Methods and devices for vehicle alerting

Abstract

A method for providing prompts for a vehicle includes: determining the execution state of a vehicle's motion change behavior in response to motion control commands output by the vehicle's autonomous driving module and driver operation commands to the vehicle; generating prompt content based on the execution state, the prompt content including state type information describing the execution state and trigger information describing whether the trigger of the execution state is the autonomous driving module or the driver; and controlling a player in the vehicle to play the prompt content. This method helps alleviate the driver's psychological burden and increases the safety of the autonomous driving system. An apparatus is also provided.

Description

[0001] Copyright Statement

[0002] This patent document discloses material protected by copyright. The copyright belongs to the copyright holder. The copyright holder does not object to anyone copying this patent document or the patent disclosure as it exists in the official records and archives of the Patent and Trademark Office. Technical Field

[0003] This application relates to the field of autonomous driving, and more specifically, to a prompting method and apparatus for a vehicle. Background Technology

[0004] Autonomous vehicles are intelligent vehicles in which some or all of their functions are automatically controlled by a computer system.

[0005] Currently, the interaction between drivers and autonomous vehicles is limited to operating commands. The vehicle prompts the driver to perform certain actions through a display screen installed inside, such as "Please hold the steering wheel" or "Take over immediately." Drivers are not aware of the vehicle's changes in motion and behavior, which can lead to psychological stress and a lack of security, often stemming from instinctive reactions. Summary of the Invention

[0006] This application provides a method and apparatus for providing prompts for vehicles, which helps alleviate the psychological burden on drivers and increases the safety of autonomous driving systems.

[0007] In a first aspect, a vehicle alerting method and apparatus are provided, the method comprising:

[0008] In response to motion control commands output by the vehicle's autonomous driving module and the driver's operation commands to the vehicle, the execution status of the vehicle's motion change behavior is determined;

[0009] Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver.

[0010] Control the vehicle's media player to play the prompt message.

[0011] Secondly, a vehicle alerting device is provided, the device including a processor, the processor being configured to:

[0012] In response to motion control commands output by the vehicle's autonomous driving module and the driver's operation commands to the vehicle, the execution status of the vehicle's motion change behavior is determined;

[0013] Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver.

[0014] Control the vehicle's media player to play the prompt message.

[0015] Thirdly, a computer system is provided, comprising: a memory for storing computer-executable instructions; and a processor for accessing the memory and executing the computer-executable instructions to perform the operations described in the method of the first aspect.

[0016] Fourthly, a computer storage medium is provided that stores program code that can be used to instruct the execution of the method described in the first aspect.

[0017] Fifthly, a computer program product is provided, the program product including program code that can be used to instruct the execution of the method described in the first aspect.

[0018] Therefore, in this embodiment, in response to the motion control command output by the vehicle's autonomous driving module and the driver's operation command on the vehicle, the execution state of the vehicle's motion change behavior is determined; prompt content is generated based on the execution state, the prompt content including state type information describing the execution state and trigger information describing the trigger of the execution state as either the autonomous driving module or the driver; controlling the vehicle's player to play the prompt content helps the driver to understand the execution state of the vehicle's motion behavior in a timely manner, alleviating the driver's psychological burden caused by concerns about the safety of autonomous driving operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A typical application scenario diagram is shown.

[0021] Figure 2 A schematic block diagram of a vehicle prompting method according to an embodiment of this application is shown.

[0022] Figure 3 A schematic diagram of a state machine for instructing the execution of state transitions in relation to changes in the motion behavior of a vehicle is shown.

[0023] Figure 4 A schematic block diagram of an apparatus for information prompting according to an embodiment of this application is shown. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] Autonomous driving (including L1-L5 autonomous driving) vehicles refer to intelligent vehicles in which some or all functions are automatically controlled by a computer system. Taking L3 autonomous driving vehicles as an example, during the driving process, the autonomous driving module's task planning layer plans the path for the vehicle to reach the task target point by integrating the perception and observation information of the surrounding environment and the task information given by the driver in the vehicle. The behavior planning layer gives the optimal behavior of the current vehicle based on the given global path and environmental information. Then, the motion planning layer plans a collision-free local path based on the specified behavior. The control layer controls the vehicle to drive along the given local path until the vehicle reaches the target point.

[0026] Autonomous vehicles typically have displays inside the vehicle showing information, including perception and observation data of the surrounding environment, map information, and planned global and local path information, or some of this information. However, the interaction between the driver and the vehicle is limited to operating commands, such as... Figure 1 As shown, the vehicle prompts the driver with the instructions "Please hold the steering wheel" and "Take over immediately." The driver is actually unaware of what the vehicle is doing or why it is doing so, which significantly increases the demands on the driver and greatly increases their psychological burden, reducing the sense of security for both the driver and the passenger.

[0027] In view of this, embodiments of this application provide a prompting method for vehicles, which helps to eliminate the psychological burden on drivers and can also increase the safety of autonomous vehicles.

[0028] The method includes:

[0029] In response to motion control commands output by the vehicle's autonomous driving module and the driver's operation commands to the vehicle, the execution status of the vehicle's motion change behavior is determined;

[0030] Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver.

[0031] Control the vehicle's media player to play the prompt message.

[0032] Optionally, the driver's operating instructions to the vehicle are used to characterize the driver's intention to control the vehicle's motion.

[0033] Optionally, the player includes a display screen and / or speakers.

[0034] Optionally, the prompt may also include information describing the reason why the vehicle enters the execution state.

[0035] Figure 2 A schematic block diagram of a prompting method 10 for a vehicle, according to another optional embodiment of this application, is shown. Method 10 can be executed, for example, by a processor on the vehicle, such as... Figure 2 As shown, method 10 includes some or all of the following:

[0036] S11, Obtain motion control commands output by the vehicle's autonomous driving module.

