Vehicle driving intention representation method and device and vehicle

Abstract

The embodiment of the invention provides a vehicle driving intention representation method and device and a vehicle. The method comprises the following steps: acquiring environment information of the vehicle; according to the environment information and the vehicle state, intention information of a vehicle driving behavior is obtained, the intention information comprises driving purpose information and vehicle control information, the driving purpose information represents a driving decision for the environment information, and the vehicle control information represents driving information when the vehicle executes the driving decision; a safety mark and a speed mark are displayed according to the driving purpose information and the vehicle control information, the safety mark indicates that the vehicle runs safely, and the speed mark indicates at least one of accelerated running and decelerated running of the vehicle. On the basis of the marks, a user can know in advance what time interval the vehicle is to perform a certain driving behavior and how to perform the driving behavior, and the barrier of communication between the intelligent automobile and the owner of the automobile is eliminated.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and device for expressing vehicle driving intention, and a vehicle. Background Art

[0002] With the rapid development of artificial intelligence technology combined with automotive applications, cars equipped with assisted driving and autonomous driving technologies are gradually entering the market, and cars are gradually shifting from traditional full manual driving to cars equipped with assisted driving. For cars equipped with assisted driving, the car system can make decisions based on the various sensors on the car, and generate various commands based on these decisions to control various systems of the car system (such as the braking system, fragrance system, air conditioning system, etc.).

[0003] However, the decision on vehicle behavior during vehicle-assisted driving is made automatically by the vehicle computer, and users lack a way to recognize the driving behavior of the vehicle-assisted driving vehicle, which creates obstacles to the "communication" between the car and the user.

[0004] When making decisions, the existing car-machine system tells users the results of the vehicle's command execution and only prompts users of the driving behavior of the decision without any further prompts. This leads to obstacles in the "communication" between smart cars and car owners, which is not conducive to people's trust in smart cars. Summary of the invention

[0005] The present application discloses a vehicle driving intention representation method, device and vehicle, which can improve the interactivity between the vehicle and the user.

[0006] In a first aspect, an embodiment of the present application provides a method for expressing vehicle driving intention. The method can be applied to a vehicle, and includes: the vehicle obtains environmental information of the vehicle. The vehicle obtains intention information of the vehicle's driving behavior based on the environmental information and the vehicle state. The intention information includes driving purpose information and vehicle control information. The driving purpose information represents the driving decision for the environmental information. The vehicle control information represents the driving information of the vehicle when executing the driving decision. Then, the vehicle displays a safety mark and a speed mark based on the driving purpose information and the vehicle control information. The safety mark indicates that the vehicle is safe to drive. The speed mark indicates at least one of accelerating and decelerating the vehicle.

[0007] It can be understood that the safety mark can indicate that the passage time and space corresponding to the safety mark is safe, so that users can rest assured and do not worry about the danger of vehicle collision. The speed mark can make users know that the vehicle is about to accelerate or decelerate.

[0008] Among them, the safety mark and speed mark can be superimposed on the navigation path for display.

[0009] In the embodiment of the present application, the intention information of the vehicle driving behavior is obtained based on the vehicle's environmental information and vehicle status, and then the safety mark and speed mark are displayed according to the driving purpose information and vehicle control information. Based on the display of the safety mark and speed mark, the user can know in advance the time interval in which the vehicle will perform a certain driving behavior and how the driving behavior will be performed, thereby eliminating the "communication" barrier between the smart car and the owner, and improving the user's trust in the smart car.

[0010] In a possible implementation, the end point of the speed mark is related to the start point of the safety mark.

[0011] The correlation may be, for example: (1) the end point of the speed mark is the start point of the safety mark. (2) there is a distance between the end point of the speed mark and the start point of the safety mark, and there is no overlap between the speed mark and the safety mark. (3) the end point of the speed mark is after the start point of the safety mark, and there is overlap between the speed mark and the safety mark.

[0012] Regarding (1) the end point of the speed mark is the starting point of the safety mark, it can be applied to the scenario of a vehicle decelerating and following a vehicle. For example, the vehicle first decelerates, and the end point of the speed mark is W1. After the deceleration is completed, the vehicle follows the vehicle, and the starting point of the safety mark is W2. In this scenario, the end point W1 of the speed mark is the starting point W2 of the safety mark.

[0013] It can be understood that the starting point and the ending point in the embodiment of this scheme do not only refer to a certain point, but can be the time and space orientation where it is located, that is, the ending point of the speed mark and the starting point of the safety mark are on the same straight line perpendicular to the navigation direction.

[0014] For (2), there is a distance between the end point of the speed mark and the starting point of the safety mark, and there is no overlap between the speed mark and the safety mark. It can be applied to the scene of dangerous vehicles on the side or vehicles crossing the line. For example, the vehicle completes deceleration before entering the parallel area of ​​the vehicle crossing the line, and the end point of the speed mark is W3. After the deceleration is completed, the vehicle will pass through the above area at a slow speed, and the starting point W4 of the safety mark is the closest end between the front vehicle and the vehicle. In this scenario, the end point W3 of the speed mark is separated from the starting point W4 of the safety mark by a distance.

[0015] Regarding (3), the end point of the speed mark is after the start point of the safety mark, and there is overlap between the speed mark and the safety mark. This can be applied to scenarios such as vehicles giving way to pedestrians when entering an intersection. For example, the vehicle enters the intersection first, and the start point W5 of the safety mark is the closest end of the intersection to the vehicle. When the vehicle passes through the intersection, it slows down to give way to pedestrians in the intersection, and the end point of the speed mark is W6. In this scenario, the end point W6 of the speed mark is after the start point W5 of the safety mark.

[0016] Of course, there may be other related situations between the speed mark and the safety mark, and this solution does not limit this.

[0017] In a possible implementation, the safety mark includes a time distance mark. The time distance mark is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

[0018] Based on the time interval mark, the user can trust the driving behavior of the vehicle.

[0019] In another possible implementation, the safety mark includes a relative position relationship mark between the obstacle and the vehicle, wherein the relative position relationship mark is a short line or an arc line between the navigation path of the vehicle and the obstacle.

[0020] Among them, the relative position relationship may include a parallel relationship and a cross relationship. A parallel relationship can be understood as the self-vehicle and the other vehicle traveling in different lanes (in the same direction or in the opposite direction) and there will be a passing of the other vehicle. The passing of the other vehicle may be, for example, passing from the left side of the front vehicle, or passing from the right side; it may also be passing in the same direction or in the opposite direction, etc. In this case, when the two vehicles are close to each other, a parallel relationship exists. The mark corresponding to the parallel relationship may be a short line parallel to the navigation path of the self-vehicle displayed in the direction where the obstacle is adjacent to the self-vehicle, or it may be a short parallel line displayed near the front vehicle in parallel with the navigation path when the self-vehicle is traveling in the adjacent lane of the front vehicle. The short line is parallel to the navigation direction of the vehicle.

[0021] The intersection relationship can be understood as the self-vehicle will overtake the front vehicle. It can be overtaking from the right rear of the front vehicle, or passing from the left rear of the front vehicle, etc. The mark corresponding to the intersection relationship can be a cross mark, such as an arc line, displayed near the obstacle in the direction where the obstacle is adjacent to the self-vehicle.

[0022] Based on the relative position relationship mark, the user can know that the vehicle can pass through the above area safely.

[0023] In yet another possible implementation, the safety mark includes highlighting an intersection area on the navigation path.

[0024] For example, in case of an intersection, a highlighted area (arc area) is additionally displayed beyond the above path display area on the path corresponding to the intersection area on the navigation path, so that the user can rest assured that the road section can be safely passed. Of course, other shapes can also be set, such as rectangular areas, circular areas, etc.

[0025] It is understandable that the above safety mark is only an example and is not specifically limited. For example, the time distance mark can be a highlighted area between the obstacle and the vehicle. For another example, the relative position relationship mark can be a highlighted area or a parallel short line.

[0026] In a possible implementation, the speed mark includes a continuous broken line or arc, wherein the broken line or arc convex toward the direction of the vehicle indicates that the vehicle is decelerating, and the broken line or arc convex toward the navigation direction of the vehicle indicates that the vehicle is accelerating.

[0027] Of course, other visual elements may also be used, such as arrows, etc. Based on this display, the user can know in which time interval the vehicle is accelerated or decelerated.

[0028] Preferably, the angle of the above-mentioned broken line or arc indicates the magnitude of the change in the acceleration or deceleration. For example, the smaller the angle of the broken line (or arc), the greater the speed change. Figure 5c As shown; the larger the angle of the broken line (or arc), the smaller the amplitude change.

[0029] This allows for a more flexible display so that users can intuitively understand speed changes.

[0030] In a possible implementation, the vehicle also displays a driving behavior change starting point and a driving behavior change ending point based on the driving purpose information and the vehicle control information.

[0031] The driving behavior change starting point indicates the direction corresponding to the earliest time of the vehicle's speed change information and direction change information. For example, if the time corresponding to the vehicle's speed change information is earlier than the time corresponding to the direction change information, the driving behavior change starting point indicates the direction corresponding to the time corresponding to the vehicle's speed change information.

[0032] The driving behavior change termination point indicates the direction corresponding to the latest ending time of the change among the times corresponding to the speed change information and the direction change information of the vehicle.

[0033] For example, if the end time corresponding to the direction change information of the vehicle is later than the end time corresponding to the speed change information, the driving behavior change end point indicates the direction corresponding to the end time corresponding to the direction change information of the vehicle.

[0034] Based on the display of the driving behavior change starting point and the driving behavior change ending point, the user can know in advance where the vehicle will start to change its movement and where the change will end.

[0035] In a possible implementation, the vehicle further displays a brake mark according to the driving purpose information and the vehicle control information. The brake mark is at least one of a visual element perpendicular to the driving direction, a visual element whose color changes from left to right in a cycle of deepening / lightening, and a visual element that changes from large to small or from existing to non-existent.

[0036] By displaying brake markings, users know where the brakes will be applied.

[0037] In a possible implementation, the vehicle further displays a waiting mark according to the driving purpose information and the vehicle control information. The waiting mark is at least one of a visual element perpendicular to the driving direction, a visual element whose color changes from left to right in a cycle of deepening / lightening, and a visual element that changes from large to small or from existing to non-existent.

[0038] By displaying waiting signs, users know where they will wait.

[0039] In a possible implementation, the vehicle further displays a waiting countdown mark according to the driving purpose information and the vehicle control information. The waiting countdown mark is at least one of a visual element perpendicular to the driving direction, a visual element whose color changes from left to right in a cycle of deepening / lightening, and a visual element that changes from large to small or from existing to non-existent. Of course, it can also be a number, etc., which is not limited in this solution.

[0040] By displaying a waiting countdown mark, users will know when the vehicle waiting time ends.

[0041] In a possible implementation, the vehicle further displays a vehicle following state change mark according to the driving purpose information and the vehicle control information. The vehicle following state change mark is that the navigation path changes from thin to thick or from thick to thin.

[0042] Wherein, from thin to thick indicates to follow the vehicle ahead and decelerate. From thick to thin indicates to follow the vehicle ahead and accelerate. It can be understood that if the width of the navigation path does not change, it indicates to follow the vehicle ahead and drive at a constant speed.

[0043] Based on the following vehicle state change mark, the user can know the change of the vehicle speed in the following vehicle state.

[0044] In a possible implementation, the vehicle also displays a target component. The target component is text and / or an icon. The target component represents environmental information, that is, it displays the cause of the driving decision.

[0045] By displaying this environmental information, users can understand why the vehicle makes corresponding driving decisions, which can enhance the trust between the two.

