Automatic driving information indication method, automatic driving information acquisition method and device

Abstract

The embodiments of the present application provide an automatic driving information indication method, an automatic driving information acquisition method, an automatic driving information sending method, etc. The method includes: the first vehicle starts the automatic driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start the automatic driving function application; and the first vehicle indicates that the driving state of the first vehicle is the automatic driving state through the first indication information. Or the first vehicle starts the automatic driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start the automatic driving function application; and the first vehicle sends a first message, the first message includes the first indication information, and the first indication information indicates that the driving state of the first vehicle is the automatic driving state. In the present application, the vehicle with automatic driving function sends the automatic driving information to the surrounding traffic participants, especially the surrounding vehicles and pedestrians, so that the surrounding traffic participants can identify the automatic driving vehicle and improve the safety of the entire road traffic.

Description

[0001] This application is a divisional application. The application number of the original application is 201910488363.7, and the original application date is June 5, 2019. The entire content of the original application is incorporated into this application by reference. Technical Field

[0002] The embodiments of the present application relate to computer technology and / or communication technology, and in particular to an autonomous driving information indication method, an autonomous driving information acquisition method and device, etc. Background Art

[0003] With the development of science and technology and the application of artificial intelligence technology, autonomous driving technology has been rapidly developed and widely used. Based on the driving automation level of the vehicle, the existing SAE J3016 standard divides driving automation into 6 levels, namely L0-L5, namely No Automation (L0), Driver Assistance (L1), Partial Automation (L2), Conditional Automation (L3), High Automation (L4) and Full Automation (L5). With the continuous improvement of the driving automation level, the degree of human participation in driving activities is getting lower and lower. It is foreseeable that there will be more autonomous driving vehicles on the road in the future, resulting in the situation where autonomous driving vehicles and manually driven vehicles are running on the road in parallel.

[0004] In the relevant technologies, the current driving level of autonomous vehicles (vehicles equipped with autonomous driving functions) is still not comparable to that of skilled human drivers. For example, there is still a big gap between autonomous vehicles' ability to recognize the environment, their decision-making ability for emergencies, and their ability to respond to emergencies and those of human drivers. Therefore, when autonomous vehicles (vehicles equipped with autonomous driving functions) are operating on public roads, it is necessary for the autonomous vehicles to send their autonomous driving-related information or instructions to surrounding traffic participants, especially traditional human-driven vehicles, pedestrians, etc., to attract their attention. Summary of the invention

[0005] The autonomous driving information indication method, autonomous driving information acquisition method, autonomous driving information sending method and device, and autonomous driving information indication system provided in the present application can enable surrounding traffic participants to recognize that the driving status of the first vehicle is an autonomous driving status based on the indication information or messages sent by the first vehicle, thereby attracting their attention and improving the safety of the entire road traffic.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides an autonomous driving information indication method, the method comprising: a first vehicle starts an autonomous driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start an autonomous driving function application; and the first vehicle indicates, through first indication information, that the driving state of the first vehicle is an autonomous driving state.

[0008] and / or

[0009] The first vehicle starts an automatic driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start an automatic driving function application; and the first vehicle sends a first message, the first message includes first indication information, and the first indication information indicates that the driving state of the first vehicle is an automatic driving state.

[0010] The first vehicle may send the first message to roadside equipment, pedestrians, etc., which are arranged around the road (eg, one side of the road or both sides of the road), and may also send the first message to a second vehicle around the first vehicle.

[0011] In the above manner, the first vehicle can indicate that the driving status of the first vehicle is the automatic driving status, or indicate that its own driving status is the automatic driving status by sending a first message, so that the surrounding traffic participants can recognize that the driving status of the first vehicle is the automatic driving status based on the indication information of the first vehicle or the message sent, thereby attracting their attention and improving the safety of the entire road traffic.

[0012] In a possible implementation, the first indication information also indicates the driving automation level of the autonomous driving function application. By indicating the driving automation level information, surrounding traffic participants can more accurately understand the specific autonomous driving information, which is beneficial to improving safety. For example, by indicating the driving automation level information, surrounding traffic participants can know at least one of the following information: whether the autonomous driving function application that the first vehicle is currently executing or about to execute can continuously execute all dynamic driving tasks, whether it can automatically reach the minimum risk conditions, and whether there are any operating conditions restrictions. In this way, surrounding traffic participants can make corresponding actions based on the driving automation level information of the first vehicle, such as whether they need to give way or keep a distance, which is beneficial to improving road safety.

[0013] In a possible implementation, the driving automation level is one of a set of driving automation levels, and the set of driving automation levels includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous driving vehicles on the road, which is conducive to improving safety.

[0014] In one possible implementation, the first vehicle indicates the status of the takeover person corresponding to the first vehicle through the second indication information. By indicating the information of the takeover person's status, when the autonomous driving vehicle is driving on the road, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, thereby improving road safety. For example, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, and / or the ability of the takeover person to take over the autonomous driving system (switching from the autonomous driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety.

[0015] In a possible implementation, the first vehicle indicates the state of the takeover person corresponding to the first vehicle through the second indication information, including that the second indication information may indicate whether there is a takeover person corresponding to the first vehicle. By indicating whether there is a takeover person corresponding to the first vehicle, road safety is improved. For example, surrounding traffic participants can understand whether there is a takeover person who can take over the automatic driving system in time (switch from the automatic driving state to the manual driving state) in an emergency.

[0016] In one possible implementation, the first vehicle sends a second message, and the second message includes third indication information for indicating the capabilities of the first vehicle. By sending indication information including the capabilities of the first vehicle, surrounding participants can accurately judge the working margin of each module of the first vehicle in the automatic driving state, thereby improving safety. For example, through the second message, surrounding traffic participants learn that the automatic driving system of the first vehicle has lost the lateral control ability (steering ability) of the vehicle. In this way, surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the automatic driving vehicle, thereby improving road safety.

[0017] In a possible implementation, the first vehicle sends a second message, and the second message also includes fourth indication information for indicating the application of the automatic driving function and / or fifth indication information for indicating the operating condition corresponding to the automatic driving function application. Through this implementation, the surrounding traffic participants can accurately judge the automatic driving function application that the vehicle in the automatic driving state is executing or about to execute and / or the operating condition corresponding to the automatic driving function application, thereby improving safety. For example, the surrounding traffic participants can determine the complexity of the first vehicle function application based on the automatic driving function application and the corresponding operating condition, thereby determining its risk level; or the surrounding traffic participants can determine whether it is outside the operating condition based on the operating condition contained in the second message, thereby determining the state of the first vehicle (for example, abnormal or faulty state). At this time, the surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or help for its passage, or avoid the automatic driving vehicle, which is conducive to improving road safety.

[0018] In a possible implementation, the first message also includes second indication information, wherein the second indication information indicates the status of the takeover person corresponding to the first vehicle. Road safety is improved by sending the indication information of the status of the takeover person corresponding to the first vehicle to other devices (such as a cloud server, a roadside device, or a second vehicle) by means of message transmission. For example, by obtaining the second indication information, the roadside device, the cloud server, or the second vehicle can more accurately understand the status of the takeover person corresponding to the first vehicle in the automatic driving state and / or the ability of the takeover person to take over the automatic driving system (switching from the automatic driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety. For another example, the takeover person is awakened under necessary conditions (for example, the driver falls asleep at the L3 conditional driving automation level), thereby improving road safety.

[0019] In a possible implementation, the first vehicle indicates the state of the takeover person corresponding to the first vehicle through the second indication information, including that the second indication information can indicate whether there is a takeover person corresponding to the first vehicle. By using message transmission, whether there is a takeover person corresponding to the first vehicle is sent to other devices (such as a cloud server, roadside equipment, or a second vehicle), thereby improving road safety. For example, a cloud server, a roadside equipment, or a second vehicle can understand whether there is a takeover person who can take over the autonomous driving system in time (switch from the autonomous driving state to the manual driving state) when an emergency occurs.

[0020] In a possible implementation, the first message also includes third indication information for indicating the capability of the first vehicle. It can be understood that the third indication information for indicating the capability of the first vehicle can be included in the first message or in the second message, and the embodiment of the present application is not limited to this. For example, the third indication information for indicating the capability of the first vehicle can be included in the first message.

[0021] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0022] In one possible implementation, the first message also includes fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function. It can be understood that the fourth indication information for indicating the application of the autonomous driving function and / or the fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function can be included in the first message or in the second message, and the embodiments of the present application are not limited to this. For example, the fourth indication information for indicating the application of the autonomous driving function and / or the fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function are included in the first message.

[0023] In a possible implementation, the first indication information includes at least one of the following: an identification set on the body of the first vehicle, a preset sound signal emitted by the first vehicle, a preset light signal emitted by the first vehicle, a preset light color signal emitted by the first vehicle, or a preset electromagnetic wave signal emitted by the first vehicle. Through this implementation, a more flexible method can be used to indicate the above first indication information, so that traffic participants can more accurately determine that the driving state of the first vehicle is the automatic driving state.

[0024] In a possible implementation, light signals of different colors are used to indicate different driving automation levels. Through this implementation, the indication information indicating different driving automation levels can be made more accurate and clear.

[0025] In a second aspect, an embodiment of the present application provides a method for obtaining autonomous driving information, the method comprising: obtaining first indication information, the first indication information being used to indicate that the driving state of a first vehicle is an autonomous driving state; based on the first indication information, determining that the current driving state of the first vehicle is an autonomous driving state.

[0026] Through the above method, the information acquisition objects (such as surrounding traffic participants, roadside equipment, electronic devices, etc.) recognize that the driving state of the first vehicle is an automatic driving state based on the indication information or messages sent by the first vehicle, thereby attracting their attention and improving the safety of the entire road traffic.

[0027] In a possible implementation, the first indication information also indicates the driving automation level of the autonomous driving function application. By obtaining the driving automation level information, the information acquisition object can more accurately understand the specific autonomous driving information, which is beneficial to improving safety. For example, by indicating the driving automation level information, the surrounding traffic participants can know at least one of the following information: whether the autonomous driving function application that the first vehicle is executing or about to execute can continuously perform all dynamic driving tasks, whether it can automatically reach the minimum risk conditions, whether there are any operating conditions restrictions, etc. In this way, the surrounding traffic participants can make corresponding actions based on the driving automation level information of the first vehicle, such as whether they need to give way or keep a distance, which is beneficial to improving road safety.

[0028] In a possible implementation, the driving automation level is one of a set of driving automation levels, which includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous vehicles on the road, which is conducive to improving safety.

[0029] In a possible implementation, the method for obtaining automatic driving information further includes: obtaining at least one of the following indication information: second indication information, the second indication information is used to indicate the state of the takeover person corresponding to the first vehicle; third indication information, the third indication information is used to indicate the capability of the first vehicle; fourth indication information, the fourth indication information is used to indicate the automatic driving function application being executed or to be executed by the first vehicle; fifth indication information, the fifth indication information is used to indicate the operating condition corresponding to the automatic driving function application being executed or to be executed by the first vehicle. By obtaining at least one of the first indication information, the second indication information, the third indication information, the fourth indication information or the fifth indication information, the participants in the surrounding environment can more accurately understand the various automatic driving information corresponding to the vehicle in the automatic driving state, thereby further improving safety.

