Control method and apparatus

Abstract

The embodiment of the application provides a control method and device, which are applied to the technical field of automatic driving, and the method comprises the following steps: controlling a target device in a vehicle to display first request information in a target area. Since the first request information is used for requesting a pedestrian to perform a target action, the target action expresses the road participation intention of the pedestrian. Therefore, by identifying the action made by the pedestrian, the driving strategy of the vehicle can be determined according to the identification result. In this way, even without the participation of the driver, the vehicle can inquire the road participation intention of the pedestrian through the first request information, so that in the automatic driving scene, the vehicle can realize the intention interaction with the pedestrian, thereby obtaining the accurate road participation intention of the pedestrian and obtaining the appropriate driving strategy, and the safety of driving is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a control method and apparatus. Background Technology

[0002] During vehicle driving, the autonomous driving system's determination and prediction of the intentions of road users is the foundation of the autonomous driving system's path planning, and is also an important condition related to road safety.

[0003] Typically, when road users include pedestrians, autonomous driving systems can predict pedestrians' intentions based on factors such as the direction of their movement. For example, an autonomous driving system can use machine learning algorithms to estimate the pedestrian's trajectory based on their direction of movement, thereby predicting the pedestrian's intentions.

[0004] However, the aforementioned prediction methods based on pedestrian movement may have biases in predicting pedestrian intentions, leading to reduced driving safety. Summary of the Invention

[0005] This application provides a control method and apparatus applied in the field of autonomous driving technology. The method includes: controlling a target device inside a vehicle to display first request information in a target area. Since the first request information is used to request a pedestrian to perform a target action, and the target action expresses the pedestrian's intention to participate in the road, the vehicle's driving strategy can be determined by recognizing the pedestrian's action and based on the recognition result. Thus, even without driver intervention, the vehicle can inquire about the pedestrian's intention to participate in the road through the first request information. This allows the vehicle to interact with the pedestrian's intention in an autonomous driving scenario, thereby obtaining an accurate understanding of the pedestrian's intention to participate in the road and developing a suitable driving strategy, thereby improving driving safety.

[0006] In a first aspect, embodiments of this application provide a control method, comprising: controlling a target device within a vehicle to display first request information in a target area; wherein the first request information is used to request a pedestrian to perform a target action, the target action being used to express the pedestrian's intention to participate in the road, and the target area being within the pedestrian's visual range; identifying the action performed by the pedestrian; and determining a driving strategy for the vehicle based on the identification result. Thus, even without driver intervention, the vehicle can inquire about the pedestrian's intention to participate in the road through the first request information, enabling the vehicle to interact with the pedestrian's intentions in autonomous driving scenarios, thereby obtaining accurate information about the pedestrian's intention to participate in the road and developing a suitable driving strategy, thereby improving driving safety.

[0007] In one possible implementation, the first request information is used to request a pedestrian to perform a target action, including: the first request information includes instruction information for indicating the desired action, the desired action being associated with the pedestrian's road participation intention; and based on the recognition result, a vehicle driving strategy is determined, including: determining the vehicle driving strategy based on the pedestrian's action as the desired action. In this way, by instructing the pedestrian to perform the desired action, the vehicle can determine its driving strategy based on the pedestrian's action, thereby improving driving safety.

[0008] In one possible implementation, the desired action includes a first desired action and a second desired action. The first desired action is associated with the pedestrian's first road participation intention, and the second desired action is associated with the pedestrian's second road participation intention. Based on the identification result, a vehicle driving strategy is determined, including determining the vehicle's driving strategy based on whether the pedestrian's action is the first or second desired action. In this way, the vehicle's driving strategy can be determined based on whether the pedestrian's action is the first or second desired action, thereby improving driving safety.

[0009] In one possible implementation, the first request information is used to request a pedestrian to perform a target action, including: the first request information includes indication information for indicating multiple desired actions, which are associated with multiple road participation intentions of the pedestrian; the method further includes: if the action performed by the pedestrian is not one of the multiple desired actions, controlling a target device inside the vehicle to display second request information in a target area, the second request information being used to instruct the pedestrian to perform a first road participation behavior. In this way, by directly informing the pedestrian of the required first road participation behavior, ineffective waiting time is effectively saved, and road traffic efficiency is improved.

[0010] In one possible implementation, the vehicle's driving strategy is determined based on the recognition results, including: determining the vehicle's driving strategy based on the pedestrian's initial road participation behavior. This allows the vehicle to interact with the pedestrian's intentions, thereby improving driving safety.

[0011] In one possible implementation, the second request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0012] In one possible implementation, the first request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0013] In one possible implementation, the target device is a projection system, and the target area is the area outside the vehicle.

[0014] In one possible implementation, the target area is the ground. Controlling a target device inside the vehicle to display first request information in the target area includes: controlling a projection system to project the first request information onto the ground when projection conditions are met. In this way, by projecting the first request information onto the ground, the vehicle makes pedestrians aware of the first request information, allowing them to express their intention to participate in the road. This enables the vehicle to interact with the pedestrian's intentions, thereby improving driving safety.

[0015] In one possible implementation, the target device is a display device, the target area is a display screen, and controlling the target device inside the vehicle to display the first request information in the target area includes: controlling the display device to display the first request information on the display screen. In this way, by displaying the first request information on the display screen, the vehicle makes the pedestrian notice the first request information, allowing the pedestrian to express their intention to participate in the road, thereby enabling the vehicle to interact with the pedestrian's intention and improving driving safety.

[0016] Secondly, embodiments of this application provide a control device that can be used to perform the operations described in the first aspect and any possible implementation thereof. For example, the device may include modules or units for performing the various operations described in the first aspect or any possible implementation thereof. These may include a control unit, an identification unit, and a processing unit.

[0017] For example, a control unit is used to control a target device inside the vehicle to display a first request message in a target area; wherein the first request message is used to request a pedestrian to perform a target action, the target action is used to express the pedestrian's intention to participate in the road, and the target area is within the pedestrian's field of vision; a recognition unit is used to recognize the action performed by the pedestrian; and a processing unit is used to determine the vehicle's driving strategy based on the recognition result.

[0018] In one possible implementation, the first request information includes indication information for indicating the desired action, which is associated with the intention to participate in the road; the processing unit is specifically used to: determine the vehicle's driving strategy based on the pedestrian's action as the desired action.

[0019] In one possible implementation, the desired action includes a first desired action and a second desired action, the first desired action being associated with the pedestrian's first road participation intention and the second desired action being associated with the pedestrian's second road participation intention; the processing unit is specifically used to: determine the vehicle's driving strategy based on whether the pedestrian's action is the first desired action or the second desired action.

[0020] In one possible implementation, the first request information includes instruction information for indicating multiple desired actions, which are associated with multiple road participation intentions; the control unit is further configured to: control a target device in the vehicle to display second request information in a target area based on the fact that the pedestrian's action is not one of the multiple desired actions, the second request information being used to instruct the pedestrian to perform a first road participation behavior.

[0021] In one possible implementation, the processing unit is specifically used to: determine the vehicle's driving strategy based on the pedestrian's first road participation behavior.

[0022] In one possible implementation, the second request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0023] In one possible implementation, the first request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0024] In one possible implementation, the target device is a projection system, and the target area is the area outside the vehicle.

[0025] In one possible implementation, the target area is the ground, and the control unit is specifically used to: control the projection system to project the first request information onto the ground when the ground meets the projection conditions.

[0026] In one possible implementation, the target device is a display device, the target area is a display screen, and the processing unit is specifically used to: control the display device to display the first request information on the display screen.

[0027] Thirdly, embodiments of this application provide a control device including a memory and a processor. The memory stores computer program instructions, and the processor executes the computer program instructions to implement the methods described in the first aspect and various possible implementations of the first aspect.

[0028] Fourthly, embodiments of this application provide a vehicle that includes the means described in the second aspect and various possible implementations of the second aspect.

[0029] In one possible implementation, the vehicle also includes a perception system and a target device, which is a projection system or a display device.

[0030] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed on a computer, cause the computer to perform the methods described in the first aspect and various possible implementations of the first aspect.

[0031] In a sixth aspect, embodiments of this application provide a computer program product that, when run on a processor, causes a control device to execute the methods described in the first aspect and various possible implementations of the first aspect.

[0032] In a seventh aspect, embodiments of this application provide a control system comprising: the apparatus described in the second aspect and various possible implementations of the second aspect.

[0033] Eighthly, this application provides a chip or chip system including at least one processor and a communication interface, wherein the communication interface and at least one processor are interconnected via a circuit, and the at least one processor is used to execute computer programs or instructions to implement the methods described in the first aspect and various possible implementations of the first aspect. The communication interface in the chip may be an input / output interface, pins, or circuits, etc.

[0034] In one possible implementation, the chip or chip system described above in this application further includes at least one memory storing instructions. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (e.g., read-only memory, random access memory, etc.).

[0035] It should be understood that the second to eighth aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0036] Figure 1 A schematic diagram of a pedestrian crossing a road, provided as an embodiment of this application;

[0037] Figure 2 This is a schematic diagram of a possible vehicle intent notification design.

[0038] Figure 3 This is a schematic diagram illustrating another possible vehicle intent reminder in a design.

