A warning system and method for an intelligent vehicle

Abstract

The application provides a warning system and method for an intelligent driving vehicle, the warning system comprising a signal input node, a warning state machine node and a warning node, wherein: the signal input node is configured to acquire and send a plurality of to-be-warned signals of the intelligent driving vehicle to the warning state machine node; the warning state machine node is configured to determine a warning state matched by each to-be-warned signal in the plurality of to-be-warned signals based on a preset warning state level division strategy, and obtain a warning state set; the warning state machine node is further configured to determine a target warning state in the warning state set based on a warning level, and send warning information corresponding to the target warning state to the warning node, so that the warning node performs warning on the warning information. The application can save software resources corresponding to deployment warning decisions of the intelligent driving vehicle, and improve the warning accuracy of the intelligent driving vehicle.

Description

A warning system and method for intelligent driving vehicles Technical Field

[0001] This application relates to the field of intelligent driving technology, specifically to a warning system and method for intelligent driving vehicles. Background Technology

[0002] While intelligent driving brings efficient and convenient travel experiences, it also carries certain driving risks. For example, in the face of complex road conditions, potential emergencies, and sudden malfunctions of various in-vehicle hardware or sensors, an effective warning system is needed to prevent accidents. In related technologies, warnings in the field of intelligent driving are mostly single warnings for a limited number of operating conditions. Examples include: collision warnings via radar when the vehicle is reversing and / or making a U-turn; distraction warnings by analyzing driver facial expressions and / or gestures via cameras; and environmental warnings by sensing temperature and / or road moisture using vehicle sensors. These warning functions are often deployed separately and output directly to the vehicle's infotainment system, lacking resource integration. This not only increases the load on software resources but also requires downstream modules to perform additional logic outputs when multiple alarms are triggered simultaneously, further complicating software development. Summary of the Invention

[0003] The purpose of this application is to provide an early warning system and method for intelligent driving vehicles. Based on the characteristics of the early warning state machine node and the signal input node that acquires multiple early warning signals of the intelligent driving vehicle, it can realize the resource integration of upstream modules. That is, it can realize early warning of the early warning node of the intelligent driving vehicle under various complex working conditions. It can divide multiple early warning signals into different early warning states according to the severity of the early warning. Then, through the state jump logic inside the early warning state machine node, it can perform logical operations on multiple early warning signals (early warning states), thereby saving the software resources corresponding to the deployment of early warning decisions of the intelligent driving vehicle and improving the early warning accuracy of the intelligent driving vehicle.

[0004] This application provides a warning system for an intelligent driving vehicle, characterized in that the warning system includes: a signal input node, a warning state machine node, and a warning node, wherein:

[0005] The signal input node is configured to acquire and send multiple warning signals from the intelligent driving vehicle to the warning state machine node;

[0006] The warning state machine node is configured to determine the warning state matching each of the multiple warning signals to be warned based on a preset warning state level division strategy, thereby obtaining a warning state set.

[0007] The early warning state machine node is further configured to determine a target early warning state based on the early warning level in the early warning state set, and send the early warning information corresponding to the target early warning state to the early warning node, so that the early warning node can issue an early warning based on the early warning information.

[0008] In some embodiments of this application, the plurality of warning signals to be warned include: a first warning signal and a second warning signal. The signal input node includes: an initial signal input sub-node and a condition processing layer sub-node, wherein: the initial signal input sub-node is configured to acquire a plurality of initial warning signals of the intelligent driving vehicle; the initial signal input sub-node is further configured to classify the plurality of initial warning signals based on a preset signal classification rule to obtain a signal to be processed sent to the condition processing layer sub-node and a second warning signal sent to the warning state machine node; the condition processing layer sub-node is configured to preprocess the received signal to be processed to obtain the first warning signal sent to the warning state machine node.

[0009] In this way, by sequentially passing through the initial signal input sub-node and the condition processing layer sub-node, multiple initial warning signals input to the warning system by the intelligent driving vehicle can be classified and preprocessed more accurately, making the subsequent matching of relevant warning states and determination of target warning states by the warning state machine node more accurate.

[0010] In some embodiments of this application, the warning state set includes: a prompt state set in a first-level range and an alarm state set in a second-level range, wherein the maximum warning level in the first-level range is less than the minimum warning level in the second-level range. The warning state machine node includes: a prompt state machine sub-node configured to jump from a preset prompt state to a target prompt state and send the target prompt state and a first warning message associated with the target prompt signal to the warning node, so that the warning node provides a prompt to the first warning message in a prompting manner matching the target prompt state; wherein the target prompt state is the prompt state with the highest prompt level in the set of prompt states; the target prompt signal is a warning signal to be warned corresponding to the target prompt state; and an alarm state machine sub-node configured to jump from a preset alarm state to a target alarm state and send the target alarm state and a second warning message associated with the target alarm signal to the warning node, so that the warning node provides an alarm to the second warning message in an alarming manner matching the target alarm state; wherein the target alarm state is the alarm state with the highest alarm level in the set of alarm states; the target alarm signal is a warning signal to be warned corresponding to the target alarm state.

[0011] In this way, by dividing the warning state machine node into sub-nodes for prompting and alarm, it is possible to classify various warning signals into different warning methods and warning states corresponding to different warning levels. This makes the subsequent warning methods and warning levels more accurate, and enables intelligent driving vehicles to issue warnings to relevant warning information in different ways and at different levels under various complex working conditions.

[0012] In some embodiments of this application, the prompting state machine sub-node is further configured to, in response to a first trigger end signal within a first preset time period, jump from the target prompting state to the first prompting state when a first prompting state exists in the prompting state set; the prompting state machine sub-node is further configured to, in response to the first trigger end signal within the first preset time period, jump from the target prompting state to the preset prompting state when the first prompting state does not exist in the prompting state set; wherein, the prompting level corresponding to the first prompting state is lower than the prompting level corresponding to the target prompting state; and the first trigger end signal is a signal associated with the target prompting signal.

[0013] In this way, when the prompting state machine sub-node receives multiple warning signals (corresponding matching prompting state sets), it can switch between multiple prompting states based on the jump logic between warning levels (prompt levels) and the prompting duration of the prompting state. This allows the prompting state machine sub-node to form a complete prompting system, providing a foundation for accurate warning prompts for subsequent intelligent driving vehicles.