[0046] In a possible implementation, the vehicle further displays a first text content. The first text content includes a first character and a second character. The first character indicates that an action corresponding to the vehicle control information is about to be performed. The second character indicates the action. When the vehicle starts to perform the action, the second text content is displayed. The second text content includes the second character.

[0047] Of course, the second text content may also include a third character, and the third character indicates that the vehicle is performing the behavior. This solution does not limit this.

[0048] Based on text display, users can more intuitively understand the behavior that the vehicle is about to perform or is currently performing.

[0049] In another possible implementation, the vehicle also displays a first text content. The first text content includes a first character, a second character, and a third character. The first character indicates that at least two consecutive actions corresponding to the vehicle control information are about to be executed. The second character indicates a first action among at least two consecutive actions. The third character indicates a second action among at least two consecutive actions. When the vehicle starts to execute the first action, the second text content is displayed. The second text content includes the second character and the third character. The display intensity of the second character is higher than that of the third character. When the vehicle starts to execute the second action, the third text content is displayed. The third text content includes the above-mentioned third character.

[0050] The display intensity may be, for example, a larger font and / or a darker color, etc. Of course, there may be other designs, which are not limited in this solution.

[0051] Based on text display, users can more intuitively understand the behavior that the vehicle is about to perform or is currently performing.

[0052] In a possible implementation, the vehicle also determines the display timing of the first text, the second text and the third text according to at least one of the driving decision, the vehicle status and the vehicle control information.

[0053] For example, the vehicle obtains speed change timestamp, direction change timestamp, acceleration timestamp, acceleration, speed, steering angle, perception signal, MOP path, etc. Then, the above information is decomposed into tense and semantic content. Based on this, the semantic content of the text display can be obtained for display.

[0054] In a possible implementation, the vehicle displays a driving behavior change starting point and a driving behavior change ending point on the navigation path. The driving behavior change starting point indicates the direction corresponding to the earliest time of change among the times corresponding to the vehicle's speed change information and direction change information; the driving behavior change ending point indicates the direction corresponding to the latest time of change among the times corresponding to the vehicle's speed change information and direction change information. A continuous broken line is displayed between the driving behavior change starting point and the driving behavior change ending point on the navigation path, and the convexity of the broken line toward the direction of the vehicle indicates that the vehicle is decelerating. A time distance mark is displayed on the portion after the driving behavior change ending point on the navigation path, and the time distance mark is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

[0055] This example corresponds to a deceleration and following scenario, so that the user can know where the vehicle will start to change its behavior, where it will end its behavior change, where it will slow down, and where it will follow safely.

[0056] In a possible implementation, the vehicle also plays a target voice, which is obtained based on the intention information.

[0057] In addition to various marks, components, and text displays, voice prompts can also be combined to further prompt users, thereby removing the "communication" barrier between smart cars and car owners and increasing users' trust in smart cars.

[0058] In the second aspect, the present application provides a vehicle driving intention representation device. The device includes: an acquisition module for acquiring the environmental information of the vehicle; a processing module for obtaining the intention information of the vehicle driving behavior according to the environmental information and the vehicle state, the intention information includes driving purpose information and vehicle control information, the driving purpose information represents the driving decision for the environmental information, and the vehicle control information represents the driving information of the vehicle when executing the driving decision; a display module for displaying a safety mark and a speed mark according to the driving purpose information and the vehicle control information, the safety mark indicates that the vehicle is safe to drive, and the speed mark indicates at least one of accelerating and decelerating the vehicle.

[0059] In a possible implementation manner, the end point of the speed mark is related to the start point of the safety mark.

[0060] In a possible implementation, the safety mark includes a time distance mark, and the time distance mark is N parallel short lines with equal intervals between the obstacle and the vehicle, where N is an integer not less than 2.

[0061] In another possible implementation, the safety mark includes a relative position relationship mark between the obstacle and the vehicle, and the relative position relationship mark is a short line or an arc line located between the navigation path of the vehicle and the obstacle, and the short line is parallel to the navigation direction of the vehicle.

[0062] In yet another possible implementation, the safety mark includes highlighting an intersection area on the navigation path.

[0063] In one possible implementation, the speed mark includes a continuous broken line or an arc, wherein the convexity of the broken line or the arc toward the direction of the vehicle indicates that the vehicle is decelerating, and the convexity of the broken line or the arc toward the navigation direction of the vehicle indicates that the vehicle is accelerating, wherein the angle of the broken line or the arc indicates the magnitude of the change in the acceleration or deceleration.

[0064] In a possible implementation, the display module is further used to: display the driving behavior change starting point and the driving behavior change ending point according to the driving purpose information and the vehicle control information. The driving behavior change starting point indicates the direction corresponding to the earliest time of change among the times corresponding to the vehicle's speed change information and direction change information. The driving behavior change ending point indicates the direction corresponding to the latest time of change among the times corresponding to the vehicle's speed change information and direction change information.

[0065] In a possible implementation, the display module is also used to: display one or more of a brake mark, a waiting mark, and a waiting countdown mark according to the driving purpose information and the vehicle control information, wherein the brake mark, the waiting mark, and the waiting countdown mark are visual elements perpendicular to the driving direction, visual elements whose colors change in a cycle from left to right by deepening / lightening, and at least one of visual elements that change from large to small or from existence to non-existence.

[0066] In a possible implementation, the display module is further used to: display a following vehicle status change mark according to the driving purpose information and the vehicle control information, the following vehicle status change mark being a navigation path changing from thin to thick or from thick to thin, the changing from thin to thick indicating a deceleration following the vehicle in front, and the changing from thick to thin indicating an acceleration following the vehicle in front.

[0067] In a possible implementation, the display module is further used to: display a target component, where the target component is text and / or an icon, and the target component represents the environmental information.

[0068] In a possible implementation, the display module is also used to: display a first text content, the first text content includes a first character and a second character, the first character indicates that a behavior corresponding to the vehicle control information is about to be executed, and the second character indicates the behavior; when the vehicle starts to execute the behavior, a second text content is displayed, and the second text content includes the second character.

[0069] In a possible implementation, the display module is also used to: display a first text content, the first text content includes a first character, a second character and a third character, the first character indicates that at least two consecutive behaviors corresponding to the vehicle control information are about to be executed; the second character indicates a first behavior among the at least two consecutive behaviors, and the third character indicates a second behavior among the at least two consecutive behaviors; when the vehicle starts to execute the first behavior, a second text content is displayed, the second text content includes the second character and the third character, and the display intensity of the second character is higher than that of the third character; when the vehicle starts to execute the second behavior, a third text content is displayed, and the third text content includes the third character.

[0070] In a possible implementation, the display module is also used to determine the display timing of the first text, the second text and the third text and the first text, the second text and the third text according to at least one of the driving decision, the vehicle status and the vehicle control information.

[0071] In a possible implementation, the display module is further used to: display a driving behavior change starting point and a driving behavior change ending point on the navigation path, the driving behavior change starting point indicating the direction corresponding to the earliest time of change among the times corresponding to the speed change information and direction change information of the vehicle; the driving behavior change ending point indicating the direction corresponding to the latest time of end of change among the times corresponding to the speed change information and direction change information of the vehicle; display a continuous broken line between the driving behavior change starting point and the driving behavior change ending point on the navigation path, the convexity of the broken line toward the direction of the vehicle indicating that the vehicle is decelerating; and display a time distance mark on the portion after the driving behavior change ending point on the navigation path, the time distance mark being N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

[0072] In a possible implementation, the display module is further used to: play a target voice, where the target voice is obtained according to the intention information.

[0073] In a third aspect, the present application provides a vehicle driving intention representation device, comprising at least one processor and a memory, wherein the at least one processor executes a program or instruction stored in the memory so that the vehicle driving intention representation device implements a method provided in any possible implementation manner of the first aspect.

[0074] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program. When the computer program is executed on a computer or a processor, the computer or the processor implements a method provided in any possible implementation manner of the first aspect.

[0075] In a fifth aspect, the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor implements the method provided in any possible implementation manner of the first aspect.

[0076] In a sixth aspect, the present application provides a chip comprising at least one processor and a memory, wherein the at least one processor executes a program or instruction stored in the memory so that a method provided in any possible implementation of the first aspect is executed.

[0077] In a seventh aspect, the present application provides a vehicle, comprising a device as provided in any possible implementation manner of the second aspect.

[0078] It can be understood that the device described in the second aspect, the device described in the third aspect, the computer-readable storage medium described in the fourth aspect, or the computer program product described in the fifth aspect, the chip described in the sixth aspect, and the vehicle described in the seventh aspect are all used to execute any method provided in the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The following is an introduction to the drawings used in the embodiments of the present application.

[0080] Figure 1 A functional block diagram of a vehicle provided in an embodiment of the present application;

[0081] Figure 2 It is a flow chart of a method for expressing vehicle driving intention provided in an embodiment of the present application;

[0082] Figure 3a It is a schematic diagram of environmental information provided by an embodiment of the present application;

[0083] Figure 3b This is a schematic diagram of driving purpose information provided by an embodiment of the present application;

[0084] Figure 3c is a schematic diagram of vehicle control information provided by an embodiment of the present application;

[0085] Figure 4a It is a time distance marking schematic diagram provided in an embodiment of the present application;

[0086] Figure 4b It is a schematic diagram of marking the parallel relationship between an obstacle and a vehicle provided in an embodiment of the present application;

[0087] Figure 4c It is a schematic diagram of the intersection relationship marking of an obstacle and a vehicle provided in an embodiment of the present application;

[0088] Figure 4d It is a schematic diagram of highlighting an intersection area provided in an embodiment of the present application;

[0089] Figure 4e It is another schematic diagram of highlighting the intersection area provided in an embodiment of the present application;

[0090] Figure 5a It is a speed marking schematic diagram provided in an embodiment of the present application;

[0091] Figure 5b is another speed marking schematic diagram provided in an embodiment of the present application;

[0092] Figure 5c It is another speed marking schematic diagram provided in an embodiment of the present application;

[0093] Figure 5d is another speed marking schematic diagram provided in an embodiment of the present application;

[0094] Figure 5e It is a schematic flow chart of a speed mark rendering processing method provided in an embodiment of the present application;

[0095] Figure 5f This is a schematic diagram of an application scenario of a safety mark and a speed mark provided in an embodiment of the present application;

[0096] Figure 5g This is another schematic diagram of a safety mark and a speed mark application scenario provided by an embodiment of the present application;

[0097] Figure 5h This is another schematic diagram of a safety sign and speed sign application scenario provided by an embodiment of the present application;

[0098] Figure 6a This is a schematic diagram of a driving behavior change starting point provided in an embodiment of the present application;

[0099] Figure 6bThis is a flowchart of a method for rendering a driving behavior change starting point provided in an embodiment of the present application;

[0100] Figure 7a It is a schematic diagram of a vehicle following state change mark provided in an embodiment of the present application;

[0101] Figure 7b This is another schematic diagram of marking a change in following vehicle status provided in an embodiment of the present application;

[0102] Figure 7c This is another schematic diagram of a vehicle following state change mark provided in an embodiment of the present application;

[0103] Figure 7d It is a flowchart of a method for rendering a vehicle following state change mark in a vehicle following scenario provided by an embodiment of the present application;

[0104] Figure 7e It is a schematic diagram of a time-distance relationship provided in an embodiment of the present application;

[0105] Figure 8a This is a schematic diagram of a brake stop mark change process provided by an embodiment of the present application;

[0106] Figure 8b This is a waiting mark schematic diagram provided in an embodiment of the present application;

[0107] Figure 8c This is a schematic diagram of a waiting countdown mark provided in an embodiment of the present application;

[0108] Figure 9a to Figure 9d All of them are schematic diagrams of a target component provided in an embodiment of the present application;

[0109] Fig.10a It is a flowchart of a method for obtaining semantic content of text display provided by an embodiment of the present application;

[0110] Fig.10b It is a schematic diagram of the semantic content included in the environmental information D(C), the driving purpose information D(B) and the vehicle control information D(A) provided in an embodiment of the present application;

[0111] Fig.10c It is a text display schematic diagram provided in an embodiment of the present application;

[0112] Fig.10d It is a text display schematic diagram of a vehicle deceleration and following vehicle scenario provided in an embodiment of the present application;

[0113] Figure 11A to Figure 11B All of them are schematic diagrams for expressing the intention of the deceleration and following vehicle scenario provided in the embodiments of the present application;

[0114] Fig.12This is a schematic diagram of the intention expression of the waiting for overtaking scenario provided in an embodiment of the present application;

[0115] Fig.13 is a structural schematic diagram of a vehicle driving intention representation device provided in an embodiment of the present application;

[0116] Fig.14 It is a structural schematic diagram of another vehicle driving intention representation device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0117] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present application.

