and a distress signal will be sent via wireless network.

[0295] The method provided in this application detects the current state information of an autonomous vehicle in real time, determines the state type of the current state information, and outputs prompt information corresponding to the state type through the autonomous vehicle's output device. This allows other intelligent agents to accurately and fully understand the current state of the autonomous vehicle and perform operations accordingly. This minimizes conflicts between the operations of other intelligent agents and the driving operations of the autonomous vehicle, reducing the probability of traffic accidents and improving safety. Furthermore, by actively interacting with other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and reduce traffic accidents.

[0296] In addition, by using the state information of autonomous vehicles, we can determine whether they have autonomous driving capabilities and the ability to pull over to the side of the road, thereby determining the state type of the autonomous vehicle and clarifying the classification method of different state types, which will facilitate the output of corresponding prompt information based on the state type in the future.

[0297] In addition, by displaying information on screens, speakers, indicator lights, or horns, the status of the autonomous vehicle can be clearly indicated to other intelligent agents. The specific methods and content of the prompts are clearly defined, allowing other intelligent agents to understand the status of the autonomous vehicle and perform corresponding operations accordingly. This can reduce the probability of traffic accidents and improve the safety of autonomous vehicles.

[0298] In addition, when the autonomous vehicle determines that the state type is the first fault state type during driving, it continues to drive to the edge of the current road and performs a parking operation. When the autonomous vehicle determines that the state type is the second fault state type during driving, it performs a parking operation in the current lane. Through the output device, it outputs prompt information corresponding to the parking state type, which expands the parking state types of autonomous vehicles, making the function more complete and improving the safety of autonomous vehicles.

[0299] In addition, when an autonomous vehicle determines that its state type is either the first fault state type or the second fault state type during operation, it sends a distress message to the management server connected to the autonomous vehicle via a wireless network. The distress message indicates that the autonomous vehicle has malfunctioned and can promptly request assistance from the management server. Alternatively, the management server can send the autonomous vehicle's state type to other intelligent agents, thereby informing other intelligent agents of the autonomous vehicle's state, avoiding potential risks, and improving the safety of the autonomous vehicle.

[0300] The second interaction method: indicating dangerous areas within the range of the autonomous vehicle.

[0301] Figure 6 This is a flowchart illustrating a prompting method according to an exemplary embodiment, applied to autonomous vehicles, such as... Figure 6 As shown, the method includes:

[0302] 601. The autonomous vehicle collects environmental information within its current range and executes step 602 or 608.

[0303] Autonomous vehicles can include self-driving cars, self-driving trucks, self-driving motorcycles, and other vehicles. Components in an autonomous vehicle include the engine, chassis, and body accessories. Body accessories include vehicle-to-everything (V2X) wireless equipment, sound receivers, mechanical or electronic horns, fuel tanks, tires, body shells, doors, automotive glass, mirrors, license plate frames, seats and seat accessories, automotive bearings, armrests, handles, grab handles, cab and cab accessories, airbags, seat belts, power windows, antennas, windshield wipers, mufflers, horns, vehicle weatherstripping, bumpers, trunks, exhaust pipes, etc.

[0304] Autonomous driving requires a combination of software and hardware systems. The software system includes a perception module, a localization module, and a decision-making module. The perception and localization modules identify and classify other intelligent agents. The decision-making module determines, based on the behavior of other intelligent agents, whether they are special vehicles, whether they will encounter the autonomous vehicle, and whether there are any anomalies, and then interacts with them through proactive interaction methods. The hardware system includes components equipped on the autonomous vehicle for interacting with other intelligent agents, including indicator lights, horns, displays, speakers, and vehicle-to-everything (V2X) wireless devices.

[0305] In this embodiment of the application, considering that autonomous vehicles may encounter dangerous areas during driving, when the dangerous area is in the lane where the autonomous vehicle is currently located or in front of the autonomous vehicle, it will hinder the autonomous vehicle's driving. The autonomous vehicle needs to change its driving route or perform a parking operation to avoid traffic accidents.

[0306] Therefore, in order to detect dangerous areas in a timely manner and achieve safe autonomous driving, autonomous vehicles need to collect environmental information about their current location while driving. For example, autonomous vehicles can be equipped with data collection devices to gather environmental information about their current environment.

[0307] The current range of the autonomous vehicle refers to the range in which the autonomous vehicle can collect environmental information. It can be determined based on the maximum distance at which the autonomous vehicle's collection equipment can collect environmental information. It can be a circular area with the autonomous vehicle as the center and the maximum distance at which environmental information can be collected as the radius, or a fan-shaped area with the autonomous vehicle as the center, the maximum distance at which environmental information can be collected as the radius, and the collection angle of the collection equipment as the apex angle, etc.

[0308] The data acquisition device may include at least one of a camera, LiDAR, millimeter-wave radar, infrared sensor, humidity sensor, or temperature sensor. Different types of environmental information can be collected using different acquisition devices. For example, the environmental information may include temperature, humidity, road surface smoothness, width of the passable road area, distance between obstacles and autonomous vehicles, and shape information of nearby vehicles.

[0309] 602. When the autonomous vehicle determines, based on environmental information, that there is a preset danger zone in the first lane it is currently in, it redetermines the passage area, executes step 603 or 605, and then executes step 607.

[0310] Pre-defined danger zones refer to areas that obstruct vehicle passage, which may include areas where disabled vehicles are located, road construction areas, or road closure areas.

[0311] In one possible implementation, the preset danger zone can be an area where the safe passage width is less than the preset lane width. When the detected environmental information indicates that the passable width of the road ahead is less than the preset lane width, the area ahead is determined to be a preset danger zone.

[0312] In another possible implementation, the autonomous vehicle can reconstruct the road structure based on road information contained in the environmental information. It then determines whether the reconstructed road structure matches the road structure stored in the vehicle's memory. If they don't match, it identifies the areas where the road structure has changed, performs scene recognition on those areas, and determines the current scene to classify them as pre-defined danger zones. For example, if scene recognition determines that the area is under construction and temporarily impassable, it is designated as a pre-defined danger zone. Or, if scene recognition determines that a traffic accident has occurred in the area, resulting in a vehicle malfunction and preventing other vehicles from passing, it is also designated as a pre-defined danger zone.

[0313] Autonomous vehicles can determine the conditions that environmental information in a preset danger zone should meet. When an autonomous vehicle is driving in the first lane and collects environmental information, it determines whether the environmental information in the first lane meets the preset conditions. If the environmental information meets the preset conditions, it is determined that a preset danger zone exists in the first lane where the autonomous vehicle is currently located. If the environmental information does not meet the preset conditions, it is determined that no preset danger zone exists in the first lane where the autonomous vehicle is currently located.

[0314] Alternatively, the autonomous vehicle can determine the environmental features corresponding to the environmental information of a preset danger zone. When the autonomous vehicle is driving in the first lane and collects the environmental information of the first lane, it obtains the environmental features corresponding to that environmental information and matches them with the environmental features corresponding to the preset danger zone. If the similarity between the two is higher than a preset threshold, it is determined that a preset danger zone exists in the first lane where the autonomous vehicle is currently located. If the similarity between the two is not higher than the preset threshold, it is determined that no preset danger zone exists in the first lane where the autonomous vehicle is currently located.

[0315] When an autonomous vehicle determines that a pre-defined danger zone exists within the first lane, the passage area needs to be redefined to ensure safety.

[0316] For example, autonomous vehicles can determine areas with a passable width greater than the preset lane width based on the collected environmental information, and use these areas as newly determined passable zones.

[0317] In one possible implementation, the autonomous vehicle determines, based on environmental information, that there is a preset danger zone in the first lane it is currently in. At this point, the autonomous vehicle determines the first lane it is currently in, detects the lane boundary line, and determines the second lane adjacent to the first lane.

[0318] Since the first lane is adjacent to the second lane, and part of the second lane is also within the current range of the autonomous vehicle, the environmental information collected by the autonomous vehicle includes the environmental information of the first lane and the environmental information of the second lane. The lane boundary line can be detected and the second lane can be determined based on the collected environmental information.

[0319] Furthermore, after the autonomous vehicle identifies the second lane, it can determine whether a pre-defined danger zone exists in the second lane. The method for determining whether a pre-defined danger zone exists in the second lane is similar to the method for determining whether a pre-defined danger zone exists in the first lane, and will not be repeated here. When there is no pre-defined danger zone in the second lane, the second lane is designated as the autonomous vehicle's passage area. When there is also a pre-defined danger zone in the second lane, the second lane is no longer designated as a passage area.

[0320] In another possible implementation, the autonomous vehicle determines, based on environmental information, that a pre-defined danger zone exists within its current first lane. Then, the autonomous vehicle can determine, based on the environmental information, whether there is a passable area in other spaces outside the current road. For example, it can detect the boundary line between the road and the free space surface outside the road, determine the width of the passable area in the free space surface, and if the width of the passable area is greater than the width of the autonomous vehicle, then the passable area in the free space surface is determined as the autonomous vehicle's travel area.

[0321] The two methods described above can be used to define two types of traffic areas: one is the second lane adjacent to the first lane within the current road, and the other is free space outside the road. It should be noted that lanes have higher priority than free space; that is, when both an existing lane and a free space not within either lane are detected as traffic areas, the lane is selected first.

[0322] Depending on the type of the access area determined, steps 603 or 605 can be performed.

[0323] 603. When the passage area is a second lane that is different from the first lane, the autonomous vehicle moves from the first lane to the second lane.

[0324] When an autonomous vehicle detects a preset danger zone ahead of its current lane and determines that the new passage area is a second lane, which is different from the first lane, it performs a lane change operation and travels from the first lane to the second lane.

[0325] 604. During the process of moving from the first lane to the second lane, the autonomous vehicle outputs prompt information corresponding to the lane change operation through the output device.

[0326] Autonomous vehicles are equipped with output devices, including at least one of a display screen, a speaker, a horn, or indicator lights. The number of display screens can be one or more, and their facing direction can include front, rear, left, right, and top, displaying information in multiple directions. The display screens can include various types such as text screens and image screens. There can be one or more speakers, which can be mounted on the roof or side of the vehicle. The horn can include a mechanical or electronic horn. Indicator lights include turn signals, fog lights, and side marker lights.

[0327] Autonomous vehicles can establish a correspondence between lane-changing operations and prompt information. When an autonomous vehicle performs a lane-changing operation, it queries this correspondence to obtain the prompt information corresponding to the lane-changing operation, and outputs the prompt information corresponding to the lane-changing operation through the autonomous vehicle's output device.

[0328] In one possible implementation, the output device outputs prompt information corresponding to the lane change operation, which may include at least one of the following:

[0329] (1) Regarding the display screen, when the autonomous vehicle performs a lane change operation, a lane change prompt message is displayed on the display screen. The lane change prompt message is used to prompt the autonomous vehicle to change lanes.

[0330] By configuring the display screen, the autonomous vehicle displays lane change prompts during lane change operations. When other intelligent agents view the lane change prompts, they can determine that the autonomous vehicle is currently changing lanes.

[0331] In one possible implementation, the lane change prompt information may include text information or image information. For example, the text information may be "I am changing lanes", and the image information may be any image that shows the autonomous vehicle is changing lanes.

[0332] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions—for example, those in front, behind, to the left, right, and top—to view the information displayed by the autonomous vehicle.

[0333] (2) Regarding the speaker, when the autonomous vehicle performs a lane change operation, a lane change prompt message is played through the speaker. The lane change prompt message is used to prompt the autonomous vehicle to change lanes.

[0334] The lane change prompt is a voice message. By configuring a speaker, the autonomous vehicle plays the lane change prompt during the lane change process, allowing other intelligent agents to hear the prompt and understand that the autonomous vehicle is currently changing lanes.

[0335] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0336] (3) Regarding the indicator lights, during the process of the autonomous vehicle performing the lane change driving operation, the turn signal corresponding to the current lane change driving operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is changing lanes.

[0337] The indicator lights include turn signals, fog lights, and side marker lights.

[0338] After changing to the second lane, the autonomous vehicle will drive in the second lane. At this time, the autonomous vehicle does not need to input prompt information corresponding to the lane change operation. However, it can also output prompt information corresponding to the current status information of the autonomous vehicle or the driving operation currently being performed. This application embodiment does not limit the output prompt information.

[0339] 605. When the passage area is not in any lane, the autonomous vehicle travels from the first lane to the passage area.

[0340] 606. During the process of traveling from the first lane to the passage area and during the process of traveling within the passage area, the autonomous vehicle outputs a prompt message to maintain a safe following distance through the output device.

[0341] When an autonomous vehicle detects a pre-defined danger zone ahead of its current lane, and the redefined passage area is on a free-space surface and not in any lane, the autonomous vehicle will move from the first lane to the passage area and then continue to travel within that passage area.

[0342] When autonomous vehicles travel from the first lane to the traffic area and within the traffic area, there is a lack of lane constraints, resulting in a higher probability of unknown risks and poor safety. Therefore, during the process of traveling from the first lane to the traffic area and within the traffic area, it is necessary to output a distance-keeping prompt message through the output device.

[0343] In one possible implementation, the output device outputs a prompt message corresponding to maintaining a safe following distance, which may include at least one of the following:

[0344] (1) Regarding the display screen, during the process of the autonomous vehicle traveling from the first lane to the passage area and traveling within the passage area, the display screen displays a distance keeping prompt message, which is used to prompt other intelligent agents to keep a distance from the autonomous vehicle.

[0345] By configuring the display screen, the autonomous vehicle will display a distance keeping prompt during its operation. When other intelligent agents view the distance keeping prompt, they can determine whether they need to maintain a safe distance from the autonomous vehicle.

[0346] In one possible implementation, the distance keeping prompt message may include text or image information. For example, the text message may be "Please keep your distance," and the image information may be any image that shows the need to keep a distance from the autonomous vehicle.

[0347] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions—for example, those in front, behind, to the left, right, and top—to view the information displayed by the autonomous vehicle.

[0348] (2) Regarding the loudspeaker, during the process of the autonomous vehicle traveling from the first lane to the passage area and traveling within the passage area, a distance keeping prompt message is played through the loudspeaker. The distance keeping prompt message is used to prompt other intelligent agents to keep a distance from the autonomous vehicle.

[0349] The distance keeping prompt is a voice message. By configuring a speaker, the autonomous vehicle plays the distance keeping prompt during its operation, allowing other intelligent agents to hear the prompt and understand that they need to maintain a safe distance from the autonomous vehicle.

[0350] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0351] 607. During the process of driving from the first lane to the passage area and during the process of driving within the passage area, the output device of the autonomous vehicle outputs warning information corresponding to the preset danger area.

[0352] The warning information corresponding to the preset danger zone includes text with the word "danger", images of the preset danger zone, location information of the preset danger zone, voice messages announcing the presence of the danger zone, and horn warnings of the presence of the danger zone.

[0353] In one possible implementation, the output device outputs a warning message corresponding to a preset danger zone, which may include at least one of the following:

[0354] (1) Regarding the display screen, when there is a preset danger zone in the first lane where the autonomous vehicle is currently located, the display screen displays a first prompt message, which is used to indicate the location of the preset danger zone.

[0355] By configuring the display screen, the autonomous vehicle displays the first warning information during its operation. When other intelligent agents view the first warning information of the autonomous vehicle, they can determine that there is a preset danger zone in the first lane where the autonomous vehicle is currently located.

[0356] In one possible implementation, the first warning message may include text or image information. For example, the text message may be "The road ahead is blocked," and the image information may be any image that shows the location of the preset danger zone.

[0357] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0358] In one possible implementation, the first prompt information is displayed via a display screen, including: displaying text information via the first display screen, the text information being used to indicate the location of the preset danger zone; and displaying image information via a second display screen, the image information being used to indicate the presence of the current danger zone; wherein the first display screen is the display screen on the side of the autonomous vehicle closer to the preset danger zone, and the second display screen is the display screen on the side of the autonomous vehicle farther away from the preset danger zone.

[0359] The autonomous vehicle displays warning messages on both the side approaching and the side away from the pre-set danger zone. The screen near the danger zone displays text indicating its location, allowing other intelligent agents on that side to be aware of the hazard early and to yield or slow down, thus reducing the probability of traffic accidents. The screen away from the danger zone displays visual information indicating the presence of the danger zone, enabling other intelligent agents on that side to better understand the autonomous vehicle's driving behavior and take timely evasive action, improving safety.

[0360] (2) Regarding the speaker, when the autonomous vehicle determines that there is a preset danger zone in the first lane it is currently in, a second prompt message is played through the speaker. The second prompt message is used to indicate the location of the preset danger zone.

[0361] The second prompt message is a voice message. By configuring a speaker, the speaker of the autonomous vehicle plays the second prompt message during the autonomous vehicle's operation, so that other intelligent agents can hear the second prompt message and know the location of the preset danger zone.

[0362] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0363] (3) Regarding the car horn, when there is a preset danger zone in the first lane where the autonomous vehicle is currently located, it can perform the horn horn operation according to the horn horn rhythm.

[0364] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm; different status types correspond to different horn rhythms. This cycle can be one second or one minute, etc.

[0365] It should be noted that step 607 can be executed simultaneously with steps 603-604 or steps 605-606. In this case, the output device can simultaneously output different types of prompts. For example, during the process of moving from the first lane to the second lane, it can output prompts corresponding to the lane change operation, as well as prompts corresponding to a preset danger zone. For instance, the prompt could be "Construction zone ahead, lane change in progress."

[0366] 608. If, based on environmental information, it is determined that there is a preset danger zone in the first lane where the vehicle is currently located, but there is no passable area within the preset range, the autonomous vehicle shall perform a parking operation.

[0367] When environmental information determines that there is a pre-set danger zone in the first lane where the vehicle is currently located, but there is no passable area within the pre-set range, the autonomous vehicle cannot pass and will perform a parking operation to ensure safety.

[0368] 609. Through the output device, the autonomous vehicle outputs prompt information corresponding to the parking operation.

[0369] In one possible implementation, the output device outputs a prompt message corresponding to the parking operation, which may include at least one of the following:

[0370] (1) Regarding the display screen, when the autonomous vehicle performs a parking operation, the display screen displays parking text prompts and parking signs, which are used to prompt the autonomous vehicle to stop.

[0371] By configuring the display screen, when the autonomous vehicle performs a parking operation, the display screen of the autonomous vehicle shows parking text prompts and parking signs. When other intelligent agents view the parking text prompts and parking signs of the autonomous vehicle, they can determine that the driving operation currently performed by the autonomous vehicle is a parking operation.

[0372] In one possible implementation, the parking text message could be "Please be careful when parking," and the parking sign could be any sign that indicates that the autonomous vehicle is parked.

[0373] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0374] (2) Regarding the speaker, when the autonomous vehicle performs a parking operation, a parking voice prompt message is played through the speaker. The parking voice prompt message is used to prompt the autonomous vehicle to stop.

[0375] By configuring speakers, when an autonomous vehicle performs a parking operation, the speakers of the autonomous vehicle play parking voice prompts, allowing other intelligent agents to hear the parking voice prompts and understand that the autonomous vehicle is currently parked.

[0376] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion, or they can be placed at the front, rear, or right side of the vehicle for relatively poorer sound diffusion.

[0377] (3) Regarding the indicator lights, when the autonomous vehicle performs a parking operation, the indicator light corresponding to the parking operation is lit so that other intelligent agents can clearly see that the autonomous vehicle is parked.

[0378] In this embodiment, the autonomous vehicle can establish a connection with a management server, log in to the management server, and report its location and status information. The management server also controls the autonomous vehicle, sending control commands to it, which the vehicle then executes accordingly. Administrators can remotely control the autonomous vehicle through the management server, enabling unified management of one or more autonomous vehicles.

[0379] In one possible implementation, when it is determined during operation that the autonomous vehicle cannot proceed, it sends a distress signal via a wireless network to the management server it is connected to. This distress signal indicates that the autonomous vehicle cannot pass. Upon receiving the distress signal, the management server issues an alarm, which is then reviewed by management personnel who can promptly assist the autonomous vehicle.

[0380] Among them, autonomous vehicles can be equipped with vehicle-to-everything (V2X) wireless devices to communicate with other devices.

[0381] The distress message includes the location and status information of the autonomous vehicle. The location information allows management personnel to pinpoint the vehicle's location, while the status information indicates that the autonomous vehicle is unable to proceed.

[0382] The alarm information can include: the management server sending alarm information to the control terminal, the control terminal displaying the alarm information, the management personnel holding the control terminal viewing the alarm information, the alarm information carrying the location information of the autonomous vehicle, and the management personnel going to the location of the autonomous vehicle to handle the autonomous vehicle.

