Method, device and equipment for unmanned vehicle interacting with pedestrian, and storage medium

Abstract

The application relates to an unmanned vehicle and pedestrian interaction method and device, equipment and a storage medium, and relates to the active safety technical field of vehicles. At least the technical problem that the interaction mode between an unmanned vehicle and a pedestrian is poor and cannot guarantee the safety of pedestrians crossing a road in the related art is solved. The method comprises the following steps: detecting whether pedestrians are crossing a road in front of a target unmanned vehicle in real time during driving of the target unmanned vehicle on the road; controlling the target unmanned vehicle to stop when it is detected that pedestrians are crossing the road; controlling a target vehicle-mounted aircraft to project a sidewalk pattern on the road and issuing a first voice prompt information, the sidewalk pattern and the first voice prompt information being used to prompt that passing is allowed, and the target unmanned vehicle comprising the target vehicle-mounted aircraft.

Description

Technical Field

[0001] The present application relates to the field of vehicle active 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 autonomous driving technology, autonomous vehicles are becoming increasingly common, and human-vehicle interaction technology has become a focus of attention. Currently, when pedestrians are crossing the road, the driver and the pedestrian only need to exchange a brief glance or gesture to express their intention. However, for autonomous vehicles, whether the autonomous vehicle will stop to yield and how pedestrians can determine whether they can cross the road have become technical challenges in their development. Furthermore, when the autonomous vehicle stops to yield and a pedestrian has already crossed in front of the autonomous vehicle, the pedestrian's blind spot prevents them from determining whether there are vehicles in the lane next to the autonomous vehicle. This problem also exists in the development of autonomous vehicles. Therefore, the current interaction methods between autonomous vehicles and pedestrians are ineffective and cannot ensure pedestrian safety when crossing the road. Summary of the Invention

[0003] This application provides a method, device, equipment, and storage medium for interaction between an unmanned vehicle and pedestrians, aiming to at least address the technical issues in related technologies such as the poor interaction between unmanned vehicles and pedestrians and the inability to ensure pedestrian safety when crossing roads. The technical solutions of this application are as follows:

[0004] According to a first aspect of the present application, a method for interaction between an unmanned vehicle and a pedestrian is provided, comprising: while a target unmanned vehicle is driving on a road, detecting in real time whether there is a pedestrian crossing the road in front of the target unmanned vehicle; if a pedestrian crossing the road is detected, controlling the target unmanned vehicle to stop; and 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 a pedestrian is 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, 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 it is safe to cross the road, thereby improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of pedestrians when crossing the road.

[0006] In a possible embodiment, the above method also includes: detecting the target light intensity at the location of the target unmanned vehicle, and determining the relationship between the target light intensity and the preset light intensity; and, in the above method, controlling the target vehicle-mounted aircraft to project a sidewalk pattern on the road includes: 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 the 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, controlling the target vehicle-mounted aircraft to turn on the lights, and projecting the sidewalk pattern on the road by the lights.

[0007] According to the above technical means, the present application can detect the target light intensity at that time and determine the relationship between the target light intensity and the preset light intensity. 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 block the light and project a sidewalk pattern on the road; 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 lights to project the sidewalk pattern on the road through the lights. Through the above method, the method 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 one possible embodiment, the above 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 of movement of the pedestrian crossing the road.

[0009] Based on 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 based on the pedestrian's movement position, so that the sidewalk pattern projected by the target vehicle-mounted aerial vehicle moves with the movement of the pedestrian, further improving the effectiveness 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 embodiment, the above method also 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 the 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, the width of the target sidewalk pattern being 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 stopped 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 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 including 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 including 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 embodiment, the above method also 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 is 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 alert pedestrians that a vehicle is approaching.

