Control method and device of unmanned vehicle, unmanned taxi

Abstract

The application discloses a control method and device of an unmanned vehicle, and an unmanned taxi. The method comprises the following steps: determining a current driving behavior type of the unmanned vehicle during driving of the unmanned vehicle, wherein the current driving behavior type is a type corresponding to a current driving behavior of the unmanned vehicle, and the current driving behavior is a behavior determined according to road condition information and driving operation information of a road where the unmanned vehicle is located; determining a processing strategy of the current driving behavior according to the current driving behavior type, wherein the processing strategy comprises driving operation that needs to be performed by the unmanned vehicle itself and interactive operation that needs to be performed by an interactive component of the unmanned vehicle; and controlling the unmanned vehicle to perform the driving operation and / or the interactive operation corresponding to the processing strategy. The application solves the technical problem that the interaction between the unmanned vehicle and the user / passenger is limited in the prior art, and the user / passenger cannot be provided with better reminders.

Description

Technical Field

[0001] This invention relates to the field of autonomous vehicle control technology, and more specifically, to a control method and device for autonomous vehicles and an autonomous taxi. Background Technology

[0002] Currently, the in-vehicle functions and vehicle-machine interactions of various autonomous / assisted driving vehicles are based on the premise of a driver / safety operator in the vehicle. The human-machine interface (HMI) focuses more on digital twins of the vehicle's normal driving behavior and road conditions, such as routes, turns, surrounding vehicles and pedestrians, and traffic light information. However, when autonomous driving reaches Level 4, with no safety operator in the vehicle and only the user sitting in the car, the loss of control over the vehicle will first cause anxiety, especially in emergency situations such as emergency avoidance, sharp turns, and sudden braking. The explanations and reminders for the user / passenger are far from sufficient, which seriously reduces the riding experience of autonomous vehicles.

[0003] There is currently no effective solution to the problem that autonomous vehicles have limitations in interacting with users / passengers in the aforementioned technologies and cannot provide adequate reminders to users / passengers. Summary of the Invention

[0004] This invention provides a control method and device for driverless vehicles and driverless taxis, to at least solve the technical problem in related technologies where the interaction between driverless vehicles and users / passengers is limited and cannot provide users / passengers with adequate reminders.

[0005] According to one aspect of the present invention, a control method for an autonomous vehicle is provided, comprising: determining the current driving behavior type of the autonomous vehicle during driving, wherein the current driving behavior type is a type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is a behavior determined based on road condition information and driving operation information of the road where the autonomous vehicle is located; determining a processing strategy for the current driving behavior based on the current driving behavior type, wherein the processing strategy includes: driving operations that the autonomous vehicle itself needs to perform and interactive operations that the interactive components of the autonomous vehicle need to perform; and controlling the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy.

[0006] Optionally, the control method for the autonomous vehicle further includes: determining all driving behaviors of the autonomous vehicle, wherein all driving behaviors are a set of various driving operations that may occur during the autonomous vehicle's operation; classifying all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the autonomous vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior conforms to normal driving behavior conditions, the purpose of the driving behavior, and whether an emergency has occurred, wherein the normal driving behavior conditions include at least: going straight, turning left or right, and crossing / changing lanes, wherein the purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop state, and wherein the emergency situation includes at least: vehicle collision, vehicle malfunction, door opening during vehicle operation, and vehicle network malfunction.

[0007] Optionally, the multiple driving behavior types include: normal driving behavior, critical driving behavior, abnormal driving behavior, and driving behavior in an emergency, wherein the normal driving behavior is the driving behavior that meets the conditions of normal driving behavior, the critical driving behavior is the driving behavior that meets the purpose of the driving behavior, the abnormal driving behavior is the driving behavior that does not meet the conditions of normal driving behavior, and the driving behavior in an emergency is the driving behavior that meets the conditions of an emergency.

[0008] Optionally, determining the current driving behavior type of the autonomous vehicle includes: determining the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; determining the current driving behavior based on the road condition information and the driving operation information; and determining the current driving behavior type based on the current driving behavior.

[0009] Optionally, when the current driving behavior type is the key driving behavior, a processing strategy for the current driving behavior is determined according to the current driving behavior type, including: when the key driving behavior is starting and stopping at an intersection, playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; when the key driving behavior is finding a parking spot or parking on the side of the road, popping up a message notification reminder on the rear screen of the autonomous vehicle and playing the current driving operation and parking progress of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and displaying parking information within a predetermined range of the autonomous vehicle; when the key driving behavior is avoiding collisions with high-priority objects, popping up a message notification reminder on the rear screen of the autonomous vehicle and generating a 3D model of the high-priority object, and displaying the 3D model of the high-priority object.

[0010] Optionally, when the key driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, including: determining the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; determining the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; and when the time difference is greater than a first predetermined duration, playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle.

[0011] Optionally, the control method for the autonomous vehicle further includes: when the key driving behavior is to avoid collision with a high-priority object, after determining that the high-priority object has passed, triggering the horn to stop sounding, and stopping the display operation of the three-dimensional model after a second predetermined time after the horn stops sounding.

[0012] Optionally, when the current driving behavior type is the abnormal driving behavior, a processing strategy for the current driving behavior is determined according to the current driving behavior type, including: when the abnormal driving behavior is yielding to pedestrians, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while highlighting the pedestrian yielding sign; when the abnormal driving behavior is yielding to vehicles, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while highlighting the vehicle yielding sign; when the abnormal driving behavior is detouring a predetermined road segment, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while displaying the predetermined road segment.

[0013] Optionally, when the current driving behavior type is the driving behavior under the emergency situation, a processing strategy for the current driving behavior is determined according to the current driving behavior type, including: when the driving behavior under the emergency situation is that the autonomous vehicle is remotely controlled, a message notification reminder is displayed on the rear screen of the autonomous vehicle and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle; when the driving behavior under the emergency situation is that the vehicle is involved in a collision or the door is opened while the vehicle is in motion, a message notification reminder is displayed on the rear screen of the autonomous vehicle and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, and the indicator light of the autonomous vehicle is displayed, wherein the indicator light is in a flashing state.

