Unmanned vehicle and pedestrian interaction method, device and equipment and storage medium

Abstract

The invention relates to an unmanned vehicle and pedestrian interaction method and device, equipment and a storage medium, and relates to the technical field of vehicle active safety. The method at least solves the technical problems that the effect of an interaction mode between an unmanned vehicle and a pedestrian is poor and the safety of the pedestrian crossing a road cannot be guaranteed in the related technology, and comprises the steps of detecting whether a pedestrian crossing the road exists in front of a target unmanned vehicle or not in real time in the process that the target unmanned vehicle runs on the road; when it is detected that the pedestrian crosses the road, the target unmanned vehicle is controlled to be parked; the target vehicle-mounted aircraft is controlled to project a sidewalk pattern on the road, first voice prompt information is sent out, the sidewalk pattern and the first voice prompt information are used for prompting that passing is allowed, and the target unmanned vehicle comprises the target vehicle-mounted aircraft.

Description

Technical Field

[0001] The present application relates to the field of active vehicle safety technology, and in particular to a method, device, equipment and storage medium for interaction between an unmanned vehicle and pedestrians. Background Art

[0002] With the rapid development of driverless technology, driverless vehicles are becoming more and more popular, and human-vehicle interaction technology has also become a focus of attention. At present, when pedestrians cross the road, car drivers and pedestrians only need to exchange a brief glance or gesture to express their intentions to each other. However, for driverless vehicles, whether the driverless vehicle will stop to give way and how pedestrians can determine whether they can cross the road have become technical problems in the development of driverless vehicles. In addition, when the driverless vehicle stops to give way and the pedestrian has passed in front of the driverless vehicle, due to the blind spot of the pedestrian's vision, the pedestrian cannot judge whether there are vehicles passing in the lane next to the driverless vehicle. This problem is also a problem in the development of driverless vehicles. Therefore, the current interaction method between driverless vehicles and pedestrians is poor and cannot guarantee the safety of pedestrians when crossing the road. Summary of the invention

[0003] The present application provides a method, device, equipment and storage medium for interaction between an unmanned vehicle and pedestrians, so as to at least solve the technical problem that the interaction between unmanned vehicles and pedestrians in the related art is poor and cannot ensure the safety of pedestrians when crossing the road. The technical solution of the present application is as follows:

[0004] According to a first aspect of the present application, a method for interaction between an unmanned vehicle and pedestrians is provided, comprising: while a target unmanned vehicle is driving on a road, detecting in real time whether there are pedestrians crossing the road in front of the target unmanned vehicle; when pedestrians crossing the road are detected, controlling the target unmanned vehicle to stop; controlling a target vehicle-mounted aircraft to project a sidewalk pattern on the road and issue a first voice prompt message, wherein the sidewalk pattern and the first voice prompt message are used to prompt permission to pass, and the target unmanned vehicle includes a target vehicle-mounted aircraft.

[0005] According to the above technical means, the present application can detect in real time whether there are pedestrians crossing the road in the driving direction during the driving of the target unmanned vehicle, so that when pedestrians are detected crossing the road, the target unmanned vehicle can be controlled to stop and give way, and the target vehicle-mounted aircraft included in the target unmanned vehicle can be controlled to project a sidewalk pattern on the road, and issue a first voice prompt message. Thus, pedestrians are prompted to allow passage through the sidewalk pattern and the first voice prompt message. The above method can be used to control the target vehicle-mounted aircraft included in the target unmanned vehicle to project a sidewalk pattern on the road, and issue a first voice prompt message to prompt pedestrians whether they can cross the road safely, thereby improving the effect of the interaction between unmanned vehicles and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0006] In a possible implementation, the method further includes: detecting the target light intensity at the location of the target unmanned vehicle, and determining the magnitude relationship between the target light intensity and a preset light intensity; and, controlling the target vehicle-mounted aircraft to project a sidewalk pattern on the road in the method comprises: when it is determined that the target light intensity is greater than the preset light intensity, controlling the target vehicle-mounted aircraft to unfold a sunshade, and projecting a sidewalk pattern on the road by blocking light through the sunshade; or, when it is determined that the target light intensity is less than or equal to the preset light intensity, controlling the target vehicle-mounted aircraft to turn on lights, and projecting a sidewalk pattern on the road by lights.

[0007] According to the above technical means, the present application can detect the target light intensity at that time, and determine the magnitude relationship between the target light intensity and the preset light intensity. Therefore, when it is determined that the target light intensity is greater than the preset light intensity, the target vehicle-mounted aircraft is controlled to unfold the sunshade to project a sidewalk pattern on the road by blocking the light through the sunshade; or, when it is determined that the target light intensity is less than or equal to the preset light intensity, the target vehicle-mounted aircraft is controlled to turn on the light to project the sidewalk pattern on the road through the light. Through the above method, the way of projecting the sidewalk pattern can be flexibly adjusted according to the light intensity at that time, thereby improving the effect of projecting the sidewalk pattern.

[0008] In a possible implementation, the method further includes: detecting the width of the road and determining the size relationship between the width of the road and the width of the sidewalk pattern; when it is determined that the width of the road is greater than the width of the sidewalk pattern, controlling the target vehicle-mounted aerial vehicle to fly in the direction of movement of the pedestrian according to the direction in which the pedestrian crosses the road.

