Prompting method, device and system for vehicle and medium

Abstract

The embodiment of the invention provides a prompting method, device and system for a vehicle and a medium. The prompting method for the vehicle comprises the following steps: acquiring real-time environment sensing data; after real-time environment characteristics of the environment where the vehicle is located are determined according to the real-time environment perception data, an adaptive prompt tone adaptive to the real-time environment characteristics is determined; and in response to the received pressing operation on a loudspeaker key, controlling an external loudspeaker of the vehicle to play the adaptive prompt tone. As the adaptive prompt tone is the sound adaptive to the environment where the vehicle is located, the adaptive prompt tone transmits the prompt information adaptive to the environment where the vehicle is located, so that related road participants can accurately understand the prompt intention of a vehicle driver; the problem that related road participants cannot reasonably understand the prompt intention of the driver due to the adoption of a single-sound whistling prompt mode is avoided.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a prompting method, device, system and medium for a vehicle. Background Art

[0002] The horn reminder is an important reminder method for other road participants during the driving process. The vehicle horn reminder is generated by the driver pressing the speaker button to trigger the external speaker to power on and sound. Since the external speaker can only emit specific reminder sounds, the driver usually adjusts the power-on and power-off rhythm of the external speaker by changing the pressing characteristics to generate specific reminder sounds. For example, when the signal light indicates that the vehicle in the current lane can start driving, the driver of the rear vehicle can short-press the speaker button multiple times to trigger the external speaker to produce a short and continuous horn sound to remind the vehicle in front; for another example, when the vehicle is driving on a narrow road with mixed pedestrians and vehicles, the vehicle driver can short-press the speaker button once to trigger the speaker to produce a short horn sound to remind the pedestrians in front to pay attention to the vehicle behind. However, in actual road scenes, due to the different experiences and real-time mood states of various road participants, their understanding of the horn reminder sound is not the same. The use of a single sound horn reminder method may not enable various road participants to correctly understand the driver's reminder intention, and may also cause misunderstandings, disputes and even traffic accidents due to misunderstandings. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present disclosure provide a prompt method, device, system and medium for a vehicle.

[0004] In a first aspect, the present disclosure provides a prompting method for a vehicle, comprising:

[0005] Obtain real-time environmental perception data;

[0006] After determining the real-time environmental characteristics of the environment in which the vehicle is located according to the real-time environmental perception data, determining an adaptation prompt sound adapted to the real-time environmental characteristics;

[0007] In response to receiving a pressing operation on a speaker button, controlling an external speaker of the vehicle to play the adaptation prompt tone.

[0008] Optionally, the determining of an adaptation prompt tone adapted to the real-time environment feature includes:

[0009] A prompt sound is constructed based on the real-time environmental characteristics to obtain the adapted prompt sound adapted to the real-time environmental characteristics.

[0010] Optionally, constructing a prompt tone based on the real-time environment feature and determining an adapted prompt tone adapted to the real-time environment feature includes:

[0011] Performing feature analysis on the real-time environmental feature analysis to determine key environmental features that affect normal driving of the vehicle in the real-time environment;

[0012] A prompt tone is constructed based on the key environmental feature, and an adapted prompt tone adapted to the key environmental feature is determined.

[0013] Optionally, before controlling the external speaker of the vehicle to play the adaptation prompt tone, the method further includes:

[0014] Determining a target volume according to the real-time environmental characteristics;

[0015] The controlling the external speaker of the vehicle to play the adaptation prompt sound includes: controlling the external speaker to play the adaptation prompt sound according to the target volume.

[0016] Optionally, before controlling the external speaker of the vehicle to play the adaptation prompt tone, the method further includes:

[0017] Determine a target pitch and / or a target timbre according to the real-time environmental characteristics;

[0018] The controlling the external speaker of the vehicle to play the adaptation prompt sound includes: controlling the external speaker to play the adaptation prompt sound according to the target pitch and / or target timbre.

[0019] Optionally, the method further comprises: acquiring real-time kinematic characteristics of the vehicle;

[0020] The determining of the adaptation prompt tone adapted to the real-time environment feature includes:

[0021] The adapted prompt sound adapted to both the real-time environmental feature and the real-time kinematic feature is determined.

[0022] Optionally, the acquiring of real-time environmental perception data includes:

[0023] Selecting a target environment perception sensor from a plurality of available environment perception sensors according to the real-time operational characteristics of the vehicle;

[0024] Acquire the real-time environment perception data output by the target environment perception sensor.

[0025] Optionally, the number of the adaptation prompt sounds adapted to the real-time environmental features is at least two;

[0026] In response to receiving a pressing operation on a speaker button, controlling an external speaker of the vehicle to play the adaptation prompt tone includes:

[0027] In response to receiving a trigger operation on the speaker button, performing feature analysis on the pressing operation to determine a prompting gesture of the driver;

[0028] Selecting a matching target prompt tone from at least two of the adapted prompt tones according to the prompt diagram;

[0029] Control the external speaker to play the target prompt sound.

[0030] Optionally, in response to receiving a pressing operation on the speaker button, performing feature analysis on the pressing operation to determine the driver's prompting gesture includes:

[0031] In response to receiving a pressing operation on the speaker button, detecting a pressing frequency and a pressing force of the pressing operation;

[0032] The pressing frequency and the pressing force are subjected to characteristic analysis to determine the suggestion diagram.

[0033] Optionally, in response to receiving a pressing operation on the speaker button, performing feature analysis on the pressing operation to determine the driver's prompting gesture includes:

[0034] In response to receiving a pressing operation on the speaker button, the pressing operation and the real-time environmental characteristics are jointly analyzed to determine the prompting diagram.

[0035] Optionally, the method further comprises: acquiring a driving control operation on the vehicle;

[0036] The performing feature analysis on the pressing operation feature to determine the driver's prompt gesture includes:

[0037] A joint feature analysis is performed on the pressing operation and the driving control operation to determine the suggestion diagram.