[0014] In some embodiments of this application, the prompting status machine sub-node is further configured to upgrade the warning status corresponding to the target prompting signal to the first alarm status in the alarm status machine sub-node when the first trigger end signal is not received during the first preset time period and the prompting level corresponding to the target prompting status is the highest prompting level corresponding to the prompting status machine sub-node; wherein, the first alarm status is the lowest alarm level corresponding to the alarm status machine sub-node; the prompting status machine sub-node is further configured to jump from the target prompting status to the second prompting status when the first trigger end signal is not received during the first preset time period and the prompting level corresponding to the target prompting status is not the highest prompting level corresponding to the prompting status machine sub-node; wherein, the prompting level corresponding to the target prompting status is lower than the prompting level corresponding to the second prompting status.

[0015] In this way, the prompting state machine sub-node can also be configured to perform relevant state transitions based on the level corresponding to the current prompting state if the corresponding end signal is not obtained within a preset time period. This enables the prompting state machine sub-node to form a complete prompting system, providing a foundation for accurate early warning prompts for subsequent intelligent driving vehicles.

[0016] In some embodiments of this application, the alarm status machine sub-node is further configured to, in response to a second trigger end signal within a second preset time period, transition from the target alarm state to the first alarm state when a first alarm state exists in the alarm state set; the alarm status machine sub-node is further configured to, in response to a second trigger end signal within the second preset time period, transition from the target alarm state to the preset alarm state when the first alarm state does not exist in the alarm state set; wherein, the alarm level corresponding to the first alarm state is lower than the alarm level corresponding to the target alarm state; and the second trigger end signal is a signal associated with the target alarm signal.

[0017] In this way, when the alarm state machine sub-node receives multiple warning signals (corresponding alarm state sets), it can switch between multiple alarm states based on the jump logic between warning levels (alarm levels) and the alarm duration of the alarm state. This allows the alarm state machine sub-node to form a complete alarm system, providing a foundation for accurate warning prompts for subsequent intelligent driving vehicles.

[0018] In some embodiments of this application, the second trigger end signal includes at least: a touch signal for the control module on the intelligent driving vehicle; the alarm state machine sub-node is further configured to, in the event that the first alarm state does not exist in the alarm state set, respond to the second trigger end signal within a second preset time and jump from the target alarm state to the alarm end state.

[0019] In this way, based on the touch signals of the control module on the intelligent driving vehicle, the decision-making on the alarm status can be further strengthened, thereby improving the driving safety of the intelligent driving vehicle.

[0020] In some embodiments of this application, the alarm status machine sub-node is further configured to, if it does not receive the second trigger end signal during the second preset time period and the alarm level corresponding to the target alarm status is the highest alarm level corresponding to the alarm status machine sub-node, switch the target alarm status to a disabled status and send the disabled status to the warning node, so that the warning node controls the intelligent driving vehicle to disable the intelligent driving system on the intelligent driving vehicle during a third time period based on the disabled status; the alarm status machine sub-node is further configured to, if it does not receive the second trigger end signal during the second preset time period and the alarm level corresponding to the target alarm status is not the highest alarm level corresponding to the alarm status machine sub-node, switch from the target alarm status to a second alarm status; wherein the alarm level corresponding to the target alarm status is lower than the alarm level corresponding to the second alarm status.

[0021] In this way, the alarm status machine sub-node can also be configured to perform relevant state transitions based on the current alarm status and the corresponding level of the alarm if the corresponding end signal is not obtained within a preset time period. This enables the alarm status machine sub-node to form a complete alarm system, providing a foundation for accurate early warning prompts for subsequent intelligent driving vehicles.

[0022] In some embodiments of this application, the early warning node includes: a prompting sub-node, configured to prompt the early warning information corresponding to the target early warning state; and a decision sub-node, configured to generate decision information based on the early warning information.

[0023] In this way, by dividing the early warning nodes into corresponding functional nodes, the accuracy of the early warning system can be improved.

[0024] This application provides a warning method for intelligent driving vehicles, which is applied to the warning system of intelligent driving vehicles. The warning method includes:

[0025] The signal input node acquires and sends multiple warning signals of the intelligent driving vehicle to the warning state machine node;

[0026] The warning state machine node is used to determine the warning state matching each of the multiple warning signals based on a preset warning state level classification strategy, thereby obtaining a warning state set.

[0027] The warning state machine node determines the target warning state in the warning state set and sends the warning information corresponding to the target warning state to the warning node, so that the warning node issues a warning based on the warning information.

[0028] The beneficial effects of this application are:

[0029] Based on the characteristics of the early warning state machine node and the signal input node for acquiring multiple early warning signals from intelligent driving vehicles, resource integration of upstream modules can be achieved. This enables the early warning node of intelligent driving vehicles to provide early warnings under various complex operating conditions. It can classify multiple early warning signals into different early warning states according to the severity of the warning, and then perform logical operations on multiple early warning signals (early warning states) through the state transition logic inside the early warning state machine node. This can save software resources corresponding to the deployment of early warning decisions in intelligent driving vehicles and improve the early warning accuracy of intelligent driving vehicles.

[0030] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the technical solutions provided in the embodiments of this application. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0032] Figure 1 is a schematic diagram of the composition of an early warning system for an intelligent driving vehicle provided in an embodiment of this application;

[0033] Figure 2 is a schematic diagram of the composition of another early warning system for an intelligent driving vehicle provided in an embodiment of this application;

[0034] Figure 3 is a schematic diagram of the composition of another early warning system for an intelligent driving vehicle provided in an embodiment of this application;

[0035] Figure 4 is a schematic diagram of the composition of another early warning system for intelligent driving vehicles provided in an embodiment of this application;

[0036] Figure 5 is a software architecture diagram of the early warning system for autonomous vehicles provided in the embodiments of this application;

[0037] Figure 6 is an architecture diagram of the state machine of the warning module in the warning system of an intelligent driving vehicle provided by the embodiments of this application;

[0038] Figure 7 is a flowchart illustrating a warning method for an intelligent driving vehicle provided in an embodiment of this application;

[0039] Among them, 1-the early warning system of intelligent driving vehicle 2; 11-signal input node; 111-initial signal output sub-node; 112-condition processing layer sub-node; 12-early warning state machine node; 121-prompt state machine sub-node; 122-alarm state machine sub-node; 13-early warning node; 131-prompt sub-node; 132-decision sub-node; 2-intelligent driving vehicle. Detailed Implementation

[0040] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0041] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0042] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this application belong. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of embodiments of this application.

[0044] In related technologies, the warning function in the field of intelligent driving is often deployed separately and output directly to the vehicle's infotainment system. It lacks resource integration, which not only increases the load on software resources, but also requires downstream modules on the vehicle to perform additional logic output when multiple alarms are triggered at the same time, thus leading to the complexity of software development.