[0118] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0119] The terms "first" and "second" and the like in the description and drawings of the embodiments of the present application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0120] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0121] It should be noted that in the description of the embodiments of the present application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as having priority or advantage over other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0122] First, some terms involved in the embodiments of the present application are explained.

[0123] An automated driving system (ADS) is a system consisting of hardware and software that can continuously perform all dynamic driving tasks.

[0124] The cockpit domain controller (CDC), one of the three domain controllers in the future automotive architecture, will integrate the original entertainment system (car computer), instrument, air-conditioning controller and other related functions in the field of human-computer interaction in the cockpit.

[0125] Mobile Data Center (MDC), one of the three domain controllers in the future automotive architecture, mainly serves intelligent driving. Its core is to process a large amount of raw data detected by front-end sensors, and send control instructions to the back-end vehicle control domain after perception, fusion, planning and other steps.

[0126] The motion planner (MoP) is responsible for planning the expected trajectory and speed.

[0127] Navigation Cruise Assist (NCA) is an intelligent autonomous driving technology. In areas where the function is allowed, the driver can activate the function with one click. The vehicle can set the route according to the navigation, flexibly adjust the speed and driving route according to the real-time traffic conditions on the actual road, and automatically reach the destination.

[0128] Automated parking assist (APA) is an intelligent autonomous driving technology. When the car is cruising at low speed, APA technology can use vehicle sensors (such as ultrasonic radar, camera, etc.) to perceive the surrounding environment, help the driver find an empty parking space of suitable size, and automatically drive the vehicle to the empty parking space found.

[0129] Automated valet parking (AVP) is a smart autonomous driving technology. With AVP technology, vehicles can enter completely unfamiliar parking lots on their own and complete all parking actions without first learning, and the driver is not required to be in the car. AVP technology can replace traditional manual parking services, help users save a lot of parking time, and solve the pain point of queuing for parking during peak hours.

[0130] Lane centering control (LCC) is an intelligent autonomous driving technology that can monitor the relative position of the vehicle and the lane edge in real time, and continuously and automatically control the lateral movement of the vehicle to keep the vehicle in the center of the lane.

[0131] For smart cars equipped with assisted driving, the vehicle computer system can make decisions based on the various sensors installed in the car, and generate various instructions based on these decisions to control the various systems of the vehicle computer (such as the braking system, fragrance system, air conditioning system, etc.).

[0132] The decision on vehicle behavior during vehicle-assisted driving is made automatically by the vehicle computer. Users lack a way to recognize the driving behavior of vehicle-assisted driving vehicles, which creates obstacles to "communication" between the car and the user.

[0133] To this end, an embodiment of the present application provides a method for expressing vehicle driving intention, which can be applied to a vehicle. Figure 1 1 is a functional block diagram of a vehicle 100 provided in an embodiment of the present application. Figure 1 The vehicle 100 shown may include various subsystems, such as an infotainment system 110, a perception system 120, a decision control system 130, a drive system 140, and a computing platform 150. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and component of the vehicle 100 may be interconnected by wire or wirelessly.

[0134] In some embodiments, the infotainment system 110 may include a communication system 111 , an entertainment system 112 , and a navigation system 113 .

[0135] The communication system 111 may include a wireless communication system that can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system may use 3G cellular communications, such as CDMA, EVDO, GSM / GPRS, or 4G cellular communications, such as LTE. Or 5G cellular communications. The wireless communication system may communicate with a wireless local area network (WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system may include one or more dedicated short range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0136] The entertainment system 112 may include a display device, a microphone and speakers. Users can listen to the radio and play music in the car based on the entertainment system; or connect the mobile phone to the vehicle and project the mobile phone's screen on the display device. The display device may be touch-screen, and users can operate by touching the screen.

[0137] Optionally, the display device may be an actual display device, such as a central control screen, or a display device formed by projection technology onto an object, for example, by projection on the front windshield of the vehicle through holographic projection or head-up display (HUD) technology, with the projection area on the front windshield serving as the display device. This application does not limit the type of display device.

[0138] In some cases, the user's voice signal can be obtained through a microphone, and based on the analysis of the user's voice signal, the user can control certain aspects of the vehicle 100, such as adjusting the temperature inside the vehicle, etc. In other cases, music can be played to the user through a speaker.

[0139] The navigation system 113 may include a map service provided by a map provider, thereby providing navigation of the driving route for the vehicle 100. The navigation system 113 may be used in conjunction with the vehicle's global positioning system 121 and inertial measurement unit 122. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

[0140] The perception system 120 may include several sensors that sense information about the environment around the vehicle 100. For example, the perception system 120 may include a global positioning system 121 (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU) 122, a laser radar 123, a millimeter wave radar 124, an ultrasonic radar 125, and a camera 126. The perception system 120 may also include sensors of the internal systems of the monitored vehicle 100 (for example, an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). Such detection and recognition are key functions for the safe operation of the vehicle 100.

[0141] The global positioning system 121 may be used to estimate the geographic location of the vehicle 100 .

[0142] The inertial measurement unit 122 is used to sense the position and orientation changes of the vehicle 100 based on inertial acceleration. In some embodiments, the inertial measurement unit 122 may be a combination of an accelerometer and a gyroscope.

[0143] The LiDAR 123 may utilize laser light to sense objects in the environment in which the vehicle 100 is located. In some embodiments, the LiDAR 123 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0144] The millimeter wave radar 124 may utilize radio signals to sense objects in the surrounding environment of the vehicle 100. In some embodiments, in addition to sensing objects, the millimeter wave radar 124 may also be used to sense the speed and / or heading of the objects.

[0145] The ultrasonic radar 125 may sense objects around the vehicle 100 using ultrasonic signals.

[0146] The camera device 126 may be used to capture image information of the surrounding environment of the vehicle 100. The camera device 126 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc. The image information acquired by the camera device 126 may include a static image or video stream information.

[0147] The decision control system 130 includes a computing system 131 for analyzing and making decisions based on the information obtained by the perception system 120. The decision control system 130 also includes a vehicle controller 132 for controlling the power system of the vehicle 100, and a steering system 133, a throttle 134 and a braking system 135 for controlling the vehicle 100.

[0148] The computing system 131 can be operated to process and analyze various information obtained by the perception system 120 in order to identify targets, objects and / or features in the environment surrounding the vehicle 100. Targets may include pedestrians or animals, and objects and / or features may include traffic signals, road boundaries and obstacles. The computing system 131 may use object recognition algorithms, Structure from Motion (SFM) algorithms, video tracking and other technologies. In some embodiments, the computing system 131 can be used to map the environment, track objects, estimate the speed of objects, and so on. The computing system 131 can analyze the various information obtained and derive a control strategy for the vehicle.

[0149] The vehicle controller 132 can be used to coordinate and control the vehicle's power battery and engine 141 to improve the power performance of the vehicle 100.

[0150] The steering system 133 is operable to adjust the forward direction of the vehicle 100. For example, in one embodiment, it may be a steering wheel system.

[0151] The throttle 134 is used to control the operating speed of the engine 141 and thus the speed of the vehicle 100 .

[0152] The braking system 135 is used to control the deceleration of the vehicle 100. The braking system 135 can use friction to slow down the wheels 144. In some embodiments, the braking system 135 can convert the kinetic energy of the wheels 144 into electric current. The braking system 135 can also take other forms to slow down the rotation speed of the wheels 144 to control the speed of the vehicle 100.

[0153] The drive system 140 may include components that provide power movement for the vehicle 100. In one embodiment, the drive system 140 may include an engine 141, an energy source 142, a transmission 143, and wheels 144. The engine 141 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 141 converts the energy source 142 into mechanical energy.

[0154] Examples of energy source 142 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 142 may also provide energy to other systems of vehicle 100.

[0155] The transmission 143 can transmit the mechanical power from the engine 141 to the wheels 144. The transmission 143 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 143 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 144.

[0156] Some or all functions of the vehicle 100 are controlled by a computing platform 150. The computing platform 150 may include at least one processor 151 that may execute instructions 153 stored in a non-transitory computer-readable medium such as a memory 152. In some embodiments, the computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner.

[0157] The processor 151 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 151 may also include a graphics processor (Graphic Process Unit: GPU), a field programmable gate array (Field Programmable Gate Array: FPGA), a system on chip (System on Chip: SOC), an application specific integrated circuit (Application Specific Integrated Circuit: ASIC) or a combination thereof. Figure 1The processor, memory, and other elements of the computer 110 in the same block are functionally illustrated, but it will be appreciated by those of ordinary skill in the art that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory may be a hard drive or other storage medium located in a housing different from the computer 110. Therefore, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as the steering assembly and the deceleration assembly may each have their own processor that performs only calculations related to the functions specific to the component.

[0158] In various aspects described herein, the processor may be located remote from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

[0159] In some embodiments, the memory 152 may include instructions 153 (e.g., program logic) that may be executed by the processor 151 to perform various functions of the vehicle 100. The memory 152 may also include additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the infotainment system 110, the perception system 120, the decision control system 130, and the drive system 140.

[0160] In addition to instructions 153, memory 152 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0161] The computing platform 150 may control functions of the vehicle 100 based on input received from various subsystems, such as the drive system 140, the perception system 120, and the decision control system 130. For example, the computing platform 150 may utilize input from the decision control system 130 in order to control the steering system 133 to avoid an obstacle detected by the perception system 120. In some embodiments, the computing platform 150 may be operable to provide control over many aspects of the vehicle 100 and its subsystems.

[0162] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 100. For example, the memory 152 may exist partially or completely separately from the vehicle 100. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0163] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 1 It should not be understood as limiting the embodiments of the present invention.

[0164] An autonomous vehicle traveling on a road, such as vehicle 100 above, can identify objects in its surroundings to determine adjustments to the current speed. Objects can be other vehicles, traffic control devices, or other types of objects. In some examples, each identified object can be considered independently, and based on the object's respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., can be used to determine the speed to be adjusted by the autonomous vehicle.

[0165] Optionally, the vehicle 100 or a sensing and computing device associated with the vehicle 100 (e.g., computing system 131, computing platform 150) can predict the behavior of the identified objects based on the characteristics of the identified objects and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each of the identified objects depends on the behavior of each other, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 100 can adjust its speed based on the predicted behavior of the identified objects. In other words, the autonomous vehicle can determine what stable state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the objects. In this process, other factors can also be considered to determine the speed of the vehicle 100, such as the lateral position of the vehicle 100 in the road it is traveling on, the curvature of the road, the proximity of static and dynamic objects, and the like.