[0030] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0031] In a third aspect, an embodiment of the present application provides a method for sending automatic driving information, the method comprising: sending a third message; wherein the third message includes sixth indication information, and the sixth indication information indicates that the driving state of the first vehicle is an automatic driving state. In the above manner, the information acquisition object (such as surrounding traffic participants, roadside equipment, electronic devices, etc.) can recognize that the driving state of the first vehicle is an automatic driving state based on the indication information of the first vehicle or the message sent, thereby attracting their attention and improving the safety of the entire road traffic.

[0032] In a possible implementation, the sixth indication information also indicates the driving automation level of the automatic driving function application currently executed or to be executed by the first vehicle. By obtaining the driving automation level information, the information acquisition object can more accurately understand the specific automatic driving information, which is beneficial to improve safety. For example, by indicating the driving automation level information, the surrounding traffic participants can know at least one of the following information: whether the automatic driving function application currently executed or to be executed by the first vehicle can continuously perform all dynamic driving tasks, whether it can automatically reach the minimum risk conditions, whether there are any operating conditions restrictions, etc. In this way, the surrounding traffic participants can make corresponding actions such as whether they need to give way or keep a distance based on the driving automation level information of the first vehicle, which is beneficial to improve road safety.

[0033] In a possible implementation, the driving automation level is one of a set of driving automation levels, which includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous vehicles on the road, which is conducive to improving safety.

[0034] In one possible implementation, a fourth message is sent, and the fourth message includes seventh indication information for indicating the capabilities of the first vehicle. By sending the indication information including the capabilities of the first vehicle, surrounding participants can accurately judge the working margin of each module of the first vehicle in the automatic driving state, thereby improving safety. For example, through the fourth message, surrounding traffic participants learn that the automatic driving system of the first vehicle has lost the lateral control ability (steering ability) of the vehicle. In this way, surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the automatic driving vehicle, thereby improving road safety.

[0035] In a possible implementation, a fourth message is sent, and the fourth message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function.

[0036] Through this implementation, surrounding traffic participants can accurately determine the autonomous driving function application that the vehicle in the autonomous driving state is executing or about to execute and / or the operating conditions corresponding to the autonomous driving function application, thereby improving safety. For example, surrounding traffic participants can determine the complexity of the first vehicle function application based on the autonomous driving function application and the corresponding operating conditions, thereby determining its risk level; or, surrounding traffic participants can determine whether it is outside the operating conditions based on the operating conditions contained in the fourth message, thereby determining the state of the first vehicle (for example, abnormal or faulty state). At this time, surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the autonomous driving vehicle, which is conducive to improving road safety.

[0037] In a possible implementation, the third message also includes tenth indication information, wherein the tenth indication information indicates the status of the takeover person corresponding to the first vehicle. By sending the information of the takeover person's status, when the autonomous driving vehicle is driving on the road, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, thereby improving road safety. For example, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, and / or the ability of the takeover person to take over the autonomous driving system (switching from the autonomous driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety.

[0038] In a possible implementation, the tenth indication information indicates the state of the takeover person corresponding to the first vehicle, including that the tenth indication information may indicate whether there is a takeover person corresponding to the first vehicle. By indicating whether there is a takeover person corresponding to the first vehicle, road safety is improved. For example, surrounding traffic participants can understand whether there is a takeover person who can take over the automatic driving system in time (switch from the automatic driving state to the manual driving state) in an emergency.

[0039] In a possible implementation, the third message also includes seventh indication information for indicating the capability of the first vehicle. It can be understood that the seventh indication information for indicating the capability of the first vehicle can be included in the third message or in the fourth message, and the embodiment of the present application is not limited to this. For example, the seventh indication information for indicating the capability of the first vehicle can be included in the third message.

[0040] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0041] In a possible implementation, the third message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function. It can be understood that the eighth indication information for indicating the application of the autonomous driving function and / or the ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function can be included in the third message or in the fourth message, and the embodiment of the present application does not limit this. For example, the eighth indication information for indicating the application of the autonomous driving function and / or the ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function are included in the third message.

[0042] In a possible implementation, the third message further includes eleventh indication information for the confidence of at least one indication information in the third message, or the comprehensive confidence of all indication information contained in the third message. By setting the confidence of each indication information or the comprehensive confidence of all indication information, the surrounding environment participants can more accurately identify whether the current driving state of the first vehicle is the automatic driving state.

[0043] In a possible implementation, the fourth message further includes twelfth indication information for the confidence of at least one indication information in the fourth message, or the comprehensive confidence of all indication information contained in the fourth message. By setting the confidence of each indication information or the comprehensive confidence of all indication information, the surrounding environment participants can more accurately identify whether the current driving state of the first vehicle is the automatic driving state.

[0044] In a fourth aspect, an embodiment of the present application provides an autonomous driving information indication device, which is applied to a first vehicle. The autonomous driving information indication device includes: a starting unit, used to start the autonomous driving function application, or to receive an instruction for instructing the first vehicle to start the autonomous driving function application; an indication unit, used to indicate that the driving state of the first vehicle is an autonomous driving state through first indication information.

[0045] The autonomous driving information indication device provided in the present application also includes: a first sending unit, used to send a first message, the first message includes first indication information, and the first indication information indicates that the driving state of the first vehicle is an autonomous driving state.

[0046] The first vehicle may send the first message to roadside equipment, pedestrians, etc., which are arranged around the road (eg, one side of the road or both sides of the road), and may also send the first message to a second vehicle around the first vehicle.

[0047] In a possible implementation, the first indication information also indicates the driving automation level of the autonomous driving function application. By indicating the driving automation level information, it is beneficial to improve safety. For example, by indicating the driving automation level information, surrounding traffic participants can know at least one of the following information: whether the autonomous driving function application that the first vehicle is currently executing or about to execute can continuously execute all dynamic driving tasks, whether it can automatically reach the minimum risk conditions, whether there are any operating conditions restrictions, etc. In this way, surrounding traffic participants can make corresponding actions based on the driving automation level information of the first vehicle, such as whether they need to give way or keep a distance, which is beneficial to improve road safety.

[0048] In a possible implementation, the driving automation level is one of a set of driving automation levels, and the set of driving automation levels includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous driving vehicles on the road, which is conducive to improving safety.

[0049] In one possible implementation, the first vehicle indicates the status of the takeover person corresponding to the first vehicle through the second indication information. By indicating the information of the takeover person's status, when the autonomous driving vehicle is driving on the road, the surrounding traffic participants can more accurately understand the status of the takeover person in the vehicle in the autonomous driving state, thereby improving road safety. For example, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, and / or the ability of the takeover person to take over the autonomous driving system (switching from the autonomous driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety.

[0050] In a possible implementation, the first vehicle indicates the state of the takeover person corresponding to the first vehicle through the second indication information, including that the second indication information may indicate whether there is a takeover person corresponding to the first vehicle. By indicating whether there is a takeover person corresponding to the first vehicle, road safety is improved. For example, surrounding traffic participants can understand whether there is a takeover person who can take over the automatic driving system in time (switch from the automatic driving state to the manual driving state) in an emergency.

[0051] In one possible implementation, the autonomous driving information indication device further includes: a second sending unit, for sending a second message, the second message including third indication information for indicating the capabilities of the first vehicle. By sending indication information including the capabilities of the first vehicle, surrounding participants can accurately judge the working margin of each module of the first vehicle in the autonomous driving state, thereby improving safety. For example, through the second message, surrounding traffic participants learn that the autonomous driving system of the first vehicle has lost lateral control capability (steering capability) of the vehicle. In this way, surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the autonomous driving vehicle, thereby improving road safety.

[0052] In a possible implementation, the automatic driving information indication device further includes: a second sending unit, for sending a second message, wherein the second message further includes fourth indication information for indicating the application of the automatic driving function and / or fifth indication information for indicating the operating condition corresponding to the automatic driving function application. Through this implementation, the surrounding traffic participants can accurately judge the automatic driving function application and / or the operating condition corresponding to the automatic driving function application that the vehicle in the automatic driving state is executing or about to execute, thereby improving safety. For example, the surrounding traffic participants can determine the complexity of the first vehicle function application based on the automatic driving function application and the corresponding operating condition, thereby determining its risk level; or the surrounding traffic participants can determine whether it is outside the operating condition based on the operating condition contained in the second message, thereby determining the state of the first vehicle (for example, abnormal or faulty state). At this time, the surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or help for its passage, or avoid the automatic driving vehicle, which is conducive to improving road safety.

[0053] In a possible implementation, the first message also includes second indication information, wherein the second indication information indicates the status of the takeover person corresponding to the first vehicle. By sending the indication information of the status of the takeover person corresponding to the first vehicle to other devices (such as a cloud server, roadside equipment or a second vehicle) by means of message transmission, road safety is improved. For example, by obtaining the second indication information, the cloud server, roadside equipment or the second vehicle can more accurately understand the status of the takeover person corresponding to the first vehicle in the automatic driving state and / or the ability of the takeover person to take over the automatic driving system (switching from the automatic driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety. For another example, the takeover person can be awakened under necessary conditions (for example, the driver falls asleep at the L3 conditional driving automation level), thereby improving road safety.

[0054] In a possible implementation, the first vehicle indicates the state of the takeover person corresponding to the first vehicle through the second indication information, including that the second indication information can indicate whether there is a takeover person corresponding to the first vehicle. By using message transmission, whether there is a takeover person corresponding to the first vehicle is sent to other devices (such as a cloud server, roadside equipment, or a second vehicle), thereby improving road safety. For example, a cloud server, a roadside equipment, or a second vehicle can understand whether there is a takeover person who can take over the autonomous driving system in time (switch from the autonomous driving state to the manual driving state) when an emergency occurs.

[0055] In a possible implementation, the first message also includes third indication information for indicating the capability of the first vehicle. It can be understood that the third indication information for indicating the capability of the first vehicle can be included in the first message or in the second message, and the embodiment of the present application is not limited to this. For example, the third indication information for indicating the capability of the first vehicle can be included in the first message.

[0056] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0057] In one possible implementation, the first message also includes fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function. It can be understood that the fourth indication information for indicating the application of the autonomous driving function and / or the fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function can be included in the first message or in the second message, and the embodiments of the present application are not limited to this. For example, the fourth indication information for indicating the application of the autonomous driving function and / or the fifth indication information for indicating the operating condition corresponding to the application of the autonomous driving function are included in the first message.