[0045] Based on this, this embodiment provides a warning system for an intelligent driving vehicle. As shown in Figure 1, which is a schematic diagram of the composition of a warning system for an intelligent driving vehicle provided in this application embodiment, the warning system 1 includes: a signal input node 11, a warning state machine node 12, and a warning node 13, wherein:

[0046] The signal input node 11 is configured to acquire and send multiple warning signals of the intelligent driving vehicle 2 to the warning state machine node 12;

[0047] The warning state machine node 12 is configured to determine the warning state matching each of the multiple warning signals to be warned based on a preset warning state level division strategy, thereby obtaining a warning state set.

[0048] The early warning state machine node 12 is further configured to determine a target early warning state based on the early warning level in the early warning state set, and send the early warning information corresponding to the target early warning state to the early warning node 13, so that the early warning node 13 issues an early warning regarding the early warning information.

[0049] In some embodiments of this application, the intelligent driving vehicle 2 is an autonomous driving vehicle or an automated driving vehicle, which is a vehicle that uses advanced sensors, control systems and artificial intelligence technologies.

[0050] Among them, the early warning system 1 of the intelligent driving vehicle 2 can be deployed on the intelligent driving vehicle 2 and configured to provide early warning strategies for the intelligent driving vehicle 2; here, the signal input node 11 can be configured to receive multiple early warning signals output by the acquisition module or decision module on the intelligent driving vehicle 2. These multiple early warning signals can be used to characterize the driver's hands being off the wheel for more than a set time, the curvature of the curve exceeding a set threshold when the speed of the intelligent driving vehicle 2 is high, etc.

[0051] In some embodiments of this application, the number corresponding to multiple warning signals can be two or more; wherein, different warning signals represent different warning content of the intelligent driving vehicle 2, and any two warning signals can be obtained from different sensors of the intelligent driving vehicle 2, or can be obtained by the decision module on the intelligent driving vehicle 2.

[0052] The signal input node 11 can directly send the acquired warning signal to the warning state machine node 12, or it can perform logical preprocessing on part of the acquired warning signal before sending it to the warning state machine node 12.

[0053] In some embodiments of this application, the warning state machine node 12 is configured to match the warning state of each of the multiple warning signals to be warned based on a preset warning state level division strategy, thereby obtaining a warning state set; here, the preset warning state level division strategy can be determined according to actual needs, and can be generated according to the actual warning strategy of the intelligent driving vehicle 2.

[0054] For example, a preset warning state level classification strategy may include four levels by default: Level 1 alert state, Level 2 alert state, Level 1 alarm state, and Level 2 alarm state. Thus, the warning state machine node 12 can be configured to classify multiple warning signals into corresponding warning states, such as Level 1 alert state, Level 2 alert state, Level 1 alarm state, and Level 2 alarm state, thereby obtaining a warning state set. Here, the warning states matched by any two warning signals among the multiple warning signals can be the same or different. For example, warning signal 1 indicates that the driver of the intelligent driving vehicle 2 has taken their hands off the wheel for more than a set time, which matches the Level 1 alarm state, while warning signal 2 indicates that the tire temperature of the intelligent driving vehicle 2 is too high, which matches the Level 1 alert state.

[0055] Here, the number of state types corresponding to the warning states included in the warning state set is less than or equal to the number of state types corresponding to all warning states under the preset warning state level classification strategy.

[0056] In some embodiments of this application, the early warning state machine node 12 may be further configured to select a target early warning state from the obtained early warning state set based on the early warning level; here, the target early warning state may be the early warning state corresponding to the highest early warning level in the early warning state set, or it may be that the early warning states in the early warning state set are divided into levels based on the early warning level, and the early warning state corresponding to the appropriate level is selected and determined as the target early warning state.

[0057] The warning state machine node 12 can also be configured to send the warning information corresponding to the target warning state to the warning node 13, so that the warning node 13 can issue a warning for the warning information. Here, the warning node 13 includes, but is not limited to, a display sub-node and a decision sub-node deployed on the intelligent driving vehicle 2, which can be used to display the warning information and generate decision information that matches the warning information, respectively.

[0058] In this way, based on the characteristics of the early warning state machine node and the signal input node that acquires multiple early warning signals from the intelligent driving vehicle, the resources of the upstream module can be integrated. That is, the early warning node of the intelligent driving vehicle can provide early warnings under various complex working conditions. It can divide multiple early warning signals into different early warning states according to the severity of the early warning. Then, through the state transition logic inside the early warning state machine node, logical operations can be performed on multiple early warning signals (early warning states). This can save the software resources corresponding to the deployment of early warning decisions in the intelligent driving vehicle and improve the early warning accuracy of the intelligent driving vehicle.

[0059] In some embodiments of this application, the warning system 1 of the intelligent driving vehicle 2 includes a signal input node 11, which may include: an initial signal input sub-node 111 and a condition processing layer sub-node 112, as shown in FIG2, which is a schematic diagram of the composition of another intelligent driving vehicle warning system provided in an embodiment of this application, wherein:

[0060] The initial signal input sub-node 111 is configured to acquire multiple initial warning signals of the intelligent driving vehicle 2;

[0061] The initial signal input sub-node 111 is also configured to classify the multiple initial warning signals based on a preset signal classification rule to obtain a signal to be processed sent to the condition processing layer sub-node 112, and a second warning signal sent to the warning state machine node 12.

[0062] The condition processing layer sub-node 112 is configured to preprocess the received signal to be processed to obtain the first warning signal to be sent to the warning state machine node 12.

[0063] In some embodiments of this application, the initial signal input sub-node 111 can be configured to acquire multiple initial warning signals from the intelligent driving vehicle 2, thereby performing preliminary screening on the acquired multiple initial warning signals. Specifically, based on a preset model classification rule, the multiple initial warning signals are divided into: a second warning signal directly sent to the warning state machine node 12, and a pending signal that needs to be sent to the condition processing layer sub-node 112 first. This allows the condition processing layer sub-node 112 to be configured to perform logical preprocessing on the received pending signal, and send the preprocessed first warning signal to the warning state machine node 12.

[0064] In some embodiments of this application, the initial signal input sub-node 111 can be configured to classify multiple initial warning signals based on preset signal classification rules, wherein the preset signal classification rules can be determined according to actual needs. For example, they can be determined according to the driving environment of the intelligent driving vehicle 1 or the intelligent driving system corresponding to the intelligent driving vehicle 2.