[0166] In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of vehicle 100 so that the autonomous vehicle follows a given trajectory and / or maintains a safe lateral and longitudinal distance from objects near the autonomous vehicle (e.g., cars in adjacent lanes on the road).

[0167] The vehicle 100 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, etc., and the embodiment of the present invention does not make any particular limitation.

[0168] The architecture of the embodiment of the present application is described above, and the method of the embodiment of the present application is described in detail below.

[0169] Reference Figure 2 FIG. 1 is a flow chart of a method for expressing vehicle driving intention provided by an embodiment of the present application. Optionally, the method can be applied to the aforementioned vehicle, for example Figure 1 The vehicle shown. Figure 2 The vehicle driving intention expression method shown may include steps 201-203. It should be understood that for the convenience of description, this application is described in the order of 201-203, and is not intended to limit the execution to the above order. The embodiment of the present application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. The following description takes the execution subject of steps 201-203 of the vehicle driving intention expression method as an example of a vehicle, and this application is also applicable to other execution subjects such as CDC. Steps 201-203 are as follows:

[0170] 201. Obtain environmental information of the vehicle.

[0171] The environmental information can be understood as information that characterizes the reasons why the vehicle makes driving decisions.

[0172] Among them, various sensors are installed on the vehicle, which can collect the vehicle's environmental information in real time.

[0173] Optionally, various sensors can be used to obtain a variety of information outside the vehicle, and through analysis and screening, information related to the vehicle's driving decisions can be obtained, which is the above-mentioned environmental information.

[0174] Exemplarily, environmental information can be collected by various sensors installed on the vehicle, such as raw data such as traffic signs, traffic lights, lane lines, surrounding vehicles, pedestrians, and obstacle information. In the embodiment of the present application, the above-mentioned various sensors may include laser radar, millimeter wave radar, ultrasonic radar, monocular or binocular camera, etc. The above-mentioned environmental information may indicate the upper speed limit, the lower speed limit, the vehicle stops ahead, whether it is possible to stop, turn left or right, the vehicle's driving direction, the turning radius, the direction of the lanes on both sides, whether lane change is allowed, and other information.

[0175] As another example, environmental information such as external pictures taken by a camera of the vehicle, point cloud data obtained by a lidar, obstacle / pedestrian data obtained by a distance sensor (range finder), etc. can be obtained.

[0176] 202. Obtain intention information of vehicle driving behavior based on the environmental information and the vehicle state of the vehicle, wherein the intention information includes driving purpose information and vehicle control information, the driving purpose information represents the driving decision made in response to the environmental information, and the vehicle control information represents the driving information of the vehicle when executing the driving decision.

[0177] The vehicle state may include one or more of the vehicle's own speed, acceleration, steering angle, and angular velocity.

[0178] The above driving decisions are based on information obtained from the environmental perception and navigation system, which include which lane to choose, whether to change lanes, whether to follow a vehicle, whether to take a detour, whether to stop, etc.

[0179] The above driving information can be understood as whether the vehicle is accelerating, decelerating or maintaining a constant speed, as well as the driving direction of the vehicle.

[0180] The above environmental information D(C) can be divided into blocking information, target information, and constraint conditions. Figure 3a As shown in the figure, blocking information refers to obstacles that affect the vehicle's continued driving behavior, including other vehicles, pedestrians, obstacles on the road, etc. Target information refers to information related to the vehicle's driving target, such as navigation destination, target lane, target exit, target intersection information, etc. Constraints refer to information related to traffic rules or ride comfort, and information that requires changes to driving behavior in order to comply with traffic rules or for a more comfortable ride, such as traffic signs, signal lights, road markings, etc., or sections with large curvature, large slopes, bumpy sections, etc.

[0181] Furthermore, the above-mentioned environmental information may also include spatial orientation information C, that is, the spatial orientation where blocking information, target information, and constraint conditions occur, such as the front, rear, and side information relative to the vehicle.

[0182] The driving purpose information D(B) represents the driving decision for the environmental information, which can be understood as corresponding to the environmental information, that is, having a relative relationship with the cause.

[0183] For example, Figure 3b As shown in the figure, for the causes of avoidance and obstruction, the corresponding relative relationships include: overtaking, following, overtaking, yielding, inserting, merging, passing, bypassing, etc. The meaning of the expression is what driving behavior the vehicle will perform for the corresponding cause, that is, the driving decision. For example:

[0184] (1) Overtaking other vehicles / pedestrians / obstacles (overtaking can be understood as emphasizing the behavior of the vehicle relative to the person or vehicle in front or to the side traveling in the same direction);

[0185] (2) Following other vehicles / pedestrians / obstacles;

[0186] (3) Overtaking / yielding to other vehicles / pedestrians / obstacles (overtaking and giving way can be understood as emphasizing the order of other vehicles or people whose driving trajectories intersect with the vehicle's own. Overtaking is when the vehicle goes first. The person who is overtaken must be in front of the vehicle, and giving way means there is a path intersection);

[0187] (4) Insert another car (insert into a certain space, such as the gap between two cars);

[0188] (5) Merging into another vehicle (merging into the traffic flow, without specifying the specific insertion space);

[0189] (6) Passing other vehicles / pedestrians / obstacles (because an obstacle creates a narrow space on the road, it is called passing);

[0190] (7) Go around other vehicles / pedestrians / obstacles.

[0191] For another example, for navigation-related causes, the corresponding relative relationships include: entering, merging, leaving, etc. The meaning of this expression is what driving behavior the vehicle will perform for the corresponding cause, such as entering the target lane / exit / intersection (when there are no other vehicles blocking it), merging into the target lane / exit / intersection (when there are other vehicles in the target lane / exit / intersection), and leaving the target lane / exit / intersection.

[0192] For example, for constraint-related causes, the corresponding relative relationships include:

[0193] For traffic rules: stop, wait, pass; for the corresponding cause, what driving behavior will the vehicle perform. For example, when encountering traffic signs / signals / road markings, take the driving behavior of stop / wait / pass;

[0194] For the comfort experience category, the driving behavior that the self-vehicle will perform is through.

[0195] Furthermore, the driving purpose information also includes time-space orientation information B. The time-space orientation information includes time information and space orientation information. For example, time information, that is, at what time the purpose (determined driving behavior) will occur, specifically including now, in the future, and completed (indicating that it has already occurred). Space orientation information, that is, where the obstacle is in front of the vehicle, including in front, on the side, etc.

[0196] The vehicle control information D(A) represents the driving information of the vehicle when executing the driving decision.

[0197] like Figure 3c As shown, vehicle control information includes motion (driving) behavior. Motion behavior can be divided into speed change (acceleration or deceleration, speed change amplitude (i.e., slow / violent acceleration / deceleration), etc.) and direction change (left or right, lane change or turn, etc.).

[0198] The vehicle control information may also include timing information A. The timing information includes when / where the motion behavior will occur. It may include time information, such as whether it will happen immediately now or in the future (after a preset time length). For example, starting at time point e1, after time length t1, it reaches time point e2. Time length t1 corresponds to the above timing information. The timing information may also include spatial information, that is, the spatial position relationship between the vehicle control information and the vehicle itself. For the introduction of the spatiotemporal orientation information, please refer to the above records, which will not be repeated here.

[0199] It should be noted that the above example is introduced by obtaining the intention information of the vehicle driving behavior based on the environmental information and the vehicle state. Of course, the intention information of the vehicle driving behavior can also be obtained based on other information at the same time, for example, it can include traffic light data received through communication with traffic lights, other vehicle data obtained through communication with other vehicles, and the vehicle's own brake / tire pressure data. For another example, it can also include cabin interior information, such as cabin temperature collected by a temperature sensor, cabin image collected by an in-vehicle image sensor, etc. This solution does not limit this.

[0200] 203. Display a safety mark and a speed mark according to the driving purpose information and the vehicle control information, wherein the safety mark indicates that the vehicle is driving safely, and the speed mark indicates at least one of accelerating and decelerating the vehicle.

[0201] The safety mark indicates that the vehicle is safe to drive, which can be understood as the vehicle can pass safely, the area corresponding to the safety mark is safe, and no dangerous behaviors such as collision will occur. The scenarios corresponding to the safety mark can include following a vehicle, passing other vehicles / pedestrians / obstacles, overtaking, passing intersections, etc.

[0202] The following is an introduction to safety signs.

[0203] The safety mark can indicate that the passage time and space corresponding to the safety mark is safe, so that users can rest assured without worrying about dangers such as vehicle collisions.

[0204] The safety mark may include a time distance mark, which is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2. For example, the time distance mark is displayed in a vehicle following scene.

[0205] The headway indicates the maximum reaction time that the driver of the following vehicle has when the current vehicle brakes. Generally, for safety reasons, the shortest headway can be set to about 2 seconds (headway setting).

[0206] like Figure 4aAs shown, the safety mark 401 is a time distance mark. The time distance mark is superimposed on the navigation path 402 of the vehicle (used to show the driver which path the vehicle will take). Specifically, by displaying a number of parallel short lines between the visual element 4002 expressing the vehicle and the visual element 4001 expressing the obstacle (the front vehicle), the spacing between the short lines represents the time distance. The sparser the spacing, the longer the time distance, and the denser the spacing between the short lines, the shorter the time distance. Optionally, the spacing between multiple parallel short lines can be equal, or the spacing can also be gradually reduced from the vehicle to the front vehicle. Optionally, the time distance setting can be expressed by the number of short lines, the fewer the number of short lines, the shorter the time distance set, and the more the number of short lines, the longer the time distance set. Based on the time distance setting, so as to intuitively prompt the user that the driving is safer.

[0207] It is understandable that, for example, "401 (safety mark)" in the figure only indicates that the corresponding area displays the corresponding safety mark. When the corresponding safety mark is displayed, "401 (safety mark)" is not displayed. The same applies to other figures of the present application and will not be repeated here.

[0208] For another example, the safety mark may include a relative position relationship mark between the obstacle and the vehicle, where the relative position relationship mark is a short line or an arc line located between the navigation path of the vehicle and the obstacle, and the short line is parallel to the navigation direction of the vehicle.

[0209] For example, the above relative position relationship may include a parallel relationship and a cross relationship. A parallel relationship can be understood as the vehicle and the other vehicle are driving in different lanes (in the same or opposite directions) and there is a possibility of passing the other vehicle. The passing of the other vehicle may be, for example, passing from the left side or the right side of the vehicle in front; it may also be passing in the same direction or in the opposite direction, etc. In this case, when the two vehicles are close to each other, there is a parallel relationship. Figure 4b In the top view shown, the safety mark 403 corresponding to the parallel relationship can be a short line parallel to the navigation path 404 of the vehicle in the direction adjacent to the obstacle (i.e., the vehicle in the figure (representing the front vehicle)) and the navigation path 404 of the vehicle. For example, it can be a line segment F parallel to the navigation path and near the front vehicle when the vehicle is driving in the adjacent lane of the front vehicle.

[0210] The crossing relationship can be understood as the self-vehicle will overtake the front vehicle. It can be overtaking from the right rear of the front vehicle, or passing from the left rear of the front vehicle, etc. Figure 4c As shown, the safety mark 405 corresponding to the intersection relationship can be a cross mark displayed near the obstacle in the direction adjacent to the obstacle (the vehicle in the figure represents the front vehicle) and the navigation path 406 of the vehicle, such as Figure 4c The arc line G shown.

[0211] Based on the relative position relationship mark, the user can know that the vehicle can pass through the above area safely.