[0037] S12, Obtain the driver's operation instructions for the vehicle, the operation instructions being used to characterize the driver's intention to control the vehicle's motion.

[0038] S13, determine the execution state of the vehicle's motion change behavior based on the motion control command and the operation command.

[0039] S14, determine the description information of the motion change behavior, wherein the description information includes the state type information of the execution state and the trigger information of the trigger that caused the vehicle to enter the execution state.

[0040] S15, Generate prompt content based on the description information, the prompt content being broadcast inside the vehicle.

[0041] Optionally, in this embodiment, the processor can also control the output device on the vehicle to broadcast the prompt to the driver. For example, the processor can control the display screen on the vehicle to show the prompt to the driver. Alternatively, the processor can control the speaker on the vehicle to play the prompt to the driver. Or, the processor can simultaneously control both the display screen and the speaker to convey the prompt to the driver.

[0042] By broadcasting the prompts generated by the processor to the driver, the driver can be better informed about the vehicle's driving status, greatly reducing their psychological burden and increasing the safety of the autonomous driving system. Furthermore, since the prompts can be output to the driver via a speaker, the driver doesn't need to constantly monitor the display screen to know the vehicle's current status, thus further reducing their psychological burden.

[0043] Optionally, in the embodiments of this application, the vehicle's motion change behavior may include lateral motion change behavior and / or longitudinal motion change behavior, wherein lateral motion change behavior may include lane changing behavior, and longitudinal motion change behavior may include lane-keeping behavior, such as following, cruising, acceleration and deceleration, etc.

[0044] For example, the motion control commands output by the autonomous driving module may include lateral motion control commands and / or longitudinal motion control commands. Lateral motion control commands may include, for example, lane change control commands, and longitudinal motion control commands may include, for example, speed control commands. Optionally, lane change control commands are primarily used to adjust lateral motion control parameters to change the vehicle's lateral speed, and speed control commands are primarily used to adjust longitudinal motion control parameters to change the vehicle's longitudinal speed.

[0045] For example, driver commands to the vehicle may include lateral movement commands and / or longitudinal movement commands. Similarly, lateral movement commands may include lane change commands, while longitudinal movement commands may include speed commands. Optionally, lane change commands are primarily used to operate the vehicle's driving controls to change the vehicle's lateral speed, while speed commands are primarily used to operate the vehicle's driving controls to change the vehicle's longitudinal speed.

[0046] Optionally, in this embodiment, the processor can periodically acquire motion control commands output by the autonomous driving module and driver operation commands for the vehicle. For example, the motion control commands and operation commands can be updated in real time using a timer.

[0047] Furthermore, the processor can determine the execution state of the vehicle's motion change behavior based on each received motion control command and operation command. Specifically, the processor can use a finite state machine to switch the execution states of the vehicle's motion change behavior. The states in the finite state machine can be determined based on the scenario of the vehicle during driving. For example, based on the vehicle's direction of movement, it can include lateral movement states and longitudinal movement states. Furthermore, the motion change behavior of the vehicle in a single direction of movement can be further refined; for example, lateral movement can further include automatic lane change state, automatic lane change cancellation state, manual lane change state, and manual lane change cancellation state.

[0048] Optionally, the states in the state machine can be divided into trigger states, interrupt states, and completion states according to state type information. That is, the state type information determined in step S14 can include one of trigger states, interrupt states, and completion states. A trigger state refers to the processor receiving a trigger instruction to trigger the execution of the motion change behavior; an interrupt state refers to the processor receiving an interrupt instruction to interrupt the execution of the motion change behavior; and a completion state refers to the processor receiving vehicle parameter information characterizing the completion of the motion change behavior. The vehicle parameter information can include at least one of positioning parameters, wheel speed parameters, acceleration parameters, and orientation parameters.

[0049] Furthermore, if the motion change state includes lane changing behavior, the state type information may include lane changing triggered state, lane changing interrupted state, or lane changing completed state.

[0050] Specifically, if the processor receives a lane change trigger instruction that triggers the execution of a lane change, the lane change trigger state can be determined as state type information; if the processor receives a lane change interrupt instruction that interrupts the execution of a lane change, the lane change interrupt state can be determined as state type information; if the processor receives vehicle parameter information that indicates the completion of the lane change, the lane change completion state can be determined as state type information.

[0051] Optionally, if the vehicle's movement change behavior is a lane change behavior, the operation command can be a lane change operation command, and the motion control command can be a lane change control command. Further, if the triggering information is the driver and the status type information is a lane change triggered state, the operation command is a lane change triggered operation command; if the triggering information is the driver and the status type information is a lane change interrupted state, the operation command is a lane change interrupted operation command; if the triggering information is the autonomous driving module and the status type information is a lane change triggered state, the lane change control command is a lane change triggered control command; if the triggering information is the autonomous driving module and the status type information is a lane change interrupted state, the lane change control command is a lane change interrupted control command.

[0052] In this embodiment of the application, when the vehicle has not performed a lane change and receives an instruction to trigger the vehicle to perform a lane change, a lane change trigger instruction is generated; when the vehicle is performing a lane change and receives an instruction to trigger the vehicle to perform a lane change, and the lane change direction indicated by the instruction to trigger the vehicle to perform a lane change is inconsistent with the lane change direction of the lane change performed by the vehicle, a lane change interruption instruction is generated.

[0053] Optionally, in this embodiment, the driver can obtain the operation commands based on the operation of the vehicle's driving control components. These driving control components may include, for example, at least one of a steering wheel, steering lever, brake, accelerator, and human-machine interface screen.