[0009] According to the above technical means, the present application can further detect the width of the road and determine the size relationship between the width of the road and the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle; thus, when it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle, the target vehicle-mounted aerial vehicle is controlled to move in the direction of the pedestrian crossing the road according to the moving position of the pedestrian, so that the sidewalk pattern projected by the target vehicle-mounted aerial vehicle moves with the movement of the pedestrian, further improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of the pedestrian when crossing the road.

[0010] In a possible implementation, the method further includes: when it is determined that the width of the road is greater than the width of the sidewalk pattern, detecting whether there are other unmanned vehicles stopped to give way at the current location of the target unmanned vehicle; when it is determined that there are other unmanned vehicles stopped to give way at the current location of the target unmanned vehicle, controlling the target vehicle-mounted aerial vehicle to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles; and projecting a target sidewalk pattern on the road by combining the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, wherein the width of the target sidewalk pattern is greater than or equal to the width of the road.

[0011] According to the above-mentioned technical means, the present application can also further detect whether there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle when it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle. Therefore, when it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle, the target vehicle-mounted aerial vehicle can be controlled to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles, so as to project the target sidewalk pattern on the road through the combination of the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, thereby further improving the effect of the interaction between unmanned vehicles and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0012] In a possible implementation, the method further includes: detecting whether there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle; when it is determined that there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle, controlling the target vehicle-mounted aircraft to perform a target operation and issuing a second voice prompt message, the target operation being any one of the following: stopping projecting the sidewalk pattern, rotating the sidewalk pattern, the target operation and the second voice prompt message are used to prompt pedestrians that a vehicle is approaching.

[0013] According to the above-mentioned technical means, the present application can further detect whether there are other unmanned vehicles within the target distance range traveling towards the current location of the target unmanned vehicle, so that when it is determined that there are other unmanned vehicles within the target distance range traveling towards the current location of the target unmanned vehicle, the target vehicle-mounted aircraft is controlled to stop projecting the sidewalk pattern or rotating the sidewalk pattern, and issue a second voice prompt message to remind pedestrians that there is a vehicle approaching, thereby further improving the effect of the interaction between unmanned vehicles and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0014] In a possible implementation, the above method also includes: when the target unmanned vehicle is a vehicle reserved by the target user and travels to the destination, the identity information of the target user is displayed through the target vehicle-mounted aircraft, and the identity information of the target user is used to indicate to the target user that the reserved vehicle has arrived at the destination.

[0015] According to the above-mentioned technical means, the present application can also display the identity information of the target user through the target vehicle-mounted aircraft when the target unmanned vehicle is the vehicle reserved by the target user and drives to the destination, so as to prompt the target user that the vehicle reserved by the target user has arrived at the current location, thereby helping the target user to find the target unmanned vehicle and further improving the effect of the interaction between the unmanned vehicle and pedestrians.

[0016] According to a second aspect provided by the present application, there is provided an unmanned vehicle and pedestrian interaction device, comprising a detection module and a control module; the detection module is used to detect in real time whether there are pedestrians crossing the road in front of the target unmanned vehicle while the target unmanned vehicle is driving on the road; the control module is used to control the target unmanned vehicle to stop when pedestrians crossing the road are detected; the control module is also used to control the target vehicle-mounted aircraft to project a sidewalk pattern on the road and issue a first voice prompt message, the sidewalk pattern and the first voice prompt message are used to prompt permission to pass, and the target unmanned vehicle includes the target vehicle-mounted aircraft.

[0017] In one possible implementation, the detection module is further used to detect the target light intensity at the location of the target unmanned vehicle, and to determine the relationship between the target light intensity and the preset light intensity; the control module is specifically used to control the target vehicle-mounted aircraft to unfold a sunshade when it is determined that the target light intensity is greater than the preset light intensity, so as to project a sidewalk pattern on the road by blocking the light through the sunshade; or, the control module is specifically used to control the target vehicle-mounted aircraft to turn on the lights when it is determined that the target light intensity is less than or equal to the preset light intensity, so as to project a sidewalk pattern on the road by the lights.

[0018] In a possible implementation, the detection module is further used to detect the width of the road and determine the size relationship between the width of the road and the width of the sidewalk pattern; the control module is further used to control the target vehicle-mounted aerial vehicle to fly in the direction of the pedestrian's movement according to the direction of the pedestrian crossing the road when it is determined that the width of the road is greater than the width of the sidewalk pattern.

[0019] In one possible implementation, the detection module is further used to detect whether there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle when it is determined that the width of the road is greater than the width of the sidewalk pattern; the control module is further used to control the target vehicle-mounted aerial vehicle to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles when it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle; the control module is further used to combine and project a target sidewalk pattern on the road through the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, and the width of the target sidewalk pattern is greater than or equal to the width of the road.

[0020] In a possible implementation, the detection module is further used to detect whether there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle; the control module is further used to control the target vehicle-mounted aircraft to perform a target operation and issue a second voice prompt message when it is determined that there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle. The target operation is any one of the following: stop projecting the sidewalk pattern, rotate the sidewalk pattern, and the target operation and the second voice prompt message are used to prompt pedestrians that a vehicle is approaching.

[0021] In a possible implementation, the control module is also used to display the target user's identity information through the target vehicle-mounted aircraft when the target unmanned vehicle is a vehicle reserved by the target user and travels to the destination. The target user's identity information is used to indicate to the target user that the reserved vehicle has arrived at the destination.

[0022] According to the third aspect provided by the present application, an electronic device is provided, comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to execute instructions to implement the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0023] According to the fourth aspect provided by the present application, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the method in the above-mentioned first aspect and any possible implementation method thereof.

