Vehicle getting-off interaction reminder method, device and vehicle

Abstract

The present invention discloses a method, device and vehicle for getting-off interaction reminder. The method includes: obtaining the standing position information of a passenger, where the standing position information at least includes a standing area and area acceleration; determining an intersection area according to the standing area and a pre-determined historical getting-off area, and if the ratio of the intersection area to the standing area is greater than a first preset ratio threshold, obtaining the current video information inside the vehicle; determining the getting-off intention of the passenger according to the current video information, area acceleration and a preset intention determination condition, and sending a driver reminder information generated according to the getting-off intention to the driver side; generating a getting-off reminder information according to an intention receiving signal input by the driver side, and performing a getting-off reminder according to the getting-off reminder information. The technical solution of this embodiment solves the problems that the expression of the passenger's getting-off intention needs to be actively triggered, and the passenger cannot promptly and clearly know whether the driver has received the getting-off intention, improving driving safety and riding comfort.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation, and particularly to a vehicle getting-off interaction reminder method, device and vehicle. Background Art

[0002] At present, as the urban scale gradually expands, transportation tools have become necessities for people to travel, and more and more people choose buses as daily commuting transportation tools.

[0003] While buses bring convenience to people's lives, there are also many problems. When passengers need to get off, in order to inform the driver of the getting-off demand, they often need to perform a certain triggering operation actively, such as pressing the stop button, so as to remind the driver through the getting-off reminder ringtone.

[0004] However, when there are many passengers getting off at a certain stop, multiple passengers press the stop button in sequence, which will cause the getting-off reminder ringtone to sound multiple times. At the same time, since the passengers pressing the bell cannot know whether the driver already knows their getting-off demand, they often use the method of pressing the stop button multiple times to remind, which causes a certain degree of interference to both the driver and other passengers, increases the potential safety hazard of traffic, and reduces the riding comfort of other passengers. Summary of the Invention

[0005] The present invention provides a vehicle getting-off interaction reminder method, device and vehicle, which combines various information of passengers during the vehicle driving process, determines the getting-off intention of passengers without the need for active operation, and realizes two-way reminder between the driver and passengers, improves the interaction between the driver and passengers, reduces the interference to other passengers, and improves driving safety and riding comfort.

[0006] In a first aspect, an embodiment of the present invention provides a vehicle getting-off interaction reminder method, including:

[0007] Obtain the standing position information of the passenger, and the standing position information at least includes the standing area and the area acceleration;

[0008] Determine the intersection area according to the standing area and the pre-determined historical getting-off area. If the ratio of the intersection area to the standing area is greater than the first preset ratio threshold, obtain the current video information in the vehicle;

[0009] Determine the getting-off intention of the passenger according to the current video information, the area acceleration and the preset intention determination condition, and send the driver reminder information generated according to the getting-off intention to the driver end;

[0010] Generate getting-off reminder information according to the intention receiving signal input by the driver end, and perform getting-off reminder according to the getting-off reminder information.

[0011] In a second aspect, an embodiment of the present invention further provides a vehicle getting-off interaction reminder device, which includes:

[0012] A position information acquisition module, configured to acquire the standing position information of a passenger, where the standing position information at least includes a standing area and an area acceleration;

[0013] A video information acquisition module, configured to determine an intersection area according to the standing area and a pre-determined historical getting-off area. If the ratio of the intersection area to the standing area is greater than a first preset ratio threshold, acquire the current video information inside the vehicle;

[0014] An intention determination module, configured to determine the getting-off intention of the passenger according to the current video information, the area acceleration, and a preset intention determination condition, and send the driver reminder information generated according to the getting-off intention to the driver side;

[0015] A getting-off reminder module, configured to generate a getting-off reminder information according to an intention reception signal input from the driver side, and perform a getting-off reminder according to the getting-off reminder information.

[0016] In a third aspect, an embodiment of the present invention further provides a vehicle, which includes:

[0017] One or more controllers;

[0018] A storage device, configured to store one or more programs;

[0019] When the one or more programs are executed by the one or more controllers, the one or more controllers implement the vehicle getting-off interaction reminder method as described in the first aspect above.

[0020] A vehicle getting-off interaction reminder method, device and vehicle provided by an embodiment of the present invention obtain the standing position information of a passenger, where the standing position information at least includes a standing area and area acceleration; determine an intersection area according to the standing area and a pre-determined historical getting-off area, and if the ratio of the intersection area to the standing area is greater than a first preset ratio threshold, obtain the current video information in the vehicle; determine the getting-off intention of the passenger according to the current video information, area acceleration and a preset intention determination condition, and send a driver reminder information generated according to the getting-off intention to the driver side; generate a getting-off reminder information according to an intention receiving signal input by the driver side, and perform a getting-off reminder according to the getting-off reminder information. By adopting the above technical solution, according to the intersection area between the standing position information of the passenger at the current moment and the pre-determined historical getting-off area, it is first determined whether the passenger may have a getting-off intention, and then the getting-off intention of the passenger is further clarified through the obtained current video information and the acceleration information of the passenger's standing position. When it is determined that the passenger has a getting-off intention, the driver is made aware of the passenger's getting-off intention by sending the driver reminder information to the driver side, and the feedback of the driver for the getting-off intention is generated into a corresponding getting-off reminder information for getting-off reminder. It solves the problems that the expression of the passenger's getting-off intention needs to be actively triggered and the passenger cannot promptly clarify whether the driver has received the getting-off intention. Through the combined determination of multiple pieces of information, the getting-off intention is clarified and prompted to the driver without the passenger's active operation, and at the same time, the feedback of the driver receiving the reminder information is promptly transmitted to the passenger, improving the timeliness of information interaction between the passenger and the driver, reducing the active operations required by the passenger to get off in time, reducing the interference of the getting-off reminder to other passengers, improving the accuracy of getting-off intention prediction, and enhancing driving safety and riding comfort.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0023] Figure 1 is a flowchart of a vehicle getting-off interaction reminder method in Embodiment 1 of the present invention;