[0065] Here, the condition processing layer sub-node 112 can be configured to perform logical preprocessing on the signal to be processed sent by the initial signal input sub-node 111, such as: using the output signals of other functional modules or acquisition modules on the intelligent driving vehicle 2 to construct specific alarm logic, such as: the driver of the intelligent driving vehicle 2 takes his hands off for more than a set time, or the curvature of the curve on the intelligent driving vehicle 2 exceeds a set threshold when the speed is high; wherein, the logical preprocessing obtained by the condition processing layer sub-node 112 (which will be carried in the first warning signal) will be input to the warning state machine node 12 as the jump condition of the state corresponding to the warning state machine sub-node 12.

[0066] In this way, by sequentially using the initial signal input sub-node 111 and the condition processing layer sub-node 112, multiple initial warning signals input from the intelligent driving vehicle 2 to the warning system 1 can be classified and preprocessed more accurately, making the subsequent matching of relevant warning states and determination of target warning states by the warning state machine node 12 more accurate.

[0067] In some embodiments of this application, the warning state set includes: a prompt state set in the first level range and an alarm state set in the second level range, wherein the maximum warning level in the first level range is less than the minimum warning level in the second level range; that is, the warning state machine node 12 in the warning system 1 of the intelligent driving vehicle 2 can be composed of: a prompt state machine sub-node 121 and an alarm state machine sub-node 122, as shown in Figure 3, which is a schematic diagram of the composition of another intelligent driving vehicle warning system provided in the embodiment of this application. The following description is based on Figures 1 to 3:

[0068] The prompting state machine sub-node 121 is configured to jump from a preset prompting state to a target prompting state, and send the target prompting state and a first warning message associated with the target prompting signal to the warning node 13, so that the warning node 13 provides a prompting message for the first warning message in a prompting manner that matches the target prompting state; wherein, the target prompting state is the prompting state with the highest prompting level in the set of prompting states; the target prompting signal is the warning signal to be warned that matches the target prompting state;

[0069] Alarm status sub-node 122 is configured to jump from a preset alarm status to a target alarm status and send the target alarm status and a second warning message associated with the target alarm signal to the warning node 13, so that the warning node 13 alarms the second warning message in an alarm mode matching the target alarm status; wherein, the target alarm status is the alarm status with the highest alarm level in the alarm status set; and the target alarm signal is the warning signal to be warned corresponding to the target alarm status.

[0070] In some embodiments of this application, the warning state set includes: a prompt state set within a first level range and an alarm state set within a second level range, wherein the maximum warning level within the first level range is less than the minimum warning level within the second level range; for example, the warning state set includes: a prompt state set composed of a first prompt state and a second prompt state, and an alarm state set composed of a first alarm state and a second alarm state; wherein the warning level (prompt level) corresponding to the first prompt state and the second prompt state is within the first level range, and the warning level (alarm level) corresponding to the first alarm state and the second alarm state is within the second level range.

[0071] The early warning state machine node 12 can be composed of two parts: the prompt state machine sub-node 121 and the alarm state machine sub-node 122.

[0072] Here, the prompting state machine sub-node 121 can be configured to, upon receiving a prompting state set, jump its own state, i.e., the preset prompting state corresponding to the prompting state machine sub-node 121, to the target prompting state (the prompting state corresponding to the highest prompting level in the prompting state set), and simultaneously send the target prompting state and the first warning information associated with the warning signal matching the target prompting state to the warning node 13, so that the warning node 13 can provide a prompt for the first warning information in a prompting manner that matches the target prompting state.

[0073] For example, the prompting state machine sub-node 121 can be configured to jump its default initial prompting state, i.e., the preset prompting state, to the secondary prompting state, and send the secondary prompting state and the first warning information carried by the warning signal corresponding to the secondary prompting state to the warning node 13, so that the warning node 13 can prompt the first warning information in the prompting method matched by the secondary prompting state, for example: by displaying a text prompt on the relevant vehicle or instrument panel of the intelligent driving vehicle 2, and also by displaying a prompt on the relevant buzzer of the intelligent driving vehicle 2.

[0074] Here, the alarm status machine sub-node 122 can be configured to, upon receiving an alarm status set, switch its own status, i.e., the preset alarm status corresponding to the alarm status machine sub-node 122, to the target alarm status (the alarm status corresponding to the highest alarm level in the alarm status set), and send the target alarm status, as well as the second warning information associated with the warning signal matching the target alarm status, to the warning node 13, so that the warning node 13 can issue an alarm for the second warning information in an alarm mode that matches the target alarm status.

[0075] For example, when the alarm state set includes: a level 1 alarm state, a level 2 alarm state, and a level 3 alarm state (the alarm level of the level 2 alarm state is higher than that of the level 1 alarm state, and the alarm level of the level 3 alarm state is higher than that of the level 2 alarm state), the alarm state machine sub-node 122 can be configured to jump its default initial alarm state, i.e., the preset alarm state, to the level 3 alarm state, and send the level 3 alarm state and the warning information carried by the warning signal corresponding to the level 3 alarm state to the warning node 13, so that the warning node 13 will issue an alarm for the warning information in the alarm mode matched by the level 3 alarm state, for example: by displaying a text prompt on the relevant vehicle system or instrument panel of the intelligent driving vehicle 2, controlling the relevant execution module of the intelligent driving vehicle 2 to stop the operation layer.

[0076] In this way, by setting the prompt state machine sub-node 121 and the alarm state machine sub-node 122 in the block configuration of the early warning state machine node 12, it is possible to divide various warning signals into different warning methods and warning states corresponding to different warning levels, thereby making the subsequent warning methods and warning levels more accurate. This enables the intelligent driving vehicle 2 to issue warnings to relevant warning information in different ways and at different levels under various complex working conditions.

[0077] In some embodiments of this application, the prompt state machine sub-node 121 can also switch between prompt states corresponding to multiple different prompt levels based on relevant jump conditions, as shown in Figure 3:

[0078] The prompting state machine sub-node 121 is also configured to, in the case that a first prompting state exists in the prompting state set, respond to a first trigger end signal within a first preset time period and jump from the target prompting state to the first prompting state;

[0079] The prompting state machine sub-node 121 is further configured to, in the event that the first prompting state does not exist in the prompting state set, respond to the first trigger end signal during the first preset time period and jump from the target prompting state to the preset prompting state.

[0080] Wherein, the prompt level corresponding to the first prompt state is lower than the prompt level corresponding to the target prompt state; the first trigger end signal is a signal associated with the target prompt signal.