[0058] In a possible implementation, the first indication information includes at least one of the following: an identification set on the body of the first vehicle, a preset sound signal emitted by the first vehicle, a preset light signal emitted by the first vehicle, a preset light color signal emitted by the first vehicle, or a preset electromagnetic wave signal emitted by the first vehicle. Through this implementation, a more flexible method can be used to indicate the above first indication information, so that traffic participants can more accurately determine that the driving state of the first vehicle is the automatic driving state.

[0059] In a possible implementation, light signals of different colors are used to indicate different driving automation levels. Through this implementation, the indication information indicating different driving automation levels can be made more accurate and clear.

[0060] In a fifth aspect, an embodiment of the present application provides an autonomous driving information acquisition device, which includes: a first acquisition unit, used to acquire first indication information, the first indication information is used to indicate that the driving state of the first vehicle is an autonomous driving state; a determination unit, used to determine that the current driving state of the first vehicle is an autonomous driving state based on the first indication information.

[0061] In a possible implementation, the driving automation level is one of a set of driving automation levels, which includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous vehicles on the road, which is conducive to improving safety.

[0062] In a possible implementation, the automatic driving information acquisition device further includes: a second acquisition unit, used to acquire at least one of the following indication information: second indication information, the second indication information is used to indicate the state of the takeover person corresponding to the first vehicle; third indication information, the third indication information is used to indicate the capability of the first vehicle; fourth indication information, the fourth indication information is used to indicate the automatic driving function application being executed or about to be executed by the first vehicle; fifth indication information, the fifth indication information is used to indicate the operating condition corresponding to the automatic driving function application being executed or about to be executed by the first vehicle. By acquiring at least one of the first indication information, the second indication information, the third indication information, the fourth indication information or the fifth indication information, the participants in the surrounding environment can more accurately understand the various automatic driving information corresponding to the vehicle in the automatic driving state, thereby further improving safety.

[0063] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0064] In the sixth aspect, an embodiment of the present application provides an autonomous driving information sending device, the autonomous driving information sending device comprising: a first sending unit, used to send a third message; wherein the third message includes sixth indication information, and the sixth indication information indicates that the driving state of the first vehicle is an autonomous driving state.

[0065] In a possible implementation, the sixth indication information also indicates the driving automation level of the automatic driving function application currently executed or to be executed by the first vehicle. By obtaining the driving automation level information, the information acquisition object can more accurately understand the specific automatic driving information, which is beneficial to improve safety. For example, by indicating the driving automation level information, the surrounding traffic participants can know at least one of the following information: whether the automatic driving function application currently executed or to be executed by the first vehicle can continuously perform all dynamic driving tasks, whether it can automatically reach the minimum risk conditions, whether there are any operating conditions restrictions, etc. In this way, the surrounding traffic participants can make corresponding actions such as whether they need to give way or keep a distance based on the driving automation level information of the first vehicle, which is beneficial to improve road safety.

[0066] In a possible implementation, the driving automation level is one of a set of driving automation levels, which includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation). By dividing driving automation into more specific level information, surrounding traffic participants can have a more intuitive understanding of the autonomous driving status of autonomous vehicles on the road, which is conducive to improving safety.

[0067] In a possible implementation, the automatic driving information sending device also includes: a second sending unit, which is used to send a fourth message, and the fourth message includes seventh indication information for indicating the capabilities of the first vehicle. By sending the indication information including the capabilities of the first vehicle, the surrounding participants can accurately judge the working margin of each module of the first vehicle in the automatic driving state, thereby improving safety. For example, through the fourth message, the surrounding traffic participants learn that the automatic driving system of the first vehicle has lost the lateral control ability (steering ability) of the vehicle. In this way, the surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the automatic driving vehicle, thereby improving road safety.

[0068] In a possible implementation, the automatic driving information sending device further includes: a second sending unit, which is used to send a fourth message, and the fourth message further includes an eighth indication information for indicating the application of the automatic driving function and / or a ninth indication information for indicating the operating condition corresponding to the automatic driving function application. Through this implementation, the surrounding traffic participants can accurately judge the automatic driving function application that the vehicle in the automatic driving state is executing or about to execute and / or the operating condition corresponding to the automatic driving function application, thereby improving safety. For example, the surrounding traffic participants can determine the complexity of the first vehicle function application based on the automatic driving function application and the corresponding operating condition, thereby determining its risk level; or the surrounding traffic participants can determine whether it is outside the operating condition based on the operating condition contained in the fourth message, thereby determining the state of the first vehicle (for example, abnormal or faulty state). At this time, the surrounding traffic participants can provide emergency rescue or assistance to it, or provide convenience or help for its passage, or avoid the automatic driving vehicle, which is conducive to improving road safety.

[0069] In a possible implementation, the third message also includes tenth indication information, wherein the tenth indication information indicates the status of the takeover person corresponding to the first vehicle.

[0070] By sending the information about the status of the takeover person, when the autonomous driving vehicle is driving on the road, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, thereby improving road safety. For example, the surrounding traffic participants can more accurately understand the status of the takeover person corresponding to the first vehicle in the autonomous driving state, and / or the ability of the takeover person to take over the autonomous driving system (switching from the autonomous driving state to the manual driving state). For example, when an emergency occurs, whether the takeover person is capable of taking over and how fast the response is, thereby ensuring traffic safety.

[0071] In a possible implementation, the tenth indication information indicates the state of the takeover person corresponding to the first vehicle, including that the tenth indication information may indicate whether there is a takeover person corresponding to the first vehicle. By indicating whether there is a takeover person corresponding to the first vehicle, road safety is improved. For example, surrounding traffic participants can understand whether there is a takeover person who can take over the automatic driving system in time (switch from the automatic driving state to the manual driving state) in an emergency.

[0072] In a possible implementation, the third message also includes seventh indication information for indicating the capability of the first vehicle. It can be understood that the seventh indication information for indicating the capability of the first vehicle can be included in the third message or in the fourth message, and the embodiment of the present application is not limited to this. For example, the seventh indication information for indicating the capability of the first vehicle can be included in the third message.

[0073] In one possible implementation, the capability includes at least one of: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0074] In one possible implementation, the third message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function. It can be understood that the eighth indication information for indicating the application of the autonomous driving function and / or the ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function can be included in the third message or in the fourth message, and the embodiments of the present application are not limited to this. For example, the eighth indication information for indicating the application of the autonomous driving function and / or the ninth indication information for indicating the operating condition corresponding to the application of the autonomous driving function are included in the third message.

[0075] In a possible implementation, the third message further includes eleventh indication information for the confidence of at least one indication information in the third message, or the comprehensive confidence of all indication information contained in the third message. By setting the confidence of each indication information or the comprehensive confidence of all indication information, the surrounding environment participants can more accurately identify whether the current driving state of the first vehicle is the automatic driving state.

[0076] In a possible implementation, the fourth message further includes twelfth indication information for the confidence of at least one indication information in the fourth message, or the comprehensive confidence of all indication information contained in the fourth message. By setting the confidence of each indication information or the comprehensive confidence of all indication information, the surrounding environment participants can more accurately identify whether the current driving state of the first vehicle is the automatic driving state.

[0077] In a seventh aspect, an embodiment of the present application further provides an autonomous driving information transceiver system, the autonomous driving information transceiver system comprising a first vehicle and a first information receiving object. The first vehicle comprises the autonomous driving information indicating device as described in the fourth aspect; the first information receiving object comprises the autonomous driving information acquiring device as described in the fifth aspect.

[0078] In a possible implementation, the autonomous driving information transceiver system further includes a second information receiving object, wherein the second information receiving object includes the autonomous driving information acquisition device as described in the fifth aspect, and also includes the autonomous driving information sending device as described in the sixth aspect.

[0079] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium storing a program code for message transmission, wherein the program code includes instructions for executing the methods described in the first to third aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0081] Figure 1 is a schematic diagram of a vehicle structure provided in an embodiment of the present application;

[0082] Figure 2 is a timing diagram of an embodiment of the automatic driving information transceiver system provided by the present application;

[0083] Figure 3 is a timing diagram of another embodiment of the automatic driving information transceiver system provided by the present application;

[0084] Figure 4 is a timing diagram of another embodiment of the automatic driving information transceiver system provided by the present application;

[0085] Figure 5 is a structural schematic diagram of an embodiment of an automatic driving information indication device provided by the present application;

[0086] Figure 6 is a structural schematic diagram of an embodiment of an automatic driving information acquisition device provided by the present application;

[0087] Figure 7 It is a structural diagram of an embodiment of an automatic driving information sending device provided in this application. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0089] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0090] The terms "first" and "second" in the description and claims of the embodiments of the present application are used to distinguish different objects rather than to describe a specific order of objects. For example, a first target object and a second target object are used to distinguish different target objects rather than to describe a specific order of target objects.

[0091] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0092] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" refers to two or more than two. For example, multiple processing units refer to two or more processing units; multiple systems refer to two or more systems.

[0093] In the existing autonomous driving technology, the ability of autonomous driving vehicles to perform dynamic driving tasks and handle emergencies is far lower than that of the takeover operator; at the same time, when an autonomous driving vehicle is driving on the road, other traffic participants are usually unable to perceive the autonomous driving vehicle, resulting in safety hazards when the autonomous driving vehicle is driving on the road.

[0094] To solve the above problem, see Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 The vehicle structure diagram shown includes a vehicle 11 and various devices and components disposed in the vehicle 11 and / or the body of the vehicle 11. Here, the devices and components disposed in the vehicle 11 may include, but are not limited to, an automatic driving system and an automatic driving function application. Here, an automatic driving system is usually disposed in a vehicle having at least a certain automatic driving capability.

[0095] In a narrow sense, an automated driving system refers to a system consisting of hardware and software that are collectively capable of performing the entire DDT on a sustained basis, regardless of whether it is limited to a specific operational design domain (ODD).

[0096] In a broad sense, an autonomous driving system refers to a system composed of hardware and software that can continuously perform part or all of the dynamic driving task.

[0097] The dynamic driving task is to complete the perception, decision-making and execution required for vehicle driving. That is, it includes all real-time operational and tactical functions required to operate a vehicle in on-road traffic, excluding the strategic functions such as trip scheduling and selection of destinations and waypoints. Exemplarily, dynamic driving tasks include but are not limited to the following subtasks: controlling lateral vehicle motion control via steering (operational)), controlling longitudinal vehicle motion control via acceleration and deceleration (operational)), monitoring the driving environment and preparing responses by detecting, identifying, and classifying objects and events (Monitoring the driving environment via object and event detection, recognition, classification, and response preparation (operational and tactical)), executing responses (Object and event response execution (operational and tactical)), driving decisions (Maneuver planning (tactical)), and controlling vehicle lighting and signal devices (Enhancing conspicuity via lighting, sounding the horn, signaling, gesturing, etc. (tactical)).

[0098] Generally speaking, when the operating conditions (ODD) are exceeded or the dynamic driving task-related system fails, it is necessary to switch from the automatic driving state to the manual driving state, and a person must continue to perform the dynamic driving task, or a person must control the vehicle to reach the minimum safety state. Of course, L4 and above driving automation systems can automatically reach the minimum safety state.