[0024] Figure 2 is a flowchart of a vehicle getting-off interaction reminder method in Embodiment 2 of the present invention;

[0025] Figure 3 It is a flowchart of a process for pre-determining a historical alighting area in the second embodiment of the present invention;

[0026] Figure 4 It is a flowchart of a process for determining a historical alighting area according to the coincidence relationship between each regional element unit and the standing position information of each alighting passenger corresponding to the alighting station in the second embodiment of the present invention;

[0027] Figure 5 It is a schematic structural diagram of a vehicle alighting interaction reminder device in the third embodiment of the present invention;

[0028] Figure 6 It is a schematic structural diagram of a vehicle in the fourth embodiment of the present invention. Detailed implementation manners

[0029] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 It is a flowchart of a vehicle alighting interaction reminder method provided in Embodiment 1 of the present invention. This embodiment is applicable to the situation of predicting the alighting intention of passengers and realizing the interactive reminder between the driver and the passengers for the alighting intention. This method can be executed by a vehicle alighting interaction reminder device, which can be implemented by software and / or hardware. The vehicle alighting interaction reminder device can be configured under a computer device, and the computer device can be composed of two or more physical entities or one physical entity.

[0033] As shown Figure 1 in the figure, a vehicle getting-off interaction reminder method provided by Embodiment 1 of the present invention specifically includes the following steps:

[0034] S101. Obtain the standing position information of the passenger.

[0035] Among them, the standing position information at least includes the standing area and the area acceleration.

[0036] In this embodiment, the standing position information can be specifically understood as various information that a passenger has in a standing state collected by sensors arranged in the vehicle floor. Optionally, the standing position information at least includes the standing area and the area acceleration. Among them, the standing area can be specifically understood as the standing area required by the passenger in a standing state, that is, the area occupied by the passenger's feet; the area acceleration can be specifically understood as the acceleration collected by the sensor due to the actions of the passenger and the driving of the bus.

[0037] It should be clear that the sensor for collecting the standing position information can be a gravity sensor or a pressure sensor. The embodiments of the present invention do not limit this, as long as it can collect the corresponding position area and acceleration information. At the same time, the collection of the standing position information can be for the entire vehicle or for a specific area in advance according to the getting-off requirement. The embodiments of the present invention do not limit this.

[0038] Specifically, during the driving of the vehicle, each sensor arranged in the vehicle floor collects real-time information and uploads the collected information to the corresponding controller for processing. When it is detected that there is a passenger standing, the standing area corresponding to the passenger standing can be determined according to the position and number of the sensors that collect the passenger standing information. At the same time, according to the acceleration information collected by the sensors in the standing area, the area acceleration corresponding to the standing area is determined. Optionally, the area acceleration can be the average value of the accelerations collected by all the sensors in the standing area or the acceleration value collected by the sensor located at the center of the standing area. The embodiments of the present invention do not limit this.

[0039] S102. Determine the intersection area according to the standing area and the pre-determined historical getting-off area. If the ratio of the intersection area to the standing area is greater than the first preset ratio threshold, obtain the current video information in the vehicle.

[0040] In this embodiment, the historical alighting area can be specifically understood as the set of areas where most passengers stood before alighting, determined based on the alighting information of each passenger within a period of historical time. That is to say, passengers standing in this area have a certain intention to alight. The first preset proportion threshold can be specifically understood as a proportion value set in advance for determining whether a passenger is located in the historical alighting area. Optionally, the first preset proportion threshold can be 80%, and the embodiments of the present invention do not limit it. The current video information can be specifically understood as the video information at the current moment collected by an in-vehicle camera.

[0041] Specifically, compare the standing area with the pre-determined historical alighting area, determine the overlapping part, and determine the area of the overlapping part as the intersection area. Determine the ratio of the intersection area to the standing area to clarify how much of the standing area corresponding to the passenger is located in the historical alighting area. If the ratio is greater than the first preset proportion threshold, it can be considered that most of the standing position of the passenger is located in the historical alighting area, that is, it can be considered that the passenger has a certain intention to alight at this moment. At this time, obtain the current video information in the vehicle to collect and analyze the passenger's action information based on the current video information.

[0042] S103. Determine the alighting intention of the passenger according to the current video information, the regional acceleration, and the preset intention determination condition, and send the driver prompt information generated according to the alighting intention to the driver terminal.