[0383] Optionally, the management server can send alarm information to the nearest control terminal, which can notify the nearest management personnel and enable the autonomous vehicle to be dealt with in the shortest possible time.

[0384] Other intelligent agents can include intelligent devices such as mobile phones, computers, and vehicle-to-everything (V2X) wireless devices. These intelligent devices can establish connections with and log into the management server. After an autonomous vehicle reports a distress signal to the management server, the server forwards the distress signal to the intelligent device logged into the server. The intelligent device then obtains the distress information, location, and status of the autonomous vehicle. Users of the intelligent device can then travel to the location of the autonomous vehicle and address pre-defined hazardous areas. Alternatively, they can anticipate that the road segment where the autonomous vehicle is located contains pre-defined hazardous areas that are impassable, allowing them to detour in advance, thus improving traffic safety and reducing traffic accidents.

[0385] In this embodiment of the application, during the operation of the autonomous vehicle, the current status information of the autonomous vehicle is also detected in real time, and prompt information corresponding to the status information is output through an output device. Furthermore, this process can be executed in parallel with the execution of steps 601-609 described above.

[0386] The state information of autonomous vehicles is used to represent their status. This state information includes the vehicle's speed, distance traveled, remaining fuel, the operating status of each component, and the on / off status of indicator lights.

[0387] The output device can output prompts corresponding to the status information, which may include at least one of the following:

[0388] (1) During the driving operation, the autonomous vehicle illuminates the indicator light corresponding to the current driving operation, so that other intelligent agents can clearly understand the driving operation being performed by the autonomous vehicle. For example, the current driving operation performed by the autonomous vehicle may be going straight, turning, changing lanes, reversing, accelerating, braking, or stopping. When stopping, the autonomous vehicle can illuminate the hazard warning lights (double flashers), and when changing lanes, the autonomous vehicle can illuminate the turn signals.

[0389] (2) During the driving operation, the autonomous vehicle can detect the current environmental information and light up the indicator lights corresponding to the current environmental information so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0390] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0391] like Figure 7 As shown, based on the different areas that autonomous vehicles determine to travel, the scenarios are divided into three types: lanes, free space roads, and no travel areas. The prompting methods for autonomous vehicles in each of these three scenarios are also given.

[0392] First, when the driving area is in the lowest-risk lane, the autonomous vehicle avoids the pre-set danger zone and changes lanes from its current lane to that lane. During the lane change, lane change prompts are displayed on the screen, the location of the danger zone is indicated on the screen closer to the danger zone, and a danger image is displayed on the screen farther away from the danger zone; the loudspeaker prompts other vehicles to maintain a safe distance and indicates the location of the pre-set danger zone; the turn signal corresponding to the lane change operation is illuminated; and the horn is sounded rhythmically as a warning.

[0393] Secondly, when the traffic area is a free-space road surface, the autonomous vehicle drives on the free-space road surface, displaying distance keeping prompts on the display screen and indicating the location of the danger zone on the display screen on the side closer to the danger zone, and displaying danger images on the display screen on the side farther away from the danger zone; it also uses the speaker to prompt other vehicles to keep their distance and to indicate the location of the preset danger zone; and it uses the horn to sound warnings rhythmically.

[0394] Furthermore, when there is no passable area, the autonomous vehicle stops in the middle of the road. The display screen shows the stopping text message and stopping sign to prompt the autonomous vehicle to stop. The display screen on the side closer to the danger zone indicates the location of the danger zone, while the display screen on the side farther away from the danger zone shows a danger image. The location of the preset danger zone is indicated by the speaker. The vehicle sounds its horn rhythmically as a warning. The vehicle also sends a distress message via wireless network.

[0395] The method provided in this application collects environmental information within the current area. When a preset danger zone is determined to exist within the first lane based on this information, the passage area is redefined. During the journey from the first lane to the passage area and while traveling within the passage area, an output device outputs a warning message corresponding to the preset danger zone. This allows other intelligent agents to be aware of the existence of the preset danger zone and better understand the driving operations of the autonomous vehicle. They can then perform corresponding actions based on the autonomous vehicle's driving operations, minimizing conflicts between the operations of other intelligent agents and the autonomous vehicle's driving operations. This reduces the probability of traffic accidents and improves safety. Furthermore, by actively interacting with other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and decrease traffic accidents.

[0396] In addition, by displaying prompts on screens, broadcasting prompts via speakers, and using rhythmic horns, the diverse channels for prompting can increase the probability that other intelligent agents will receive the prompts. This avoids situations where a malfunctioning output device fails to output prompts, which could lead to traffic accidents and improve the safety of autonomous driving.

[0397] Furthermore, warning messages are displayed on both the side of the autonomous vehicle approaching and the side away from the pre-set danger zone. The screen on the side approaching the danger zone displays text information indicating its location, allowing other intelligent agents on that side to be aware of the potential hazard early and to yield or slow down, thus reducing the probability of traffic accidents. The screen on the side away from the danger zone displays visual information indicating the presence of the danger zone, enabling other intelligent agents on that side to better understand the autonomous vehicle's driving behavior and take timely evasive action, thereby improving safety.

[0398] In addition, when the passage area is a second lane that is different from the first lane, during the process of traveling from the first lane to the second lane, the output device will prompt the autonomous vehicle that it is performing a lane change operation, so that other intelligent agents can understand the behavior of the autonomous vehicle and give way.

[0399] In addition, when the passage area is not in any lane, the system outputs distance information to the vehicle during the process of driving from the first lane to the passage area and while driving within the passage area, thereby improving the safety of autonomous vehicles driving in free space.

[0400] In addition, when environmental information determines that there is a preset danger zone in the first lane where the vehicle is currently located, but there is no passable area within the preset range, a distress message is sent to the management server connected to the autonomous vehicle via a wireless network. The distress message is used to indicate that the autonomous vehicle cannot pass and can obtain timely assistance from the management server. The management server can also send the autonomous vehicle's status type to other intelligent agents, so that other intelligent agents can know the status of the autonomous vehicle in advance, avoid potential risks, and improve the safety of the autonomous vehicle.

[0401] The third interaction method: Prompt the target vehicle within the range of the autonomous vehicle.

[0402] Figure 8 This is a flowchart illustrating a prompting method according to an exemplary embodiment, such as... Figure 8 As shown, the method includes:

[0403] 801. Autonomous vehicles acquire the vehicle characteristics of any vehicle within their current range.

[0404] Autonomous vehicles can include self-driving cars, self-driving trucks, self-driving motorcycles, and other vehicles. Components in an autonomous vehicle include the engine, chassis, and body accessories. Body accessories include vehicle-to-everything (V2X) wireless equipment, sound receivers, mechanical or electronic horns, fuel tanks, tires, body shells, doors, automotive glass, mirrors, license plate frames, seats and seat accessories, automotive bearings, armrests, handles, grab handles, cab and cab accessories, airbags, seat belts, power windows, antennas, windshield wipers, mufflers, horns, vehicle weatherstripping, bumpers, trunks, exhaust pipes, etc.

[0405] Autonomous driving requires a combination of software and hardware systems. The software system includes a perception module, a localization module, and a decision-making module. The perception and localization modules identify and classify other intelligent agents. The decision-making module determines, based on the behavior of other intelligent agents, whether they are special vehicles, whether they will encounter the autonomous vehicle, and whether there are any anomalies, and then interacts with them through proactive interaction methods. The hardware system includes components equipped on the autonomous vehicle for interacting with other intelligent agents, including indicator lights, horns, displays, speakers, and vehicle-to-everything (V2X) wireless devices.

[0406] In daily life, there are many special types of vehicles, including ambulances, fire trucks, and police cars. These vehicles need to perform tasks and have priority on the road. Therefore, ordinary vehicles must give way to these vehicles and not obstruct their normal passage.

[0407] In this embodiment of the application, in order to solve the above problems, the autonomous vehicle will set the conditions that the target vehicle belonging to the preset avoidance type should meet, so as to identify the target vehicle belonging to the preset avoidance type during the driving process. When the target vehicle is in the lane where the autonomous vehicle is currently located or in the lane adjacent to the lane where the autonomous vehicle is currently located, the autonomous vehicle may obstruct the normal driving of the target vehicle. The autonomous vehicle needs to perform operations such as accelerating, decelerating to avoid, or changing lanes to avoid affecting the normal driving of the target vehicle.

[0408] The target vehicle may include ambulances, fire trucks, police cars, or other special types of vehicles.

[0409] In order to identify the target vehicle in a timely manner without affecting its normal operation, the autonomous vehicle needs to acquire the vehicle characteristics of any vehicle within its current range during operation, so as to determine whether the vehicle is the target vehicle based on the vehicle characteristics.

[0410] Optionally, autonomous vehicles can be equipped with data collection devices to acquire vehicle characteristics of any vehicle within their current range.

[0411] The current range of the autonomous vehicle refers to the range of environmental information that the autonomous vehicle can recognize. It can be determined based on the maximum distance at which the autonomous vehicle's data collection equipment can collect environmental information. It can be a circular area with the autonomous vehicle as the center and the maximum distance at which environmental information is collected as the radius, or a fan-shaped area with the autonomous vehicle as the center, the maximum distance at which environmental information is collected as the radius, and the collection angle of the data collection equipment as the apex angle, etc.

[0412] The data acquisition device may include at least one of a camera, lidar, millimeter-wave radar, infrared sensor, humidity sensor, or temperature sensor. Different types of vehicle features can be acquired through different acquisition devices. For example, the vehicle features may include shape features, headlight status, horn status, etc.

[0413] 802. The autonomous vehicle matches the vehicle features with the preset vehicle features corresponding to the preset avoidance type.

[0414] Autonomous vehicles can set preset vehicle features corresponding to preset avoidance types based on the characteristics of target vehicles belonging to preset avoidance types. When an autonomous vehicle acquires the features of vehicles within its current range during operation, it matches these vehicle features with the preset vehicle features corresponding to the preset avoidance types to determine whether the vehicle belongs to the preset avoidance type of target vehicle.

[0415] For example, for police cars, autonomous vehicles can identify preset vehicle characteristics, including: distinctive lettering painted on the vehicle body, colored lights on the roof, flashing lights while driving, and emitting sirens.

[0416] 803. When the similarity between the vehicle's features and the preset vehicle features is greater than a preset threshold, the autonomous vehicle determines that the vehicle is a target vehicle belonging to the preset avoidance type.

[0417] When the similarity between the acquired vehicle features and preset vehicle features is greater than a preset threshold, the vehicle is determined to be a target vehicle belonging to a preset avoidance type. When the similarity between the two is not higher than the preset threshold, the vehicle is determined not to be a target vehicle belonging to a preset avoidance type. The preset threshold can be determined according to the required recognition accuracy, and this embodiment does not limit it.

[0418] It should be noted that steps 801-803 above are optional steps. Autonomous vehicles can use steps 801-803 to determine target vehicles belonging to the preset avoidance type, but they can also use other methods to determine target vehicles belonging to the preset avoidance type.

[0419] In one possible implementation, the exterior features and indicator light status of any vehicle within the range are acquired. When the exterior features of a vehicle match the preset exterior features corresponding to a preset avoidance type, and the indicator light is illuminated, the vehicle is determined to be a target vehicle belonging to the preset avoidance type.

[0420] Vehicle exterior features may include the vehicle's outline, body color, vehicle size, vehicle markings, number of wheels, etc., while warning lights include the vehicle's warning lights, hazard warning flashers, etc.

[0421] Autonomous vehicles can be configured with preset shape features for target vehicles and indicator lights that should illuminate when the target vehicle performs a task. When the autonomous vehicle is driving, it acquires the shape features and indicator light status of vehicles within its current range, matches the target vehicle's shape features with the preset shape features, and determines if the similarity is higher than a preset threshold. If the similarity is higher than the preset threshold and the indicator lights are illuminated, the vehicle is identified as a target vehicle belonging to the preset avoidance type.

[0422] Among them, autonomous vehicles can be equipped with cameras to collect the vehicle's external features and the status of indicator lights. These indicator lights are used in the target vehicle to indicate that a task is being performed, such as indicator lights on the roof.

[0423] In another possible implementation, the shape features and horn status of any vehicle within the range are acquired. When the shape features of a vehicle match the preset shape features corresponding to a preset avoidance type, and the horn status is in the honking state, the vehicle is determined to be a target vehicle belonging to the preset avoidance type.

[0424] Autonomous vehicles can be configured to meet preset shape characteristics of target vehicles and to sound their horns when performing a task. When an autonomous vehicle is driving, it acquires the shape characteristics and horn status of vehicles within its current range. It then matches the vehicle's shape characteristics with the preset shape characteristics to determine if the similarity is higher than a preset threshold. It also checks if the vehicle's horn status is honking. If the similarity between the vehicle's shape characteristics and the preset shape characteristics is higher than the preset threshold, and the vehicle is currently honking, then the vehicle is identified as a target vehicle belonging to the preset avoidance type.

[0425] Autonomous vehicles can be equipped with cameras to capture the vehicle's external features, and can also be equipped with sound receivers to capture the sounds emitted by the vehicle.

[0426] Optionally, considering that the sounds emitted by vehicles may include horns and other noises in the environment, to improve accuracy, autonomous vehicles can also be configured with preset horn sound characteristics that the target vehicle should sound when performing a task. When the autonomous vehicle acquires the shape and sound characteristics of vehicles within its current range during operation, it matches the vehicle's shape characteristics with preset shape characteristics to determine if the similarity between the shape characteristics and preset shape characteristics is higher than a preset threshold; it then matches the sound characteristics with preset horn sound characteristics to determine if the similarity between the sound characteristics and preset horn sound characteristics is higher than a preset threshold. If both the shape characteristics and preset shape characteristics are similar to the preset shape characteristics and the sound characteristics are similar to the preset horn sound characteristics, the vehicle is determined to be a target vehicle belonging to a preset avoidance type.

[0427] In another possible implementation, the shape features, indicator light status, and horn status of any vehicle within the range are acquired. When the vehicle's shape features match the preset shape features corresponding to the preset avoidance type, the indicator light is illuminated, and the horn is sounding, the vehicle is determined to be a target vehicle belonging to the preset avoidance type. The specific process is similar to the two possible implementations mentioned above and will not be elaborated further here.

[0428] If it is determined that there is a target vehicle of the preset avoidance type within the current range of the autonomous vehicle, and if the autonomous vehicle is traveling towards the target vehicle but will not pass the target vehicle, the autonomous vehicle will drive normally without having to avoid the target vehicle.

[0429] Alternatively, if it is determined that there is no target vehicle of the preset avoidance type within the current range of the autonomous vehicle, the autonomous vehicle can drive normally without avoiding the target vehicle.

[0430] 804. Autonomous vehicles perform driving maneuvers to avoid target vehicles.

[0431] When an autonomous vehicle determines that there is a target vehicle of a preset avoidance type within its current range, the autonomous vehicle needs to perform different driving operations to avoid the target vehicle under different circumstances.

[0432] Therefore, step 804 above can include the following implementation methods (1)-(3):

[0433] (1) If the autonomous vehicle is traveling in the same direction as the target vehicle and is behind the target vehicle, then it will continue to travel behind the target vehicle.

[0434] For example, if an autonomous vehicle identifies the rear of a target vehicle using a camera positioned at the front, it can determine that the autonomous vehicle is traveling in the same direction as the target vehicle and is located behind the target vehicle. In this case, the autonomous vehicle simply needs to remain behind the target vehicle.

[0435] (2) If the autonomous vehicle is traveling in the same direction as the target vehicle and is in front of the target vehicle, then give way to the target vehicle.

[0436] For example, if an autonomous vehicle identifies the front of a target vehicle using a rear-mounted camera, it can determine that the autonomous vehicle is traveling in the same direction as the target vehicle and is in front of the target vehicle. In this case, the autonomous vehicle must give way to the target vehicle.

[0437] Furthermore, autonomous vehicles can also consider the lane they are currently in and the lane the target vehicle is currently in, and determine whether to avoid the target vehicle based on the lane they are in.

[0438] In one possible implementation, if the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, and is in a different lane from the target vehicle, then the autonomous vehicle does not need to avoid the target vehicle in its current lane. Instead, it will decelerate and avoid the target vehicle when it meets the target vehicle in the future.

[0439] In another possible implementation, if the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, and is in the same lane as the target vehicle, then at least one of the following operations is performed: acceleration or lane changing.

[0440] At this point, the autonomous vehicle may affect the target vehicle's movement. To ensure the target vehicle's normal operation, the autonomous vehicle can accelerate to prevent its speed from being affected. Additionally, the autonomous vehicle can change lanes to allow the target vehicle to pass.

[0441] In one possible implementation, if the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, is in the same lane as the target vehicle, and there is a passage area in the adjacent lane, then a lane change operation is performed.

[0442] In another possible implementation, if the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, and is in the same lane as the target vehicle, but there is no passage area in the adjacent lane, an acceleration operation is performed until there is a passage area in the adjacent lane, at which point a lane change operation is performed.

[0443] (3) If the autonomous vehicle is traveling toward the target vehicle, it can drive normally without having to avoid the target vehicle when the autonomous vehicle is not meeting the target vehicle, but will decelerate when the autonomous vehicle meets the target vehicle.

[0444] 805. During the execution of driving operations, the output device of the autonomous vehicle outputs prompt information of the target vehicle.

[0445] Autonomous vehicles are equipped with output devices, including at least one of a display screen, a speaker, a horn, or indicator lights. The number of display screens can be one or more, and their facing direction can include front, rear, left, right, and top, displaying information in multiple directions. The display screens can include various types such as text screens and image screens. There can be one or more speakers, which can be mounted on the roof or side of the vehicle. The horn can include a mechanical or electronic horn. Indicator lights include turn signals, fog lights, and side marker lights.

[0446] Step 805 may include at least one of the following steps (1) or (2):

[0447] (1) Output prompts related to the location of the target vehicle through the output device.

[0448] (1-1) See Figure 9 The first prompt message is displayed on the screen, which is used to indicate the location of the target vehicle to other intelligent agents.

[0449] By configuring the display screen, the autonomous vehicle displays the first prompt information during its operation. When other intelligent agents view the first prompt information, they can determine that there is a target vehicle in the current range of the autonomous vehicle, and the other intelligent agents can also avoid the target vehicle so that the target vehicle can drive normally.

[0450] In one possible implementation, the first prompt information may include text information or image information. For example, the text information may be "Avoid the target vehicle", and the image information may be any image that can reflect the characteristics of the target vehicle.

[0451] (1-2) See Figure 9 A second prompt message is played through a speaker, which is used to indicate the location of the target vehicle to other intelligent agents.

[0452] The second prompt message is a voice message. By configuring a speaker, the speaker of the autonomous vehicle plays the second prompt message during the driving process, so that other intelligent agents can hear the second prompt message, know the location of the target vehicle, and also avoid the target vehicle so that the target vehicle can drive normally.

[0453] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0454] (1-3) See Figure 9 Illuminate the indicator light corresponding to the driving operation.

[0455] During the driving process of an autonomous vehicle, it illuminates indicator lights corresponding to the current driving operation, allowing other intelligent agents to clearly understand the driving action being performed. For example, the current driving operation performed by the autonomous vehicle may be straight, turning, changing lanes, reversing, accelerating, braking, or stopping. When performing a deceleration operation, the corresponding brake light illuminates; when performing a stopping operation, the autonomous vehicle may illuminate the hazard warning lights (double flashers); and when performing a lane change operation, the autonomous vehicle may illuminate the corresponding turn signal.

[0456] (1-4) See Figure 9 Perform the horn blasting operation according to the horn blasting rhythm corresponding to the target vehicle.

[0457] Autonomous vehicles are equipped with mechanical or electronic horns, which can be used to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm, with different rhythms corresponding to different target vehicles. This cycle can be one second or one minute, etc.

[0458] After detecting a target vehicle, the autonomous vehicle can classify the target vehicle type based on its characteristics. The autonomous vehicle can establish a correspondence between different target vehicle types and horn rhythms. When the autonomous vehicle identifies a target vehicle, it confirms the target vehicle type, queries the correspondence, obtains the horn rhythm corresponding to the target vehicle type, and performs the horn operation according to the horn rhythm corresponding to the target vehicle type, so that other intelligent agents can understand the target vehicle types present in the current range of the autonomous vehicle.

[0459] (2) Output prompts corresponding to the driving operations performed by the autonomous vehicle through the output device.

[0460] (2-1) See also Figure 9When the driving operation is a deceleration operation, the output device outputs a prompt message to slow down and avoid the target vehicle.