[0099] The takeover person corresponding to the first vehicle refers to the person who is responsible for taking over (switching from the automatic driving state to the manual driving state) the first vehicle. The person responsible for taking over can be a takeover person inside the first vehicle, or a takeover person outside the first vehicle, for example, a remote takeover person, who can take over the vehicle through remote instructions, perform dynamic driving tasks, or bring the vehicle to the minimum risk condition. After the takeover person takes over the vehicle, his identity becomes the driver of the vehicle.

[0100] The narrow sense of autonomous driving system corresponds to the system with driving automation level of L3-L5. The broad sense of autonomous driving system corresponds to the system with driving automation level of L1-L5.

[0101] The automatic driving system usually includes a perception system, a decision system and an execution system. Generally, the automatic driving system can be set in the vehicle 11, and perceive the environment inside and outside the vehicle through the perception system; make decisions such as path planning through the decision system, and control the movement of the vehicle 11 through the execution system. Usually, the automatic driving executes the corresponding driving automation function based on some received command information.

[0102] Here, the autonomous driving function application, also referred to as an autonomous driving application or feature, is an autonomous driving subsystem for performing a specific function. The specific function may include, but is not limited to, cruise control, automatic valet parking, low-speed autonomous driving on a fixed route, and lane keeping. The specific function may or may not be restricted by operating conditions. An autonomous driving system may have one or more autonomous driving function applications. Typically, a single autonomous driving function application has a separate specification. Typically, the above-mentioned autonomous driving function application can control the vehicle 11 to perform part or all of the dynamic driving tasks after being started or after receiving a start instruction.

[0103] Figure 1In the schematic diagram of the vehicle structure shown, the vehicle 11 may include an automatic driving function application 1-automatic driving function application 3. Among them, each automatic driving function application 1, automatic driving function application 2, and automatic driving function application 3 can perform a specific automatic driving function. Among them, each specific automatic driving function may include several sub-functions. As an example, the automatic driving function application 1 can perform the cruise control function. The automatic driving function 2 can perform the cruise control function and the lane keeping function at the same time. Exemplarily, the automatic driving function application 1-automatic driving function application 3 may include: a sensor device 012, a processing device 013, and a vehicle execution device 014 connected in sequence. Optionally, the sensor device 012 may include: at least one of a plurality of sensors such as a camera, a radar, a gyroscope, an accelerometer, etc. The processing device 013 may be a device integrated with an image processing function, a scalar calculation function, a vector calculation function, and a matrix calculation function. The execution device 014 may be one or more of a deceleration pedal, an accelerator pedal, and a steering wheel. It can be understood that the execution device 014 may also be a device for controlling the lateral movement of the vehicle and / or the longitudinal movement of the vehicle, and the embodiment of the present application does not limit its specific implementation form.

[0104] It is understandable that different autonomous driving function applications may reuse part or all of the sensing devices; different autonomous driving function applications may reuse part or all of the processing devices; different autonomous driving function applications may reuse part or all of the execution devices.

[0105] As an example, when the autonomous driving function application 1 is an automatic parking function application, the autonomous driving function application 1 may include but is not limited to: a sensor for measuring the distance from the road shoulder, a processing device for calculating the position based on the distance obtained by the sensor, and an execution device for moving the vehicle based on the processing result of the processing device.

[0106] It is worth noting here that the number of autonomous driving function applications and the functions performed by each autonomous driving function application shown in this embodiment are only illustrative and are set according to the needs of the application scenario and are not limited here.

[0107] like Figure 1 The schematic diagram of the vehicle structure shown also includes a communication device. The communication device may include at least one device that enables the autonomous driving function application to communicate with a cloud server, an electronic device outside the vehicle, or other vehicles. For example, the communication device may include one or more of a wired network interface, a broadcast receiving device, a mobile communication device, a wireless Internet device, a local area communication device, and a location (or positioning) information device. These various devices have multiple implementations in the prior art, and this application does not describe them one by one.

[0108] like Figure 1The vehicle structure diagram shown may also include the Internet of Vehicles. The Internet of Vehicles is a large system network based on the intra-vehicle network, inter-vehicle network and in-vehicle mobile Internet, which conducts wireless communication and information exchange between vehicles and X (Vehicle-to-everything, V2X) according to the agreed communication protocol and data exchange standards. Among them, X can usually be divided into infrastructure (Infrastructure), pedestrians (Pedestrian), vehicles (Vehicle), networks (Network), etc. V2X enables communication between vehicles, vehicles and roadside infrastructure, vehicles and people, and vehicles and base stations to exchange information with each other, such as traffic messages, road messages, pedestrian messages, and a series of traffic messages.

[0109] It should be noted that the embodiments of the present invention do not limit the specific technology used for communication, including but not limited to 2G, 3G, 4G, 5G, and C-V2X (cellular-based V2X technology).

[0110] It should be noted that the embodiments of the present invention do not limit the specific communication method, including but not limited to unicast, multicast or broadcast.

[0111] Combination Figure 1 The vehicle structure diagram is shown, and the present application is specifically described below through various embodiments.

[0112] like Figure 2 As shown, Figure 2 A timing diagram of an embodiment of an automatic driving information transceiver system provided by the present application is shown, wherein the automatic driving information transceiver system includes a first vehicle and an information acquisition object.

[0113] Step 201: The first vehicle indicates, through first indication information, that the driving state of the first vehicle is an automatic driving state.

[0114] The first indication information may include, but is not limited to, at least one of the following: an identification set on the body of the first vehicle, a preset sound signal emitted by the first vehicle, a preset light signal emitted by the first vehicle, a preset light color signal emitted by the first vehicle, or a preset electromagnetic wave signal emitted by the first vehicle.

[0115] The identification set on the body of the first vehicle may include but is not limited to: the license plate number of the first vehicle, the paint sprayed on the body of the first vehicle. Exemplarily, when the body identification of the first vehicle is the license plate number of the first vehicle, the license plate number of the first vehicle is different from the license plate numbers of other vehicles. Specifically, when the first vehicle is an autonomous driving vehicle (for example, a vehicle with an autonomous driving system with a driving automation level of L3-L5), the license plate number of the first vehicle can be set to be different from the license plate number of a traditional vehicle with a manual driving function. Thus, when the first vehicle starts the application of the autonomous driving function (for example, driving, automatic parking), the driving state of the first vehicle can be confirmed to be an autonomous driving state by identifying its special license plate number. The paint sprayed on the body of the first vehicle may include but is not limited to the paint prescribed by traffic regulations, or character identification. For example, the body of the first vehicle can be identified as an autonomous driving vehicle by spraying a font in the style of "autonomous driving vehicle". Thus, when the first vehicle starts the application of the autonomous driving function, the driving state of the first vehicle can be confirmed to be an autonomous driving state by identifying the paint of its body.

[0116] In this embodiment, a light signal for indicating that the driving state of the first vehicle is an automatic driving state may be pre-agreed. For example, the light is always on, the light flashes once based on a preset time interval, the light flashes twice based on a preset time interval, etc. The specific implementation method of the light signal for indicating the automatic driving state is set according to the scene requirements and is not specifically limited here.

[0117] In this embodiment, the light color used to indicate that the driving state of the first vehicle is the automatic driving state can be pre-agreed. As an example, the first vehicle can use red as the light color to indicate that the driving state of the first vehicle is the automatic driving state.

[0118] In this embodiment, the wavelength of the electromagnetic wave used to indicate that the driving state of the first vehicle is the automatic driving state can be pre-agreed, etc. The first vehicle indicates that the driving state of the first vehicle is the automatic driving state by sending the agreed electromagnetic wave wavelength.

[0119] It is worth noting here that any two or more of the above indication information can be combined as indication information indicating that the driving state of the first vehicle is the automatic driving state. As an example, a combination of a light signal and a light color can be used as the first indication information. For example, red light information that flashes twice in a preset time interval can be used as the first indication information.

[0120] In this embodiment, when the first vehicle starts the automatic driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start the automatic driving function application, the driving state of the first vehicle can be indicated as the automatic driving state through the instruction information. Here, the instruction can be issued by the control system (such as a cloud server) that remotely controls the automatic driving vehicle, or it can be issued by a passenger or driver riding in the first vehicle. The embodiment of the present application does not limit the specific form of the control system for remotely controlling the automatic driving vehicle. For example, it can be a remote dispatcher, a remote driver, or any scheduling entity (such as an automatically running program). Exemplarily, the occupants in the vehicle trigger the vehicle to start the automatic driving function application by touching the start button or key in the vehicle. Alternatively, the remote dispatcher starts the vehicle to run the automatic driving function application through an instruction.

[0121] In this embodiment, the vehicle starting the automatic driving function application also includes the situation that the vehicle is running (also referred to as executing) the automatic driving function application. It can be understood that starting the automatic driving function application means running the automatic driving function application, that is, executing the function corresponding to the automatic driving function application.

[0122] As an application scenario, when the first vehicle starts the automatic driving function application of the cruise control system, or receives an instruction to instruct the first vehicle to start the cruise control system, the driving state of the first vehicle can be indicated as the automatic driving state by flashing the light twice continuously within a preset time interval.

[0123] As another application scenario, when the first vehicle is running (executing) an automatic parking autonomous driving function application, a non-flashing red light may be used to indicate that the driving state of the first vehicle is an autonomous driving state.

[0124] Considering the importance of speed in road safety, in some implementations, "speed" can also be used as a reference condition in specific implementations.

[0125] In a possible embodiment, when the first vehicle starts the automatic driving function application, or when the first vehicle receives an instruction to instruct the first vehicle to start the automatic driving function application, and the running speed of the first vehicle is greater than or equal to a first speed threshold, the driving state of the first vehicle can be indicated as the automatic driving state through indication information.

[0126] For example, the first vehicle is executing the automatic driving function and applying high-speed cruising. When the speed of the first vehicle is greater than 30 kilometers (first speed threshold), the first vehicle indicates through indication information that the driving state of the first vehicle is the automatic driving state.

[0127] In another possible embodiment, when the first vehicle receives an instruction for instructing the first vehicle to start an automatic driving function application, and the maximum speed in the operating condition corresponding to the function application is greater than or equal to a second speed threshold, the driving state of the first vehicle can be indicated as an automatic driving state through indication information.

[0128] For example, the first vehicle is executing the high-speed cruise application of the automatic driving function, assuming that the operational design domain of the high-speed cruise application is a speed range of 40-80 kilometers, and assuming that the second speed threshold is 50 kilometers. Since 80 kilometers is greater than 50 kilometers, when the first vehicle executes the high-speed cruise application of the automatic driving function, the driving state of the first vehicle is indicated as the automatic driving state through the indication information.

[0129] The embodiment of the present application does not limit the configuration of the first speed threshold and the second speed threshold. For example, they may be configured on the first vehicle through V2X communication, or they may be pre-configured when the vehicle leaves the factory. Step 202: The information acquisition object acquires the first indication information.