[0013] According to the above 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 a vehicle is approaching, 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 embodiment, 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 technical means, the present application can also display the target user's identity information through the target vehicle-mounted aircraft when the target unmanned vehicle is the vehicle reserved by the target user and travels 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, an unmanned vehicle and pedestrian interaction device is provided, including 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 while 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 crossing the road is 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 that passage is allowed, and the target unmanned vehicle includes the target vehicle-mounted aircraft.

[0017] In one possible embodiment, 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 one possible implementation, the detection module is further configured 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; and the control module is further configured to, when it is determined that the width of the road is greater than the width of the sidewalk pattern, control the target vehicle-mounted aerial vehicle to fly in the direction of movement of the pedestrian crossing the road based on the direction of movement of the pedestrian.

[0019] In one possible embodiment, the detection module is further used to detect whether there are other unmanned vehicles stopped 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 stopped to give way at the current location of the target unmanned vehicle; the control module is further used to project a target sidewalk pattern on the road in combination with 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 one possible embodiment, 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: stopping projecting the sidewalk pattern, rotating the sidewalk pattern, and the target operation and the second voice prompt message are used to alert pedestrians that a vehicle is approaching.

[0021] In one possible embodiment, the control module is further 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 method 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 the 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, which includes the unmanned vehicle and pedestrian interaction device as described in the second aspect, and the vehicle is used to implement the method as described in the first aspect.

[0025] According to the sixth aspect provided by the present application, a computer program product is provided, which includes computer instructions. 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 method thereof.

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

[0027] (1) 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 a pedestrian is 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 pass 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 the pedestrian whether it is safe to cross the road, thereby improving the effect of the interaction between the unmanned vehicle and the pedestrian and ensuring the safety of the pedestrian when crossing the road.

[0028] (2) The target light intensity at that time can be detected, and the 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 block the light and project the sidewalk pattern on the road; 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 method 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.

[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 aircraft 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 aircraft, the target vehicle-mounted aircraft 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 aircraft 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.

[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 that have stopped to give way at the current location of the target unmanned vehicle. When it is determined that there are other unmanned vehicles that have 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 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 a vehicle is approaching, thereby further improving the effect of the interaction between the unmanned vehicle and the pedestrian 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 traveling 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 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 schematic structural 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 illustrating 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 rack 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 illustrating another method for interaction between an unmanned vehicle and a pedestrian according to an exemplary embodiment;

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

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

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

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

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

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0050] Currently, with the development of unmanned technology, unmanned vehicles are becoming more and more popular, and how to determine whether the unmanned vehicle will stop for pedestrians when pedestrians cross the road, whether the pedestrians cross the road safely, and the interaction between the unmanned vehicle and the pedestrians need to be solved. Imagine that when a pedestrian is not sure whether the approaching vehicle will stop for pedestrians, but a visually good sidewalk appears in front of the vehicle, indicating that the vehicle has detected the pedestrian and is stopping for pedestrians, which is a specific case of how autonomous vehicles and pedestrians will communicate with each other on the future street. And when a large unmanned vehicle has stopped to give way to pedestrians, and the pedestrians have also passed in front of the large unmanned vehicle, but due to blind spots and other problems, it is impossible to determine whether there are vehicles driving on the lane next to the large vehicle, and whether the vehicle will stop for pedestrians, so how to realize the interaction between people and vehicles at this time? Therefore, there is an urgent need for a clear interaction mode to indicate that the vehicle is stopping for pedestrians and waiting for pedestrians to pass through the road, so that pedestrians can pass through the road safely.

[0051] The unmanned vehicle and pedestrian interaction method provided by the embodiments of the present application can be applied to an unmanned vehicle and pedestrian interaction system. Figure 1 A structural schematic diagram of the unmanned vehicle and pedestrian interaction system is shown. As shown in Figure 1 The unmanned vehicle and pedestrian interaction system 10 includes an unmanned vehicle 11, a road 12 and a pedestrian 13, wherein the unmanned vehicle 11 includes a vehicle-mounted aerial vehicle 14.