[0039] Figure 4 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of an in-vehicle projection interaction system provided in an embodiment of this application;

[0041] Figure 6 A functional block diagram of a possible vehicle provided in an embodiment of this application;

[0042] Figure 7A schematic diagram of the structure of a computer system provided in an embodiment of this application;

[0043] Figure 8 A flowchart illustrating a control method provided in an embodiment of this application;

[0044] Figure 9 This is a schematic diagram of a first request message provided in an embodiment of this application;

[0045] Figure 10 A flowchart illustrating a control method provided in an embodiment of this application;

[0046] Figure 11 A schematic diagram illustrating an intent interaction provided for an embodiment of this application;

[0047] Figure 12 A flowchart illustrating a control method provided in an embodiment of this application;

[0048] Figure 13 This is a schematic diagram of a second request message provided in an embodiment of this application;

[0049] Figure 14 This is a schematic diagram of a second request message provided in an embodiment of this application;

[0050] Figure 15 A schematic diagram illustrating an intent interaction provided for an embodiment of this application;

[0051] Figure 16 A flowchart illustrating a control method provided in an embodiment of this application;

[0052] Figure 17 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0053] Figure 18 A schematic diagram of another control device provided in an embodiment of this application;

[0054] Figure 19 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0055] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and purpose. For example, "first chip" and "second chip" are used only to distinguish different chips and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" do not necessarily imply that they are different.

[0056] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0057] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0058] During vehicle driving, there may be scenarios where road users cross the road. Road users include pedestrians, cyclists, etc. Taking pedestrians as an example, for instance... Figure 1 A schematic diagram of a pedestrian crossing a road is provided as an embodiment of this application, such as... Figure 1 As shown, two situations may occur when pedestrians cross the road, and the intentions of vehicles or pedestrians can be determined based on these two situations.

[0059] Scenario 1: The driver stops the vehicle to allow the pedestrian to cross. Therefore, the vehicle's intention is to stop, and the pedestrian's intention is to cross.

[0060] Scenario 2: The driver notices a pedestrian crossing the road and stops the vehicle. At the same time, the pedestrian also notices the vehicle and stops. When both the vehicle and the pedestrian stop simultaneously, the driver or the pedestrian can exchange intentions through simple gestures or actions. In this way, the party being yielded to can cross quickly. For example, if the pedestrian gestures to indicate that the vehicle can continue, the vehicle's intention is to continue, and the pedestrian's intention is to stop.

[0061] In autonomous driving systems, there may be no driver involvement, and the system cannot interact with pedestrians through gestures or movements as drivers and pedestrians do. Therefore, determining and predicting the intentions of road traffic participants is particularly difficult.

[0062] In one possible implementation, the autonomous driving system can predict the intentions of road users based on information such as their direction of movement, speed, and road topology. For example, the autonomous driving system can use machine learning algorithms to estimate the movement trajectory of road users, thereby predicting the pedestrian's intentions.

[0063] However, the aforementioned prediction methods based on the movement of road participants are applicable when road participants have a certain movement trajectory and trend. They cannot predict the intentions of stationary road participants. If a prediction algorithm is used to determine the intentions of stationary road participants, the prediction algorithm based on the movement of road participants may not receive effective input, and thus cannot accurately predict and determine the intentions of road participants. Moreover, the aforementioned prediction methods based on the movement of road participants may have biases in the prediction results of pedestrian intentions, leading to a reduction in driving safety. Furthermore, biases in the prediction results of pedestrian intentions may also lead to misjudgments, thereby causing danger and even traffic accidents.

[0064] In one possible implementation, during the reversing and maneuvering of autonomous vehicles, the autonomous driving system can use vehicle headlight technology to project warning information onto the ground using a light signal projection device to alert road users. The light signal projection device includes a light source, a light-transmitting mirror, and a reflector. The beam of light emitted by the light source is reflected by the reflector and then passes through different shapes, symbols, patterns, or text designed on the light-transmitting mirror to display information that alerts road users on the ground.

[0065] For example, Figure 2 This is a schematic diagram of a possible vehicle intent reminder design, such as... Figure 2 As shown, in the scenario of reversing a vehicle into a parking space, the warning information is a reversing instruction. The autonomous driving system uses a light signal projection device to project the reversing instruction onto the reversing area at the rear of the vehicle, thereby alerting road users behind or crossing behind the vehicle. The light signal projection device can be installed at the rear of the vehicle, and the reversing area can be a rectangular area formed by the rear of the vehicle, parking line 1, and the area between parking line 1. The reversing instruction can be text, shapes, or symbols, which are used to indicate that the vehicle is reversing or is about to reverse.

[0066] For example, Figure 3 An illustration of another possible vehicle intent reminder in a design, such as Figure 3As shown, in a stationary vehicle scenario, such as when the vehicle is parked beside the road, the warning information is a door opening instruction. The autonomous driving system uses a light signal projection device to project the door opening instruction onto the ground to alert road users on the side of the vehicle. The light signal projection device can be installed on the door, and the door opening instruction can be text, symbols, or shapes, which are used to indicate that the door is opening or the door is about to open.

[0067] However, autonomous driving systems, which rely on light signal projection devices, provide one-way warnings to road users. This does not guarantee that road users will notice the warning information, understand the warning information, or take action based on the warning information. As a result, autonomous driving systems cannot accurately determine the intentions of road users.

[0068] Based on this, embodiments of this application provide a control method and apparatus applied in the field of autonomous driving technology. The method includes: controlling a display device inside a vehicle to display first request information in a target area. Since the first request information is used to request a pedestrian to perform a target action, and the target action expresses the pedestrian's intention to participate in the road, the vehicle's driving strategy can be determined by recognizing the pedestrian's action and based on the recognition result. Thus, even without driver intervention, the vehicle can inquire about the pedestrian's intention to participate in the road through the first request information, enabling the vehicle to interact with the pedestrian's intentions and obtain a suitable driving strategy in autonomous driving scenarios, thereby improving driving safety.

[0069] The method described in this application can be applied to scenarios where a pedestrian intends to cross the road, or where a pedestrian is standing on the side of the road. Through the method described in this application, an autonomous vehicle can interact with the pedestrian's intentions. For example, Figure 4 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application, such as... Figure 4 As shown, the vehicle recognizes a pedestrian standing on the side of the road. However, at the next moment, the vehicle cannot determine whether the pedestrian will continue to stand on the side of the road or cross the road. Therefore, the vehicle can display a first request information on the ground. The pedestrian can then take action based on the first request information. In this way, even without the driver's participation, the vehicle can understand the pedestrian's intention to participate in the road by recognizing the pedestrian's actions, thereby enabling the vehicle to interact with the pedestrian's intention.

[0070] exist Figure 4 Based on the application scenarios shown, exemplarily, Figure 5 This is a schematic diagram of an in-vehicle projection interaction system provided in an embodiment of this application, as shown below. Figure 5As shown, the system includes a decision system, a sensing system, and a projection control system (hereinafter referred to as the projection system). The projection system includes a projection device. The system includes interfaces between the decision system and the sensing system, between the decision system and the projection system, and between the projection system and the projection device.

[0071] like Figure 5 As shown, the decision-making system can activate the projection device based on the information transmitted through the interface between the decision-making system and the perception system. In this way, the projection system can instruct the projection device to project request information based on the information transmitted through the interface between the decision-making system and the projection system. Furthermore, the projection device can display the request information in the target area based on the information transmitted through the interface between the projection system and the projection system. The request information may include a first request information or a second request information.

[0072] The information transmitted at the interface between the decision-making system and the perception system can be categorized in two ways. Firstly, the information transmitted can be: information about pedestrians perceived by the perception system, as instructed by the decision-making system. This pedestrian information includes, but is not limited to, tracking pedestrians, identifying actions performed by pedestrians, or identifying the duration of those actions. Secondly, the information transmitted can be: perceived action information input from the perception system to the decision-making system. This perceived action information includes, but is not limited to, whether the pedestrian's action matches a desired action. A match between the pedestrian's action and a desired action can be understood as either the first or second desired action. A mismatch can be understood as either the pedestrian's action not being any of the multiple desired actions, or the pedestrian not performing an action.

[0073] The information transmitted at the interface between the decision-making system and the projection system, and the information transmitted at the interface between the projection system and the projection device, are described in the following two ways:

[0074] Scenario 1: When the decision-making system cannot recognize the pedestrian's intention, the information transmitted between the decision-making system and the projection system can be represented as: the request information determined by the decision-making system, i.e., the first request information determined by the decision-making system. Based on the first request information determined by the decision-making system, the projection system can instruct the projection device. Since the information transmitted between the projection device and the projection system can be represented as the first request information to be displayed in the target area, the projection device can display the first request information in the target area based on the information transmitted between it and the projection system. The first request information includes at least one of the following: the projection content, the display position of the projection content, the duration of the projection content, the display angle of the projection content, the display brightness of the projection content, or the display color of the projection content.

[0075] Scenario 2: When the pedestrian's action does not match the expected action, i.e., the pedestrian's action is not one of the multiple expected actions, the information transmitted in the interface between the decision system and the projection system can be represented as: the request information after the switch determined by the decision system, i.e., the second request information determined by the decision system. In this way, the projection system can instruct the projection device based on the second request information determined by the decision system. Since the information transmitted in the interface between the projection device and the projection system can be represented as the second request information to be displayed in the target area, the projection device can display the second request information in the target area based on the information transmitted in the interface with the projection system. The second request information includes, but is not limited to, at least one of the following: the display position of the projected content, the duration of the projected content, the display angle of the projected content, the display brightness of the projected content, or the display color of the projected content.

