An information interaction method and apparatus

Abstract

This application discloses an information interaction method and apparatus for improving vehicle-to-vehicle coordination, thereby enhancing overall traffic safety. The method includes: a first vehicle determining that it has engaged in a first preset driving behavior; acquiring the status information of a second vehicle, wherein the first preset driving behavior of the first vehicle affects the second vehicle; and controlling at least one first device to output first prompt information based on the first relative position of the second vehicle and the first vehicle. Since the first vehicle controls at least one first device to output the first prompt information based on the relative position of the second vehicle and the first vehicle, the first prompt information is targeted at the second vehicle or its occupants. This not only improves the coordination between the first and second vehicles but also avoids the problem of the first vehicle excessively conveying information, causing unnecessary attention from other vehicles, thereby enhancing the safety performance of the road traffic system.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more particularly to an information interaction method and device. Background Technology

[0002] In daily life, drivers often encounter other vehicles engaging in unsafe driving behaviors such as reckless lane changes, forced overtaking, and running yellow lights. In many cases, this unsafe behavior stems from the driver's actions affecting other vehicles. Therefore, improving timely and effective communication with other vehicles, enhancing inter-vehicle coordination, and ultimately improving the safety performance of the road traffic system is a pressing issue that needs to be addressed. Summary of the Invention

[0003] This application provides an information interaction method and apparatus for improving the coordination capabilities between vehicles, thereby enhancing the safety performance of road traffic systems.

[0004] In a first aspect, an information interaction method is provided, which can be applied to a vehicle or a chip in a vehicle. Taking the method applied to a first vehicle as an example, the method includes: determining that the first vehicle has performed a first preset driving behavior; obtaining the status information of a second vehicle, wherein the first preset driving behavior of the first vehicle affects the second vehicle; and controlling at least one first device to output first prompt information according to the first relative position of the second vehicle and the first vehicle, wherein the first prompt information is used to indicate first feedback information in response to the first preset driving behavior.

[0005] In this embodiment, when the first vehicle performs a first preset driving behavior that affects the second vehicle, the first vehicle controls at least one first device to output a first prompt message based on the relative position of the second vehicle and the first vehicle. Therefore, the first prompt message is targeted at the second vehicle or its occupants, meaning the second vehicle or its occupants are more likely to perceive it. This not only enables timely and effective communication between the first vehicle and a specific vehicle (such as the second vehicle), improving vehicle-to-vehicle coordination, but also avoids the problem of the first vehicle excessively conveying information, causing unnecessary attention from other vehicles, thus enhancing the safety performance of the road traffic system.

[0006] In one possible implementation, the first preset driving behavior includes, but is not limited to, one or more of the following: steering, changing lanes, braking, reversing, overtaking, accelerating, and starting.

[0007] In this way, the first vehicle can implement the proposed solution in various scenarios (such as steering, changing lanes, braking, reversing, overtaking, accelerating or starting, etc.), which can improve the applicability of the solution and further enhance the safety performance of the road traffic system.

[0008] In one possible implementation, the distance between the second vehicle and the first vehicle is within a first threshold range. Because vehicles that are too far from the first vehicle are almost impossible to be affected by the first vehicle's first preset driving behavior, the first vehicle can only acquire the state information of vehicles that are relatively close to the first vehicle (such as within the first threshold range).

[0009] In this way, power consumption can be saved while ensuring the reliability of the solution.

[0010] In one possible implementation, the first vehicle can acquire the status information of the second vehicle through at least one sensor and / or communication module.

[0011] In this way, the first vehicle can accurately and promptly obtain the status information of the second vehicle.

[0012] In one possible implementation, the state information of the second vehicle includes, but is not limited to, one or more of the following: the position, speed, light status, and horn status of the second vehicle.

[0013] In this way, the first vehicle can determine the impact of the first vehicle's first preset driving behavior on the second vehicle based on various state information of the second vehicle, which can improve the reliability of the solution.

[0014] In one possible implementation, the first vehicle may control at least one first device to output a first prompt message when, within a first preset time range, the change value of any status information of the second vehicle exceeds a preset threshold corresponding to that status information, or the change value of each of any plurality of status information of the second vehicle exceeds the preset threshold corresponding to that status information, or the change value of each of all status information of the second vehicle exceeds the preset threshold corresponding to that status information.

[0015] In this way, the first vehicle can control at least one first device to output a first prompt message based on the changes in the status information of the second vehicle, which can improve the reliability of the solution.

[0016] In one possible implementation, the first vehicle can control the window on the side closest to the second vehicle to display the first prompt information; and / or control the headlights on the side closest to the second vehicle to project the first prompt information.

[0017] In this way, the first vehicle can output prompt information based on the windows and / or lights, which is simple, low-cost, and has a good prompting effect.

[0018] In one possible implementation, the first prompt message includes text and / or an image.

[0019] In this way, the first vehicle can provide prompts to the second vehicle through text and / or images, which is simple, low-cost, and effective.

[0020] In one possible implementation, during the continuation of the first preset driving behavior, the first vehicle determines, based on the status information of the second vehicle, that the second vehicle has engaged in a second preset driving behavior, and controls at least one second device to output a second prompt message. That is, if the second vehicle engages in a second preset driving behavior while the first vehicle is continuously engaging in the first preset driving behavior, it indicates that the second vehicle has responded to the first vehicle's first preset driving behavior. In this case, the first vehicle can change the prompting method, for example, by controlling at least one second device to output a second prompt message.

[0021] In this way, the first vehicle can dynamically update the prompting method based on the feedback behavior of the second vehicle, further improving the coordination between vehicles and enhancing the safety performance of the road traffic system.

[0022] In one possible implementation, after the first vehicle controls at least one first device to output first prompt information, it can also control at least one third device to output third prompt information based on the second relative position of the second vehicle and the first vehicle. The third prompt information is used to indicate second feedback information for the first preset driving behavior, and the first feedback information may be the same as or different from the second feedback information.

[0023] In this way, the first vehicle can dynamically update the prompting method according to the changes in the relative position of the first vehicle and the second vehicle, further improving the coordination between vehicles and enhancing the safety performance of the road traffic system.

[0024] In one possible implementation, the first vehicle can control at least one first device to stop outputting the first prompt information after the first preset driving behavior stops.

[0025] In this way, the first vehicle can stop outputting prompt information in a timely manner after the first preset driving behavior stops, which can save energy.

[0026] In one possible implementation, the first vehicle can control at least one first device to stop outputting the first prompt information after the first preset driving behavior has stopped for a first preset time.

[0027] Thus, by appropriately extending the output time of the prompt information after the first vehicle stops the first preset driving behavior, traffic safety can be further improved.

[0028] In one possible implementation, the first vehicle may determine that the second vehicle has not performed the second preset driving behavior after the first preset driving behavior has stopped or after the first preset driving behavior has stopped for a first preset time, and control at least one first device to stop outputting the first prompt information.

[0029] In this way, the first vehicle can stop outputting prompt information only when the second vehicle does not respond to the first preset driving behavior, which can further improve traffic safety.

[0030] In a second aspect, an information interaction device is provided, comprising a module / unit / means for performing the methods described in the first aspect or any possible implementation thereof. This module / unit / means may be implemented in software, or in hardware, or the corresponding software may be implemented by hardware.

[0031] For example, the device may include: a determining unit for determining that a first vehicle has engaged in a first preset driving behavior; an acquiring unit for acquiring state information of a second vehicle, wherein the first preset driving behavior of the first vehicle affects the second vehicle; and a processing unit for controlling at least one first device to output first prompt information based on the first relative position of the second vehicle and the first vehicle, wherein the first prompt information is used to indicate first feedback information in response to the first preset driving behavior.