[0054] When the driving control components include a steering lever, the processor can respond to the driver's operation on the steering lever, obtain the position of the steering lever, and then obtain a lane change operation command based on the position of the steering lever.

[0055] Furthermore, for example, if the triggering information is a driver, the processor can determine the lane change direction indicated by the steering lever based on the lane change operation command; if the lane change direction indicated by the steering lever is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, then the lane change operation command is determined as the lane change interruption operation command. As another example, if the triggering information is a driver, then if the vehicle is not performing a lane change, the processor can determine the lane change operation command as a lane change trigger operation command.

[0056] Optionally, for example, if the triggering information is an autonomous driving module, the processor can determine the indicated lane change direction based on the lane change control command output by the autonomous driving module. If the lane change direction indicated by the lane change control command is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, then the lane change control command is determined as a lane change interruption control command. As another example, if the triggering information is an autonomous driving module, then if the vehicle is not performing a lane change, the processor can determine the lane change control command as a lane change trigger control command.

[0057] Optionally, in this embodiment of the application, the description information determined in step S14 may further include reason information that triggers the vehicle to enter the execution state of the motion change behavior. Taking lane changing behavior as an example, the reason information may include overtaking lane changing, obstacle avoidance lane changing, or navigation lane changing. Taking lane-keeping behavior as an example, the reason information may include lane keeping, following, or emergency braking, etc.

[0058] In one embodiment, the processor can acquire environmental perception and observation information, and determine the cause information based on the perception and observation information.

[0059] In another embodiment, the processor can acquire environmental perception and observation information and vehicle motion parameter information, and determine the cause information based on the perception and observation information and the motion parameter information.

[0060] The reasoning behind a vehicle's changes in motion is primarily based on the specific execution state, combined with the type of cause for the vehicle's changes in motion under that current state. Take automatic lane changing as an example:

[0061] First, determine if the difference between the time required to reach the middle of the current lane and the time required to change lanes to the left or right exceeds a certain threshold, and whether the vehicle is in a condition where navigation-based lane changing is possible. If so, the reason for the vehicle changing lanes is navigation-based lane changing. Second, determine if there are obstacles ahead and whether the vehicle's current speed exceeds the lane-changing speed threshold. If so, the reason for the vehicle changing lanes is obstacle avoidance lane changing. Then, determine if there are moving vehicles ahead. If so, and they are within the range where overtaking and lane changing can be initiated, the reason for the vehicle changing lanes is overtaking lane changing. If none of the above reasons are determined, the reason for the vehicle changing lanes is unknown. In the future, more scenarios can be added to increase the reasons for vehicle lane changing.

[0062] Similarly, depending on the current vehicle scenario and the different states of the vehicle state machine, different reasons can be set based on other states, and then the reason for the current vehicle behavior can be calculated through reasoning.

[0063] In this embodiment, the vehicle's environmental perception and / or motion parameter information is primarily acquired through sensors mounted on the vehicle, such as positioning sensors, temperature sensors, and pressure sensors. The vehicle's environmental perception information may include, for example, information about dynamic and / or static obstacles, lane information, and positioning information. The vehicle's motion parameter information may include, for example, information about the vehicle's speed, acceleration, wheel speed, and orientation. The vehicle's environmental perception information may also be provided by a vehicle-to-everything (V2X) network. The autonomous driving module may be implemented through a central domain controller mounted on the vehicle. This central domain controller may be the same processor as the processor used to execute method 10, or it may be another processor on the vehicle. The information output by the autonomous driving module may include information from the task planning layer, behavior planning layer, and motion planning layer. The driver's operation commands to the vehicle may include commands issued by the driver through an operating device. This operating device may include virtual devices and physical devices. For example, the driver may issue a lane change command to the vehicle through an interactive interface, or the driver may issue a lane change command to the vehicle through a steering lever.

[0064] The above description illustrates that the execution states of a vehicle's motion changes can be switched using a finite state machine. Taking lane changing as an example, the states of this finite state machine can include manual lane changing (i.e., lever lane changing), automatic lane changing, manual lane changing cancellation, automatic lane changing cancellation, and their corresponding intermediate states. Other states can be added as needed in the actual scenario, such as avoidance, emergency braking, following, and takeover. A timer can be started during the state switching process, i.e., the state switch can be performed periodically. For example, the state of the state machine can be determined at the start time of the timer, and the machine can switch to the determined state. The duration of the timer is the time the state machine maintains in a given state. The start time of the timer can be referred to as the state determination time or the clock pulse in this paper.

[0065] A state machine can be summarized into four elements: the current state, the condition, the action, and the next state. Specifically, the current state refers to the current state; the condition, also known as an event, triggers an action or performs a state transition when a condition is met; the action is not mandatory, and can be performed or not when the condition is met; the next state refers to the new state to which the condition is to be transitioned after it is met, and once the next state is activated, it becomes the current state.

[0066] Optionally, in the embodiments of this application, the state transition of the state machine is not only related to the motion control commands output by the autonomous driving module and the driver's operation commands to the vehicle, but may also be related to at least one of the previous execution state and the motion change behavior in the previous execution state.

[0067] The following will combine Figure 3 This application describes in detail the working process of the state machine, taking lane-changing behavior as an example, in its embodiments. Figure 3 As shown, the state machine defines the following states: Start state S000, Automatic lane change state S001, Automatic lane change cancellation state S010, Manual lane change state S011, Manual lane change acceptance state S100, Manual lane change cancellation state S101, Manual lane change rejection state S110, and Waiting state S111. The manual lane change state and the automatic lane change state can be combined into one state, namely the lane change state, and the manual lane change cancellation state and the automatic lane change cancellation state can also be combined into one state, namely the lane change cancellation state.