[0024] According to a fifth aspect provided by the present application, a vehicle is provided, the vehicle comprising the unmanned vehicle and pedestrian interaction device as in the second aspect, the vehicle being used to implement the method as in the first aspect.

[0025] According to the sixth aspect provided by the present application, a computer program product is provided, the computer program product comprising computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the method of the above-mentioned first aspect and any possible implementation manner thereof.

[0026] Therefore, the above technical features of the present application have the following beneficial effects:

[0027] (1) During the driving process of the target unmanned vehicle, it is possible to detect in real time whether there are pedestrians crossing the road in the driving direction, so that when pedestrians are detected crossing the road, the target unmanned vehicle is controlled to stop and give way, and the target vehicle-mounted aircraft included in the target unmanned vehicle is controlled to project a sidewalk pattern on the road, and issue a first voice prompt message. Thus, the pedestrian is prompted to allow passage through the sidewalk pattern and the first voice prompt message. The above method can be used to control the target vehicle-mounted aircraft included in the target unmanned vehicle to project a sidewalk pattern on the road, and issue a first voice prompt message to prompt pedestrians whether they can cross the road safely, thereby improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of pedestrians when crossing the road.

[0028] (2) The target illumination intensity at that time can be detected, and the relationship between the target illumination intensity and the preset illumination intensity can be determined. Thus, when it is determined that the target illumination intensity is greater than the preset illumination intensity, the target vehicle-mounted aircraft is controlled to unfold the sunshade frame so as to project the sidewalk pattern on the road by blocking the light through the sunshade frame; or, when it is determined that the target illumination intensity is less than or equal to the preset illumination intensity, the target vehicle-mounted aircraft is controlled to turn on the light so as to project the sidewalk pattern on the road by the light. Through the above method, the way of projecting the sidewalk pattern can be flexibly adjusted according to the illumination intensity at that time, thereby improving the effect of projecting the sidewalk pattern.

[0029] (3) The width of the road can be further detected, and the relationship between the width of the road and the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle can be determined; thus, when it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle, the target vehicle-mounted aerial vehicle is controlled to move in the direction of the pedestrian crossing the road according to the moving position of the pedestrian, so that the sidewalk pattern projected by the target vehicle-mounted aerial vehicle moves with the movement of the pedestrian, thereby further improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of the pedestrian when crossing the road.

[0030] (4) When it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle, it is possible to further detect whether there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle. When it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle, the target vehicle-mounted aerial vehicle can be controlled to communicate with the vehicle-mounted aerial vehicles including the other unmanned vehicles, so that the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles including the other unmanned vehicles can be combined to project the target sidewalk pattern on the road, thereby further improving the effect of the interaction between the unmanned vehicle and the pedestrians and ensuring the safety of pedestrians when crossing the road.

[0031] (5) It is possible to further detect whether there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle. When it is determined that there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle, the target vehicle-mounted aircraft is controlled to stop projecting the sidewalk pattern or rotating the sidewalk pattern, and issue a second voice prompt message to remind pedestrians that there is an approaching vehicle, thereby further improving the effect of the interaction between the unmanned vehicle and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0032] (6) When the target unmanned vehicle is a vehicle reserved by the target user and is driving to the destination, the target user's identity information can be displayed through the target vehicle-mounted aerial vehicle to prompt the target user that the vehicle reserved by the target user has arrived at the current location, thereby helping the target user to find the target unmanned vehicle, and further improving the effect of the interaction between the unmanned vehicle and the pedestrian.

[0033] It should be noted that the technical effects brought about by any implementation method in the second to sixth aspects can refer to the technical effects brought about by the corresponding implementation method in the first aspect, and will not be repeated here.

[0034] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0036] Figure 1 is a structural schematic diagram of an unmanned vehicle and pedestrian interaction system according to an exemplary embodiment;

[0037] Figure 2 is a flow chart showing a method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

[0038] Figure 3 is a schematic structural diagram of a vehicle-mounted aircraft according to an exemplary embodiment;

[0039] Figure 4 is a flow chart showing another method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

[0040] Figure 5 is a schematic structural diagram of another vehicle-mounted aircraft according to an exemplary embodiment;

[0041] Figure 6 is a schematic structural diagram of a sunshade frame in a vehicle-mounted aircraft according to an exemplary embodiment;

[0042] Figure 7 is a schematic structural diagram of a lighting system in a vehicle-mounted aircraft according to an exemplary embodiment;

[0043] Figure 8 is a flow chart showing another method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

[0044] Fig. 9 is a flow chart showing another method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

[0045] Fig.10 is a flow chart showing another method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

[0046] Fig.11 is a block diagram of an unmanned vehicle and pedestrian interaction device according to an exemplary embodiment;

[0047] Fig.12 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0048] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0050] At present, with the development of driverless technology, driverless vehicles are becoming more and more popular. How to determine whether the driverless vehicle will stop and give way when pedestrians cross the road and whether it is safe for pedestrians to cross the road has become an important issue. The interaction between driverless vehicles and pedestrians needs to be solved. Imagine that when a pedestrian is not sure whether the approaching vehicle will give way, but a sidewalk with good visual effect appears in front of the vehicle, indicating that the vehicle has detected the pedestrian and is stopping to give way. This is the specific situation of how self-driving cars and pedestrians communicate with each other on the streets of the future. Also, when a large driverless vehicle has stopped to give way to pedestrians, and pedestrians have passed in front of the large driverless vehicle, but due to blind spots and other issues, it is impossible to determine whether there are vehicles in the lane next to the large vehicle, and whether the vehicle will stop to give way, how to achieve human-vehicle interaction at this time? Therefore, there is an urgent need for a clear interaction method to indicate that the vehicle is stopping to give way and waiting for pedestrians to cross the road, so that pedestrians can safely cross the road.