[0130] In this embodiment, after the first vehicle indicates that the driving state of the first vehicle is the automatic driving state through the first indication information in step 201, the information acquisition object can obtain the first indication information.

[0131] The information acquisition object may include but is not limited to roadside equipment installed around the road (e.g., one side of the road or both sides of the road), pedestrians, or a second vehicle around the first vehicle. The roadside equipment may include but is not limited to roadside infrastructure, roadside base stations, roadside display boards, etc. The display board may be used to display the vehicle speed, the identification of the first vehicle (e.g., the license plate number of the first vehicle), and information marking the current driving state of the first vehicle (e.g., automatic driving state).

[0132] The information acquisition objects may also include participants in the surrounding environment of the first vehicle, including but not limited to pedestrians, other vehicles, etc.

[0133] Step 203: The information acquisition object determines that the current driving state of the first vehicle is an automatic driving state based on the first indication information.

[0134] Specifically, the information acquisition object can determine that the current driving state of the first vehicle is an automatic driving state through one or more of the light signals, light color signals, sound signals and body logos emitted by the first vehicle to indicate the automatic driving state of the first vehicle.

[0135] In some optional implementations, the first indication information may also indicate the driving automation level of the autonomous driving function application.

[0136] The driving automation level is one of a set of driving automation levels, and the driving automation level set includes one or more of the first level, the second level, and the third level. The first level is conditional driving automation (Conditional Automation), the second level is high driving automation (High Automation), and the third level is full driving automation (Full Automation).

[0137] Specifically, in the first level, the autonomous driving vehicle can achieve the autonomous driving state under certain operating conditions (Operational design domain), but when the autonomous driving system fails (system failure) or exceeds the operating conditions of the autonomous driving system, the operator needs to take over, that is, the autonomous driving state needs to be switched to the manual driving state, so as to continue to perform the dynamic driving task (DDT) or reach the minimum risk condition. System failure refers to the failure (malfunction) of the autonomous driving system and / or other systems of the vehicle, resulting in the inability of the autonomous driving system to continuously and reliably complete all or part of the dynamic driving task.

[0138] At the second level, the autonomous vehicle can automatically complete all dynamic driving tasks under operating conditions (ODD). When the autonomous driving system fails or exceeds the operating conditions of the autonomous driving system, the system automatically reaches the minimum risk condition (also known as the autonomous driving system takeover), and there is no need for the takeover operator to intervene (that is, there is no need to switch from the autonomous driving state to the manual driving state).

[0139] The minimum risk condition is a stable stop condition that the vehicle can reach as much as possible after the automatic driving system or the operator takes over in order to reduce the risk of collision when the trip cannot continue. The minimum risk condition can be achieved by a person operating the vehicle or by the automatic driving system operating the vehicle. For example, the minimum risk condition that the vehicle can achieve depends on the system failure and / or operating conditions, as well as the design of the automatic driving function application. For example, when the automatic driving system sensor fails, the operator takes over the system and can park on the shoulder of the road. At this time, parking on the shoulder of the road is the minimum risk condition. For another example, the automatic driving system loses its steering ability and can no longer perform effective steering operations. At this time, the automatic driving system operates the vehicle along the current driving direction to decelerate until the vehicle stops completely. At this time, decelerating and stopping along the driving direction is the minimum risk condition. For another example, if the vehicle still has certain steering and sensing capabilities and can identify lane lines, the automatic driving system may operate the vehicle to park within the lane line. At this time, the parking space in the lane has the minimum risk condition. The braking operation performed to achieve the minimum risk condition is called minimum risk braking.

[0140] At the third level, autonomous vehicles can achieve all-region, all-weather autonomous driving without any human involvement. Autonomous vehicles at this level can also cope with changes in geography, climate and other environments. In other words, at this level, the car can complete dynamic driving tasks in any weather conditions and any road conditions (any weather and any road conditions that human drivers can complete driving).

[0141] The operational design domain, also known as the design operating range, refers to the operating conditions under which a given driving automation system or feature thereof is specifically designed to function. In layman's terms, it refers to the operating conditions of a certain autonomous driving function. Exemplarily, the operating conditions may include but are not limited to the environment, geographical location, time constraints, traffic and road characteristics, operating speed, etc. It is understandable that the ODD also includes the characteristics of the system itself, such as one or more of the sensing capabilities, decision-making capabilities, and execution capabilities required for the function operation.

[0142] By indicating the driving automation level, the information acquisition object can learn more about the driving automation information of the vehicle currently in the automatic driving state, thereby improving road safety. For example, it can be obtained whether the minimum risk condition can be automatically achieved, whether there are any operating conditions restrictions, etc., so that in some complex road conditions (such as traffic congestion, narrow roads, uneven roads), more accurate judgments can be made to improve driving safety.

[0143] In this embodiment, the first vehicle may indicate the driving automation level using information such as light signals, light color signals, and vehicle body logos.

[0144] As an example, the light flashes twice in a preset time interval as the first level; the light flashes three times in a preset time interval as the second level; and the light flashes four times in a preset time interval as the third level. The first vehicle's autonomous driving level can also be indicated by spraying a paint such as "L1", "L2" or "L3" on the body of the first vehicle.

[0145] In a preferred implementation, light signals of different colors can be used to indicate different driving automation levels. It is understandable that, illustratively, due to the high transmittance of light, by using light signals of different colors to indicate different driving automation levels, in bad weather such as foggy days, when the driving automation level or light flashing information set on the vehicle body cannot be distinguished due to low visibility, the information acquisition object can more easily obtain the driving automation level information of the first vehicle, thereby improving road safety. As an example, a yellow light signal can be used to indicate the first level, a red light signal can be used to indicate the second level, and a blue light signal can be used to indicate the third level. Here, the light color signal used to indicate each automation level is not specifically limited and can be selected according to the needs of the application scenario.

[0146] In some optional implementations of this embodiment, the status information of the takeover person corresponding to the first vehicle may also be indicated. The takeover person corresponding to the first vehicle refers to the person who is responsible for taking over (switching from the automatic driving state to the manual driving state) the first vehicle. The person responsible for taking over may be a takeover person inside the first vehicle, or a takeover person outside the first vehicle, for example, a remote takeover person. The remote takeover person can take over the vehicle through remote instructions, perform dynamic driving tasks, or bring the vehicle to the minimum risk condition. After the takeover person takes over the vehicle, his identity becomes the driver of the vehicle.

[0147] Specifically, the state of the receiver may include, but is not limited to: fatigue, sleep, concentration, other work (e.g., reading, playing with mobile phone), etc. For example, an image acquisition device may be installed in the first vehicle or the remote monitoring room, so that the facial image of the receiver can be acquired in real time or based on a preset time interval. Then, the image recognition device in the first vehicle (e.g., it can be set in the automatic driving system) analyzes the collected facial image of the receiver (e.g., the facial image can be recognized using a pre-trained neural network for state recognition), thereby obtaining the state information of the receiver.

[0148] In some optional implementations of this embodiment, the status information of the takeover officer corresponding to the first vehicle may also indicate one or more of the takeover officer's takeover capability and response time. For example, based on the takeover officer's status, age and other information, the takeover officer's takeover capability of the first vehicle and one or more of the response time can be determined. By indicating the takeover capability and / or response time, road safety is improved. For example, surrounding traffic participants can understand whether the takeover officer has sufficient capabilities and / or whether the takeover officer can take over the automatic driving system in time (switch from the automatic driving state to the manual driving state) in an emergency. For example, when the takeover officer is in good condition and the takeover time is short, the indication information of the first vehicle is set to a yellow light. When the takeover officer is dozing off and the takeover time is short, it is set to a red light.

[0149] The embodiments of the present application do not limit the method and subject for determining the takeover capability and / or response time of the takeover person. For example, it may be determined by the driver monitoring system in the autonomous driving system, or by other systems outside the autonomous driving system. Alternatively, the takeover capability and / or response time may be determined based on regional or industry standards.

[0150] In some optional implementations of this embodiment, the status information of the taker corresponding to the first vehicle may also indicate whether there is a taker to take over the automatic driving system (switching from the automatic driving state to the manual driving state). By indicating whether there is a taker corresponding to the first vehicle, road safety is improved. For example, surrounding traffic participants can understand whether there is a taker who can take over the automatic driving system in time (switching from the automatic driving state to the manual driving state) when an emergency occurs. For example, when there is a taker corresponding to the first vehicle, the indication information of the first vehicle is set to a yellow light, and when there is no taker corresponding to the first vehicle, it is set to a red light.

[0151] It is understandable that the takeover status information is mainly for autonomous driving vehicles that require human participation, that is, the first vehicle with the first level in the driving automation level set, but it can also be applied to vehicles of other levels. The embodiments of the present application are not limited to this. For example, although a highly automated system can achieve the minimum risk condition without a takeover, the indication information of the takeover is still useful for other traffic participants and is conducive to improving road safety.

[0152] It continues to refer to Figure 3 , which shows a timing diagram of another embodiment of the automatic driving information transceiver system provided by the present application. The automatic driving information transceiver system includes a first vehicle and an information acquisition object. The specific implementation of this embodiment includes:

[0153] Step 301: A first vehicle sends a first message to an information acquisition object.

[0154] In this embodiment, the first vehicle may send a first message to the information acquisition object through a vehicle-to-everything (V2X) network or a communication device. The first message includes first indication information. The first indication information is the same as the content indicated by the first indication information specifically described above, and will not be described in detail here.

[0155] In this embodiment, when the first vehicle starts the automatic driving function application, or when the first vehicle receives an instruction to instruct the first vehicle to start the automatic driving function application, the driving state of the first vehicle can be indicated as the automatic driving state through indication information.

[0156] In this embodiment, the first message also includes second indication information. The second indication information indicates the status of the takeover person corresponding to the first vehicle. For example, the second indication information may include image data and text data, or may only include image data or only include text data. That is to say, the takeover person status identification device in the first vehicle may send the text data of the identified takeover person status and the facial image data of the takeover person to the information receiving object; or only send the facial image data of the takeover person to the information receiving end, so that the information receiving object with image recognition capability can identify the takeover person status; or only send the text data of the identified takeover person status to the information receiving object.

[0157] In some optional implementations of this embodiment, the information indicating the state of the takeover person corresponding to the first vehicle may also indicate one or more of the takeover capability and response time of the takeover person. Figure 2 The relevant description in the illustrated embodiment and step 203 will not be repeated here.