[0068] It should be understood that in the embodiments of this application, the manual lane change cancellation state refers to the state of manually canceling lane change, including the state of manually canceling automatic lane change and the state of manually canceling manual lane change. The automatic lane change cancellation state refers to the state of automatically canceling lane change, including the state of automatically canceling automatic lane change and the state of automatically canceling manual lane change.

[0069] A state machine transitions from one state to another under the control of a timer. That is, a state transition occurs when each state's defined time arrives. It's important to note that this state transition can refer to two different states or two states that are the same.

[0070] Before the state machine starts working, the processor can first calculate whether the vehicle is currently in autonomous driving mode and the macroscopic behaviors being executed based on the vehicle's task information, including manual, ready, automatic, request for takeover, start failure, stop, etc.

[0071] After the vehicle starts autonomous driving, the first state the state machine enters is the initial state S000.

[0072] 1. Current state, initial state S000, the vehicle is in lane keeping or following mode:

[0073] • Condition 200: The operation command instructs the vehicle to change lanes;

[0074] Next state: Manual lane change state S011;

[0075] At this time, the trigger that causes the vehicle to perform a lane change in manual lane change state S011 is the driver.

[0076] ●Condition 201: The operation command instructs the vehicle not to change lanes and the motion control command instructs the vehicle to change lanes;

[0077] Next state: Automatic lane change state S001;

[0078] At this time, the trigger that causes the vehicle to perform a lane change in manual lane change state S011 is the autonomous driving module.

[0079] • Condition 202: Both the motion control command and the operation command instruct the vehicle not to change lanes;

[0080] Next state: Initial state S000.

[0081] 2. Current state, automatic lane change state S001:

[0082] • Condition 203: The operation command instructs the vehicle not to change lanes, or the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the automatic lane change state S001.

[0083] Next state: Automatic lane change state S001.

[0084] • Condition 204: The lane change direction indicated by the operation command is inconsistent with the lane change direction of the vehicle in the automatic lane change state S001;

[0085] Next state: Manual lane change cancellation state S101.

[0086] • Condition 205: The vehicle's movement behavior in the automatic lane change state S001 is within the lane, and the lane change direction indicated by the operation command is inconsistent with the lane change direction indicated by the operation command or the motion control command in the initial state S000.

[0087] Next state: Manual lane change cancellation state S101.

[0088] • Condition 206: When the vehicle's movement behavior in the automatic lane change state S001 is within the lane and the vehicle has not performed a lane change, the operation command instructs the vehicle to change lanes or not to change lanes.

[0089] Next state: Automatic lane change cancellation state S010.

[0090] • Condition 207: The vehicle's movement behavior in the automatic lane change state S001 is within the lane and the vehicle has already performed a lane change. At this time, the operation command instructs the vehicle to change lanes or not to change lanes.

[0091] Next state: Waiting state S111.

[0092] 3. Current state, automatic lane change cancellation state S010:

[0093] • Condition 208: The motion control command and the operation command are not updated when the timer overflows;

[0094] Next state: Waiting state S111.

[0095] 4. Current state, manual lane change status S011:

[0096] • Condition 209: The movement behavior of the vehicle in the manual lane change state S011 is a lane change behavior, and the operation command instructs the vehicle not to change lanes or the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the manual lane change state S011.

[0097] Next state: Manual lane change acceptance state S100.

[0098] • Condition 210: The movement change behavior of the vehicle in the manual lane change state S011 is a lane change behavior, and the lane change direction indicated by the operation command is inconsistent with the lane change direction of the vehicle in the manual lane change cancellation state S101.

[0099] Next state: Manual lane change cancellation state S101.

[0100] • Condition 211: The vehicle's movement change behavior in manual lane change state S011 is within the lane, and the motion control command and the operation command are not updated when the timer overflows;

[0101] Next state: Manual lane change denied state S110.

[0102] • Condition 212: The vehicle's movement behavior in the manual lane change state S011 is within the lane, and the lane change direction indicated by the current operation command is inconsistent with the lane change direction indicated by the operation command in the initial state S000.

[0103] Next state: Manual lane change cancellation state S101.

[0104] 5. Current state, manual lane change acceptance state S100:

[0105] • Condition 213: The movement change behavior of the vehicle in the manual lane change acceptance state S100 is a lane change behavior, and the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the manual lane change acceptance state S100.

[0106] Next state: Manual lane change acceptance state S100.

[0107] • Condition 214: The movement change behavior of the vehicle in the manual lane change acceptance state S100 is a lane change behavior, and the lane change direction indicated by the operation command is inconsistent with the lane change direction of the vehicle in the manual lane change acceptance state S100.

[0108] Next state: Manual lane change cancellation state S101.

[0109] • Condition 215: The vehicle's movement change behavior in the manual lane change acceptance state S100 is a lane-in-lane behavior, and the vehicle has already performed a lane change;

[0110] Next state: Waiting state S111.

[0111] • Condition 216: The vehicle's movement change behavior in the manual lane change acceptance state S100 is within the lane, and the vehicle has not performed a lane change;

[0112] Next state: Manual lane change cancellation state S101.

[0113] • Condition 217: The vehicle's movement behavior in the manual lane change acceptance state S100 is within the lane, and the lane change direction indicated by the operation command is inconsistent with the lane change direction of the vehicle in the manual lane change state S011.

[0114] Next state: Manual lane change cancellation state S101.

[0115] • Condition 218: The vehicle's movement behavior in the manual lane change acceptance state S100 is within the lane, and the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the manual lane change state S011.

[0116] Next state: until state S111.