[0051] The unmanned vehicle and pedestrian interaction method provided in the embodiment of the present application can be applied to an unmanned vehicle and pedestrian interaction system. Figure 1 FIG. 1 shows a schematic diagram of the structure of the unmanned vehicle and pedestrian interaction system. Figure 1 As shown, the unmanned vehicle and pedestrian interaction system 10 includes: an unmanned vehicle 11, a road 12 and pedestrians 13, wherein the unmanned vehicle 11 includes: an onboard aircraft 14.

[0052] When the unmanned vehicle 11 is driving on the road 12, it detects in real time whether there are pedestrians 13 crossing the road 12 in the driving direction. When it is detected that there are pedestrians 13 crossing the road 12, the unmanned vehicle stops to give way, controls the on-board aircraft 14 to project the sidewalk pattern 15, and can issue a first voice prompt message to prompt the pedestrian to allow passage.

[0053] For ease of understanding, the unmanned vehicle and pedestrian interaction method provided in this application is specifically introduced below with reference to the accompanying drawings.

[0054] Figure 2is a flow chart of a method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment. Figure 2 As shown, the method for interaction between the unmanned vehicle and pedestrians includes the following S201-S204:

[0055] S201. When the target unmanned vehicle is driving on the road, detect in real time whether there are pedestrians crossing the road in front of the target unmanned vehicle.

[0056] Optionally, while the target unmanned vehicle is driving on the road, the target unmanned vehicle can detect in real time through sensors installed on the vehicle body whether there are pedestrians preparing to cross the road in the driving direction, so as to respond in time to ensure the safety of pedestrians.

[0057] Optionally, the sensor may be any of the following: an infrared sensor, an ultrasonic sensor, a lidar, a millimeter wave radar, etc.

[0058] S202: When a pedestrian is detected crossing the road, the target unmanned vehicle is controlled to stop.

[0059] Optionally, when the target unmanned vehicle detects that a pedestrian is about to cross the road, the target unmanned vehicle immediately makes a gesture of giving way to the pedestrian, then stops to give way, and waits for the pedestrian to cross the road.

[0060] Optionally, the target unmanned vehicle also needs to trigger the target vehicle-mounted aircraft to fly in front of the target unmanned vehicle and hover in the air at a certain height above the ground to perform the next action (such as projecting a sidewalk pattern or broadcasting a prompt message).

[0061] For example, Figure 3 As shown, it is a schematic diagram of a vehicle-mounted aircraft, where the vehicle-mounted aircraft 14 includes: blades 16, a lighting system 17, a detection system 18, and a broadcasting system 19, wherein the blades 16 are used to control the flight of the vehicle-mounted aircraft 14, the lighting system 17 is used to project sidewalk patterns through lights, the detection system 18 is used to detect road condition information, and the broadcasting system is used to broadcast voice prompt messages.

[0062] S203: Control the target vehicle-mounted aerial vehicle to project a sidewalk pattern on the road.

[0063] S204: Send a first voice prompt message.

[0064] The sidewalk pattern and the first voice prompt information are used to prompt that passage is allowed, and the target unmanned vehicle includes a target vehicle-mounted aircraft.

[0065] Optionally, the target vehicle-mounted aerial vehicle may project the sidewalk pattern in a variety of ways. The specific projection method needs to be determined based on the light intensity at the current location of the target unmanned vehicle. The projection methods may specifically include: projection through a sunshade, projection through light, etc.

[0066] Optionally, while the target vehicle-mounted aircraft is projecting the sidewalk pattern, a first voice prompt message may also be issued in the form of broadcasting to remind pedestrians that the vehicle has stopped to give way and that pedestrians may pass the road safely.

[0067] In an embodiment of the present application, during the driving of the target unmanned vehicle, it is possible to detect in real time whether there are pedestrians crossing the road in the driving direction, so that when pedestrians are detected crossing the road, the target unmanned vehicle is controlled to stop and give way, and the target vehicle-mounted aircraft included in the target unmanned vehicle is controlled to project a sidewalk pattern on the road, and issue a first voice prompt message. Thus, pedestrians are prompted to allow passage through the sidewalk pattern and the first voice prompt message. The above method can be used to control the target vehicle-mounted aircraft included in the target unmanned vehicle to project a sidewalk pattern on the road, and issue a first voice prompt message to prompt pedestrians whether they can cross the road safely, thereby improving the effect of the interaction between the unmanned vehicle and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0068] In some embodiments, in order to improve the effect of the target vehicle-mounted aircraft projecting the sidewalk, such as Figure 4 As shown, in the method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application, S301 may be further included, and the method in S203 may specifically include S2031 or S2032:

[0069] S301, detecting the target light intensity at the location of the target unmanned vehicle, and determining the magnitude relationship between the target light intensity and a preset light intensity.

[0070] Optionally, the target unmanned vehicle may detect the light intensity at the current location of the target unmanned vehicle in real time through a sensor, and compare the real-time detected target light intensity with a preset light intensity to determine a method for projecting a sidewalk pattern.