[0052] During the driving of the unmanned vehicle 11 on the road 12, it is detected in real time whether there is a pedestrian 13 crossing the road 12 in the driving direction, and when it is detected that there is a pedestrian 13 crossing the road 12, the unmanned vehicle stops for pedestrians and controls the vehicle-mounted aerial vehicle 14 to project a sidewalk pattern 15, and can issue a first voice prompt information to prompt the pedestrian to allow passage.

[0053] For ease of understanding, the unmanned vehicle and pedestrian interaction method provided by the present application is specifically introduced below in combination with the drawings.

[0054] Figure 2FIG. 1 is a flow chart showing a method for interaction between an unmanned vehicle and pedestrians according to an exemplary embodiment. Figure 2 As shown, the method for interaction between an unmanned vehicle and a pedestrian includes the following steps S201-S204:

[0055] S201. While a target unmanned vehicle is driving on a road, detect in real time whether there is a pedestrian 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 can be any of the following: infrared sensor, ultrasonic sensor, lidar, 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 and gives way, waiting 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, this is a schematic diagram of a vehicle-mounted aircraft. The vehicle-mounted aircraft 14 includes: blades 16, a lighting system 17, a detection system 18, and a broadcasting system 19. Among them, 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 conditions, 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 aircraft can project the sidewalk pattern in a variety of ways. The specific projection method needs to be determined according to the light intensity at the current location of the target unmanned vehicle. The projection methods may 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 broadcast to remind pedestrians that the vehicle has stopped to give way and that pedestrians can pass the road safely.

[0067] In an embodiment of the present application, it is possible to detect in real time whether there are pedestrians crossing the road in the direction of travel during the driving of the target unmanned vehicle. When a pedestrian is detected crossing the road, the target unmanned vehicle is controlled to stop and yield, 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 it is safe to cross the road, thereby improving the effect of the interaction between the unmanned vehicle and the pedestrian 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, the method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application may further include S301, and the method in S203 may further include S2031 or S2032:

[0069] S301: Detect the target light intensity at the location of the target unmanned vehicle, and determine the relationship between the target light intensity and the 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 the sidewalk pattern.

[0071] Optionally, the target unmanned vehicle may also obtain weather conditions through a network to determine a method for projecting a 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 the preset light intensity, the target vehicle-mounted aircraft is controlled to deploy a sunshade, and light and shadow are formed with the help of 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] For example, 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 Figure 2 shows the internal structure of a sunshade frame within a vehicle-mounted aircraft. The sunshade frame 20 is connected to a movable rack rod 21, which contacts a gear 22. The rotation of gear 22 drives the rack rod 21, thereby controlling the deployment of the sunshade frame 20. When the motor drives gear 22 to rotate, the gear 22 moves the rack rod 21, forming a structure that projects a sidewalk pattern. When strong sunlight shines on the sunshade frame 20, a sidewalk pattern is projected onto the road, providing a signal for pedestrians to pass.

[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 the preset light intensity, the target vehicle-mounted aircraft turns on 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 target vehicle-mounted aircraft includes a lighting system consisting of high-intensity headlights, transparent glass, and a black light shield (e.g., black metal or plastic). When the high-intensity headlights shine on the black light shield, the light is blocked. When the light passes through the transparent glass, it forms a high-intensity light cluster on the road, signaling to pedestrians that the vehicle is yielding to pedestrians. The high-intensity headlights are mounted on a movable mechanism within the aircraft to accommodate road surfaces of varying slopes.

[0081] For example, Figure 7 Figure 1 is a schematic diagram of the internal lighting system structure of a 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, forming shadows on the ground, thereby forming a sidewalk pattern.