[0117] 6. Current state, manual lane change cancelled state S101:

[0118] • Condition 219: The movement change behavior of the vehicle in the manual lane change cancellation state S101 is a lane change behavior, and the operation command indicates no lane change or the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the manual lane change cancellation state S101.

[0119] Next state: Automatic lane change state S001.

[0120] • Condition 220: The movement behavior of the vehicle in the manual lane change cancellation state S101 is a lane change behavior, the operation command indicates no lane change or the lane change direction indicated by the operation command is inconsistent with the lane change direction of the vehicle in the manual lane change cancellation state S101, and the timer overflows.

[0121] Next state: Waiting state S111.

[0122] • Condition 221: The vehicle's movement behavior in the manual lane change cancellation state S101 is within the lane, and the timer overflows;

[0123] Next state: Waiting state S111.

[0124] 7. Current state, manual lane change denied status S110:

[0125] • Condition 222: The movement change behavior of the vehicle in the manual lane change rejection state S110 is a lane change behavior, and the lane change direction indicated by the operation command is consistent with the lane change direction of the vehicle in the manual lane change rejection state S110.

[0126] Next state: Manual lane change acceptance state S100.

[0127] • Condition 223: The vehicle's movement behavior in the manual lane change rejection state S110 is a lane change behavior, and the operation command indicates that it will not change lanes;

[0128] Next state: Automatic lane change state S001.

[0129] • Condition 224: The vehicle's movement behavior in the manual lane change rejection state S110 is within the lane, the operation command has not been updated, and the operation command currently instructs the vehicle to perform a lane change;

[0130] Next state: Manual lane change denied state S110.

[0131] • Condition 225: The vehicle's movement behavior in the manual lane change rejection state S110 is within the lane, the operation command has not been updated, and the operation command currently instructs the vehicle not to perform a lane change;

[0132] Next state: Initial state S000.

[0133] 8. Current state, waiting state S111;

[0134] • Condition 226: The operation instruction has not been updated, and the operation instruction currently instructs the vehicle not to change lanes;

[0135] Next state: Initial state S000.

[0136] Although the embodiments of this application illustrate the switching of vehicle driving behavior through a finite state machine, other algorithms, such as rule-based, neural network, and probabilistic methods, should not be excluded.

[0137] The above describes a vehicle prompting method according to embodiments of this application. The following describes a vehicle prompting device for implementing embodiments of this application.

[0138] Figure 4 A schematic block diagram of a vehicle prompting device 300 according to an embodiment of this application is shown.

[0139] like Figure 4 As shown, the prompting device 300 includes a processor 310 and may further include a memory 320.

[0140] It should be understood that the prompting device 300 may also include other components, such as input / output devices, communication interfaces, etc., and the embodiments of this application are not limited in this regard.

[0141] Memory 320 is used to store computer-executable instructions.

[0142] The memory 320 can be various types of memory, such as high-speed random access memory (RAM), and can also include non-volatile memory, such as at least one disk storage device. This application embodiment is not limited to this.

[0143] The processor 310 may include a microprocessor, a field-programmable gate array (FPGA), a central processing unit (CPU), a graphics processing unit (GPU), etc., but this application embodiment is not limited to this.

[0144] The processor 310 is used to access the memory 320 and execute the computer-executable instructions to perform the operations in the vehicle prompting method described in the embodiments of this application.

[0145] Specifically, in this embodiment of the application, the processor 310 is used for:

[0146] In response to motion control commands output by the vehicle's autonomous driving module and the driver's operation commands to the vehicle, the execution status of the vehicle's motion change behavior is determined;

[0147] Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver.

[0148] Control the vehicle's media player to play the prompt message.

[0149] Optionally, in this embodiment of the application, the state type information of the execution state includes a trigger state, an interrupt state, or a completion state. The trigger state is used to indicate that a trigger instruction to trigger the execution of the motion change behavior has been obtained. The interrupt state is used to indicate that an interrupt instruction to interrupt the execution of the motion change behavior has been obtained. The completion state is used to indicate that vehicle parameter information representing the completion of the execution of the motion change behavior has been obtained.

[0150] Optionally, in the embodiments of this application, the motion change behavior includes lateral motion change behavior and / or longitudinal motion change behavior.

[0151] Optionally, in this embodiment of the application, the lateral movement change behavior includes lane changing behavior, and the state type information of the lane changing behavior includes lane changing triggered state, lane changing interrupted state, or lane changing completed state.

[0152] Optionally, in this embodiment of the application, the processor 310 is specifically used for:

[0153] If a lane change triggering instruction is obtained to trigger the lane change behavior, the lane change triggering state is determined as the state type information;

[0154] If a lane change interruption instruction is received to interrupt the execution of the lane change behavior, the lane change interruption status is determined as the status type information;

[0155] If vehicle parameter information representing the completion of the lane change behavior is obtained, the lane change completion state is determined as the state type information.

[0156] Optionally, in this embodiment of the application, the processor 310 is further configured to:

[0157] If the vehicle has not performed a lane change but receives an instruction to trigger the vehicle to perform a lane change, the lane change trigger instruction is generated.

[0158] If the vehicle is performing a lane change and receives an instruction to trigger the lane change, and the lane change direction indicated by the instruction to trigger the lane change is inconsistent with the lane change direction of the lane change performed by the vehicle, then the lane change interruption instruction is generated.

[0159] Optionally, in this embodiment of the application, the lane change trigger command is issued by the autonomous driving module or the driver, and the lane change interruption command is issued by the autonomous driving module or the driver.

[0160] Optionally, in this embodiment of the application, the vehicle parameter information includes at least one of positioning parameters, wheel speed parameters, acceleration parameters, and orientation parameters.