[0158] In some optional implementations of this embodiment, the information indicating the takeover status corresponding to the first vehicle may also indicate whether there is a takeover person taking over the automatic driving system (switching from the automatic driving state to the manual driving state). Figure 2 The relevant descriptions in the embodiment shown and step 203 are not repeated here. In this embodiment, the first message may also include third indication information for indicating the capability of the first vehicle. The capability includes at least one of the following: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0159] In a possible implementation, the current sensing capability may include one or more of the position, direction, type, number, and purpose of each sensor in the currently operable sensors. The current longitudinal control capability may include the capability of acceleration and / or deceleration braking; the current lateral control capability may include the steering braking capability; the maximum sensing capability of the system may include the position, direction, number, type, and purpose of each sensor of all sensors included in the system. The minimum risk condition that the system can achieve at most refers to the most ideal minimum risk condition that the system can achieve when designing, including but not limited to at least one of shoulder parking, lane parking, and hard deceleration parking (not necessarily guaranteed to be in the lane). The minimum risk condition that can be achieved at present is the minimum risk condition that can be achieved based on the current system capability. For example, under the condition that the forward sensing capability is not completely lost, the steering and braking capabilities are not completely lost, assuming that there is an available shoulder, and assuming that the system can achieve shoulder parking, then the maximum risk condition that the system can achieve is shoulder parking. However, due to the failure of the forward sensor and the loss of steering capability, the current system can only achieve hard deceleration parking. Then, the risk condition that can be achieved at present is hard deceleration parking.

[0160] In this possible real-time mode, the content indicated by the third indication information can be sent in combination. For example, the third indication information can include the current sensing capability and the maximum sensing capability of the system. In this way, after obtaining the third indication information, the information acquisition object can determine the sensor operation status of the first vehicle by comparing the most current sensing capability and the maximum sensing capability of the system, so as to make emergency response strategies when the first vehicle fails or has other problems, thereby improving the safety of vehicles in the automatic driving state on the road.

[0161] In another possible implementation, the first message may also include one or more of whether there is currently a sensing capability, whether there is currently a lateral control capability, and whether there is a longitudinal control capability. For example, when the lateral control capability is lost, the first message contains indication information indicating the absence (loss) of the lateral control capability, so that surrounding traffic participants are informed that the automatic driving system of the first vehicle has lost the lateral control capability (steering capability) of the vehicle. In this way, surrounding traffic participants can provide emergency rescue or assistance to the vehicle, or provide convenience or assistance for its passage, or avoid the automatic driving vehicle, thereby improving road safety.

[0162] Alternatively, in another possible implementation, the first message may also include indication information for indicating the ratio of the current system remaining capacity to the system maximum capacity. For example, the first message includes the ratio of the current sensing capacity to the system maximum sensing capacity to indicate the percentage of the system remaining capacity.

[0163] It should be noted that, generally speaking, in this embodiment, the current sensing capability, the current lateral control capability, the current longitudinal control capability, the current minimum risk condition that can be achieved, the system's maximum sensing capability, the system's maximum lateral control capability, the system's maximum longitudinal control capability, or the system's maximum minimum risk condition that can be achieved all correspond to the application of a certain autonomous driving function.

[0164] Optionally, one or more of the current sensing capability, the current lateral control capability, the current longitudinal control capability, and the currently achievable minimum risk condition, the system's maximum sensing capability, the system's maximum lateral control capability, the system's maximum longitudinal control capability, or the system's maximum achievable minimum risk condition may also correspond to the entire autonomous driving system, or the entire vehicle, wherein the autonomous driving system may include one or more autonomous driving functional applications. For example, the autonomous driving system may include autonomous driving functional application 1 high-speed cruising and autonomous driving functional application 2 automatic parking. At this time, the autonomous driving system is executing autonomous driving functional application 1 high-speed cruising, then at this time, one or more of the current sensing capability, the current lateral control capability, the current longitudinal control capability, and the currently achievable minimum risk condition, the system's maximum sensing capability, the system's maximum lateral control capability, the system's maximum longitudinal control capability, or the system's maximum achievable minimum risk condition may correspond to the high-speed cruising function of autonomous driving functional application 1. For example, in the high-speed cruising scenario, the system's maximum achievable minimum risk condition is shoulder parking.

[0165] Of course, in another possible embodiment, one or more of the current sensing capability, the current lateral control capability, the current longitudinal control capability, the currently achievable minimum risk condition, the system maximum sensing capability, the system maximum lateral control capability, the system maximum longitudinal control capability, or the system maximum achievable minimum risk condition may also correspond to the entire autonomous driving system. At this time, assuming that the system is executing the autonomous driving function application 2 automatic parking, then the system maximum sensing capability may be the sensor capability of the entire autonomous driving system.

[0166] In this embodiment, the first message may also include fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0167] Specifically, the fourth information used to indicate the application of the autonomous driving function may include, but is not limited to: fourth indication information indicating an autonomous driving function that is currently being executed (also referred to as running), where the autonomous driving function may include a high-speed cruise function, an automatic valet parking function, an automatic cruise function under traffic congestion, a low-speed autonomous driving function under limited working conditions, etc.

[0168] Exemplarily, operating conditions may include, but are not limited to, environment, geographic location, time limits, traffic and road characteristics, operating speed, etc. It is understandable that ODD also includes characteristics of the system itself, such as one or more of the sensing capability, decision-making capability, and execution capability required for functional operation. For example, factors such as geographic location and traffic roads in ODD can be roughly divided into three scenarios: highway, urban area, and suburbs. Time limits can be divided into: morning, noon, evening, and night. The environment can be roughly divided into: sunny, rainy, and snowy.

[0169] It is understandable that in another possible embodiment, the information acquisition object can determine whether the first vehicle is outside the operating condition based on the operating condition contained in the fourth information, thereby determining the state of the first vehicle (for example, abnormal or faulty state), and then provide emergency rescue or assistance to it, or provide convenience or assistance for its passage, or avoid the autonomous driving vehicle, which is conducive to improving road safety. For example, the fourth message contains operating speed indication information indicating that the operating range is less than 60 kilometers. When the information acquisition object (such as roadside equipment) detects that the operating speed of the first vehicle is greater than 60 kilometers through its own sensor (such as radar), it is determined that the state of the first vehicle is abnormal.

[0170] Step 302: The information acquisition object acquires first indication information from the first vehicle.

[0171] In this embodiment, after the first vehicle sends a message carrying the first indication information in step 301, the information acquisition object can parse the first message, so as to obtain the first indication information from the first vehicle.

[0172] The information acquisition object for obtaining the first indication information may be roadside equipment arranged around the road (for example, one side of the road or both sides of the road), pedestrians, etc., a second vehicle around the first vehicle, a cloud server that can communicate with the first vehicle, etc.

[0173] Step 303: The information acquisition object determines that the current driving state of the first vehicle is an automatic driving state based on the first indication information.

[0174] In this embodiment, after receiving the first indication information sent by the first vehicle, the information acquisition object can perform various analyses on the first indication information. Thus, it can be determined that the current driving state of the first vehicle is the automatic driving state. For example, after receiving the first message, the information acquisition object can parse the first indication information based on the preset communication protocol. Then, based on the pre-agreed data reading rules, it is read that the driving state indicated by the first indication information is the automatic driving state, thereby determining that the current driving state of the first vehicle is the automatic driving state.

[0175] In some optional implementations of this embodiment, the first vehicle may also send a second message to the information receiving object through the vehicle-to-everything (V2X) or a communication device.

[0176] The second message may include third indication information for indicating the capability of the first vehicle.

[0177] The second message may further include fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0178] It is worth noting here that the above-mentioned first indication information, second indication information, third indication information, fourth indication information and fifth indication information can all be set in the same message, that is, sent through the first message; they can also be set in different messages, that is, the first indication information, the second indication information, and the third indication information are sent through the first message, and the fourth indication information and the fifth indication information are sent through the second message. In other words, when the first message includes the third indication information and the fourth indication information, when the first vehicle sends the second message, it can only send the second message including the fifth indication information, and the second message does not need to carry the third indication information and the fourth indication information.

[0179] It is worth noting here that the second message refers to all messages sent by the first vehicle to the message acquisition object that are different from the first message. In other words, the second message can be a message sent once or multiple times. For example, after the first message sends the first indication information and the second indication information to the message acquisition object, a second message can be used to send the third indication information to the information acquisition object, and then a second message can be used to send the fourth indication information and / or the fifth indication information to the information acquisition object.

[0180] It is worth noting here that the number of the selected first messages and second messages, and the content of the indication information included in each first message and second message are not specifically limited and are set according to the needs of the application scenario.

[0181] By setting the number of messages and the content of the indication information included in each message according to the needs of the scene, resources can be reasonably utilized and the message transmission effect can be improved.

[0182] In some optional implementations of this embodiment, the step of determining that the current driving state of the first vehicle is an automatic driving state may also include: determining a driving automation level corresponding to the first vehicle.

[0183] Among them, the driving automation level is one in a driving automation level set, and the driving automation level set includes at least: one or more of the first level, the second level, and the third level; among them, the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); the third level is full driving automation level (Full Automation).

[0184] Here, after obtaining the first indication information, the information acquisition object can first determine the current driving state of the first vehicle indicated by the first indication information, and then determine the driving automation level corresponding to the first vehicle. It is also possible to determine the current driving state of the first vehicle and the corresponding driving automation level together after obtaining the first indication information. It is also possible to directly determine the driving automation level. For example, when it is determined that the driving automation level corresponding to the first vehicle is level two, it can be determined that the driving state corresponding to the first vehicle is an automatic driving state.

[0185] In some optional implementations of this embodiment, the information acquisition object may also acquire at least one of the second indication information, the third indication information, the fourth indication information, and the fifth indication information.

[0186] The second indication information is used to indicate the state of the takeover person corresponding to the first vehicle. The third indication information is used to indicate the capability of the first vehicle. The fourth indication information is used to indicate the automatic driving function application being executed or to be executed by the first vehicle. The fifth indication information is used to indicate the operating condition corresponding to the automatic driving function application being executed or to be executed by the first vehicle.

[0187] Here, the contents indicated by the second indication information, the third indication information, the fourth indication information and the fifth indication information obtained by the information acquisition object are the same as the contents indicated by the second indication information, the third indication information, the fourth indication information and the fifth indication information sent by the first vehicle, and are not repeated here.

[0188] from Figure 3 It can be seen that Figure 2 The difference from the embodiment shown is that this embodiment highlights the step of the first vehicle using the vehicle networking technology or communication technology to send a message carrying various indication information to the information acquisition object. Therefore, this embodiment can make the various indication information sent to each electronic device more accurate.

[0189] Please continue to refer to Figure 4 , Figure 4 A timing diagram of another embodiment of the automatic driving information transceiver system provided by the present application is shown, wherein the automatic driving information transceiver system includes a first vehicle, a first information acquisition object, and a second information acquisition object.

[0190] In this embodiment, the first information acquisition object may be an electronic device (such as a roadside device) arranged around the road, or a cloud server. The second information acquisition object may be a traffic participant around the first vehicle, including but not limited to pedestrians, the second vehicle, etc. Here, the first information acquisition object may send the acquired automatic driving information of the first vehicle to the second information acquisition object. Specifically, the following steps are included:

[0191] Step 401: A first vehicle sends a first message to a first information acquisition object.

[0192] Step 402: A first information acquisition object acquires first indication information from a first vehicle.