[0081] In some embodiments of this application, the prompting state machine sub-node 121 can also be configured to, in response to receiving a trigger end signal associated with the target prompting signal (which matches the target prompting state), further determine whether a prompting state with a lower prompting level than the target prompting state exists in the prompting state set. If such a state exists, the prompting state jumps from the target prompting state to a first prompting state; if not, the prompting state jumps from the target prompting state to a preset prompting state. Here, the preset prompting state is the default initial state of the prompting state machine sub-node 121, i.e., the state corresponding to when no signal is triggered. This constitutes a state degradation of the prompting state machine sub-node 121.

[0082] The duration of the first preset time period can be determined according to actual needs, and can be 10 minutes or 5 minutes.

[0083] Here, the prompting state machine sub-node 121 can also be configured to send its current prompting state, such as the first prompting state and related information, to the warning node 13, so that the warning node 13 can prompt the warning information carried by the warning signal that triggers the first prompting state according to the prompting method matched by the first prompting state; or the prompting state machine sub-node 121 can also be configured not to send any information to the warning node 13 when it is in a preset prompting state.

[0084] In this way, when the prompting state machine sub-node 121 receives multiple warning signals (corresponding prompting state sets), it can switch between multiple prompting states based on the switching logic between warning levels (prompt levels) and the prompting duration of the prompting state. This allows the prompting state machine sub-node 121 to form a complete prompting system, providing a foundation for the subsequent accurate warning prompts of the intelligent driving vehicle 2.

[0085] Correspondingly, please refer to Figure 3:

[0086] The prompting status machine sub-node 121 is further configured to upgrade the warning status corresponding to the target prompting signal to the first alarm status in the alarm status machine sub-node if the first trigger end signal is not received within the first preset time period and the prompting level corresponding to the target prompting status is the highest prompting level corresponding to the prompting status machine sub-node; wherein, the first alarm status is the lowest alarm level corresponding to the alarm status machine sub-node.

[0087] The prompting state machine sub-node 121 is further configured to jump from the target prompting state to the second prompting state if it does not receive the trigger end signal within the first preset time period and the prompting level corresponding to the target prompting state is not the highest prompting level corresponding to the prompting state machine sub-node; wherein the prompting level corresponding to the target prompting state is lower than the prompting level corresponding to the second prompting state.

[0088] In some embodiments of this application, the prompting state machine sub-node 121 is further configured to, if it does not receive the first trigger end signal within a first preset time period, adaptively switch the target prompting state to the corresponding warning state (prompt state or alarm state) based on whether the prompting level corresponding to the target prompting state is the highest prompting level corresponding to the prompting state machine sub-node 121.

[0089] Here, the prompt level corresponding to the second prompt state can be one level higher than the prompt level corresponding to the target prompt state, or it can be higher than multiple levels, depending on the actual needs.

[0090] In this way, the prompting state machine sub-node 121 can also be configured to perform relevant state transitions based on the level corresponding to the current prompting state if the corresponding end signal is not obtained within a preset time period, thereby forming a complete prompting system within the prompting state machine sub-node 121, providing a foundation for accurate early warning prompts for the subsequent intelligent driving vehicle 2.

[0091] In some embodiments of this application, the alarm state machine sub-node 122 can also switch between alarm states corresponding to multiple different alarm levels based on relevant switching conditions, as shown in Figure 3:

[0092] The alarm status machine sub-node 122 is also configured to, in the event that a first alarm state exists in the alarm level set, respond to a second trigger end signal within a second preset time period and jump from the target alarm state to the first alarm state.

[0093] The alarm status machine sub-node 122 is further configured to, in the event that the first alarm status does not exist in the alarm level set, respond to the second trigger end signal within the second preset time and jump from the target alarm status to the preset alarm status.

[0094] Wherein, the alarm level corresponding to the first alarm state is lower than the alarm level corresponding to the target alarm state; the second trigger end signal is a signal associated with the target alarm signal.

[0095] In some embodiments of this application, the alarm state machine sub-node 122 can also be configured to, in response to receiving a trigger end signal associated with the target alarm signal (which matches the target alarm state), further, based on whether an alarm state with an alarm level lower than the target alarm state exists in the alarm state set, if so, jump from the target alarm state to the first alarm state; if not, jump from the target alarm state to a preset alarm state; here, the preset alarm state is the default initial state of the alarm state machine sub-node 122, i.e., the state corresponding to when no signal is triggered. This is the degradation of the state of the alarm state machine sub-node 121.

[0096] The duration of the second preset time period can be determined according to actual needs, and can be 3 minutes or 2 minutes. Here, the duration of the first time period can be equal to or different from the duration of the second preset time period.

[0097] Here, the alarm status machine sub-node 122 can also be configured to send its corresponding alarm status, such as the first alarm status and related information, to the early warning node 13, so that the early warning node 13 can issue an alarm according to the alarm method matched by the first alarm status, and the early warning information carried by the early warning signal that triggers the first alarm status. Here, the alarm status machine sub-node 121 can also be configured to preset alarm status, in which case no information will be sent to the early warning node 13.

[0098] In this way, when the alarm state machine sub-node 122 receives multiple warning signals (corresponding alarm state sets), it can switch between multiple alarm states based on the switching logic between warning levels (alarm levels) and the alarm duration of the alarm state. This allows the alarm state machine sub-node 122 to form a complete alarm system, providing a foundation for accurate warning prompts from the intelligent driving vehicle 2.

[0099] Here, the second trigger end signal includes at least: a touch signal for the control module on the intelligent driving vehicle 2.

[0100] The alarm status machine sub-node 122 is further configured to, in the event that the first alarm status does not exist in the alarm status set, respond to the second trigger end signal within the second preset time period and jump from the target alarm status to the alarm end status.

[0101] In some embodiments of this application, the touch signal can be: pressing the brake pedal, manually exiting the intelligent driving function, or lightly pulling the steering wheel. Correspondingly, the control module can be the steering wheel, intelligent driving module, speed control module, etc., on the intelligent driving vehicle 2.

[0102] Here, the alarm state machine sub-node 122 may further include an alarm end state. Since the warning level corresponding to the alarm state is higher than the warning level corresponding to the prompt state, an alarm end state can be deployed in the alarm state machine sub-node 122 to switch the corresponding alarm state to the corresponding alarm end state after obtaining additional relevant control for the intelligent driving vehicle 2.

[0103] In this way, based on the touch signals of the control module on the intelligent driving vehicle 2, the decision-making on the alarm status is further enhanced, thereby improving the driving safety of the intelligent driving vehicle 2.