[0161] Optionally, in this embodiment of the application, the processor 310 is specifically used for:

[0162] The operation instructions are obtained based on the driver's operation of the vehicle's driving control components.

[0163] Optionally, in this embodiment of the application, the operation instructions include the driver's lateral movement operation instructions and / or longitudinal movement operation instructions for the vehicle.

[0164] Optionally, in this embodiment, the lateral movement operation command includes the driver's lane change operation command, and the longitudinal movement operation command includes the driver's speed operation command.

[0165] Optionally, in this embodiment, the lane change operation command is used to operate the driving operation component to change the vehicle's lateral speed, and the speed operation command is used to operate the driving operation component to change the vehicle's longitudinal speed.

[0166] Optionally, in this embodiment of the application, the triggerer information is the driver, and the lane change operation instruction is a lane change trigger operation instruction or a lane change interruption operation instruction.

[0167] Optionally, in this embodiment of the application, the driving operation component includes a steering lever, and the processor 310 is specifically used for:

[0168] In response to the driver's operation on the steering lever, the actuation position of the steering lever is obtained;

[0169] The lane change operation command is obtained based on the stated position.

[0170] Optionally, in this embodiment of the application, the triggerer information is the driver, and the processor 310 is further configured to:

[0171] Based on the lane change operation command, the lane change direction indicated by the steering lever is determined;

[0172] If the lane change direction indicated by the steering lever is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change operation command will be determined as the lane change interruption operation command.

[0173] Optionally, in this embodiment of the application, the driving operation component includes at least one of the following: steering wheel, steering lever, brake, accelerator, and human-machine interface screen.

[0174] Optionally, in this embodiment, the motion control command includes lateral motion control commands and / or longitudinal motion control commands for the vehicle output by the autonomous driving module.

[0175] Optionally, in this embodiment, the lateral motion control command includes the lane change control command output by the autonomous driving module, and the longitudinal motion control command includes the speed control command output by the autonomous driving module.

[0176] Optionally, in this embodiment, the lane change control command is used to adjust the lateral motion control parameters to change the vehicle's lateral speed, and the speed control command is used to adjust the longitudinal motion control parameters to change the vehicle's longitudinal speed.

[0177] Optionally, in this embodiment, the triggering information is the autonomous driving module, and the lane change control command is a lane change trigger control command or a lane change interruption control command.

[0178] Optionally, in this embodiment of the application, the triggering information is the autonomous driving module, and the processor is further configured to:

[0179] If the lane change direction indicated by the lane change control command is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change control command will be determined as the lane change interruption control command.

[0180] Optionally, in this embodiment of the application, the description information may further include reason information that triggers the vehicle to enter the execution state of the motion change behavior.

[0181] Optionally, in this embodiment of the application, the processor 310 is further configured to:

[0182] Acquire the vehicle's perception and observation information of the environment;

[0183] The processor 310 is specifically used for:

[0184] The cause information is determined based on the perceived observation information.

[0185] Optionally, in this embodiment of the application, the processor 310 is further configured to:

[0186] Obtain the motion parameter information of the vehicle;

[0187] The processor 310 is specifically used for:

[0188] The cause information is determined based on the perceived observation information and the motion parameter information.

[0189] Optionally, in this embodiment of the application, if the motion change behavior is a lateral motion change behavior, the cause information includes overtaking lane change, obstacle avoidance lane change, or navigation lane change; if the motion change behavior is a longitudinal motion change behavior, the cause information includes lane keeping, following, or emergency braking.

[0190] Optionally, in this embodiment of the application, the processor 310 is further configured to:

[0191] The prompt message is broadcast to the driver.

[0192] Optionally, in this embodiment of the application, the processor 310 is specifically used for:

[0193] The prompt is broadcast to the driver via a display screen or speaker inside the vehicle.

[0194] Optionally, the prompting device 300 can implement the corresponding process implemented by the execution subject in the vehicle prompting method 10 of this application embodiment. For the sake of brevity, it will not be described in detail here.

[0195] This application also provides a computer storage medium storing program code that can be used to instruct the execution of the video processing method described in the embodiments of this application.

[0196] It should be understood that in the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0197] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0198] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0199] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, or they may be electrical, mechanical, or other forms of connection.

[0200] 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 network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0201] Furthermore, the functional units in the various embodiments of this application 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.

[0202] 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 this application, 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 this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0203] Unless otherwise stated, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

Claims

1. A method for providing a vehicle notification, characterized in that, include: In response to motion control commands output by the vehicle's autonomous driving module and driver's operation commands to the vehicle, the execution state of the vehicle's motion change behavior is determined. The motion change behavior includes lateral motion change behavior and / or longitudinal motion change behavior. The lateral motion change behavior includes lane changing behavior, and the longitudinal motion change behavior includes lane-keeping behavior. Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver. Control the vehicle's media player to play the prompt message; The execution state status type information includes a trigger state, an interrupt state, or a completion state. The trigger state is used to indicate that a trigger command is obtained to trigger the execution of the motion change behavior. The interrupt state is used to indicate that an interrupt command is obtained to interrupt the execution of the motion change behavior. The completion state is used to indicate that vehicle parameter information representing the completion of the execution of the motion change behavior is obtained.

2. The prompting method according to claim 1, characterized in that, The status type information of the lane change behavior includes lane change triggered status, lane change interrupted status, or lane change completed status.

3. The prompting method according to claim 2, characterized in that, The determination of the descriptive information for the execution state includes: If a lane change triggering instruction is obtained to trigger the lane change behavior, the lane change triggering state is determined as the state type information; If a lane change interruption instruction is received to interrupt the execution of the lane change behavior, the lane change interruption status is determined as the status type information; If vehicle parameter information representing the completion of the lane change behavior is obtained, the lane change completion state is determined as the state type information.