[0014] Optionally, controlling the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy includes at least one of the following: playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; displaying at least one of the following through the display component of the autonomous vehicle: the current road conditions of the road where the autonomous vehicle is located, information of the target object within the predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

[0015] Optionally, the driverless vehicle is a driverless taxi.

[0016] According to another aspect of the present invention, a control device for an autonomous vehicle is also provided, comprising: a first determining unit, configured to determine the current driving behavior type of the autonomous vehicle during driving, wherein the current driving behavior type is a type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is a behavior determined based on road condition information and driving operation information of the road where the autonomous vehicle is located; a second determining unit, configured to determine a processing strategy for the current driving behavior based on the current driving behavior type, wherein the processing strategy includes: driving operations that the autonomous vehicle itself needs to perform and interactive operations that the interactive components of the autonomous vehicle need to perform; and a control unit, configured to control the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy.

[0017] Optionally, the control device of the autonomous vehicle further includes: a third determining unit, used to determine all driving behaviors of the autonomous vehicle, wherein all driving behaviors are a set of various driving operations that may occur during the driving of the autonomous vehicle; and an acquiring unit, used to classify all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the autonomous vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior conforms to normal driving behavior conditions, the purpose of the driving behavior, and whether an emergency has occurred, wherein the normal driving behavior conditions include at least: going straight, turning left or right, and crossing / changing lanes, wherein the purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop state, and wherein the emergency situation includes at least: vehicle collision, vehicle malfunction, door opening during vehicle operation, and vehicle network malfunction.

[0018] Optionally, the multiple driving behavior types include: normal driving behavior, critical driving behavior, abnormal driving behavior, and driving behavior in an emergency, wherein the normal driving behavior is the driving behavior that meets the conditions of normal driving behavior, the critical driving behavior is the driving behavior that meets the purpose of the driving behavior, the abnormal driving behavior is the driving behavior that does not meet the conditions of normal driving behavior, and the driving behavior in an emergency is the driving behavior that meets the conditions of an emergency.

[0019] Optionally, the first determining unit includes: a first determining subunit, used to determine the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; a second determining subunit, used to determine the current driving behavior based on the road condition information and the driving operation information; and a third determining subunit, used to determine the type of the current driving behavior based on the current driving behavior.

[0020] Optionally, the second determining unit includes: a first playback subunit, configured to play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the key driving behavior is starting and stopping at an intersection; a first processing subunit, configured to pop up a message notification reminder on the rear screen of the autonomous vehicle and play the current driving operation and parking progress of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the key driving behavior is finding a parking spot or parking on the side of the road, and display parking information within a predetermined range of the autonomous vehicle; and a generation subunit, configured to pop up a message notification reminder on the rear screen of the autonomous vehicle and generate a 3D model of the high-priority object when the key driving behavior is avoiding collision with a high-priority object, and display the 3D model of the high-priority object.

[0021] Optionally, the playback subunit includes: a first determining module, configured to determine the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; a second determining module, configured to determine the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; and a third determining module, configured to play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the time difference is greater than a first predetermined duration.

[0022] Optionally, the control device of the autonomous vehicle further includes a stop subunit, which is used to trigger the horn to stop sounding after determining that the high-priority object has passed when the key driving behavior is to avoid collision with a high-priority object, and to stop the display operation of the three-dimensional model after a second predetermined time after the horn stops sounding.

[0023] Optionally, the second determining unit includes: a second processing subunit, configured to, when the abnormal driving behavior is yielding to pedestrians, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and highlight the pedestrian yielding sign; a third processing subunit, configured to, when the abnormal driving behavior is yielding to vehicles, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and highlight the vehicle yielding sign; and a fourth processing subunit, configured to, when the abnormal driving behavior is detouring a predetermined road segment, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and display the predetermined road segment.

[0024] Optionally, the second determining unit includes: a second playback subunit, configured to, when the driving behavior in the emergency situation is that the autonomous vehicle is remotely controlled, pop up a message notification reminder on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; and a fifth processing subunit, configured to, when the driving behavior in the emergency situation is a vehicle collision or the door is opened during vehicle operation, pop up a message notification reminder on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and display the indicator light of the autonomous vehicle, wherein the indicator light is in a flashing state.

[0025] Optionally, the control unit includes at least one of the following: a third playback subunit, used to play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; and a display subunit, used to display at least one of the following through the display component of the autonomous vehicle: the current road conditions of the road where the autonomous vehicle is located, information of the target object within a predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

[0026] Optionally, the driverless vehicle is a driverless taxi.

[0027] According to another aspect of the present invention, an unmanned taxi is also provided, wherein the unmanned taxi uses the unmanned vehicle control method described in any one of the above embodiments.

[0028] According to another aspect of the present invention, an unmanned vehicle control system is also provided, wherein the unmanned vehicle control system uses the unmanned vehicle control method described in any one of the above embodiments.

[0029] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the control method of the unmanned vehicle described in any one of the above embodiments.

[0030] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, executes the control method for the unmanned vehicle described in any of the above embodiments.

[0031] In this embodiment of the invention, during the operation of the autonomous vehicle, the current driving behavior type of the autonomous vehicle is determined. The current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is determined based on road condition information and driving operation information of the road where the autonomous vehicle is located. A processing strategy for the current driving behavior is determined based on the current driving behavior type. The processing strategy includes: driving operations that the autonomous vehicle itself needs to perform, and interactive operations that the autonomous vehicle's interactive components need to perform. The autonomous vehicle is then controlled to perform the driving operations and / or interactive operations corresponding to the processing strategy. The control method for autonomous vehicles provided by this invention enables autonomous vehicles to determine the corresponding processing strategy based on the type of their current driving behavior, and then issue reminders to passengers / users according to the processing strategy. This achieves the goal of interacting with passengers / users in real time based on the current driving behavior type of the autonomous vehicle during operation, thereby improving the comprehensiveness of reminders from autonomous vehicles to passengers / users, enhancing the riding experience for users / passengers, and solving the technical problem in related technologies where the interaction between autonomous vehicles and users / passengers is limited and cannot provide better reminders to users / passengers. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0033] Figure 1 This is a flowchart of a control method for an unmanned vehicle according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram illustrating yielding to pedestrians in an abnormal driving behavior scenario within a three-dimensional scene according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the control device for an unmanned vehicle according to an embodiment of the present invention. Detailed Implementation

[0036] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] To address the aforementioned technical challenges, for autonomous vehicles, such as shared vehicles like autonomous taxis, passengers are often unfamiliar with the vehicle or even unable to drive. Therefore, it is essential to use in-vehicle applications and various functions to communicate the vehicle's intentions to users in a reasonable and timely manner, enabling them to understand the vehicle's behavior and how to handle different situations. This will enhance human-machine understanding and improve the user experience.