[0038] Optionally, the method further includes: performing feature analysis on the real-time environmental feature to determine whether there is a vehicle light control mode adapted to the real-time environmental feature;

[0039] In the case where it is determined that there is a light prompt mode adapted to the real-time environmental feature, while the external speaker controlling the vehicle plays the adapted prompt sound, the method further includes: controlling the vehicle lights according to the light control mode.

[0040] In a second aspect, the embodiment of the present disclosure further provides a prompting method for a vehicle, comprising:

[0041] An environmental feature acquisition unit, used to acquire real-time environmental perception data;

[0042] An adaptation prompt sound determination unit, configured to determine an adaptation prompt sound adapted to the real-time environmental characteristics of the environment in which the vehicle is located after determining the real-time environmental characteristics according to the real-time environmental perception data;

[0043] The control unit is used to control the external speaker of the vehicle to play the adaptation prompt tone in response to receiving a pressing operation on a speaker button.

[0044] In a third aspect, an embodiment of the present disclosure provides a vehicle system, including a processor and a memory, wherein the memory is used to store a computer program; when the computer program is loaded by the processor, the processor executes the prompt method for the vehicle as described above.

[0045] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the storage medium stores a computer program. When the computer program is executed by a processor, the processor implements the prompt method for a vehicle as described above.

[0046] Compared with the prior art, the technical solution provided by the disclosed embodiment has the following advantages: after acquiring the implementation environment perception data, the real-time environment of the vehicle is determined according to the real-time environment perception data, and an adaptation prompt tone adapted to the real-time environment characteristics is determined. When a press operation on the speaker button is received, the adaptation prompt tone is played by controlling the vehicle-mounted external speaker. Since the adaptation prompt tone is a sound adapted to the environment in which the vehicle is located, it conveys prompt information adapted to the environment in which the vehicle is located, and can enable relevant road participants to accurately understand the vehicle driver's prompt intention, avoiding the problem that the use of a single sound whistle prompt method may not enable relevant road participants to reasonably understand the driver's prompt intention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work, including:

[0049] Figure 1 is a flow chart of a prompting method for a vehicle provided by an embodiment of the present disclosure;

[0050] Figure 2 is a flowchart of a prompting method for a vehicle provided by some other embodiments of the present disclosure;

[0051] Figure 3 is a schematic diagram of a prompting device for a vehicle provided by an embodiment of the present disclosure;

[0052] Figure 4 It is a structural diagram of the vehicle system provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0053] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0054] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0055] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0056] Before introducing the vehicle prompting method provided in the embodiment of the present disclosure, a brief analysis is first made on the point mentioned in the background technology that "the use of a single sound whistle to prompt may not enable various road participants to correctly understand the driver's prompt intention, and may also cause misunderstandings, disputes and even traffic accidents due to misunderstandings."

[0057] In the related art, due to the different understandings of traffic laws and regulations, general consensus, and real-time mood states of various road participants, their understanding of the use of various types of horn prompts is also different. For example, some road participants believe that "two short honks" are used to express gratitude, while other road participants believe that "two short honks" are used to remind other road participants to pay attention to traffic safety. For another example, when a road participant is in a good mood, he may think that "continuous honking" is a reminder of road safety from the car behind, while when a road participant is in a bad mood, he may think that "continuous honking" is deliberately finding fault and making trouble. The reason is that the use of a single sound horn cannot fully convey the driver's intention to remind the driver, resulting in the aforementioned problems.

[0058] In order to solve the aforementioned problems, the embodiments of the present disclosure provide a new prompt method for vehicles. This sound prompt method prompts corresponding road participants by playing an adapted prompt sound adapted to environmental characteristics, thereby preventing corresponding road participants from obtaining clearer prompt sound information and avoiding the aforementioned problems.

[0059] Figure 1 FIG. 1 is a flow chart of a prompting method for a vehicle provided by an embodiment of the present disclosure. Figure 1 As shown, the prompt method for a vehicle provided by the embodiment of the present disclosure includes S110-130.

[0060] The prompt method for a vehicle provided in the embodiment of the present disclosure can be executed by a vehicle system. The aforementioned vehicle system is a device that can realize the status control of components such as external speakers, high and low beams, vehicle air conditioners, and windows in the vehicle.

[0061] S110: Acquire real-time environmental perception data.

[0062] Environmental perception data is the perception data generated by the environmental perception sensors in the vehicle to detect environmental characteristics and contains environmental characteristic information. By analyzing the environmental perception data, the vehicle system can determine the environmental characteristics of the real-time environment in which the vehicle is traveling.

[0063] Real-time environmental perception data is the environmental perception data collected in real time by the vehicle's onboard environmental sensors during the vehicle's driving process. In other words, real-time environmental perception data has real-time characteristics.

[0064] Environmental perception sensors are sensors used to perceive environmental conditions. In specific implementations, environmental perception sensors may include cameras, laser radars, ultrasonic radars, millimeter-wave radars, and positioning sensors. Because the working principles of the aforementioned various environmental perception sensors and the environmental perception data they can obtain are already common knowledge in the field of vehicle technology, how the aforementioned various environmental perception sensors perceive the environment and generate corresponding environmental perception data will not be analyzed here. For relevant content, please refer to the existing technical literature in this field.

[0065] S120: After determining the real-time environmental characteristics of the environment in which the vehicle is located according to the real-time environmental perception data, determine an adaptation prompt sound that is adapted to the real-time environmental characteristics.

[0066] After acquiring the environmental perception data, the vehicle system can process and analyze the environmental perception data to determine the real-time environmental characteristics of the vehicle's environment.

[0067] The real-time environmental features of the environment in which the vehicle is located may be road features of the road on which the vehicle is traveling, or features of other road participants on the road on which the vehicle is traveling. In the disclosed embodiment, the real-time environmental features are environmental features that may affect the normal driving of the vehicle, or environmental features that may cause an accident.

[0068] The aforementioned road features may include the curvature of the road, the width of the road, the number of lanes on the road, the type of road sign information (including lane lines, road signs), the density of vegetation or buildings on both sides of the road, etc.