[0104] Correspondingly, please refer to Figure 3:

[0105] The alarm status machine sub-node 122 is further configured to, if it does not receive the second trigger end signal within the second preset time period and the alarm level corresponding to the target alarm status is the highest alarm level corresponding to the alarm status machine sub-node, switch the target alarm status to a disabled status and send the disabled status to the warning node 13, so that the warning node 13 controls the intelligent driving vehicle to disable the intelligent driving system on the intelligent driving vehicle within the third time period based on the disabled status;

[0106] The alarm status machine sub-node 122 is further configured to jump from the target alarm state to the second alarm state if it does not receive the second trigger end signal within the second preset time period and the alarm level corresponding to the target alarm state is not the highest alarm level corresponding to the alarm status machine sub-node; wherein the alarm level corresponding to the target alarm state is lower than the alarm level corresponding to the second alarm state.

[0107] In some embodiments of this application, the alarm state machine sub-node 122 is further configured to, if it does not receive the second trigger end signal within a second preset time period, adaptively switch the target alarm state to the corresponding warning state (disabled state or alarm state) based on whether the alarm level corresponding to the target alarm state is the highest alarm level corresponding to the alarm state machine sub-node.

[0108] Here, the alarm level corresponding to the second alarm state can be one level higher than the alarm level corresponding to the target alarm state, or it can be higher than multiple levels, depending on the actual needs.

[0109] In this way, the alarm status machine sub-node 121 can also be configured to perform relevant state transitions based on the level corresponding to the current alarm status if the corresponding end signal is not obtained within a preset time period, thereby forming a complete alarm system inside the alarm status machine sub-node 122, providing a basis for accurate early warning prompts for the subsequent intelligent driving vehicle 2.

[0110] Based on the above description, in the warning system 1 for the autonomous vehicle 2 provided in this application embodiment, the warning node 13 may include:

[0111] The prompt sub-node 131 is configured to provide a prompt for the warning information corresponding to the warning status of the target;

[0112] Decision sub-node 132 is configured to generate decision information based on the warning information.

[0113] Here, please refer to Figure 4, which is a schematic diagram of the composition of another early warning system for an intelligent driving vehicle provided in this application embodiment; wherein, the prompting sub-node 131 may be a prompting module deployed on the intelligent driving vehicle 2, used to display relevant early warning information to realize the initial function of prompting or alarming; at the same time, the decision sub-node 132 may be a decision module deployed on the intelligent driving vehicle 2, used to generate corresponding decision information based on the early warning information, so that the intelligent driving vehicle 2 can drive safely after the early warning information is generated.

[0114] In this way, by dividing the early warning node 13 into corresponding nodes according to their functions, the early warning accuracy of the early warning system 1 can be improved.

[0115] The warning system for the above-mentioned autonomous vehicle will be described below with reference to a specific embodiment. However, it should be noted that this specific embodiment is only for better illustrating the embodiments of this application and does not constitute an improper limitation on the embodiments of this application.

[0116] While intelligent driving brings people an efficient and convenient travel experience, it also carries inherent risks. For example, when faced with complex road conditions, potential emergencies, and sudden malfunctions of various vehicle hardware or sensors, an effective early warning system is needed to help drivers in autonomous vehicles take over the vehicle in a timely manner to avoid accidents.

[0117] In related technologies, warnings in the field of intelligent driving are mostly single warnings targeting a limited number of operating conditions. For example, collision warnings are issued via radar when the vehicle is reversing and / or making a U-turn; attention distraction warnings are issued by analyzing the driver's facial expressions and / or motor characteristics through cameras; and environmental warnings are issued by sensing temperature and / or road moisture through vehicle body sensors. These warning functions are often deployed separately and output directly to the vehicle's infotainment system, thus lacking resource integration. This not only increases the load on software resources, but also requires downstream modules on the vehicle to perform additional logic outputs when multiple alarms are triggered simultaneously, further increasing development complexity.

[0118] Based on this, the embodiments of this application, based on a finite state machine, can effectively solve the above problems. The state machine can summarize complex and diverse alarm prompts into a finite number of states. For example, low-risk factors can be indicated with text prompts on the vehicle's infotainment system, such as slippery roads or foggy weather; while high-risk alarms, such as sensor failures or camera malfunctions, can be indicated with takeover requests and audible alerts on the vehicle's infotainment system. By compressing a large amount of alarm information into a finite number of states, alarms can be uniformly prioritized, such as escalation and downgrading, and alarm exit methods can be implemented. The information is then directly sent from the state machine to downstream modules. Downstream modules no longer need to perform logical processing; they only need to map the corresponding text prompts and provide audible feedback to the vehicle's infotainment system, instrument cluster, etc.

[0119] The early warning system for autonomous vehicles provided in this application embodiment classifies various early warnings into different states based on their severity and form. Through transition logic and behavior between states, the system designs the priority, duration, alarm method, and cancellation conditions of the early warnings, forming a complete early warning system. Compared to traditional solutions where the control module controls vehicle speed warnings and the perception module controls distance warnings, this system saves system resources, thereby improving the accuracy and effectiveness of early warnings for intelligent driving vehicles. Figure 5 shows the software architecture diagram of the early warning system for autonomous vehicles provided in this application embodiment. The input layer 501 is used to receive signals output from other input modules on the vehicle, including: perception modules (image acquisition, radar, or sensors, etc.), decision modules, and / or normalization modules on the intelligent driving vehicle. Here, the input layer can also serve as an isolation layer between the signals provided by the vehicle body and the subsequent early warning module state machine 503.

[0120] The condition processing layer 502 performs logical preprocessing on the signals output from the input layer based on preset rules. This preprocessing is used to combine the output signals from the vehicle body and other modules on the vehicle body to construct specific alarm logic. For example, in an intelligent driving vehicle, the driver may take their hands off the wheel for more than a set time; or the curvature of a curve may exceed a set threshold at high speeds. Here, the alarm signal output by the condition processing layer 502 is input to the state machine 503 of the warning module as a transition condition for the state machine.

[0121] The warning module state machine 503 (corresponding to the warning state machine node provided in this application embodiment) first classifies and classifies the alarm signals output by the condition processing layer, integrates and packages the various prompt alarm signals (input by the condition processing layer 502 and the input layer 501) into various alarm states or prompt states according to their severity, and performs state transitions, alarm or prompt release logic, etc. Among them, the prompt signal output by the warning module state machine 503 will be directly transmitted to the downstream module 504 to realize the display or prompt on the guidance instrument or vehicle display module on the intelligent driving vehicle, or the alarm signal output by the warning module state machine 503 can be transmitted to the decision module 505 to realize the activation or deactivation of the intelligent driving function, etc.

[0122] Correspondingly, as shown in Figure 6, it is an architecture diagram of the state machine of the warning module in the warning system of the intelligent driving vehicle provided by the embodiment of this application, wherein: the state machine of the warning module mainly consists of two modules, namely the prompt module 601 with low severity and the alarm module 602 with high severity.