[0461] If the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, and is in a different lane, it will decelerate to avoid the target vehicle when they meet. Additionally, if the autonomous vehicle is traveling in the opposite direction from the target vehicle, it will also decelerate when they meet.

[0462] During the deceleration operation, at least one of the following methods is used: display screen, speaker, and indicator light, to output a prompt message corresponding to the deceleration operation.

[0463] Regarding the display screen, when the autonomous vehicle performs a deceleration operation, a prompt message to decelerate and avoid the target vehicle is displayed on the display screen. This deceleration prompt message is used to remind the autonomous vehicle to slow down. When other intelligent agents view this deceleration prompt message of the autonomous vehicle, they can determine that the autonomous vehicle is currently decelerating.

[0464] In one possible implementation, the deceleration warning message may include text or image information. For example, the text message may be "Decelerating to avoid an ambulance," and the image information may be any image that shows the autonomous vehicle performing a deceleration operation.

[0465] Regarding the speaker, when the autonomous vehicle performs a deceleration operation, a prompt message to slow down and avoid the target vehicle is played through the speaker. This deceleration prompt message is a voice message used to remind the autonomous vehicle to slow down, so that other intelligent agents can hear the deceleration prompt message and understand that the autonomous vehicle is currently slowing down.

[0466] Regarding the warning lights, during the deceleration operation performed by the autonomous vehicle, the brake light corresponding to the current deceleration operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is decelerating.

[0467] (2-2) See also Figure 9 When the driving operation is acceleration, the output device outputs a prompt message requesting a lane change to avoid the target vehicle.

[0468] If the autonomous vehicle is traveling in the same direction as the target vehicle, is in front of the target vehicle, and is in the same lane as the target vehicle, but there is no passage area in the adjacent lane, it will perform an acceleration operation until there is a passage area in the adjacent lane, at which point it will perform a lane change operation.

[0469] During the acceleration operation, a prompt message requesting a lane change to avoid the target vehicle is output via at least one of the following: display screen, speaker, and indicator light.

[0470] Regarding the display screen, when an autonomous vehicle performs an acceleration operation, a prompt message requesting a lane change to avoid a target vehicle is displayed on the display screen. When other intelligent agents view this prompt message from the autonomous vehicle, they can determine that the current autonomous vehicle needs to perform a lane change operation. Then, vehicles in adjacent lanes can understand the intention and reason for the autonomous vehicle's lane change, and thus actively avoid the autonomous vehicle, making it easier for the autonomous vehicle to perform the lane change operation.

[0471] In one possible implementation, the prompt information corresponding to the acceleration operation may include text information or image information. For example, the text information may be "Accelerating, need to change lanes as soon as possible to avoid the ambulance", and the image information may be any image that can show the autonomous vehicle performing the operation.

[0472] Regarding the speaker, when the autonomous vehicle accelerates, a prompt message requesting a lane change to avoid a target vehicle is played through the speaker. This prompt message is in the form of voice information, which other intelligent agents can hear. They can understand that the autonomous vehicle needs to change lanes, and vehicles in adjacent lanes can understand the autonomous vehicle's intention and reason for changing lanes, thereby actively avoiding the autonomous vehicle and facilitating the autonomous vehicle's lane change operation.

[0473] (2-3) See also Figure 9 When the driving operation is a lane change operation, the output device outputs a prompt message to change lanes to avoid the target vehicle.

[0474] If an autonomous vehicle is traveling in the same direction as a target vehicle, is in front of the target vehicle, is in the same lane as the target vehicle, and there is a passage area in the adjacent lane, the autonomous vehicle will perform a lane change operation.

[0475] During the lane-changing operation, a prompt message to change lanes to avoid the target vehicle is output through at least one of the following: display screen, speaker, and indicator light.

[0476] Regarding the display screen, when an autonomous vehicle performs a lane change operation, a prompt message indicating that it is changing lanes to avoid a target vehicle is displayed on the display screen. When other intelligent agents view this prompt message from the autonomous vehicle, they can determine that the autonomous vehicle is currently changing lanes.

[0477] In one possible implementation, the prompt information may include text information or image information. For example, the text information may be "Changing lanes to avoid an ambulance," and the image information may be any image that shows the autonomous vehicle performing a lane-changing operation.

[0478] Regarding the speaker, when an autonomous vehicle performs a lane change operation, a prompt message to change lanes and avoid a target vehicle is played through the speaker. This lane change prompt message is in the form of voice information, which other intelligent agents can listen to and understand the current lane change of the autonomous vehicle.

[0479] Regarding the indicator lights, during the lane-changing operation performed by the autonomous vehicle, the turn signal corresponding to the lane-changing driving operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is changing lanes.

[0480] like Figure 9 As shown, the system first determines whether there is a target vehicle of a preset avoidance type within the current range of the autonomous vehicle. If so, it displays the target vehicle's location on the screen and broadcasts the target vehicle's location via speakers. Then, based on... Figure 9 The processing flow shown sequentially determines the driving direction, relative position, whether they are in the same lane, whether they will cross each other, and the situation of the lane adjacent to the autonomous vehicle, and then decides what driving operation the autonomous vehicle should perform. The autonomous vehicle is prompted to perform the driving operation through its display screen, speaker, indicator lights, and horn.

[0481] It should be noted that when the autonomous vehicle itself is the target vehicle, the autonomous vehicle drives normally and does not need to avoid other target vehicles within its current range that belong to the preset avoidance type. Therefore, it is not necessary to execute the prompting method provided in the embodiments of this application. Alternatively, if the autonomous vehicle itself is the target vehicle but is not currently performing a task, it still needs to avoid other target vehicles within its current range that belong to the preset avoidance type. Therefore, the method provided in the embodiments of this application can be used.

[0482] The method provided in this application identifies target vehicles within the current range that belong to a preset avoidance type, and executes driving operations to avoid the target vehicles. During the execution of the driving operations, the output device of the autonomous vehicle outputs prompt information about the target vehicles, enabling other intelligent agents to be aware of the presence of the target vehicles and actively avoid them. Furthermore, it helps other intelligent agents better understand the driving operations of the autonomous vehicle and execute corresponding actions based on these operations, minimizing conflicts between the operations of other intelligent agents and the autonomous vehicle's driving operations. This reduces the probability of traffic accidents and improves safety. Moreover, by actively interacting with other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and decrease traffic accidents.

[0483] In addition, by matching vehicle features with preset vehicle features corresponding to preset avoidance types, target vehicles belonging to preset avoidance types can be identified, thus improving the recognition accuracy.

[0484] In addition, the vehicle's appearance and indicator light status, or appearance and horn status, can also be used to determine whether a vehicle is the target vehicle, providing a way to identify the target vehicle. The identification channels are diversified, and using diversified identification methods can also improve the identification accuracy.

[0485] Furthermore, the driving maneuver to be performed by the autonomous vehicle is determined based on the direction of travel of the autonomous vehicle and the target vehicle, their relative positions, whether they are in the same lane, whether they will encounter each other, and the situation in the adjacent lanes. This clarifies how the autonomous vehicle should avoid the target vehicle when it is detected, ensuring that the target vehicle can pass smoothly without obstruction.

[0486] In addition, by using multiple methods such as display screens, speakers, indicator lights, and car horns to provide prompts, the diverse prompting channels can increase the probability that other intelligent agents will receive the prompt information. This avoids traffic accidents caused by the failure of a certain output device to output prompt information, thereby improving the safety of autonomous driving.

[0487] In addition, by outputting prompts corresponding to the driving operations performed by the autonomous vehicle through the output device, other intelligent agents can better understand the driving operations of the autonomous vehicle and perform corresponding operations accordingly. This minimizes the conflict between the operations of other intelligent agents and the driving operations of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety.

[0488] The fourth interaction method: Prompts the autonomous vehicle to indicate the meeting status with the target vehicle.

[0489] Figure 10This is a flowchart illustrating a prompting method according to an exemplary embodiment, such as... Figure 10 As shown, the method includes:

[0490] 1001. Identify the target vehicle. The target vehicle is the vehicle whose driving route intersects with the driving route of the autonomous vehicle.

[0491] 1002. Perform driving operations according to the positions of the autonomous vehicle and the target vehicle.

[0492] 1003. During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device. The prompt information is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a horn, or a warning light.

[0493] The method provided in this application identifies target vehicles whose routes intersect with the autonomous vehicle's route. Based on the positions of the autonomous vehicle and the target vehicle, it executes driving operations, enabling the autonomous vehicle to perform corresponding driving operations according to the routes of oncoming vehicles, thus improving safety. During the driving operation, the autonomous vehicle's output device outputs prompts indicating the meeting status between the autonomous vehicle and the target vehicle. This ensures that oncoming vehicles and other intelligent agents accurately and fully understand the driving operations performed by the autonomous vehicle, minimizing conflicts between their operations and those of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety. Furthermore, by actively interacting with oncoming vehicles and other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and decrease traffic accidents.

[0494] In one possible implementation, identifying the target vehicle includes:

[0495] When performing a change from the first lane to the second lane, identify vehicles in the second lane as target vehicles;

[0496] Based on the positions of the autonomous vehicle and the target vehicle, drive operations are performed, including:

[0497] Perform a waiting maneuver at the boundary between the first and second lanes;

[0498] When the position of the autonomous vehicle meets the conditions for passing the target vehicle, it will perform the operation of moving from the first lane to the second lane.

[0499] In one possible implementation, during the execution of driving operations, prompt information is output through the output device of the autonomous vehicle, including:

[0500] During the waiting process, the first prompt message is output through the output device. The first prompt message is used to indicate that the autonomous vehicle is waiting to merge into the second lane.

[0501] During the process of moving from the first lane to the second lane, a second prompt message is output through the output device. The second prompt message is used to indicate that the autonomous vehicle is merging into the second lane.

[0502] In one possible implementation, identifying the target vehicle includes:

[0503] Identify vehicles that have moved from other lanes into the current first lane as target vehicles;

[0504] Alternatively, identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane and designate them as target vehicles;

[0505] Based on the positions of the autonomous vehicle and the target vehicle, drive operations are performed, including:

[0506] Based on the positions of the autonomous vehicle and the target vehicle, perform deceleration, lane changing, or maintain the current driving operation.

[0507] In one possible implementation, during the execution of driving operations, prompt information is output through the output device of the autonomous vehicle, including:

[0508] During the deceleration operation, a third prompt message is output via the output device. This third prompt message is used to indicate that the autonomous vehicle is avoiding the target vehicle; or...

[0509] During the lane-changing operation, a fourth prompt message is output through the output device. The fourth prompt message is used to indicate that the autonomous vehicle is changing lanes.

[0510] While maintaining the current driving operation, a fifth prompt message is output through the output device. The fifth prompt message is used to indicate that the autonomous vehicle has not taken evasive action.

[0511] In one possible implementation, identifying the target vehicle includes:

[0512] Identify the vehicle in the first lane that is currently in front of the autonomous vehicle and whose speed is less than that of the autonomous vehicle, and designate it as the target vehicle.

[0513] Based on the positions of the autonomous vehicle and the target vehicle, drive operations are performed, including:

[0514] Perform the operation to overtake the target vehicle;

[0515] After completing the maneuver to overtake the target vehicle, continue driving in the first lane.

[0516] In one possible implementation, during the execution of driving operations, prompt information is output through the output device of the autonomous vehicle, including:

[0517] During the operation of overtaking the target vehicle, a sixth prompt message is output through the output device. The sixth prompt message is used to indicate that the autonomous vehicle is overtaking.

[0518] After completing the operation of overtaking the target vehicle, the seventh prompt message is output through the output device. The seventh prompt message is used to remind the autonomous vehicle to drive normally.

[0519] In one possible implementation, identifying the target vehicle includes:

[0520] Identify the vehicle in the first lane that is currently behind the autonomous vehicle and is traveling at a speed greater than that of the autonomous vehicle, and designate it as the target vehicle.

[0521] Based on the positions of the autonomous vehicle and the target vehicle, drive operations are performed, including:

[0522] Perform an operation to avoid the target vehicle;

[0523] After the target vehicle overtakes the autonomous vehicle, it continues to perform driving operations in the first lane.

[0524] In one possible implementation, during the execution of driving operations, prompt information is output through the output device of the autonomous vehicle, including:

[0525] During the process of avoiding a target vehicle, an eighth prompt message is output through the output device. The eighth prompt message is used to indicate that the autonomous vehicle is avoiding the target vehicle, or to indicate that the target vehicle should maintain a safe distance from the autonomous vehicle.

[0526] In one possible implementation, during the execution of driving operations, prompt information is output through the output device of the autonomous vehicle, including:

[0527] If the distance between the target vehicle and the autonomous vehicle is less than a preset distance during the process of the target vehicle overtaking the autonomous vehicle, a ninth prompt message will be output through the output device. The ninth prompt message is used to indicate that the distance between the vehicles is too close.

[0528] In one possible implementation, driving operations are performed based on the positions of the autonomous vehicle and the target vehicle, including:

[0529] Based on the positions of the autonomous vehicle and the target vehicle, obtain the distance between the autonomous vehicle and the target vehicle;

[0530] When the distance is less than the preset distance, a deceleration operation is performed;

[0531] After performing the deceleration operation, the deceleration operation will stop when the distance is not less than the preset distance.

[0532] In one possible implementation, driving operations are performed based on the positions of the autonomous vehicle and the target vehicle, including:

[0533] Determine the meeting point between the autonomous vehicle and the target vehicle based on their respective positions.

[0534] Perform driving operations based on the location of the oncoming vehicle.

[0535] In one possible implementation, driving operations are performed based on the meeting point, including:

[0536] Determine the location of obstacles in front of the autonomous vehicle;

[0537] If the oncoming vehicle is behind the obstacle, then perform a deceleration or stop operation;

[0538] If the oncoming vehicle is in front of the obstacle, then accelerate.

[0539] In one possible implementation, the driving operation is a deceleration operation or a stopping operation. During the execution of the driving operation, the output device of the autonomous vehicle outputs prompt information, including:

[0540] During the driving operation, the autonomous vehicle outputs avoidance prompts through its output devices.

[0541] In one possible implementation, the driving operation is an acceleration operation. During the execution of the driving operation, prompt information is output through the output device of the autonomous vehicle, including:

[0542] During the driving operation, the autonomous vehicle outputs a prompt message requesting the target vehicle to give way.

[0543] In one possible implementation, determining the position of an obstacle in front of the autonomous vehicle includes:

[0544] Photograph convex mirrors placed along the road and identify the positions of obstacles reflected in the mirror images.

[0545] In one possible implementation, identifying vehicles on the road traveling in the opposite direction to the autonomous vehicle as target vehicles includes at least one of the following:

[0546] Listen for vehicle horn sounds and identify the vehicle horn as the target vehicle.

[0547] Identify the lights emitted by vehicles and designate the vehicle emitting the lights as the target vehicle;

[0548] Send a vehicle identification request to the vehicle-to-everything (V2X) wireless device, receive the vehicle information returned by the V2X wireless device, and identify the vehicle corresponding to the vehicle information as the target vehicle.

[0549] In one possible implementation, a prompt message is output via the output device of the autonomous vehicle, including at least one of the following:

[0550] The prompt message is displayed on the screen;

[0551] A notification message will be played through the speaker;

[0552] Illuminate the indicator lights corresponding to the driving operation;

[0553] Light up the indicator light corresponding to the current environmental information;

[0554] Perform the horn blasting operation according to the horn blasting rhythm corresponding to the driving operation.

[0555] Figure 11 This is a flowchart illustrating another prompting method according to an exemplary embodiment, such as... Figure 11 As shown, the method, applied to autonomous vehicles, includes:

[0556] 1101. The autonomous vehicle identifies the target vehicle, which is the vehicle whose driving route intersects with the autonomous vehicle's driving route.

[0557] There are many vehicles on the road. They can be categorized by travel direction: vehicles traveling in the same direction as the autonomous vehicle and vehicles traveling in the opposite direction. They can also be categorized by lane: vehicles in the same lane as the autonomous vehicle, vehicles in adjacent lanes, and vehicles in non-adjacent lanes. Vehicles in non-adjacent lanes will not intersect with the autonomous vehicle and therefore will not affect its operation. However, vehicles in the same lane as the autonomous vehicle and vehicles in adjacent lanes may intersect with it. For safe driving, the autonomous vehicle needs to comprehensively consider the situation of both itself and oncoming vehicles to determine which driving operation to perform.

[0558] Therefore, in order to achieve safe passing, autonomous vehicles need to identify target vehicles, i.e., vehicles whose routes intersect with their own, during operation. Specifically, this includes the following scenarios:

[0559] (1-1) When performing the operation of changing from the first lane to the second lane, identify the vehicle in the second lane as the target vehicle.

[0560] When an autonomous vehicle is driving in the first lane, it may encounter a situation where the lane is closed, under construction, or otherwise impassable. In this case, the autonomous vehicle needs to merge into an adjacent lane, that is, change from the first lane to the adjacent second lane to drive normally. Before changing lanes, the autonomous vehicle needs to identify whether there are other vehicles in the second lane and take the vehicles in the second lane as the target vehicles.

[0561] (1-2) Identify vehicles that have moved from other lanes to the current first lane as target vehicles. Alternatively, identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane as target vehicles.

[0562] When an autonomous vehicle is currently driving in the first lane, it may encounter other vehicles in adjacent lanes merging into the first lane and preparing to move in front of the autonomous vehicle. When other vehicles merge, it may affect the normal driving of the autonomous vehicle. Alternatively, it may encounter other vehicles in adjacent lanes that are driving in the direction of the first lane, indicating that the vehicle is heading towards the first lane and may be merging into the first lane.

[0563] To achieve safe driving, autonomous vehicles need to identify whether there are other vehicles in adjacent lanes that are preparing to merge or are merging, and identify such vehicles as target vehicles.

[0564] (1-3) Identify the vehicle in the first lane that is in front of the autonomous vehicle and whose speed is less than that of the autonomous vehicle, and designate it as the target vehicle.

[0565] When an autonomous vehicle is traveling in its current lane, it may encounter a vehicle ahead in the same lane traveling at a slower speed than the autonomous vehicle. In this case, the autonomous vehicle will need to overtake the vehicle ahead. To ensure safe overtaking, the autonomous vehicle needs to identify the vehicle ahead that is traveling at a slower speed as the target vehicle.

[0566] (1-4) Identify the vehicle in the first lane that is behind the autonomous vehicle and whose speed is greater than that of the autonomous vehicle, and designate it as the target vehicle.

[0567] When an autonomous vehicle is driving in its current first lane, it may encounter a vehicle behind it in the same lane traveling at a speed greater than that of the autonomous vehicle. In this case, the vehicle behind may attempt to overtake the autonomous vehicle. For safe driving, the autonomous vehicle needs to actively avoid the situation to prevent a conflict with the vehicle behind. To avoid this situation in a timely manner, the autonomous vehicle needs to identify the vehicle behind it in its current first lane that is traveling at a speed greater than that of the autonomous vehicle as the target vehicle.

[0568] 1102. Based on the positions of the autonomous vehicle and the target vehicle, the autonomous vehicle performs driving operations.

[0569] Once an autonomous vehicle determines that its route intersects with that of a target vehicle, it needs to decide what driving operation to perform based on the positions of both the autonomous vehicle and the target vehicle in order to achieve safe autonomous driving.

[0570] Optionally, autonomous vehicles can also determine what driving operations to perform based on the positions of the autonomous vehicle and the target vehicle, the speed of the autonomous vehicle and the target vehicle, and the actual road conditions, in order to achieve safe autonomous driving.

[0571] Optionally, for the case of step (1-1) above, step 1102 may include the following steps:

[0572] (2-1) Perform a waiting operation at the boundary between the first lane and the second lane;

[0573] When an autonomous vehicle merges into an adjacent lane, that is, when it changes from the current first lane to the adjacent second lane, the timing of merging needs to be determined based on the position of the autonomous vehicle and the position of the target vehicle. If the conditions for passing are not met, the autonomous vehicle will perform a waiting operation in the boundary area between the first lane and the second lane.

[0574] In addition, when determining the timing of the merge, we can consider not only the positions of the autonomous vehicle and the target vehicle, but also the speeds of the autonomous vehicle and the target vehicle.

[0575] In one possible implementation, if there are other vehicles that are close to and traveling at high speed in the second lane adjacent to the first lane where the autonomous vehicle is located, the autonomous vehicle needs to perform a waiting operation at the boundary area between the first lane and the second lane.

[0576] (2-2) When the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other, the autonomous vehicle will move from the first lane to the second lane.