[0032] In one possible implementation, the first preset driving behavior includes, but is not limited to, one or more of the following: steering, changing lanes, braking, reversing, overtaking, accelerating, and starting.

[0033] In one possible implementation, the distance between the second vehicle and the first vehicle is within a first threshold range.

[0034] In one possible implementation, the acquisition unit is specifically used to acquire the status information of the second vehicle through at least one sensor and / or communication module.

[0035] In one possible implementation, the state information of the second vehicle includes, but is not limited to, one or more of the following: the position, speed, light status, and horn status of the second vehicle.

[0036] In one possible implementation, the processing unit is specifically configured to: within a first preset time range, if the change value of any status information of the second vehicle exceeds a preset threshold corresponding to that status information, or if the change value of each of any multiple status information of the second vehicle exceeds the preset threshold corresponding to that status information, or if the change value of each of all status information of the second vehicle exceeds the preset threshold corresponding to that status information, then control at least one first device to output a first prompt message.

[0037] In one possible implementation, the processing unit is specifically used to: control the window on the side closer to the second vehicle to display the first prompt information; and / or control the headlights on the side closer to the second vehicle to project the first prompt information.

[0038] In one possible implementation, the first prompt message includes text and / or an image.

[0039] In one possible implementation, the determining unit is further configured to: determine, during the duration of the first preset driving behavior, that the second vehicle has engaged in a second preset driving behavior based on the status information of the second vehicle; the processing unit is further configured to: control at least one second device to output a second prompt message.

[0040] In one possible implementation, the processing unit is further configured to: after controlling at least one first device to output first prompt information, control at least one third device to output third prompt information according to the second relative position of the second vehicle and the first vehicle, wherein the third prompt information is used to indicate second feedback information for the first preset driving behavior.

[0041] In one possible implementation, the processing unit is further configured to: control at least one first device to stop outputting the first prompt information after the first preset driving behavior stops or after the first preset driving behavior stops for a first preset time; or, after determining that the second vehicle has not engaged in the second preset driving behavior after the first preset driving behavior stops or after the first preset driving behavior stops for a first preset time, control at least one first device to stop outputting the first prompt information.

[0042] Thirdly, an information interaction device is provided, including at least one processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the at least one processor; the at least one processor executes the code instructions to perform the method as described in the first aspect or any possible implementation of the first aspect.

[0043] Fourthly, a vehicle-mounted terminal is provided, comprising the apparatus described in the second aspect or any possible implementation thereof.

[0044] Fifthly, a chip is provided that is coupled to a memory for reading and executing program instructions stored in the memory to implement the method as described in the first aspect or any possible implementation thereof.

[0045] A sixth aspect provides an information interaction device, including at least one processor and at least one memory; the memory is used to store computer execution instructions; the processor is used to execute the computer execution instructions stored in the memory to cause the information interaction device to perform the method as described in the first aspect or any possible implementation of the first aspect.

[0046] In a seventh aspect, a computer-readable storage medium is provided for storing instructions that, when executed, cause the method described in the first aspect or any possible implementation thereof to be implemented.

[0047] Eighthly, a computer program product comprising instructions stored therein, which, when run on a computer, causes the computer to perform the method as described in the first aspect or any possible implementation thereof.

[0048] Ninth aspect, a vehicle is provided, including an information interaction device as described in the second aspect, an in-vehicle terminal as described in the fourth aspect, or a chip as described in the fifth aspect.

[0049] The beneficial effects of the second to ninth aspects mentioned above can be found in the beneficial effects of the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0050] Figure 1A , Figure 1B This is a schematic diagram illustrating two possible scenarios to which the embodiments of this application apply;

[0051] Figure 2 A schematic diagram of a vehicle architecture provided for an embodiment of this application;

[0052] Figure 3A , Figure 3B A schematic diagram of the vehicle's output device;

[0053] Figure 4 A flowchart illustrating an information interaction method provided in an embodiment of this application;

[0054] Figures 5A-5C , Figures 6A-6E , Figures 7A-7C Several possible driving scenario diagrams are provided for embodiments of this application;

[0055] Figure 8 This is a schematic diagram of the structure of an information interaction device provided in an embodiment of this application;

[0056] Figure 9 This is a schematic diagram of another information interaction device provided in an embodiment of this application;

[0057] Figure 10 This is a schematic diagram of another information interaction device provided in an embodiment of this application. Detailed Implementation

[0058] It should be understood that in the description of this application, "multiple" refers to two or more. "At least one" refers to one or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Words such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0059] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0060] See Figure 1A This illustration provides a scenario diagram for an embodiment of this application. Specifically, this scenario can be an autonomous driving, assisted driving, or manual driving scenario. In a road where motor vehicles travel, vehicle A is traveling in the first lane, and vehicles B and C are traveling in the second lane. It should be understood that... Figure 1A This example uses three vehicles: vehicle A, vehicle B, and vehicle C. Of course, in reality, there may be more or fewer vehicles on the road.

[0061] See Figure 1B This provides another scenario illustration for an embodiment of this application. This scenario can specifically be an autonomous driving, assisted driving, or manual driving scenario. In a parking lot, the first, second, and third parking spaces are adjacent in sequence. Vehicle D is located in the first parking space, vehicle E is located in the second parking space, and vehicle F is located in the third parking space. It should be understood that... Figure 1B This is an example with three vehicles; of course, there may be more or fewer vehicles in the actual parking lot.

[0062] It should be noted that the above two scenarios are merely examples and not limitations. In actual implementation, the embodiments of this application can be implemented in any scenario with multiple vehicles.

[0063] Furthermore, the technical solutions provided in this application embodiment can be applied to any vehicle in a scenario with multiple vehicles.

[0064] See Figure 2 This is a schematic diagram of a vehicle architecture provided in an embodiment of this application. The architecture includes at least a sensing device, a vehicle control device, a computing device, and an output device.

[0065] 1) The sensing device is used to sense the status information of other vehicles within a preset range of the vehicle, such as the speed, position, light status, horn status, etc. of other vehicles.

[0066] In practical implementation, sensing devices can be various sensors such as cameras, millimeter-wave radar, and lidar, or communication modules such as vehicle-to-everything (V2X) modules and Bluetooth modules. Optionally, the sensing devices can also be used to sense the vehicle's status information.

[0067] 2) The vehicle control device is connected to driving operation actuators such as brake / drive / steering to control the driving operation actuators to perform driving operations; the vehicle control device can also record driving operations; the vehicle control device can also notify the computing device when the vehicle performs a preset driving behavior to trigger the computing device to execute the information interaction method provided in this application.

[0068] In practical implementation, the vehicle control device can be, for example, the Vehicle Control Unit (VCU). The VCU is the central controller of the vehicle's drive system, and it can communicate with driving actuators, sensing devices, and computing devices via a Controller Area Network (CAN) bus to acquire signals, make control strategy decisions, and output drive signals.

[0069] 3) A computing device, used to determine whether the vehicle affects other vehicles based on the status information of other vehicles collected by the sensing device when the vehicle performs a preset driving behavior (e.g., upon receiving a notification from the vehicle control device). If the vehicle affects other vehicles, it outputs a prompt message based on the relative position of the vehicle and other vehicles. This prompt message indicates the feedback information for the preset driving behavior. The impact of the vehicle on other vehicles can be varied, such as obstructing the normal driving of other vehicles (e.g., forcing other vehicles to slow down or brake), obstructing the view of other vehicles, or colliding with other vehicles. This application does not impose any limitations on this.