[0212] For another example, safety marking may include highlighting intersections on the navigation path. Figure 4d As shown, for the intersection, a highlighted area 407, i.e., the arc-shaped area in the figure, is additionally displayed beyond the above path display area on the path corresponding to the intersection area on the navigation path 408 of the vehicle, so that the user can rest assured that the road section can be passed safely. Figure 4e As shown, when another car enters from the right, for the own car, a safety mark 409, i.e., a rectangular area in the figure, is highlighted on the navigation path 410 of the own car at the intersection. Of course, other forms of display may also be used, such as a highlighted circular area, or other graphics or text, etc., and this solution does not limit this.

[0213] It is understandable that the above safety mark is only an example and is not specifically limited. For example, the time distance mark can be a highlighted area between the obstacle and the vehicle. For another example, the relative position relationship mark can be a highlighted area or a parallel short line.

[0214] The speed markings are introduced below.

[0215] The speed mark indicates at least one of the vehicle accelerating and decelerating. The acceleration scenario may be, for example, an increase in the speed limit on the road sign, such as a vehicle driving from a section with a speed limit of 40 to a section with a speed limit of 60; another example is a vehicle driving at high speed on a city road, etc. Alternatively, it may be a scene where the vehicle changes lanes and overtakes. Alternatively, it may be a vehicle running through a red light, and the green light is about to end, so the vehicle can pass quickly at a safe speed. Or, the vehicle is in the process of starting when the red light turns green. For another example, the vehicle in front is far away from the vehicle, and the vehicle can accelerate and still ensure driving safety. For another example, in the intersection scenario, the intersection can be passed quickly and safely. The deceleration scenario may be, for example, a reduction in the speed limit on the road sign, or a preset speed limit on a section, or a braking process, or obstacles or pedestrians ahead. This solution does not limit the above scenarios.

[0216] Exemplarily, the speed mark includes a continuous broken line or arc. The broken line or arc convex toward the direction of the vehicle (towards the front of the vehicle) indicates that the vehicle is decelerating, and the broken line or arc convex toward the navigation direction of the vehicle indicates that the vehicle is accelerating.

[0217] like Figure 5a As shown, a broken line corresponding to the speed mark 502 is superimposed on the navigation path 501 of the vehicle. The sharp corner (convex direction) of the broken line is toward the direction of the vehicle, indicating that the vehicle is decelerating. Figure 5bAs shown, by superimposing a broken line corresponding to the speed mark 504 on the navigation path 503 of the vehicle, the sharp corner of the broken line faces forward (navigation direction), indicating that the vehicle is accelerating.

[0218] The above takes a broken line as an example, and it can also be an arc, an arrow or other graphics or text, and this solution does not limit this.

[0219] Based on the speed mark display, the user can know in which time interval the vehicle accelerates or decelerates.

[0220] Preferably, the angle of the broken line or arc indicates the magnitude of the change in the acceleration or deceleration. It can be understood that the angle between the two endpoints of the arc and the center of the circle where the arc is located is the angle of the arc. The smaller the angle of the broken line (or arc), the greater the change in speed. Figure 5c The broken line (or arc) superimposed on the navigation path 505 of the vehicle is shown. The larger the angle of the broken line (or arc), the smaller the amplitude change. Figure 5d The broken line (or arc) shown superimposed on the vehicle navigation path 506 can more flexibly display the speed change so that the user can intuitively understand the speed change.

[0221] like Figure 5e As shown, the embodiment of the present application also provides a rendering processing method for speed marking. The method may include:

[0222] 501. The vehicle or CDC obtains an acceleration set, an acceleration timestamp set, a MOP path, and a current timestamp T0 from the MDC. The acceleration set may be a series of acceleration values ​​within a preset time interval from the current time T0. The acceleration timestamp set may be a series of time points at which acceleration values ​​change within a preset time interval from the current time T0.

[0223] 5021. Select a set of continuous positive accelerations and their corresponding timestamp sets.

[0224] 5031. Render a graphic indicating acceleration and acceleration interval based on the MOP path, and display it.

[0225] If the process is an accelerated process, CDC renders graphics indicating acceleration and acceleration intervals based on the MOP path (e.g. Figure 5b shown).

[0226] The method further includes:

[0227] 5022. Select a set of continuous negative accelerations and their corresponding timestamp sets.

[0228] 5032. Render a graphic indicating deceleration and deceleration interval based on the MOP path, and display it.

[0229] If it is a deceleration process, CDC renders graphics indicating deceleration and deceleration intervals based on the MOP path (e.g. Figure 5a shown).

[0230] In a possible implementation, the end point of the speed mark is related to the start point of the safety mark. The correlation may be, for example: (1) the end point of the speed mark is the start point of the safety mark. (2) there is a distance between the end point of the speed mark and the start point of the safety mark, and there is no overlap between the speed mark and the safety mark. (3) the end point of the speed mark is located after the start point of the safety mark, and there is overlap between the speed mark and the safety mark, etc.

[0231] Regarding (1) the end point of the speed mark is the starting point of the safety mark, which can be applied to the scenario where the vehicle slows down and follows the vehicle. For example, Figure 5f As shown, the vehicle first decelerates. Then, after the vehicle decelerates, it follows the vehicle. The end point 507 of the speed mark is W1. The start point 508 of the safety mark is W2. In this scenario, the end point W1 of the speed mark is the start point W2 of the safety mark.

[0232] It can be understood that the starting point and the ending point in the embodiment of this scheme do not only refer to a certain point, but can be the space-time orientation where it is located, that is, the ending point of the speed mark and the starting point of the safety mark are on the same straight line perpendicular to the navigation direction, which means that the two are the same point.

[0233] For (2), there is a certain distance between the end point of the speed mark and the start point of the safety mark, and there is no overlap between the speed mark and the safety mark. This can be applied to the scene of dangerous vehicles on the side or vehicles crossing the line. For example, Figure 5g As shown, the vehicle decelerates before entering the parallel area of ​​the vehicle on the line. After the deceleration is completed, the vehicle will pass through the above area at a slow speed. Among them, the end point 509 of the speed mark is W3. The starting point 511 of the safety mark 510 is W4. The starting point 511 of the safety mark 510 is the closest end between the front vehicle and the vehicle. In this scene, the end point W3 of the speed mark is separated from the starting point W4 of the safety mark by a distance.

[0234] Regarding (3) the end point of the speed sign is after the start point of the safety sign, and there is overlap between the speed sign and the safety sign, which can be applied to scenarios such as vehicles giving way to pedestrians when entering an intersection. For example, Figure 5h As shown, the vehicle first enters the intersection. Then, when passing through the intersection, the vehicle slows down to give way to pedestrians in the intersection. Among them, the starting point 513 of the safety mark 512 is W5, which is the closest end of the intersection and the vehicle. The ending point 514 of the speed mark is W6. In this scene, the ending point W6 of the speed mark is located after the starting point W5 of the safety mark.

[0235] Of course, there may be other related situations between the speed mark and the safety mark, and this solution does not limit this.

[0236] The above is an introduction to the safety mark and speed mark in the intention expression, and the following is an exemplary introduction to other intention expressions.

[0237] In a possible implementation, the driving behavior change starting point is also displayed according to the driving purpose information and the vehicle control information. Alternatively, the driving behavior change starting point and the driving behavior change ending point are also displayed according to the driving purpose information and the vehicle control information.

[0238] The driving behavior change starting point indicates the direction corresponding to the earliest time of the speed change information and the direction change information of the vehicle. For example, if the time corresponding to the speed change information of the vehicle is earlier than the time corresponding to the direction change information, the driving behavior change starting point indicates the direction corresponding to the time corresponding to the speed change information of the vehicle.

[0239] The driving behavior change termination point indicates the direction corresponding to the latest ending time of the speed change information and the direction change information of the vehicle. For example, if the ending time corresponding to the direction change information of the vehicle is later than the ending time corresponding to the speed change information, the driving behavior change termination point indicates the direction corresponding to the ending time corresponding to the direction change information of the vehicle.

[0240] like Figure 6a As shown, the driving behavior change starting point and the driving behavior change ending point can be marked by straight lines 601 and 602 perpendicular to the navigation path of the vehicle, or by curves or graphics. For example, the graphics can be a circle, an ellipse, a triangle, etc.

[0241] like Figure 6b As shown, the embodiment of the present application also provides a method for rendering the starting point of driving behavior change. The method may include:

[0242] 6001. Obtain speed change timestamp, direction change timestamp, MOP path and current timestamp T0 from MDC.

[0243] 6002. Select the earliest timestamp T of the speed and direction changes A .

[0244] By comparing the speed change timestamp and direction change timestamp, the earliest timestamp T of the speed and direction changes is selected. A .

[0245] 6003. Determine T0 and T A Whether the interval is greater than the threshold.

[0246] If yes, execute step 6004: render and display the driving behavior change starting point graphic based on the MOP path.

[0247] 6005, the vehicle travels to timestamp T A .

[0248] At this time, step 6006 is executed and the CDC no longer displays the starting point of the driving behavior change.

[0249] If T0 and T A If the interval between them is not greater than the threshold, step 6007 is executed: the starting point graphic is not rendered.

[0250] For the rendering method of the end point of driving behavior change, please refer to Figure 6b The introduction of , I will not go into details here.

[0251] Based on the driving behavior change starting point and the driving behavior change ending point, the user can be intuitively prompted where the vehicle driving behavior will change and where the change will end.

[0252] In a possible implementation, a following vehicle status change mark is further displayed according to the driving purpose information and the vehicle control information. The following vehicle status change mark is that the navigation path changes from thin to thick or from thick to thin, and the change from thin to thick indicates that the following vehicle is decelerating, and the change from thick to thin indicates that the following vehicle is accelerating.

[0253] When the ego vehicle is following the vehicle in front (in the following state), the width of the path graph between the ego vehicle and the vehicle in front is changed to express the state of following the vehicle in front. Figure 7a If the navigation path of the self-vehicle becomes thinner, it means that the vehicle ahead is accelerating. Figure 7b If the navigation path of the vehicle becomes thicker, it means that the vehicle ahead is slowing down. Figure 7c The width of the navigation path of the self-vehicle shown has not changed and is the default width (it can be understood that no additional processing is done on the navigation path), which indicates that the vehicle is following the front vehicle at a constant speed. Of course, other signs can also be used, such as arrows to indicate acceleration or deceleration of the vehicle following the front vehicle, and this solution does not limit this.

[0254] like Figure 7d As shown, the embodiment of the present application also provides a method for rendering a following vehicle state change mark in a following vehicle scenario. When the vehicle enters the "following the preceding vehicle" state, the method may include:

[0255] 7001. Obtain the MOP path, acceleration set, self-vehicle space-time coordinates, front vehicle space-time coordinates, actual time distance between two vehicles, minimum safe time distance and following vehicle time distance setting information from the MDC.

[0256] Among them, Figure 7eThe time distance relationship diagram is shown in Figure 2. The actual time distance between the two vehicles is d real The preset minimum safe time distance d is the time distance between the front of the vehicle and the rear of the vehicle in front. min The time distance below which a collision will occur; the following vehicle time distance setting d set It is a set value, and when the time interval is reached, the vehicle enters the following state.

[0257] 7002. Select the MOP path P between the coordinates of the vehicle and the coordinates of the preceding vehicle. dist .

[0258] 7003, judge d real With d min +d set and render P dist The two endpoints are displayed.

[0259] 7004, if real Greater than d min +d set The sum of , then execute step 7005.

[0260] 7005, Rendering dist , the width of the path graph narrows linearly with the difference and is displayed.

[0261] When the actual time distance between the two vehicles is greater than the sum of the "minimum safe time distance and the following time distance setting", for example, when the front vehicle accelerates, the ego vehicle can accelerate to close the distance between the two vehicles and enter the following state. Therefore, the MOP path P between the ego vehicle coordinates and the front vehicle coordinates is dist In this section, the width of the path graphic becomes narrower linearly with the difference between the sum of the "preset minimum safety time distance and the following time distance setting" and the actual time distance between the two vehicles.