[0577] When the autonomous vehicle determines that the conditions for meeting oncoming traffic are met, that is, when there is no target vehicle in the second lane that is close to the autonomous vehicle and traveling at a high speed, the autonomous vehicle will perform the operation of moving from the first lane to the second lane.

[0578] In the case of steps (1-2) above, step 1102 may include the following steps:

[0579] (2-3) Based on the position of the autonomous vehicle and the position of the target vehicle, perform deceleration, lane change, or maintain the current driving operation.

[0580] When a target vehicle in an adjacent lane merges into the first lane and prepares to move in front of the autonomous vehicle, the autonomous vehicle needs to determine the driving operation it needs to perform based on the positions of the autonomous vehicle and the target vehicle.

[0581] In one possible implementation, the autonomous vehicle determines, based on its position relative to the target vehicle, whether it needs to remain in its current lane but needs to slow down to avoid the merging target vehicle. In this case, the autonomous vehicle performs a deceleration maneuver to avoid the target vehicle.

[0582] For example, if an autonomous vehicle determines that a target vehicle preparing to merge into an adjacent lane is close to the autonomous vehicle and traveling at a high speed, the autonomous vehicle will decelerate and avoid the target vehicle for safety reasons.

[0583] In one possible implementation, when the autonomous vehicle determines that it needs to change lanes to avoid a target vehicle that is about to merge, based on the positions of the autonomous vehicle and the target vehicle, the speeds of the autonomous vehicle and the target vehicle, and whether the adjacent lane meets the lane-changing conditions, the autonomous vehicle performs a lane-changing operation to avoid the target vehicle.

[0584] For example, if an autonomous vehicle determines that a target vehicle in an adjacent lane is close to it and traveling at a high speed, and the adjacent lane meets the lane-changing requirements, the autonomous vehicle will perform a lane-changing maneuver to avoid the target vehicle for safety reasons. This lane-changing maneuver also avoids sudden deceleration that could affect vehicles behind in the first lane, preventing rear-end collisions caused by vehicles not having enough time to react to the sudden deceleration, thus improving safety.

[0585] In one possible implementation, when the autonomous vehicle determines that it does not need to avoid the target vehicle based on the positions and speeds of the autonomous vehicle and the target vehicle, the autonomous vehicle maintains its current driving operation and does not avoid the target vehicle.

[0586] For example, if an autonomous vehicle determines that a target vehicle preparing to merge in an adjacent lane is far away from the autonomous vehicle and the autonomous vehicle will not affect the target vehicle's merging, the autonomous vehicle will maintain its current driving operation and will not need to avoid the target vehicle.

[0587] For the cases described in steps (1-3) above, step 1102 may include the following steps:

[0588] (2-4) Perform the operation of overtaking the target vehicle.

[0589] If there is a target vehicle traveling at a lower speed than the autonomous vehicle in the first lane where the autonomous vehicle is currently located, the autonomous vehicle will perform a driving operation to overtake the target vehicle.

[0590] The operation of overtaking the target vehicle includes: the autonomous vehicle moving from the first lane to the adjacent lane and accelerating to overtake the target vehicle; when the autonomous vehicle is in front of the target vehicle, it then moves from the adjacent lane back to the first lane, thus moving in front of the target vehicle.

[0591] (2-5) After completing the operation of overtaking the target vehicle, continue to perform the driving operation in the first lane.

[0592] For the cases described in steps (1-4) above, step 1102 may include the following steps:

[0593] (2-6) Perform the operation to avoid the target vehicle.

[0594] If there is a target vehicle traveling at a higher speed behind the autonomous vehicle in the first lane where the autonomous vehicle is currently located, and the target vehicle attempts to overtake, the autonomous vehicle will attempt to avoid the target vehicle.

[0595] (2-7) After the target vehicle overtakes the autonomous vehicle, continue driving in the first lane.

[0596] When the target vehicle attempts to overtake the autonomous vehicle, it will move from the first lane to the adjacent lane and accelerate. At this point, the autonomous vehicle may either decelerate or continue driving normally without decelerating. Later, when the target vehicle is in front of the autonomous vehicle, it will move from the adjacent lane back to the first lane. The autonomous vehicle may then decelerate to avoid the target vehicle until it merges into the first lane. The autonomous vehicle can then resume its original speed and safely drive behind the target vehicle.

[0597] 1103. During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device. The prompt information is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a horn, or a warning light.

[0598] Autonomous vehicles are equipped with output devices, including at least one of a display screen, a speaker, a horn, or indicator lights. The number of display screens can be one or more, and their facing direction can include front, rear, left, right, and top, displaying information in multiple directions. The display screens can include various types such as text screens and image screens. There can be one or more speakers, which can be mounted on the roof or side of the vehicle. The horn can include a mechanical or electronic horn. Indicator lights include turn signals, fog lights, and side marker lights.

[0599] The meeting status can include the distance between the autonomous vehicle and the target vehicle, the driving operation currently being performed by the autonomous vehicle, and whether the autonomous vehicle is currently avoiding the target vehicle.

[0600] In the case of step (2-1) above, step 1103 may include the following steps:

[0601] (3-1) During the waiting operation, a first prompt message is output through the output device. The first prompt message is used to prompt that the autonomous vehicle is waiting to merge into the second lane, and may include at least one of the following.

[0602] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle performs a waiting operation, a first prompt message is displayed on the display screen. When other intelligent agents view this first prompt message of the autonomous vehicle, they can determine that the autonomous vehicle is waiting to merge into the second lane, and thus give way to the autonomous vehicle.

[0603] In one possible implementation, the first prompt information corresponding to the waiting operation may include text information or image information. For example, the text information may be "Waiting for import", and the image information may be any image that can show the autonomous vehicle performing the waiting operation.

[0604] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions—for example, those in front, behind, to the left, right, and top—to view the information displayed by the autonomous vehicle.

[0605] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle performs a waiting operation, a first prompt message is played through the speaker. This first prompt message is a voice message, which other intelligent agents can hear and understand that the autonomous vehicle is currently waiting to merge into the lane, thereby giving way to the autonomous vehicle.

[0606] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0607] (c) See also Figure 12 Regarding the indicator lights, during the waiting operation of an autonomous vehicle, the turn signal corresponding to the waiting operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is waiting to merge into the lane, and thus give way to the autonomous vehicle.

[0608] (d) See also Figure 12 Regarding the indicator lights, during the waiting process, autonomous vehicles can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle and thus avoid it.

[0609] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0610] (e) See also Figure 12 Regarding the car horn, during the waiting operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the waiting operation.

[0611] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn's rhythm. This cycle can be one second or one minute, etc.

[0612] Autonomous vehicles can establish a correspondence between waiting operations and horn honking rhythms. When an autonomous vehicle is performing a waiting operation, it queries this correspondence to obtain the horn honking rhythm corresponding to the waiting operation, and then honks its horn according to the horn honking rhythm corresponding to the waiting operation. This allows other intelligent agents to know that the autonomous vehicle is currently waiting to merge into the lane, and thus give way to the autonomous vehicle.

[0613] Optionally, when an autonomous vehicle begins to perform a waiting operation, it does not honk its horn immediately and counts the waiting time. When the waiting time exceeds a preset time, it indicates that the waiting time has been too long, and then it honks its horn.

[0614] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0615] In the case of step (2-2) above, step 1103 may include the following steps:

[0616] (3-2) During the operation of moving from the first lane to the second lane, a second prompt message is output through the output device. The second prompt message is used to prompt that the autonomous vehicle is merging into the second lane and may include at least one of the following.

[0617] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle moves from the first lane to the second lane, a second prompt message is displayed. When other intelligent agents view this second prompt message, they can determine that the autonomous vehicle is moving from the first lane to the second lane and thus take evasive action. Additionally, this second prompt message can also remind target vehicles to maintain a safe distance from the autonomous vehicle.

[0618] In one possible implementation, the second prompt information corresponding to the operation of moving from the first lane to the second lane may include text information or image information. For example, the text information may be "merging into the first lane", and the image information may be any image that can show the autonomous vehicle performing the operation of moving from the first lane to the second lane.

[0619] (b) See also Figure 12Regarding the speaker, when the autonomous vehicle moves from the first lane to the second lane, a second prompt message is played through the speaker. This second prompt message is a voice message, which other intelligent agents can hear to understand that the autonomous vehicle is currently merging into the first lane, and thus give way to the autonomous vehicle.

[0620] (c) See also Figure 12 Regarding the indicator lights, during the process of an autonomous vehicle moving from the first lane to the second lane, the turn signal corresponding to the movement from the first lane to the second lane is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is merging into the first lane and thus give way to the autonomous vehicle.

[0621] (d) See also Figure 12 Regarding the indicator lights, during the process of an autonomous vehicle moving from the first lane to the second lane, it can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle and thus avoid it.

[0622] (e) See also Figure 12 Regarding the car horn, during the process of an autonomous vehicle moving from the first lane to the second lane, the horn can be honked in accordance with the horn rhythm corresponding to the lane change operation.

[0623] Autonomous vehicles can establish a correspondence between lane-changing operations and horn-honking rhythms. When an autonomous vehicle moves from the first lane to the second lane, it queries this correspondence to obtain the horn-honking rhythm corresponding to the lane-changing operation. It then honks its horn according to the horn-honking rhythm corresponding to the lane-changing operation, so that other intelligent agents can know that the autonomous vehicle is currently changing lanes and merging into the second lane.

[0624] In the case of steps (2-3) above, step 1103 may include the following steps:

[0625] (3-3) During the deceleration operation, a third prompt message is output through the output device. The third prompt message is used to prompt the autonomous vehicle that it is avoiding the target vehicle, and may include at least one of the following.

[0626] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle performs a deceleration operation, a third prompt message is displayed on the display screen. When other intelligent agents view this third prompt message of the autonomous vehicle, they can determine that the autonomous vehicle is currently decelerating to avoid the target vehicle.

[0627] In one possible implementation, the third prompt information corresponding to the deceleration operation may include text information or image information. For example, the text information may be "Decelerating to avoid an obstacle," and the image information may be any image that shows the autonomous vehicle performing a deceleration operation.

[0628] Optionally, a warning message indicating that the vehicle is slowing down to avoid a target vehicle is displayed on a first display screen, while an image of the target vehicle is displayed on a second display screen. The first and second display screens are different screens on the autonomous vehicle and can be located on different sides of the vehicle.

[0629] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle performs a deceleration operation, a third prompt message is played through the speaker. This third prompt message is a voice message, which other intelligent agents can listen to and understand that the autonomous vehicle is currently decelerating to avoid the target vehicle.

[0630] (c) See also Figure 12 Regarding the warning lights, during the deceleration operation of the autonomous vehicle, the brake light corresponding to the deceleration operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is decelerating to avoid the target vehicle.

[0631] (d) See also Figure 12 Regarding the indicator lights, during the deceleration operation of an autonomous vehicle, it can detect the current environmental information and illuminate the indicator light corresponding to the current environmental information, so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0632] (e) See also Figure 12 Regarding the vehicle horn, during the deceleration operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the deceleration operation.

[0633] Autonomous vehicles can establish a correspondence between deceleration operations and horn honking rhythms. When an autonomous vehicle performs a deceleration operation, it queries this correspondence to obtain the horn honking rhythm corresponding to the deceleration operation, and then honks its horn according to the horn honking rhythm corresponding to the deceleration operation, so that other intelligent agents can know that the autonomous vehicle is currently decelerating.

[0634] In the case of steps (2-3) above, step 1103 may include the following steps:

[0635] (3-4) During the lane change operation, a fourth prompt message is output through the output device. The fourth prompt message is used to prompt the autonomous vehicle that it is changing lanes and may include at least one of the following.

[0636] (a) See also Figure 12Regarding the display screen, when an autonomous vehicle performs a lane change operation, a fourth prompt message is displayed on the display screen. When other intelligent agents view this fourth prompt message from the autonomous vehicle, they can determine that the autonomous vehicle is currently changing lanes.

[0637] In one possible implementation, the fourth prompt information corresponding to the lane change operation may include text information or image information. For example, the text information may be "Changing lanes to avoid an obstacle," and the image information may be any image that can show the autonomous vehicle performing a lane change operation.

[0638] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle performs a lane change operation, a fourth prompt message is played through the speaker. This fourth prompt message is a voice message, which other intelligent agents can hear to understand that the autonomous vehicle is currently changing lanes.

[0639] (c) See also Figure 12 Regarding the indicator lights, during the lane-changing operation of an autonomous vehicle, the turn signal corresponding to the lane-changing operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is changing lanes.

[0640] (d) See also Figure 12 Regarding the indicator lights, during the lane-changing operation, the autonomous vehicle can detect the current environmental information and illuminate the indicator light corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle.

[0641] (e) See also Figure 12 Regarding the car horn, during the lane-changing operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the lane-changing operation.

[0642] Autonomous vehicles can establish a correspondence between lane-changing operations and horn-honking rhythms. When an autonomous vehicle performs a lane-changing operation, it queries this correspondence to obtain the horn-honking rhythm corresponding to the lane-changing operation, and then honks its horn according to the horn-honking rhythm corresponding to the lane-changing operation, so that other intelligent agents can know that the autonomous vehicle is currently changing lanes.

[0643] In the case of steps (2-3) above, step 1103 may include the following steps:

[0644] (3-5) While maintaining the current driving operation, output a fifth prompt message through the output device. The fifth prompt message is used to prompt that the autonomous vehicle has not made a dodge, and may include at least one of the following.

[0645] (a) See also Figure 12Regarding the display screen, when the autonomous vehicle maintains its current driving operation, a fifth prompt message is displayed on the display screen. When other intelligent agents view this fifth prompt message of the autonomous vehicle, they can determine that the autonomous vehicle is driving normally and has not made any avoidance maneuvers.

[0646] In one possible implementation, the fifth prompt message may include text information or image information. For example, the text information may be "Do not avoid", and the image information may be any image that can show the normal driving of the autonomous vehicle.

[0647] Optionally, a prompt indicating that the current driving status is being maintained is displayed on the first display screen, while a view of the target vehicle is displayed on the second display screen. The first and second display screens are different display screens for the autonomous vehicle and can be located on different sides of the autonomous vehicle.

[0648] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle maintains its current driving operation, a fifth prompt message is played through the speaker. This fifth prompt message is a voice message, which other intelligent agents can hear to understand that the autonomous vehicle is currently driving normally and has not made any avoidance maneuvers.

[0649] (c) See also Figure 12 Regarding the indicator lights, while the autonomous vehicle is maintaining its current driving operation, the indicator light corresponding to the current driving operation will be illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is driving normally and has not made any avoidance maneuvers.

[0650] (d) See also Figure 12 Regarding the indicator lights, while maintaining the current driving operation, the autonomous vehicle can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly understand the location of the autonomous vehicle.

[0651] (e) See also Figure 12 Regarding the car horn, while the autonomous vehicle is maintaining its current driving operation, it can perform horn honking operations according to the horn honking rhythm corresponding to maintaining the current driving operation.

[0652] Autonomous vehicles can establish a correspondence between maintaining the current driving operation and the horn rhythm. When an autonomous vehicle is maintaining the current driving operation, it queries this correspondence to obtain the horn rhythm corresponding to the current driving operation, and performs the horn operation according to the horn rhythm corresponding to the current driving operation, so that other intelligent agents can know that the autonomous vehicle is currently maintaining the current driving and has not made any avoidance actions.

[0653] In the case of steps (2-4) above, step 1103 may include the following steps:

[0654] (3-6) During the operation of overtaking the target vehicle, a sixth prompt message is output through the output device. The sixth prompt message is used to prompt that the autonomous vehicle is overtaking and may include at least one of the following.

[0655] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle performs an overtaking maneuver, a sixth prompt message is displayed on the screen. When other intelligent agents view this sixth prompt message, they can determine that the autonomous vehicle is currently overtaking.

[0656] In one possible implementation, the sixth prompt information corresponding to the overtaking operation may include text information or image information. For example, the text information may be "overtaking in progress," and the image information may be any image that can show the autonomous vehicle performing the overtaking operation.

[0657] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle performs an overtaking maneuver, a sixth prompt message is played through the speaker. This sixth prompt message is a voice message, which other intelligent agents can hear to understand that the autonomous vehicle is currently overtaking.

[0658] (c) See also Figure 12 Regarding the indicator lights, when an autonomous vehicle is performing an overtaking maneuver, which involves changing lanes, the turn signal corresponding to the lane change operation will be illuminated so that other intelligent agents can clearly see that the autonomous vehicle is overtaking.

[0659] (d) See also Figure 12 Regarding the indicator lights, during the overtaking maneuver, the autonomous vehicle can detect the current environmental information and illuminate the indicator light corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle.

[0660] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0661] (e) See also Figure 12 Regarding the indicator lights, during the overtaking maneuver, autonomous vehicles can switch between high beams and low beams at night to alert target vehicles, enabling other intelligent agents to clearly identify the location of the autonomous vehicle.

[0662] (f) Regarding the vehicle horn, during the overtaking operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the overtaking operation.

[0663] Autonomous vehicles can establish a correspondence between overtaking operations and horn honking rhythms. When an autonomous vehicle performs an overtaking operation, it queries this correspondence to obtain the horn honking rhythm corresponding to the overtaking operation, and then honks its horn according to the horn honking rhythm corresponding to the overtaking operation, so that other intelligent agents can know that the autonomous vehicle is currently overtaking.

[0664] Autonomous vehicles can establish a correspondence between distance and horn rhythm. When an autonomous vehicle performs an overtaking maneuver, it obtains the distance between itself and the target vehicle, queries the correspondence, obtains the horn rhythm corresponding to the distance, and performs the horn operation according to the horn rhythm corresponding to the distance, so that other intelligent agents can understand the distance between the autonomous vehicle and the target vehicle.

[0665] In the case of steps (2-5) above, step 1103 may include the following steps:

[0666] (3-7) After the operation of overtaking the target vehicle is completed, the seventh prompt message is output through the output device. The seventh prompt message is used to prompt the autonomous vehicle to drive normally and may include at least one of the following.

[0667] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle is driving normally, the seventh prompt message is displayed on the display screen. When other intelligent agents view this seventh prompt message of the autonomous vehicle, they can determine that the autonomous vehicle is currently driving normally.

[0668] In one possible implementation, the seventh prompt information corresponding to the overtaking operation may include text information or image information. For example, the text information may be "driving normally" and the image information may be any image that can show the autonomous vehicle driving normally.

[0669] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle is driving normally, a seventh prompt message is played through the speaker. This seventh prompt message is a voice message, which other intelligent agents can listen to and understand that the autonomous vehicle is currently driving normally.

[0670] (c) See also Figure 12 Regarding the indicator lights, during normal driving of the autonomous vehicle, the turn signal corresponding to the normal driving operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is driving normally.

[0671] (d) See also Figure 12Regarding the indicator lights, during normal driving, autonomous vehicles can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly determine the location of the autonomous vehicle.

[0672] (e) See also Figure 12 Regarding the car horn, during the normal driving process of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to normal driving operations.

[0673] Autonomous vehicles can establish a correspondence between normal driving operations and horn honking rhythms. When an autonomous vehicle is driving normally, it queries this correspondence to obtain the horn honking rhythm corresponding to the normal driving operation, and honks the horn according to the horn honking rhythm corresponding to the normal driving operation, so that other intelligent agents can know that the autonomous vehicle is currently driving normally.

[0674] In the case of steps (2-6) above, step 1103 may include the following steps:

[0675] (3-8) During the operation of avoiding the target vehicle, the eighth prompt information is output through the output device. The eighth prompt information is used to prompt the autonomous vehicle to avoid the target vehicle, or to prompt the target vehicle to maintain a distance from the autonomous vehicle. It may include at least one of the following.

[0676] (a) See also Figure 12 Regarding the display screen, when the autonomous vehicle performs an avoidance maneuver, an eighth prompt message is displayed. When other intelligent agents view this eighth prompt message, they can confirm that the autonomous vehicle is currently avoiding a collision. Alternatively, the eighth prompt message can be a reminder to the target vehicle to maintain a safe distance from the autonomous vehicle. When other intelligent agents view this eighth prompt message, they should be mindful of maintaining a safe distance from the autonomous vehicle.

[0677] In one possible implementation, the eighth prompt message corresponding to the avoidance operation may include text information or image information. For example, the text information may be "Avoiding" or "Please keep your distance", and the image information may be any image that can show the autonomous vehicle performing an avoidance operation or prompting the driver to keep their distance.