[0043] In this embodiment, the preset intention determination condition can be specifically understood as a determination condition set in advance for further determining whether a passenger located in the historical alighting area has an alighting intention. The driver prompt information can be specifically understood as prompt information for prompting the driver that a passenger needs to alight. The driver terminal can be specifically understood as a device or component located in the driver area for the driver to obtain information. It can be an independently set component or a component integrated in the driver's instrument panel or operation area for information display. The embodiments of the present invention do not limit this.

[0044] Specifically, determine the action information of the passenger located in the historical alighting area that is not likely to cause acceleration changes according to the current video information, and determine the acceleration changes that the passenger located in the historical alighting area may have due to the need to alight through the regional acceleration. Compare the action information and the acceleration changes with the preset intention determination condition. When the preset intention determination condition is met, it can be considered that the passenger has an alighting intention, and when it is not met, it can be considered that the passenger has no alighting intention. Then, generate driver prompt information for prompting the driver according to the alighting intention, and send the driver prompt information to the driver terminal through the CAN line or other communication methods for reminder.

[0045] In an embodiment of the present invention, by combining the historical alighting area, current video information, and regional acceleration information to comprehensively judge the alighting intention of passengers, the judged alighting intention is made more accurate. After the alighting intention is judged, a prompt is automatically given to the driver side without manual operation by the passengers, improving the riding comfort.

[0046] S104. Generate an alighting prompt message according to the intention receiving signal input by the driver side, and give an alighting reminder based on the alighting prompt message.

[0047] In this embodiment, the intention receiving signal can be specifically understood as the signal indicating that the intention has been received given by the driver after successfully receiving the alighting intention of the passenger. The alighting prompt message can be specifically understood as the message used to remind internally and / or externally that someone is getting off the vehicle when a passenger needs to get off.

[0048] Specifically, after the driver receives the information that a passenger needs to get off through the driver prompt message, the driver inputs the corresponding intention receiving signal at the driver side, so that the corresponding controller in the vehicle can generate the corresponding alighting prompt message according to the intention receiving signal, and send the alighting prompt message to the control unit for corresponding prompting, so as to realize the alighting reminder for the passengers and / or the people outside the vehicle, making the passengers clear that their alighting intention has been known by the driver, so that the passengers do not need to actively communicate with the driver about getting off, and at the same time, making the people or vehicles outside the vehicle clear that there are people getting in and out of the current vehicle, so as to avoid in time. Exemplarily, the driver can input the intention receiving signal through hardware such as a button arranged at the driver's seat, or can also input the intention receiving signal through a touch switch, etc. The embodiments of the present invention do not limit this.

[0049] In an embodiment of the present invention, the standing position information of a passenger is obtained, where the standing position information at least includes a standing area and the acceleration of the area; the intersection area is determined based on the standing area and a pre-determined historical alighting area. If the ratio of the intersection area to the standing area is greater than a first preset ratio threshold, the current video information inside the vehicle is obtained; based on the current video information, the area acceleration, and a preset intention determination condition, the alighting intention of the passenger is determined, and the driver prompt information generated according to the alighting intention is sent to the driver terminal; the alighting prompt information is generated based on the intention reception signal input by the driver terminal, and the alighting reminder is performed according to the alighting prompt information. By adopting the above technical solution, based on the intersection area between the standing position information of the passenger at the current moment and the pre-determined historical alighting area, it is first determined whether the passenger may have an alighting intention. Furthermore, the alighting intention of the passenger is further clarified through the obtained current video information and the acceleration information of the passenger's standing position. When it is determined that the passenger has an alighting intention, the driver is made aware of the passenger's alighting intention by sending the driver prompt information to the driver terminal, and the feedback of the driver regarding the alighting intention is generated into the corresponding alighting prompt information for the alighting reminder. This solves the problems that the expression of the passenger's alighting intention needs to be actively triggered and the passenger cannot promptly clarify whether the driver has received the alighting intention. Through the combined determination of multiple pieces of information, the alighting intention is clarified and prompted to the driver without the passenger's active operation. At the same time, the feedback of the driver receiving the prompt information is promptly transmitted to the passenger, improving the timeliness of information interaction between the passenger and the driver, reducing the active operations required by the passenger to alight in a timely manner, reducing the interference of the alighting reminder to other passengers, improving the accuracy of alighting intention prediction, and enhancing driving safety and riding comfort.

[0050] Embodiment 2

[0051] Figure 2The flowchart of a vehicle getting-off interaction reminder method provided in the second embodiment of the present invention. The technical solution of the embodiment of the present invention is further optimized on the basis of the above optional technical solutions, and provides a method for determining the historical getting-off area. After determining that the passenger is in the historical getting-off area, it is determined whether there is a preset getting-off behavior in the current video information or whether the regional acceleration exceeds the preset acceleration threshold range to determine the getting-off intention of the passenger, and then a corresponding driver reminder information is generated and sent to the driver side for reminder. At the same time, a getting-off reminder information is generated according to the intention reception signal input by the driver side to light up the reminder light at the corresponding position of the passenger or play a preset voice, and at the same time, the parking lights outside the vehicle are lit to realize the getting-off reminder. At the same time, the embodiment of the present invention gives a method for determining the specific vehicle position information by using the current vehicle position information, the current vehicle wheel speed and the current wheel steering angle, so that the determined specific vehicle position information is more accurate than the position information determined simply relying on the GPS system, and further makes the result of the stop prediction based on the specific vehicle position information more accurate. At the same time, when determining the getting-off intention of the passenger, the current audio information in the vehicle can also be referred to. On the basis of considering the current video information and the regional acceleration, the determination factor of the audio information is added, so that the determined getting-off intention is more accurate, and the driving safety and riding comfort are improved.