4. The prompting method according to claim 3, characterized in that, The prompting method also includes: If the vehicle has not performed a lane change but receives an instruction to trigger the vehicle to perform a lane change, the lane change trigger instruction is generated. If the vehicle is performing a lane change and receives an instruction to trigger the lane change, and the lane change direction indicated by the instruction to trigger the lane change is inconsistent with the lane change direction of the lane change performed by the vehicle, then the lane change interruption instruction is generated.

5. The prompting method according to claim 3 or 4, characterized in that, The lane change trigger command is issued by the autonomous driving module or the driver, and the lane change abort command is issued by the autonomous driving module or the driver.

6. The prompting method according to any one of claims 1 to 4, characterized in that, The vehicle parameter information includes at least one of the following: positioning parameters, wheel speed parameters, acceleration parameters, and orientation parameters.

7. The prompting method according to any one of claims 1 to 4, characterized in that, The method further includes: The operation instructions are obtained based on the driver's operation of the vehicle's driving control components.

8. The prompting method according to claim 7, characterized in that, The operating instructions include the driver's lateral movement instructions and / or longitudinal movement instructions for the vehicle.

9. The prompting method according to claim 8, characterized in that, The lateral movement operation command includes the driver's lane change operation command, and the longitudinal movement operation command includes the driver's speed operation command.

10. The prompting method according to claim 9, characterized in that, The lane change command is used to operate the driving control components to change the vehicle's lateral speed, and the speed control command is used to operate the driving control components to change the vehicle's longitudinal speed.

11. The prompting method according to claim 9 or 10, characterized in that, The triggerer information is the driver, and the lane change operation command is either a lane change trigger operation command or a lane change interruption operation command.

12. The prompting method according to claim 9 or 10, characterized in that, The driving control components include a steering lever, and the step of obtaining the operation command based on the driver's operation of the vehicle's driving control components includes: In response to the driver's operation on the steering lever, the actuation position of the steering lever is obtained; The lane change operation command is obtained based on the stated position.

13. The prompting method according to claim 12, characterized in that, The triggerer information is the driver, and the method further includes: Based on the lane change operation command, the lane change direction indicated by the steering lever is determined; If the lane change direction indicated by the steering lever is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change operation command will be determined as the lane change interruption operation command.

14. The prompting method according to any one of claims 8 to 10, 13, characterized in that, The driving control components include at least one of the following: steering wheel, steering lever, brake, accelerator, and human-machine interface screen.

15. The prompting method according to any one of claims 1 to 4 and 8, characterized in that, The motion control commands include lateral motion control commands and / or longitudinal motion control commands for the vehicle output by the autonomous driving module.

16. The prompting method according to claim 15, characterized in that, The lateral motion control command includes the lane change control command output by the autonomous driving module, and the longitudinal motion control command includes the speed control command output by the autonomous driving module.

17. The prompting method according to claim 16, characterized in that, The lane change control command is used to adjust the lateral motion control parameters to change the vehicle's lateral speed, and the speed control command is used to adjust the longitudinal motion control parameters to change the vehicle's longitudinal speed.

18. The prompting method according to claim 16 or 17, characterized in that, The triggering information is the autonomous driving module, and the lane change control command is either a lane change trigger control command or a lane change interruption control command.

19. The prompting method according to claim 18, characterized in that, The triggering information is the autonomous driving module, and the method further includes: If the lane change direction indicated by the lane change control command is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change control command will be determined as the lane change interruption control command.

20. The prompting method according to any one of claims 1 to 4, 8 to 10, 13, 16 to 17, and 19, characterized in that, The description information also includes information about the reasons that triggered the vehicle to enter the execution state of the motion change behavior.

21. The prompting method according to claim 20, characterized in that, The prompting method also includes: Acquire the vehicle's perception and observation information of the environment; The determination of the descriptive information for the execution state includes: The cause information is determined based on the perceived observation information.

22. The prompting method according to claim 21, characterized in that, The prompting method also includes: Obtain the motion parameter information of the vehicle; Determining the cause information based on the perceived observation information includes: The cause information is determined based on the perceived observation information and the motion parameter information.

23. The prompting method according to claim 21 or 22, characterized in that, If the change in motion is a lateral change in motion, the cause information includes overtaking lane change, obstacle avoidance lane change, or navigation lane change; if the change in motion is a longitudinal change in motion, the cause information includes lane keeping, following, or emergency braking.

24. The prompting method according to any one of claims 1 to 4, 8 to 10, 13, 16 to 17, 19, and 21-22, characterized in that, The driver's operating instructions to the vehicle are used to characterize the driver's intention to control the vehicle's motion.

25. The prompting method according to any one of claims 1 to 4, 8 to 10, 13, 16 to 17, 19, and 21-22, characterized in that, The player includes a display screen and / or speakers.

26. A warning device for a vehicle, characterized in that, Includes a processor, the processor being used for: In response to motion control commands output by the vehicle's autonomous driving module and driver's operation commands to the vehicle, the execution state of the vehicle's motion change behavior is determined. The motion change behavior includes lateral motion change behavior and / or longitudinal motion change behavior. The lateral motion change behavior includes lane changing behavior, and the longitudinal motion change behavior includes lane-keeping behavior. Based on the execution status, a prompt message is generated. The prompt message includes status type information describing the execution status and trigger information describing the trigger of the execution status as either the autonomous driving module or the driver. Control the vehicle's media player to play the prompt message; The execution state status type information includes a trigger state, an interrupt state, or a completion state. The trigger state is used to indicate that a trigger command is obtained to trigger the execution of the motion change behavior. The interrupt state is used to indicate that an interrupt command is obtained to interrupt the execution of the motion change behavior. The completion state is used to indicate that vehicle parameter information representing the completion of the execution of the motion change behavior is obtained.