[0076] It is understandable that the information transmitted in the interface between the decision system and the perception system may include instructions to the perception system to perceive pedestrians, so that the perception system can perceive pedestrian information based on the instructions; the information transmitted in the interface between the decision system and the projection system may also include instructions to activate the projection system, so that the projection system can be activated based on the instructions; the information transmitted in the interface between the projection device and the projection system may include instructions to the projection device to project, so that the projection device can project the first request information or the second request information based on the instructions.

[0077] In summary, the information transmitted between the vehicle and the decision-making system and the perception system, between the decision-making system and the projection system, and between the projection system and the projection device can be used to display the first request information or the second request information in the target area. Thus, the perception system can identify the pedestrian's actions based on the first request information, or the perception system can identify the pedestrian's road participation behavior based on the second request information. This allows the decision-making system to determine the pedestrian's intentions, and consequently, to determine the vehicle's driving strategy.

[0078] according to Figure 5 The in-vehicle projection interaction system shown allows the vehicle to interact with pedestrians in two directions, enabling the vehicle to understand the pedestrian's intentions and subsequently make safe driving control and decisions.

[0079] exist Figure 4 Based on the application scenarios shown, exemplarily, Figure 6 A possible functional block diagram of a vehicle 600 provided in this application embodiment, such as... Figure 6As shown, vehicle 600 can be configured for fully or partially automated driving mode. Vehicle 600 can be a car, truck, motorcycle, bus, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, or handcart, etc. The embodiments of this application do not specifically limit the types of vehicles.

[0080] In one possible approach, when vehicle 600 is in partially automated driving mode, after determining the current state of the vehicle and its surrounding environment, the user operates vehicle 600 based on this current state. For example, vehicle 600 determines the possible behavior of pedestrians in the surrounding environment. Based on the possible behavior of pedestrians, the vehicle can control the target device inside the vehicle to display a first request information in a target area. Pedestrians can then perform actions based on the first request information. After recognizing the actions performed by the pedestrians, the vehicle can notify the user of the pedestrians' road participation intentions via voice, allowing the user to perform operations related to the pedestrians' road participation intentions on the vehicle.

[0081] In one possible manner, when vehicle 600 is in fully autonomous driving mode, vehicle 600 can automatically perform driving-related operations. For example, vehicle 600 determines the possible behavior of pedestrians in the surrounding environment, and based on the possible behavior of pedestrians, controls the target device in the vehicle to display a first request information in the target area. The vehicle recognizes the actions made by the pedestrians, and determines the pedestrians' road participation intentions based on the recognition results, so that the vehicle can automatically perform operations related to the pedestrians' road participation intentions.

[0082] like Figure 6 As shown, vehicle 600 includes: a driving system 202, a sensor system 204, a control system 206, one or more peripheral devices 208, a computer system 212, a power supply 210, and a user interface 216. Optionally, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. Each subsystem and component of vehicle 600 can be interconnected via wired or wireless means.

[0083] exist Figure 6 In the middle, the propulsion system 202 includes: engine 218, transmission device 220, energy source 219 and wheels 221.

[0084] In one possible configuration, sensor system 204 includes several sensors that sense information about the environment surrounding vehicle 600. For example, sensor system 204 may include: positioning system 222, inertial measurement unit (IMU) 224, millimeter-wave radar 226, lidar 228, and camera 230. Positioning system 222 may be a global positioning system (GPS), BeiDou system, or other positioning systems.

[0085] In one possible configuration, positioning system 222 can be used to estimate the geographic location of vehicle 600, and IMU 224 can be used to sense changes in the position and orientation of vehicle 600 based on inertial acceleration. In some embodiments, IMU 224 can be a combination of an accelerometer and a gyroscope.

[0086] Optionally, the sensor system 204 may also include sensors for the internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, and / or an oil temperature gauge). Sensor data from one or more of these sensors can be used to detect and identify objects and their corresponding characteristics (e.g., position, shape, orientation, and / or speed), which is a key function for the vehicle 600 to perform autonomous and safe operation.

[0087] In some possible ways, the millimeter-wave radar 226 can use radio signals to sense objects in the surrounding environment of the vehicle 600. For example, the vehicle can use the millimeter-wave radar 226 to track pedestrians, identify the actions performed by pedestrians, or identify the duration of the actions performed by pedestrians. In some embodiments, in addition to sensing objects, the millimeter-wave radar 226 can also be used to sense the speed and / or direction of travel of objects.

[0088] In one possible manner, lidar 228 can use lasers to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 228 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0089] In one possible manner, camera 230 can be used to capture multiple images of the surrounding environment of vehicle 600. For example, camera 230 can capture environmental data or image data around the vehicle, and the vehicle can predict the pedestrian's road participation intention based on the environmental data or image data to determine whether to control the target device inside the vehicle to display the first request information in the target area. Here, camera 230 can be a still camera or a video camera.

[0090] Combination Figure 5 The system shown, in Figure 6In this system, the sensor system can be a perception system. In this way, the millimeter-wave radar 226 or lidar 228 in the sensor system can track pedestrians or identify the actions made by pedestrians, thereby obtaining the information transmitted in the interface between the decision system and the perception system, that is, the perception action information.

[0091] exist Figure 6 In this system, control system 206 controls the operation of vehicle 600 and its components. Control system 206 may include various elements. For example, control system 206 may include at least one of: steering system 232, throttle 234, braking unit 236, computer vision system 240, route control system 242, obstacle avoidance system 244, and projection control system 254. It is understood that in some instances, control system 206 may add or replace components other than those shown and described, or may reduce some of the components shown above.

[0092] In this embodiment of the application, the projection control system 254 can instruct the projection device, and then the projection device projects the first request information or the second request information.

[0093] In some possible embodiments, the steering system 232 is operable to adjust the forward direction of the vehicle 600. For example, in one embodiment, it can be a steering wheel system; the accelerator 234 is used to control the operating speed of the engine 218 and thus the speed of the vehicle 600; the braking unit 236 is used to control the deceleration of the vehicle 600, and the braking unit 236 can use friction to slow down the wheels 221. In other embodiments, the braking unit 236 can convert the kinetic energy of the wheels 221 into electrical current, and the braking unit 236 can also take other forms to slow down the rotational speed of the wheels 221 to control the speed of the vehicle 600.

[0094] In some possible embodiments, the computer vision system 240 can process and analyze images captured by the camera 230 to identify objects and / or features of objects in the environment surrounding the vehicle 600. These objects and / or features may include traffic signals, road boundaries, or obstacles. The computer vision system 240 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map the environment, track objects, estimate object velocities, etc.

[0095] In some possible ways, the route control system 242 can be used to determine the driving route of the vehicle 600, and the obstacle avoidance system 244 can be used to identify, assess and avoid or otherwise traverse potential obstacles in the environment of the vehicle 600.

[0096] Vehicle 600 interacts with external sensors, other vehicles, other computer systems, or users via peripheral device 208. For example, peripheral device 208 may include: wireless communication system 246, on-board computer 248, microphone 250, and speaker 252. In some possible configurations, wireless communication system 246 may communicate wirelessly with one or more devices directly or via a communication network.

[0097] Some or all of the functions of vehicle 600 are controlled by computer system 212. Computer system 212 may include at least one processor 213, which executes instructions 215 stored in data storage device 214. Computer system 212 may also be multiple computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

[0098] In some possible configurations, processor 213 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. In the various aspects described herein, processor 213 can be located remotely from and wirelessly communicating with the vehicle. In other aspects, some of the processes described herein can be executed by a processor located within the vehicle, while others described herein can be executed by a remote processor; these processes include taking the necessary steps to perform a single operation.

[0099] In one possible embodiment, the data storage device 214 may include instructions 215 (e.g., program logic instructions) that can be processed by the processor 213 to perform various functions of the vehicle 600, including those described above. The data storage device 214 may also include additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the propulsion system 202, sensor system 204, control system 206, and peripheral devices 208.

[0100] In addition to instruction 215, data storage device 214 may also store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, as well as other information. This information can be used by vehicle 600 and computer system 212 during operation of vehicle 600 in autonomous, semi-autonomous, and / or manual modes.

[0101] In one possible manner, user interface 216 is used to provide information to or receive information from a user of vehicle 600. Optionally, user interface 216 may include one or more input / output devices within a set of peripheral devices 208, such as wireless communication system 246, on-board computer 248, microphone 250, and speaker 252.

[0102] Computer system 212 can control the functions of vehicle 600 based on input received from various subsystems (e.g., driving system 202, sensor system 204, and control system 206) and from user interface 226. For example, computer system 212 can utilize input from control system 206 to control steering system 232 to avoid obstacles detected by sensor system 204 and obstacle avoidance system 244. In some embodiments, computer system 212 can provide control over many aspects of vehicle 600 and its subsystems.

[0103] Optionally, one or more of these components may be installed separately from or associated with the vehicle 600. For example, the data storage device 214 may exist partially or completely separately from the vehicle 600. The components may be coupled together in a wired and / or wireless manner.

[0104] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 6 This should not be construed as a limitation on the embodiments of this application.