[0070] In practical implementation, the computing device can be a standalone in-vehicle device (such as an in-vehicle computer, driving control device, driving control equipment, etc.), or one or more processing chips, or integrated circuits, etc., and this application does not limit it in this regard. The information interaction method provided in this application can be carried in software in the vehicle's computing device, and the computing device controls the vehicle by executing the aforementioned software to implement the information interaction method provided in this application.

[0071] In practical implementation, the computing device can be, for example, an in-vehicle mobile data center (MDC). The MDC is the core electronic control unit (ECU) of the vehicle, which has computing and control functions. It can process the data collected by the sensing devices and convert the results into control commands. The control commands are used to control the operation of the controlled components. For example, the MDC sends the control commands to the ECU corresponding to the output device, and the ECU corresponding to the output device drives the output device to output prompt information according to the control commands.

[0072] 4) The output device is used to output prompt information under the control of the computing device.

[0073] In practical implementation, the output device can be any device capable of outputting information to the outside, meaning the information output by the output device can be perceived by people or objects outside the vehicle. Examples of output devices include: a Human Machine Interface (HMI), such as a window display; vehicle lights; audio equipment; a horn; windshield wipers, etc.

[0074] In practice, a vehicle can have multiple output devices, and these different output devices can be located in different positions. For example, Figure 3A The vehicle shown has a total of six HMIs: HMI1 is located on the windshield, HMI2 on the rear windshield, and HMIs3, 4, 5, and 6 on the side windows. For example, Figure 3B The vehicle shown has four headlights with projection capabilities. Headlights 1 and 2 are located on both sides of the front of the vehicle, while headlights 3 and 4 are located on both sides of the rear. It should be understood that... Figure 3A , Figure 3B This is merely an example and not a limitation.

[0075] It should be noted that the above four devices can be implemented as separate hardware devices or integrated into the same hardware device; this application does not impose any limitations on this. For example, the computing device can be a separate in-vehicle device (such as an in-vehicle computer, driving control device, driving control equipment, etc.) or a processing chip or integrated circuit integrated on a sensor, HMI, or VCU device.

[0076] See Figure 4 This is a flowchart illustrating an information interaction method provided in an embodiment of this application. This method can be applied to... Figure 1A , Figure 1B Any vehicle in the scenario shown or other scenarios with multiple vehicles. Taking the method applied to the first vehicle as an example, the method includes:

[0077] S401, The first vehicle determines that the first vehicle has committed the first preset driving behavior.

[0078] For example, the first vehicle is Figure 2 Taking the vehicle shown as an example: When the vehicle control unit (such as VCU) of the first vehicle detects that the first vehicle has performed a first preset driving behavior, it sends a notification message to the computing unit (such as MDC or ECU) of the first vehicle. After receiving the notification message, the computing unit determines that the first vehicle has performed a first preset driving behavior.

[0079] In this embodiment, the first preset driving behavior can be any driving behavior performed by the first vehicle that may affect other vehicles located within a preset range of the first vehicle. The first preset driving behavior can be varied, including, but not limited to, one or more of the following: overtaking, changing lanes, braking, decelerating, accelerating, starting, steering, and reversing.

[0080] Example 1, The first preset driving behavior includes overtaking: Figure 1A Taking the scenario shown as an example, vehicle A (the first vehicle) is traveling in the first lane, and vehicle B (the second vehicle) is traveling in the second lane. Vehicle A and vehicle B are traveling in the same direction, and vehicle A is behind vehicle B. If vehicle A performs an overtaking operation (i.e., the first preset driving behavior), it may affect vehicle B.

[0081] In practical implementation, the first preset driving behavior can also be continuous overtaking. For example, if the first vehicle overtakes more than a set number X times within a preset time range, the vehicles overtaken by the first vehicle at different time stages can be the same vehicle or different vehicles. For example, X=1, vehicle A (the first vehicle) initially follows vehicle B; vehicle A performs its first overtaking operation at time t1, overtaking vehicle B; vehicle B performs its overtaking operation at time t2, overtaking vehicle A; vehicle A performs its second overtaking operation at time t3, overtaking vehicle B again. Within the time interval t1 to t3, vehicle A overtakes twice, exceeding X, and t3-t1 is less than the preset time range, then the first vehicle can be considered to have committed the first preset driving behavior. For example, X=1, vehicle A (the first vehicle) initially follows vehicle C, and vehicle C follows vehicle B; vehicle A performs its first overtaking operation at time t4, overtaking vehicle C, and continues to follow vehicle B; vehicle A performs its second overtaking operation at time t5, overtaking vehicle B. If vehicle A overtakes another vehicle twice during the time interval t4 to t5, exceeding X, and the time interval t5 to t4 is less than the preset time range, then it can be considered that the first vehicle has committed the first preset driving behavior.

[0082] In practice, the first preset driving behavior can also be emergency overtaking, such as the first vehicle exceeding the preset speed or the first vehicle exceeding the preset acceleration when overtaking.

[0083] Example 2, the first preset driving behavior includes lane changing: Figure 1A Taking the scenario shown as an example, vehicle A (the second vehicle) is traveling in the first lane, and vehicle B (the first vehicle) is traveling in the second lane. Vehicle A and vehicle B are traveling in the same direction. If vehicle B changes lanes from the second lane to the first lane (i.e., the first preset driving behavior), it may affect vehicle A.

[0084] In practice, the first preset driving behavior can also be continuous lane changing, such as the first vehicle changing lanes more than the set number of times within a preset time range.

[0085] In practice, the first preset driving behavior can also be an emergency lane change, such as when the first vehicle's lateral speed (i.e., the speed perpendicular to the direction of travel) exceeds the preset speed when changing lanes.

[0086] Example 3: The first preset driving behavior includes braking or deceleration: Figure 1A Taking the scenario shown as an example, vehicle B (the first vehicle) and vehicle C (the second vehicle) are traveling in the first lane. Vehicle B and vehicle C are traveling in the same direction, and vehicle C is behind vehicle B. If vehicle B brakes or decelerates (i.e., the first preset driving behavior), it may affect vehicle C.

[0087] In practice, the first preset driving behavior can also be emergency braking or emergency deceleration, for example, the acceleration of the first vehicle during braking or deceleration exceeds the preset acceleration.

[0088] In practice, the first preset driving behavior can also be continuous braking, for example, the first vehicle brakes more times within a preset time range than a preset number of times.

[0089] Example 4, The first preset driving behavior includes acceleration: Figure 1A Taking the scenario shown as an example, vehicle B (the second vehicle) and vehicle C (the first vehicle) are traveling in the first lane. Vehicle B and vehicle C are traveling in the same direction, and vehicle C is behind vehicle B. If vehicle C accelerates, it may affect vehicle B.

[0090] In practice, the first preset driving behavior can also be continuous acceleration, for example, the first vehicle accelerates more times than a preset number of times within a preset time period.

[0091] In practice, the first preset driving behavior can also be emergency acceleration, such as the acceleration of the first vehicle exceeding the preset acceleration.

[0092] Example 5, the first preset driving behavior includes starting: Figure 1B Taking the scenario shown as an example, vehicle E is in a stopped state, parked in the second parking space, while vehicle D or vehicle F is in a moving state. For example, vehicle F is driving out of the third parking space to leave, or vehicle D is driving into the first parking space to park. If vehicle E (the first vehicle) starts (i.e., the first preset driving behavior), it may affect vehicle D (the second vehicle) or vehicle F (the second vehicle).