[0069] The aforementioned other road participants are various road participants that may affect the driving of the vehicle. Other road participants may be vehicles, or pedestrians, cyclists, or motorcyclists, etc. The characteristics of other road participants may include the position characteristics, moving speed characteristics, etc. of other road participants. The position characteristics of other road participants may be the absolute position characteristics of other road participants, or the relative position characteristics relative to the vehicle. The moving speed characteristics of other road participants may be the absolute moving speed characteristics of other road participants, or the relative moving speed characteristics relative to the vehicle.

[0070] In the disclosed embodiments, the vehicle system may use various known methods to determine the real-time environmental characteristics of the real-time environment in which the vehicle is located according to the real-time environmental characteristics. For example, in some embodiments, a pre-trained neural network model is deployed in the vehicle system. After acquiring the real-time environmental perception data, the vehicle system may input the real-time environmental perception data into the neural network, and the neural network model processes the real-time environmental perception data to obtain the real-time environmental characteristics.

[0071] In order to clearly understand the real-time environmental characteristics and thus have a more intuitive understanding of the method steps in the following text, the real-time environmental characteristics in some road scenes are illustrated below.

[0072] In some embodiments, the sensor configured in the vehicle includes a camera, which can capture the road ahead of the vehicle to obtain a road image and generate environmental perception data in the form of a picture. At a certain point in time, the road ahead of the vehicle is a sharp turn. After acquiring the environmental perception data in the form of a picture, the vehicle system processes the environmental perception data using a pre-trained neural network model to determine that the type of the road ahead is a sharp turn.

[0073] In some embodiments, the sensors configured in the vehicle include a laser radar, which can collect point cloud features of obstacles around the vehicle and generate point cloud data. At a certain point in time, the road ahead of the vehicle is a crowded urban block, and pedestrians and bicycles will shuttle back and forth in the block. After acquiring the environmental perception data in the form of a point cloud, the vehicle system uses a pre-trained neural network model to process the point cloud data to determine whether there are pedestrians or other vehicles on the road ahead that may affect the normal driving of the vehicle.

[0074] In some embodiments, the sensors configured in the vehicle include a camera, which can capture the road ahead of the vehicle to obtain a road image and generate environmental perception data for driving in the form of a picture. In some road scenarios, the vehicle is currently waiting for a traffic light at an intersection, and the traffic light ahead changes from red to green. Although the traffic light has switched from red to green, the driver of the vehicle ahead did not notice the indicator light switch and did not control the vehicle's travel. At this time, after the vehicle system obtains the environmental perception data in the form of a picture, the real-time environmental features determined by processing the environmental perception data using a pre-trained neural network model are: the traffic light corresponding to the current driving road changes to green, the current driving road is passable, but the vehicle ahead does not move and blocks the passage of the vehicle.

[0075] In the above embodiments, the vehicle system uses a pre-trained neural network model to process environmental perception data to obtain real-time environmental features. In other embodiments of the present disclosure, the vehicle system may also use other processing methods known in the art to determine real-time environmental features.

[0076] In the disclosed embodiment, an adaptation prompt tone adapted to the real-time environment characteristics is determined, the actual environment characteristics are analyzed, and an adaptation prompt tone adapted to the implementation environment characteristics is determined based on the analysis results.

[0077] In some embodiments, the vehicle system has stored a large number of pre-set prompt sounds, and each prompt sound has an identification keyword associated with it. In this case, determining the adapted prompt sound that is adapted to the real-time environmental characteristics is to process the real-time environmental characteristics to obtain the current keyword corresponding to the real-time environmental characteristics. Then, the current keyword and the identification keyword associated with each prompt sound are used for screening and matching to determine the adapted prompt sound that is adapted to the real-time environmental characteristics.

[0078] In some other embodiments of the present disclosure, there are no pre-set prompt sounds. To determine the adapted prompt sound that is adapted to the real-time environmental features, feature extraction is performed on the real-time environmental features to determine the real-time keywords corresponding to the real-time environmental features. Subsequently, prompt sounds are constructed based on the real-time keywords corresponding to the real-time environmental features to determine the adapted prompt sound that is adapted to the real-time environmental features. The aforementioned prompt sound construction based on the real-time environmental features is to combine the real-time keywords according to the grammatical relationship to form a suitable prompt text, and generate the corresponding prompt sound based on the aforementioned prompt text.

[0079] For example, when the real-time environmental feature is determined according to environmental perception data to be a sharp turn on the road ahead, the screened real-time keywords include "road", "sharp turn", "avoid" and "vehicle", and the prompt text constructed according to the aforementioned real-time keywords is "The road turns sharply, be careful to avoid vehicles", and the corresponding adapted prompt sound is "The road turns sharply, be careful to avoid vehicles".

[0080] For another example, based on the environmental perception data, the real-time environmental feature is determined to be "the traffic light corresponding to the current road turns green, the current road is passable, but the vehicle in front has not moved and is blocking the passage of this vehicle." The screened real-time keywords include "traffic light," "switch," "green light," "clear road," and "go ahead." The prompt text constructed according to the aforementioned real-time keywords is "the traffic light switches to green and the road is clear, please go ahead." The corresponding adapted prompt tone is "the traffic light switches to green and the road is clear, please go ahead."

[0081] S130: In response to receiving a pressing operation on a speaker button, controlling an external speaker of the vehicle to play an adaptation prompt tone.

[0082] In the disclosed embodiment, after determining the adaptation prompt tone that is adapted to the real-time environmental characteristics, the vehicle system will not directly trigger the external speaker to play the adaptation prompt tone, but will control the external speaker to play the adaptation prompt tone when receiving a pressing operation on the speaker button.

[0083] The above-mentioned pressing operation of the speaker button is performed by the driver to trigger the external speaker to sound. In a specific implementation, the speaker button is a button in the middle area of ​​the vehicle steering wheel, and the driver presses the middle area of ​​the steering wheel to achieve the pressing operation of the speaker button.