[0123] The default state of the prompt module 601 is a no-prompt state, which it automatically enters upon program startup. When the condition processing layer inputs a signal that triggers a prompt (i.e., signal 1 and signal 2 corresponding to different modules on the vehicle), the prompt module 601 enters the corresponding prompt state. When multiple prompt signals are triggered simultaneously, the prompt module 601 displays the prompt state with the highest priority according to the preset priority and sends it to the downstream module. Here, the priority of the secondary prompt is higher than that of the primary prompt. Furthermore, each level of prompt also prioritizes the specific prompt information. The main difference between primary and secondary prompts is that primary prompts only provide text prompts on the vehicle's infotainment system or instrument panel, while secondary prompts are accompanied by a buzzer warning.

[0124] The state machine design simplifies the escalation and de-escalation of alerts. Because the severity of alert module 601 is low, the vehicle no longer needs to issue alerts once the alarm source recovers. Therefore, signal 2 is triggered by signal 2_end. For example, in the driver hands-off alert, considering the driver's need to maintain attention and monitor the vehicle's movement, the state machine will prompt the driver to take their hands on the steering wheel after the driver's hands have been off the wheel for an extended period. The corresponding chain is: driver hands-off for an extended period triggers signal 2, the instrument panel displays the alert, and after the driver takes back control of the steering wheel, signal 2_end is triggered, the alert disappears, and the state machine returns to the no-alert state. Signal 1_end is slightly more complex; its trigger condition is the disappearance of signal 1, i.e., triggering signal 1_end or signal 2. Because the secondary alert has higher priority, triggering the secondary alert requires an escalation of the state.

[0125] The state machine corresponding to the prompt module 601 adopts a circular design. Almost all state transitions will go through the default node again to re-run the logical loop. The advantage of this is that the transition logic between states is clear and straightforward, and no one is missed. For example, when a level 1 prompt and a level 2 prompt are triggered simultaneously, if the level 2 prompt ends prematurely, the overridden level 1 prompt will continue to be issued until all prompt signals disappear. If, at this stage, the level 1 prompt has received the end signal before the level 2 prompt has ended, the level 1 prompt will not be issued at all.

[0126] The state machine structure corresponding to the alarm module 602 is roughly the same as that corresponding to the prompt module 601. The difference is that the alarm module 602 manages takeover alarms. The signals that trigger takeover alarms are often of higher severity, and the alarm will not disappear on its own even if the alarm source has recovered. It can only be deactivated after the driver takes over the vehicle. For example, pressing the brake, manually disengaging the intelligent driving function, or gently pulling the steering wheel. Therefore, the alarm module 602 has an additional alarm end state compared to the prompt module 601. Driver takeover is one of the conditions for both signal 3_end and signal 4_end, and also one of the conditions for entering the alarm end state. The execution logic of signal 3 and signal 4 is largely the same as that of the prompt module 601, both receiving signals packaged by the condition processing layer. However, the deactivation of the takeover alarm is more complex. When the state machine is in the alarm-not-takeover state for a long time, the downstream control module will perform certain control actions, such as the intelligent driving function actively stopping the vehicle. When the parking is completed and the handbrake is engaged, the takeover alarm will also be deactivated. (In the field of autonomous driving...)

[0127] Furthermore, leveraging the powerful scalability of the state machine, this design can incorporate many additional functions. For instance, adding a timer in a certain warning state can track the cumulative time of triggered prompts and alarms during driving, providing a notification. The alarm module 602 can also be equipped with a disabled state, used to penalize the driver by preventing them from reactivating intelligent driving functions for a certain period if the driver has been inactive for an extended period.

[0128] Based on the above, and leveraging the characteristics of the early warning state machine node and the signal input node for acquiring multiple early warning signals from intelligent driving vehicles, resource integration of upstream modules can be achieved. This enables the early warning node of intelligent driving vehicles to provide early warnings under various complex operating conditions. It can classify multiple early warning signals into different early warning states based on their severity, and then perform logical operations on multiple early warning signals (early warning states) through the state transition logic within the early warning state machine node. This can save software resources corresponding to the deployment of early warning decisions in intelligent driving vehicles and improve the accuracy of early warnings in intelligent driving vehicles.

[0129] This application provides a warning method for intelligent driving vehicles, applied to the warning system of intelligent driving vehicles. Figure 7 shows a flowchart of the warning method for intelligent driving vehicles provided in this application. The steps shown in Figure 7 will be explained in conjunction with the following:

[0130] Step S101: The signal input node acquires and sends multiple warning signals of the intelligent driving vehicle to the warning state machine node.

[0131] Step S102: The warning state machine node uses a preset warning state level division strategy to determine the warning state matching each of the multiple warning signals to be warned, and obtains a warning state set.

[0132] Step S103: The early warning state machine node determines the target early warning state in the early warning state set and sends the early warning information corresponding to the target early warning state to the early warning node, so that the early warning node issues an early warning based on the early warning information.

[0133] It should be noted that the description of the warning method for this intelligent driving vehicle in the corresponding embodiment is similar to the description of the system embodiment described above, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiments of this application, please refer to the description of the system embodiments of this application for understanding.

[0134] Correspondingly, this application embodiment further provides a computer program product, which includes computer-executable instructions. After the computer-executable instructions are executed, they can realize the early warning method for intelligent driving vehicles provided in this application embodiment.

[0135] Accordingly, this application embodiment further provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, implement the early warning method for intelligent driving vehicles provided in the above embodiments.

[0136] The descriptions of the warning methods and storage media embodiments for intelligent driving vehicles above are similar to those of the method embodiments described above, and have similar technical descriptions and beneficial effects as the corresponding system embodiments. Due to space limitations, please refer to the descriptions of the system embodiments above, and therefore, they will not be repeated here. For technical details not disclosed in the embodiments of the warning methods and storage media for intelligent driving vehicles provided in this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0137] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present application, the sequence number of the above-described processes does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0139] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0140] Furthermore, in the embodiments of this application, all functional units can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units. Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0141] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A warning system for an intelligent driving vehicle, characterized in that, The early warning system includes: a signal input node, an early warning state machine node, and an early warning node. The signal input node is configured to acquire and send multiple early warning signals from the intelligent driving vehicle to the early warning state machine node. The early warning state machine node is configured to determine the early warning state matching each of the multiple early warning signals based on a preset early warning state level classification strategy, thus obtaining an early warning state set. The early warning state set includes: a prompt state set within a first level range and an alarm state set within a second level range, wherein the maximum early warning level in the first level range is less than the minimum early warning level in the second level range. The early warning state machine node includes: a prompt state machine sub-node configured to jump from a preset prompt state to a target prompt state and send the target prompt state and first early warning information associated with the target prompt signal to the early warning node, so that the early warning node responds to the vehicle in a prompt manner matching the target prompt state. The first warning information is provided; wherein, the target warning state is the warning state with the highest warning level in the set of warning states; the target warning signal is the warning signal to be warned corresponding to the target warning state; the alarm state machine sub-node is configured to jump from a preset alarm state to the target alarm state, and send the second warning information associated with the target alarm state and the target alarm signal to the warning node, so that the warning node alarms the second warning information in an alarm mode matching the target alarm state; wherein, the target alarm state is the alarm state with the highest alarm level in the set of alarm states; the target alarm signal is the warning signal to be warned corresponding to the target alarm state; the warning state machine node is also configured to determine the target warning state in the set of warning states based on the warning level, and send the warning information corresponding to the target warning state to the warning node, so that the warning node issues a warning for the warning information.