[0093] Example 6, The first preset driving behavior includes lane changing: Figure 1A Taking the scenario shown as an example, vehicle A (the second vehicle) is traveling in the first lane, and vehicle B (the first vehicle) is traveling in the second lane. Vehicle A and vehicle B are traveling in the same direction. If vehicle B turns left (i.e., the first preset driving behavior), it may affect vehicle A.

[0094] In practice, the first preset driving behavior can also be continuous steering, such as the first vehicle turning more than a set number of times within a preset time range.

[0095] In practice, the first preset driving behavior can also be an emergency turn, such as when the first vehicle's lateral speed (i.e., speed perpendicular to the direction of travel) or longitudinal speed (i.e., speed in the direction of travel) exceeds the preset speed.

[0096] Example 7, The first preset driving behavior includes reversing: Figure 1B Taking the scenario shown as an example, vehicle E is in a stopped state and parked in the second parking space, while vehicles D and F are in a moving state. If vehicle D (the first vehicle) or vehicle F (the first vehicle) performs a reversing operation (i.e., the first preset driving behavior), it may affect vehicle E (the second vehicle).

[0097] In practice, the first preset driving behavior can also be continuous reversing, for example, the number of times the first vehicle reverses within a preset time period exceeds a preset number.

[0098] In practice, the first preset driving behavior can also be emergency reversing, such as the first vehicle reversing at a speed exceeding the preset speed.

[0099] It should be noted that the above seven examples are merely examples and not limitations. In actual implementation, the first preset driving behavior can be implemented in other ways.

[0100] S402, The first vehicle obtains the status information of the second vehicle, and the first vehicle's first preset driving behavior affects the second vehicle.

[0101] For example, the first vehicle is Figure 2Taking the vehicle shown as an example: the sensing device of the first vehicle collects the status information of the second vehicle and sends the collected status information of the second vehicle to the computing device; after receiving the notification information sent by the vehicle control device, the computing device begins to receive and record the status information of the second vehicle sent by the collecting device.

[0102] Optionally, the sensing device can begin collecting the status information of the second vehicle after the first vehicle begins performing the first preset driving behavior. For example, after the first vehicle begins performing the first preset driving behavior, the vehicle control device or computing device triggers the sensing device to collect the status information of the second vehicle. This can save power consumption of the sensing device.

[0103] Optionally, the first vehicle may collect the status information of the second vehicle before the first vehicle begins executing the first preset driving action, and continue to collect the status information of the second vehicle after the first vehicle begins executing the first preset driving action. In this case, the computing device can also receive and record the status information of the second vehicle sent by the collection device before the vehicle control device sends notification information. In this way, the computing device can obtain more status information of the second vehicle.

[0104] In this application embodiment, the sensing device includes, but is not limited to, sensors and / or communication modules. Sensors may be, for example, cameras, millimeter-wave radar, lidar, etc. Communication modules may be, for example, V2X modules. For instance, a second vehicle collects its own vehicle status information and sends it to a first vehicle via a V2X network. The first vehicle receives the status information sent by the second vehicle based on the V2X module, thus obtaining the status information of the second vehicle.

[0105] It should be understood that this article uses the second vehicle as an example, but in actual applications, the first vehicle can simultaneously obtain the status information of multiple vehicles and perform the operation for the second vehicle in this application embodiment for each of the multiple vehicles.

[0106] Optionally, the distance between the second vehicle and the first vehicle is within a first threshold range. In other words, after the first vehicle performs the first preset driving behavior, it can only obtain the status information of vehicles within the first threshold range of the first vehicle, thus saving power consumption.

[0107] Optionally, the status information of the second vehicle includes, but is not limited to, one or more of the following: speed, position, light status, and horn status. Speed ​​may include the direction and magnitude of the speed, and may also include the direction and magnitude of acceleration. The speed of the second vehicle may include its absolute speed (i.e., the speed of the second vehicle relative to the road surface), and may also include its speed relative to the first vehicle; this application does not limit this. Position may include absolute position (e.g., latitude and longitude), and may also include relative position (e.g., the distance of the second vehicle relative to the first vehicle, the orientation of the second vehicle relative to the first vehicle). Light status may include whether the lights are on / off, whether they are flashing, the type of lights (e.g., headlights, fog lights, reversing lights, turn signals, position lights, brake lights, side marker lights, parking lights, or high beams), and the function / meaning of the lights (e.g., a turn signal indicates the vehicle is turning, a brake light indicates the vehicle is braking). Horn status may include whether the horn is sounded, the number of times it is sounded, the volume of the horn, the duration of the horn, and the meaning of the horn (e.g., warning or urging). This application does not specifically limit the meaning of the horn sound; it can be understood according to the product implementation or standardized meaning.

[0108] Optionally, the first vehicle can also obtain its own status information. Taking the first vehicle as an example... Figure 2 Taking the vehicle shown as an example: the sensing device of the first vehicle collects the status information of the first vehicle (e.g., the position sensor collects position information, the speed sensor collects speed information, etc.) and sends the collected status information of the first vehicle to the computing device; and / or, the vehicle control device of the first vehicle reports the status information of the operating actuators (e.g., the status of lights, the status of the horn, etc.) to the computing device.

[0109] In the embodiments of this application, the first preset driving behavior of the first vehicle can have various effects on the second vehicle, such as the first vehicle hindering the normal driving of the second vehicle (e.g., the second vehicle being forced to slow down or brake), the first vehicle obstructing the view of the second vehicle, or the first vehicle colliding with the first vehicle, etc. This application does not impose any restrictions.

[0110] Optionally, the first vehicle may determine whether its first preset driving behavior affects the second vehicle based on the status information of the second vehicle and / or the status information of the first vehicle.

[0111] For example, a first preset driving behavior of the first vehicle affects the second vehicle when any one or more of the following conditions are met:

[0112] 1) The distance between the second vehicle and the first vehicle is within the second threshold range. This application does not limit whether the second threshold range is the same as or different from the aforementioned first threshold range.

[0113] For example, with Figure 1ATaking the scenario shown as an example, vehicle A (the second vehicle) is traveling in the first lane, and vehicle B (the first vehicle) is traveling in the second lane. Vehicle A and vehicle B are traveling in the same direction. When vehicle B changes lanes from the second lane to the first lane, if the distance between vehicle B and vehicle A is within the second threshold range (for example, the distance between vehicle B and vehicle A is less than 5 meters), then vehicle B will obstruct the normal driving of vehicle A, which may force vehicle A to slow down or brake, or vehicle A may be collided with by vehicle B. Therefore, vehicle B's lane-changing behavior affects vehicle A.

[0114] In a specific implementation, the status information of the second vehicle includes the position information of the second vehicle, or the position information of the second vehicle relative to the first vehicle. The first vehicle can determine that the distance between the second vehicle and the first vehicle is within the second threshold range based on the position information.

[0115] 2) The second vehicle is located at the first preset position of the first vehicle.

[0116] For example, with Figure 1A Taking the scenario shown as an example, vehicle B (the first vehicle) and vehicle C (the second vehicle) are traveling in the first lane. Vehicle B and vehicle C are traveling in the same direction, and vehicle C is behind vehicle B. When vehicle B brakes or decelerates (i.e., the first preset driving behavior), since vehicle C is directly behind vehicle B, vehicle B will obstruct the normal driving of vehicle C. For example, it may force vehicle C to decelerate or brake, or vehicle C may be collided with by vehicle B. Therefore, the deceleration or braking behavior of vehicle B affects vehicle C.

[0117] In a specific implementation, the status information of the second vehicle includes the position information of the second vehicle, or the position information of the second vehicle relative to the first vehicle. The first vehicle can determine the first preset position of the second vehicle based on the position information.