[0039] This invention provides a control method and apparatus for driverless vehicles, as well as a driverless taxi. Specific embodiments are described below.

[0040] According to an embodiment of the present invention, a method embodiment for controlling an unmanned vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0041] Figure 1 This is a flowchart of a control method for an unmanned vehicle according to an embodiment of the present invention, such as... Figure 1 As shown, the control method for this driverless vehicle includes the following steps:

[0042] Step S102: During the operation of the autonomous vehicle, determine the current driving behavior type of the autonomous vehicle. The current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle. The current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located.

[0043] Optionally, the aforementioned driverless vehicles can be driverless taxis or other shared vehicles.

[0044] In this embodiment, during the operation of the autonomous vehicle, its current driving behavior type can be determined based on the current road conditions and driving operations performed by the autonomous vehicle.

[0045] The current driving behavior type here refers to the type of current driving behavior of the autonomous vehicle. The current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located.

[0046] Step S104: Determine the processing strategy for the current driving behavior based on the current driving behavior type. The processing strategy includes: the driving operations that the autonomous vehicle itself needs to perform and the interaction operations that the interactive components of the autonomous vehicle need to perform.

[0047] In this embodiment, the processing strategy for the current driving behavior can be determined based on the current driving behavior type. For example, the driving operation currently being performed by the autonomous vehicle itself may require prompting information to be sent to the passenger / user, i.e., the interaction operation with the user / passenger.

[0048] Step S106: Control the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy.

[0049] As can be seen from the above, in this embodiment of the invention, during the operation of the autonomous vehicle, the current driving behavior type of the autonomous vehicle is determined, and then a processing strategy for the current driving behavior is determined based on the current driving behavior type. The autonomous vehicle is then controlled to execute driving operations and / or interactive operations corresponding to the processing strategy. This enables the autonomous vehicle to determine the processing strategy corresponding to its current driving behavior type, and then issue reminders to passengers / users according to the processing strategy. This achieves the goal of interacting with passengers / users in real time based on the current driving behavior type of the autonomous vehicle during operation, in order to issue reminders to passengers / users. This achieves the technical effect of improving the comprehensiveness of reminders from the autonomous vehicle to passengers / users, and enhances the riding experience of users / passengers.

[0050] It is worth noting that, in this embodiment of the invention, the autonomous vehicle can determine the corresponding processing strategy based on the type of its current driving behavior, and then issue reminders to passengers / users according to the processing strategy. This contrasts with existing technologies for shared autonomous vehicles such as autonomous taxis, where passengers are often unfamiliar with the vehicle or even unable to drive; and the autonomous vehicle itself cannot reasonably and promptly convey its intentions to the user, resulting in a poor user experience. By using in-vehicle applications and various functions to reasonably and promptly convey the vehicle's intentions to the user, allowing them to understand the vehicle's behavior and the appropriate handling methods in different situations, human-machine understanding is enhanced, and the user experience is improved.

[0051] Therefore, the control method for unmanned vehicles provided by the embodiments of the present invention solves the technical problem in the related art that the interaction between unmanned vehicles and users / passengers is limited and cannot provide users / passengers with good reminders.

[0052] According to the above embodiments of the present invention, the control method for the unmanned vehicle may further include: determining all driving behaviors of the unmanned vehicle, wherein all driving behaviors are a collection of various driving operations that may occur during the operation of the unmanned vehicle; classifying all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the unmanned vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior conforms to normal driving behavior conditions, the purpose of the driving behavior, and whether an emergency has occurred, wherein normal driving behavior conditions include at least: going straight, turning left or right, and crossing / changing lanes, wherein the purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop state, and wherein emergency situations include at least: vehicle collision, vehicle malfunction, vehicle door opening during vehicle operation, and vehicle network malfunction.

[0053] Here, all possible driving behaviors of autonomous vehicles can be identified, that is, the set of various driving operations that may occur during the operation of an autonomous vehicle; then, all driving behaviors are classified according to a predetermined classification rule to obtain multiple driving behavior types of autonomous vehicles.

[0054] The driving behavior types can include: normal driving behavior, critical driving behavior, abnormal driving behavior, and driving behavior in emergency situations. Normal driving behavior is driving behavior that meets the conditions for normal driving behavior, critical driving behavior is driving behavior that meets the purpose of driving behavior, abnormal driving behavior is driving behavior that does not meet the conditions for normal driving behavior, and driving behavior in emergency situations is driving behavior that meets the conditions for emergency situations.

[0055] In this embodiment of the invention, for L4 autonomous vehicles in a fully unmanned mode (i.e., no safety operator in the vehicle, only the passenger), it is necessary to ensure "human-machine communication" within the vehicle to enhance trust, safety, and comfort. Various vehicle behaviors can be distinguished and defined, and corresponding functional solutions can be designed for different categories of behaviors. Generally speaking, the more urgent and unique the behavior, the more complex and comprehensive the functional measures should be. Table 1 shows the types of driving behaviors, descriptions and examples of the corresponding driving behaviors, and processing solutions.

[0056] Table 1

[0057]

[0058] According to the above embodiments of the present invention, determining the current driving behavior type of an autonomous vehicle may include: determining the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; determining the current driving behavior based on the road condition information and the driving operation information; and determining the current driving behavior type based on the current driving behavior.