[0262] The method further includes:

[0263] 7006, if real Less than d min +d set The sum of , then execute step 7007.

[0264] 7007, Rendering dist , the width of the path graphic becomes linearly wider with the difference and is displayed.

[0265] When the actual time distance between the two vehicles is less than the sum of the "minimum safe time distance and the following time distance setting", for example, the front vehicle slows down, then the ego vehicle needs to slow down to increase the distance between the two vehicles to ensure safe driving. Therefore, the MOP path P between the ego vehicle coordinates and the front vehicle coordinates is dist In this section, the width of the path graphic becomes wider linearly with the difference between the actual time distance between the two vehicles and the sum of the "preset minimum safe time distance and following time distance setting".

[0266] Based on the following vehicle state change mark, the user can be prompted with the state change of the vehicle following the preceding vehicle.

[0267] In a possible implementation, a brake mark is also displayed according to the driving purpose information and the vehicle control information. For example, various brake scenes such as encountering a traffic light or an obstacle suddenly appearing in front are displayed. The brake mark can be a visual element perpendicular to the driving direction, or a visual element whose color changes from left to right in a cycle of deepening / lightening, or a visual element that changes from large to small or from existing to non-existent, etc. Of course, they can also be used in combination, and this solution does not limit this.

[0268] For example Figure 8a The figure is a schematic diagram of the change process of the brake mark during the braking process. First, when the vehicle has not yet reached the location of the brake mark, the brake mark may include a straight line perpendicular to the direction of travel, and also include deepening the display color of the vehicle's navigation path 801. As the vehicle continues to approach the straight line perpendicular to the direction of travel, the brake mark changes dynamically, and it continues to shorten the darkened area on the navigation path from two directions (towards the vehicle's forward direction and facing the vehicle's direction) at the same time, until the vehicle is getting closer and closer to the straight line, the darkened area on the navigation path is shortened to the area between the vehicle and the straight line perpendicular to the direction of travel, and at this time it is only shortened from the direction of the vehicle's forward direction. It should be noted that this example only uses a straight line as an example for explanation, and the visual element can also be a curve, a graphic (such as a circle, a triangle), etc., and this scheme does not limit this.

[0269] Based on the brake mark, the user can intuitively understand where the vehicle brakes.

[0270] In a possible implementation, a waiting mark is also displayed according to the driving purpose information and the vehicle control information. For example, it is used in parking and waiting for traffic lights, waiting for pedestrians to cross the road, and various scenes where you need to wait before continuing to drive. The waiting mark can be a visual element perpendicular to the driving direction, or a visual element whose color changes from left to right in a cycle of deepening / lightening, or a visual element that changes from large to small or from existing to non-existent, etc. Of course, they can also be used in combination, and this solution does not limit this.

[0271] For example, Figure 8bAs shown, a waiting mark 803, such as a horizontal straight line, is displayed at the lower end (near the vehicle end) of the vehicle navigation path 802. Optionally, the waiting mark also includes the color of the navigation path displayed in a light color. Exemplarily, the display of the horizontal straight line can further include the color of the straight line changing in a cycle with different transparencies / depths (equivalent to the effect of a breathing light). For example, the color of the waiting mark is dark / low in transparency, or the color of the waiting mark is light / high in transparency, etc. It should be noted that this example only uses a straight line as an example for explanation. The above-mentioned visual elements can also be curves, graphics (such as circles, triangles), etc., and this solution does not limit this.

[0272] Based on the waiting mark, the user can intuitively understand where the vehicle is waiting.

[0273] In a possible implementation, a waiting countdown mark is also displayed according to the driving purpose information and the vehicle control information. The waiting countdown mark is used to prompt when the waiting is over. In actual application scenarios, the waiting countdown needs to be executed when the countdown data can be obtained, such as when the red light turns green. Generally, "wait" is displayed first, and the waiting countdown is displayed when the waiting is about to end. For example, the waiting countdown mark can be a visual element perpendicular to the driving direction, or a visual element whose color changes in a cycle from left to right to darken / lighten, or a visual element that changes from large to small or from existence to non-existence, etc. Of course, they can also be used in combination.

[0274] like Figure 8c As shown, the waiting countdown mark is in the waiting mark ( Figure 8c On the left side of the figure), gradually shorten the waiting mark to a preset length (such as the same as the width of the navigation path, refer to Figure 8c The right figure), or it can be shortened to 0, etc. Of course, other settings can also be used, such as using numbers, dots, etc. for display. It should be noted that this example only uses the example of visual elements including straight lines, etc., and the above visual elements can also be curves, graphics (such as circles, triangles), etc., and this solution does not limit this.

[0275] Based on the waiting countdown mark, the user can intuitively understand when the vehicle waiting will end.

[0276] The above example introduces the intention information including driving purpose information and vehicle control information. In a possible implementation, the intention information may also include the above-mentioned environmental information, that is, the cause of the driving decision. Exemplarily, the vehicle also displays a target component, which is text and / or an icon. The target component represents the environmental information to express the cause category and the impact on the vehicle.

[0277] Exemplarily, the target component may be Figure 9a The "blocking" shown Figure 9b The words such as "yield" and "give way" shown, may also be Fig.9c The navigation guidance shown Figure 9d The speed bump indication shown, etc. For another example, it may be Fig.11A b in Fig.12 The "blocking" shown, or like Fig.12 The "yield" shown. Among them, different cause categories imply the impacts brought by such causes. For example, for "blocking", it is because another vehicle blocks the own vehicle; for "give way", it is because another vehicle causes the own vehicle to need to give way; for "navigation", it is because of navigation, so the own vehicle needs to drive in a certain lane, etc. Another example is "speed bump", because of the existence of the speed bump, the own vehicle needs to decelerate, etc.

[0278] Based on this target component, the user can intuitively understand the cause for the vehicle to make corresponding driving decisions.

[0279] The above examples introduce various marks, components, etc. by taking visual elements as an example. Next, the way of presenting with text is introduced.

[0280] Among them, it can also be presented with text (text content) to express the intention information.

[0281] In a possible implementation manner, the semantic content of the corresponding text presentation and the display timing of the corresponding text can be obtained by depending on at least one of the driving decision, vehicle state, and vehicle control information of the vehicle. Then, the text is presented. For example, based on the driving decision, vehicle state, and vehicle control information of the vehicle, a timestamp, acceleration, speed, steering angle, perception signal, MOP path, etc. can be obtained.

[0282] Such as Fig.10a shown, is a schematic flowchart of a method for obtaining the semantic content of text presentation provided by an embodiment of the present application. It includes the following steps:

[0283] 1001. The vehicle or CDC obtains a speed change timestamp, a direction change timestamp, an acceleration timestamp, acceleration, speed, steering angle, perception signal (for example, it may be the aforementioned environmental information), and MOP path from the MDC.

[0284] 1002. Decompose the above information obtained in step 1001 into tenses.

[0285] 1003. Decompose the above information obtained in step 1001 into semantic content.

[0286] Based on this, the semantic content of text presentation can be obtained for presentation.

[0287] The semantic contents of the environmental information D(C), the driving purpose information D(B) and the vehicle control information D(A) can be expressed as follows: Fig.10b The semantic contents of environmental information D(C) include other vehicles, pedestrians, obstacles, target lanes, target exits, intersections, speed limits / stops, traffic lights, curves, etc. The semantic contents of driving purpose information D(B) include overtaking, passing, yielding, following, stopping, overtaking, bypassing, etc. The semantic contents of vehicle control information D(A) include acceleration, deceleration, lane change, starting, etc.

[0288] For example, in the scenario of slowing down and following a vehicle, the tense "will" or the subject "I will" is obtained based on the above method, and the semantic content includes: "car" corresponding to the environmental information D(C), "follow" or "follow" corresponding to the driving purpose information D(B), and "slow down" corresponding to the vehicle control information D(A). Fig.10c shown.

[0289] The above example uses the semantic content including environment information D(C), driving purpose information D(B) and vehicle control information D(A) as an example for explanation, and text display can also be based on any combination of the semantic content of the three. In other words, the text display in this example can be arranged and combined in the order of behavior time, and the state can be dynamically changed.

[0290] As shown in Table 1, this is a semantic content combination method provided in an embodiment of the present application.

[0291] Table 1

[0292]

[0293] In a possible implementation, firstly, a first text content is displayed, and the first text content includes a first character, a second character, and a third character. The first character indicates that at least two consecutive actions corresponding to the vehicle control information are about to be executed; the second character indicates the first action of the at least two consecutive actions, and the third character indicates the second action of the at least two consecutive actions.

[0294] For example, Fig.10d The following is a scenario where a vehicle is slowing down to follow a vehicle. The first stage is the planning prompt stage, which displays "I will slow down to follow the vehicle". Each word has the same size and color, indicating that the slowing down to follow the vehicle is about to be executed. At this time, the first word is "will" or "I will", the second word is "slow down", and the third word is "follow the vehicle".

[0295] When the vehicle starts to execute the first behavior, second text content is displayed, the second text content includes the second characters and the third characters, and the display intensity of the second characters is higher than that of the third characters.

[0296] The display intensity can be understood as large fonts, dark colors, etc.

[0297] Correspondingly, the corresponding second stage is the plan execution stage. Take the two sub-stages of "slowing down" and following the car as an example for explanation. For the deceleration stage, when the deceleration and following the car behavior is already being executed, "slow down and follow the car" is displayed, and the font size of deceleration is large, indicating that "slow down" is emphasized at this time. Or it can be displayed "I am slowing down and following the car" and so on. Furthermore, since there is a next step plan of "following the car" after the "slowing down" stage, when the deceleration is about to be completed and the "following the car" behavior is planned to be executed, the "slowing down" font size becomes smaller and the deceleration color becomes lighter.

[0298] When the vehicle starts to execute the second behavior, a third text content is displayed, and the third text content includes the third character.

[0299] For example, in the following stage, when the deceleration is completed and the "following the car" behavior is being executed, the "deceleration" text disappears and only the "following the car" text or "I am following the car" is displayed. This solution does not limit this.

[0300] This example uses two consecutive behaviors as an example for explanation, and it can also be multiple consecutive behaviors or one behavior, and this solution does not limit this.

[0301] Based on the above text display and changes in font size, color, etc., this can prompt the user with vehicle driving information and the stage of driving information execution.

[0302] The above example is introduced by text display, and it can also obtain voice information according to the intention information, and then play the voice information. For example, it can play through a speaker, etc. For example, the above text can be played.

[0303] Among them, the vehicle can display the above-mentioned various marks, components, text displays, etc. to the user through the instrument cluster (IC), instrument center screen (ICS), and augmented reality head-up display (AR-HUD).

[0304] For example, a unified interface can be set on the vehicle's central control screen / instrument screen to display the above-mentioned various marks, components, text displays and other expressions of intent. For example, the interface can be set in the area where the vehicle's panoramic view is located, and displayed floating above the vehicle. On the one hand, the vehicle's panoramic view is an area that users view more frequently. On the other hand, when placed in this position, the user can understand the expression of intent in combination with various information on the panoramic view when obtaining the expression of intent. The interface can always be displayed on the central control screen / instrument screen, so that the user knows to obtain the expression of intent from this fixed position. It can also be activated in a specific mode, such as displaying the interface when the central control screen displays a panoramic image.