[0193] Step 403: The first information acquisition object determines that the current driving state of the first vehicle is an automatic driving state based on the first indication information.

[0194] In this embodiment, the specific implementation of steps 401 to 403 and the beneficial effects thereof can be referred to in Figure 3 Steps 301 to 303 in the illustrated embodiment will not be described in detail here.

[0195] Step 404: The first information acquisition object sends the third message to the second information acquisition object.

[0196] In this embodiment, the first information acquisition object may include external devices (such as loudspeakers, display boards, etc.). When the first information acquisition object is a cloud server, a roadside device, other vehicles around the first vehicle, or electronic devices around the road, and the second information acquisition object is the second vehicle, the first information acquisition object sends the third message to the second information acquisition object; when the first information acquisition object is an electronic device set around the road and connected to external devices such as loudspeakers, display boards, etc., and the second information acquisition object is a pedestrian and / or a second vehicle, the first information acquisition object can send the third message through a loudspeaker or a display board. Here, the third message includes the sixth indication information, and the sixth indication information indicates that the driving state of the first vehicle is the automatic driving state.

[0197] It should be noted that the embodiments of the present invention do not limit the specific technology used for communication, including but not limited to 2G, 3G, 4G, 5G, and C-V2X (cellular-based V2X technology).

[0198] It should be noted that the embodiments of the present invention do not limit the specific communication method, including but not limited to unicast, multicast or broadcast.

[0199] In some optional implementations of this embodiment, the sixth indication information further indicates the driving automation level of the automatic driving function currently executed or to be executed by the first vehicle. The driving automation level is one of a driving automation level set, and the driving automation level set includes at least one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation).

[0200] Here, the content indicated by the sixth indication information is the same as Figure 2 The content indicated by the first indication information in the embodiment shown in the figure corresponds to the content indicated by the first indication information in the embodiment shown in the figure. The detailed description of the sixth indication information can be referred to Figure 2 The relevant description of the first indication information in the illustrated embodiment will not be repeated here.

[0201] The third message also includes tenth indication information, which indicates the status of the takeover person corresponding to the first vehicle.

[0202] The third message also includes seventh indication information for indicating the capability of the first vehicle. The capability includes at least one of the following: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0203] The contents indicated by the seventh and tenth instructions are the same as Figure 3 The contents indicated by the second indication information and the third indication information in the embodiment shown correspond to each other. The detailed description of the tenth indication information and the eleventh indication information can be referred to in Figure 3 The relevant descriptions of the second indication information and the third indication information in the illustrated embodiment are not repeated here.

[0204] In some preferred implementations of the present embodiment, the third message also includes eleventh indication information for the confidence of at least one indication information in the third message, or the comprehensive confidence of all indication information contained in the third message.

[0205] Specifically, after acquiring the autonomous driving information, the first information acquisition object may determine the confidence level of the autonomous driving information. The confidence level is used to evaluate the reliability of each indication information to be sent.

[0206] A confidence value may be set for each indication information included in the third message, or a confidence value may be set for at least one indication information included in the third message. As an example, when the first acquisition object sees the signal of the flashing light of the first vehicle within a distance greater than a preset threshold, and the signal of the flashing light is similar to the light signal preset to indicate the state of automatic driving. Due to the long distance, the reliability of the information obtained will be low. At this time, the confidence value of the sixth indication information may be set according to the distance. Similarly, a comprehensive analysis may be performed based on the distance of the light signal and the identification of the first vehicle to determine the confidence value of the sixth indication information. All indication information included in the third message may also be comprehensively evaluated to obtain a comprehensive confidence value. As an example, when the third message includes the sixth indication information and the tenth indication information, since the sixth indication information is used to indicate that the first vehicle is in an automatic driving state, a higher weight may be set for the indication information, and a lower weight may be set for the tenth indication information indicating the state of the takeover person, and then, after comprehensive analysis and judgment of each indication information, a final comprehensive confidence score is obtained to determine the reliability of the first vehicle as an automatic driving vehicle.

[0207] In some optional implementations of this embodiment, the first information acquisition object may also send a fourth message to the second information acquisition object.

[0208] The fourth message includes seventh indication information for indicating the capability of the first vehicle.

[0209] The fourth message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0210] The contents indicated by the seventh indication information, the eighth indication information and the ninth indication information are the same as Figure 3 The third indication information, the fourth indication information and the fifth indication information in the embodiment shown correspond to each other. For detailed description of the third indication information, the fourth indication information and the fifth indication information, please refer to Figure 3 The relevant descriptions of the third indication information, the fourth indication information and the fifth indication information in the illustrated embodiment are not repeated here.

[0211] The fourth message also includes twelfth indication information for the confidence of at least one indication information in the fourth message, or the comprehensive confidence of all indication information included in the fourth message.

[0212] The method for determining the specific content indicated by the twelfth indication information may refer to the method for determining the confidence level indicated by the eleventh indication information, which will not be repeated here.

[0213] It is worth noting here that the above-mentioned sixth indication information, seventh indication information, eighth indication information, ninth indication information and tenth indication information can be set in the same message, that is, sent through the third message; they can also be set in different messages, that is, the sixth indication information, the seventh indication information, the tenth indication information and the eleventh indication information are sent through the third message, and the eighth indication information, the ninth indication information and the twelfth indication information are sent through the fourth message.

[0214] It is worth noting here that the fourth message refers to all messages sent by the first acquisition object to the second message acquisition object that are different from the third message. In other words, the fourth message can be a message sent once or in different times.

[0215] from Figure 4 It can be seen that Figure 2 The difference between the automatic driving information transceiver system shown in the embodiment of the present application is that the automatic driving information transceiver system shown in the embodiment of the present application includes a first information acquisition object and a second information acquisition object, and the first information acquisition object can play the role of information acquisition and forwarding. In this way, more vehicles and / or pedestrians can recognize that the current driving state is the first vehicle in the automatic driving state, thereby improving the safety of the automatic driving vehicle on the road.

[0216] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the interaction of each terminal. It can be understood that in order to realize the above functions, the autonomous driving information indication device, the autonomous driving information acquisition device, and the autonomous driving information sending device include hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0217] The embodiment of the present application can divide the functional modules of the autonomous driving information indication device, the autonomous driving information acquisition device, and the autonomous driving information sending device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0218] In the case of dividing each functional module into corresponding functional modules, Figure 5-Figure 7 The structural schematic diagrams of the autonomous driving information indication device, the autonomous driving information acquisition device, and the autonomous driving information sending device provided in the embodiments of the present application are respectively shown, and the details can be seen in the following description.

[0219] Figure 5 This is a schematic diagram of the structure of an automatic driving information indication device provided in an embodiment of the present application. The automatic driving information indication device can be used for Figure 1 Vehicles in Figure 5 As shown, the automatic driving information indicating device 500 may include:

[0220] A starting unit 501, used to start the automatic driving function application, or receive an instruction for instructing the first vehicle to start the automatic driving function application;

[0221] The indication unit 502 is used to indicate that the driving state of the first vehicle is the automatic driving state through first indication information;

[0222] The first sending unit 503 is used to send a first message, where the first message includes first indication information, and the first indication information indicates that the driving state of the first vehicle is an automatic driving state.

[0223] In the above manner, the first vehicle can indicate that the driving status of the first vehicle is the automatic driving status, or indicate that its own driving status is the automatic driving status by sending a first message, so that the surrounding traffic participants can recognize that the driving status of the first vehicle is the automatic driving status based on the indication information of the first vehicle or the message sent, thereby improving the safety of the entire road traffic.

[0224] Optionally, the first indication information also indicates the driving automation level of the automatic driving function applied.

[0225] Optionally, the driving automation level is one in a driving automation level set, and the driving automation level set includes at least: one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation (Full Automation).

[0226] Optionally, the first vehicle indicates the status of the takeover officer corresponding to the first vehicle through the second indication information.

[0227] Optionally, the autonomous driving information indication device also includes: a second sending unit 504, used to send a second message, the second message including third indication information for indicating the capability of the first vehicle.

[0228] Optionally, the autonomous driving information indication device also includes: a second sending unit 504, used to send a second message, the second message also includes fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0229] Optionally, the first message also includes second indication information, wherein the second indication information indicates the status of the takeover person corresponding to the first vehicle.

[0230] Optionally, the first message also includes third indication information for indicating the capabilities of the first vehicle.

[0231] Optionally, the capability includes at least one of the following: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0232] Optionally, the first message also includes fourth indication information for indicating the application of the autonomous driving function and / or fifth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0233] Optionally, the first indication information includes at least one of the following: an identification set on the body of the first vehicle, a preset sound signal emitted by the first vehicle, a preset light signal emitted by the first vehicle, a preset light color signal emitted by the first vehicle, or a preset electromagnetic wave signal emitted by the first vehicle.

[0234] Optionally, light signals of different colors are used to indicate different levels of driving automation.

[0235] Figure 6 A schematic diagram of the structure of an automatic driving information acquisition device provided in an embodiment of the present application. The automatic driving information acquisition device can be applied to Figure 1 The electronic devices shown in the vehicle communication connection, such as Figure 6 As shown, the automatic driving information acquisition device 600 may include:

[0236] The first acquisition unit 601 is used to acquire first indication information, where the first indication information is used to indicate the driving state of the first vehicle; the determination unit 602 is used to determine that the current driving state of the first vehicle is an automatic driving state based on the first indication information.

[0237] Through the above method, the information acquisition object (such as surrounding traffic participants, electronic devices, etc.) recognizes that the driving state of the first vehicle is an automatic driving state based on the instruction information or message sent by the first vehicle, thereby improving the safety of the entire road traffic.

[0238] Optionally, the driving automation level is one in a driving automation level set, and the driving automation level set includes at least: one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation level (Full Automation).

[0239] Optionally, the autonomous driving information acquisition device also includes: a second acquisition unit 603, used to acquire at least one of the following indication information: second indication information, the second indication information is used to indicate the takeover status corresponding to the first vehicle; third indication information, the third indication information is used to indicate the capability of the first vehicle; fourth indication information, the fourth indication information is used to indicate the autonomous driving function application that the first vehicle is executing or is about to execute; fifth indication information, the fifth indication information is used to indicate the operating condition corresponding to the autonomous driving function application that the first vehicle is executing or is about to execute.

[0240] Optionally, the capability includes at least one of the following: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0241] Figure 7 A schematic diagram of the structure of an automatic driving information sending device provided in an embodiment of the present application. The automatic driving information obtaining device can be applied to Figure 1 The electronic devices shown in the vehicle communication connection, such as Figure 7 As shown, the automatic driving information sending device 700 may include:

[0242] The first sending unit 701 is used to send a third message; wherein the third message includes sixth indication information, and the sixth indication information indicates the driving status of the first vehicle.

[0243] Through the above method, the information acquisition object (such as surrounding traffic participants, electronic devices, etc.) recognizes that the driving state of the first vehicle is an automatic driving state based on the instruction information or message sent by the first vehicle, thereby improving the safety of the entire road traffic.