[0059] Optional traffic information includes road congestion, road malfunctions, etc. Driving operation information may include, but is not limited to: going straight, turning, avoiding obstacles, emergency braking, reversing, etc.

[0060] In this embodiment, the current driving behavior can be determined based on the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle, and then the current driving behavior type can be determined based on the current driving behavior.

[0061] According to the above embodiments of the present invention, when the current driving behavior type is a critical driving behavior, the processing strategy for the current driving behavior is determined according to the current driving behavior type, including: when the critical driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle; when the critical driving behavior is finding a parking spot or parking on the side of the road, a message notification reminder pops up on the rear screen and the current driving operation and parking progress of the autonomous vehicle are played through the voice broadcasting component of the autonomous vehicle, and parking information within a predetermined range of the autonomous vehicle is displayed; when the critical driving behavior is avoiding collisions with high-priority objects, a message notification reminder pops up on the rear screen and a three-dimensional model of the high-priority object is generated and displayed.

[0062] When the current driving behavior is a critical driving behavior, it means that there may be sudden operations during the current vehicle driving process, such as waiting for a higher priority object to pass, starting and stopping at a regular intersection, parking on the side of the road, honking the horn, etc.

[0063] For example, when starting or stopping at an intersection, the system can announce the following via voice: 1) Waiting before the intersection: "Wait at the intersection"; 2) Waiting inside the intersection: "Wait at the intersection"; 3) Starting: "Pass through the intersection".

[0064] For example, when the prompts for finding a parking spot or pulling over to the side of the road appear: 1. Finding a parking spot: Screen message notification reminds you: "Finding a parking spot"; 2. Pulling over to the side of the road: 1) 3D digital twin interface: Displays the existing 3D interaction of the parking spot, with no new additions; 2) Voice announcement: "Pulling over to the side of the road is imminent".

[0065] For example, when the key driving behavior is avoiding a suddenly appearing object that could collide with another vehicle, if the high-priority object is a small animal, the animal will be identified and displayed. To avoid the feeling of being "suddenly honked at when there are no cars in front and the road is wide and open," a 3D model of the animal is presented in such scenarios to clarify the situation for the user. The triggering condition here is: obtaining horn-honking information from the autonomous vehicle's operation control module, and the reason for honking being "avoiding a collision with an animal." It should be noted that interaction with passengers is only necessary if the animal affects the vehicle's movement, to avoid disturbing the user and reducing their riding experience. When the above conditions are triggered, the corresponding 3D model of the animal will be displayed. The 3D model disappears under the following conditions: the model disappears 5 seconds after the horn-honking state ends for this reason; the object disappears from the perception result (i.e., the autonomous vehicle's perception output).

[0066] It should be noted that the animal types shown here are based on identifiable animal types, such as cats and dogs.

[0067] In the above embodiments, when the key driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, including: determining the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; determining the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; and when the time difference is greater than a first predetermined duration, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle.

[0068] In this embodiment, a do-not-disturb rule is set, for example, the same voice message will not be played within 10 seconds. Since the autonomous vehicle operation control module only triggers a start-stop operation when waiting at a traffic light, the vehicle control module triggers a signal once during the start-stop announcement. However, at busy intersections and during congested periods, vehicles may start and stop multiple times within the same intersection. To avoid excessive interference with users, the same voice message with short intervals will not be played repeatedly.

[0069] In this embodiment, the control method for the autonomous vehicle further includes: when the key driving behavior is to avoid collision with a high-priority object, after determining that the high-priority object has passed, triggering the horn to stop sounding, and stopping the display operation of the 3D model after a second predetermined time after the horn stops sounding.

[0070] In other words, to ensure a comfortable ride for users, the horn stops sounding after a high-priority object, such as a small animal, passes by, and the display of the 3D model stops a second predetermined time after the horn stops sounding, so as to provide users with a comfortable ride.

[0071] In this embodiment of the invention, concise announcements can also be implemented. For example, key behaviors in the dialogue framework are guaranteed to occur for a single trip and occur frequently. To avoid disturbing the user, a "concise announcement" function can be provided. This function does not affect the existing live audio recordings of the process guidance. The function is described as follows: 1. Record the latest selection status of the user ID, and use the latest announcement mode by default for each trip; 2. Add a "Concise Announcement" section in the "Settings": 1. Topic: "Concise Announcement"; 2) Tab: icon + "Don't announce common prompts" + button; 3) Announcement content: When concise announcements are enabled, key behaviors and abnormal behaviors, as well as their corresponding voice announcements, will not be announced.

[0072] It should be noted that, in this embodiment of the invention, vehicle horn use is described as follows: Collision avoidance: horn is used when a collision is imminent, with one long horn; Horn is used when the vehicle in front is reversing: one long horn; Horn is used when a vehicle in the adjacent lane is trying to overtake: two short horns are used to remind the vehicle; Horn is used when a vehicle in the adjacent lane is cutting in (e.g., a vehicle / object from another lane enters the current vehicle's lane and is close enough to potentially affect the vehicle's safety): horn is used to remind the vehicle cutting in, with one short horn, as this may trigger sudden braking.

[0073] According to the above embodiments of the present invention, when the current driving behavior type is abnormal driving behavior, a processing strategy for the current driving behavior is determined based on the current driving behavior type, including: when the abnormal driving behavior is yielding to pedestrians, a message notification reminder pops up on the rear screen and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, and the pedestrian yielding sign is highlighted; when the abnormal driving behavior is yielding to vehicles, a message notification reminder pops up on the rear screen and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, and the vehicle yielding sign is highlighted; when the abnormal driving behavior is detouring a predetermined road segment, a message notification reminder pops up on the rear screen and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, and the predetermined road segment is displayed.