[0082] In an embodiment of the present application, the target light intensity at that time can be detected, and the relationship between the target light intensity and the preset light intensity can be determined. Thus, if it is determined that the target light intensity is greater than the preset light intensity, the target vehicle-mounted aircraft is controlled to deploy a sunshade to block light and project a sidewalk pattern on the road. Alternatively, if 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 its lights to project a sidewalk pattern on the road. This method allows the method of projecting the sidewalk pattern to be flexibly adjusted according to the current light intensity, 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, the method for interaction between an unmanned vehicle and a pedestrian provided in an embodiment of the present application may further include S401-S402:

[0084] S401: Detect the width of the road and determine 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, so further subsequent actions (i.e., step S402 or steps S501-S503) need to be performed.

[0086] Therefore, it is necessary to first detect the width of the road 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, controlling the target vehicle-mounted aircraft to fly along the direction in which the pedestrian crosses the road according to the moving direction of the pedestrian crossing the road.

[0088] Optionally, if there is only one car on the road, the target vehicle-mounted aircraft can move along the road transversely according to the moving position of the pedestrian, so that the sidewalk pattern moves with the pedestrian, and escorts the pedestrian to pass through the road.

[0089] In the embodiments 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 aircraft 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 aircraft, the target vehicle-mounted aircraft is controlled to move along the direction in which the pedestrian crosses the road according to the moving position of the pedestrian, so that the sidewalk pattern projected by the target vehicle-mounted aircraft moves with the pedestrian, and the effect of the interaction between the unmanned vehicle and the pedestrian is further improved, and the safety of the pedestrian crossing the road is ensured.

[0090] In some embodiments, as shown in Figure 9 The method for the unmanned vehicle to interact with the pedestrian provided by the embodiments of the present application can further include S501-S503.

[0091] S501, when it is determined that the width of the road is greater than the width of the sidewalk pattern, detecting whether there is other unmanned vehicle parking and giving way at the current position of the target unmanned vehicle.

[0092] Optionally, it can also be detected whether other vehicles are also parking and giving way at the current parking and giving way position of the target unmanned vehicle, and when it is determined that multiple vehicles are parking and giving way at the current position, multiple vehicle-mounted aircrafts can be used to fly in a row and hover in the air, and a long sidewalk pattern can be formed in front of the vehicles to jointly form a long sidewalk pattern for the safe passage of pedestrians.

[0093] S502, when it is determined that there is other unmanned vehicle parking and giving way at the current position of the target unmanned vehicle, controlling the target vehicle-mounted aircraft to communicate with the vehicle-mounted aircraft included in the other unmanned vehicle.

[0094] S503, combining the target sidewalk pattern projected on the road by the target vehicle-mounted aircraft and the vehicle-mounted aircraft included in the other unmanned vehicle.

[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 are parked at the current position to let the line go, the target vehicle-mounted flying device can be linked with the vehicle-mounted flying devices included in other unmanned vehicles to jointly project a target sidewalk pattern on the road with a width greater than or equal to the width of the road, prompting the pedestrians to safely pass through.

[0097] In the embodiments of the present application, in the case where it is determined that the width of the road is greater than the width of the sidewalk pattern projected by the target vehicle-mounted flying device, the target unmanned vehicle can further detect whether there are other unmanned vehicles parked at the current position of the target unmanned vehicle to let the line go, so that when it is determined that there are other unmanned vehicles parked at the current position of the target unmanned vehicle to let the line go, the target vehicle-mounted flying device can be controlled to communicate with the vehicle-mounted flying devices included in other unmanned vehicles to combine the target sidewalk pattern projected on the road by the target vehicle-mounted flying device and the vehicle-mounted flying devices included in other unmanned vehicles, thereby further improving the effect of the interaction mode between the unmanned vehicle and the pedestrian and ensuring the safety of the pedestrian when crossing the road.

[0098] In some embodiments, as shown in Figure 10 The method for the unmanned vehicle to interact with the pedestrian provided by the embodiments of the present application can further include S601-S602:

[0099] S601, detecting whether there are other unmanned vehicles driving to the current position of the target unmanned vehicle within a target distance range.