[0052] As Figure 2 shown, a vehicle getting-off interaction reminder method provided in the second embodiment of the present invention specifically includes the following steps:

[0053] S201. Obtain the current vehicle position information, the current vehicle wheel speed and the current wheel steering angle.

[0054] In this embodiment, the current vehicle position information can be specifically understood as the position information of the vehicle at the current moment obtained by the position acquisition device configured in the vehicle itself. The current vehicle wheel speed can be specifically understood as the rotation speed of the vehicle wheels at the current moment, and can also be understood as the current driving speed of the vehicle. The current wheel steering angle can be specifically understood as the angle at which the front wheels of the vehicle turn left or right when turning.

[0055] Specifically, the current vehicle position information is obtained by the controller or module that plays a positioning role in the vehicle, the wheel speed pulse signal at the current moment is read from the vehicle CAN bus, and the current vehicle wheel speed and the current wheel steering angle are determined therefrom. Optionally, the current vehicle position information can be a GPS signal, and the embodiment of the present invention does not limit this.

[0056] S202. Substitute the current vehicle position information, the current vehicle wheel speed and the current wheel steering angle into the Kalman filter equation to determine the specific vehicle position information.

[0057] Among them, the current vehicle position information is the observation input quantity, and the current vehicle wheel speed and the current wheel steering angle are the state input quantities.

[0058] Specifically, the current vehicle position information is input as the observation input of the observation equation in the Kalman filter equation, the current wheel speed and the current wheel angle are input as the state input of the motion equation in the Kalman filter equation, and the predicted position information is determined as the specific vehicle position information.

[0059] Exemplarily, the Kalman filter equation can be specifically expressed by the following formula:

[0060] Motion equation: x k = A k-1 x k-1 + v k + w k , k = 1,..., K

[0061] Observation equation: y k = C k x k + n k , k = 0,..., K

[0062] Among them, x k is the system state quantity, v k is the state input quantity, A k-1 is the transfer matrix, w k is the process noise, y k is the observation input quantity, n k is the observation Gaussian noise, C k is the observation matrix, and k is the observation time.

[0063] Furthermore, in the embodiment of the present invention, the motion equation can be expressed as:

[0064]

[0065] Furthermore, in the embodiment of the present invention, the motion equation can be expressed as:

[0066]

[0067] Among them, respectively represent the x-direction coordinate, x-direction speed, y-direction coordinate, and y-direction speed at the kth moment, T is a sampling period of the high-frequency wheel speed pulse, a(k) is the acceleration, which can be determined according to the current vehicle wheel speed and the current wheel angle, w 2×1 (k) is the process noise, and v 2×1 (k) is the observation Gaussian noise.

[0068] S203. Perform station prediction according to the specific vehicle position information.

[0069] Specifically, in combination with the pre-determined station route information or the pre-determined passenger destination information, when the vehicle position included in the specific vehicle position information is close to the station in the station route information or the passenger destination, a station forecast is performed.

[0070] S204. Obtain the standing position information of the passenger.

[0071] Among them, the standing position information includes at least the standing area and the area acceleration.

[0072] S205. Determine the intersection area according to the standing area and the pre-determined historical getting-off area.

[0073] Furthermore, Figure 3 FIG. 204 is a flowchart of a process for pre-determining a historical getting-off area provided in the second embodiment of the present invention. As Figure 3 shown, it specifically includes the following steps:

[0074] S301. Obtain a set of historical standing position information.

[0075] Among them, the set of historical standing position information includes the standing position information of each getting-off passenger in the vehicle getting-off area within a preset historical time.

[0076] In this embodiment, the vehicle getting-off area can be specifically understood as the position near the vehicle door where passengers often stand when waiting to get off. This area can be divided according to the actual situation, and the present invention embodiment does not limit the division result.

[0077] Specifically, obtain the standing positions of all getting-off passengers in the vehicle getting-off area before getting off within the preset historical time, that is, obtain the standing position information of each getting-off passenger in the vehicle getting-off area, and determine the set of each standing position information as the set of historical standing position information.

[0078] S302. Divide the vehicle getting-off area into a preset number of area element units.

[0079] Exemplarily, assume that the vehicle getting-off area is an area of 25 cm * 40 cm near the door, and it is divided into 1000 pieces, then 1000 area element units with an area of 1 cm 2 can be obtained.

[0080] S303. Determine the historical getting-off area according to the coincidence relationship between each area element unit and the corresponding standing position information of each getting-off passenger.

[0081] Specifically, according to the standing position information of each alighting passenger corresponding to the alighting station, the standing positions of each alighting passenger in the vehicle alighting area can be determined. Furthermore, the area element units included in their standing positions can be determined, and the set of area element units that are located in the alighting standing positions multiple times is determined as the historical alighting area.