[0678] (b) See also Figure 12 Regarding the speaker, when the autonomous vehicle performs an avoidance maneuver, the eighth prompt message is played through the speaker. This eighth prompt message is a voice message, which other intelligent agents can hear to understand that the autonomous vehicle is currently avoiding an obstacle or to clarify that a safe distance should be maintained.

[0679] (c) See also Figure 12Regarding the warning lights, during the process of an autonomous vehicle performing an avoidance maneuver, the warning light corresponding to the avoidance maneuver is illuminated, so that other intelligent agents can clearly understand that the autonomous vehicle is avoiding a collision or that a safe distance should be maintained.

[0680] (d) See also Figure 12 Regarding the warning lights, during the process of autonomous vehicles performing avoidance maneuvers, they can detect the current environmental information and illuminate the warning lights corresponding to the current environmental information, so that other intelligent agents can clearly understand the location of the autonomous vehicles.

[0681] (e) See also Figure 12 Regarding vehicle horns, during the process of autonomous vehicles performing avoidance maneuvers, horn horn honking can be performed according to the horn honking rhythm corresponding to the avoidance maneuver.

[0682] Autonomous vehicles can establish a correspondence between avoidance operations and horn rhythms. When an autonomous vehicle performs an avoidance operation, it queries this correspondence to obtain the horn rhythm corresponding to the avoidance operation and performs the horn operation according to the horn rhythm corresponding to the avoidance operation, so that other intelligent agents can know that the autonomous vehicle is currently avoiding an obstacle.

[0683] During the process of the target vehicle overtaking the autonomous vehicle, if the distance between the target vehicle and the autonomous vehicle is less than a preset distance, a ninth prompt message is output through the output device. The ninth prompt message is used to indicate that the distance between the vehicles is too close and may include at least one of the following.

[0684] (a) See also Figure 12 Regarding the display screen, during the process of the target vehicle overtaking the autonomous vehicle, the autonomous vehicle displays a ninth prompt message on the display screen. When other intelligent agents view this ninth prompt message from the autonomous vehicle, they can determine that the current distance to the autonomous vehicle is too close.

[0685] In one possible implementation, the ninth prompt message corresponding to the overtaking operation may include text information or image information. For example, the text information may be "vehicle distance too close", and the image information may be any image that can show that the vehicle distance is too close.

[0686] (b) See also Figure 12 Regarding the speaker, during the process of the target vehicle overtaking the autonomous vehicle, the autonomous vehicle plays a ninth prompt message through the speaker. This ninth prompt message is a voice message, which other intelligent agents can listen to and understand that they are currently too close to the autonomous vehicle.

[0687] (c) See also Figure 12Regarding the warning lights, when the target vehicle is overtaking the autonomous vehicle, the autonomous vehicle will illuminate the warning light corresponding to the close distance, so that other intelligent agents can clearly see that the current distance to the autonomous vehicle is too close.

[0688] (d) See also Figure 12 Regarding the indicator lights, when a target vehicle is overtaking an autonomous vehicle, the autonomous vehicle can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle.

[0689] (e) See also Figure 12 Regarding car horns, when a target vehicle is overtaking an autonomous vehicle, the autonomous vehicle can sound its horn in a rhythmic manner.

[0690] Autonomous vehicles can establish a correspondence between distance and horn rhythm. When a target vehicle overtakes an autonomous vehicle, the autonomous vehicle obtains the distance between the autonomous vehicle and the target vehicle, queries the correspondence, obtains the horn rhythm corresponding to the distance, and performs the horn operation according to the horn rhythm corresponding to the distance, so that other intelligent agents can know the distance between the autonomous vehicle and the target vehicle.

[0691] Alternatively, when the target vehicle is overtaking the autonomous vehicle, the autonomous vehicle acquires the distance between the two vehicles. If this distance is less than a preset distance, it sounds its horn according to the horn's rhythm. If the distance is not less than the preset distance, it stops sounding its horn.

[0692] After the target vehicle overtakes, the autonomous vehicle outputs a prompt message through its output device that corresponds to normal driving.

[0693] like Figure 12 As shown, the scenarios where vehicles traveling in the same direction as autonomous vehicles intersect on the road are categorized into four types: autonomous vehicles merging into adjacent lanes, vehicles in adjacent lanes merging into the autonomous vehicle's lane, autonomous vehicles overtaking, and other vehicles overtaking. The merging of autonomous vehicles into adjacent lanes is further divided into two scenarios: waiting and merging. The merging of vehicles in adjacent lanes into the autonomous vehicle's lane is further divided into three scenarios: autonomous vehicles slowing down to avoid the vehicle, changing lanes to avoid the vehicle, and not avoiding the vehicle. The overtaking of autonomous vehicles is further divided into two scenarios: before overtaking and after overtaking. The overtaking of other vehicles is also divided into two scenarios: before overtaking and after overtaking. The corresponding prompts are provided for each scenario.

[0694] The method provided in this application identifies target vehicles whose routes intersect with the autonomous vehicle's route. Based on the positions of the autonomous vehicle and the target vehicle, it executes driving operations, enabling the autonomous vehicle to perform corresponding driving operations according to the routes of oncoming vehicles, thus improving safety. During the driving operation, the autonomous vehicle's output device outputs prompts indicating the meeting status between the autonomous vehicle and the target vehicle. This ensures that oncoming vehicles and other intelligent agents accurately and fully understand the driving operations performed by the autonomous vehicle, minimizing conflicts between their operations and those of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety. Furthermore, by actively interacting with oncoming vehicles and other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and decrease traffic accidents.

[0695] In addition, based on the speed of autonomous vehicles and the lanes they are in, the situations where autonomous vehicles travel in the same direction as other vehicles and their routes intersect are further divided into four types. This clarifies the situations in which autonomous vehicles will intersect with other vehicles traveling in the same direction, making it easier for autonomous vehicles to perform corresponding driving operations according to various situations.

[0696] In addition, by using output devices to prompt other vehicles with the driving operations of the autonomous vehicle, other intelligent agents can clearly understand the driving operations being performed by the autonomous vehicle and can perform corresponding operations based on the driving operations of the autonomous vehicle, which can reduce the probability of traffic accidents and improve the safety of autonomous vehicles.

[0697] Figure 13 This is a flowchart illustrating another prompting method according to an exemplary embodiment, such as... Figure 13 As shown, the method, applied to autonomous vehicles, includes:

[0698] 1301. The autonomous vehicle identifies vehicles on the road that are traveling in the opposite direction to the autonomous vehicle and identifies them as target vehicles.

[0699] There are many vehicles on the road. Vehicles on the same road as autonomous vehicles but traveling in the opposite direction will pass by autonomous vehicles, affecting their driving. Therefore, in order to pass by safely and achieve safe autonomous driving, autonomous vehicles need to identify target vehicles, that is, vehicles on the road that are traveling in the opposite direction to autonomous vehicles.

[0700] 1302. The autonomous vehicle determines the meeting point between the autonomous vehicle and the target vehicle based on the positions of the autonomous vehicle and the target vehicle.

[0701] When there are no obstacles in front of the autonomous vehicle in its lane, the autonomous vehicle can determine the meeting point based on the positions of the autonomous vehicle and the target vehicle, as well as the speeds of the autonomous vehicle and the target vehicle.

[0702] When an obstacle exists in front of an autonomous vehicle within its lane, the autonomous vehicle needs to determine the obstacle's location and, based on the obstacle's position and the positions of the autonomous vehicle and the target vehicle, determine the meeting point. This meeting point can be behind the obstacle, meaning the autonomous vehicle first passes the target vehicle before proceeding past the obstacle. Alternatively, it can be in front of the obstacle, meaning the autonomous vehicle first passes the obstacle before meeting other vehicles. Specifically, there are two scenarios:

[0703] (1-1) The meeting point is behind the obstacle.

[0704] In one possible implementation, if the autonomous vehicle determines that other vehicles traveling in the opposite direction are close to the obstacle and traveling at a high speed, then the autonomous vehicle determines that the meeting point is behind the obstacle.

[0705] (1-2) The meeting point is in front of the obstacle.

[0706] In one possible implementation, if the autonomous vehicle determines that other vehicles traveling in the opposite direction are far from the obstacle and moving slowly, while the autonomous vehicle is close to the obstacle, then the autonomous vehicle determines that the meeting point is in front of the obstacle.

[0707] When the road where the autonomous vehicle is located is obstructed, such as a curve or mountain road, and the autonomous vehicle cannot determine whether there is an oncoming vehicle or an obstacle ahead, the autonomous vehicle needs to perform a deceleration operation to achieve safe driving, and output corresponding prompt information for the deceleration operation through the output device, such as honking the horn according to the horn rhythm corresponding to the deceleration operation.

[0708] Autonomous vehicles need to utilize multiple methods to identify vehicles traveling in the opposite direction to the autonomous vehicle within its shaded area on the road as target vehicles. The specific process includes at least one of the following:

[0709] (1) Listen to the horn sounds emitted by vehicles and identify the vehicles that emit the horn sounds as target vehicles.

[0710] When there is a shaded area ahead of the road, the autonomous vehicle can listen for the horns of other vehicles. When it receives the horns of other vehicles, it can determine that there are other vehicles ahead.

[0711] Autonomous vehicles can be configured to recognize horn sounds. They can then monitor ambient sounds and determine if the similarity between the recognized sound and the horn sound is higher than a preset threshold. If the similarity is higher, other vehicles are identified as being present in the environment. Alternatively, if the similarity is higher than the threshold and the sound originates from ahead of the vehicle, other vehicles are identified as being ahead.

[0712] (2) Identify the lights emitted by the vehicle and identify the vehicle emitting the lights as the target vehicle.

[0713] When there is a shaded area ahead of the road, the autonomous vehicle can identify the lights emitted by other vehicles. When it receives the lights emitted by other vehicles, it can determine that there are other vehicles ahead.

[0714] Autonomous vehicles can set the light features corresponding to the lights emitted by the vehicle. The autonomous vehicle can capture images of the environment ahead, extract the light features in the images, and determine whether the similarity between the light features and the set light features is higher than a preset threshold. If it is higher than the preset threshold, it is determined that there are other vehicles ahead.

[0715] (3) Send a vehicle identification request to the vehicle network wireless device, receive the vehicle information returned by the vehicle network wireless device, and take the vehicle corresponding to the vehicle information as the target vehicle.

[0716] When there is a shady area ahead of the road where the autonomous vehicle is traveling, the autonomous vehicle can send a vehicle identification request to the vehicle-to-everything (V2X) wireless device. The V2X wireless device receives the request from the autonomous vehicle, screens vehicle information within a preset range of the autonomous vehicle's location, and returns it to the autonomous vehicle. The autonomous vehicle can then determine whether there are other vehicles ahead by receiving the vehicle information returned by the V2X wireless device.

[0717] The preset range can be a circular area with the autonomous vehicle as the center and a preset distance as the radius, or a fan-shaped area with the autonomous vehicle as the center, a preset distance as the radius, and a preset angle as the apex.

[0718] This vehicle-to-everything (V2X) wireless device can be a roadside streetlight, charging station, or other public facility, or it can be a management server for autonomous vehicles. This V2X wireless device can collect vehicle information from multiple devices and send that information to other devices, enabling information sharing.

[0719] The vehicle information may include the vehicle's location. When an autonomous vehicle receives this vehicle information, it can determine the vehicles that exist within a preset range and their specific locations.

[0720] In addition, autonomous vehicles can also detect obstacles in front of them and within their obscured area. The obscured area refers to the region in front of the autonomous vehicle's field of vision. Optionally, a convex mirror can be installed in the road. This mirror has a reflective function, and obstacles within the obscured area of ​​the autonomous vehicle can be reflected in it. When the convex mirror is within the autonomous vehicle's field of vision, the autonomous vehicle can photograph it, obtain its image, and identify the location of obstacles within that image.

[0721] Among them, autonomous vehicles can obtain their relative position to a convex mirror, as well as the position and angle of obstacles in the convex mirror image, thereby determining the relative position of obstacles to autonomous vehicles.

[0722] Convex mirrors are installed on mountain roads or curves where visibility is poor. Drivers can see the scene in the blind spot through the convex mirror, which can reduce blind spots. Autonomous vehicles can recognize the image in the convex mirror and determine whether there are obstacles in front and identify the location of the obstacles based on the image in the convex mirror.

[0723] Afterward, the autonomous vehicle can plan its meeting point based on its own location, the target vehicle's location, and the obstacles' locations. Once the locations of the target vehicle and obstacles are clear, the method for planning the meeting point is similar to that described above, and will not be repeated here.

[0724] 1303. Autonomous vehicles perform driving operations based on the location of oncoming traffic.

[0725] In the case where there are no obstacles in step 1302 above, after the autonomous vehicle determines the meeting position, it will decelerate when it reaches the preset distance of the meeting position, and can also drive to the edge of the road to leave space for meeting the target vehicle.

[0726] Regarding the case of (1-1) in step 1302 above, step 1303 may include (2-1) and (2-2):

[0727] (2-1) When the meeting point is behind the obstacle, if the distance between the autonomous vehicle and the obstacle is far, the autonomous vehicle will decelerate.

[0728] (2-2) When the meeting point is behind the obstacle, if the autonomous vehicle is close to the obstacle, the autonomous vehicle will perform a parking operation.

[0729] Regarding the situation in step 1302 (1-2) above, step 1303 may include (2-3):

[0730] (2-3) When the meeting point is in front of the obstacle, the autonomous vehicle accelerates and quickly bypasses the obstacle to meet the target vehicle.

[0731] When there are no obstacles in front of the autonomous vehicle, and the autonomous vehicle meets the target vehicle, for safety reasons, the autonomous vehicle needs to slow down and give way to the target vehicle.

[0732] In one possible implementation, during the meeting process, the autonomous vehicle obtains the distance between itself and the target vehicle. When the distance between the two is not less than a preset distance, the autonomous vehicle drives normally. As the distance between the autonomous vehicle and the target vehicle gets closer and closer, when the distance between the two is less than the preset distance, a deceleration operation is performed to ensure that the autonomous vehicle and the target vehicle can meet safely. Then, as the distance between the autonomous vehicle and the target vehicle gets farther and farther, when the distance between the two is not less than the preset distance, the deceleration operation stops, and the vehicle can resume normal driving speed.

[0733] In one possible implementation, when an autonomous vehicle meets a target vehicle, if the target vehicle does not slow down in advance and the risk of meeting is high when traveling in opposite directions at high speed, the autonomous vehicle will be forced to stop and avoid the target vehicle. The autonomous vehicle needs to perform a parking driving operation to achieve a safe meeting. The autonomous vehicle will output a prompt message corresponding to the parking driving operation through the output device. The prompt message method is similar to that described in (2-2) above, and will not be repeated here.

[0734] 1304. During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device. The prompt information is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a horn, or a warning light.

[0735] The meeting status can include the distance between the autonomous vehicle and the target vehicle, the driving operation currently being performed by the autonomous vehicle, and whether the autonomous vehicle is currently avoiding the target vehicle.

[0736] Regarding the case of (2-1) in step 1303 above, step 1304 may include:

[0737] (3-1) During the deceleration operation, see Figure 14 The output device of the autonomous vehicle outputs a warning message for the autonomous vehicle to avoid a collision, which may include at least one of the following:

[0738] (a) See also Figure 14Regarding the display screen, when the autonomous vehicle performs a deceleration operation, a prompt message for decelerating and avoiding the target vehicle is displayed on the display screen. This prompt message is used to remind the autonomous vehicle to decelerate and avoid the target vehicle. When other intelligent agents view this prompt message, they can determine that the autonomous vehicle is currently decelerating and avoiding the target vehicle, or the prompt message can be a prompt message for the other party to pass.

[0739] In one possible implementation, the prompt message for slowing down and avoiding the target vehicle may include text or image information. For example, the text message may be "Slowing down, please go first," and the image information may be any image that shows the autonomous vehicle performing a deceleration operation.

[0740] (b) See also Figure 14 Regarding the speaker, when the autonomous vehicle performs a deceleration operation, a prompt message to slow down and avoid the target vehicle is played through the speaker. This prompt message is a voice message used to remind the autonomous vehicle to slow down, so that the target vehicle can hear the prompt message and understand that the autonomous vehicle is currently slowing down.

[0741] (c) See also Figure 14 Regarding the warning lights, during the deceleration operation of the autonomous vehicle, the brake light corresponding to the current deceleration operation is illuminated, so that the target vehicle can clearly see that the autonomous vehicle is decelerating.

[0742] (d) See also Figure 14 Regarding the indicator lights, during the deceleration operation of an autonomous vehicle, it can detect the current environmental information and illuminate the indicator light corresponding to the current environmental information, so that other intelligent agents can clearly know the location of the autonomous vehicle.

[0743] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0744] In particular, when meeting oncoming traffic, autonomous vehicles need to ensure that their high beams are turned off for safe driving.

[0745] Regarding the situation in step 1303 (2-2) above, step 1304 may include:

[0746] (3-2) During the parking operation, see Figure 14 The system outputs a stop and avoidance prompt message to the autonomous vehicle through its output device.

[0747] (a) See also Figure 14Regarding the display screen, when the autonomous vehicle stops, the display screen shows a prompt message and a stop sign indicating that the autonomous vehicle is about to avoid the target vehicle. When other intelligent agents view the prompt message and stop sign indicating that the autonomous vehicle is about to stop, they can determine that the autonomous vehicle is currently performing a stop operation.

[0748] In one possible implementation, the parking prompt message could be "Stop and give way, please proceed first," and the parking sign could be any sign that indicates that the autonomous vehicle is parked.

[0749] (b) See also Figure 14 Regarding the speaker, when the autonomous vehicle performs a parking operation, a prompt message to stop and give way to the target vehicle is played through the speaker. This prompt message is a voice message used to prompt the autonomous vehicle to stop, so that the target vehicle can hear the prompt message and know that the autonomous vehicle is currently parked.

[0750] (c) See also Figure 14 Regarding the warning lights, during the parking operation performed by the autonomous vehicle, the brake lights and hazard warning flashers (double flashers) corresponding to the current parking operation are illuminated, so that the target vehicle can clearly see that the autonomous vehicle is parking.

[0751] (d) See also Figure 14 Regarding the indicator lights, during the parking process, autonomous vehicles can detect the current environmental information and illuminate the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle.

[0752] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0753] In particular, when meeting oncoming traffic, autonomous vehicles need to ensure that their high beams are turned off for safe driving.

[0754] Regarding the situation in step 1303 (2-3) above, step 1304 may include:

[0755] (3-3) During the acceleration operation, see Figure 14 The autonomous vehicle outputs a prompt message requesting the target vehicle to give way through its output device.

[0756] (a) See also Figure 14Regarding the display screen, when the autonomous vehicle performs an acceleration operation, a prompt message requesting the target vehicle to give way is displayed on the display screen. When the target vehicle views this prompt message from the autonomous vehicle, it can determine that it needs to give way to the autonomous vehicle. The target vehicle can then actively give way to the autonomous vehicle. Alternatively, the prompt message can be a prompt message reminding the autonomous vehicle to accelerate and detour.

[0757] In one possible implementation, the prompt message requesting the target vehicle to give way may include text information or image information. For example, the text information may be "Accelerating, please give way", and the image information may be any image that shows the autonomous vehicle performing an acceleration operation.

[0758] (b) See also Figure 14 Regarding the speaker, when the autonomous vehicle accelerates, a prompt message requesting the target vehicle to give way is played through the speaker. This prompt message is in the form of voice information. The target vehicle can hear the prompt message and understand that it needs to give way to the autonomous vehicle. Then, the target vehicle can actively give way to the autonomous vehicle.

[0759] (c) See also Figure 14 Regarding the indicator lights, during the acceleration operation of an autonomous vehicle, it can detect the current environmental information and light up the indicator lights corresponding to the current environmental information, so that other intelligent agents can clearly see the location of the autonomous vehicle.

[0760] The environmental information may include temperature, humidity, rainfall, and haze index. For example, fog lights will be turned on when there is fog and the fog concentration is greater than a preset threshold, and marker lights will be turned on in dark conditions or when visibility is poor.

[0761] In particular, when meeting oncoming traffic, autonomous vehicles need to ensure that their high beams are turned off for safe driving.

[0762] When there are no obstacles in front of the autonomous vehicle, the autonomous vehicle will perform deceleration and avoidance maneuvers by moving closer to the edge of the road. The corresponding prompt information will be output through the output device. The prompting method is similar to (3-1) in step 1304, and will not be described again here.