[0100] S602, when it is determined that there are other unmanned vehicles driving to the current position of the target unmanned vehicle within the target distance range, controlling the target vehicle-mounted flying device to perform a target operation and issuing a second voice prompt information.

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

[0102] Optionally, when the target unmanned vehicle is parked to let the line go, the target unmanned vehicle blocks the line of sight of the pedestrian when the pedestrian is passing through from the front of the target unmanned vehicle, and the pedestrian cannot determine whether there is a vehicle coming from the rear of the lane beside the target unmanned vehicle. Therefore, the target unmanned vehicle can detect whether there are other unmanned vehicles coming to the current position of the target unmanned vehicle.

[0103] Therefore, when it is detected that there are other unmanned vehicles coming to the current position of the target unmanned vehicle, the target vehicle-mounted flying device can issue a prompt information to prompt the pedestrian that there is a vehicle coming from the blind area and to pay attention to passing through.

[0104] Optionally, when it is determined that there is another unmanned vehicle driving to the current location of the target unmanned vehicle, the target vehicle-mounted aircraft can be controlled to stop projecting the sidewalk pattern to prompt the pedestrian that an abnormal situation (i.e., a vehicle is driving) occurs, so that the pedestrian is alert when observing that the sidewalk pattern disappears.

[0105] Alternatively, the target vehicle-mounted aircraft can be controlled to rotate the sidewalk pattern by a certain angle, so that the sidewalk pattern cannot extend to the opposite side of the road, to prompt the pedestrian that an abnormal situation (i.e., a vehicle is driving) occurs, so that the pedestrian is alert when observing that the sidewalk pattern disappears.

[0106] For example, when a large unmanned vehicle has stopped to give way to a pedestrian, and the pedestrian has walked to the front of the large unmanned vehicle, but due to a blind area or other problems, another unmanned vehicle drives beside the large unmanned vehicle, and the pedestrian fails to observe the vehicle driving beside the large unmanned vehicle, the vehicle-mounted aircraft can retract the sidewalk pattern on the ground (or the vehicle-mounted aircraft is rotated by 90 degrees to form a longitudinal sidewalk pattern), and voice broadcast a prompt voice of "a vehicle is driving, please pay attention to safety" or "please pause the pedestrian to pass", so as to improve the safety of pedestrian-vehicle passing.

[0107] Optionally, when it is determined that the vehicle driving beside the large unmanned vehicle gives way to the pedestrian, the vehicle-mounted aircraft can project the sidewalk pattern again, or rotate by 90 degrees to form a transverse sidewalk pattern, and voice broadcast "please pass", to prompt the pedestrian to continue to pass safely.

[0108] In the embodiments of the present application, it can be further detected whether there is another unmanned vehicle driving to the current location of the target unmanned vehicle within a target distance range, so that when it is determined that there is another unmanned vehicle driving to the current location of the target unmanned vehicle within the target distance range, the target vehicle-mounted aircraft is controlled to stop projecting the sidewalk pattern or rotate the sidewalk pattern, and a second voice prompt information is issued to prompt the pedestrian that a vehicle is driving, to further improve the effect of the interaction mode between the unmanned vehicle and the pedestrian and to ensure the safety of the pedestrian crossing the road.

[0109] In some embodiments, the method for interacting between an unmanned vehicle and a pedestrian provided by the embodiments of the present application can further include S701:

[0110] S701, when the target unmanned vehicle is a vehicle reserved for a target user and drives to a destination, displaying identity information of the target user through a target vehicle-mounted aircraft.

[0111] The identity information of the target user is used to indicate 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-hailing 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 they have reserved.

[0113] In an embodiment of the present application, 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 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 hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize 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 be beyond the scope of this application.