[0105] In addition to providing instructions to adjust the speed or route of the autonomous vehicle, the computing device can also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from obstacles near the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

[0106] To better describe Figure 6 The computer system 212 shown is exemplary. Figure 7 This is a schematic diagram of the structure of a computer system 212 provided in an embodiment of this application.

[0107] like Figure 7 As shown, the computer system 212 includes at least one of the following: a processor 213, a video adapter 107, a transceiver 123, a camera 155, and a universal serial bus (USB) port 125. The transceiver 123 can transmit and / or receive radio communication signals, and the camera 155 can capture still digital video images and moving digital video images.

[0108] In one possible configuration, the processor 213 is coupled to the system bus 105, which is coupled to an input / output (I / O) bus via a bus bridge 111. The I / O bus is coupled to an I / O interface 115, which can communicate with various I / O devices. For example, the I / O device could be an input device 117 (e.g., a keyboard, mouse, touchscreen, etc.) or a media tray 121 (e.g., a compact disc read-only memory (CD-ROM), a multimedia interface, etc.). Optionally, the interface connected to the I / O interface 115 could be a universal serial bus (USB) interface.

[0109] In possible configurations, processor 213 may be one or more processors, each of which may include one or more processor cores; processor 113 may be any conventional processor, including reduced instruction set computing (RISC), complex instruction set computing (CISC), or a combination thereof.

[0110] Alternatively, the processor may be a dedicated device such as an application-specific integrated circuit (ASIC); or, the processor 213 may be a neural network processor or a combination of a neural network processor and the aforementioned conventional processor.

[0111] In one possible manner, computer system 212 can communicate with software deployment server 149 via network interface 129. For example, network interface 129 can be a hardware network interface (e.g., a network interface card). Network 127 can be an external network (e.g., the Internet) or an internal network (e.g., Ethernet or a virtual private network (VPN)). Optionally, network 127 can also be a wireless network (e.g., a wireless-fidelity (WiFi) network, a cellular network).

[0112] In some possible configurations, application 143 includes autonomous driving control-related program 147 and projection-related program 148. For example, autonomous driving control-related program 147 may include programs that manage the interaction between the autonomous vehicle and obstacles on the road, programs that control the autonomous vehicle's route or speed, and programs that control the interaction between the autonomous vehicle and other autonomous vehicles on the road; for example, projection-related program 148 may include programs that project first request information or second request information.

[0113] Understandably, after the vehicle displays the first request information or the second request information in the target area through the projection-related program 148, the vehicle can further control the vehicle's route or speed through the autonomous driving-related program 147.

[0114] Application 143 may reside on the system of software deployment server 149. In some embodiments, when application 143 needs to be executed, the computer system may download application 143 from software deployment server 149.

[0115] Sensor 153 is associated with computer system 212 and is used to detect the environment surrounding computer system 212. For example, sensor 153 can detect objects such as animals, cars, obstacles, or pedestrian crossings; further, the sensor can also detect the environment around the aforementioned objects such as animals, cars, obstacles, or pedestrian crossings, for example, the environment could be the weather conditions around the animal, the brightness of the light around the animal, or other animals present in the vicinity. Optionally, if computer system 212 is installed on an autonomous vehicle, the sensor can be a camera, infrared sensor, chemical detector, or microphone, etc.

[0116] Combination Figure 5 The system shown, Figure 7 The processor 213 shown can be a decision system, or the processor 213 may include a decision system, so that the vehicle can interact with the pedestrian's intentions through the processor 213.

[0117] Combination Figure 5 The system shown, Figure 7 The sensor 153 shown can be a perception system. The vehicle can track pedestrians, identify the actions made by pedestrians, or identify the duration of the actions made by pedestrians through the sensor 153. In turn, the vehicle can obtain the information transmitted in the interface between the processor 213 and the sensor 153, that is, the vehicle obtains the information transmitted in the interface between the decision system and the perception system.

[0118] The technical solutions of this application and how they solve the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be implemented independently or in combination with each other. The same or similar concepts or processes may not be described again in some embodiments.

[0119] It should be noted that the execution subject of the steps described below can be a vehicle, a chip in the vehicle, or a module in the vehicle, etc. For ease of description, the following specific embodiments are illustrated by taking a module in the vehicle (hereinafter referred to as the first module) as the execution subject; wherein, the first module can be a multi-domain controller (MDC), etc. It is understood that the specific content of the first module can also be set according to the actual application scenario, and the embodiments of this application are not limited thereto.

[0120] For example, Figure 8 A flowchart illustrating a control method provided in an embodiment of this application is shown below. Figure 8 As shown, the following steps may be included:

[0121] S801: The first module controls the target device inside the vehicle to display the first request information in the target area.

[0122] In this embodiment, the target device can be a device pre-installed in the vehicle by the manufacturer, or a device installed in the vehicle by the user. The first module controls the target device in the vehicle to display the first request information in the target area. This control process can be automatically triggered or manually triggered. In this way, the vehicle can inquire about the pedestrian's intention to participate in the road based on the first request information. It is understood that the installation location of the target device can be set according to the actual application scenario, and this embodiment does not limit it.

[0123] In this embodiment, the target area is within the pedestrian's field of vision. For example, the target area is the ground area between the vehicle and the pedestrian. In this way, the first module controls the target device inside the vehicle to display the first request information in the target area, so that the pedestrian can know the first request information displayed by the vehicle in the target area. Thus, the pedestrian can perform actions related to their road participation intention based on the first request information, thereby expressing their road participation intention. It can be understood that the specific content of the target area can also be set according to the actual application scenario, and this embodiment does not limit it.

[0124] In this embodiment, the first request information is used to request the pedestrian to perform a target action. Since the target action expresses the pedestrian's intention to participate in the road, the first module can know the pedestrian's intention to participate in the road at the next moment based on the first request information, i.e., whether the pedestrian will continue walking or stop. The target action can be a pre-set action that is mutually known between the vehicle and the pedestrian. This ensures that after the pedestrian performs the action, the vehicle can understand the pedestrian's intention to participate in the road. For example, a pedestrian raising their left hand means the pedestrian will walk at the next moment, and a pedestrian raising their right hand means the pedestrian will stop at the next moment.

[0125] Among them, pedestrians can refer to pedestrians walking on the side of the road, pedestrians intending to cross the road, or pedestrians riding bicycles, etc.; it can be understood that the specific content of the target action can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0126] In this embodiment of the application, the first request information may include one or more of text information, static graphic information, video information, or dynamic graphic information; it is understood that the specific content of the first request information may also be set according to the actual application scenario, and this embodiment of the application does not limit it.

[0127] The text information refers to the text indicating whether a pedestrian is walking or not walking. Next to the text indicating whether a pedestrian is walking or not walking, the target action that the pedestrian needs to perform is also displayed. For example, next to the text indicating that a pedestrian is walking, it shows "raise left hand" and next to the text indicating that a pedestrian is not walking, it shows "raise right hand".

[0128] Among them, static graphic information refers to static graphics showing whether pedestrians are walking or not. For example, Figure 9 This is a schematic diagram of a first request information provided in an embodiment of this application, such as... Figure 9 As shown, in front of the pedestrian, the static graphic of the pedestrian walking is an arrow symbol pointing forward, and the static graphic of the pedestrian not walking is an arrow symbol pointing backward. Next to the arrow symbol pointing forward or backward, the target action requested of the pedestrian is also displayed. For example, next to the arrow symbol pointing forward, it shows raising the left hand, and next to the arrow symbol pointing backward, it shows raising the right hand.

[0129] Among them, dynamic graphic information refers to dynamic graphics of pedestrians walking or not walking. For example, in front of a pedestrian, the dynamic graphic of a pedestrian walking is an arrow symbol moving forward step by step, and the dynamic graphic of a pedestrian not walking is an arrow symbol moving backward step by step. Next to the arrow symbol moving forward step by step or moving backward step by step, the target action requested from the pedestrian is also displayed. For example, next to the arrow symbol moving forward step by step, it shows raising the left hand, and next to the arrow symbol moving backward step by step, it shows raising the right hand.

[0130] It is understandable that static or dynamic graphic information can be traffic sign instructions, such as straight-ahead signs or left-turn signs. Through this traffic instruction information, pedestrians can understand the target action requested in the first request information.

[0131] Among them, video information refers to videos of pedestrians walking or not walking. For example, in front of a pedestrian, the video of a pedestrian walking is a dynamic picture, and the video of a pedestrian not walking is a still picture. Next to the dynamic or still picture, the target action that the pedestrian needs to perform is also displayed. For example, next to the dynamic picture, it shows "raise left hand", and next to the still picture, it shows "raise right hand".

[0132] It should be noted that the "raise right hand" or "raise left hand" displayed next to text information, static graphic information, video information, or dynamic graphic information can be text indicating raising the left hand or the right hand, or it can be a dynamic image of raising the left hand or the right hand. This application embodiment does not limit this.

[0133] It should be noted that raising the left or right hand is one example of the target action that the pedestrian needs to perform. It could also be that the pedestrian moves to the left or to the right, or other methods can be used to set it. This application embodiment does not limit it.

[0134] It should be noted that raising the left hand to indicate that the pedestrian is walking and raising the right hand to indicate that the pedestrian is not walking is just one example. It can also be set in other ways, and this application does not limit it.