[0084] Using the prompt method for a vehicle provided by the embodiment of the present disclosure, after obtaining the implementation environment perception data, the real-time environment of the vehicle is determined according to the real-time environment perception data, and an adaptive prompt tone adapted to the real-time environment is constructed according to the characteristics of the real-time environment. When the speaker button is pressed, the vehicle system controls the vehicle-mounted external speaker to play the adaptive prompt tone. Since the adaptive prompt tone is a sound adapted to the environment in which the vehicle is located, it conveys prompt information adapted to the environment in which the vehicle is located, which can enable relevant road participants to accurately understand the vehicle driver's prompt intention, avoiding the problem that the use of a single sound whistle prompt method may not enable relevant road participants to reasonably understand the driver's prompt intention.

[0085] Optionally, in some embodiments of the present disclosure, before executing the aforementioned S130, the vehicle system may also execute the following S140.

[0086] S140: Determine a target volume according to real-time environmental characteristics.

[0087] The target volume is the volume of the adapted prompt sound when playing it with an external speaker. According to common sense and experience, in order to reasonably alert road users under different environmental characteristics, it is necessary to determine a reasonable volume of the prompt sound.

[0088] For example, when the vehicle is driving on an open road and there are other vehicles on the road, due to the large road noise and wind noise of other vehicles driving, a larger prompt sound volume is required to play the prompt sound so that the drivers of other vehicles can hear it.

[0089] For another example, when a vehicle is traveling in a relatively closed space such as an underground garage, the road noise and wind noise generated by the small space and low vehicle speed are small, so playing the reminder sound at a lower volume can serve to alert relevant road users. However, playing the reminder sound at a higher volume may disturb relevant road users.

[0090] It should be noted that in actual applications, the real-time environmental features used to determine the target volume may be different from the real-time environmental features used to determine the adaptive prompt sound. For example, the real-time environmental features used to determine the target volume are the openness features of the vehicle driving environment, while the real-time environmental features used to determine the adaptive prompt sound are the road type features of the vehicle driving environment or the position features of other road participants.

[0091] On the premise of executing the aforementioned S140, the aforementioned S130 may include S131.

[0092] S131: Control the external speaker to play the adaptation prompt tone according to the target volume.

[0093] After determining the target volume, when a press operation on the speaker button is received, the vehicle system can control the external speaker to play the adaptation prompt sound according to the target volume, so that the playback loudness of the adaptation prompt sound can be adapted to the environment, avoiding the sound being too low in some scenarios for other road participants to hear the adaptation prompt sound, or avoiding the sound being too loud in some scenarios and scaring other road participants.

[0094] Optionally, in some embodiments of the present disclosure, before executing the aforementioned S130, the vehicle system may also execute the following S150.

[0095] S150: Determine a target pitch and / or target timbre according to real-time environmental characteristics.

[0096] Pitch refers to the pitch of a sound, which is determined by the vibration frequency of the sound. The target pitch is the pitch used when playing the adaptation prompt tone, that is, the vibration frequency used when playing the adaptation prompt tone.

[0097] Timbre refers to the characteristics of sound perceived by the auditory sense, which is related to the frequency, sound wave shape, sound pressure and time characteristics of the sound. The target timbre is the timbre used when playing the adaptation prompt tone.

[0098] In the disclosed embodiment, determining the target pitch and / or target timbre according to the real-time environmental characteristics may be to estimate the scene characteristics of the scene where the vehicle is located according to the real-time environmental characteristics, and determine the target pitch and / or target timbre according to the scene characteristics.

[0099] During the specific implementation process, the corresponding relationship between each scene feature and the target pitch and / or target timbre can be preset in advance, and then the corresponding target pitch and / or target timbre can be obtained according to the scene feature.

[0100] For example, based on the real-time environmental characteristics, the vehicle driving scene is determined to be an urban road driving scene. Since the vehicles in this scene are generally in a high-speed driving state and are highly dangerous, the target tone can be determined to be a low-frequency tone with serious characteristics, and the target timbre can be determined to be a heavy timbre with serious characteristics.

[0101] For another example, based on the real-time environmental characteristics, it is determined that the vehicle driving scene is a busy street with a large number of pedestrians on both sides leisurely shopping. At this time, the target tone can be determined as a tone with leisure characteristics, and the target timbre can be a timbre with leisure and entertainment characteristics. For example, the target tone can be a child's voice tone, and the target timbre can be a child's voice timbre.

[0102] It should be noted that, in actual applications, the real-time environment features used to determine the target pitch and / or target timbre may be different from the real-time environment features used to determine the adaptation prompt tone.

[0103] In the case of executing the aforementioned S150, the aforementioned S130 may include S132.

[0104] S132: Control the external speaker to play the adaptation prompt tone according to the target pitch and / or target timbre.

[0105] By determining the target tone and / or target timbre, when the speaker button is pressed, the vehicle system can control the external speaker to play the adapted prompt tone according to the target tone and / or target timbre, so that the playback volume of the adapted prompt tone can be adapted to the environmental characteristics, and then it can play a specific prompting role. For example, in the aforementioned busy street scene, by playing according to the tone or timbre of a child's voice, it can have a more interesting effect of prompting relevant road participants, thereby achieving a better prompting purpose.

[0106] It should be noted that the aforementioned S140 and S150 do not conflict in actual execution, so in some embodiments the two can be executed simultaneously. When executing S130, the corresponding vehicle system can simultaneously control the external speaker to play the adaptation prompt sound according to the target volume, target pitch and target timbre.

[0107] Optionally, in some embodiments, before executing the aforementioned S120, the vehicle system may also execute the following S160.

[0108] S160: Acquire real-time kinematic characteristics of the vehicle.

[0109] Kinematic features are features used to characterize the motion characteristics of a vehicle. In a specific implementation, kinematic features may include motion speed and motion acceleration. Real-time kinematic features are features used to characterize the real-time motion characteristics of a vehicle.

[0110] S160 acquiring the real-time kinematic characteristics of the vehicle is acquiring the real-time kinematic characteristics of the vehicle, which may be acquiring speed data generated by the vehicle's speed sensor detecting the real-time speed, and acquiring acceleration data generated by the vehicle's inertial sensor detecting the real-time acceleration.

[0111] In the case of executing the aforementioned S160, the aforementioned S120 may include S121.