[0071] Optionally, the target unmanned vehicle can also obtain weather conditions through the network to determine the method of projecting the sidewalk pattern in combination with the weather conditions and the target light intensity detected in real time.

[0072] S2031. When it is determined that the target light intensity is greater than the preset light intensity, control the target vehicle-mounted aircraft to unfold a sunshade, and project a sidewalk pattern on the road by blocking light through the sunshade.

[0073] Optionally, when it is detected that the weather is clear, the sun is strong, and the target light intensity is greater than a preset light intensity, the target vehicle-mounted aircraft is controlled to deploy a sunshade, and light and shadow are formed with the help of the sunlight and the sunshade, so as to form a sidewalk pattern in front of the target unmanned vehicle by blocking the sunlight, thereby indicating that the target unmanned vehicle has detected pedestrians crossing the road and has given way to pedestrians.

[0074] Optionally, the vehicle-mounted aircraft can also broadcast voice to remind pedestrians that they can pass safely, such as broadcasting a voice prompt of "please pass" to remind pedestrians to pass safely.

[0075] Optionally, the vehicle-mounted aircraft also includes an angle adjuster, which adjusts the flight posture to adapt to light at different angles and road surfaces with different slopes, thereby providing pedestrians with a sidewalk pattern of a reasonable shape.

[0076] Exemplary, combined Figure 3 ,like Figure 5 , which is a schematic diagram of a vehicle-mounted aircraft deploying a sunshade frame, the vehicle-mounted aircraft deploys a sunshade frame 20, so that when the target light intensity is greater than the preset light intensity, a sidewalk pattern is projected through the sunshade frame 20.

[0077] For example, Figure 6 The figure is a schematic diagram of the sunshade structure inside the vehicle-mounted aircraft. The sunshade 20 is connected to the rack movable rod 21, and the rack movable rod 21 is in contact with the gear 22. The rotation of the gear 22 drives the rack movable rod 21 to move, thereby controlling the deployment of the sunshade 20. When the motor drives the gear 22 to rotate, the gear 22 drives the rack movable rod 21 to move, thereby forming a set of structures for projecting sidewalk patterns. When strong sunlight shines on the sunshade 20, a sidewalk pattern is projected on the road, providing a traffic signal for pedestrians.

[0078] S2032: When it is determined that the target light intensity is less than or equal to the preset light intensity, control the target vehicle-mounted aircraft to turn on the light, and project a sidewalk pattern on the road through the light.

[0079] Optionally, when weak sunlight is detected and the target light intensity is less than or equal to a preset light intensity, the target vehicle-mounted aircraft turns on the lights through its own lighting system to project a sidewalk pattern for pedestrians to pass through the road along the sidewalk pattern, thereby achieving the effect of interaction between the unmanned vehicle and pedestrians.

[0080] Optionally, the lighting system of the target vehicle-mounted aircraft is composed of a high-brightness headlight, a transparent glass sheet, and a black shading sheet (such as a black metal sheet, a black plastic sheet, etc.). When the high-brightness headlight shines on the black shading sheet, the light is blocked, and when the light passes through the transparent glass sheet, a high-brightness sidewalk pattern of light is formed on the road, thereby providing pedestrians with a signal that the vehicle is giving way to pedestrians. The high-brightness headlight is installed on a movable mechanism inside the aircraft to cope with road surfaces of different slopes.

[0081] For example, Figure 7 As shown, it is a schematic diagram of the structure of the internal lighting system of the vehicle-mounted aircraft. The lighting system 17 includes: high-brightness headlights 23, transparent glass sheets 24, and black shading sheets 25. When the high-brightness headlights 23 are turned on, the transparent glass sheets 24 can project light and shadows on the ground through the light, and the black shading sheets 25 can block the light and form shadows on the ground, thereby forming a sidewalk pattern.

[0082] In the embodiment of the present application, the target light intensity at that time can be detected, and the magnitude relationship between the target light intensity and the preset light intensity can be determined. Thus, when it is determined that the target light intensity is greater than the preset light intensity, the target vehicle-mounted aircraft is controlled to unfold the sunshade to project a sidewalk pattern on the road by blocking the light through the sunshade; or, when it is determined that the target light intensity is less than or equal to the preset light intensity, the target vehicle-mounted aircraft is controlled to turn on the light to project the sidewalk pattern on the road through the light. Through the above method, the way of projecting the sidewalk pattern can be flexibly adjusted according to the light intensity at that time, thereby improving the effect of projecting the sidewalk pattern.

[0083] In some embodiments, in order to improve the effect of the interaction between the unmanned vehicle and the pedestrian, such as Figure 8 As shown, in the method for interaction between an unmanned vehicle and a pedestrian provided in the embodiment of the present application, the method may further include S401-S402:

[0084] S401, detecting the width of the road, and determining the size relationship between the width of the road and the width of the sidewalk pattern.

[0085] It should be noted that when the target unmanned vehicle is traveling on a wider road, due to the limited length of the sunshade on the target vehicle-mounted aircraft (or the limited width of the light projection), the sidewalk pattern projected by the target vehicle-mounted aircraft on the target unmanned vehicle alone cannot completely cover the wider road, and therefore further subsequent actions (i.e., step S402 or steps S501-S503) need to be performed.

[0086] Therefore, it is necessary to detect the width of the road first to determine whether the sidewalk pattern projected by the target vehicle-mounted aerial vehicle can completely cover the road.