[0135] It should be noted that the text indicating whether to go or not in the first request information can also be represented by YES or NO, where YES means to go and NO means not to go. Other methods can also be used to set it, and this application embodiment does not limit it.

[0136] In this embodiment of the application, the first module controls the target device inside the vehicle to display the first request information in the target area. A possible implementation is that, based on certain triggering conditions, the first module can control the target device inside the vehicle to display the first request information in the target area.

[0137] For example, if the triggering condition is emergency braking of the vehicle while it is in motion, the first module can control the target device to display the first request information in the ground area between the vehicle and the pedestrian. In this way, the pedestrian can take action based on the first request information, and the first module can know the pedestrian's intention to participate in the road based on the pedestrian's action. It can be understood that the specific content of the triggering condition can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0138] S802: The first module identifies the actions performed by pedestrians.

[0139] In this embodiment of the application, a possible implementation of the first module recognizing the actions made by pedestrians is as follows: the first module can recognize the actions made by pedestrians based on sensors.

[0140] For example, the sensors on the vehicle can obtain the distance-velocity map corresponding to the pedestrian using the two-dimensional Fourier transform of distance and velocity. The sensors then use a constant false alarm rate (CFAR) algorithm to detect the distance-velocity map and obtain the point cloud target detection result corresponding to the pedestrian. The angle of the pedestrian's point cloud target is then obtained through angle Fourier transform. The sensors use a clustering algorithm to cluster the point cloud targets into targets. Thus, based on multiple frames of data, the sensors use a tracking algorithm to track the pedestrian. Furthermore, the sensors analyze the multiple frames of pedestrian data using time-frequency analysis methods such as short-time Fourier transform or wavelet transform, thereby identifying the actions performed by the pedestrian.

[0141] It is understandable that the implementation method of the first module to identify the actions made by pedestrians can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0142] It should be noted that, based on the initial request information, pedestrians may be making movements for a period of time. Therefore, the sensors on the vehicle also need to continuously track and identify the pedestrians' movements during that period.

[0143] S803: The first module determines the vehicle's driving strategy based on the recognition results.

[0144] In this embodiment of the application, the identification result may be that the pedestrian expressed their intention to participate in the road, or the identification result may be that the pedestrian did not express their intention to participate in the road. In this way, the first module can determine different driving strategies based on different identification results.

[0145] If the identification result shows that the pedestrian has expressed their intention to participate in the road, the first module can determine the vehicle's driving strategy based on the pedestrian's intention to participate in the road.

[0146] For example, when the first module identifies a pedestrian crossing the road, it can display a first request message in the target area. The text in the first request message that requests the pedestrian to perform a target action can be "raise left hand" or "raise right hand." Next to the text "raise left hand," it displays "walk," and next to the text "raise right hand," it displays "do not walk." "Walk" indicates that the pedestrian continues to cross the road, while "do not walk" indicates that the pedestrian stops on the road. If the pedestrian's action is to raise their right hand, the first module can determine that the pedestrian's intention is to stop on the road. Alternatively, it can be understood that the driving strategy of the vehicle determined by the first module is to continue driving. It is understood that the implementation method of the first module determining the driving strategy of the vehicle can be set according to the actual application scenario, and this embodiment of the application does not limit it.

[0147] If the identification result shows that the pedestrian has not expressed their intention to participate in the road, since the first module does not know the pedestrian's intention to participate in the road, the first module can execute a preset strategy. Based on the preset strategy, the first module can determine the vehicle's driving strategy.

[0148] For example, the first module identifies pedestrians crossing the road. The first module can display first request information in the target area. The text in the first request information that requests the pedestrian to perform the target action can be "raise left hand" or "raise right hand". Next to the text "raise left hand", it displays "walk" and next to the text "raise right hand", it displays "don't walk". "Walk" means that the pedestrian continues to cross the road, and "don't walk" means that the pedestrian stops on the road. However, the action performed by the pedestrian is to put both hands together. The first module cannot determine the pedestrian's intention to participate in the road. Therefore, the first module can implement a preset strategy of stopping the vehicle on the road until the pedestrian crosses the road before the vehicle starts to move again. It is understood that the implementation method of the first module determining the vehicle's driving strategy can also be set according to the actual application scenario. This application embodiment does not limit it.

[0149] In summary, in this embodiment of the application, the first module controls the target device inside the vehicle to display the first request information in the target area. In this way, pedestrians can take actions based on the first request information. Thus, by recognizing the actions taken by the pedestrians, the first module can determine the vehicle's driving strategy. This allows the vehicle to interact with pedestrians' intentions in the autonomous driving system even without the participation of a driver, thereby avoiding traffic accidents and improving driving safety.

[0150] In autonomous driving scenarios, when the first module cannot recognize a pedestrian's intention, it can control the target device within the vehicle to display the first request information in the target area based on the display method of the first request information. For example, the display method of the first request information may include one or more of the following: the display position of the first request information, the display angle of the first request information, the display brightness of the first request information, the display color of the first request information, or the duration of displaying the first request information. It is understood that the specific content of the display method of the first request information can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0151] The display location of the first request information refers to the specific location where the first request information is displayed. This location can be an area outside the vehicle, such as the ground, a building, or the vehicle body. The vehicle body can include at least one of the windshield, rear windshield, or windows. The vehicle can refer to this vehicle or other vehicles. It is understood that the specific content of the display location of the first request information can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0152] It should be noted that since the pedestrian is in front of the vehicle, when the vehicle displays the first request information on the rear windshield, the vehicle also needs to display the first request information on the front windshield. The first request information displayed on the front windshield is used to request the pedestrian to perform the target action, and the first request information displayed on the rear windshield can be used to remind other vehicles behind the vehicle. It is understood that the specific implementation of the vehicle displaying the first request information on the front windshield and rear windshield is not limited in this application embodiment.

[0153] The display angle of the first request information refers to the angle at which the first request information is displayed. From the perspective of a vehicle, the display angle of the first request information can be 60 degrees to the right of the vehicle's front direction, etc. From the perspective of a pedestrian, the display angle of the first request information can be directly in front of the pedestrian, etc. It can be understood that the specific content of the display angle of the first request information can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0154] The display brightness of the first request information refers to the brightness at which the first request information is displayed. For example, the brightness value can be 50. This brightness can highlight the first request information so that pedestrians can see it in time. It is understood that the specific value of the display brightness of the first request information can be set according to the actual application scenario, and this application embodiment does not limit it.

[0155] The display color of the first request information refers to the color in which the first request information is displayed. For example, the color can be red, green, or yellow. In this way, the first request information displayed by this color can distinguish the color of the target area, so that pedestrians can see the first request information in a timely manner. It is understood that the specific content of the display color of the first request information can be set according to the actual application scenario, and this application embodiment does not limit it.

[0156] The duration of displaying the first request information refers to the duration of displaying the first request information. For example, the duration is 10 seconds. In this way, even if the pedestrian does not notice the first request information in the first 5 seconds, the pedestrian can notice the first request information in the last 5 seconds, thereby enabling the vehicle to interact with the pedestrian's intention. It can be understood that the specific value of the duration of displaying the first request information can be set according to the actual application scenario, and this application embodiment does not limit it.

[0157] Based on the above description, in Figure 8 Based on the illustrated embodiments, exemplarily, Figure 10 This is a flowchart illustrating a control method provided in an embodiment of this application. In this embodiment, the first request information includes indication information for indicating a desired action. The desired action is associated with the pedestrian's intention to participate in the road. Therefore, the first module controls the target device inside the vehicle to display the first request information in the target area. This can be understood as follows: if the target device is a projection system and the target area is the ground, the first module controls the projection system to project the first request information onto the ground; or, if the target device is a display device and the target area is a display screen, the first module controls the display device to display the first request information on the display screen. In this way, by recognizing the actions made by the pedestrian, the first module can know the pedestrian's intention to participate in the road, thereby allowing the first module to determine the vehicle's driving strategy.

[0158] like Figure 10 As shown, the following steps may be included:

[0159] S1001: When the ground conditions are met, the first module controls the projection system to project the first request information onto the ground.

[0160] In this embodiment, the projection condition can be understood as the absence of water or snow. This is because if there is water or snow on the ground, the first request information displayed on the ground by the projection system controlled by the first module will be blurry, which will make it difficult for pedestrians to see the first request information and thus prevent them from expressing their intention to participate in the road. It can be understood that the specific implementation method by which the first module determines that the ground meets the projection condition can be set according to the actual application scenario, and this embodiment does not limit it.

[0161] In this embodiment, the projection system can be a system pre-installed in the vehicle by the manufacturer, or a system installed in the vehicle by the user. The first module can control the system to project the first request information on the ground. This embodiment does not limit the implementation method of the first module controlling the projection system to project the first request information on the ground.

[0162] In this embodiment of the application, when the ground meets the projection conditions, the first module controls the projection system to project the first request information on the ground. One possible implementation is that the first module can control the projection system to project the first request information on the ground based on the direction of pedestrian movement, when the ground meets the projection conditions.