[0763] like Figure 14As shown, when an autonomous vehicle and a target vehicle are traveling towards each other, if the road where the autonomous vehicle is located is unobstructed, the passing position is planned based on whether there are obstacles in front of the autonomous vehicle and the positions of the autonomous vehicle and the target vehicle. If the road where the autonomous vehicle is located is obstructed, the autonomous vehicle needs to decelerate and sound its horn to warn other vehicles. It also needs to identify obstacles in the obstructed area of ​​the road using a convex mirror, and identify target vehicles traveling in the opposite direction of the autonomous vehicle by listening to the horn, recognizing the lights, and screening the vehicle-to-everything (V2X) wireless devices. After identifying the target vehicle, the passing position is planned according to the positions of the autonomous vehicle, the target vehicle, and the obstacles.

[0764] When there is no obstacle in front of the autonomous vehicle, or when there is an obstacle in front of the autonomous vehicle and the oncoming vehicle is behind the obstacle, the autonomous vehicle will decelerate or stop when meeting the oncoming vehicle. When there is an obstacle in front of the autonomous vehicle and the oncoming vehicle is in front of the obstacle, the autonomous vehicle will accelerate. The autonomous vehicle will output prompts corresponding to the driving operations through the output device.

[0765] The method provided in this application identifies target vehicles whose routes intersect with the autonomous vehicle's route. Based on the positions of the autonomous vehicle and the target vehicle, it executes driving operations, enabling the autonomous vehicle to perform corresponding driving operations according to the routes of oncoming vehicles, thus improving safety. During the driving operation, the autonomous vehicle's output device outputs prompts indicating the meeting status between the autonomous vehicle and the target vehicle. This ensures that oncoming vehicles and other intelligent agents accurately and fully understand the driving operations performed by the autonomous vehicle, minimizing conflicts between their operations and those of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety. Furthermore, by actively interacting with oncoming vehicles and other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and decrease traffic accidents.

[0766] In addition, determining the meeting point based on the positions of the autonomous vehicle, the target vehicle, and the obstacles can prevent obstacles from affecting the meeting of the autonomous vehicle and the target vehicle, thus improving the safety of the meeting.

[0767] In addition, during the driving operation of autonomous vehicles, output devices can output prompts to make target vehicles understand the driving intentions of autonomous vehicles, so as to give way and avoid conflicts with the driving operations of autonomous vehicles, thereby improving safety.

[0768] In addition, when there are obstructions on the road where the autonomous vehicle is located, the location of the obstacle can be identified by a convex mirror, and potential risks on the road can be identified by listening with a horn, recognizing with lights, and screening with vehicle-to-everything (V2X) technology. Driving operations can only be performed after the risks are identified, thus improving safety.

[0769] Figure 15 This is a block diagram illustrating a prompting device according to an exemplary embodiment, such as... Figure 15 As shown, the device includes:

[0770] The target vehicle identification module 1501 is used to identify target vehicles, which are vehicles whose driving routes intersect with the driving routes of autonomous vehicles.

[0771] The driving operation execution module 1502 is used to execute driving operations according to the position of the autonomous vehicle and the position of the target vehicle;

[0772] The prompt information output module 1503 is used to output prompt information through the output device of the autonomous vehicle during the execution of driving operations. The prompt information is used to indicate the meeting status between the autonomous vehicle and the target vehicle. The output device includes at least one of a display screen, a speaker, a car horn, or a prompt light.

[0773] In one possible implementation, such as Figure 16 As shown, the target vehicle recognition module 1501 includes:

[0774] The first identification unit 1510 is used to identify a vehicle in the second lane as a target vehicle when performing an operation to change from the first lane to the second lane.

[0775] Driving operation execution module 1502 includes:

[0776] Waiting unit 1520 is used to perform waiting operations in the boundary area between the first lane and the second lane;

[0777] Lane-changing unit 1521 is used to perform the operation of moving from the first lane to the second lane when the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other.

[0778] In one possible implementation, such as Figure 16 As shown, the prompt information output module 1503 includes:

[0779] The first prompting unit 1532 is used to output a first prompting message through an output device during the waiting operation. The first prompting message is used to prompt the autonomous vehicle that it is waiting to merge into the second lane.

[0780] The second prompting unit 1533 is used to output a second prompting message through an output device during the operation of moving from the first lane to the second lane. The second prompting message is used to prompt the autonomous vehicle that it is merging into the second lane.

[0781] In one possible implementation, such as Figure 16 As shown, the target vehicle recognition module 1501 includes:

[0782] The second identification unit 1511 is used to identify vehicles that have traveled from other lanes to the first lane they are currently in, as target vehicles;

[0783] The third identification unit 1512 is used to identify, or, identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane as target vehicles.

[0784] Driving operation execution module 1502 includes:

[0785] The first execution unit 1522 is used to perform deceleration operations, lane changing operations, or maintain the current driving operation according to the position of the autonomous vehicle and the position of the target vehicle.

[0786] In one possible implementation, the prompt message output module 1503 includes:

[0787] The third prompt unit 1534 is used to output a third prompt message via an output device during the deceleration operation. The third prompt message is used to indicate that the autonomous vehicle is avoiding a target vehicle; or...

[0788] The fourth prompt unit 1535 is used to output a fourth prompt message through an output device during the lane change operation. The fourth prompt message is used to prompt the autonomous vehicle that it is changing lanes.

[0789] The fifth prompt unit 1536 is used to output a fifth prompt message through an output device while maintaining the current driving operation. The fifth prompt message is used to prompt the autonomous vehicle that it has not avoided the obstacle.

[0790] In one possible implementation, such as Figure 16 As shown, the target vehicle recognition module 1501 includes:

[0791] The fourth identification unit 1513 is used to identify, as the target vehicle, a vehicle located in front of the autonomous vehicle in the first lane where it is currently located and whose speed is less than that of the autonomous vehicle.

[0792] Driving operation execution module 1502 includes:

[0793] Overtaking unit 1523 is used to perform the operation of overtaking the target vehicle;

[0794] The first normal driving unit 1524 is used to continue driving in the first lane after completing the operation of overtaking the target vehicle.

[0795] In one possible implementation, such as Figure 16 As shown, the prompt information output module 1503 includes:

[0796] The sixth prompt unit 1537 is used to output a sixth prompt message through an output device during the operation of overtaking the target vehicle. The sixth prompt message is used to prompt the autonomous vehicle that it is overtaking.

[0797] The seventh prompt unit 1538 is used to output a seventh prompt message through an output device after the operation of overtaking the target vehicle is completed. The seventh prompt message is used to prompt the autonomous vehicle to drive normally.

[0798] In one possible implementation, such as Figure 16 As shown, the target vehicle recognition module 1501 includes:

[0799] The fifth identification unit 1514 is used to identify, in the first lane currently in which the autonomous vehicle is located behind the autonomous vehicle and its speed is greater than that of the autonomous vehicle, as the target vehicle.

[0800] Driving operation execution module 1502 includes:

[0801] The first avoidance unit 1525 is used to perform the operation of avoiding the target vehicle;

[0802] The second normal driving unit 1526 is used to continue driving operations in the first lane after the target vehicle has overtaken the autonomous vehicle.

[0803] In one possible implementation, such as Figure 16 As shown, the prompt information output module 1503 includes:

[0804] The eighth prompting unit 1539 is used to output an eighth prompting message through an output device during the operation of avoiding a target vehicle. The eighth prompting message is used to prompt the autonomous vehicle that it is avoiding the target vehicle, or to prompt the target vehicle to maintain a distance from the autonomous vehicle.

[0805] In one possible implementation, such as Figure 16 As shown, the prompt information output module 1503 includes:

[0806] The ninth prompt unit 1540 is used to output a ninth prompt message through an output device when the distance between the target vehicle and the autonomous vehicle is less than a preset distance during the process of the target vehicle overtaking the autonomous vehicle. The ninth prompt message is used to prompt that the distance between the vehicles is too close.

[0807] In one possible implementation, such as Figure 16 As shown, the target vehicle recognition module 1501 includes:

[0808] The sixth identification unit 1515 is used to identify vehicles on the road that are traveling in the opposite direction to the autonomous vehicle as target vehicles.

[0809] In one possible implementation, such as Figure 16 As shown, the driving operation execution module 1502 includes:

[0810] The distance acquisition unit 1527 is used to acquire the distance between the autonomous vehicle and the target vehicle based on the position of the autonomous vehicle and the position of the target vehicle;

[0811] The deceleration unit 1528 is used to perform deceleration operation when the distance is less than a preset distance;

[0812] The deceleration stop unit 1529 is used to stop the deceleration operation when the distance is not less than a preset distance after the deceleration operation is performed.

[0813] In one possible implementation, such as Figure 16 As shown, the driving operation execution module 1502 includes:

[0814] The meeting position determination unit 1530 is used to determine the meeting position between the autonomous vehicle and the target vehicle based on the position of the autonomous vehicle and the position of the target vehicle.

[0815] The second execution unit 1531 is used to perform driving operations based on the position of the vehicle meeting the other.

[0816] In one possible implementation, such as Figure 16 As shown, the second execution unit 1531 is also used for:

[0817] Determine the location of obstacles in front of the autonomous vehicle;

[0818] If the oncoming vehicle is behind the obstacle, then perform a deceleration or stop operation;

[0819] If the oncoming vehicle is in front of the obstacle, then accelerate.

[0820] In one possible implementation, such as Figure 16As shown, the driving operation is a deceleration operation or a stopping operation. The prompt information output module 1503 includes:

[0821] The second avoidance unit 1541 is used to output avoidance prompts for the autonomous vehicle through the output device of the autonomous vehicle during the execution of driving operations.

[0822] In one possible implementation, such as Figure 16 As shown, the driving operation is an acceleration operation, and the prompt information output module 1503 includes:

[0823] The third avoidance unit 1542 is used to output a prompt message requesting the target vehicle to avoid the driver during the execution of driving operations through the output device of the autonomous vehicle.

[0824] In one possible implementation, such as Figure 16 As shown, the second execution unit 1531 is also used for:

[0825] Photograph convex mirrors placed along the road and identify the positions of obstacles reflected in the mirror images.

[0826] In one possible implementation, such as Figure 16 As shown, the sixth identification unit 1515 is also configured to perform at least one of the following:

[0827] Listen for vehicle horn sounds and identify the vehicle horn as the target vehicle.

[0828] Identify the lights emitted by vehicles and designate the vehicle emitting the lights as the target vehicle;

[0829] Send a vehicle identification request to the vehicle-to-everything (V2X) wireless device, receive the vehicle information returned by the V2X wireless device, and identify the vehicle corresponding to the vehicle information as the target vehicle.

[0830] In one possible implementation, such as Figure 16 As shown, the prompt information output module 1503 includes:

[0831] Display unit 1543 is used to display prompt information through a display screen;

[0832] The playback unit 1544 is used to play prompt information through a speaker;

[0833] The first illumination unit 1545 is used to illuminate the indicator lights corresponding to driving operations;

[0834] The second lighting unit 1546 is used to light up the indicator light corresponding to the current environmental information;

[0835] The horn unit 1547 is used to perform horn-sounding operations according to the horn-sounding rhythm corresponding to driving operations.

[0836] The fifth interaction method: alerting the autonomous vehicle to abnormal intelligent agents within its range.

[0837] Figure 17 This is a flowchart illustrating a prompting method according to an exemplary embodiment, such as... Figure 17 As shown, the method includes:

[0838] 1701. Autonomous vehicles collect behavioral data of intelligent agents within their current range.

[0839] Vehicles, pedestrians, and animals on the road can all be considered intelligent agents. When vehicles are in motion, driver fatigue, inattention, or using a mobile phone may cause them to deviate from the center line, veer erratically, or non-motorized vehicles may compete with autonomous vehicles for road space. Pedestrians may fail to notice vehicles suddenly emerging from behind or overly optimistically competing with autonomous vehicles for road space. Animals may linger on the road, affecting the operation of autonomous vehicles. These behaviors are all considered abnormal, and intelligent agents exhibiting abnormal behaviors are called anomalous intelligent agents.

[0840] When an abnormal intelligent agent is within the current range of an autonomous vehicle, it may affect the safe operation of the autonomous vehicle. The autonomous vehicle needs to change lanes, slow down, or perform a parking operation to avoid traffic accidents.

[0841] Therefore, in order to identify abnormal intelligent agents within the current range in a timely manner and achieve safe autonomous driving, autonomous vehicles need to collect behavioral data of intelligent agents within the current range during operation, so as to identify abnormal intelligent agents within that range based on the collected behavioral data.

[0842] Optionally, autonomous vehicles can be equipped with data collection devices to collect behavioral data of intelligent agents within their current range.

[0843] The current range of the autonomous vehicle refers to the range of environmental information that the autonomous vehicle can recognize. It can be determined based on the maximum distance at which the autonomous vehicle's data collection equipment can collect environmental information. It can be a circular area with the autonomous vehicle as the center and the maximum distance at which environmental information is collected as the radius, or a fan-shaped area with the autonomous vehicle as the center, the maximum distance at which environmental information is collected as the radius, and the collection angle of the data collection equipment as the apex angle, etc.

[0844] The data acquisition device may include at least one of a camera, lidar, millimeter-wave radar, infrared sensor, humidity sensor, or temperature sensor. Different types of behavioral data can be collected using different acquisition devices. For example, the behavioral data may include vehicle routes, vehicle speeds, pedestrian walking directions, and animal locations.

[0845] 1702. The autonomous vehicle matches the behavior data with preset abnormal behavior data.

[0846] Autonomous vehicles can set preset abnormal behavior data based on the behavioral characteristics of anomalous agents. When an autonomous vehicle is driving, it collects behavioral data of agents within its current range and matches this data with the preset abnormal behavior data to determine whether the agent is anomalous.

[0847] Optionally, considering that intelligent agents include multiple categories, autonomous vehicles can set preset abnormal behavior data for each category of intelligent agent. When an autonomous vehicle identifies an intelligent agent and collects the intelligent agent's behavior data, it first determines the category to which the intelligent agent belongs based on the behavior data, then obtains the preset abnormal behavior data corresponding to that category, and matches the behavior data with the preset abnormal behavior data.

[0848] For example, for abnormal vehicles, autonomous vehicles can identify preset abnormal behavior data, including: swaying left and right while driving, not driving in the designated lane, and not driving along the center line of the road. For abnormal pedestrians, autonomous vehicles can identify preset abnormal behavior data, including: crossing traffic, standing in the middle of the road, and suddenly darting out. For abnormal animals, autonomous vehicles can identify preset behavioral data, including: remaining on the road or stopping on the side of the road.

[0849] 1703. When the similarity between the behavioral data and the preset abnormal behavioral data is greater than the preset threshold, the autonomous vehicle determines that the intelligent agent is an abnormal intelligent agent.

[0850] The autonomous vehicle calculates the similarity between the behavior data and preset abnormal behavior data, and determines whether the similarity is greater than a preset threshold. If the similarity is greater than the preset threshold, it means that the behavior data is relatively similar to the preset abnormal behavior data, and the currently identified agent can be determined to be an abnormal agent. If the similarity is not greater than the preset threshold, it means that the behavior data is not similar to the preset abnormal behavior data, and the currently identified agent can be determined to be not an abnormal agent.

[0851] In calculating the similarity between the behavioral data and preset abnormal behavioral data, a first feature vector corresponding to the behavioral data and a second feature vector corresponding to the preset abnormal behavioral data can be obtained. The similarity between the first feature vector and the second feature vector is then calculated as the similarity between the behavioral data and the preset abnormal behavioral data. This similarity can be calculated using cosine distance or Euclidean distance; this embodiment does not limit the calculation.

[0852] The preset threshold can be set by default by the autonomous vehicle, or it can be set according to the requirements for recognition accuracy.

[0853] Optionally, for the same type of intelligent agent, the preset abnormal behavior data can also include multiple types. The autonomous vehicle can set multiple types of preset abnormal behavior data for each intelligent agent. When the behavior data of the intelligent agent is identified, the above-mentioned method of calculating similarity can be used to determine the preset abnormal behavior data with a similarity greater than a preset threshold from the multiple types of preset abnormal behavior data. At this time, not only can the intelligent agent be determined to be an abnormal intelligent agent, but also the type of abnormal behavior that the abnormal intelligent agent has performed can be determined.

[0854] The first point to clarify is that the current range of an autonomous vehicle may include one or more intelligent agents. A similar operation can be performed on each intelligent agent to identify whether each agent is an abnormal agent.

[0855] The second point to note is that steps 1702-1703 above are optional steps, and the autonomous vehicle can also use other methods to identify abnormal intelligent agents.

[0856] For example, in one possible implementation, identifying anomalous agents within the scope based on collected behavioral data may further include at least one of the following:

[0857] (1) When the intelligent agent is a vehicle, and the vehicle’s driving route is determined to be abnormal based on the behavioral data, the vehicle is determined to be an abnormal vehicle.

[0858] Autonomous vehicles can collect behavioral data from vehicles within their current range. This data can include the vehicle's position at multiple points within the current period. Based on changes in the vehicle's position, the driving route can be determined, and whether this route is abnormal can be assessed. For example, whether the driving direction of the route changes multiple times, or whether the driving direction matches the lane's prescribed driving direction. When the behavioral data determines that the vehicle's driving route is abnormal, the vehicle can be identified as an abnormal vehicle.

[0859] Among them, autonomous vehicles can collect behavioral data at regular intervals, such as 1 second, 1 minute, or 2 minutes.

[0860] (2) When the intelligent agent is a vehicle, and the behavior data determines that the vehicle is driving in an area that does not match the vehicle, the vehicle is determined to be an abnormal vehicle.

[0861] Autonomous vehicles can collect behavioral data from vehicles within their current range. This data can include the vehicle's location. Based on the vehicle's location, the current area of ​​the vehicle is determined, and it is judged whether the vehicle matches that area. For example, motor vehicles should travel in motor vehicle lanes, and non-motor vehicles should travel in non-motor vehicle lanes. When the behavioral data determines that the vehicle is traveling in an area that does not match its behavior, the vehicle can be identified as an abnormal vehicle.

[0862] (3) When the intelligent agent is a pedestrian, and the pedestrian's walking route is determined to conflict with the driving route of any vehicle based on the behavioral data, the pedestrian is identified as an abnormal pedestrian.

[0863] The conflict between a pedestrian's walking route and a vehicle's driving route may include: the pedestrian's walking route intersecting with the vehicle's driving route, the pedestrian and the vehicle being in the same location at the same time, or the pedestrian's walking route coinciding with the vehicle's driving route and the pedestrian being in front of the vehicle, or other situations, which are not limited in this application embodiment.

[0864] Optionally, the autonomous vehicle obtains the current pedestrian's walking route and the vehicle's driving route, determines whether the walking route and the driving route conflict, and if a conflict occurs, determines that the pedestrian is an abnormal pedestrian.

[0865] Optionally, the autonomous vehicle can also predict the pedestrian's walking route and the vehicle's driving route in the next cycle. That is, the autonomous vehicle can collect behavioral data of vehicles within its current range, including their position and direction of travel, and then predict their driving route based on this data. It can also collect pedestrian behavioral data, including their position and direction of travel, and then predict their walking route based on this data. The system then determines whether the walking route conflicts with the driving route. If a conflict occurs, it indicates that a collision between the pedestrian and the vehicle is imminent, and the pedestrian is identified as an abnormal pedestrian.

[0866] (4) When the intelligent agent is a vehicle, and the vehicle’s driving route is determined to conflict with the walking route of any pedestrian based on the behavioral data, the vehicle is determined to be an abnormal vehicle.

[0867] Step (4) is similar to step (3) above, and will not be repeated here.

[0868] (5) When the intelligent agent is a pedestrian, and the pedestrian is determined to perform an abnormal action based on the behavioral data, the pedestrian is determined to be an abnormal pedestrian.

[0869] Autonomous vehicles can collect behavioral data of pedestrians within their current range to determine the actions performed by pedestrians and whether those actions are abnormal, thus identifying whether the pedestrian is an abnormal pedestrian.

[0870] For example, autonomous vehicles pre-determine actions such as crossing roads, jumping over hurdles, stopping in the road, running in the road, and exiting the vehicle in the middle of the road as abnormal actions. They then determine whether a pedestrian's actions fall under any of the pre-defined abnormal actions. If a pedestrian's actions fall under any of the pre-defined abnormal actions, the pedestrian is identified as an abnormal pedestrian.

[0871] Alternatively, autonomous vehicles can pre-determine normal actions such as walking on the roadside or stopping at a bus stop as normal actions, and determine whether a pedestrian's actions belong to the pre-set normal actions. If a pedestrian's actions do not belong to all the pre-set normal actions, the pedestrian is determined to be an abnormal pedestrian.