[0112] S121: constructing a prompt sound based on the real-time environmental features and the real-time kinematic features, and determining an adapted prompt sound that is adapted to both the real-time environmental features and the real-time kinematic features.

[0113] In a specific implementation, when the vehicle is in different kinematic characteristic states, the adaptation prompt sound that needs to be issued may be different.

[0114] For example, when a vehicle is traveling at high speed and needs to remind road users ahead to pay attention to the vehicle approaching at high speed, the adaptive prompt tone that needs to be generated should be a prompt tone such as "The vehicle behind is approaching quickly, please pay attention to safety."

[0115] For another example, when a vehicle is traveling at a low speed and needs to remind road users ahead to pay attention to vehicles behind, the adaptive reminder sound of the cross brace should be a reminder sound such as "There is a vehicle coming from behind, please pay attention to safety."

[0116] In order to achieve the aforementioned purpose and enable the vehicle-generated prompt sound to more accurately and efficiently prompt relevant road participants, the vehicle-computer system constructs the prompt sound based on the implementation environment characteristics and the real-time kinematic characteristics of the vehicle, and determines the adapted prompt sound that is adapted to both the implementation environment characteristics and the implementation kinematic characteristics.

[0117] In some embodiments, the vehicle system is pre-configured with special keywords corresponding to various vehicle kinematic characteristics. After determining the matching keywords based on the real-time environmental characteristics, the vehicle system then combines the aforementioned matching keywords with the special keywords to construct an adaptation prompt text, and generates a prompt sound adapted to the real-time environmental characteristics and real-time kinematic characteristics based on the adaptation prompt text.

[0118] As analyzed above, it is necessary to obtain real-time environmental perception data when executing S110. In some embodiments, various types of environmental perception sensors are configured in the vehicle, such as millimeter wave radar and ultrasonic radar, where millimeter wave radar is used to detect obstacles far from the vehicle in high-speed scenarios, and ultrasonic radar is used to detect obstacles close to the vehicle in low-speed scenarios.

[0119] In a specific environment scenario, only the real-time environment perception data generated by a specific environment perception sensor is useful, while the real-time environment perception data generated by other environment perception sensors is useless. To achieve the above purpose, the acquisition of real-time environment perception data in the above S110 may include S111-S112.

[0120] S111: Filter a target environment perception sensor from a plurality of available environment perception sensors according to the real-time operational characteristics of the vehicle.

[0121] S112: Acquire real-time environment perception data output by the target environment perception sensor.

[0122] Screening a target environment perception sensor from multiple available environment perception sensors according to the real-time kinematic characteristics of the vehicle is to determine the target environment perception sensor that matches the real-time motion state of the vehicle.

[0123] For example, in the case where the environmental perception sensors include millimeter-wave radar and ultrasonic radar, if the vehicle is determined to be in a high-speed motion state based on the vehicle's real-time kinematic characteristics, the millimeter-wave radar is determined to be the target environmental perception sensor; and if the vehicle is in a low-speed driving state (for example, in a parking state) based on the vehicle's real-time kinematic characteristics, the ultrasonic radar is determined to be the target environmental perception sensor.

[0124] Correspondingly, the vehicle system obtains the real-time environmental perception data output by the target environmental perception sensor, that is, obtains environmental perception data that better matches the vehicle's motion state, thereby making the real-time environmental characteristics determined based on the environmental perception data more consistent with the vehicle's kinematic state, and then being able to determine a more suitable adaptation prompt sound.

[0125] Figure 2 FIG. 1 is a flowchart of a prompting method for a vehicle provided by some other embodiments of the present disclosure. Figure 2 As shown, in some other embodiments, the prompt method for a vehicle includes S210-S250.

[0126] S210: Acquire real-time environment perception data;

[0127] S220: After determining the real-time environmental characteristics of the environment in which the vehicle is located according to the real-time environmental perception data, determine an adaptation prompt sound that is adapted to the real-time environmental characteristics.

[0128] The execution process of S210-S220 is the same as the execution process of S110-S120 mentioned above, and will not be repeated here. Different from the previous embodiment, the number of adaptation prompt sounds adapted to the implementation environment characteristics determined in the execution of S220 is at least two. For example, in a complex road scene where a vehicle is traveling on both pedestrians and vehicles, the real-time environmental characteristics determined by the vehicle system based on real-time environmental perception data include not only road characteristics, but also the position characteristics and moving speed characteristics of pedestrians. In this case, determining the adaptation prompt sound includes the adaptation prompt sound related to the road characteristics, and the adaptation prompt sound related to the position characteristics and moving speed characteristics of the pedestrians.

[0129] S230: In response to receiving a pressing operation on a speaker button, performing feature analysis on the pressing operation to determine a prompting gesture of the driver.

[0130] Different from the above embodiments, in the embodiment disclosed herein, when a pressing operation on a speaker button is received, the vehicle system does not directly control the external speaker to play all the adapted prompt sounds, but first performs a feature analysis on the pressing operation to determine the driver's prompt intent.

[0131] In specific implementations, the type of pressing operation performed by the driver on the speaker button varies according to different situations. For example, when it is determined that a pedestrian is crossing the road at will and may collide with the pedestrian, the driver may perform a long press operation or a high-frequency continuous short press operation on the speaker button. For another example, when it is determined that the road ahead is a sharp turn and it is necessary to warn the oncoming vehicle, the driver may perform a low-frequency continuous short press operation on the speaker button.

[0132] That is to say, the types of pressing operations on the speaker button correspond to different prompting schemes of the driver. Accordingly, by performing feature analysis on the pressing operation, the prompting scheme of the driver can be determined. For example, in the above example, if the pressing operation is a high-frequency continuous short-pressing operation, the prompting scheme is determined to be to remind pedestrians that "there is a vehicle behind, do not cross the road at will"; and if the pressing operation is a low-frequency continuous short-pressing operation, the prompting scheme is determined to be to remind oncoming vehicles that "the road turns, please pay attention to avoid oncoming vehicles."

[0133] S240: Selecting a matching target prompt tone from at least two adapted prompt tones according to the prompt diagram.