[0087] S402: When it is determined that the width of the road is greater than the width of the sidewalk pattern, the target vehicle-mounted aerial vehicle is controlled to fly in the direction of the pedestrian's movement according to the direction in which the pedestrian crosses the road.

[0088] Optionally, if there is only one target unmanned vehicle on the road, the target vehicle-mounted aerial vehicle can move laterally along the road following the movement of pedestrians, so that the sidewalk pattern moves with the movement of pedestrians, escorting pedestrians through the road.

[0089] In the embodiment of the present application, the width of the road can be further detected, and the size relationship between the width of the road and the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle can be determined; thus, when it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle, the target vehicle-mounted aerial vehicle is controlled to move in the direction of the pedestrian crossing the road according to the moving position of the pedestrian, so that the sidewalk pattern projected by the target vehicle-mounted aerial vehicle moves with the movement of the pedestrian, further improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of the pedestrian when crossing the road.

[0090] In some embodiments, Fig. 9 As shown, in the method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application, specifically, S501-S503 may also be included:

[0091] S501. When it is determined that the width of the road is greater than the width of the sidewalk pattern, detect whether there is another unmanned vehicle stopping to give way at the current location of the target unmanned vehicle.

[0092] Optionally, it is also possible to detect whether there are other vehicles stopping to give way at the location where the target unmanned vehicle is currently stopping to give way. When it is determined that multiple vehicles are stopping to give way at the current location, multiple vehicle-mounted aerial vehicles can be arranged in a row and hover in the air to form a long sidewalk pattern in front of the vehicle for pedestrians to pass safely.

[0093] S502: When it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle, control the target vehicle-mounted aerial vehicle to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles.

[0094] S503: Project a target sidewalk pattern on the road by combining the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in other unmanned vehicles.

[0095] The width of the target sidewalk pattern is greater than or equal to the width of the road.

[0096] Optionally, when it is determined that multiple vehicles have stopped to give way at the current location, the target vehicle-mounted aerial vehicle can be linked with the vehicle-mounted aerial vehicles included in other unmanned vehicles to jointly project a target sidewalk pattern with a width greater than or equal to the width of the road on the road to prompt pedestrians to pass safely.

[0097] In an embodiment of the present application, when it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted aerial vehicle, it can be further detected whether there are other unmanned vehicles stopped to give way at the current location of the target unmanned vehicle. Therefore, when it is determined that there are other unmanned vehicles stopped to give way at the current location of the target unmanned vehicle, the target vehicle-mounted aerial vehicle can be controlled to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles, so that the target sidewalk pattern can be combined and projected on the road by the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, thereby further improving the effect of the interaction between the unmanned vehicles and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0098] In some embodiments, Fig.10 As shown, in the method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application, the method may further include S601-S602:

[0099] S601. Detect whether there are other unmanned vehicles within the target distance range driving towards the current position of the target unmanned vehicle.

[0100] S602: When it is determined that there are other unmanned vehicles within the target distance range driving towards the current position of the target unmanned vehicle, control the target vehicle-mounted aerial vehicle to perform the target operation and issue a second voice prompt message.

[0101] The target operation is any one of the following: stopping the projection of the sidewalk pattern, rotating the sidewalk pattern, and the target operation and the second voice prompt information are used to remind pedestrians that a vehicle is approaching.

[0102] Optionally, when the target unmanned vehicle stops to give way, the target unmanned vehicle blocks the pedestrian's line of sight when the pedestrian passes in front of the target unmanned vehicle, and the pedestrian cannot determine whether there is a vehicle approaching from the rear of the lane next to the target unmanned vehicle. Therefore, the target unmanned vehicle can be used to detect whether there are other unmanned vehicles approaching the target unmanned vehicle's current location.

[0103] Therefore, when it is detected that other unmanned vehicles are approaching the current location of the target unmanned vehicle, a prompt message can be sent through the target vehicle-mounted aircraft to remind pedestrians that there are vehicles approaching in the blind spot and to pay attention to passing.

[0104] Optionally, when it is determined that there are other unmanned vehicles approaching the current location of the target unmanned vehicle, the target vehicle-mounted aircraft can be controlled to stop projecting the sidewalk pattern to alert pedestrians of abnormal conditions (i.e., vehicles are approaching), so that pedestrians can be more vigilant when they observe that the sidewalk pattern disappears.

[0105] Alternatively, the target vehicle-mounted aerial vehicle may be controlled to rotate the sidewalk pattern by a certain angle so that the sidewalk pattern cannot extend to the other side of the road, in order to alert pedestrians of abnormal conditions (i.e., an approaching vehicle), so that pedestrians are alert when they observe that the sidewalk pattern disappears.

[0106] For example, when a large unmanned vehicle has stopped to give way to pedestrians, and the pedestrians have walked in front of the large unmanned vehicle, but due to blind spots and other issues, another unmanned vehicle is driving beside the large unmanned vehicle, and the pedestrians fail to observe the vehicle driving next to the large unmanned vehicle, at this time the on-board aircraft can remove the sidewalk pattern on the ground (or rotate the on-board aircraft 90 degrees to form a longitudinal sidewalk pattern) and broadcast a voice prompt such as "A vehicle is coming, be careful" or "Pedestrians, please stop passing", so as to improve the safety of pedestrian and vehicle traffic.

[0107] Optionally, when it is clear that vehicles driving next to the large unmanned vehicle are giving way to pedestrians, the on-board aircraft will project a sidewalk pattern, or rotate 90 degrees to form a horizontal sidewalk pattern, and make a voice announcement of "please pass" to prompt pedestrians that they can continue to pass safely.