[0074] In this embodiment, when a vehicle yields, it slows down and stops, but passengers often don't continuously observe the road conditions and may become confused. To clarify this more quickly, the reason is shown while reminding the passenger—highlighting the object yielding allows for an "instant" and accurate communication of the intention. The functions are described as follows: 1. Vehicles yielding to pedestrians: 1) Screen notification reminder: "Yield to pedestrians"; 2) Voice announcement: "Yield to pedestrians"; 3) 3D digital twin interface: Highlighting the pedestrian ID being yielded to, expressing high priority in the UX (i.e., the interaction design of the electronic screen). 2. Other vehicles yielding: 1) Screen notification reminder: "Vehicles yielding"; 2) Voice announcement: "Vehicles yielding"; 3) 3D digital twin interface: Highlighting the object / obstacle ID being yielded to, expressing high priority in the UX.

[0075] Figure 2 This is a schematic diagram illustrating yielding to pedestrians in an abnormal driving behavior scenario within a three-dimensional scene according to an embodiment of the present invention, such as... Figure 2 As shown, the entire area is a 3D scene (i.e., a 3D digital twin). The upper left area displays a "Yield to Pedestrians" prompt, while the upper right displays vehicle navigation information and speed information. When yielding to a pedestrian is required, the pedestrian's identifier, such as a 3D model, can be highlighted in the 3D scene. In other words, it is highlighted. Figure 2 A 3D model of a pedestrian on a zebra crossing.

[0076] In some cases, puddles appear as open flat surfaces from the rear passenger's perspective, yet vehicles deliberately change lanes to avoid them. To clarify the situation more quickly, the puddles are highlighted. Function descriptions: 1. On-screen notification: "Avoid puddles"; 2. Voice announcement: "Avoid puddles"; 3. 3D digital twin interface: Retrieves the location and area of ​​puddles from the PPOV (i.e., obtains the location of puddles and their corresponding areas from a high-precision map and vehicle-side perception fusion), and displays the puddle area.

[0077] According to the above embodiments of the present invention, when the current driving behavior type is an emergency driving behavior, the processing strategy for the current driving behavior is determined according to the current driving behavior type, including: when the emergency driving behavior is that the driverless vehicle is remotely controlled, a message notification reminder pops up on the rear screen and the current driving operation of the driverless vehicle is played through the voice broadcasting component of the driverless vehicle; when the emergency driving behavior is that the vehicle is involved in a collision or the door is opened during vehicle movement, a message notification reminder pops up on the rear screen and the current driving operation of the driverless vehicle is played through the voice broadcasting component of the driverless vehicle, and the indicator light of the driverless vehicle is displayed, wherein the indicator light is in a flashing state.

[0078] In this embodiment, before takeover, the vehicle is often in a state of "no movement for a period of time" with complex surrounding road conditions; during takeover, the vehicle also exhibits unconventional autonomous driving behaviors such as reversing, slow braking, sudden braking, and resetting routes / points. In such scenarios, a design can be implemented to convey to the user that a dedicated person is controlling the vehicle, reassuring them. That is, in emergency situations where the driving behavior is that of an autonomous vehicle being remotely controlled, a takeover prompt can be displayed above the trip progress (i.e., including the percentage of the trip completed, distance, estimated completion time, etc.): "Remote expert is taking over the vehicle, please ride with confidence"; Remote takeover access sound effects: 1) Obtain trigger information from the RA (i.e., Remote assistance) side, and play a prompt sound when the RA's operation command begins to be executed; 2) Do not disturb the prompt sound: Since RA access may be retried multiple times due to network problems, the prompt sound will only be played once every 10 seconds. UX effect: The outer edge of the frame flashes, with a cycle of 5 seconds. Within the cycle, the first second flashes at a frequency of 0.5 seconds, and the last 4 seconds are unflickering.

[0079] Upon collision, 1) Trigger: Collision information + vehicle ID from the autonomous vehicle operation control module (i.e., the vehicle control module recognizes the collision and detects the vehicle that collided with it, and records a unique ID for this vehicle in the system); 2) Screen message notification: "Vehicle abnormality, we will handle it promptly"; 3) Voice broadcast: "Vehicle abnormality, please wait, we will handle it promptly"; 4) Interface warning: Flashing warning box.

[0080] When a door is not closed, the following actions are triggered: 1) Trigger: The autonomous vehicle operation control module detects that the door is not closed + vehicle ID (i.e., the vehicle control module recognizes that the vehicle door is not closed); 2) Screen message notification reminder: "The door is not closed, the vehicle will stop"; 3) Voice broadcast: "Please close the door to ensure normal driving"; 4) Interface warning: Flashing warning box.

[0081] In addition, in this embodiment of the invention, a redundancy triggering system is also designed, with the following functions: 1) Trigger: Redundancy system triggering information + vehicle ID; 2) Screen message notification reminder: "Vehicle stopped, please wait patiently"; 3) Voice broadcast: "Abnormality detected, please wait"; 4) Interface warning: Flashing warning box.

[0082] Furthermore, in this embodiment of the invention, a long-time blockage (i.e., the vehicle is blocked for a long time due to road conditions and other reasons, and cannot move forward normally) is also designed, with the following functional description: 1) Trigger: The absolute displacement within 180s = 0 (centimeter level), and the +vehicle ID is obtained in the autonomous vehicle operation control module (i.e., the current status information of the vehicle is obtained in the output result of the control module); 2) Screen message notification reminder: "Vehicle stopped, please wait patiently"; 3) Voice broadcast: "Abnormality detected, please wait"; 4) Interface warning: flashing warning box.

[0083] In addition, the crash function is described as follows: 1. Trigger: crash + vehicle ID (i.e., the system crashes and cannot run); 2. Screen message notification reminder: "The vehicle has stopped, please wait patiently"; 3. Voice broadcast: "An anomaly has been detected, please wait"; 4. Interface warning: flashing warning box.

[0084] In addition, the actionable items for RA in different situations are described as follows: Triggering redundant systems: remote assistance can be provided to operate the autonomous vehicle to pull over to the side of the road; Vehicle congestion: remote assistance can be provided to operate the vehicle to move, detour, or stop; System crash: remote voice communication is possible, so remote assistance can provide guidance and reassurance in the first instance.

[0085] Table 2 shows the correspondence between driving behavior types, driving behaviors, driving behavior descriptions, 3D digital twin interfaces, interface displays, voice prompts, and remote assistance. In other words, it details the vehicle behavior classifications and the dialogue framework.