[0082] Furthermore, Figure 4 This is a flowchart example for determining the historical alighting area according to the coincidence relationship between each area element unit and the standing position information of each alighting passenger provided in the second embodiment of the present invention. As Figure 4 shown, it specifically includes the following steps:

[0083] S3031. For the standing position information of each alighting passenger, the area element unit including the area corresponding to the standing position information is determined as the intermediate area element unit.

[0084] Specifically, for the standing position information of an alighting passenger corresponding to the historical standing position information set, the standing area of the alighting passenger can be determined according to the standing position information, and the area element units included in the standing area are determined as the intermediate area element units. It should be clear that not only the area element units that are all located within the standing area are determined as the intermediate area element units, but as long as there are some area element units located within the standing area, they are determined as the intermediate area element units.

[0085] S3032. The intermediate area element units whose ratio of the overlapping area with the area corresponding to the standing position information in each intermediate area element unit to the area of the intermediate area element unit is greater than the second preset ratio threshold are determined as the target area element units.

[0086] In this embodiment, the target area element unit can be specifically understood as the area element unit mainly located within the standing position of the alighting passenger. The second preset ratio threshold can be specifically understood as a ratio value set in advance for determining whether the area element unit is mainly located within the alighting standing position of the alighting passenger.

[0087] Specifically, the overlapping area between each intermediate area element unit and the area corresponding to the standing position information is determined, and the ratio of each overlapping area to the corresponding area of the intermediate area element unit is determined. The intermediate area element unit corresponding to the ratio greater than the second preset ratio threshold is determined as the target area element unit. Optionally, the second preset ratio threshold can be 80%, and the embodiments of the present invention are not limited thereto.

[0088] S3033. Increment the historical alighting times corresponding to each target area element unit by one.

[0089] In this embodiment, the historical number of alighting times can be specifically understood as the number of times that the target area element unit is included in the standing position of the alighting passengers.

[0090] S3034. Determine the set of target area element units whose ratio of the historical number of alighting times to the number of alighting passengers is greater than the third preset ratio threshold as the historical alighting area.

[0091] Specifically, determine the ratio of the historical number of alighting times corresponding to each target area element unit to the number of alighting passengers corresponding to all alighting passengers included in the historical standing position information set. If the ratio is greater than the third preset ratio threshold, it can be considered that this target area element unit belongs to the area element unit of the standing position where alighting passengers often stand, that is, the passengers standing in the target area element unit have a higher probability of having the intention to alight. Therefore, the set of each target area unit with a ratio greater than the third preset ratio threshold can be determined as the historical alighting area. Optionally, the third preset ratio threshold can be 80%, and the embodiments of the present invention do not limit it.

[0092] S206. Judge whether the ratio of the intersection area to the standing area is greater than the first preset ratio threshold. If so, execute step S207; if not, return to execute step S204.

[0093] Specifically, judge whether the ratio of the intersection area to the standing area is greater than the first preset ratio threshold. If so, it can be considered that the passenger mainly stands in the historical alighting area and may have the intention to alight. At this time, execute step S207; if not, it can be considered that the passenger is not currently in the historical alighting area and the probability of having the intention to alight is relatively low. At this time, return to execute step S204 to collect and judge the standing position information of the next standing passenger.

[0094] S207. Obtain the current video information in the vehicle.

[0095] Optionally, the obtained current video information can be the video information captured by the camera set at the corresponding position of the vehicle alighting area.

[0096] S208. Judge whether the current video information does not include the preset alighting behavior and the regional acceleration is within the preset acceleration threshold range. If so, execute step S209; if not, execute step S210.

[0097] In this embodiment, the preset getting-off behavior can be specifically understood as a set of behaviors that are pre-set according to statistical results and are often performed by passengers who are about to perform the getting-off operation. Exemplarily, the preset getting-off behavior may include looking around left and right, etc. The specific range of the preset acceleration threshold can be understood as being pre-set according to statistical results, which is the range of acceleration thresholds that should be in place when passengers are standing during the normal driving of the vehicle. It should be clear that when the vehicle is moving as a whole, the amplitude of the change in the pressure of the passengers on the vehicle floor is similar. However, if a passenger has actions such as leaning forward before getting off, it will affect the acceleration of the passenger relative to the vehicle, resulting in overweight or weightlessness phenomena.

[0098] Specifically, by performing action behavior recognition on the current video information, it is determined whether the recognized actions include the preset getting-off behavior. At the same time, by comparing the regional acceleration with the preset acceleration threshold range, if the recognized actions do not include the preset getting-off behavior and the regional acceleration is within the preset acceleration threshold range of a normally driving vehicle, it can be considered that although the passenger is standing in the historical getting-off area, there is no obvious intention of getting off. At this time, step S209 is executed; if the recognized actions include the preset getting-off behavior, and / or, the regional acceleration exceeds the preset acceleration threshold range, it can be considered that while standing in the historical getting-off area, the passenger has actions of preparing to get off, and the possibility of having the intention of getting off is higher. At this time, step S210 is executed.