[0108] In an embodiment of the present application, it is possible to further detect whether there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle. Therefore, when it is determined that there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle, the target vehicle-mounted aircraft is controlled to stop projecting the sidewalk pattern or rotating the sidewalk pattern, and issue a second voice prompt message to remind pedestrians that a vehicle is approaching, thereby further improving the effect of the interaction between the unmanned vehicle and pedestrians and ensuring the safety of pedestrians when crossing the road.

[0109] In some embodiments, a method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application may further include S701:

[0110] S701: When the target unmanned vehicle is a vehicle reserved by the target user and travels to the destination, the identity information of the target user is displayed through the target vehicle-mounted aircraft.

[0111] The identity information of the target user is used to indicate to the target user that the reserved vehicle has arrived at the destination.

[0112] Optionally, when the target unmanned vehicle is an online-hailing taxi and arrives at the taxi location, the on-board aircraft hovers above the online-hailing taxi, and the aircraft scrolls to display the last digit of the reservation person's mobile phone number or the license plate number of the online-hailing taxi, making it convenient for the reservation person to quickly identify the vehicle he or she has reserved.

[0113] In an embodiment of the present application, when the target unmanned vehicle is a vehicle reserved by a target user and travels to the destination, the identity information of the target user can be displayed through the target vehicle-mounted aircraft to prompt the target user that the vehicle reserved by the target user has arrived at the current location, thereby helping the target user to find the target unmanned vehicle and further improving the effect of the interaction between the unmanned vehicle and pedestrians.

[0114] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to realize the above functions, the unmanned vehicle and pedestrian interaction device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0115] The embodiments of the present application can exemplarily divide the functional modules of the unmanned vehicle and pedestrian interaction device or electronic device according to the above method. For example, the unmanned vehicle and pedestrian interaction device or electronic device may include various functional modules corresponding to the various functional divisions, or two or more functions may be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0116] Fig.11 is a block diagram of an unmanned vehicle and pedestrian interaction device according to an exemplary embodiment. Fig.11 The unmanned vehicle and pedestrian interaction device 1100 includes: a detection module 1101 and a control module 1102.

[0117] The detection module 1101 is used to detect in real time whether there are pedestrians crossing the road in front of the target unmanned vehicle while the target unmanned vehicle is driving on the road; the control module 1102 is used to control the target unmanned vehicle to stop when pedestrians are detected crossing the road; the control module 1102 is also used to control the target vehicle-mounted aircraft to project a sidewalk pattern on the road and issue a first voice prompt message. The sidewalk pattern and the first voice prompt message are used to prompt that passage is allowed. The target unmanned vehicle includes the target vehicle-mounted aircraft.

[0118] In one possible implementation, the detection module 1101 is further used to detect the target light intensity at the location of the target unmanned vehicle, and to determine the magnitude relationship between the target light intensity and a preset light intensity; the control module 1102 is specifically used to control the target vehicle-mounted aircraft to unfold a sunshade when it is determined that the target light intensity is greater than a preset light intensity, so as to project a sidewalk pattern on the road by blocking light through the sunshade; or, the control module 1102 is specifically used to control the target vehicle-mounted aircraft to turn on lights when it is determined that the target light intensity is less than or equal to a preset light intensity, so as to project a sidewalk pattern on the road by lights.

[0119] In a possible implementation, the detection module 1101 is further used to detect the width of the road and determine the size relationship between the width of the road and the width of the sidewalk pattern; the control module 1102 is further used to control the target vehicle-mounted aerial vehicle to fly in the direction of movement of the pedestrians according to the direction of movement of the pedestrians crossing the road when it is determined that the width of the road is greater than the width of the sidewalk pattern.

[0120] In one possible implementation, the detection module 1101 is further used to detect whether there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle when it is determined that the width of the road is greater than the width of the sidewalk pattern; the control module 1102 is further used to control the target vehicle-mounted aerial vehicle to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles when it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle; the control module 1102 is further used to combine and project a target sidewalk pattern on the road through the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, and the width of the target sidewalk pattern is greater than or equal to the width of the road.

[0121] In one possible implementation, the detection module 1101 is also used to detect whether there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle; the control module 1102 is also used to control the target vehicle-mounted aircraft to perform a target operation and issue a second voice prompt message when it is determined that there are other unmanned vehicles within the target distance range traveling toward the current location of the target unmanned vehicle. The target operation is any one of the following: stop projecting the sidewalk pattern, rotate the sidewalk pattern, and the target operation and the second voice prompt message are used to prompt pedestrians that a vehicle is approaching.

[0122] In a possible implementation, the control module 1102 is also used to display the target user's identity information through the target vehicle-mounted aircraft when the target unmanned vehicle is a vehicle reserved by the target user and travels to the destination. The target user's identity information is used to indicate to the target user that the reserved vehicle has arrived at the destination.

[0123] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0124] Fig.12 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Fig.12 As shown, the electronic device 1200 includes but is not limited to: a processor 1201 and a memory 1202 .

[0125] The memory 1202 is used to store executable instructions of the processor 1201. It can be understood that the processor 1201 is configured to execute instructions to implement the unmanned vehicle and pedestrian interaction method in the above embodiment.

[0126] It should be noted that those skilled in the art can understand that Fig.12 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.12 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0127] The processor 1201 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1202, and calling data stored in the memory 1202, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1201 may include one or more processing units. Optionally, the processor 1201 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1201.