[0244] In one possible implementation, the sixth indication information also indicates the driving automation level of the autonomous driving function application currently being executed or to be executed by the first vehicle.

[0245] In one possible implementation, the driving automation level is one in a driving automation level set, and the driving automation level set includes at least: one or more of the first level, the second level, and the third level; wherein the first level is conditional driving automation (Conditional Automation); the second level is high driving automation (High Automation); and the third level is full driving automation level (Full Automation).

[0246] Optionally, the autonomous driving information sending device also includes: a second sending unit 702, used to send a fourth message, the fourth message including seventh indication information for indicating the capability of the first vehicle.

[0247] Optionally, the autonomous driving information sending device also includes: a second sending unit 702, used to send a fourth message, the fourth message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0248] Optionally, the third message also includes tenth indication information, wherein the tenth indication information indicates the status of the takeover person corresponding to the first vehicle.

[0249] Optionally, the third message also includes seventh indication information for indicating the capability of the first vehicle.

[0250] Optionally, the capability includes at least one of the following: current sensing capability, current lateral control capability, current longitudinal control capability, and currently achievable minimum risk condition, system maximum sensing capability, system maximum lateral control capability, system maximum longitudinal control capability, or system maximum achievable minimum risk condition.

[0251] Optionally, the third message also includes eighth indication information for indicating the application of the autonomous driving function and / or ninth indication information for indicating the operating conditions corresponding to the application of the autonomous driving function.

[0252] Optionally, the third message also includes eleventh indication information for the confidence of at least one indication information in the third message, or the comprehensive confidence of all indication information contained in the third message.

[0253] Optionally, the fourth message also includes twelfth indication information for the confidence of at least one indication information in the fourth message, or the comprehensive confidence of all indication information contained in the fourth message.

[0254] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0255] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0256] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0257] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program includes at least three segments of code. The at least three segments of code can be executed by an autonomous driving information indication device, an autonomous driving information acquisition device, and an autonomous driving information sending device, respectively, to respectively control the autonomous driving information indication device, the autonomous driving information acquisition device, and the autonomous driving information sending device to implement the above-mentioned method embodiment.

[0258] The steps of the method or algorithm described in conjunction with the disclosure of the embodiments of the present application can be implemented in a hardware manner, or can be implemented by a processor executing a software instruction. The software instruction can be composed of corresponding software modules, and the software module can be stored in a random access memory (Random Access Memory, RAM), a flash memory, a read-only memory (Read Only Memory, ROM), an erasable programmable read-only memory (Erasable Programmable ROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), a register, a hard disk, a mobile hard disk, a read-only compact disk (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device. Of course, the processor and the storage medium can also be present in a network device as discrete components.

[0259] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0260] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. An automatic driving information indication method, characterized in that: include: The first vehicle starts or runs the autonomous driving function application, or the first vehicle receives an instruction for instructing the first vehicle to start or run the autonomous driving function application; The first vehicle indicates to a traffic participant outside the first vehicle that the driving state of the first vehicle is an automatic driving state; Among them, the trigger conditions for the first vehicle to indicate to traffic participants outside the first vehicle that the driving state of the first vehicle is the automatic driving state include that the operating speed of the first vehicle is greater than or equal to the first speed threshold, or the maximum speed in the operating condition corresponding to the application of the automatic driving function is greater than or equal to the second speed threshold.

2. The method according to claim 1, characterized in that The method also includes the first vehicle indicating to a traffic participant outside the first vehicle at least one of the following: The application of the autonomous driving function; The operating conditions corresponding to the application of the autonomous driving function; the takeover status of the first vehicle; and The capabilities of the first vehicle.

3. The method according to claim 2, characterized in that The method also includes: the first vehicle indicating a driving automation level applied by the autonomous driving function to traffic participants outside the first vehicle.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: The first vehicle sends a message to a traffic participant outside the first vehicle, wherein the message is used to indicate that the driving state of the first vehicle is an automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle, and the confidence level of at least one of the driving automation level.

5. The method according to claim 3, characterized in that: The driving automation level is the first level, the second level or the third level; Among them, the first level is conditional driving automation (Conditional Automation); The second level is high automation. The third level is full driving automation (Full Automation).

6. The method according to any one of claims 2-3 and 5 is characterized in that the capability of the first vehicle corresponds to the application of the autonomous driving function.

7. The method according to any one of claims 1-3 and 5 is characterized in that at least one of the driving state of the first vehicle is the automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the driving automation level is carried by an identification set on the body of the first vehicle, a sound signal emitted by the first vehicle, a light signal emitted by the first vehicle, or an electromagnetic wave signal emitted by the first vehicle.

8. A method for obtaining automatic driving information, characterized in that: include: Acquire first indication information, where the first indication information is used to indicate that the driving state of the first vehicle is an automatic driving state; Based on the first indication information, determining that the current driving state of the first vehicle is an automatic driving state; Among them, the triggering condition of the first indication information includes that the running speed of the first vehicle is greater than or equal to a first speed threshold, or the maximum speed in the operating condition corresponding to the application of the automatic driving function is greater than or equal to a second speed threshold.

9. The method according to claim 8, characterized in that The method further comprises: Obtain second indication information, where the second indication information is used to indicate at least one of the following: an application of an autonomous driving function on the first vehicle that triggers the autonomous driving state; The operating conditions corresponding to the application of the autonomous driving function; the takeover status of the first vehicle; and The capabilities of the first vehicle.

10. The method according to claim 8, characterized in that The first indication information is further used to indicate at least one of the following: an application of an autonomous driving function on the first vehicle that triggers the autonomous driving state; The operating conditions corresponding to the application of the autonomous driving function; the status of the receiver of the first vehicle; and The capabilities of the first vehicle.

11. The method according to claim 9 or 10, characterized in that the method further comprises: Information indicating a driving automation level of the autonomous driving state is obtained.

12. The method according to any one of claims 8 to 10, characterized in that: The method further comprises: Receive a message, wherein the message is used to indicate that the driving state of the first vehicle is an automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the confidence of at least one of the driving automation level.

13. The method according to claim 11, characterized in that The driving automation level is the first level, the second level or the third level; Among them, the first level is conditional driving automation (Conditional Automation); The second level is high automation. The third level is full driving automation (Full Automation).

14. The method according to any one of claims 9-10 and 13 is characterized in that the capability of the first vehicle corresponds to the application of the autonomous driving function.

15. The method according to any one of claims 8-10 and 13 is characterized in that at least one of the driving state of the first vehicle is the automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the driving automation level is carried by an identification set on the body of the first vehicle, a sound signal emitted by the first vehicle, a light signal emitted by the first vehicle, or an electromagnetic wave signal emitted by the first vehicle.

16. An automatic driving information indication device, characterized in that: The device is applied to a first vehicle and comprises: a starting unit, configured to start or run the automatic driving function application, or to receive an instruction for instructing the first vehicle to start or run the automatic driving function application; an indication unit, configured to indicate to traffic participants outside the first vehicle that the driving state of the first vehicle is an automatic driving state, Among them, the trigger conditions for the first vehicle to indicate to traffic participants outside the first vehicle that the driving state of the first vehicle is the automatic driving state include that the operating speed of the first vehicle is greater than or equal to the first speed threshold, or the maximum speed in the operating condition corresponding to the application of the automatic driving function is greater than or equal to the second speed threshold.

17. The method according to claim 16, wherein the indication unit is further used to indicate at least one of the following to a traffic participant outside the first vehicle: The application of the autonomous driving function; The operating conditions corresponding to the application of the autonomous driving function; the takeover status of the first vehicle; and The capabilities of the first vehicle.

18. The device according to claim 17, characterized in that The indication unit is further used to indicate the driving automation level of the automatic driving function application to traffic participants outside the first vehicle.

19. The device according to any one of claims 16 to 18, characterized in that: The device also includes: A sending unit is used to send a message to a traffic participant outside the first vehicle, wherein the message is used to indicate that the driving state of the first vehicle is an automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the confidence of at least one of the driving automation level.

20. The device according to claim 18, characterized in that The driving automation level is the first level, the second level or the third level; Among them, the first level is conditional driving automation (Conditional Automation); The second level is high automation. The third level is full driving automation (Full Automation).

21. The device according to any one of claims 17-18 and 20 is characterized in that the capability of the first vehicle corresponds to the application of the autonomous driving function.

22. The device according to any one of claims 16-18 and 20 is characterized in that at least one of the driving state of the first vehicle is the automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the driving automation level is carried by an identification set on the body of the first vehicle, a sound signal emitted by the first vehicle, a light signal emitted by the first vehicle, or an electromagnetic wave signal emitted by the first vehicle.

23. An automatic driving information acquisition device, characterized in that: include: A first acquisition unit, used to acquire first indication information, where the first indication information is used to indicate that the driving state of the first vehicle is an automatic driving state; a determining unit, configured to determine, based on the first indication information, that the current driving state of the first vehicle is an automatic driving state; Among them, the triggering condition of the first indication information includes that the running speed of the first vehicle is greater than or equal to a first speed threshold, or the maximum speed in the operating condition corresponding to the application of the automatic driving function is greater than or equal to a second speed threshold.

24. The device according to claim 23, The method is characterized in that the first acquisition unit is further used to acquire information indicating at least one of the following: an application of an autonomous driving function on the first vehicle that triggers the autonomous driving state; The operating conditions corresponding to the application of the autonomous driving function; the status of the receiver of the first vehicle; and The capabilities of the first vehicle.

25. The device according to claim 24, characterized in that The first acquisition unit is further used to acquire information indicating a driving automation level of the automatic driving state.

26. The device according to any one of claims 23 to 25, characterized in that The device also includes: A receiving unit is used to receive a message, wherein the message is used to indicate that the driving state of the first vehicle is an automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the confidence of at least one of the driving automation level.

27. The device according to claim 25, characterized in that The driving automation level is the first level, the second level or the third level; Among them, the first level is conditional driving automation (Conditional Automation); The second level is high automation. The third level is full driving automation (Full Automation).

28. The device according to any one of claims 24-25 and 27 is characterized in that the capability of the first vehicle corresponds to the application of the autonomous driving function.

29. The device according to any one of claims 23-25 ​​and 27 is characterized in that at least one of the driving state of the first vehicle is the automatic driving state, the application of the automatic driving function, the operating condition, the takeover status, the capability of the first vehicle and the driving automation level is carried by an identification set on the body of the first vehicle, a sound signal emitted by the first vehicle, a light signal emitted by the first vehicle, or an electromagnetic wave signal emitted by the first vehicle.

30. A vehicle, comprising the device according to any one of claims 16-22, or comprising the device according to any one of claims 23-29.

31. An automatic driving information system, comprising an automatic driving information indication device and an automatic driving information acquisition device, wherein the automatic driving information indication device is used to execute the method described in any one of claims 1 to 7, and the automatic driving information acquisition device is used to execute the method described in any one of claims 8 to 15.

32. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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