[0872] (6) When the agent is an animal, and the behavior data determines that the animal is lingering on the road, the animal is identified as an abnormal animal.

[0873] Autonomous vehicles can collect behavioral data of animals within their current range. This behavioral data includes the animal's position at multiple points in the current period. When it is determined that the animal's position is in the road and has not changed at multiple points in time, it indicates that the animal is lingering in the road, and the behavior is identified as abnormal.

[0874] 1704. Output alerts to abnormal intelligent agents through the output devices of autonomous vehicles.

[0875] Autonomous vehicles are equipped with output devices, including at least one of a display screen, a speaker, a horn, or indicator lights. The number of display screens can be one or more, and their facing direction can include front, rear, left, right, and top, displaying information in multiple directions. The display screens can include various types such as text screens and image screens. There can be one or more speakers, which can be mounted on the roof or side of the vehicle. The horn can include a mechanical or electronic horn. Indicator lights include turn signals, fog lights, and side marker lights.

[0876] The alerts for anomalous agents include text containing the word "abnormal," images of the anomalous agent, the location of the anomalous agent, voice messages announcing the presence of an anomalous agent, and horn alerts indicating the presence of an anomalous agent.

[0877] In one possible implementation, the output device may output a warning message for the abnormal agent, which may include at least one of the following:

[0878] (1) See Figure 18 Regarding the display screen, when an abnormal intelligent agent is present within the current range of the autonomous vehicle, a first prompt message is displayed on the display screen to indicate the location of the abnormal intelligent agent.

[0879] By configuring the display screen, the autonomous vehicle will display the first prompt information during its operation. When other intelligent agents view the first prompt information of the autonomous vehicle, they can determine that there is an abnormal intelligent agent in the current range of the autonomous vehicle.

[0880] In one possible implementation, the first prompt information may include text information or image information. For example, the text information may be "There is an abnormal pedestrian", and the image information may be any image that can show the location of the abnormal pedestrian.

[0881] In one possible implementation, the autonomous vehicle is equipped with multiple display screens, each facing a different direction and capable of displaying different information. For example, the autonomous vehicle could have five display screens, each facing forward, backward, left, right, and top, allowing agents in all five directions to view the vehicle's prompts.

[0882] In one possible implementation, the first prompt information is displayed via a display screen, including: displaying the category to which the anomalous intelligent agent belongs via the first display screen; and displaying the behavioral data of the anomalous intelligent agent via a second display screen; wherein the first display screen is the display screen on the side of the autonomous vehicle closer to the anomalous intelligent agent, and the second display screen is the display screen on the side of the autonomous vehicle farther away from the anomalous intelligent agent.

[0883] The system displays warning messages on both the side of the autonomous vehicle approaching the anomalous agent and the side away from the anomalous agent. The screen on the side closer to the anomalous agent displays the type of the anomalous agent, allowing other agents on that side to be aware of the anomaly early and to give way or slow down, thus reducing the probability of traffic accidents. The screen on the side away from the anomalous agent displays the anomalous agent's behavioral data, enabling other agents on that side to better understand the autonomous vehicle's driving behavior and take timely evasive action, improving safety.

[0884] (2) See Figure 18Regarding the speaker, when the autonomous vehicle determines that there is an abnormal intelligent agent in its current range, it plays a second prompt message through the speaker. The second prompt message is used to indicate the location of the abnormal intelligent agent.

[0885] The second prompt message is a voice message. By configuring a speaker, the speaker of the autonomous vehicle plays the second prompt message during the autonomous vehicle's operation, so that other intelligent agents can hear the second prompt message and know the location of the abnormal intelligent agent.

[0886] In one possible implementation, one or more speakers can be installed. The speakers can be placed on the roof of the autonomous vehicle for better sound diffusion. Alternatively, the speakers can be placed in front, behind, on the left, or on the right side of the vehicle.

[0887] (3) See Figure 18 Regarding the car horn, if there is an abnormal intelligent agent within the current range of the autonomous vehicle, the vehicle can perform a horn-honking operation according to the horn-honking rhythm corresponding to the abnormal intelligent agent.

[0888] The autonomous vehicles are equipped with either a mechanical or electronic horn, which can be used to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn rhythm; different intelligent agent types correspond to different horn rhythms. This cycle can be one second or one minute, etc.

[0889] When autonomous vehicles collect behavioral data of intelligent agents within their current range, they can determine the category of abnormal intelligent agents. Autonomous vehicles can establish a correspondence between different categories and horn rhythms. When an autonomous vehicle identifies an abnormal intelligent agent, it confirms the category to which the abnormal intelligent agent belongs, queries the correspondence, obtains the horn rhythm corresponding to that category, and performs a horn operation according to the horn rhythm corresponding to that category. This can alert the abnormal intelligent agent, proactively remind it to correct dangerous behavior, and also allow other intelligent agents to understand the categories of abnormal intelligent agents present within the current range of the autonomous vehicle, reminding other intelligent agents to be wary of the abnormal intelligent agent.

[0890] In this embodiment, the autonomous vehicle can establish a connection with a management server, log in to the management server, and send an abnormal agent notification message to the management server. Upon receiving the abnormal agent notification message from the autonomous vehicle, the management server publishes the notification message, and administrators can view the notification message and promptly handle the abnormal agent.

[0891] Among them, autonomous vehicles can be equipped with vehicle-to-everything (V2X) wireless devices to communicate with other devices.

[0892] The abnormal agent notification message carries the abnormal agent's location information and behavioral data. The location information allows administrators to pinpoint the abnormal agent's location, while the behavioral data reveals any unusual activity.

[0893] The process of issuing a notification message for the abnormal intelligent agent may include: the management server sending an alarm message to the control terminal, the control terminal displaying the alarm message, the administrator holding the control terminal viewing the alarm message, the alarm message carrying the location information and behavioral data of the abnormal intelligent agent, and the administrator going to the location of the abnormal intelligent agent to handle the abnormal intelligent agent.

[0894] Optionally, the management server can send alarm information to the nearest control terminal, which can notify the nearest management personnel and enable the abnormal intelligent agent to be handled in the shortest possible time.

[0895] Other intelligent agents can include intelligent devices such as mobile phones, computers, and vehicle-to-everything (V2X) wireless devices. These intelligent devices can establish connections with and log into the management server. After an autonomous vehicle sends an abnormal intelligent agent notification message to the management server, the management server forwards the notification message to the intelligent device logged into the server. The intelligent device then outputs an abnormal intelligent agent notification message, allowing its user to understand the location and behavioral data of the abnormal intelligent agent. This allows the user to travel to the abnormal intelligent agent's location and handle the situation. Alternatively, the user can anticipate risks on the road section where the abnormal intelligent agent is located, enabling them to detour or slow down in advance, thus improving traffic safety and reducing traffic accidents.

[0896] 1705. When the autonomous vehicle's driving route conflicts with the route of the anomalous intelligent agent, the autonomous vehicle performs a driving operation to avoid the anomalous intelligent agent.

[0897] To ensure safe driving and avoid traffic accidents, when the autonomous vehicle's driving route conflicts with the route of an abnormal intelligent agent, corresponding driving operations need to be performed to avoid the abnormal intelligent agent.

[0898] Autonomous vehicles can obtain the current route of the abnormal intelligent agent and the driving route of the autonomous vehicle, and determine whether the route of the abnormal intelligent agent conflicts with the driving route of the autonomous vehicle. If a conflict occurs, the autonomous vehicle needs to avoid the abnormal intelligent agent.

[0899] Driving operations that avoid abnormal intelligent agents include at least one of lane changing operations, deceleration operations, or stopping operations.

[0900] For example, when the anomalous agent is a vehicle, if the anomalous agent and the autonomous vehicle are in the same lane and traveling in the same direction, and the anomalous agent is behind the autonomous vehicle, the autonomous vehicle needs to perform a lane change maneuver to avoid the anomalous agent; if the anomalous agent and the autonomous vehicle are in the same lane and traveling in the same direction, and the anomalous agent is in front of the autonomous vehicle, the autonomous vehicle needs to perform a deceleration maneuver to avoid the anomalous agent; when the anomalous agent is a pedestrian who suddenly darts into the road and is in front of the autonomous vehicle, the autonomous vehicle needs to perform a stop maneuver to avoid the pedestrian.

[0901] 1706. During the process of performing driving operations to avoid abnormal intelligent agents, the autonomous vehicle outputs prompt information through the output device to remind the autonomous vehicle to avoid abnormal intelligent agents.

[0902] In this embodiment of the application, the autonomous vehicle outputs a prompt message through an output device. This prompt message is used to inform other intelligent agents that the autonomous vehicle is currently avoiding an abnormal intelligent agent, so that other intelligent agents can understand the behavior of the autonomous vehicle avoiding the abnormal intelligent agent.

[0903] The prompt message can carry relevant information about the abnormal intelligent agent. For example, the prompt message displayed on the screen or played through the speaker can carry the category to which the abnormal intelligent agent belongs, the location of the abnormal intelligent agent, and the abnormal action currently being performed by the abnormal intelligent agent. This application embodiment does not limit this.

[0904] When the driving operation is a lane change operation, the output device outputs a prompt message to remind the autonomous vehicle to avoid the abnormal intelligent agent, which may include at least one of the following:

[0905] (1) See Figure 18 Regarding the display screen, when an autonomous vehicle performs a lane change operation, a lane change prompt message is displayed on the display screen. When other intelligent agents view this prompt message from the autonomous vehicle, they can determine that the autonomous vehicle is currently changing lanes.

[0906] In one possible implementation, the prompt information corresponding to the lane change operation may include text information or image information. For example, the text information may be "Changing lanes, avoiding abnormal intelligent agents", and the image information may be any image that can show the autonomous vehicle performing the operation.

[0907] (2) See Figure 18 Regarding the speakers, when an autonomous vehicle performs a lane change operation, a prompt message to avoid an abnormal intelligent agent is played through the speakers. This lane change prompt message is in the form of voice information, which other intelligent agents can listen to and understand the current lane change of the autonomous vehicle.

[0908] (3) See Figure 18 Regarding the indicator lights, during the lane-changing operation of an autonomous vehicle, the turn signal corresponding to the lane-changing driving operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is changing lanes.

[0909] (4) See Figure 18 Regarding the car horn, during the lane-changing operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the lane-changing operation.

[0910] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn's rhythm. This cycle can be one second or one minute, etc.

[0911] Autonomous vehicles can establish a correspondence between lane-changing operations and horn-honking rhythms. When an autonomous vehicle performs a lane-changing operation, it queries this correspondence to obtain the horn-honking rhythm corresponding to the lane-changing operation, and then honks its horn according to the horn-honking rhythm corresponding to the lane-changing operation, so that other intelligent agents can know that the autonomous vehicle is currently changing lanes.

[0912] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0913] When the driving operation is a deceleration operation, the output device outputs a prompt message to remind the autonomous vehicle to avoid an abnormal intelligent agent, which may include at least one of the following:

[0914] (1) See Figure 18 Regarding the display screen, when the autonomous vehicle performs a deceleration operation, a deceleration prompt message is displayed on the display screen. This deceleration prompt message is used to remind the autonomous vehicle to slow down. When other intelligent agents view this deceleration prompt message, they can determine that the autonomous vehicle is currently decelerating.

[0915] In one possible implementation, the deceleration warning information may include text information or image information. For example, the text information may be "Decelerating, avoiding an abnormal intelligent agent," and the image information may be any image that shows the autonomous vehicle performing a deceleration operation.

[0916] (2) See Figure 18Regarding the speaker, when the autonomous vehicle performs a deceleration operation, a deceleration prompt message is played through the speaker. This deceleration prompt message is a voice message used to remind the autonomous vehicle to slow down, so that other intelligent agents can hear the deceleration prompt message and understand that the autonomous vehicle is currently decelerating.

[0917] (3) See Figure 18 Regarding the indicator lights, during the deceleration operation performed by the autonomous vehicle, the indicator light corresponding to the current deceleration operation is illuminated, so that other intelligent agents can clearly see that the autonomous vehicle is decelerating.

[0918] (4) See Figure 18 Regarding the vehicle horn, during the deceleration operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the deceleration operation.

[0919] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn's rhythm. This cycle can be one second or one minute, etc.

[0920] Autonomous vehicles can establish a correspondence between deceleration operations and horn honking rhythms. When an autonomous vehicle performs a deceleration operation, it queries this correspondence to obtain the horn honking rhythm corresponding to the deceleration operation, and then honks its horn according to the horn honking rhythm corresponding to the deceleration operation, so that other intelligent agents can know that the autonomous vehicle is currently decelerating.

[0921] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0922] When the driving operation is a parking operation, the output device outputs a prompt message to remind the autonomous vehicle to avoid an abnormal intelligent agent, which may include at least one of the following:

[0923] (1) See Figure 18 The display screen shows parking prompts and signs to remind autonomous vehicles to stop.

[0924] During the parking operation of an autonomous vehicle, parking prompts and signs are displayed on the screen to remind the autonomous vehicle to stop.

[0925] By configuring the display screen, when the autonomous vehicle stops, the display screen shows parking prompts and parking signs. When other intelligent agents view the parking prompts and parking signs of the autonomous vehicle, they can determine that the autonomous vehicle is currently parked.

[0926] In one possible implementation, the parking prompt message could be "Please be careful when parking," and the parking sign could be any sign that indicates that the autonomous vehicle is parked.

[0927] (2) See Figure 18 Regarding the speakers, during the parking operation of the autonomous vehicle, parking prompts are played through the speakers to remind the autonomous vehicle to stop.

[0928] By configuring speakers, the autonomous vehicle can play voice prompts while it is in motion, allowing other intelligent agents to hear and understand that the autonomous vehicle is currently parked.

[0929] (3) See Figure 18 Regarding the indicator lights, during the parking operation performed by the autonomous vehicle, the indicator light corresponding to the parking operation is illuminated so that other intelligent agents can clearly see that the autonomous vehicle is parked.

[0930] (4) See Figure 18 Regarding the car horn, during the parking operation of an autonomous vehicle, the horn can be sounded in accordance with the horn rhythm corresponding to the parking operation.

[0931] The autonomous vehicles are equipped with either a mechanical or electronic horn, which allows them to sound the horn. The number of horn sounds within a fixed cycle can be set to determine the horn's rhythm. This cycle can be one second or one minute, etc.

[0932] Autonomous vehicles can establish a correspondence between parking operations and horn honking rhythms. When an autonomous vehicle performs a parking operation, it queries this correspondence to obtain the horn honking rhythm corresponding to the parking operation, and then honks its horn according to the horn honking rhythm corresponding to the parking operation, so that other intelligent agents can know that the autonomous vehicle is currently parked.

[0933] Autonomous vehicles can automatically sound their horn, or they can have a horn button on the steering wheel that the driver can press to sound the horn.

[0934] like Figure 18As shown, the system first determines whether there is an abnormal intelligent agent within the current range of the autonomous vehicle. If so, it determines whether the autonomous vehicle's driving route conflicts with that of the abnormal intelligent agent, thereby deciding what driving operation the autonomous vehicle should perform. The abnormal intelligent agent and the driving operation performed by the autonomous vehicle are then alerted through the display screen, speaker, indicator lights, and horn configured on the autonomous vehicle.

[0935] In the event of a route conflict, the location of the abnormal agent will be displayed on the screen, announced via loudspeaker, and the agent will sound its horn in accordance with the corresponding horn rhythm. An abnormal agent notification message will then be sent to the management server connected to the autonomous vehicle. If the autonomous vehicle needs to change lanes, slow down, or stop to avoid the conflict, similar prompts will be used.

[0936] The method provided in this application collects behavioral data of intelligent agents within the current range. Based on the collected behavioral data, it identifies abnormal intelligent agents within the range and outputs warning information about these abnormal intelligent agents through the output device of the autonomous vehicle. This allows the autonomous vehicle to be aware of the presence of the abnormal intelligent agent and thus avoid it. Other intelligent agents can also be aware of the presence of the abnormal intelligent agent and avoid it. This method better understands the driving operations of the autonomous vehicle and can perform corresponding operations based on the driving operations of the autonomous vehicle, minimizing conflicts between the operations of other intelligent agents and the driving operations of the autonomous vehicle. This can reduce the probability of traffic accidents and improve safety. Furthermore, by actively interacting with other intelligent agents, the autonomous vehicle can eliminate misunderstandings, reduce risks, improve traffic safety, and reduce traffic accidents.

[0937] In addition, by matching the collected behavioral data with preset abnormal behavior data, abnormal intelligent agents can be identified, thus improving the accuracy of identification.

[0938] In addition, by providing prompts through various means such as display screens, speakers, and car horns, the diverse prompting channels can increase the probability that other intelligent agents will receive the prompt information, avoid traffic accidents caused by the inability to output prompt information due to the malfunction of a certain output device, and improve the safety of autonomous driving.

[0939] Furthermore, warning messages are displayed on both the side of the autonomous vehicle approaching the anomalous agent and the side away from the anomalous agent. The display screen on the side closer to the anomalous agent shows the category to which the anomalous agent belongs, allowing other agents on that side to be aware of the abnormal situation early and to take evasive action or slow down in time, reducing the probability of traffic accidents. The display screen on the side away from the anomalous agent shows the behavioral data of the anomalous agent, enabling other agents on that side to better understand the driving behavior of the autonomous vehicle and take timely evasive action, thus improving safety.

[0940] In addition, by outputting prompts corresponding to the driving operations performed by the autonomous vehicle through the output device, other intelligent agents can better understand the driving operations of the autonomous vehicle and perform corresponding operations accordingly. This minimizes the conflict between the operations of other intelligent agents and the driving operations of the autonomous vehicle, thereby reducing the probability of traffic accidents and improving safety.

[0941] In addition, when an abnormal intelligent agent is detected within the current range of the autonomous vehicle, an abnormal intelligent agent notification message can be sent to the management server connected to the autonomous vehicle via a wireless network. This allows for timely assistance from the management server to handle the abnormal intelligent agent and prevent it from continuing to affect the driving of other vehicles. Alternatively, the abnormal intelligent agent notification message can be sent to other intelligent agents through the management server, enabling them to know the location of the abnormal intelligent agent in advance, avoid driving, and mitigate potential risks, thereby improving the safety of the autonomous vehicle.

[0942] Figure 19 This is a schematic diagram illustrating the structure of an autonomous vehicle according to an exemplary embodiment. Typically, the autonomous vehicle 1900 includes a processor 1901 and a memory 1902.

[0943] Processor 1901 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1901 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1901 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1901 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1901 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0944] The memory 1902 may include one or more computer-readable storage media, which may be non-transitory. The memory 1902 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1902 are used to store at least one instruction, which is configured by the processor 1901 to implement the lane information acquisition method provided in the method embodiments of this application.

[0945] In some embodiments, the autonomous vehicle 1900 may also optionally include: a peripheral device interface 1903 and at least one peripheral device. The processor 1901, memory 1902, and peripheral device interface 1903 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1904, a touch display screen 1905, a camera 1906, an audio circuit 1907, a positioning component 1908, and a power supply 1909.

[0946] Peripheral interface 1903 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1901 and memory 1902. In some embodiments, processor 1901, memory 1902 and peripheral interface 1903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1901, memory 1902 and peripheral interface 1903 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0947] The radio frequency (RF) circuit 1904 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1904 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1904 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1904 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1904 can communicate with other autonomous vehicles via at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 8G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1904 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0948] Display screen 1905 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1905 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1901 for processing. In this case, display screen 1905 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 1905, positioned on the front panel of the autonomous vehicle 1900; in other embodiments, there may be at least two display screens 1905, respectively positioned on different surfaces of the autonomous vehicle 1900 or in a folded design; in still other embodiments, display screen 1905 may be a flexible display screen, positioned on a curved or folded surface of the autonomous vehicle 1900. Furthermore, display screen 1905 may also be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. The display screen 1905 can be made of materials such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode).

[0949] The camera assembly 1906 is used to acquire images or videos. Optionally, the camera assembly 1906 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the autonomous vehicle 1900, and the rear-facing camera is located on the rear of the autonomous vehicle 1900. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1906 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cool light flash, which can be used for light compensation at different color temperatures.

[0950] The audio circuit 1907 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting them into electrical signals that are input to the processor 1901 for processing, or to the radio frequency circuit 1904 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, positioned at different locations within the autonomous vehicle 1900. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1901 or the radio frequency circuit 1904 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1907 may also include a headphone jack.