[0163] For example, during vehicle operation, the first module identifies the direction of the vehicle's movement as being perpendicular to the direction of the pedestrian's movement by observing the direction of the pedestrian's movement. Thus, the first module determines that the pedestrian is preparing to cross the road. Therefore, in the absence of water on the ground, the first module can control the projection system to project the first request information onto the ground according to the display method of the first request information, or it can be understood that the projection system instructs the projection device to project the first request information onto the ground. The specific value of the angle between the direction of the vehicle's movement and the direction of the pedestrian's movement can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0164] It is understood that the implementation method of the first module controlling the projection system to project the first request information on the ground can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0165] S1002: The first module controls the display device to display the first request information on the display screen.

[0166] In this embodiment, the display device can be a device pre-installed in the vehicle by the manufacturer, or a device installed in the vehicle by the user. For example, the display device can be a vehicle-mounted display screen. The display device can control the display screen, so that after the first request information is displayed on the display screen, the pedestrian can notice the first request information and express their intention to participate in the road. The display screen can be a device pre-installed on the exterior of the vehicle by the manufacturer, or a device installed on the exterior of the vehicle by the user. For example, the display screen can be mounted on the roof of the vehicle.

[0167] It is understood that the installation location and specific content of the display device can be set according to the actual application scenario, and this application embodiment does not limit them; the size of the display screen and the installation location of the display screen can be set according to the actual application scenario, and this application embodiment does not limit them.

[0168] In this embodiment, the implementation method of the first module controlling the display device to display the first request information on the display screen can refer to the content adaptation description of S1001, and will not be repeated here; it can be understood that the implementation method of the first module controlling the display device to display the first request information on the display screen can also be set according to the actual application scenario, and this embodiment does not limit it.

[0169] S1003: The first module identifies the actions performed by pedestrians.

[0170] In this embodiment, the content of S1003 can be adapted to the content of S802, and will not be repeated here; it can be understood that the specific implementation of the first module to identify the actions made by pedestrians can also be set according to the actual application scenario, and this embodiment does not limit it.

[0171] S1004: Based on the pedestrian's action as the expected action, the first module determines the vehicle's driving strategy.

[0172] In this embodiment of the application, since the expected action is associated with the pedestrian's road participation intention, when the expected action includes a first expected action and a second expected action, the first module can know the pedestrian's road participation intention based on whether the action performed by the pedestrian is the first expected action or the second expected action, so that the first module can determine the vehicle's driving strategy.

[0173] The first expected action is associated with the pedestrian's first road participation intention, and the second expected action is associated with the pedestrian's second road participation intention. For example, when the pedestrian's action is the first expected action, the first road participation intention is for the pedestrian to continue walking in the next moment; when the pedestrian's action is the second expected action, the second road participation intention is for the pedestrian to stop and wait in the next moment. Alternatively, when the pedestrian's action is the first expected action, the first road participation intention is for the pedestrian to stop and wait in the next moment; when the pedestrian's action is the second expected action, the second road participation intention is for the pedestrian to continue walking in the next moment.

[0174] For example, when the pedestrian raises their left hand, which is the same as the first expected action, and since the first road participant's intention is for the pedestrian to continue walking in the next moment, the driving strategy determined by the first module is to stop and wait in the next moment; when the pedestrian raises their right hand, which is the same as the second expected action, and since the second road participant's intention is for the pedestrian to stop and wait in the next moment, the driving strategy determined by the first module is to continue driving.

[0175] It is understood that the content of the pedestrian's intention to participate in the road indicated by the first or second expected action can also be set according to the actual application situation, and this application embodiment does not limit it.

[0176] In this embodiment of the application, combined with Figure 5 The system shown is exemplary. Figure 11 This application provides a schematic diagram of an intent-based interaction, such as... Figure 11 It is understood that when the decision-making system cannot identify a pedestrian's road participation intention, it can activate the projection system based on the first request information and control the projection system to project the first request information onto the ground. Therefore, after the pedestrian takes an action based on the first request information, the decision-making system can instruct the perception system to track the pedestrian and identify the pedestrian's action. If the perception system determines that the pedestrian's action is a first desired action or a second desired action, the decision-making system can then determine that the pedestrian's road participation intention is either the first or second road participation intention. Thus, the decision-making system can make a decision based on the pedestrian's first or second road participation intention and send the decision result to the execution mechanism, which can be a braking system or a steering system, etc. For example, if the decision result is to stop and wait, the braking system will control the vehicle to stop.

[0177] In summary, in this embodiment, when the ground conditions meet the projection requirements, the first module can control the projection system to project the first request information onto the ground, or the first module can control the display device to display the first request information on the screen. Thus, by recognizing the actions performed by the pedestrian, and since the desired action is associated with the pedestrian's road participation intention, the first module can determine the vehicle's driving strategy when the pedestrian's action is the desired action. In this way, even without driver intervention, pedestrians and autonomous vehicles can achieve effective intention interaction, enabling the autonomous vehicle to effectively understand the pedestrian's road participation intention and make correct driving decisions. This is particularly important for the road safety of autonomous vehicles.

[0178] exist Figure 8 Based on the illustrated embodiments, exemplarily, Figure 12 This is a flowchart illustrating a control method provided in an embodiment of this application. In this embodiment, the first request information includes indication information for indicating multiple desired actions. These multiple desired actions are associated with multiple road participation intentions of a pedestrian. Thus, by recognizing the actions performed by the pedestrian, the first module can determine the pedestrian's road participation intentions, and consequently, the first module can determine the vehicle's driving strategy. Figure 12 As shown, the following steps may be included:

[0179] S1201: The first module controls the target device inside the vehicle to display the first request information in the target area.

[0180] In this embodiment of the application, the first request information includes indication information for indicating multiple desired actions, wherein the multiple desired actions are associated with multiple road participation intentions of the pedestrian. For example, when the pedestrian is crossing the road, the desired action is to raise the left hand, and the road participation intention is for the pedestrian to continue crossing the road at the next moment; the desired action is to raise the right hand, and the road participation intention is for the pedestrian to stop and wait at the next moment; the desired action is to raise both hands, and the road participation intention is for the pedestrian to run across the road at the next moment. It can be understood that the specific correspondence between the desired actions and the road participation intentions can also be set according to the actual application scenario, and this embodiment of the application does not limit it.

[0181] S1202: The first module identifies the actions performed by pedestrians.

[0182] In this embodiment of the application, since the first request information includes multiple expected actions, after the pedestrian makes an action, the first module can identify the action made by the pedestrian. When it is determined that the action made by the pedestrian is different from any one of the multiple expected actions, the first module can execute S1203.

[0183] The specific implementation of the first module for recognizing the actions performed by pedestrians can be found in the content adaptation description of S802, and will not be repeated here.

[0184] S1203: Since the pedestrian's action is not one of the multiple expected actions, the first module controls the target device inside the vehicle to display the second request information in the target area.

[0185] In this embodiment, after the vehicle displays the first request information, the first module identifies the pedestrian's actions and finds that the pedestrian's actions are not among the multiple expected actions, or that the pedestrian has not performed any action. This makes it impossible for the first module to obtain the pedestrian's intention to participate in the road. To avoid ineffective waiting, the decision system on the vehicle can instruct the projection system to switch the projection content. That is, the first module can control the target device in the vehicle to display the second request information in the target area. Since the second request information is used to instruct the pedestrian to perform the first road participation behavior, the first module can directly tell the pedestrian the action to be performed at the next moment through the displayed second request information, that is, the first road participation behavior to be performed by the pedestrian at the next moment. In this way, ineffective waiting time can be effectively saved and road traffic efficiency can be improved.

[0186] The first road participation behavior can be stopping and waiting, continuing to walk, walking across the road, or running across the road, etc. It can be understood that the specific content of the first road participation behavior can also be set according to the actual application scenario, and this application embodiment does not limit it.

[0187] Understandably, while displaying the pedestrian's first road participation behavior to be performed in the next moment, the first module can also display the action that the pedestrian needs to perform. By recognizing this action, the first module can further determine the pedestrian's road participation behavior in the next moment. In this way, the first module can also determine the vehicle's driving intention.

[0188] In this embodiment of the application, the second request information includes text information, static graphic information, video information, or dynamic graphic information; it can be understood that the specific content of the second request information can also be set according to the actual application scenario, and this embodiment of the application does not limit it.

[0189] In this embodiment, the first module can control the target device inside the vehicle to display the second request information in the target area based on the display method of the second request information. The display method of the second request information includes one or more of the following: the display position of the second request information, the display angle of the second request information, the display brightness of the second request information, the display color of the second request information, or the duration of displaying the second request information. The content of the display method of the second request information can be adapted to the description of the content of the display method of the first request information, and will not be repeated here. It is understood that the specific content of the display method of the second request information can also be set according to the actual application scenario, and this embodiment does not limit it.

[0190] In possible implementations, the display of the second request information may also include a countdown timer. When the vehicle's driving strategy is to stop and wait, the countdown timer serves as a reminder for pedestrians to quickly pass the vehicle. When the vehicle's driving strategy is to continue driving, the countdown timer serves as the time it takes for the vehicle to pass the pedestrian, which is also the time the pedestrian needs to wait.

[0191] It is understood that static or dynamic graphic information can also serve as warning signs. These warning signs are used to indicate the driving strategy that the vehicle is about to execute. For example, a warning sign may be a straight-ahead traffic sign to indicate that the vehicle is about to proceed. The specific content of the warning sign can be set according to the actual application scenario, and this application embodiment does not limit it.