[0099] S209. Determine that the passenger's intention to get off is not to get off, and return to execute step S204.

[0100] Specifically, after determining that the passenger's intention to get off is not to get off, it can return to execute step S204 to collect the standing position information of the next standing passenger and judge the intention of getting off.

[0101] S210. Determine that the passenger's intention to get off is to get off.

[0102] Further, after determining that the passenger's intention to get off is to get off, it further includes:

[0103] Obtain the current audio information in the vehicle; if the current audio information includes the preset getting-off audio, determine the intention to get off as getting off; otherwise, determine the intention to get off as not getting off.

[0104] Specifically, after determining that the passenger's intention to get off is to get off, to ensure the accuracy of determining the passenger's intention to get off and avoid false prompts, the current audio information in the vehicle can also be obtained. The current audio information can be the audio information corresponding to the position of the passenger's standing position information. By detecting whether the current audio information includes the preset getting-off audio, it is determined whether the intention to get off is to get off or not to get off. Exemplarily, the preset getting-off audio may include words such as "get off" that are used to represent the intention of getting off. The specific content of the preset getting-off audio in the embodiments of the present invention is not limited.

[0105] S211. Generate driver prompt information.

[0106] Specifically, after determining that the passenger's intention to get off is to get off, it can be considered that the driver needs to be reminded at this time. At this time, the vehicle's corresponding controller can generate corresponding prompt information as the driver prompt information according to the intention to get off.

[0107] S212. Send the driver prompt information to the driver side.

[0108] Exemplarily, the driver prompt information can be sent to the driver side through the CAN bus.

[0109] S213. Generate a getting-off prompt information according to the intention receiving signal input from the driver side.

[0110] Specifically, after the driver receives the information that there is a passenger who needs to get off through the driver prompt information, the driver inputs the corresponding intention receiving signal at the driver side, so that the corresponding controller in the vehicle can generate the corresponding getting-off prompt information according to the intention receiving signal.

[0111] It should be clear that the getting-off prompt information can be used to remind passengers to get off both outside and inside the vehicle, or can be used to remind passengers to get off separately outside and inside the vehicle, or can only be used to remind passengers to get off inside or outside the vehicle. The embodiments of the present invention do not limit this, and only the example of reminding passengers to get off both inside and outside the vehicle at the same time is taken in the embodiments of the present invention.

[0112] S214. Light up the prompt lamp at the corresponding position of the passenger and / or play a preset voice according to the getting-off prompt information.

[0113] Specifically, after the driver inputs the intention receiving signal from the driver side, the prompt lamp at the position corresponding to the obtained standing position information can be lit according to the generated getting-off prompt information to prompt the passenger at this position to get off, or a preset voice can be played to prompt the corresponding passenger to get off and at the same time make it clear that the driver knows his / her need to get off and there is no need to inform again.

[0114] S215. Light up the parking lamp outside the vehicle according to the getting-off prompt information.

[0115] Specifically, after the driver inputs the intention receiving signal from the driver side, the parking lamp outside the vehicle can be controlled to be lit according to the generated getting-off prompt information, so that passers-by or vehicles outside the vehicle can clearly know that there is a passenger about to get off in this vehicle, so as to avoid it and ensure the safety of the getting-off passengers.

[0116] The technical solution of the embodiment of the present invention determines the specific vehicle position information by substituting the current vehicle position information, the current vehicle wheel speed, and the current wheel steering angle into the Kalman filter equation, and performs stop prediction based on the determined specific vehicle position information, making the prediction result more accurate so that passengers can get off at the corresponding position. At the same time, the historical getting-off area with a higher getting-off probability within the getting-off standing area is determined by using the obtained historical standing position information set. After determining that the passenger is in the historical getting-off area, it is determined whether there is a preset getting-off behavior or whether the area acceleration exceeds the preset acceleration threshold range in the current video information to determine the getting-off intention of the passenger, and then the corresponding driver reminder information is generated and sent to the driver terminal for reminder. At the same time, the getting-off reminder information is generated according to the intention receiving signal input by the driver terminal to light the reminder lamp at the corresponding position of the passenger or play a preset voice, and at the same time, the parking lamp outside the vehicle is lit to realize the getting-off reminder. When determining the getting-off intention of the passenger, the current audio information in the vehicle can also be referred to. On the basis of considering the current video information and the area acceleration, the determination factor of the audio information is added, making the determined getting-off intention more accurate, improving the timeliness of information interaction between the passenger and the driver, reducing the active operations required by the passenger to get off in time, reducing the interference of the getting-off reminder to other passengers, and improving driving safety and riding comfort.

[0117] Embodiment III

[0118] Figure 5 FIG. is a schematic structural diagram of a vehicle getting-off interaction reminder device provided by Embodiment III of the present invention, as Figure 5 shown. The vehicle getting-off interaction reminder device includes: a position information acquisition module 41, a video information acquisition module 42, an intention determination module 43, and a getting-off reminder module 44.