[0118] 3) The speed of the first vehicle exceeds the first speed threshold and the speed direction is the first preset direction, and / or the acceleration of the first vehicle exceeds the first acceleration threshold and the acceleration direction is the first preset direction.

[0119] For example, with Figure 1A Taking the scenario shown as an example, vehicle B (the second vehicle) and vehicle C (the first vehicle) are traveling in the first lane. Vehicle B and vehicle C are traveling in the same direction, and vehicle C is behind vehicle B. When vehicle C accelerates forward, if vehicle C's speed exceeds a set speed and / or vehicle C's acceleration exceeds a set acceleration, then vehicle C's acceleration behavior will hinder vehicle B's normal driving. For example, it may force vehicle B to accelerate or change lanes, or vehicle B may be collided with by vehicle C. Therefore, vehicle C's acceleration behavior affects vehicle B.

[0120] In a specific implementation, the first vehicle can obtain its own speed information, or obtain the speed information of the first vehicle relative to the second vehicle, or obtain the speed information of the second vehicle relative to the first vehicle, and then calculate the speed information of the first vehicle relative to the second vehicle, thereby determining that the speed of the first vehicle exceeds the first speed threshold and the speed direction is the first preset direction.

[0121] 4) The speed of the second vehicle exceeds the second speed threshold and the speed direction is the second preset direction, and / or the acceleration of the second vehicle exceeds the second acceleration threshold and the acceleration direction is the second preset direction.

[0122] For example, with Figure 1B Taking the scenario shown as an example, vehicle E is in a stopped state, parked in the second parking space, while vehicle D is in a moving state, for example, vehicle D is driving into the first parking space to park. When vehicle E (the first vehicle) starts, if the speed of vehicle D (the second vehicle) exceeds the second speed threshold and the speed direction is the second preset direction (e.g., the direction closer to vehicle E), then the starting of vehicle E will hinder the normal driving of vehicle D. For example, the view of vehicle D is blocked, or vehicle D is collided with by vehicle E. Therefore, the starting behavior of vehicle E affects vehicle D.

[0123] In a specific implementation, the status information of the second vehicle includes the speed information of the second vehicle, or the speed information of the second vehicle relative to the first vehicle. The first vehicle can determine, based on the speed information, that the speed of the second vehicle exceeds the second speed threshold and the speed direction is the second preset direction.

[0124] For example, with Figure 1A Taking the scenario shown as an example, vehicle A (the second vehicle) is traveling in the first lane, and vehicle B (the first vehicle) is traveling in the second lane. Vehicle A and vehicle B are traveling in the same direction. When vehicle B changes lanes from the second lane to the first lane, if vehicle B's lateral acceleration (e.g., to the left) exceeds a first preset value, or vehicle B's longitudinal acceleration (forward or backward) exceeds a second preset value, then vehicle B's lane change will obstruct vehicle A's normal driving. For example, vehicle A's view may be blocked by vehicle B, or vehicle A may be collided with by vehicle B. Therefore, vehicle B's lane change behavior affects vehicle A.

[0125] In a specific implementation, the state information of the second vehicle includes the acceleration information of the second vehicle, or the acceleration information of the second vehicle relative to the first vehicle. The first vehicle can determine, based on the acceleration information, that the acceleration of the second vehicle exceeds the second acceleration threshold and the direction of the acceleration is the second preset direction.

[0126] 5) Within the first preset time range, the status information of the second vehicle changes, or the change value of the status information of the second vehicle exceeds the preset threshold.

[0127] The start time of the first preset time range can be located before the first vehicle performs the first preset driving behavior or during the first vehicle performs the first preset driving behavior, and this application does not limit this; the end time of the first preset time range can be located during the first vehicle performs the first preset driving behavior or after the first vehicle finishes performing the first preset driving behavior, and this application does not limit this.

[0128] If the second vehicle has multiple status information, a pre-set threshold can be set for each status information individually. Accordingly, changes in the second vehicle's status information include the following situations: a) any one of the second vehicle's status information changes; b) any multiple status information of the second vehicle changes; c) all of the second vehicle's status information changes. Changes in the second vehicle's status information exceeding the pre-set threshold include the following situations: a) the change in any one of the second vehicle's status information exceeds the pre-set threshold corresponding to that single status information; b) the change in each of any multiple status information of the second vehicle exceeds the pre-set threshold corresponding to that status information; c) the change in each of all the second vehicle's status information exceeds the pre-set threshold corresponding to that status information.

[0129] The following lists several possible state information and provides examples of the thresholds corresponding to each state information.

[0130] For example, suppose the preset thresholds include a distance threshold ΔL, and the first preset time range is a duration threshold ΔT. See also Figure 5A Vehicle A (the second vehicle) is traveling in the first lane, and vehicle B (the first vehicle) is traveling in the second lane. Vehicles A and B are traveling in the same direction. At time t1, the distance between vehicles A and B is L0. Starting from time t1, vehicle B begins to change lanes from the second lane to the first lane or turns towards the first lane. At time t2, the distance between vehicles A and B is L2. The distance between vehicle A and vehicle B changes. If t2-t1≤ΔT and L1-L2≥ΔL, then vehicle B's lane-changing behavior affects vehicle A.

[0131] For example, suppose the preset thresholds include an angle threshold Δθ, and the first preset time range is ΔT. See also Figure 5BVehicle E (the second vehicle) is parked in the second parking space, and vehicle F (the first vehicle) is preparing to enter the third parking space. At time t1, vehicle E is located at a position θ1 degrees west of south of vehicle F, and at time t2, vehicle E is located at a position θ2 degrees west of south of vehicle F. Since the position of vehicle E relative to vehicle F changes during the time interval t1 to t2, if t2-t1≤ΔT and θ1-θ2≥Δθ, then the reversing behavior of vehicle F (the first vehicle) affects vehicle E (the second vehicle).

[0132] For example, see Figure 5C Vehicle A (the first vehicle) is traveling in the first lane, and vehicle B (the second vehicle) is traveling in the second lane. Vehicles A and B are traveling in the same direction. At time t1, vehicle B does not activate its turn signal. After time t1 and before time t2, vehicle A begins to change lanes from the first lane to the second lane (e.g., turning the steering wheel to the right). At time t2, vehicle B activates its turn signal. Since the turn signal status of vehicle B changes during the time interval t1 to t2, vehicle A can determine that vehicle A's lane-changing behavior affects vehicle B. In one possible implementation, the first vehicle can set different values ​​for the turn signal of the second vehicle for different states. For example, the value can be set to 1 when the second vehicle's left turn signal is on and 0 when the second vehicle's left turn signal is off. A preset threshold of 0 and a first preset time range of any duration greater than 0 are used. Figure 5C In the scenario shown, during the time interval t0 to t1, the value of vehicle B's left turn signal changes from 0 to 1, which is 1, exceeding the threshold of 0. Therefore, vehicle A's lane-changing behavior affects vehicle B.

[0133] It should be understood that the above are merely examples and not limitations. For other changes in status information or change values, please refer to the three examples above; they will not be listed again here.

[0134] In practical implementation, the first vehicle can determine whether its first preset driving behavior affects the second vehicle based on changes in one type of state information, or it can determine whether its first preset driving behavior affects the second vehicle based on changes in multiple types of state information; this application does not impose any limitations. For example, in Figure 5B In the scenario shown, in addition to detecting a change in the orientation of vehicle E (second vehicle) relative to vehicle F, vehicle F (first vehicle) also detects changes in the distance of vehicle E relative to vehicle F, the speed of vehicle E, and the status of vehicle E's lights or horn.