[0086] Table 2

[0087]

[0088]

[0089]

[0090] According to the above embodiments of the present invention, controlling an autonomous vehicle to perform driving operations and / or interactive operations corresponding to a processing strategy includes at least one of the following: playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; displaying at least one of the following through the display component of the autonomous vehicle: the current road conditions of the road where the autonomous vehicle is located, information of the target object within a predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

[0091] According to the above embodiments of the present invention, the driverless vehicle is a driverless taxi.

[0092] In summary, the control method for unmanned vehicles provided by the embodiments of the present invention can ensure "human-machine communication" in the vehicle by extracting and classifying the behaviors of the vehicle that affect passengers, thereby providing passengers with a better riding experience.

[0093] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0094] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0095] According to embodiments of the present invention, a control device for an autonomous vehicle that implements the above-described control method for an autonomous vehicle is also provided. Figure 3 This is a schematic diagram of the control device for an unmanned vehicle according to an embodiment of the present invention, such as... Figure 3 As shown, the device includes a first determining unit 31, a second determining unit 33, and a control unit 35. The control device for this unmanned vehicle will be described below.

[0096] The first determining unit 31 is used to determine the current driving behavior type of the autonomous vehicle during the driving process. The current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located.

[0097] The second determining unit 33 is used to determine the processing strategy for the current driving behavior based on the current driving behavior type. The processing strategy includes: the driving operations that the autonomous vehicle itself needs to perform and the interaction operations that the interactive components of the autonomous vehicle need to perform.

[0098] The control unit 35 is used to control the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy.

[0099] It should be noted that the first determining unit 31, the second determining unit 33 and the control unit 35 mentioned above correspond to steps S102 to S106 in the above embodiments. The three units and the corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in the above embodiments.

[0100] As can be seen from the above, in the solution described in the above embodiments of the present invention, the first determining unit can determine the current driving behavior type of the autonomous vehicle during its operation. The current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located. Then, the second determining unit determines the processing strategy for the current driving behavior based on the current driving behavior type. The processing strategy includes: the driving operations that the autonomous vehicle itself needs to perform and the interactive operations that the interactive components of the autonomous vehicle need to perform. The control unit controls the autonomous vehicle to perform the driving operations and / or interactive operations corresponding to the processing strategy. This achieves the goal of interacting with passengers / users in real time based on the current driving behavior type of the autonomous vehicle during its operation, in order to issue reminders to passengers / users. This achieves the technical effect of improving the comprehensiveness of reminders from the autonomous vehicle to passengers / users, and enhances the riding experience for users / passengers.

[0101] It is worth noting that, in this embodiment of the invention, the autonomous vehicle can determine the corresponding processing strategy based on the type of its current driving behavior, and then issue reminders to passengers / users according to the processing strategy. This contrasts with existing technologies for shared autonomous vehicles such as autonomous taxis, where passengers are often unfamiliar with the vehicle or even unable to drive; and the autonomous vehicle itself cannot reasonably and promptly convey its intentions to the user, resulting in a poor user experience. By using in-vehicle applications and various functions to reasonably and promptly convey the vehicle's intentions to the user, allowing them to understand the vehicle's behavior and the appropriate handling methods in different situations, human-machine understanding is enhanced, and the user experience is improved.

[0102] Therefore, the control method for unmanned vehicles provided by the embodiments of the present invention solves the technical problem in the related art that the interaction between unmanned vehicles and users / passengers is limited and cannot provide users / passengers with good reminders.

[0103] Optionally, the control device of the autonomous vehicle further includes: a third determining unit, used to determine all driving behaviors of the autonomous vehicle, wherein all driving behaviors are a collection of various driving operations that may occur during the autonomous vehicle's operation; and an acquiring unit, used to classify all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the autonomous vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior conforms to normal driving behavior conditions, the purpose of the driving behavior, and whether an emergency has occurred. Normal driving behavior conditions include at least: going straight, turning left or right, and crossing / changing lanes. The purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop status. Emergency situations include at least: vehicle collision, vehicle malfunction, door opening during vehicle operation, and vehicle network malfunction.

[0104] Optionally, the multiple driving behavior types include: normal driving behavior, critical driving behavior, abnormal driving behavior, and driving behavior in an emergency. Normal driving behavior is driving behavior that meets the conditions for normal driving behavior, critical driving behavior is driving behavior that meets the purpose of driving behavior, abnormal driving behavior is driving behavior that does not meet the conditions for normal driving behavior, and driving behavior in an emergency is driving behavior that meets the conditions for an emergency.

[0105] Optionally, the first determining unit includes: a first determining subunit, used to determine the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; a second determining subunit, used to determine the current driving behavior based on the road condition information and the driving operation information; and a third determining subunit, used to determine the current driving behavior type based on the current driving behavior.

[0106] Optionally, the second determining unit includes: a first playback subunit, used to play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the key driving behavior is starting and stopping at an intersection; a first processing subunit, used to pop up a message notification reminder on the rear screen of the autonomous vehicle and play the current driving operation and parking progress of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the key driving behavior is finding a parking point or parking on the side of the road, and display parking information within a predetermined range of the autonomous vehicle; and a generation subunit, used to pop up a message notification reminder on the rear screen of the autonomous vehicle and generate a 3D model of the high-priority object when the key driving behavior is avoiding collision with a high-priority object, and display the 3D model of the high-priority object.

[0107] Optionally, the playback subunit includes: a first determining module, used to determine the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; a second determining module, used to determine the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; and a third determining module, used to play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the time difference is greater than a first predetermined duration.

[0108] Optionally, the control device of the autonomous vehicle further includes a stop subunit, which is used to trigger the horn to stop sounding after the high-priority object has passed when the key driving behavior is to avoid collision with a high-priority object, and to stop the display operation of the three-dimensional model after a second predetermined time after the horn stops sounding.