[0128] The memory 1202 may be used to store software programs and various data. The memory 1202 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a detection module, a control module, etc.), etc. In addition, the memory 1202 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0129] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1202 including instructions. The above instructions can be executed by the processor 1201 of the electronic device 1200 to implement the unmanned vehicle and pedestrian interaction method in the above embodiment.

[0130] In actual implementation, Fig.11 The functions of the detection module 1101 and the control module 1102 in Fig.12 The processor 1201 in the memory 1202 calls the computer program stored in the memory 1202. The specific execution process can refer to the description of the unmanned vehicle and pedestrian interaction method in the above embodiment, which will not be repeated here.

[0131] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0132] In an exemplary embodiment, the embodiment of the present application also provides a computer program product including one or more instructions, which can be executed by the processor 1201 of the electronic device 1200 to complete the unmanned vehicle and pedestrian interaction method in the above embodiment.

[0133] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned unmanned vehicle and pedestrian interaction method embodiment are implemented, and the same technical effect as the above-mentioned unmanned vehicle and pedestrian interaction method can be achieved. To avoid repetition, they will not be repeated here.

[0134] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0135] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or 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.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0138] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0139] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for interaction between an unmanned vehicle and a pedestrian, characterized in that: include: When the target unmanned vehicle is driving on the road, detecting in real time whether there is a pedestrian crossing the road in front of the target unmanned vehicle; When a pedestrian is detected crossing the road, controlling the target unmanned vehicle to stop; The target vehicle-mounted aircraft is controlled to project a sidewalk pattern on the road and issue a first voice prompt message, wherein the sidewalk pattern and the first voice prompt message are used to prompt that passage is allowed, and the target unmanned vehicle includes the target vehicle-mounted aircraft.

2. The method according to claim 1, characterized in that The method further comprises: Detecting the target light intensity at the location of the target unmanned vehicle, and determining the magnitude relationship between the target light intensity and a preset light intensity; The controlling target vehicle-mounted aircraft projects a sidewalk pattern on the road, comprising: When it is determined that the target light intensity is greater than the preset light intensity, controlling the target vehicle-mounted aircraft to unfold a sunshade frame, so as to project the sidewalk pattern on the road by shielding light through the sunshade frame; Alternatively, when it is determined that the target illumination intensity is less than or equal to the preset illumination intensity, the target vehicle-mounted aircraft is controlled to turn on the light, and the sidewalk pattern is projected on the road through the light.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: Detecting the width of the road and determining the size relationship between the width of the road and the width of the sidewalk pattern; When it is determined that the width of the road is greater than the width of the sidewalk pattern, the target vehicle-mounted aerial vehicle is controlled to fly in the direction of the pedestrian's movement according to the direction in which the pedestrian crosses the road.

4. The method according to claim 3, characterized in that The method further comprises: When it is determined that the width of the road is greater than the width of the sidewalk pattern, detecting whether there is another unmanned vehicle stopping to give way at the current location of the target unmanned vehicle; When it is determined that there are other unmanned vehicles stopping to give way at the current location of the target unmanned vehicle, controlling the target vehicle-mounted aerial vehicle to communicate with the vehicle-mounted aerial vehicles included in the other unmanned vehicles; A target sidewalk pattern is projected on the road by combining the target vehicle-mounted aerial vehicle and the vehicle-mounted aerial vehicles included in the other unmanned vehicles, and the width of the target sidewalk pattern is greater than or equal to the width of the road.

5. The method according to claim 1 or 2, characterized in that: The method further comprises: Detect whether there are other unmanned vehicles within the target distance range driving towards the current location of the target unmanned vehicle; When it is determined that there are other unmanned vehicles within the target distance range traveling towards the current location of the target unmanned vehicle, the target vehicle-mounted aerial vehicle is controlled to perform a target operation and issue a second voice prompt message, where the target operation is any one of the following: stop projecting the sidewalk pattern, rotate the sidewalk pattern, and the target operation and the second voice prompt message are used to prompt pedestrians that a vehicle is approaching.

6. The method according to claim 1 or 2, characterized in that: The method further comprises: When the target unmanned vehicle is a vehicle reserved by a target user and travels to a destination, the identity information of the target user is displayed by the target vehicle-mounted aerial vehicle, and the identity information of the target user is used to indicate that the reserved vehicle has arrived at the destination.

7. An unmanned vehicle and pedestrian interaction device, characterized in that: The unmanned vehicle and pedestrian interaction device comprises: a detection module and a control module; The detection module is used to detect in real time whether there is a pedestrian crossing the road in front of the target unmanned vehicle when the target unmanned vehicle is driving on the road; The control module is used to control the target unmanned vehicle to stop when a pedestrian is detected crossing the road; The control module is also used to control the target vehicle-mounted aircraft to project a sidewalk pattern on the road and issue a first voice prompt message, wherein the sidewalk pattern and the first voice prompt message are used to prompt that passage is allowed, and the target unmanned vehicle includes the target vehicle-mounted aircraft.

8. An electronic device, characterized in that: include: A processor and a memory; wherein the memory is used to store one or more programs, and the one or more programs include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to enable the electronic device to perform the method described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the computer-executable instructions stored in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can perform the method as claimed in any one of claims 1 to 6.

10. A vehicle, characterized in that: The vehicle includes the unmanned vehicle and pedestrian interaction device as claimed in claim 7, and the vehicle is used to implement the method as claimed in any one of claims 1 to 6.

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