27. The prompting device according to claim 26, characterized in that, The status type information of the lane change behavior includes lane change triggered status, lane change interrupted status, or lane change completed status.

28. The prompting device according to claim 27, characterized in that, The processor is specifically used for: If a lane change triggering instruction is obtained to trigger the lane change behavior, the lane change triggering state is determined as the state type information; If a lane change interruption instruction is received to interrupt the execution of the lane change behavior, the lane change interruption status is determined as the status type information; If vehicle parameter information representing the completion of the lane change behavior is obtained, the lane change completion state is determined as the state type information.

29. The prompting device according to claim 28, characterized in that, The processor is also used for: If the vehicle has not performed a lane change but receives an instruction to trigger the vehicle to perform a lane change, the lane change trigger instruction is generated. If the vehicle is performing a lane change and receives an instruction to trigger the lane change, and the lane change direction indicated by the instruction to trigger the lane change is inconsistent with the lane change direction of the lane change performed by the vehicle, then the lane change interruption instruction is generated.

30. The prompting device according to claim 28 or 29, characterized in that, The lane change trigger command is issued by the autonomous driving module or the driver, and the lane change abort command is issued by the autonomous driving module or the driver.

31. The prompting device according to any one of claims 26 to 29, characterized in that, The vehicle parameter information includes at least one of the following: positioning parameters, wheel speed parameters, acceleration parameters, and orientation parameters.

32. The prompting device according to any one of claims 26 to 29, characterized in that, The processor is also used for: The operation instructions are obtained based on the driver's operation of the vehicle's driving control components.

33. The prompting device according to claim 32, characterized in that, The operating instructions include the driver's lateral movement instructions and / or longitudinal movement instructions for the vehicle.

34. The prompting device according to claim 33, characterized in that, The lateral movement operation command includes the driver's lane change operation command, and the longitudinal movement operation command includes the driver's speed operation command.

35. The prompting device according to claim 34, characterized in that, The lane change command is used to operate the driving control components to change the vehicle's lateral speed, and the speed control command is used to operate the driving control components to change the vehicle's longitudinal speed.

36. The prompting device according to claim 34 or 35, characterized in that, The triggerer information is the driver, and the lane change operation command is either a lane change trigger operation command or a lane change interruption operation command.

37. The prompting device according to any one of claims 33 to 35, characterized in that, The driving control components include a steering lever, and the processor is specifically used for: In response to the driver's operation on the steering lever, the actuation position of the steering lever is obtained; The lane change operation command is obtained based on the stated position.

38. The prompting device according to claim 37, characterized in that, The triggerer information is the driver, and the processor is further configured to: Based on the lane change operation command, the lane change direction indicated by the steering lever is determined; If the lane change direction indicated by the steering lever is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change operation command will be determined as the lane change interruption operation command.

39. The prompting device according to any one of claims 33 to 35 and 38, characterized in that, The driving control components include at least one of the following: steering wheel, steering lever, brake, accelerator, and human-machine interface screen.

40. The prompting device according to any one of claims 26 to 29, 33 to 35, and 38, characterized in that, The motion control commands include lateral motion control commands and / or longitudinal motion control commands for the vehicle output by the autonomous driving module.

41. The prompting device according to claim 40, characterized in that, The lateral motion control command includes the lane change control command output by the autonomous driving module, and the longitudinal motion control command includes the speed control command output by the autonomous driving module.

42. The prompting device according to claim 41, characterized in that, The lane change control command is used to adjust the lateral motion control parameters to change the vehicle's lateral speed, and the speed control command is used to adjust the longitudinal motion control parameters to change the vehicle's longitudinal speed.

43. The prompting device according to claim 40, characterized in that, The triggering information is the autonomous driving module, and the lane change control command is either a lane change trigger control command or a lane change interruption control command.

44. The prompting device according to claim 43, characterized in that, The triggering information is the autonomous driving module, and the processor is further configured to: If the lane change direction indicated by the lane change control command is inconsistent with the lane change direction of the lane change behavior being performed by the vehicle, the lane change control command will be determined as the lane change interruption control command.

45. The prompting device according to any one of claims 26 to 29, 33 to 35, 38, and 41-44, characterized in that, The description information also includes information about the reasons that triggered the vehicle to enter the execution state of the motion change behavior.

46. ​​The prompting device according to claim 45, characterized in that, The processor is also used for: Acquire the vehicle's perception and observation information of the environment; The processor is specifically used for: The cause information is determined based on the perceived observation information.

47. The prompting device according to claim 46, characterized in that, The processor is also used for: Obtain the motion parameter information of the vehicle; The processor is specifically used for: The cause information is determined based on the perceived observation information and the motion parameter information.

48. The prompting device according to claim 46 or 47, characterized in that, If the change in motion is a lateral change in motion, the cause information includes overtaking lane change, obstacle avoidance lane change, or navigation lane change; if the change in motion is a longitudinal change in motion, the cause information includes lane keeping, following, or emergency braking.

49. The prompting device according to any one of claims 26 to 29, 33 to 35, 38, 41-44, 46-47, characterized in that, The driver's operating instructions to the vehicle are used to characterize the driver's intention to control the vehicle's motion.

50. The prompting device according to any one of claims 26 to 29, 33 to 35, 38, 41-44, 46-47, characterized in that, The player includes a display screen and / or speakers.

51. A computer storage medium, characterized in that, The computer storage medium is used to store program code, which instructs the execution of the method according to any one of claims 1 to 25.

Images