[0119] Among them, the position information acquisition module 41 is used to acquire the standing position information of the passenger, and the standing position information at least includes the standing area and the area acceleration; the video information acquisition module 42 is used to determine the intersection area according to the standing area and the pre-determined historical getting-off area. If the ratio of the intersection area to the standing area is greater than the first preset ratio threshold, the current video information in the vehicle is acquired; the intention determination module 43 is used to determine the getting-off intention of the passenger according to the current video information, the area acceleration, and the preset intention determination condition, and send the driver reminder information generated according to the getting-off intention to the driver terminal; the getting-off reminder module 44 is used to generate the getting-off reminder information according to the intention receiving signal input by the driver terminal, and perform the getting-off reminder according to the getting-off reminder information.

[0120] The technical solution of this embodiment solves the problems that the indication of the passenger's intention to get off needs to be actively triggered, and the passenger cannot promptly and clearly know whether the driver has received this intention to get off. Through the determination by integrating various information, the intention to get off is clarified without the passenger's active operation and is prompted to the driver. At the same time, the feedback of the driver receiving the prompt information is promptly transmitted to the passenger, improving the timeliness of information interaction between the passenger and the driver, reducing the active operations required by the passenger to get off in time, reducing the interference of the getting-off reminder to other passengers, improving the accuracy of predicting the intention to get off, and enhancing driving safety and riding comfort.

[0121] Optionally, the intention determination module 43 includes:

[0122] An intention determination unit, configured to determine that the passenger's intention to get off is to get off if the current video information includes a preset getting-off behavior or the regional acceleration exceeds the preset acceleration threshold range; otherwise, determine that the passenger's intention to get off is not to get off;

[0123] A prompt information generation unit, configured to generate a driver prompt information when the intention to get off is to get off;

[0124] An information sending unit, configured to send the driver prompt information to the driver side.

[0125] Optionally, the intention determination module 43 is further configured to:

[0126] After determining that the passenger's intention to get off is to get off, obtain the current audio information in the vehicle; if the current audio information includes a preset getting-off audio, determine the intention to get off as getting off; otherwise, determine the intention to get off as not getting off.

[0127] Optionally, the getting-off reminder module 44 includes:

[0128] An in-vehicle reminder unit, configured to light up the corresponding position reminder lamp of the passenger and / or play a preset voice according to the getting-off prompt information;

[0129] An out-of-vehicle reminder unit, configured to light up the parking lights outside the vehicle according to the getting-off prompt information.

[0130] Optionally, the vehicle getting-off interaction reminder device further includes:

[0131] A station prediction module, configured to obtain the current vehicle position information, the current vehicle wheel speed, and the current vehicle wheel angle; substitute the current vehicle position information, the current vehicle wheel speed, and the current vehicle wheel angle into the Kalman filter equation to determine the specific vehicle position information; perform station prediction according to the specific vehicle position information; where the current vehicle position information is the observation input quantity, and the current vehicle wheel speed and the current vehicle wheel angle are the state input quantities.

[0132] Optionally, the pre - determination of the historical alighting area includes:

[0133] Obtain a set of historical standing position information, where the set of historical standing position information includes the alighting standing position information of each alighting passenger in the vehicle alighting area within a preset historical time;

[0134] Divide the vehicle alighting area into a preset number of area element units;

[0135] Determine the historical alighting area according to the coincidence relationship between each area element unit and the alighting standing position information of each alighting passenger.

[0136] Further, determining the historical alighting area according to the coincidence relationship between each area element unit and the alighting standing position information of each alighting passenger includes:

[0137] For the alighting standing position information of each alighting passenger, determine the area element unit containing the area corresponding to the alighting standing position information as the intermediate area element unit;

[0138] Determine the area element unit with the ratio of the overlapping area between the intermediate area element unit and the area corresponding to the alighting standing position information to the area of the intermediate area element unit greater than the second preset ratio threshold as the target area element unit;

[0139] Increment the historical alighting times corresponding to each target area element unit by one;

[0140] Determine the set of target area element units with the ratio of the historical alighting times to the number of alighting passengers greater than the third preset ratio threshold as the historical alighting area.

[0141] The vehicle alighting interaction reminder device provided by the embodiments of the present invention can execute the vehicle alighting interaction reminder method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0142] Embodiment 4

[0143] Figure 6 FIG. is a schematic structural diagram of a vehicle provided for Embodiment 4 of the present invention. As Figure 6 shown, the vehicle includes a controller 51, a storage device 52, an input device 53, and an output device 54; the number of controllers 51 in the vehicle can be one or more, Figure 6 taking one controller 51 as an example; the controller 51, the storage device 52, the input device 53, and the output device 54 in the vehicle can be connected through a bus or other means, Figure 6 taking connection through a bus as an example.

[0144] The storage device 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle getting-off interaction reminder method in the embodiments of the present invention (for example, the location information acquisition module 41, the video information acquisition module 42, the intention determination module 43, and the getting-off reminder module 44). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the storage device 52, that is, implements the above-mentioned vehicle getting-off interaction reminder method.

[0145] The storage device 52 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the storage device 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the storage device 52 may further include a memory remotely set relative to the controller 51, and these remote memories can be connected to the vehicle through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0146] The input device 53 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the vehicle. The output device 54 may include a display device such as a display screen.