[0305] Of course, the vehicle can also send the above intention expression to the user device side for display. For example, the above intention expression can be sent to electronic devices such as mobile phones, tablet computers, speakers or lighting equipment through a wireless communication system, so that users can understand the vehicle's driving intention expression through electronic devices such as mobile phones, tablet computers, speakers or lighting equipment. In this way, information communication between users and vehicles is achieved, which is more conducive to enhancing users' understanding of the vehicle's driving intention.

[0306] Based on one or more prompts in the various marks, components, text displays, and voices displayed above, users can know in advance the time period within which the vehicle will perform a certain driving behavior and how the vehicle will perform this driving behavior, thereby removing the "communication" barrier between the smart car and the owner and increasing the user's trust in the smart car.

[0307] It should be noted that the graphics, texts, etc. corresponding to the various marks and components in the embodiments of the present application are only examples, and they can also be expressed in one or more combinations of other graphics, texts, and voices to achieve the purpose of prompting the user. This solution does not limit the specific form.

[0308] The following is an introduction to this solution based on specific scenarios. Fig.11A and Fig. 11B As shown in the figure, a vehicle appears in front of the same lane, forming a blocking scene. For example, CDC obtains the environmental information of blocking and the direction of the vehicle in front. Based on the environmental information and the state of the vehicle, CDC determines that it needs to slow down significantly to follow the vehicle. Based on the above information, the display change process shown in Table 2 can be obtained.

[0309] Table 2

[0310]

[0311] Specifically, Fig.11A As shown in a in the figure, the vehicle is driving according to the navigation path of the vehicle. At this time, a vehicle appears in front of the vehicle in the same lane. Fig.11A As shown in b, the display is as follows Figure 9a The target component "blocked" is displayed, and the text "I will slow down and follow the car" is displayed. The direction corresponding to the earliest change time among the times corresponding to the vehicle's speed change information and direction change information is displayed on the navigation path. Fig.11A c in and Fig.11A The driving behavior change starting point 1101 and the driving behavior change ending point 1102 shown in d in FIG. 1 , the speed mark, the safety mark and the text display "I will slow down and follow the car". During the process of the vehicle slowing down, such as Fig.11A e in Fig.11A f in Fig. 11B The text in the g is displayed as "Slow down and follow the car", among which "Slow down" is highlighted. When the vehicle is about to finish slowing down and enter the following car, such as Fig. 11B The h in the text display weakens the display of "slow down". When the vehicle begins to enter the following stage, the text display of "slow down" disappears. Fig. 11B As shown in the figure, the text "Follow the car" is displayed, and the target component "blocking" also disappears. After the vehicle enters the following stage, as the dynamic time distance gradually increases, the safety mark disappears, and the text "Follow the car" also disappears, as shown in the figure. Fig. 11B As shown in j.

[0312] For example, Fig.12 This is a schematic diagram of the intention expression of the waiting to overtake scenario provided by the embodiment of the present application. There is another car blocking the same lane in front of the vehicle, and there is also a vehicle in the adjacent lane. Among them, the environmental information obtained includes blocking, the direction is forward, and the environmental information also includes yielding, the direction is left. The driving decision is to wait to change lanes to the left to overtake. Based on the environmental information and the state of the vehicle, it is determined to accelerate significantly. In this scenario, the intention expression includes: Figure 9a The target component shown is "blocked" and Figure 9b The target component shown is "yield". The safety mark is an arc line, which represents the relative position relationship between the vehicle and the front vehicle. The speed mark is a large acceleration. The waiting mark is a straight line. The text shows "waiting to change lanes to the left to overtake", where "wait" is highlighted. Of course, other marks can also be included, and this solution does not limit this.

[0313] It should be noted that in the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced mutually, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0314] The above detailed description of the method of the embodiment of the present application, the following provides a device of the embodiment of the present application. It can be understood that in the various device embodiments of the present application, the division of multiple units or modules is only a logical division according to function, and is not used as a limitation on the specific structure of the device. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may also be combined into one functional module, but no matter whether these functional modules are subdivided or combined, the general process performed by the device is the same. For example, some devices contain a receiving unit and a sending unit. In some designs, the sending unit and the receiving unit can also be integrated into a communication unit, which can implement the functions implemented by the receiving unit and the sending unit. Usually, each unit corresponds to its own program code (or program instruction), and when the program code corresponding to each of these units is run on the processor, the unit is controlled by the processing unit to execute the corresponding process to implement the corresponding function.

[0315] The embodiments of the present application also provide a device for implementing any of the above methods. For example, a vehicle driving intention representation device is provided, which includes modules (or means) for implementing each step performed by the vehicle or CDC in any of the above methods.

[0316] For example, refer to Fig.13 FIG. 1 is a schematic diagram of the structure of a vehicle driving intention representation device provided in an embodiment of the present application. The vehicle driving intention representation device is used to implement the aforementioned vehicle driving intention representation method, for example Figure 2 The method of expressing vehicle driving intention is shown.

[0317] like Fig.13 As shown, the device may include an acquisition module 1301, a processing module 1302 and a display module 1303, which are specifically as follows:

[0318] An acquisition module 1301 is used to acquire environmental information of the vehicle;

[0319] A processing module 1302 is used to obtain intention information of vehicle driving behavior according to the environmental information and the vehicle state, wherein the intention information includes driving purpose information and vehicle control information, wherein the driving purpose information represents the driving decision made for the environmental information, and the vehicle control information represents the driving information of the vehicle when executing the driving decision;

[0320] The display module 1303 is used to display a safety mark and a speed mark according to the driving purpose information and the vehicle control information, wherein the safety mark indicates that the vehicle is driving safely, and the speed mark indicates at least one of accelerating and decelerating the vehicle.

[0321] In a possible implementation manner, the end point of the speed mark is related to the start point of the safety mark.

[0322] In a possible implementation, the safety mark includes a time distance mark, and the time distance mark is N parallel short lines with equal intervals between the obstacle and the vehicle, where N is an integer not less than 2.

[0323] In a possible implementation, the safety mark includes a relative position relationship mark between the obstacle and the vehicle, and the relative position relationship mark is a short line or an arc line located between the navigation path of the vehicle and the obstacle, and the short line is parallel to the navigation direction of the vehicle.

[0324] In a possible implementation, the safety mark includes highlighting an intersection area on the navigation path.

[0325] In one possible implementation, the speed mark includes a continuous broken line or an arc, wherein the convexity of the broken line or the arc toward the direction of the vehicle indicates that the vehicle is decelerating, and the convexity of the broken line or the arc toward the navigation direction of the vehicle indicates that the vehicle is accelerating, wherein the angle of the broken line or the arc indicates the magnitude of the change in the acceleration or deceleration.

[0326] In a possible implementation, the display module 1303 is further configured to:

[0327] The driving behavior change starting point and the driving behavior change ending point are displayed according to the driving purpose information and the vehicle control information, wherein the driving behavior change starting point indicates the direction corresponding to the earliest time when the speed change information and direction change information of the vehicle change changes; and the driving behavior change ending point indicates the direction corresponding to the latest time when the speed change information and direction change information of the vehicle end changes.

[0328] In a possible implementation, the display module 1303 is further configured to:

[0329] One or more of a brake mark, a waiting mark, and a waiting countdown mark are displayed according to the driving purpose information and the vehicle control information. The brake mark, the waiting mark, and the waiting countdown mark are visual elements perpendicular to the driving direction, visual elements whose colors change in a cycle from left to right by deepening / lightening, and visual elements that change from large to small or from existence to non-existence.

[0330] In a possible implementation, the display module 1303 is further configured to:

[0331] A following vehicle status change mark is displayed according to the driving purpose information and the vehicle control information, and the following vehicle status change mark is that the navigation path changes from thin to thick or from thick to thin. The change from thin to thick indicates deceleration following the front vehicle, and the change from thick to thin indicates acceleration following the front vehicle.

[0332] In a possible implementation, the display module 1303 is further configured to:

[0333] A target component is displayed, where the target component is text and / or an icon, and the target component represents the environmental information.

[0334] In a possible implementation, the display module 1303 is further configured to:

[0335] Displaying a first text content, the first text content includes a first character and a second character, the first character indicates that a behavior corresponding to the vehicle control information is about to be performed, and the second character indicates the behavior;

[0336] When the vehicle starts to perform the behavior, a second text content is displayed, and the second text content includes the second character.

[0337] In a possible implementation, the display module 1303 is further configured to:

[0338] Displaying first text content, the first text content includes first characters, second characters and third characters, the first characters indicating that at least two consecutive actions corresponding to the vehicle control information are about to be executed; the second characters indicating a first action among the at least two consecutive actions, and the third characters indicating a second action among the at least two consecutive actions;

[0339] When the vehicle starts to perform the first behavior, a second text content is displayed, the second text content includes the second character and the third character, and the display intensity of the second character is higher than that of the third character;

[0340] When the vehicle starts to execute the second behavior, a third text content is displayed, and the third text content includes the third character.

[0341] In a possible implementation, the display module 1303 is further configured to:

[0342] The first character, the second character, the third character and the display timing of the first character, the second character and the third character are determined according to at least one of the driving decision, the vehicle state and the vehicle control information.

[0343] In a possible implementation, the display module 1303 is further configured to:

[0344] The driving behavior change starting point and the driving behavior change ending point are displayed on the navigation path, wherein the driving behavior change starting point indicates the direction corresponding to the earliest time when the speed change information and the direction change information of the vehicle change; and the driving behavior change ending point indicates the direction corresponding to the latest time when the speed change information and the direction change information of the vehicle end.

[0345] Displaying a continuous broken line between the driving behavior change starting point and the driving behavior change ending point on the navigation path, wherein the convexity of the broken line toward the direction of the vehicle indicates that the vehicle is decelerating;

[0346] A time distance mark is displayed on the navigation path after the driving behavior change termination point, and the time distance mark is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

[0347] In a possible implementation, the display module 1303 is further configured to:

[0348] A target voice is played, where the target voice is obtained according to the intention information.

[0349] It should be understood that the division of the modules in the above devices is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the modules in the vehicle driving intention representation device can be implemented in the form of a processor calling software; for example, the vehicle driving intention representation device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the modules of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the modules in the device can be implemented in the form of hardware circuits, and the functions of some or all units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All modules of the above devices can be realized in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the rest by hardware circuits.

[0350] Reference Fig.14 , which is a schematic diagram of the hardware structure of another vehicle driving intention representation device provided in an embodiment of the present application. Fig.14 The vehicle driving intention representation device 1400 shown (the device 1400 may be a computer device) includes a memory 1401, a processor 1402, a communication interface 1403 and a bus 1404. The memory 1401, the processor 1402 and the communication interface 1403 are connected to each other through the bus 1404.

[0351] The memory 1401 may be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM).

[0352] The memory 1401 can store programs. When the program stored in the memory 1401 is executed by the processor 1402, the processor 1402 and the communication interface 1403 are used to execute the various steps of the vehicle driving intention representation method of the embodiment of the present application.

[0353] The processor 1402 is a circuit with signal processing capability. In one implementation, the processor 1402 may be a circuit with instruction reading and running capability, such as a central processing unit CPU, a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processor 1402 may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as the processor 1402 being a hardware circuit implemented by an ASIC or a programmable logic device PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above modules. In addition, it may also be a hardware circuit designed for artificial intelligence, which may be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. Processor 1402 is used to execute relevant programs to implement the functions that need to be performed by the units in the vehicle driving intention representation device of the embodiment of the present application, or to execute the vehicle driving intention representation method of the method embodiment of the present application.

[0354] It can be seen that each module in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0355] In addition, the modules in the above device can be fully or partially integrated together, or can be implemented independently. In one implementation, these modules are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the modules of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0356] The communication interface 1403 uses a transceiver device such as, but not limited to, a transceiver to implement communication between the device 1400 and other devices or a communication network. For example, data can be obtained through the communication interface 1403.