[0135] It should be noted that the first vehicle may choose to implement one of the above conditions individually (i.e., when one of the above conditions is met, the first vehicle's first preset driving behavior affects the second vehicle), or it may choose to implement multiple conditions simultaneously (i.e., when at least two of the above conditions are met simultaneously, the first vehicle's first preset driving behavior affects the second vehicle). This application does not impose any restrictions.

[0136] S403. The first vehicle controls at least one first device to output a first prompt message based on the first relative position between the second vehicle and the first vehicle.

[0137] The first prompt information is used to indicate the first feedback information in response to the first preset driving behavior. The functions of the first feedback information include, but are not limited to: 1) alerting the second vehicle that the first vehicle has performed the first preset operation, so that the second vehicle or its occupants (including the driver, passengers, etc.) can perceive the first vehicle's first preset operation more promptly and conveniently, and thus take measures to reduce or avoid the impact of the first vehicle's first preset driving behavior on the second vehicle; 2) apologizing to the second vehicle for the impact of the first vehicle's first preset driving behavior on the second vehicle, so as to appease the emotions of the occupants of the second vehicle and minimize the possibility of the second vehicle engaging in unsafe driving behavior.

[0138] The specific format of the first prompt message may include one or more of text, images, and sounds, and this application does not limit this.

[0139] The first relative position between the second vehicle and the first vehicle includes, but is not limited to: the orientation of the second vehicle relative to the first vehicle, and / or the distance between the second vehicle and the first vehicle.

[0140] In specific implementation, the first vehicle outputs a first prompt message based on the first relative position between the second vehicle and the first vehicle. This may include: the first vehicle determining the output location of the first prompt message based on the first relative position between the second vehicle and the first vehicle, and controlling at least one first device at that output location to output the first prompt message. The output location of the first prompt message is specific to the second vehicle; for example, the second vehicle (or its occupants) is more likely to perceive the first prompt message compared to other vehicles (or their occupants).

[0141] The first vehicle is Figure 2Taking the vehicle shown as an example: After receiving the notification information from the vehicle control device, the computing device of the first vehicle receives the status information of the second vehicle from the sensing device of the first vehicle, and determines the first relative position between the second vehicle and the first vehicle based on the status information of the second vehicle; the computing device determines the first position of the first vehicle based on the first relative position, and controls the output device located at the first position to output the first prompt information.

[0142] Below, taking the first preset driving behavior as steering as an example, we will give a few specific examples.

[0143] Example 1: The first vehicle controls the first vehicle to display a first prompt message on the window on the side closest to the second vehicle.

[0144] See Figure 6A Vehicle A (the first vehicle) is traveling in the first lane, and vehicle B (the second vehicle) is traveling in the second lane. Vehicles A and B are traveling in the same direction and their distance is within a first threshold range. When vehicle A detects that vehicle A has performed a lane change (e.g., the computing device detects the turn signal being activated and / or the steering wheel being turned), it controls the window on the side of vehicle A closest to vehicle B to display a first warning message, such as... Figure 6A Vehicle A displays the text message "Turn Right" on its right-side window.

[0145] Of course, in practical applications, the initial prompt message is not limited to being output from only one location. For example, see... Figure 6B Vehicle B (the second vehicle) is located to the right front of vehicle A (the first vehicle), so the computing device of vehicle A can control both the front and right side windows to display the text message "Turn right".

[0146] Furthermore, if multiple vehicles exist within a first threshold range of vehicle A (the first vehicle), the system can control multiple windows in different locations to output the first prompt message based on the relative position of each of these vehicles to the first vehicle. For example, participating in... Figure 6C If vehicle B is to the right front of vehicle A and vehicle C is to the right rear of vehicle A, and the distances of vehicle B and vehicle C from vehicle A (the first vehicle) are all within a first threshold range, then the computing device of vehicle A can control the front, right and rear windows of vehicle A to display the text prompt "Go right".

[0147] Example 2: The first vehicle controls the headlights on the side of the first vehicle closest to the second vehicle to project a first prompt message. The specific implementation of projecting the first prompt message using headlights can be based on transmissive projection technology or holographic projection technology, etc., and this application does not impose any restrictions.

[0148] For example, see Figure 6DVehicle A (the first vehicle) is traveling in the first lane, and vehicle B (the second vehicle) is traveling in the second lane. Vehicles A and B are traveling in the same direction. Vehicle B is located to the right front of vehicle A, and the distance between vehicle A and vehicle B is within a first threshold range. When vehicle A detects that vehicle A has performed a steering operation (e.g., vehicle A's computing device detects that the turn signal is activated and / or the steering wheel is turned), it controls the headlights on the side of vehicle A closest to vehicle B to project a first warning message, such as... Figure 6D Vehicle A controls the right front headlights to project the text message "Turn right".

[0149] Of course, in practical applications, the first vehicle is not limited to controlling the headlights to project the first prompt message from only one direction. If there are multiple vehicles within a first threshold range of the first vehicle, the headlights can also be controlled to project the prompt message based on the relative position of each of the multiple vehicles to the first vehicle.

[0150] It should be understood that in practical applications, multiple different output methods can be combined. For example, see... Figure 6E As shown, vehicle A (the first vehicle) is traveling in the first lane, and vehicle B (the second vehicle) is traveling in the second lane. Vehicles A and B are traveling in the same direction. Vehicle B is located to the right of vehicle A, and the distance between vehicle A and vehicle B is within a first threshold range. When vehicle A detects that vehicle A has performed a steering operation (e.g., the computing device detects that the turn signal is turned on and / or the steering wheel is turned), it can control the right front headlight of vehicle A to project the text prompt message "Turn Right". It can also control the right side window and rear side window of vehicle A to display the text prompt message "Turn Right".

[0151] It should be understood that the above Figures 6A-6E This is merely an example and not a limitation. In actual implementation, the first vehicle may output the first prompt information in other ways besides displaying the first prompt information on the vehicle window or projecting the first prompt information onto the vehicle headlights. This application does not make any specific limitation in this regard.

[0152] Based on the above, in this embodiment of the application, when / after the first vehicle performs a first preset driving behavior, the first vehicle can obtain the status information of the second vehicle. If the first preset driving behavior of the first vehicle affects the second vehicle, the first vehicle can control at least one first device to output a first prompt message based on the relative position of the second vehicle and the first vehicle. Since the first vehicle controls at least one first device to output the first prompt message based on the relative position of the second vehicle and the first vehicle, the first prompt message is targeted at the second vehicle or the people in the second vehicle, meaning that the second vehicle or the people in the second vehicle are more likely to perceive the first prompt message. This embodiment of the application can not only enable the first vehicle to communicate with a specific vehicle (such as the second vehicle) in a timely and effective manner, improving the coordination ability between vehicles, but also avoid the problem of the first vehicle excessively conveying information to the outside world, causing unnecessary attention from other vehicles, thus improving the safety performance of the road traffic system.

[0153] Optionally, during the first preset driving behavior, the first vehicle can continuously acquire the status information of the second vehicle. If the first vehicle determines that the second vehicle has engaged in the second preset driving behavior based on the status information of the second vehicle, it can also control at least one second device to output a second prompt message to the second vehicle. The second prompt message is different from the first prompt message. The second preset driving behavior can be varied, including but not limited to one or more of the following: honking, overtaking, changing lanes, braking, decelerating, accelerating, starting, turning, and reversing. The at least one second device can be the same as or different from at least one first device; this application does not impose any restrictions. For example, all devices in the at least one second device may be the same as all devices in the at least one first device, or some devices in the at least one second device may be the same as all devices in the at least one first device, or all devices in the at least one second device may be the same as some devices in the at least one first device, or some devices in the at least one second device may be the same as some devices in the at least one first device, or all devices in the at least one second device may be different from all devices in the at least one first device.