[0951] The positioning component 1908 is used to determine the current geographical location of the autonomous vehicle 1900 in order to enable navigation or LBS (Location Based Service). The positioning component 1908 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, Russia's Granas system, or the European Union's Galileo system.

[0952] Power source 1909 is used to power various components in the autonomous vehicle 1900. Power source 1909 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power source 1909 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0953] In some embodiments, the autonomous vehicle 1900 further includes one or more sensors 1910. The one or more sensors 1910 include, but are not limited to: an acceleration sensor 1911, a gyroscope sensor 1912, a pressure sensor 1913, a fingerprint sensor 1914, an optical sensor 1915, and a proximity sensor 1916.

[0954] Accelerometer 1911 can detect the magnitude of acceleration along the three axes of a coordinate system established by the autonomous vehicle 1900. For example, accelerometer 1911 can be used to detect the components of gravitational acceleration along the three axes. Processor 1901 can control touchscreen 1905 to display the user interface in landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1911. Accelerometer 1911 can also be used for games or for acquiring user motion data.

[0955] The gyroscope sensor 1912 can detect the orientation and rotation angle of the autonomous vehicle 1900. The gyroscope sensor 1912, in conjunction with the accelerometer sensor 1911, can collect 3D motion data from the user on the autonomous vehicle 1900. Based on the data collected by the gyroscope sensor 1912, the processor 1901 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0956] Pressure sensor 1913 can be disposed on the side frame of autonomous vehicle 1900 and / or on the lower layer of touch display screen 1905. When pressure sensor 1913 is disposed on the side frame of autonomous vehicle 1900, it can detect the user's grip signal on autonomous vehicle 1900, and processor 1901 can perform left / right hand recognition or quick operation based on the grip signal collected by pressure sensor 1913. When pressure sensor 1913 is disposed on the lower layer of touch display screen 1905, processor 1901 can control operable controls on the UI interface based on the user's pressure operation on touch display screen 1905. Operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0957] Fingerprint sensor 1914 is used to collect a user's fingerprint. Processor 1901 identifies the user based on the fingerprint collected by fingerprint sensor 1914, or vice versa. When the user's identity is verified as trusted, processor 1901 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. Fingerprint sensor 1914 can be located on the front, back, or side of autonomous vehicle 1900. When autonomous vehicle 1900 has physical buttons or a manufacturer's logo, fingerprint sensor 1914 can be integrated with the physical buttons or logo.

[0958] An optical sensor 1915 is used to collect ambient light intensity. In one embodiment, the processor 1901 can control the display brightness of the touch screen 1905 based on the ambient light intensity collected by the optical sensor 1915. Specifically, when the ambient light intensity is high, the display brightness of the touch screen 1905 is increased; when the ambient light intensity is low, the display brightness of the touch screen 1905 is decreased. In another embodiment, the processor 1901 can also dynamically adjust the shooting parameters of the camera assembly 1906 based on the ambient light intensity collected by the optical sensor 1915.

[0959] The proximity sensor 1916, also known as a distance sensor, is typically located on the front panel of the autonomous vehicle 1900. The proximity sensor 1916 is used to detect the distance between the user and the front of the autonomous vehicle 1900. In one embodiment, when the proximity sensor 1916 detects that the distance between the user and the front of the autonomous vehicle 1900 is gradually decreasing, the processor 1901 controls the touchscreen display 1905 to switch from a screen-on state to a screen-off state; when the proximity sensor 1916 detects that the distance between the user and the front of the autonomous vehicle 1900 is gradually increasing, the processor 1901 controls the touchscreen display 1905 to switch from a screen-off state to a screen-on state.

[0960] Those skilled in the art will understand that Figure 19 The structure shown does not constitute a limitation on the autonomous vehicle 1900 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0961] This application also provides an autonomous driving vehicle, which includes an output device, a processor, and a memory. The output device includes at least one of a display screen, a speaker, a horn, or a warning light. The memory stores at least one piece of program code, which is loaded and executed by the processor to implement the operations performed in the methods of the above embodiments.

[0962] This application also provides a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the operations performed in the methods of the above embodiments.

[0963] This application also provides a computer program that stores at least one line of program code, which is loaded and executed by a processor to perform the operations performed in the methods of the above embodiments.

[0964] The above description is only for the purpose of enabling those skilled in the art to understand the technical solution of this application, and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A prompting method, characterized in that, Applied to autonomous vehicles, the method includes: Identify the target vehicle, which is a vehicle whose driving route intersects with the driving route of the autonomous vehicle; Based on the positions of the autonomous vehicle and the target vehicle, driving operations are performed, and during the driving operations, prompt information is output through the output device of the autonomous vehicle; The target vehicle includes vehicles on the road currently in which the autonomous vehicle is traveling in the opposite direction; The output device includes multiple display screens, speakers, a horn, and indicator lights. Each display screen faces a different direction and displays different information. The indicator information is used to prompt other intelligent agents, including humans or other autonomous vehicles besides the autonomous vehicle itself. The indicator information includes: the meeting status between the autonomous vehicle and the target vehicle and the operations that the other intelligent agent should perform. The meeting status includes: the distance between the autonomous vehicle and the target vehicle, the driving operation currently being performed by the autonomous vehicle, and whether the autonomous vehicle is currently avoiding the target vehicle. Specifically, the prompt message indicates that the autonomous vehicle is avoiding the target vehicle; When there is a covered area in front of the road where the autonomous vehicle is traveling, the identification of the target vehicle includes at least one of the following: Listen to the sounds in the current environment; if the similarity between the sound characteristics of the listened sound and the pre-set whistle sound characteristics is higher than a preset threshold, and the source direction of the listened sound is in front of the autonomous vehicle, then the vehicle that made the sound will be the target vehicle. Capture a picture of the environment ahead and extract the light features from the picture; if the similarity between the extracted light features and the pre-set light features is higher than a preset threshold, then the vehicle emitting the lights is identified as the target vehicle. A vehicle identification request is sent to a vehicle-to-everything (V2X) wireless device, which then screens vehicle information within a preset range of the autonomous vehicle's location based on the vehicle identification request and returns the vehicle information to the autonomous vehicle. Based on the vehicle information returned by the V2X wireless device, it determines whether there are other vehicles ahead; if so, it designates the vehicles ahead as the target vehicles. The V2X wireless device includes at least one of the following: roadside streetlights, charging piles, other public facilities, and a management server that the autonomous vehicle logs into. When the target vehicle is a vehicle traveling in the opposite direction to the autonomous vehicle on the current road, the step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: If the road where the autonomous vehicle is located is obstructed, and a convex mirror placed in the road is within the field of vision of the autonomous vehicle, the relative position of the autonomous vehicle and the convex mirror is obtained, and the image of the convex mirror is captured; the position and angle of the obstacle contained in the convex mirror image are identified; based on the relative position of the autonomous vehicle and the convex mirror and the position and angle of the obstacle, the relative position of the obstacle and the autonomous vehicle is determined; according to the position of the obstacle, the position of the autonomous vehicle and the target vehicle, the meeting position of the autonomous vehicle and the target vehicle is determined. If there is no obstacle in front of the autonomous vehicle, or if there is an obstacle in front of the autonomous vehicle and the oncoming vehicle is behind the obstacle, then a deceleration operation or a stopping operation is performed; if there is an obstacle in front of the autonomous vehicle and the oncoming vehicle is in front of the obstacle, then an acceleration operation is performed.

2. The method according to claim 1, characterized in that, The identification of the target vehicle includes: When performing a change from the first lane to the second lane, a vehicle in the second lane is identified as the target vehicle; The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: Perform a waiting operation in the area where the first lane and the second lane meet; When the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other, the autonomous vehicle performs the operation of moving from the first lane to the second lane.

3. The method according to claim 2, characterized in that, During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device, including: During the waiting operation, the output device outputs a first prompt message, which is used to indicate that the autonomous vehicle is waiting to merge into the second lane. During the operation of moving from the first lane to the second lane, a second prompt message is output through the output device. The second prompt message is used to indicate that the autonomous vehicle is merging into the second lane.

4. The method according to claim 1, characterized in that, The identification of the target vehicle includes: Identify vehicles that have moved from other lanes into the current first lane as the target vehicle; Alternatively, identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane as the target vehicle; The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: Based on the positions of the autonomous vehicle and the target vehicle, perform deceleration, lane changing, or maintain the current driving operation.

5. The method according to claim 4, characterized in that, During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device, including: During the deceleration operation, a third prompt message is output through the output device, indicating that the autonomous vehicle is avoiding the target vehicle; or... During the lane-changing operation, a fourth prompt message is output through the output device, which is used to prompt the autonomous vehicle that it is changing lanes. While maintaining the current driving operation, the output device outputs a fifth prompt message, which is used to indicate that the autonomous vehicle has not taken evasive action.

6. The method according to claim 1, characterized in that, The identification of the target vehicle includes: Identify, in the first lane currently in which the autonomous vehicle is located, a vehicle in front of the autonomous vehicle that is traveling at a speed less than that of the autonomous vehicle, and designate it as the target vehicle. The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: Perform an operation to overtake the target vehicle; After completing the operation of overtaking the target vehicle, continue driving in the first lane.

7. The method according to claim 6, characterized in that, During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device, including: During the operation of overtaking the target vehicle, a sixth prompt message is output through the output device. The sixth prompt message is used to indicate that the autonomous vehicle is overtaking. After completing the operation of overtaking the target vehicle, the output device outputs a seventh prompt message, which is used to remind the autonomous vehicle to drive normally.

8. The method according to claim 1, characterized in that, The identification of the target vehicle includes: Identify, in the first lane currently in which the autonomous vehicle is located, a vehicle that is behind the autonomous vehicle and whose speed is greater than that of the autonomous vehicle, as the target vehicle; The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: Perform an operation to avoid the target vehicle; After the target vehicle passes the autonomous vehicle, the driving operation continues in the first lane.

9. The method according to claim 8, characterized in that, During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device, including: During the operation of avoiding the target vehicle, the output device outputs an eighth prompt message, which is used to prompt the autonomous vehicle that it is avoiding the target vehicle, or to prompt the target vehicle to maintain a safe distance from the autonomous vehicle.

10. The method according to claim 8, characterized in that, During the execution of driving operations, the autonomous vehicle outputs prompt information through its output device, including: During the process of the target vehicle overtaking the autonomous vehicle, if the distance between the target vehicle and the autonomous vehicle is less than a preset distance, a ninth prompt message is output through the output device. The ninth prompt message is used to indicate that the distance between the vehicles is too close.

11. The method according to claim 1, characterized in that, The step of performing driving operations according to the positions of the autonomous vehicle and the target vehicle includes: Based on the positions of the autonomous vehicle and the target vehicle, the distance between the autonomous vehicle and the target vehicle is obtained; When the distance is less than the preset distance, a deceleration operation is performed; After the deceleration operation is performed, the deceleration operation is stopped when the distance is not less than the preset distance.

12. The method according to claim 1, characterized in that, The driving operation is a deceleration operation or a stopping operation. During the execution of the driving operation, the output device of the autonomous vehicle outputs prompt information, including: During the execution of the driving operation, the autonomous vehicle outputs a warning message for avoiding obstacles through its output device.

13. The method according to claim 1, characterized in that, The driving operation is an acceleration operation. During the execution of the driving operation, the output device of the autonomous vehicle outputs prompt information, including: During the execution of the driving operation, the output device of the autonomous vehicle outputs a prompt message requesting the target vehicle to give way.

14. The method according to any one of claims 1-13, characterized in that, The output of prompt information through the output device of the autonomous vehicle includes at least one of the following: The prompt message is displayed on the display screen; The prompt message is played through the speaker; Illuminate the indicator light corresponding to the driving operation; Light up the indicator light corresponding to the current environmental information; Perform the horn blasting operation according to the horn blasting rhythm corresponding to the driving operation.

15. A prompting device, characterized in that, The device, used in autonomous vehicles, includes: The target vehicle identification module is used to identify target vehicles, which are vehicles whose driving routes intersect with the driving routes of the autonomous driving vehicle. The driving operation execution module is used to execute driving operations according to the position of the autonomous vehicle and the position of the target vehicle; The prompt information output module is used to output prompt information through the output device of the autonomous vehicle during the execution of driving operations; The target vehicle includes vehicles on the road currently in which the autonomous vehicle is traveling in the opposite direction; The output device includes multiple display screens, speakers, a horn, and indicator lights. Each display screen faces a different direction and displays different information. The indicator information is used to prompt other intelligent agents, including humans or other autonomous vehicles besides the autonomous vehicle itself. The indicator information includes: the meeting status between the autonomous vehicle and the target vehicle and the operations that the other intelligent agent should perform. The meeting status includes: the distance between the autonomous vehicle and the target vehicle, the driving operation currently being performed by the autonomous vehicle, and whether the autonomous vehicle is currently avoiding the target vehicle. Specifically, the prompt message indicates that the autonomous vehicle is avoiding the target vehicle; When there is a covered area in front of the road where the autonomous vehicle is traveling, the target vehicle identification module is configured to perform at least one of the following: Listen to the sounds in the current environment; if the similarity between the sound characteristics of the listened sound and the pre-set whistle sound characteristics is higher than a preset threshold, and the source direction of the listened sound is in front of the autonomous vehicle, then the vehicle that made the sound will be the target vehicle. Capture a picture of the environment ahead and extract the light features from the picture; if the similarity between the extracted light features and the pre-set light features is higher than a preset threshold, then the vehicle emitting the lights is identified as the target vehicle. A vehicle identification request is sent to a vehicle-to-everything (V2X) wireless device, which then screens vehicle information within a preset range of the autonomous vehicle's location based on the vehicle identification request and returns the vehicle information to the autonomous vehicle. Based on the vehicle information returned by the V2X wireless device, it determines whether there are other vehicles ahead; if so, it designates the vehicles ahead as the target vehicles. The V2X wireless device includes at least one of the following: roadside streetlights, charging piles, other public facilities, and a management server that the autonomous vehicle logs into. If the target vehicle is a vehicle traveling in the opposite direction to the autonomous vehicle on the current road, the driving operation execution module is further configured to: If the road where the autonomous vehicle is located is obstructed, and a convex mirror placed in the road is within the field of vision of the autonomous vehicle, the relative position of the autonomous vehicle and the convex mirror is obtained, and the image of the convex mirror is captured; the position and angle of the obstacle contained in the convex mirror image are identified; based on the relative position of the autonomous vehicle and the convex mirror and the position and angle of the obstacle, the relative position of the obstacle and the autonomous vehicle is determined; according to the position of the obstacle, the position of the autonomous vehicle and the target vehicle, the meeting position of the autonomous vehicle and the target vehicle is determined; if there is no obstacle in front of the autonomous vehicle or there is an obstacle in front of the autonomous vehicle and the meeting position is behind the obstacle, a deceleration operation or a stopping operation is performed; if there is an obstacle in front of the autonomous vehicle and the meeting position is in front of the obstacle, an acceleration operation is performed.

16. The apparatus according to claim 15, characterized in that, The target vehicle identification module includes: The first identification unit is used to identify a vehicle in the second lane as the target vehicle when performing an operation to change from the first lane to the second lane; The driving operation execution module includes: A waiting unit is used to perform a waiting operation in the boundary area between the first lane and the second lane; The lane-changing unit is used to perform the operation of moving from the first lane to the second lane when the position of the autonomous vehicle and the position of the target vehicle meet the conditions for passing each other.

17. The apparatus according to claim 16, characterized in that, The prompt information output module includes: The first prompting unit is used to output a first prompting message through the output device during the waiting operation. The first prompting message is used to prompt the autonomous vehicle that it is waiting to merge into the second lane. The second prompting unit is used to output a second prompting message through the output device during the operation of moving from the first lane to the second lane. The second prompting message is used to prompt the autonomous vehicle that it is merging into the second lane.

18. The apparatus according to claim 15, characterized in that, The target vehicle identification module includes: The second identification unit is used to identify vehicles that have moved from other lanes into the current first lane as the target vehicle; or... The third identification unit is used to identify vehicles in the adjacent lanes of the current first lane that are traveling in the direction of the first lane, and to identify them as the target vehicles. The driving operation execution module includes: The first execution unit is used to perform deceleration operations, lane changing operations, or maintain the current driving operation according to the position of the autonomous vehicle and the position of the target vehicle.

19. The apparatus according to claim 18, characterized in that, The prompt information output module includes: The third prompting unit is used to output a third prompting message through the output device during the deceleration operation. The third prompting message is used to indicate that the autonomous vehicle is avoiding the target vehicle; or... The fourth prompting unit is used to output a fourth prompting message through the output device during the lane-changing operation, the fourth prompting message being used to prompt the autonomous vehicle that it is changing lanes; The fifth prompting unit is used to output a fifth prompting message through the output device while maintaining the current driving operation. The fifth prompting message is used to prompt the autonomous vehicle that it has not avoided the obstacle.

20. The apparatus according to claim 15, characterized in that, The target vehicle identification module includes: The fourth identification unit is used to identify, in the first lane currently in which the autonomous vehicle is located in front of it and whose speed is less than that of the autonomous vehicle, as the target vehicle. The driving operation execution module includes: The overtaking unit is used to perform the operation of overtaking the target vehicle; The first normal driving unit is used to continue driving in the first lane after completing the operation of overtaking the target vehicle.

21. The apparatus according to claim 20, characterized in that, The prompt information output module includes: The sixth prompting unit is used to output a sixth prompting message through the output device during the operation of overtaking the target vehicle. The sixth prompting message is used to prompt the autonomous vehicle that it is overtaking. The seventh prompting unit is used to output a seventh prompting message through the output device after the operation of overtaking the target vehicle is completed. The seventh prompting message is used to prompt the autonomous vehicle to drive normally.

22. The apparatus according to claim 15, characterized in that, The target vehicle identification module includes: The fifth identification unit is used to identify, in the first lane currently in which the autonomous vehicle is located behind the autonomous vehicle and its speed is greater than that of the autonomous vehicle, as the target vehicle; The driving operation execution module includes: The first avoidance unit is used to perform the operation of avoiding the target vehicle; The second normal driving unit is used to continue driving operations in the first lane after the target vehicle has overtaken the autonomous vehicle.

23. The apparatus according to claim 22, characterized in that, The prompt information output module includes: The eighth prompting unit is used to output an eighth prompting message through the output device during the operation of avoiding the target vehicle. The eighth prompting message is used to prompt the autonomous vehicle that it is avoiding the target vehicle, or to prompt the target vehicle to maintain a distance from the autonomous vehicle.

24. The apparatus according to claim 22, characterized in that, The prompt information output module includes: The ninth prompt unit is used to output a ninth prompt message through the output device if the distance between the target vehicle and the autonomous vehicle is less than a preset distance during the process of the target vehicle overtaking the autonomous vehicle. The ninth prompt message is used to indicate that the distance between the vehicles is too close.

25. The apparatus according to claim 15, characterized in that, The driving operation execution module includes: The distance acquisition unit is used to acquire the distance between the autonomous vehicle and the target vehicle based on the position of the autonomous vehicle and the position of the target vehicle; A deceleration unit is used to perform a deceleration operation when the distance is less than a preset distance; The deceleration stop unit is used to stop the deceleration operation after it has been performed, when the distance is not less than the preset distance.

26. The apparatus according to claim 15, characterized in that, The driving operation is a deceleration operation or a stopping operation, and the prompt information output module includes: The second avoidance unit is used to output avoidance prompts for the autonomous vehicle through the output device of the autonomous vehicle during the execution of the driving operation.

27. The apparatus according to claim 15, characterized in that, The driving operation is an acceleration operation, and the prompt information output module includes: The third avoidance unit is used to output a prompt message requesting the target vehicle to avoid the driver during the execution of the driving operation via the output device of the autonomous vehicle.

28. The apparatus according to any one of claims 15-27, characterized in that, The prompt information output module includes: The display unit is used to display the prompt information through the display screen; A playback unit is used to play the prompt information through the speaker; The first illumination unit is used to illuminate the indicator light corresponding to the driving operation; The second lighting unit is used to illuminate the indicator light corresponding to the current environmental information; The horn unit is used to perform horn-honking operations according to the horn-honking rhythm corresponding to the driving operation.

29. An autonomous vehicle, characterized in that, The autonomous vehicle includes: an output device, a processor, and a memory; The output device includes at least one of a display screen, a speaker, a car horn, or an indicator light; The memory stores at least one piece of program code, which is loaded and executed by the processor to perform the operations performed in the prompting method as described in any one of claims 1 to 14.

30. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, which is loaded and executed by a processor to perform the operation performed in the prompting method as described in any one of claims 1 to 14.

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