[0115] The embodiment of the present application can, according to the above method, exemplarily divide the functional modules of the unmanned vehicle and pedestrian interaction device or electronic device. 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 embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0116] Figure 11 FIG1 is a block diagram of an unmanned vehicle and pedestrian interaction device according to an exemplary embodiment. Figure 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 a pedestrian crossing the road is detected; 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 embodiment, the detection module 1101 is also 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 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 the preset light intensity, so as to block the light and project a sidewalk pattern on the road; or, the control module 1102 is specifically used to control the target vehicle-mounted aircraft to turn on the lights and project a sidewalk pattern on the road through the lights when it is determined that the target light intensity is less than or equal to the preset light intensity.

[0119] In one possible implementation, the detection module 1101 is further configured 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 configured to control the target vehicle-mounted aerial vehicle to fly in the direction of movement of the pedestrian according to the direction of movement 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.

[0120] In one possible implementation, the detection module 1101 is further used to detect whether there are other unmanned vehicles stopped 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 stopped to give way at the current location of the target unmanned vehicle; the control module 1102 is further used to project a target sidewalk pattern on the road in combination with 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 embodiment, the detection module 1101 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 1102 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 alert pedestrians that a vehicle is approaching.

[0122] In one possible implementation, the control module 1102 is further configured 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 is traveling 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 apparatus 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] Figure 12 FIG. 1 is a block diagram of an electronic device according to an exemplary embodiment. Figure 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 is 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 Figure 12 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 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 the 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 handles wireless communications. It is understood that the above-mentioned modem processor may not be integrated into the processor 1201.

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

[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, Figure 11 The functions of the detection module 1101 and the control module 1102 can be represented by Figure 12 The processor 1201 in the memory 1202 calls the computer program stored in the memory 1202. The specific execution process can be referred 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 the instructions in the above computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device to implement each process of the above unmanned vehicle and pedestrian interaction method embodiment, and the same technical effect as the above unmanned vehicle and pedestrian interaction method can be achieved. To avoid repetition, it will not be described here.

[0134] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional module is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete the above-described full classification or partial function.

[0135] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other ways. For example, the above-described device embodiment is only illustrative, for example, the division of the module or unit is only a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be through some interface, indirect coupling or communication connection between the units or devices, which can be electrical, mechanical or other forms.

[0136] The unit described as a separate component can be or can not be physically separated, and the component displayed as a unit can be one physical unit or multiple physical units, that is, it can be located in one place or can be distributed to multiple different places. Part or all of the units can 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 can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0138] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or say the part that contributes to the prior art or the whole classification part or part of the technical solutions can be embodied in the form of a software product. The software product is stored in a storage medium, including a plurality of instructions to make a device (which can be a single-chip microcomputer, a chip, etc.) or a processor execute the whole classification part or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various storage program codes.

[0139] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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; Controlling a target vehicle-mounted aerial vehicle 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 aerial vehicle; The controlling target vehicle-mounted aircraft to project a sidewalk pattern on the road comprises: When it is determined that the target light intensity at the location of the target unmanned vehicle is greater than the preset light intensity, the target vehicle-mounted aircraft is controlled to unfold a sunshade, and the sunshade is used to block light and project the sidewalk pattern on the road.

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 to project a sidewalk pattern on the road comprises: 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, 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 a 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 pedestrian's movement direction crossing 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 stopped to yield at the current location of the target unmanned vehicle; When it is determined that other unmanned vehicles have stopped to yield the right of 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, wherein 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. The target operation is any one of the following: stopping projecting the sidewalk pattern, rotating the sidewalk pattern, and the target operation and the second voice prompt message are used to alert 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 includes: 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 configured to control the target unmanned vehicle to stop when a pedestrian is detected crossing the road; The control module is further configured to control the target vehicle-mounted aerial vehicle 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 aerial vehicle; 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 at the location of the target unmanned vehicle is greater than a preset light intensity, so as to project the sidewalk pattern on the road by blocking light through the sunshade.

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 according to any one of claims 1 to 6.

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

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