[0192] For example, Figure 13 This is a schematic diagram of a second request message provided in an embodiment of this application. In this embodiment, the first road participation behavior is walking, such as... Figure 13As shown, directly in front of the pedestrian, the vehicle control projection system projects a forward-direction arrow symbol, next to which is displayed the text indicating the pedestrian's direction. Both the forward-direction arrow symbol and the text indicating the pedestrian's direction indicate that the vehicle is informing the pedestrian that they need to cross the vehicle in the next moment, at which point the vehicle will stop. The number 5 displayed next to the forward-direction arrow symbol can be interpreted as the pedestrian having 5 seconds to cross the vehicle, or it can be used to inform the pedestrian that they need to cross the vehicle quickly within these 5 seconds, so that the vehicle can continue moving after 5 seconds.

[0193] Understandably, in Figure 13 In addition to projecting forward-direction arrows or text indicating pedestrian movement, vehicles can also project the gesture of raising a left hand. Raising a left hand indicates that the pedestrian intends to walk in the next moment. By recognizing this gesture, the vehicle can further determine the pedestrian's intention to walk in the next moment, and thus the vehicle will stop moving in the next moment.

[0194] For example, Figure 14 This is a schematic diagram of a second request message provided in an embodiment of this application. In this embodiment, the first road participation behavior is not to travel, such as... Figure 14 As shown, directly in front of the pedestrian, the vehicle control projection system projects the English symbol "STOP," with the text "Pedestrian, do not move" displayed next to it. Both the "STOP" symbol and the text "Pedestrian, do not move" indicate that the pedestrian needs to stop at the next moment, and the vehicle will continue to move at the next moment. The "10" displayed next to the "STOP" symbol can be interpreted as the pedestrian stopping for 10 seconds, or as a notification to the pedestrian that the vehicle can quickly pass the pedestrian during these 10 seconds, after which the pedestrian can continue walking.

[0195] Understandably, in Figure 14 In addition to projecting the English symbol "STOP" or the text indicating that pedestrians should not move, vehicles can also project a raised right hand gesture. This gesture indicates that the pedestrian needs to stop at the next moment. By recognizing the pedestrian's raised right hand gesture, the vehicle can further determine the pedestrian's intention to stop at the next moment, and thus the vehicle will continue to move at the next moment.

[0196] It should be noted that when the ground meets the projection conditions, the target device is a projection system, and the target area is the ground, the first module can control the projection system to project the second request information onto the ground; or, when the target device is a display device and the target area is a display screen, the first module can control the display device to display the second request information on the display screen.

[0197] S1204: Based on the pedestrian's first road participation behavior, the first module determines the vehicle's driving strategy.

[0198] In this embodiment of the application, after the first module displays the second request information, the pedestrian notices the second request information. Therefore, the pedestrian can make a first road participation behavior based on the second request information. In this way, the first module can determine the vehicle's driving strategy.

[0199] Understandably, while displaying the second request information, the target area can also display the actions that the pedestrian needs to perform. In this way, the first module can further determine the pedestrian's road participation behavior by continuously recognizing the actions performed by the pedestrian. For example, if the vehicle's driving strategy is to stop and wait in the previous moment, and the action that the pedestrian needs to perform displayed in the target area is to raise their left hand, raising the left hand reflects that the pedestrian will stop and wait in the next moment. Therefore, when the vehicle recognizes that the pedestrian has raised their left hand and / or that the pedestrian has stopped and waited, the vehicle can change from the stopped and waiting state to the driving state.

[0200] In this embodiment of the application, combined with Figure 5 The system shown is exemplary. Figure 15 This application provides a schematic diagram of an intent-based interaction, such as... Figure 15 It is understood that when a pedestrian's action is not one of the multiple desired actions, the decision-making system can instruct the projection system to switch the projection content, which is the second request information. Since the second request information is used to instruct the pedestrian to perform the first road participation behavior, the perception system, based on the second request information, can re-track the pedestrian and re-identify the pedestrian's actions. This allows the decision-making system to determine the pedestrian's road participation intention. Therefore, the decision-making system can make a decision based on the pedestrian's road participation intention and send the decision result to the execution mechanism, which can be a braking system or a steering system, etc. For example, if the decision result is to stop and wait, the braking system controls the vehicle to stop.

[0201] It should be noted that if multiple pedestrians on the roadside take action after the vehicle displays the second request information, and the vehicle cannot determine the pedestrians' intention to participate in the road, the vehicle can execute S1201-S1204 until the vehicle determines the pedestrians' intention to participate in the road.

[0202] Combination Figures 8-15 The illustrated embodiments are exemplary. Figure 16 A flowchart illustrating a control method provided in an embodiment of this application is shown below. Figure 16As shown, when the decision system recognizes the pedestrian's intention, it can plan a path accordingly. If the decision system does not recognize the pedestrian's intention, but the ground conditions are suitable for projection, the decision system determines the content and location of the interactive projection. Furthermore, the decision system controls the projection system to determine the projection color, light intensity, and other information. The projection system then instructs the projection device to adjust the lighting for projection. Simultaneously, the decision system instructs the perception system to track the pedestrian and recognize their actions. If the perception system recognizes that the pedestrian's action matches the expected action, it can send the matching result to the decision system, which then plans a path based on the result. If the perception system recognizes that the pedestrian's action does not match the expected action, it can notify the decision system to switch the projection content. That is, the decision system redetermines the content and location of the interactive projection, the projection system redetermines the projection color, light intensity, and other information, and the projection device readjusts the lighting for projection. Based on the redefined projection content, the perception system re-tracks the pedestrian and recognizes their actions. Finally, if the perception system recognizes that the pedestrian's action matches the expected action, it sends the matching result to the decision system, which then plans a path based on the result.

[0203] It should be noted that, Figure 16 The content shown, including adjusting the lighting, determining the content and position of the interactive projection, and determining the projection color and light intensity, can be referenced to the content of the display method of the first request information described in the above embodiments. Figure 16 The content of readjusting the lighting, re-determining the content and position of the interactive projection, and re-determining the projection color and light intensity, as shown, can be referred to the content of the display method of the second request information described in the above embodiments, and will not be repeated here.

[0204] The above combination Figures 8-16 The methods described in the embodiments of this application have been explained. The apparatus for executing the above methods provided in the embodiments of this application is described below. Those skilled in the art will understand that the methods and apparatus can be combined with and referenced in conjunction with each other, and a control apparatus provided in the embodiments of this application can execute the above control methods.

[0205] The following example illustrates how functional modules are divided according to their respective functions:

[0206] For example, such as Figure 17 This is a schematic diagram of the structure of a control device provided in an embodiment of this application, such as... Figure 17 As shown, the device includes a processor 1700, a memory 1701, and a transceiver 1702.

[0207] The processor 1700 is responsible for managing the bus architecture and general processing. The memory 1701 can store the data used by the processor 1700 when performing operations. The transceiver 1702 is used to receive and send data under the control of the processor 1700 and communicate with the memory 1701.

[0208] The bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1700) and memory (memory 1701). The bus architecture can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides the interface. Processor 1700 is responsible for managing the bus architecture and general processing, and memory 1701 can store data used by processor 1700 during operation.

[0209] The processes disclosed in this application can be applied to or implemented by the processor 1700. During implementation, each step of the controlled process can be completed by integrated logic circuits in the hardware of the processor 1700 or by instructions in software form. The processor 1700 can be a general-purpose processor, digital signal processor, application-specific integrated circuit, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of the hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 1701. The processor 1700 reads the information in memory 1701 and, in conjunction with its hardware, completes the steps of the signal processing process.

[0210] In this embodiment, the processor 1700 is used to read the program in the memory 1701 and execute the method flow described in the above embodiments.

[0211] For example, Figure 18 This is a schematic diagram of another control device provided in an embodiment of this application. The control device provided in this embodiment can be used in a vehicle, such as... Figure 18As shown, the control device 1800 can be used in communication equipment, circuits, hardware components or chips. The control device 1800 may include: a control unit 1801, an identification unit 1802 and a processing unit 1803. The control unit 1801 is used to support the control device in performing information control steps, the identification unit 1802 is used to support the control device in performing information identification steps, and the processing unit 1803 is used to support the control device in performing information processing steps.

[0212] For example, control unit 1801 is used to control a target device inside the vehicle to display a first request message in a target area; wherein the first request message is used to request a pedestrian to perform a target action, the target action is used to express the pedestrian's intention to participate in the road, and the target area is within the pedestrian's field of vision; recognition unit 1802 is used to recognize the action performed by the pedestrian; and processing unit 1803 is used to determine the vehicle's driving strategy based on the recognition result.

[0213] In one possible implementation, the first request information includes indication information for indicating the desired action, which is associated with the intention to participate in the road; the processing unit 1803 is specifically used to: determine the driving strategy of the vehicle based on the action performed by the pedestrian as the desired action.

[0214] In one possible implementation, the expected action includes a first expected action and a second expected action. The first expected action is associated with the pedestrian's first road participation intention, and the second expected action is associated with the pedestrian's second road participation intention. The processing unit 1803 is specifically used to determine the vehicle's driving strategy based on whether the pedestrian's action is the first expected action or the second expected action.

[0215] In one possible implementation, the first request information includes instruction information for indicating multiple desired actions, which are associated with multiple road participation intentions; the control unit 1801 is further configured to: control a target device in the vehicle to display second request information in a target area based on the fact that the pedestrian's action is not one of the multiple desired actions, the second request information being used to instruct the pedestrian to perform a first road participation behavior.