[0109] Optionally, the second determining unit includes: a second processing subunit, configured to, when the abnormal driving behavior is yielding to pedestrians, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and highlight the pedestrian yielding sign; a third processing subunit, configured to, when the abnormal driving behavior is yielding to vehicles, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and highlight the vehicle yielding sign; and a fourth processing subunit, configured to, when the abnormal driving behavior is detouring around a predetermined road segment, display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle, and display the predetermined road segment.

[0110] Optionally, the second determining unit includes: a second playback subunit, used to display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the driving behavior in an emergency is that the autonomous vehicle is remotely controlled; and a fifth processing subunit, used to display a message notification on the rear screen of the autonomous vehicle and play the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle when the driving behavior in an emergency is that the vehicle is involved in a collision or the door is opened during vehicle operation, and to display the indicator lights of the autonomous vehicle, wherein the indicator lights are in a flashing state.

[0111] Optionally, the control unit includes at least one of the following: a third playback subunit for playing the current driving operation of the autonomous vehicle through the voice broadcast component of the autonomous vehicle; and a display subunit for displaying at least one of the following through the display component of the autonomous vehicle: the current road conditions of the road where the autonomous vehicle is located, information of the target object within the predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

[0112] Optionally, the driverless vehicle is a driverless taxi.

[0113] According to another aspect of the present invention, an unmanned vehicle is also provided as an unmanned taxi, and the unmanned vehicle as an unmanned taxi uses any of the above-described unmanned vehicle control methods.

[0114] According to another aspect of the present invention, an unmanned vehicle control system is also provided, which uses any of the above-described unmanned vehicle control methods.

[0115] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes the control method of the unmanned vehicle described in any of the above embodiments.

[0116] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any communication device in a group of communication devices.

[0117] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: during the operation of the autonomous vehicle, determining the current driving behavior type of the autonomous vehicle, wherein the current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located; determining a processing strategy for the current driving behavior based on the current driving behavior type, wherein the processing strategy includes: driving operations that the autonomous vehicle itself needs to perform, and interactive operations that the interactive components of the autonomous vehicle need to perform; controlling the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy.

[0118] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining road condition information of the road where the autonomous vehicle is located and driving operation information of the autonomous vehicle; determining the current driving behavior based on the road condition information and driving operation information; and determining the current driving behavior type based on the current driving behavior.

[0119] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the key driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle; when the key driving behavior is finding a parking spot or parking on the side of the road, a message notification reminder pops up on the rear screen of the autonomous vehicle and the current driving operation and parking progress of the autonomous vehicle are played through the voice broadcasting component of the autonomous vehicle, and parking information within a predetermined range of the autonomous vehicle is displayed; when the key driving behavior is avoiding collisions with high-priority objects, a message notification reminder pops up on the rear screen of the autonomous vehicle and a three-dimensional model of the high-priority object is generated and displayed.

[0120] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: determining the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; determining the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; and when the time difference is greater than a first predetermined duration, playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle.

[0121] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the critical driving behavior is to avoid collision with a high-priority object and give way, after determining that the high-priority object has passed, triggering the horn to stop honking, and stopping the display operation of the three-dimensional model after a second predetermined time after the horn stops honking.

[0122] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the abnormal driving behavior is yielding to pedestrians, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while highlighting the pedestrian yielding sign; when the abnormal driving behavior is yielding to vehicles, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while highlighting the vehicle yielding sign; when the abnormal driving behavior is detouring a predetermined road segment, a message notification reminder pops up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, while displaying the predetermined road segment.

[0123] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: when the driving behavior in an emergency is that the autonomous vehicle is remotely controlled, a message notification reminder pops up on the rear screen of the autonomous vehicle and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle; when the driving behavior in an emergency is that the vehicle is involved in a collision or the door is opened while the vehicle is in motion, a message notification reminder pops up on the rear screen of the autonomous vehicle and the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, and the indicator lights of the autonomous vehicle are displayed, wherein the indicator lights are in a flashing state.

[0124] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: playing the current driving operation of the autonomous vehicle through the voice broadcasting component of the autonomous vehicle; displaying at least one of the following through the display component of the autonomous vehicle: the current road conditions of the road where the autonomous vehicle is located, information of the target object within the predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

[0125] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the control method of any of the above-described autonomous vehicles during runtime.

[0126] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0127] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0128] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0129] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0130] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0131] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0132] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an unmanned vehicle, characterized in that, include: During the operation of the autonomous vehicle, the current driving behavior type of the autonomous vehicle is determined, wherein the current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located. The processing strategy for the current driving behavior is determined based on the current driving behavior type, wherein the processing strategy includes: the driving operations that the autonomous vehicle itself needs to perform and the interaction operations that the interactive components of the autonomous vehicle need to perform. Control the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy; The control method further includes: determining all driving behaviors of the autonomous vehicle, wherein all driving behaviors are a set of various driving operations that may occur during the autonomous vehicle's operation; classifying all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the autonomous vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior meets the conditions of normal driving behavior, the purpose of the driving behavior, and whether an emergency has occurred; the conditions of normal driving behavior include at least: going straight, turning left or right, and crossing / changing lanes; the purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop state; the emergency situation includes at least: vehicle collision, vehicle malfunction, door opening during vehicle operation, and vehicle network malfunction; the multiple driving behavior types include: normal driving behavior, key driving behavior, abnormal driving behavior, and driving behavior under emergency conditions, wherein normal driving behavior is driving behavior that meets the conditions of normal driving behavior, key driving behavior is driving behavior that meets the purpose of the driving behavior, abnormal driving behavior is driving behavior that does not meet the conditions of normal driving behavior, and driving behavior under emergency conditions is driving behavior that meets the requirements of an emergency situation. Determining the current driving behavior type of the autonomous vehicle includes: determining the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; determining the current driving behavior based on the road condition information and the driving operation information; and determining the current driving behavior type based on the current driving behavior.