[0147] Furthermore, the vehicle further includes:

[0148] A gravity sensor, disposed in the vehicle getting-off area, for acquiring the standing position information of the passenger;

[0149] A video acquisition device, for acquiring the current video information inside the vehicle;

[0150] A warning light, for lighting up according to the getting-off reminder information to give a getting-off reminder.

[0151] Optionally, the video acquisition device can be correspondingly disposed at a position where the video information of the vehicle getting-off area can be acquired, and the warning light can be correspondingly disposed in the vehicle getting-off area, so that the passengers who need to get off can obtain the getting-off reminder information in time. The embodiments of the present invention do not limit this.

[0152] It should be understood that the various forms of processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0153] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for vehicle alighting interaction reminder, characterized in that, it includes: Obtain the standing position information of the passenger, and the standing position information at least includes the standing area and the area acceleration; Determine the intersection area according to the standing area and the pre-determined historical alighting area. If the ratio of the intersection area to the standing area is greater than the first preset ratio threshold, obtain the current video information in the vehicle; Determine the alighting intention of the passenger according to the current video information, the area acceleration and the preset intention determination condition, and send the driver reminder information generated according to the alighting intention to the driver terminal; Generate alighting reminder information according to the intention reception signal input by the driver terminal, and perform alighting reminder according to the alighting reminder information.

2. The method according to claim 1, characterized in that, The pre-determination of the historical alighting area includes: Obtain a set of historical standing position information, and the set of historical standing position information includes the alighting standing position information of each alighting passenger in the vehicle alighting area within a preset historical time; Divide the vehicle alighting area into a preset number of area element units; Determine the historical alighting area according to the coincidence relationship between each area element unit and the alighting standing position information corresponding to each alighting passenger.

3. The method according to claim 2, characterized in that, The determination of the historical alighting area according to the coincidence relationship between each area element unit and the alighting standing position information corresponding to each alighting passenger includes: For the alighting standing position information of each alighting passenger, determine the area element unit including the area corresponding to the alighting standing position information as the intermediate area element unit; Determine the area element unit with the ratio of the overlapping area between the intermediate area element unit and the area corresponding to the alighting standing position information to the area of the intermediate area element unit greater than the second preset ratio threshold as the target area element unit; Increment the historical alighting times corresponding to each target area element unit by one; Determine the set of target area element units with the ratio of the historical alighting times to the number of alighting passengers greater than the third preset ratio threshold as the historical alighting area.

4. The method according to claim 1, characterized in that, The determination of the alighting intention of the passenger according to the current video information, the area acceleration and the preset intention determination condition includes: If the current video information includes a preset alighting behavior, or the area acceleration exceeds the preset acceleration threshold range, determine that the alighting intention of the passenger is to alight; Otherwise, determine that the alighting intention of the passenger is not to alight.

5. The method according to claim 4, characterized in that, The sending of the driver reminder information generated according to the alighting intention to the driver terminal includes: Generate driver reminder information when the alighting intention is to alight; Send the driver reminder information to the driver terminal.

6. The method according to claim 4, characterized in that, After determining that the alighting intention of the passenger is to alight, it further includes: Obtain the current audio information in the vehicle; If the current audio information includes a preset alighting audio, determine the alighting intention as alighting; Otherwise, determine that the intention to get off is not to get off.

7. The method according to claim 1, wherein, before obtaining the standing position information of the passenger, further comprising: obtaining the current vehicle position information, the current vehicle wheel speed and the current wheel rotation angle; substituting the current vehicle position information, the current vehicle wheel speed and the current wheel rotation angle into the Kalman filter equation to determine the specific vehicle position information; performing stop prediction according to the specific vehicle position information; wherein the current vehicle position information is the observation input quantity, and the current vehicle wheel speed and the current wheel rotation angle are the state input quantities.

8. The method according to claim 1, wherein, the getting-off reminder based on the getting-off prompt information includes: lighting the position indicator light corresponding to the passenger and / or playing a preset voice according to the getting-off prompt information; lighting the parking lights outside the vehicle according to the getting-off prompt information.

9. A vehicle getting-off interaction reminder device, wherein, comprising: a position information acquisition module, configured to acquire the standing position information of the passenger, where the standing position information includes at least the standing area and the area acceleration; a video information acquisition module, configured to determine an intersection area according to the standing area and a pre-determined historical getting-off area, and if the ratio of the intersection area to the standing area is greater than a first preset ratio threshold, acquire the current video information inside the vehicle; an intention determination module, configured to determine the getting-off intention of the passenger according to the current video information, the area acceleration and a preset intention determination condition, and send the driver reminder information generated according to the getting-off intention to the driver end; a getting-off reminder module, configured to generate getting-off prompt information according to the intention reception signal input by the driver end, and perform a getting-off reminder according to the getting-off prompt information.

10. A vehicle, wherein, the vehicle includes: one or more controllers; a storage device, configured to store one or more programs; when the one or more programs are executed by the one or more controllers, enabling the one or more controllers to implement the vehicle getting-off interaction reminder method according to any one of claims 1-8.

11. The vehicle according to claim 10, wherein, further comprising: a gravity sensor, configured to acquire the standing position information of the passenger; a video acquisition device, configured to acquire the current video information inside the vehicle; a reminder light, configured to be lit according to the getting-off prompt information for getting-off reminder.

Images