2. The early warning system according to claim 1, characterized in that, The plurality of warning signals to be issued include: a first warning signal and a second warning signal. The signal input node includes: an initial signal input sub-node and a condition processing layer sub-node, wherein: the initial signal input sub-node is configured to acquire a plurality of initial warning signals of the intelligent driving vehicle; the initial signal input sub-node is further configured to classify the plurality of initial warning signals based on a preset signal classification rule to obtain a signal to be processed sent to the condition processing layer sub-node and a second warning signal sent to the warning state machine node; the condition processing layer sub-node is configured to preprocess the received signal to be processed to obtain the first warning signal sent to the warning state machine node.

3. The early warning system according to claim 1, characterized in that, The prompting status machine sub-node is further configured to, in the case that a first prompting status exists in the prompting status set, respond to a first trigger end signal within a first preset time period and jump from the target prompting status to the first prompting status; The prompt status machine sub-node is further configured to, in the event that the first prompt status does not exist in the prompt status set, respond to the first trigger end signal during the first preset time period and jump from the target prompt status to the preset prompt status; wherein, the prompt level corresponding to the first prompt status is lower than the prompt level corresponding to the target prompt status; and the first trigger end signal is a signal associated with the target prompt signal.

4. The early warning system according to claim 3, characterized in that, The prompting status machine sub-node is further configured to, if it does not receive the first trigger end signal during the first preset time period and the prompt level corresponding to the target prompting status is the highest prompt level corresponding to the prompting status machine sub-node, upgrade the warning status corresponding to the target prompting signal to the first alarm status in the alarm status machine sub-node; wherein, the first alarm status is the lowest alarm level corresponding to the alarm status machine sub-node; the prompting status machine sub-node is further configured to, if it does not receive the first trigger end signal within the first preset time period and the prompt level corresponding to the target prompting status is not the highest prompt level corresponding to the prompting status machine sub-node, jump from the target prompting status to the second prompting status; wherein, the prompt level corresponding to the target prompting status is lower than the prompt level corresponding to the second prompting status.

5. The early warning system according to claim 3, characterized in that, The alarm status machine sub-node is further configured to, in the case that a first alarm state exists in the alarm status set, respond to a second trigger end signal within a second preset time period and jump from the target alarm state to the first alarm state; the alarm status machine sub-node is further configured to, in the case that the first alarm state does not exist in the alarm status set, respond to the second trigger end signal within the second preset time period and jump from the target alarm state to the preset alarm state; wherein, the alarm level corresponding to the first alarm state is lower than the alarm level corresponding to the target alarm state; the second trigger end signal is a signal associated with the target alarm signal.

6. The early warning system according to claim 5, characterized in that, The second trigger end signal includes at least: a touch signal for the control module on the intelligent driving vehicle; the alarm status machine sub-node is further configured to, in the event that the first alarm status does not exist in the alarm status set, respond to the second trigger end signal within the second preset time and jump from the target alarm status to the alarm end status.

7. The early warning system according to claim 5 or 6, characterized in that, The alarm status machine sub-node is further configured to, if it does not receive the second trigger end signal during the second preset time period and the alarm level corresponding to the target alarm status is the highest alarm level corresponding to the alarm status machine sub-node, switch the target alarm status to a disabled status and send the disabled status to the warning node, so that the warning node controls the intelligent driving vehicle to disable the intelligent driving system on the intelligent driving vehicle during the third time period based on the disabled status; the alarm status machine sub-node is further configured to, if it does not receive the second trigger end signal during the second preset time period and the alarm level corresponding to the target alarm status is not the highest alarm level corresponding to the alarm status machine sub-node, switch from the target alarm status to a second alarm status; wherein the alarm level corresponding to the target alarm status is lower than the alarm level corresponding to the second alarm status.

8. The early warning system according to claim 1 or 2, characterized in that, The early warning node includes: a prompting sub-node, configured to prompt the early warning information corresponding to the target early warning state; and a decision sub-node, configured to generate decision information based on the early warning information.

9. A warning method for an intelligent driving vehicle, characterized in that, The aforementioned early warning method is applied to an early warning system for an intelligent driving vehicle. The early warning system includes a signal input node, an early warning state machine node, and an early warning node. The early warning method includes: acquiring and sending multiple early warning signals from the intelligent driving vehicle to the early warning state machine node using the signal input node; determining the early warning state matching each of the multiple early warning signals based on a preset early warning state level classification strategy using the early warning state machine node, thus obtaining an early warning state set; the early warning state set includes a prompt state set within a first level range and an alarm state set within a second level range, wherein the maximum early warning level in the first level range is less than the minimum early warning level in the second level range; the early warning state machine node includes a prompt state machine sub-node configured to jump from a preset prompt state to a target prompt state, and sending the target prompt state and first early warning information associated with the target prompt signal to the early warning node, so that the early warning node... A prompting method matching the prompting state is used to prompt the first warning information; wherein, the target prompting state is the prompting state with the highest prompting level in the prompting state set; the target prompting signal is the warning signal corresponding to the target prompting state; an alarm state machine sub-node is configured to jump from a preset alarm state to a target alarm state, and send the target alarm state and the second warning information associated with the target alarm signal to the warning node, so that the warning node alarms the second warning information in an alarming method matching the target alarm state; wherein, the target alarm state is the alarm state with the highest alarm level in the alarm state set; the target alarm signal is the warning signal corresponding to the target alarm state; the warning state machine node determines the target warning state in the warning state set, and sends the warning information corresponding to the target warning state to the warning node, so that the warning node issues a warning for the warning information.

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