[0134] After determining the driver's reminder, the vehicle system can then match the determined reminder with the determined adaptive reminder sound and select the target reminder sound. For example, when the reminder is to remind pedestrians that "there is a vehicle behind you, do not cross the road at will", the reminder sound can be a reminder sound of "watch out for vehicles coming from behind".

[0135] S250: Control the external speaker to play the target prompt tone.

[0136] After determining the target prompt tone, the vehicle system can then control the external speaker to play the target prompt tone to achieve a prompt that matches the driver's prompt diagram.

[0137] As mentioned above, the type of the driver's pressing operation on the speaker button is related to the driver's prompt diagram, and the driver's pressing operation on the speaker button includes pressing frequency and pressing force. Accordingly, when executing the aforementioned S230, the following S231-S232 can be executed.

[0138] S231: In response to receiving a pressing operation on a speaker button, detecting a pressing frequency and a pressing force of the pressing operation.

[0139] In some embodiments, a pressure sensor is configured in the speaker button (e.g., a mechanical button in the steering wheel). When a pressing operation on the speaker is received, the pressing force can be determined according to the pressure value output by the pressure sensor. In some embodiments, the vehicle system can determine the pressing frequency of the pressing operation according to the on / off state of the switch in the speaker button.

[0140] S232: Perform characteristic analysis on the pressing frequency and pressing force, and determine a prompt diagram.

[0141] In the disclosed embodiment, feature analysis is performed based on the pressing frequency and the pressing force to determine whether the prompt diagram is an urgent prompt or a regular prompt based on the pressing frequency and the pressing force, and then the corresponding prompt diagram is determined.

[0142] Optionally, in some embodiments of the present disclosure, the driver's reminder can be reflected by pressing the speaker case, or by real-time environmental features. For example, for pedestrians crossing the road in the above example, the driver's reminder is "There is a vehicle behind you, do not cross the road at will"; for a sharp turn on the road, the driver's reminder is "The road turns, please pay attention to avoid oncoming vehicles."

[0143] Correspondingly, the aforementioned S230 may also be specifically the following S233.

[0144] S233: In response to receiving a pressing operation on a speaker button, jointly analyzing the pressing operation and real-time environmental characteristics to determine a prompting diagram.

[0145] As analyzed above, the analysis of the pressing operation of the speaker button is to analyze the pressing frequency and pressing force of the pressing operation. Accordingly, the joint analysis of the pressing operation and the real-time environment characteristics is to jointly analyze the pressing frequency, pressing force and real-time environment characteristics of the pressing operation to determine the suggestion diagram.

[0146] In some embodiments, the pressing frequency, pressing force and real-time environmental characteristics of the pressing operation are jointly analyzed. The pressing frequency and pressing force of various pressing operations are matched with each feature in the real-time environmental characteristics to determine the most relevant real-time environmental feature, and a suggestion diagram is determined based on the most relevant real-time environmental feature.

[0147] In some other embodiments, the pressing frequency, pressing intensity and real-time environmental characteristics of the pressing operation are jointly analyzed, and the pressing frequency, pressing intensity and real-time environmental characteristics of the pressing operation can be input into a pre-trained neural network model, and the pre-trained neural network model is used to determine the suggestion diagram.

[0148] During vehicle driving, when the driver performs a pressing operation on the speaker button, he may simultaneously perform a driving control operation on the vehicle, and the driving control operation has a certain correlation with the driver's prompting diagram. Accordingly, in some embodiments, the vehicle system may further perform the following S260, and the corresponding aforementioned S230 may further be specifically the following S234.

[0149] S260: Acquire driving control operations on the vehicle.

[0150] The driving control operation of the vehicle includes the control operation of the steering wheel, the control operation of the throttle and the control operation of the brake system. In a specific implementation, the vehicle system can determine the type of the corresponding driving control operation through the detection signal generated by the sensor in the corresponding control component.

[0151] S234: Perform joint feature analysis on the pressing operation features and the driving control operation to determine a prompt diagram.

[0152] In some embodiments, a joint feature analysis is performed on the pressing operation and the driving control operation to determine the suggestion diagram, and the pressing operation and the driving control operation can be input into a pre-trained neural network model to obtain a corresponding suggestion diagram.

[0153] The aforementioned joint analysis of the speaker button pressing operation and the real-time environmental characteristics and the joint analysis of the speaker button pressing operation and the driving control operation are mentioned. In some other embodiments, the speaker button pressing operation, the real-time environmental characteristics and the driving control operation can also be jointly analyzed to determine the driver's suggestion intention.

[0154] As mentioned above, it is necessary to construct a prompt tone based on the real-time environmental features and determine the adapted prompt tone that matches the real-time environmental features. In actual applications, the real-time environmental features acquired by the vehicle system may include many features, but only some of the aforementioned features are relevant to the determination of the prompt tone. Only some of the aforementioned features are required to determine the matching prompt tone. Accordingly, when executing the aforementioned S120 or S220, the vehicle system can self-execute the following S310-S320.

[0155] S310: Perform feature analysis on real-time environmental features to determine key environmental features that affect normal driving of the vehicle in the real-time environment.

[0156] The vehicle computer system performs feature analysis on real-time environmental features, which is to screen the real-time environmental features using corresponding rating rules to determine the key environmental features for the normal driving of the image vehicle. In specific implementation, the vehicle computer system can screen the key environmental features according to the distance from the object represented by the real-time environmental features to the vehicle and the type of the object represented by the environmental features.

[0157] S320: Construct a prompt tone based on the key environmental features, and determine an adapted prompt tone that is adapted to the key environmental features.

[0158] After determining the key environmental features, the vehicle system can then construct a prompt tone based on the key environmental features and determine the adapted prompt tone. The specific process of determining the adapted prompt tone is described above and will not be repeated here.

[0159] In some embodiments, in addition to the aforementioned sound prompt method, the vehicle may also use a light prompt method to prompt other road participants. Specifically in some embodiments, the vehicle system may also perform the following S410-S420.

[0160] S410: Analyze the real-time environmental characteristics to determine whether there is a vehicle light control method that is compatible with the real-time environmental characteristics.