[0154] For example, see Figure 7A When vehicle A (the first vehicle) performs a right turn, it displays a "Turn Right" message on its right-side window to vehicle B (the second vehicle). After a period of time, if vehicle A detects vehicle B honking (making a "beep beep beep" sound), it indicates that vehicle B is dissatisfied with vehicle A's turning action. The first vehicle can then update the text displayed on its right-side window, for example, by displaying "Turn Right, Sorry" to vehicle B (the second vehicle) to express its apology.

[0155] Of course, in specific implementation, the differences between the first and second prompt messages can be not only in the content of the information, but also in the output location of the information (i.e., the output device of the second prompt message is different from that of the first prompt message, for example, changing from the right side window to the rear side window), the format of the information (e.g., changing from text to image or sound), the level of prompting (e.g., if the first prompt message is text or an image, the display size of the text or image can be changed; if the prompt message is sound, the playback volume can be changed), or other aspects. This application does not impose any restrictions.

[0156] In this way, the first vehicle can update the output prompts based on the status of the second vehicle, further improving the coordination between vehicles and enhancing the safety performance of the road traffic system.

[0157] Optionally, after the first vehicle outputs the first prompt information, if the relative position between the second vehicle and the first vehicle changes, for example, to a second relative position, the first vehicle can also control at least one third device to output a third prompt information based on the second relative position between the second vehicle and the first vehicle. The third prompt information is used to indicate a second feedback information for the first preset driving behavior.

[0158] This application does not restrict whether the second feedback information is the same as or different from the first feedback information.

[0159] The output location of the third prompt message differs from that of the first prompt message. Other attributes of the third prompt message, such as content, format, and level of prompting, may be the same as or different from the first prompt message; this application does not impose any limitations on this.

[0160] In this application, at least one third device may be the same as or different from at least one first device (or second device), and no limitation is imposed. For example, all devices in at least one third device may be the same as all devices in at least one first device, or some devices in at least one third device may be the same as all devices in at least one first device, or all devices in at least one third device may be the same as some devices in at least one first device, or some devices in at least one third device may be the same as some devices in at least one first device, or all devices in at least one third device may be different from all devices in at least one first device.

[0161] The output position of the third prompt message is different from that of the first prompt message. This can be achieved by controlling different devices to output the first and second prompt messages respectively, or by controlling the same device but outputting the first and second prompt messages in different ways.

[0162] For example, see Figure 7B Initially, vehicle A (the first vehicle) is directly to the left of vehicle B (the second vehicle). When vehicle A performs a right turn, it displays a "Turn Right" message on its right-side window. After a period of time, vehicle A has moved to the left front of vehicle B, at which point vehicle A can switch to displaying the "Turn Right" message on its rear-side window. In this scenario, the third device differs from the first device.

[0163] For example, see Figure 7C Initially, vehicle A (the first vehicle) is to the left rear of vehicle B (the second vehicle). When vehicle A makes a right turn, it controls its right front headlight to project a "lane change" warning message. After a period of time, the relative positions of vehicle A and vehicle B change. If vehicle A has moved directly to the left of vehicle B, the first vehicle can control its left front headlight to adjust the angle of the warning message projection, shifting it to the right by a certain angle. In this case, the third device functions the same as the first device.

[0164] In this way, the first vehicle can update the output position of the prompt information according to the change in the relative position of the second vehicle, further improving the coordination between vehicles and enhancing the safety performance of the road traffic system.

[0165] Optionally, after the first preset driving behavior stops, the first vehicle can control at least one device to stop outputting prompt information (specifically, controlling at least one first device to stop outputting first prompt information, or controlling at least one second device to stop outputting second prompt information, or controlling at least one third device to stop outputting third prompt information). For example, in Figure 6A In the scenario shown, after vehicle A changes lanes from the first lane to the second lane (for example, vehicle A's computing device detects that the steering wheel has returned to center), it can control the right-side window to stop outputting the first prompt message "Go right".

[0166] In this way, the first vehicle can stop outputting prompt information in a timely manner after the first preset driving behavior stops, which can save energy.

[0167] Further optionally, after the first preset driving behavior stops for a first preset time, the first vehicle stops outputting the prompt information (specifically, controlling at least one first device to stop outputting the first prompt information, or controlling at least one second device to stop outputting the second prompt information, or controlling at least one third device to stop outputting the third prompt information). For example, in Figure 7A In the scenario shown, 5 seconds after vehicle A completes the lane change from the first lane to the second lane (for example, vehicle A's computing device detects that the steering wheel has returned to center), the right-side window stops outputting the second prompt message "Sorry for turning right".

[0168] Therefore, appropriately extending the output time of the prompt information can further improve traffic safety.

[0169] Further optionally, after the first preset driving behavior stops or after a first preset time period following the cessation of the first preset driving behavior, if the second vehicle does not engage in the second preset driving behavior, the first vehicle stops outputting the prompt information (specifically, controlling at least one first device to stop outputting the first prompt information, or controlling at least one second device to stop outputting the second prompt information, or controlling at least one third device to stop outputting the third prompt information). For example, in Figure 6A In the scenario shown, after vehicle A completes its lane change from the first lane to the second lane (for example, vehicle A's computing device detects that the steering wheel has returned to center), if vehicle B does not honk, accelerate, brake, or turn within 5 seconds after vehicle A completes its lane change, the right-side window can be controlled to stop outputting the first prompt message "Go Right" 5 seconds after vehicle A completes its lane change.

[0170] In this way, the first vehicle stops outputting prompt information only when the second vehicle does not respond to the first preset driving behavior, which can further improve traffic safety.

[0171] The above embodiments can be combined with each other to achieve different technical effects.

[0172] The methods provided by the embodiments of this application have been described above with reference to the accompanying drawings. The apparatus provided by the embodiments of this application will be described below with reference to the accompanying drawings.

[0173] Based on the same technical concept, embodiments of this application provide an information interaction device, which includes a module / unit / means for executing the method performed by the first vehicle in the above-described method embodiments. This module / unit / means can be implemented in software, or in hardware, or implemented by hardware executing corresponding software.

[0174] For example, see Figure 8 The device may include:

[0175] The determining unit 801 is used to determine that the first vehicle has committed a first preset driving behavior;

[0176] The acquisition unit 802 is used to acquire the status information of the second vehicle, and the first preset driving behavior of the first vehicle affects the second vehicle.

[0177] The processing unit 803 is configured to control at least one first device to output first prompt information based on the first relative position of the second vehicle and the first vehicle. The first prompt information is used to indicate first feedback information for a first preset driving behavior.

[0178] It should be understood that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0179] In practical implementation, the above-mentioned device can take many product forms. Several possible product forms are introduced below.

[0180] Based on the same technical concept, embodiments of this application also provide an information interaction device, see [link to relevant documentation]. Figure 9 The device includes at least one processor 901 and an interface circuit 902; the interface circuit 902 is used to receive code instructions and transmit them to at least one processor 901; at least one processor 901 executes the code instructions to perform the method performed by the first vehicle in the above method embodiment.

[0181] Based on the same technical concept, this application embodiment also provides a chip coupled to a memory for reading and executing program instructions stored in the memory to implement the method executed by the first vehicle in the above method embodiment.