[0216] In one possible implementation, the processing unit 1803 is specifically used to: determine the driving strategy of the vehicle based on the pedestrian's first road participation behavior.

[0217] In one possible implementation, the second request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0218] In one possible implementation, the first request information includes one or more of the following: text information, static graphic information, video information, or dynamic graphic information.

[0219] In one possible implementation, the target device is a projection system, and the target area is the area outside the vehicle.

[0220] In one possible implementation, the target area is the ground, and the processing unit 1803 is specifically used to: control the projection system to project the first request information onto the ground when the ground meets the projection conditions.

[0221] In one possible implementation, the target device is a display device, the target area is a display screen, and the processing unit 1803 is specifically used to: control the display device to display the first request information on the display screen.

[0222] In one possible embodiment, the control device may further include a storage unit 1804. The control unit 1801, the identification unit 1802, the processing unit 1803, and the storage unit 1804 are connected via a communication bus.

[0223] Storage unit 1804 may include one or more memories, which may be devices in one or more devices or circuits used to store programs or data.

[0224] The storage unit 1804 can exist independently and be connected to the processing unit 1804 of the control device via a communication bus; the storage unit 1804 can also be integrated with the control unit 1801, the identification unit 1802 and the processing unit 1804.

[0225] For example, Figure 19 This is a schematic diagram of a chip structure provided in an embodiment of this application. The chip 190 includes at least one processor 1910 and a communication interface 1930. The communication interface 1930 is used to input data to the chip 190 from the outside, or to output data from the chip 190 to the outside. The processor 1910 is used to run computer programs or instructions to implement the above-described method embodiments.

[0226] Optionally, chip 190 includes memory 1940. In some embodiments, memory 1940 stores executable modules or data structures, or subsets thereof, or extended sets thereof.

[0227] In this embodiment, memory 1940 may include read-only memory and random access memory, and provides instructions and data to processor 1910. A portion of memory 1940 may also include non-volatile random access memory (NVRAM).

[0228] In this embodiment, the processor 1910 can control the decision system, sensing system, projection system, or projection device to perform the corresponding operations described in the above method embodiment by calling the operation instructions stored in the memory 1940.

[0229] For example, combining Figure 5 The operation instructions stored in memory 1940 can be instructions for controlling the decision-making system. Thus, processor 1910 can control the decision-making system by retrieving the instructions from memory 1940. Furthermore, the decision-making system can instruct the perception system to perceive pedestrian information, or the decision-making system can activate the projection system. Further, the projection system controls the projection device to project the first request information or the second request information.

[0230] In this embodiment, the memory 1940, the communication interface 1930, and the memory 1940 are coupled together via a bus system 1919. The bus system 1919 includes a data bus, and may also include a power bus, a control bus, and a status signal bus, etc. For ease of description, in... Figure 19 The general labeled all buses as Bus System 1919.

[0231] The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can be located in mature storage media in the art, such as random access memory, read-only memory, programmable read-only memory, or electrically erasable programmable read-only memory (EEPROM). This storage medium is located in memory 1940, and processor 1910 reads information from memory 1940 and, in conjunction with its hardware, completes the steps of the above method.

[0232] In the above embodiments, the instructions stored in the memory for execution by the processor can be implemented in the form of a computer program product. This computer program product can be pre-written into the memory, or it can be downloaded and installed into the memory as software.

[0233] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. For example, available media may include magnetic media (e.g., floppy disks, hard disks, or magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0234] This application also provides a computer-readable storage medium. The methods described in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. The computer-readable medium may include computer storage media and communication media, and may also include any medium capable of transferring a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0235] As one possible design, computer-readable media may include compact disc read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disc storage; computer-readable media may include disk storage or other disk storage devices. Furthermore, any connecting cable may also be appropriately referred to as computer-readable media. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disks and optical discs include optical discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0236] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method characterized by, The method comprises: controlling a target device in the vehicle to display first request information in a target area; wherein the first request information is used to request a pedestrian to perform a target action, the target action is used to express a road participation intention of the pedestrian, and the target area is within a visual range of the pedestrian; the first request information comprises indication information used to indicate a plurality of expected actions, and the plurality of expected actions are associated with a plurality of road participation intentions; identifying an action performed by the pedestrian; determining a driving strategy of the vehicle according to the identification result; The method further comprises: when the action performed by the pedestrian is not any one of the plurality of expected actions, controlling the target device in the vehicle to display second request information in the target area, the second request information is used to instruct the pedestrian to perform a first road participation behavior; the display mode of the second request information comprises a countdown; when the driving strategy of the vehicle is to stop and wait, the countdown is used to remind the pedestrian of the time when the vehicle passes; when the driving strategy of the vehicle is to continue driving, the countdown is the time when the vehicle passes the pedestrian.

2. The method of claim 1, wherein determining the driving strategy of the vehicle according to the identification result comprises: determining the driving strategy of the vehicle according to the action performed by the pedestrian being the expected action.

3. The method of claim 2, wherein, The expected action comprises a first expected action and a second expected action, the first expected action is associated with a first road participation intention of the pedestrian, and the second expected action is associated with a second road participation intention of the pedestrian; determining the driving strategy of the vehicle according to the identification result comprises: determining the driving strategy of the vehicle according to the action performed by the pedestrian being the first expected action or the second expected action.

4. The method of claim 1, wherein, determining the driving strategy of the vehicle according to the identification result comprises: determining the driving strategy of the vehicle according to the pedestrian performing a first road participation behavior.

5. The method according to claim 1 or 4, characterized in that, The second request information comprises one or more of text information, static graphic information, video information or dynamic graphic information.

6. The method according to any one of claims 1 to 4, characterized in that, The first request information comprises one or more of text information, static graphic information, video information or dynamic graphic information.

7. The method of claim 6, wherein, The target device is a projection system, and the target area is an area outside the vehicle.

8. The method of claim 7, wherein, The target area is the ground, and the control of the target device in the vehicle to display the first request information in the target area comprises: controlling the projection system to project the first request information on the ground when the ground meets a projection condition.

9. The method of claim 6, wherein, The target device is a display device, and the target area is a display screen, and the control of the target device in the vehicle to display the first request information in the target area comprises: controlling the display device to display the first request information on the display screen.

10. A control device characterized by comprising: The device comprises a control unit, an identification unit and a processing unit; The control unit is configured to control a target device in the vehicle to display first request information in a target area, wherein the first request information is used to request a pedestrian to perform a target action, the target action is used to express a road participation intention of the pedestrian, and the target area is within a visual range of the pedestrian; and the first request information comprises indication information used to indicate a plurality of expected actions, and the plurality of expected actions are associated with a plurality of road participation intentions. The identification unit is configured to identify an action performed by the pedestrian. The processing unit is configured to determine a driving strategy of the vehicle according to the identification result. The control unit is further configured to: when the action performed by the pedestrian is not any one of the plurality of expected actions, control the target device in the vehicle to display second request information in the target area, the second request information is used to instruct the pedestrian to perform a first road participation behavior, and a display mode of the second request information comprises a countdown; when the driving strategy of the vehicle is to stop and wait, the countdown is used to remind the pedestrian of a passing time of the vehicle; and when the driving strategy of the vehicle is to continue driving, the countdown is a passing time of the vehicle.

11. The apparatus of claim 10, wherein, The processing unit is specifically configured to: when the action performed by the pedestrian is the expected action, determine the driving strategy of the vehicle.

12. The apparatus of claim 11, wherein, The expected action comprises a first expected action and a second expected action, the first expected action is associated with a first road participation intention of the pedestrian, and the second expected action is associated with a second road participation intention of the pedestrian; and the processing unit is specifically configured to: when the action performed by the pedestrian is the first expected action or the second expected action, determine the driving strategy of the vehicle.

13. The apparatus of claim 11, wherein, The processing unit is specifically configured to: when the pedestrian performs a first road participation behavior, determine the driving strategy of the vehicle.

14. The apparatus of claim 11 or 13, wherein, The second request information comprises one or more of text information, static graphic information, video information, or dynamic graphic information.

15. The apparatus of any of claims 10-13, wherein, The first request information comprises one or more of text information, static graphic information, video information, or dynamic graphic information.

16. The apparatus of claim 15, wherein, The target device is a projection system, and the target area is an area outside the vehicle.

17. The apparatus of claim 16, wherein, The target area is a ground, and the control unit is specifically configured to: when the ground meets a projection condition, control the projection system to display the first request information on the ground.

18. The apparatus of claim 15, wherein, The target device is a display device, and the target area is a display screen; and the control unit is specifically configured to: control the display device to display the first request information on the display screen.

19. A control device characterized by comprising: A computer readable storage medium stores a computer program instruction, and a processor executes the computer program instruction to implement the method in any one of claims 1-9.

20. A vehicle characterized by comprising: An apparatus is provided in any one of claims 10-18.

21. The vehicle of claim 20, wherein, A perception system and a target device are further provided, and the target device is a projection system or a display device.

22. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions, and the instructions are executed to implement the method in any one of claims 1-9.

23. A computer program product, characterised in that, When the computer program product is run on a processor, it causes the processor to perform the method of any one of claims 1-9.

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