[0357] The bus 1404 may include a path for transmitting information between various components of the device 1400 (eg, the memory 1401 , the processor 1402 , and the communication interface 1403 ).

[0358] It should be noted that although Fig.14 The device 1400 shown only shows a memory, a processor, and a communication interface, but in the specific implementation process, those skilled in the art should understand that the device 1400 also includes other devices necessary for normal operation. At the same time, according to specific needs, those skilled in the art should understand that the device 1400 may also include hardware devices for implementing other additional functions. In addition, those skilled in the art should understand that the device 1400 may also only include the devices necessary to implement the embodiments of the present application, and does not necessarily include Fig.14 All devices shown in .

[0359] An embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is executed on a computer or a processor, the computer or the processor executes one or more steps in any of the above methods.

[0360] The embodiment of the present application further provides a computer program product including instructions. When the computer program product is executed on a computer or a processor, the computer or the processor executes one or more steps in any of the above methods.

[0361] It should be understood that in the description of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; wherein A and B can be singular or plural. Also, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, wherein a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be necessarily different. Meanwhile, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0362] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the division of the unit is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling, direct coupling, or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0363] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0364] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media integrations. The available medium may be a read-only memory (ROM), or a random access memory (RAM), or a magnetic medium, such as a floppy disk, a hard disk, a tape, a disk, or an optical medium, such as a digital versatile disc (DVD), or a semiconductor medium, such as a solid state disk (SSD), etc.

[0365] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A method for expressing vehicle driving intention, characterized in that: include: Acquiring environmental information of the vehicle; Obtaining intention information of vehicle driving behavior according to the environmental information and the vehicle state, the intention information including driving purpose information and vehicle control information, the driving purpose information representing the driving decision made in response to the environmental information, and the vehicle control information representing the driving information of the vehicle when executing the driving decision; A safety mark and a speed mark are displayed according to the driving purpose information and the vehicle control information, wherein the safety mark indicates that the vehicle is safe to drive, and the speed mark indicates at least one of accelerating and decelerating the vehicle.

2. The method according to claim 1, characterized in that The end point of the speed mark is related to the start point of the safety mark.

3. The method according to claim 1 or 2, characterized in that: The safety mark includes a time distance mark, which is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

4. The method according to any one of claims 1 to 3, characterized in that: The safety mark includes a relative position relationship mark between the obstacle and the vehicle, and the relative position relationship mark is a short line or an arc line located between the navigation path of the vehicle and the obstacle, and the short line is parallel to the navigation direction of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: The safety marking includes highlighting the intersection area on the navigation path.

6. The method according to any one of claims 1 to 5, characterized in that: The speed mark includes a continuous broken line or an arc, wherein the convexity of the broken line or the arc toward the direction of the vehicle indicates that the vehicle is decelerating, and the convexity of the broken line or the arc toward the navigation direction of the vehicle indicates that the vehicle is accelerating, wherein the angle of the broken line or the arc indicates the magnitude of the change in the acceleration or deceleration.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The driving behavior change starting point and the driving behavior change ending point are displayed according to the driving purpose information and the vehicle control information, wherein the driving behavior change starting point indicates the direction corresponding to the earliest time when the speed change information and direction change information of the vehicle change changes; and the driving behavior change ending point indicates the direction corresponding to the latest time when the speed change information and direction change information of the vehicle end changes.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: One or more of a brake mark, a waiting mark, and a waiting countdown mark are displayed according to the driving purpose information and the vehicle control information. The brake mark, the waiting mark, and the waiting countdown mark are visual elements perpendicular to the driving direction, visual elements whose colors change in a cycle from left to right by deepening / lightening, and visual elements that change from large to small or from existence to non-existence.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: A following vehicle status change mark is displayed according to the driving purpose information and the vehicle control information, and the following vehicle status change mark is that the navigation path changes from thin to thick or from thick to thin. The change from thin to thick indicates deceleration when following the front vehicle, and the change from thick to thin indicates acceleration when following the front vehicle.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: A target component is displayed, where the target component is text and / or an icon, and the target component represents the environmental information.

11. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Displaying a first text content, the first text content includes a first character and a second character, the first character indicates that a behavior corresponding to the vehicle control information is about to be performed, and the second character indicates the behavior; When the vehicle starts to perform the behavior, a second text content is displayed, and the second text content includes the second character.

12. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Displaying first text content, the first text content includes first characters, second characters and third characters, the first characters indicating that at least two consecutive actions corresponding to the vehicle control information are about to be executed; the second characters indicating a first action among the at least two consecutive actions, and the third characters indicating a second action among the at least two consecutive actions; When the vehicle starts to perform the first behavior, a second text content is displayed, the second text content includes the second character and the third character, and the display intensity of the second character is higher than that of the third character; When the vehicle starts to execute the second behavior, a third text content is displayed, and the third text content includes the third character.

13. The method according to claim 12, characterized in that The method further comprises: The first character, the second character, the third character and the display timing of the first character, the second character and the third character are determined according to at least one of the driving decision, the vehicle state and the vehicle control information.

14. The method according to any one of claims 1 to 13, characterized in that: The displaying of a safety mark and a speed mark according to the driving purpose information and the vehicle control information includes: The driving behavior change starting point and the driving behavior change ending point are displayed on the navigation path, wherein the driving behavior change starting point indicates the direction corresponding to the earliest time when the speed change information and the direction change information of the vehicle change; and the driving behavior change ending point indicates the direction corresponding to the latest time when the speed change information and the direction change information of the vehicle end. Displaying a continuous broken line between the driving behavior change starting point and the driving behavior change ending point on the navigation path, wherein the convexity of the broken line toward the direction of the vehicle indicates that the vehicle is decelerating; A time distance mark is displayed on the navigation path after the driving behavior change termination point, and the time distance mark is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

15. The method according to any one of claims 1 to 14, characterized in that The method further comprises: A target voice is played, where the target voice is obtained according to the intention information.

16. A vehicle driving intention indicating device, characterized in that: include: An acquisition module, used to acquire environmental information of the vehicle; a processing module, configured to obtain intention information of vehicle driving behavior according to the environmental information and the vehicle state, wherein the intention information includes driving purpose information and vehicle control information, wherein the driving purpose information represents a driving decision made in response to the environmental information, and the vehicle control information represents driving information of the vehicle when executing the driving decision; A display module is used to display a safety mark and a speed mark according to the driving purpose information and the vehicle control information, wherein the safety mark indicates that the vehicle is driving safely, and the speed mark indicates at least one of accelerating and decelerating the vehicle.

17. The device according to claim 16, characterized in that The end point of the speed mark is related to the start point of the safety mark.

18. The device according to claim 16 or 17, characterized in that The safety mark includes a time distance mark, which is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

19. The device according to any one of claims 16 to 18, characterized in that The safety mark includes a relative position relationship mark between the obstacle and the vehicle, and the relative position relationship mark is a short line or an arc line located between the navigation path of the vehicle and the obstacle, and the short line is parallel to the navigation direction of the vehicle.

20. The device according to any one of claims 16 to 19, characterized in that The safety marking includes highlighting the intersection area on the navigation path.

21. The device according to any one of claims 16 to 20, characterized in that The speed mark includes a continuous broken line or an arc, wherein the convexity of the broken line or the arc toward the direction of the vehicle indicates that the vehicle is decelerating, and the convexity of the broken line or the arc toward the navigation direction of the vehicle indicates that the vehicle is accelerating, wherein the angle of the broken line or the arc indicates the magnitude of the change in the acceleration or deceleration.

22. The device according to any one of claims 16 to 21, characterized in that The display module is also used for: Displaying a driving behavior change starting point and a driving behavior change ending point according to the driving purpose information and the vehicle control information, wherein the driving behavior change starting point indicates the direction corresponding to the earliest change time among the times corresponding to the speed change information and the direction change information of the vehicle; The driving behavior change termination point indicates the direction corresponding to the latest ending time of the change among the times corresponding to the speed change information and the direction change information of the vehicle.

23. The device according to any one of claims 16 to 22, characterized in that The display module is also used for: One or more of a brake mark, a waiting mark, and a waiting countdown mark are displayed according to the driving purpose information and the vehicle control information. The brake mark, the waiting mark, and the waiting countdown mark are visual elements perpendicular to the driving direction, visual elements whose colors change in a cycle from left to right by deepening / lightening, and visual elements that change from large to small or from existence to non-existence.

24. The device according to any one of claims 16 to 23, characterized in that The display module is also used for: A following vehicle status change mark is displayed according to the driving purpose information and the vehicle control information, and the following vehicle status change mark is that the navigation path changes from thin to thick or from thick to thin. The change from thin to thick indicates deceleration when following the front vehicle, and the change from thick to thin indicates acceleration when following the front vehicle.

25. The device according to any one of claims 16 to 24, characterized in that The display module is also used for: A target component is displayed, where the target component is text and / or an icon, and the target component represents the environmental information.

26. The device according to any one of claims 16 to 25, characterized in that The display module is also used for: Displaying a first text content, the first text content includes a first character and a second character, the first character indicates that a behavior corresponding to the vehicle control information is about to be performed, and the second character indicates the behavior; When the vehicle starts to perform the behavior, a second text content is displayed, and the second text content includes the second character.

27. The device according to any one of claims 16 to 25, characterized in that The display module is also used for: Displaying first text content, the first text content includes first characters, second characters and third characters, the first characters indicating that at least two consecutive actions corresponding to the vehicle control information are about to be executed; the second characters indicating a first action among the at least two consecutive actions, and the third characters indicating a second action among the at least two consecutive actions; When the vehicle starts to perform the first behavior, a second text content is displayed, the second text content includes the second character and the third character, and the display intensity of the second character is higher than that of the third character; When the vehicle starts to execute the second behavior, a third text content is displayed, and the third text content includes the third character.

28. The device according to claim 27, characterized in that The display module is also used for: The first character, the second character, the third character and the display timing of the first character, the second character and the third character are determined according to at least one of the driving decision, the vehicle state and the vehicle control information.

29. The device according to any one of claims 16 to 28, characterized in that The display module is also used for: Displaying a driving behavior change starting point and a driving behavior change ending point on the navigation path, wherein the driving behavior change starting point indicates the direction corresponding to the earliest change time among the times corresponding to the speed change information and the direction change information of the vehicle; The driving behavior change termination point indicates the direction corresponding to the latest ending time of the change between the time corresponding to the speed change information and the direction change information of the vehicle; Displaying a continuous broken line between the driving behavior change starting point and the driving behavior change ending point on the navigation path, wherein the convexity of the broken line toward the direction of the vehicle indicates that the vehicle is decelerating; A time distance mark is displayed on the navigation path after the driving behavior change termination point, and the time distance mark is N parallel short lines with equal spacing between the obstacle and the vehicle, where N is an integer not less than 2.

30. The device according to any one of claims 16 to 29, characterized in that The display module is also used for: A target voice is played, where the target voice is obtained according to the intention information.

31. A vehicle driving intention representation device, comprising at least one processor and a memory, characterized in that: The at least one processor executes a program or instruction stored in the memory so that the vehicle driving intention representation device implements the method according to any one of claims 1 to 15 above.

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

33. A computer program product, comprising instructions, characterized in that: When the instructions are executed on a computer or a processor, the computer or the processor is enabled to implement the method according to any one of claims 1 to 15.

34. A chip comprising at least one processor and a memory, characterized in that: The at least one processor executes the program or instruction stored in the memory so that the method according to any one of claims 1 to 15 is implemented.

35. A vehicle, characterized in that: The vehicle includes the vehicle driving intention indicating device according to any one of claims 16 to 30.

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