[0161] The feature analysis of the real-time environment features is used to determine whether there is an adaptive light control method, which is based on the ambient brightness features of the real-time environment and the orientation features of the corresponding road participants. For example, when the ambient brightness is low and the corresponding road participants are facing the direction of the vehicle, it is determined that the relevant road participants can be prompted by flashing the lights without causing flash blindness to the relevant road participants.

[0162] S420: When it is determined that there is a light prompting method adapted to the real-time environmental characteristics, the vehicle lights are controlled according to the light control method while the external speaker of the vehicle is controlled to play the adapted prompting sound.

[0163] After determining the headlight control method that matches the real-time environmental characteristics, the vehicle system can then control the vehicle lights to flash according to the headlight control method while playing the adapted prompt sound, thereby serving the purpose of alerting relevant road participants.

[0164] In addition to providing the aforementioned prompting method for a vehicle, an embodiment of the present disclosure also provides a prompting device for a vehicle. Figure 3 is a schematic diagram of a prompting device for a vehicle provided in an embodiment of the present disclosure, such as Figure 3 As shown, the prompting device for a vehicle includes an environment feature acquisition unit 301 , an adaptation prompt sound determination unit 302 and a control unit 303 .

[0165] The environmental feature acquisition unit 301 is used to acquire real-time environmental perception data; the adaptation prompt sound determination unit 302 is used to determine the adaptation prompt sound adapted to the real-time environmental features of the vehicle's environment based on the real-time environmental perception data; the control unit 303 is used to control the vehicle's external speaker to play the adaptation prompt sound in response to receiving a pressing operation on the speaker button.

[0166] In some embodiments, the adapted prompt sound determining unit 302 constructs the prompt sound based on the real-time environment characteristics to obtain the adapted prompt sound adapted to the real-time environment characteristics.

[0167] In some embodiments, the adaptive prompt tone determination unit 302 includes a key feature extraction subunit and an adaptive voice determination subunit. The key feature extraction subunit is used to perform feature analysis on the real-time environmental feature analysis to determine the key environmental features that affect the normal driving of the vehicle in the real-time environment; the adaptive voice determination subunit is used to construct a prompt tone based on the key environmental features to determine the adaptive prompt tone that is adapted to the key environmental features.

[0168] In some embodiments, the prompting device for a vehicle further includes a volume determination unit. The volume determination unit is used to determine a target volume according to real-time environmental characteristics. In response to receiving a pressing operation on a speaker button, the control unit 303 controls the external speaker to play the adapted prompt tone according to the target volume.

[0169] In some embodiments, the prompting device for a vehicle further includes a sound quality determination unit. The sound quality determination unit is used to determine a target tone and / or a target timbre according to real-time environmental characteristics. In response to receiving a pressing operation on a speaker button, the control unit 303 controls the external speaker to play an adapted prompting sound according to the target tone and / or the target timbre.

[0170] In some embodiments, the prompt device for a vehicle further comprises a kinematic feature acquisition unit. The kinematic feature acquisition unit is used to acquire the real-time kinematic features of the vehicle. Correspondingly, the adaptation prompt sound determination unit 302 determines the adaptation prompt sound that is adapted to both the real-time environmental features and the real-time kinematic features.

[0171] In some embodiments, the kinematic feature acquisition unit includes a target sensor determination subunit and an environment perception data determination subunit. The target sensor determination subunit is used to select a target environment perception sensor from a plurality of available environment perception sensors according to the real-time kinematic feature of the vehicle, and the corresponding environment perception data determination subunit acquires the real-time environment perception data output by the target environment perception sensor.

[0172] In some embodiments, the number of the adapted prompt sounds adapted to the real-time environmental features is at least two. The control unit 303 includes an intention determination subunit, a prompt sound determination subunit, and a control subunit. The intention determination subunit is used to perform feature analysis on the pressing operation in response to receiving a trigger operation on the speaker button, and determine the driver's prompt scheme; the prompt sound determination subunit is used to select a matching target prompt sound from at least two adapted prompt sounds according to the prompt scheme; and the control subunit is used to control the external speaker to play the target prompt sound.

[0173] In some embodiments, the intention determination subunit detects the pressing frequency and pressing intensity of the pressing operation in response to receiving the pressing operation on the speaker button; performs feature analysis on the pressing frequency and pressing intensity to determine the suggestion diagram.

[0174] In some embodiments, the intention determination subunit, in response to receiving a pressing operation on a speaker button, jointly analyzes the pressing operation and real-time environmental characteristics to determine a suggestion diagram.

[0175] In some embodiments, the prompting device for a vehicle further includes a driving control operation acquisition unit. The driving control operation acquisition unit is used to acquire the driving control operation of the vehicle. Correspondingly, the intention determination subunit performs a joint feature analysis on the pressing operation and the driving control operation to determine the prompting diagram.

[0176] In some embodiments, the prompting device for a vehicle further includes a light prompting determination unit. The light prompting determination unit is used to perform feature analysis on the real-time environmental features to determine whether there is a vehicle light control method adapted to the real-time environmental features; correspondingly, when it is determined that there is a light prompting method adapted to the real-time environmental features, the control unit 303 controls the vehicle light according to the vehicle light control method while controlling the external speaker of the vehicle to play the adapted prompting sound.

[0177] In addition to providing the aforementioned prompting method and prompting device for a vehicle, the embodiment of the present disclosure also provides a vehicle system. Figure 4 Schematic diagram of the structure of the vehicle system provided by the embodiment of the present disclosure. Figure 4 , which shows a structural schematic diagram of a vehicle system 400 suitable for implementing the embodiment of the present disclosure. Figure 4 The vehicle system shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0178] like Figure 4 As shown, the vehicle system 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory ROM 402 or a program loaded from a storage device 408 to a random access memory RAM 403. Various programs and data required for the operation of the vehicle system 400 are also stored in RAM 403. The processing device 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output I / O interface 405 is also connected to the bus 404.