2. The control method for an unmanned vehicle according to claim 1, characterized in that, When the current driving behavior type is the key driving behavior, a processing strategy for the current driving behavior is determined based on the current driving behavior type, including: When the key driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle; When the key driving behavior is finding a parking spot or parking on the side of the road, a message notification will pop up on the rear screen of the autonomous vehicle and the current driving operation and parking progress of the autonomous vehicle will be played through the voice broadcasting component of the autonomous vehicle, and the parking information within the predetermined range of the autonomous vehicle will be displayed. When the key driving behavior is to avoid collisions with high-priority objects, a message notification will pop up on the rear screen of the autonomous vehicle to remind the driver and generate a 3D model of the high-priority object, and then display the 3D model of the high-priority object.

3. The control method for an unmanned vehicle according to claim 2, characterized in that, When the key driving behavior is starting and stopping at an intersection, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle, including: Determine the historical time when the voice broadcasting component last broadcast the current driving operation of the autonomous vehicle; Determine the time difference between the time when the voice broadcasting component currently receives the trigger command and the historical time; When the time difference is greater than a first predetermined duration, the current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle.

4. The control method for an unmanned vehicle according to claim 2, characterized in that, Also includes: When the key driving behavior is to avoid collisions with high-priority objects, after the high-priority objects are confirmed to have passed, the horn is triggered to stop honking, and the display operation of the three-dimensional model is stopped after a second predetermined time after the horn stops honking.

5. The control method for an unmanned vehicle according to claim 1, characterized in that, When the current driving behavior type is the abnormal driving behavior, a processing strategy for the current driving behavior is determined based on the current driving behavior type, including: When the abnormal driving behavior is to yield to pedestrians, a message notification will pop up on the rear screen of the autonomous vehicle and the current driving operation of the autonomous vehicle will be played through the voice broadcasting component of the autonomous vehicle, and the pedestrian yielding sign will be highlighted. When the abnormal driving behavior is to yield to another vehicle, a message notification will pop up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle will be played through the voice broadcasting component of the autonomous vehicle, and the sign indicating that the vehicle is yielding will be highlighted. When the abnormal driving behavior involves detouring a predetermined route, a message notification will pop up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle will be played through the voice broadcasting component of the autonomous vehicle, displaying the predetermined route.

6. The control method for an unmanned vehicle according to claim 1, characterized in that, When the current driving behavior type is the emergency driving behavior, a processing strategy for the current driving behavior is determined based on the current driving behavior type, including: In the emergency driving situation, when the driverless vehicle is remotely controlled, a message notification reminder pops up on the rear screen of the driverless vehicle and the current driving operation of the driverless vehicle is played through the voice broadcast component of the driverless vehicle. In the emergency driving situation, when a vehicle collision occurs or a door is opened while the vehicle is in motion, a message notification will pop up on the rear screen of the autonomous vehicle, and the current driving operation of the autonomous vehicle will be played through the voice broadcast component of the autonomous vehicle. The indicator lights of the autonomous vehicle will be displayed, and the indicator lights will be in a flashing state.

7. The control method for an unmanned vehicle according to any one of claims 1 to 6, characterized in that, Controlling the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy includes at least one of the following: The current driving operation of the autonomous vehicle is played through the voice broadcasting component of the autonomous vehicle. The display components of the autonomous vehicle show at least one of the following: the current road conditions of the road where the autonomous vehicle is located, information about target objects within a predetermined range of the autonomous vehicle, and the status of the indicator lights of the autonomous vehicle.

8. The control method for an unmanned vehicle according to any one of claims 1 to 6, characterized in that, The driverless vehicle in question is a driverless taxi.

9. A control device for an unmanned vehicle, characterized in that, include: The first determining unit is used to determine the current driving behavior type of the autonomous vehicle during the driving process of the autonomous vehicle, wherein the current driving behavior type is the type corresponding to the current driving behavior of the autonomous vehicle, and the current driving behavior is the behavior determined based on the road condition information and driving operation information of the road where the autonomous vehicle is located. The second determining unit is used to determine the processing strategy of the current driving behavior based on the current driving behavior type, wherein the processing strategy includes: the driving operation that the autonomous vehicle itself needs to perform and the interaction operation that the interaction component of the autonomous vehicle needs to perform. A control unit is used to control the autonomous vehicle to perform driving operations and / or interactive operations corresponding to the processing strategy; The control device further includes: a third determining unit, used to determine all driving behaviors of the autonomous vehicle, wherein all driving behaviors are a collection of various driving operations that may occur during the autonomous vehicle's operation; and an acquiring unit, used to classify all driving behaviors according to a predetermined classification rule to obtain multiple driving behavior types of the autonomous vehicle, wherein the predetermined classification rule includes at least: whether the driving behavior conforms to normal driving behavior conditions, the purpose of the driving behavior, and whether an emergency has occurred, wherein normal driving behavior conditions include at least: going straight, turning left or right, and crossing / changing lanes, wherein the purpose of the driving behavior includes at least: yielding to high-priority objects, parking on the side of the road, honking the horn, and normal start-stop state, and wherein the emergency situation includes at least: vehicle collision, vehicle malfunction, vehicle door opening during vehicle operation, and vehicle network malfunction. The multiple driving behavior types include: normal driving behavior, critical driving behavior, abnormal driving behavior, and driving behavior under emergency conditions. Normal driving behavior is driving behavior that meets the conditions for normal driving behavior; critical driving behavior is driving behavior that meets the purpose of the driving behavior; abnormal driving behavior is driving behavior that does not meet the conditions for normal driving behavior; and driving behavior under emergency conditions is driving behavior that meets the requirements of an emergency situation. The first determining unit includes: a first determining subunit, used to determine the road condition information of the road where the autonomous vehicle is located and the driving operation information of the autonomous vehicle; a second determining subunit, used to determine the current driving behavior based on the road condition information and the driving operation information; and a third determining subunit, used to determine the type of the current driving behavior based on the current driving behavior.

10. A driverless taxi, characterized in that, The driverless taxi uses the driverless vehicle control method described in any one of claims 1 to 8.

11. A control system for an unmanned vehicle, characterized in that, The unmanned vehicle control system uses the unmanned vehicle control method described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program executes the control method for the unmanned vehicle according to any one of claims 1 to 8.

13. A processor, characterized in that, The processor is used to run a program, wherein the program executes the control method for the unmanned vehicle according to any one of claims 1 to 8.

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