[0182] See Figure 10 This application also provides an information interaction device, including at least one processor 1001 and at least one memory 1002; the memory 1002 is used to store computer execution instructions; the processor 1001 is used to execute the computer execution instructions stored in the memory 1002, so that the device performs the method performed by the first vehicle in the above method embodiment.

[0183] It should be understood that the processor mentioned in the embodiments of this application can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0184] For example, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0185] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAM (DR RAM).

[0186] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0187] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0188] Based on the same technical concept, embodiments of this application also provide a vehicle-mounted terminal, comprising... Figure 8 or Figure 9 or Figure 10 The apparatus shown.

[0189] Based on the same technical concept, embodiments of this application also provide a computer-readable storage medium for storing instructions that, when executed, enable the method performed by the first vehicle in the above method embodiments to be implemented.

[0190] Based on the same technical concept, this application embodiment also provides a computer program product containing instructions, which stores instructions that, when run on a computer, cause the computer to execute the method executed by the first vehicle in the above method embodiment.

[0191] Based on the same technical concept, this application also provides a vehicle, which may include the information interaction device, vehicle terminal or chip described above.

[0192] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0193] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0194] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0195] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0196] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of protection of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An information exchange method, characterized in that, include: Determine that the first vehicle has engaged in the first preset driving behavior; Obtain the status information of the second vehicle, and determine the impact of the first preset driving behavior of the first vehicle on the second vehicle based on the changes in the status information; Based on the first relative position of the second vehicle and the first vehicle, at least one first device is controlled to output a first prompt message, the first prompt message being used to indicate a first feedback message for the first preset driving behavior; The step of controlling at least one first device to output a first prompt message includes: Within a first preset time range, if it is determined that the change value of any status information of the second vehicle exceeds a preset threshold corresponding to that status information, or the change value of each of any multiple status information of the second vehicle exceeds the preset threshold corresponding to that status information, or the change value of each of all status information of the second vehicle exceeds the preset threshold corresponding to that status information, then the at least one first device is controlled to output the first prompt information.

2. The method according to claim 1, characterized in that, The first preset driving behavior includes one or more of the following: steering, changing lanes, braking, reversing, overtaking, accelerating, and starting.

3. The method according to claim 1, characterized in that, The distance between the second vehicle and the first vehicle is within the first threshold range.

4. The method according to any one of claims 1-3, characterized in that, The acquisition of the status information of the second vehicle includes: The status information of the second vehicle is obtained through at least one sensor and / or communication module.

5. The method according to any one of claims 1-3, characterized in that, The status information of the second vehicle includes one or more of the following: the position, speed, light status, and horn status of the second vehicle.

6. The method according to any one of claims 1-3, characterized in that, The control of at least one first device to output a first prompt message includes: Control the window on the side closest to the second vehicle to display the first prompt message; and / or, Control the headlights on the side closest to the second vehicle to project the first prompt message.

7. The method according to any one of claims 1-3, characterized in that, The first prompt message includes text and / or images.

8. The method according to any one of claims 1-3, characterized in that, The method further includes: During the duration of the first preset driving behavior, the second vehicle is determined to have engaged in a second preset driving behavior based on the status information of the second vehicle; Control at least one second device to output a second prompt message.

9. The method according to any one of claims 1-3, characterized in that, After controlling at least one first device to output the first prompt message, the method further includes: Based on the second relative position of the second vehicle and the first vehicle, at least one third device is controlled to output third prompt information, which is used to indicate second feedback information for the first preset driving behavior.

10. The method according to any one of claims 1-3, characterized in that, The method further includes: After the first preset driving behavior stops or after a first preset time period following the cessation of the first preset driving behavior, control the at least one first device to stop outputting the first prompt message; or... After the first preset driving behavior stops or after a first preset time period following the cessation of the first preset driving behavior, if it is determined that the second vehicle has not engaged in the second preset driving behavior, the at least one first device is controlled to stop outputting the first prompt information.

11. An information interaction device, characterized in that, include: A determining unit is used to determine that the first vehicle has committed a first preset driving behavior; An acquisition unit is used to acquire the status information of the second vehicle and determine, based on the changes in the status information, whether the first preset driving behavior of the first vehicle affects the second vehicle. The processing unit is configured to control at least one first device to output first prompt information based on the first relative position between the second vehicle and the first vehicle, wherein the first prompt information is used to indicate first feedback information for the first preset driving behavior; Specifically, the processing unit is used for: Within a first preset time range, if it is determined that the change value of any status information of the second vehicle exceeds a preset threshold corresponding to that status information, or the change value of each of any multiple status information of the second vehicle exceeds the preset threshold corresponding to that status information, or the change value of each of all status information of the second vehicle exceeds the preset threshold corresponding to that status information, then the at least one first device is controlled to output the first prompt information.

12. The apparatus according to claim 11, characterized in that, The first preset driving behavior includes one or more of the following: steering, changing lanes, braking, reversing, overtaking, accelerating, and starting.

13. The apparatus according to claim 11, characterized in that, The distance between the second vehicle and the first vehicle is within the first threshold range.

14. The apparatus according to any one of claims 11-13, characterized in that, The acquisition unit is specifically used for: The status information of the second vehicle is obtained through at least one sensor and / or communication module.

15. The apparatus according to any one of claims 11-13, characterized in that, The status information of the second vehicle includes one or more of the following: the position, speed, light status, and horn status of the second vehicle.

16. The apparatus according to any one of claims 11-13, characterized in that, The processing unit is specifically used for: Control the window on the side closest to the second vehicle to display the first prompt message; and / or, Control the headlights on the side closest to the second vehicle to project the first prompt message.

17. The apparatus according to any one of claims 11-13, characterized in that, The first prompt message includes text and / or images.

18. The apparatus according to any one of claims 11-13, characterized in that, The determining unit is further configured to: determine, during the duration of the first preset driving behavior, that the second vehicle has engaged in a second preset driving behavior based on the status information of the second vehicle; The processing unit is also configured to: control at least one second device to output a second prompt message.

19. The apparatus according to any one of claims 11-13, characterized in that, The processing unit is also used for: After controlling the at least one first device to output a first prompt message, the system controls at least one third device to output a third prompt message based on the second relative position of the second vehicle and the first vehicle. The third prompt message is used to indicate a second feedback message for the first preset driving behavior.

20. The apparatus according to any one of claims 11-13, characterized in that, The processing unit is also used for: After the first preset driving behavior stops or after a first preset time period after the first preset driving behavior stops, control the at least one first device to stop outputting the first prompt information; or, After the first preset driving behavior stops or after a first preset time period following the cessation of the first preset driving behavior, if it is determined that the second vehicle has not engaged in the second preset driving behavior, the at least one first device is controlled to stop outputting the first prompt information.

21. An information interaction device, characterized in that, It includes at least one processor and an interface circuit; the interface circuit is configured to receive code instructions and transmit them to the at least one processor; the at least one processor executes the code instructions to perform the method as described in any one of claims 1-10.

22. A vehicle-mounted terminal, characterized in that, It includes the apparatus as described in any one of claims 11-20.

23. A chip, characterized in that, The chip is coupled to a memory for reading and executing program instructions stored in the memory to implement the method as described in any one of claims 1-10.

24. An information interaction device, characterized in that, It includes at least one processor and at least one memory; the memory is used to store computer execution instructions; the processor is used to execute the computer execution instructions stored in the memory to cause the information interaction device to perform the method as described in any one of claims 1-10.

25. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store instructions that, when executed, cause the method as described in any one of claims 1-10 to be implemented.

26. A vehicle, characterized in that, The vehicle includes the information interaction device of claim 21, the vehicle terminal of claim 22, or the chip of claim 23.

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