[0179] Typically, the following devices may be connected to the I / O interface 405: input devices 405 including, for example, a touch screen, a touch pad, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 408 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 409. The communication device 409 may allow the vehicle system 400 to communicate with other devices wirelessly or by wire to exchange data. Figure 4 The vehicle system 400 having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0180] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 409, or installed from the storage device 408, or installed from the ROM 402. When the computer program is executed by the processing device 401, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0181] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0182] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (Hypertext Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0183] The computer-readable medium may be included in the vehicle system; or may exist independently without being installed in the vehicle system.

[0184] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle system, the vehicle system: obtains real-time environmental perception data, and determines the real-time environmental characteristics of the vehicle's environment based on the real-time environmental perception data; constructs a prompt sound based on the real-time environmental characteristics, and determines an adapted prompt sound that is adapted to the real-time environmental characteristics; in response to receiving a pressing operation on a speaker button, controls the vehicle's external speaker to play the adapted prompt sound.

[0185] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the tester computer, partially on the tester computer, as a separate software package, partially on the tester computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the tester computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0186] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system based on hardware that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0187] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0188] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0189] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection according to one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0190] The embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above method embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0191] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0192] The above are only specific embodiments of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A prompting method for a vehicle, characterized in that: include: Obtain real-time environmental perception data; After determining the real-time environmental characteristics of the environment in which the vehicle is located according to the real-time environmental perception data, determining an adaptation prompt sound adapted to the real-time environmental characteristics; In response to receiving a pressing operation on a speaker button, controlling an external speaker of the vehicle to play the adaptation prompt tone.

2. The method according to claim 1, characterized in that The determining of the adaptation prompt tone adapted to the real-time environment feature includes: A prompt sound is constructed based on the real-time environmental characteristics to obtain the adapted prompt sound adapted to the real-time environmental characteristics.

3. The method according to claim 2, characterized in that The constructing of the prompt sound based on the real-time environment feature and determining the adapted prompt sound adapted to the real-time environment feature includes: Performing feature analysis on the real-time environmental feature analysis to determine key environmental features that affect normal driving of the vehicle in the real-time environment; A prompt tone is constructed based on the key environmental feature, and an adapted prompt tone adapted to the key environmental feature is determined.

4. The method according to claim 1, characterized in that: Before controlling the external speaker of the vehicle to play the adaptation prompt tone, the method further includes: Determining a target volume according to the real-time environmental characteristics; The controlling the external speaker of the vehicle to play the adaptation prompt sound includes: controlling the external speaker to play the adaptation prompt sound according to the target volume.

5. The method according to claim 1, characterized in that: Before controlling the external speaker of the vehicle to play the adaptation prompt tone, the method further includes: Determine a target pitch and / or a target timbre according to the real-time environmental characteristics; The controlling the external speaker of the vehicle to play the adaptation prompt sound includes: controlling the external speaker to play the adaptation prompt sound according to the target pitch and / or target timbre.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: acquiring real-time kinematic characteristics of the vehicle; The determining of the adaptation prompt tone adapted to the real-time environment feature includes: The adapted prompt sound adapted to both the real-time environmental feature and the real-time kinematic feature is determined.

7. The method according to claim 6, characterized in that: The acquiring of real-time environment perception data includes: Selecting a target environment perception sensor from a plurality of available environment perception sensors according to the real-time operational characteristics of the vehicle; Acquire the real-time environment perception data output by the target environment perception sensor.

8. The method according to any one of claims 1 to 5, characterized in that: The number of the adapted prompt sounds adapted to the real-time environmental features is at least two; In response to receiving a pressing operation on a speaker button, controlling an external speaker of the vehicle to play the adaptation prompt tone includes: In response to receiving a trigger operation on the speaker button, performing feature analysis on the pressing operation to determine a prompting gesture of the driver; Selecting a matching target prompt tone from at least two of the adapted prompt tones according to the prompt diagram; Control the external speaker to play the target prompt sound.

9. The method according to claim 8, characterized in that In response to receiving a pressing operation on the speaker button, performing feature analysis on the pressing operation to determine the driver's prompting gesture includes: In response to receiving a pressing operation on the speaker button, detecting a pressing frequency and a pressing force of the pressing operation; The pressing frequency and the pressing force are subjected to characteristic analysis to determine the suggestion diagram.

10. The method according to claim 8, characterized in that In response to receiving a pressing operation on the speaker button, performing feature analysis on the pressing operation to determine the driver's prompting gesture includes: In response to receiving a pressing operation on the speaker button, the pressing operation and the real-time environmental characteristics are jointly analyzed to determine the prompting diagram.

11. The method according to claim 8, characterized in that The method further comprises: acquiring a driving control operation of the vehicle; The performing feature analysis on the pressing operation feature to determine the driver's prompt gesture includes: A joint feature analysis is performed on the pressing operation and the driving control operation to determine the suggestion diagram.

12. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Performing feature analysis on the real-time environmental features to determine whether there is a vehicle light control method that is compatible with the real-time environmental features; In the case where it is determined that there is a light prompt mode adapted to the real-time environmental feature, while the external speaker controlling the vehicle plays the adapted prompt sound, the method further includes: controlling the vehicle lights according to the light control mode.

13. A prompting device for a vehicle, characterized in that: include: An environmental feature acquisition unit, used to acquire real-time environmental perception data; An adaptation prompt sound determination unit, configured to determine an adaptation prompt sound adapted to the real-time environmental characteristics of the environment in which the vehicle is located after determining the real-time environmental characteristics according to the real-time environmental perception data; The control unit is used to control the external speaker of the vehicle to play the adaptation prompt tone in response to receiving a pressing operation on a speaker button.

14. A vehicle computer system, characterized in that: comprising a processor and a memory, the memory being used to store a computer program; When the computer program is loaded by the processor, the processor executes the prompt method for a vehicle as described in any one of claims 1-12.

15. A vehicle, characterized in that: It comprises an external speaker and the vehicle system as claimed in claim 14, wherein the vehicle system is used to control the external speaker to play a prompt sound, and the prompt sound is used to prompt other road participants except the vehicle driver.

16. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the prompt method for a vehicle as described in any one of claims 1-12.

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