Starting reminding method and device, vehicle, storage medium, product and chip

Abstract

The invention relates to the technical field of auxiliary driving, in particular to a starting reminding method and device, a vehicle, a storage medium, a product and a chip. The method comprises the steps that under the condition that a front vehicle is started, the state of a target object around a vehicle and / or vehicle state information of the vehicle are / is determined; according to the target object state and / or the vehicle state information, a corresponding starting reminding strategy is executed, and the starting reminding strategy comprises reminding a front vehicle to start or not reminding the front vehicle to start. Under the condition that the preceding vehicle is started, whether preceding vehicle starting reminding needs to be carried out or not is recognized and determined by detecting the state of the target object around the vehicle and / or the vehicle state information of the vehicle, so that misjudgment can be reduced, unnecessary preceding vehicle starting reminding is avoided, the accuracy of system feedback is improved, and the vehicle using experience of a user is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle assisted driving, and particularly to a starting reminder method, device, vehicle, storage medium, product and chip. Background Art

[0002] In the related art, the starting reminder technology of the vehicle in front can detect the starting behavior of the vehicle in front through a sensor and remind the driver to avoid the situation that the driver misses the opportunity to follow the vehicle, which may lead to missing passing through an intersection or being cut in by other vehicles.

[0003] However, this function of reminding the vehicle in front to start is prone to misjudgment, which will instead generate negative emotional value for users. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a starting reminder method, device, vehicle, storage medium, product and chip.

[0005] According to the first aspect of the embodiments of the present disclosure, a starting reminder method is provided, including:

[0006] When the vehicle in front starts, determine the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle;

[0007] According to the state of the target object and / or the vehicle state information, execute the corresponding starting reminder strategy, where the starting reminder strategy includes reminding the vehicle in front to start or not reminding the vehicle in front to start.

[0008] In one implementation manner, the executing the corresponding starting reminder strategy according to the state of the target object and / or the vehicle state information includes:

[0009] When the state of the target object and / or the vehicle state information meet the preset non-reminder conditions, do not perform the starting reminder for the vehicle in front.

[0010] In one implementation manner, the target object includes the vehicle in front of the own vehicle, the vehicle behind the own vehicle, and the moving target in the specified direction around the own vehicle; the preset non-reminder conditions include at least one of the following:

[0011] Determine that the driving trajectory of the vehicle in front is inconsistent with the driving trajectory of the own vehicle;

[0012] Determine that the own vehicle is in a non-lane environment;

[0013] Determine that the own vehicle is in a non-moving state within a set time period;

[0014] Determine that there is a moving target in the specified direction around the own vehicle;

[0015] Determine that there is no vehicle behind the host vehicle within a set distance;

[0016] Determine that other target objects in front of the host vehicle except the leading vehicle are related to the movement trajectory of the host vehicle.

[0017] In one embodiment, the determination that the driving trajectory of the leading vehicle is inconsistent with the driving trajectory of the host vehicle includes:

[0018] Determine the first predicted movement trajectory of the leading vehicle;

[0019] Determine the second predicted movement trajectory of the host vehicle;

[0020] In the case where the first predicted movement trajectory is inconsistent with the second predicted movement trajectory, determine that the driving trajectory of the leading vehicle is inconsistent with the driving trajectory of the host vehicle.

[0021] In one embodiment, the determination of the first predicted movement trajectory of the leading vehicle includes:

[0022] Obtain the movement parameters of the leading vehicle, where the movement parameters include speed, acceleration, and steering angle;

[0023] Determine the first predicted movement trajectory of the leading vehicle according to the movement parameters of the leading vehicle.

[0024] In one embodiment, the determination that the host vehicle is in a non-lane environment includes:

[0025] Determine the displacement distance of the host vehicle within a preset first historical duration;

[0026] In the case where the displacement distance is less than the first preset distance, determine that the host vehicle is in a non-lane environment.

[0027] In one embodiment, the determination that the host vehicle is in a non-moving state within a set duration includes:

[0028] Determine the driving speed of the host vehicle within a preset second historical duration;

[0029] In the case where the driving speed of the host vehicle within the preset second historical duration is zero, determine that the host vehicle is in a non-moving state within the set duration.

[0030] In one embodiment, the determination that there is a moving target in a specified direction around the host vehicle includes:

[0031] When a moving target within a second preset distance from the host vehicle is detected in the specified direction around the host vehicle, determine that there is a moving target in the specified direction around the host vehicle.

[0032] In one embodiment, determining that there is no vehicle behind the host vehicle within a set distance includes:

[0033] When no same-direction vehicle is detected within the set distance behind the host vehicle, it is determined that there is no vehicle behind the host vehicle within the set distance.

[0034] In one embodiment, determining that other target objects in front of the host vehicle except the leading vehicle are related to the predicted trajectory of the host vehicle includes:

[0035] Obtaining a third predicted motion trajectory of the host vehicle within a preset future duration;

[0036] Obtaining the distance between the other target object and the third predicted motion trajectory, and / or obtaining a fourth predicted motion trajectory of the target object within the preset future duration;

[0037] When the distance is less than a distance threshold, and / or when there is an interaction between the third predicted motion trajectory and the fourth predicted motion trajectory, it is determined that the other target object is related to the motion trajectory of the host vehicle.

[0038] In one embodiment, according to the state of the target object and / or the vehicle state information, executing a corresponding start reminder strategy further includes:

[0039] When the state of the target object and / or the vehicle state information does not meet the preset non-reminder condition, a start reminder for the leading vehicle is given.

[0040] In one embodiment, the method of reminding the leading vehicle to start includes at least one of the following:

[0041] Voice reminder;

[0042] Tone reminder;

[0043] Visual reminder;

[0044] Vibration reminder.

[0045] According to a second aspect of the embodiments of the present disclosure, a start reminder device is provided, including:

[0046] A detection module, configured to determine the state of the target object around the host vehicle and / or the vehicle state information of the host vehicle when the leading vehicle starts;

[0047] An execution module, configured to execute a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information, where the start reminder strategy includes reminding the leading vehicle to start or not reminding the leading vehicle to start.

[0048] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, including:

[0049] a processor;

[0050] a memory for storing executable instructions of the processor;

[0051] wherein the processor is configured to: execute the executable instructions to implement the method according to any one of the first aspect.

[0052] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0053] According to a fifth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of the first aspect are implemented.

[0054] According to a sixth aspect of the embodiments of the present disclosure, a chip is provided, including a processor and an interface; the processor is configured to read instructions to execute the method according to any one of the first aspect.

[0055] In summary, the embodiments of the present disclosure provide a starting reminder method, including: when the vehicle in front starts, determining the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle; according to the state of the target object and / or the vehicle state information, executing a corresponding starting reminder strategy, and the starting reminder strategy includes reminding the vehicle in front to start or not reminding the vehicle in front to start. The embodiments of the present disclosure can, when the vehicle in front starts, by detecting the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle, identify and determine whether a starting reminder for the vehicle in front is needed, so as to reduce misjudgment, avoid unnecessary starting reminders for the vehicle in front, and improve the user's vehicle use experience.

[0056] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0058] Figure 1 is a flowchart of a starting reminder method shown according to an exemplary embodiment.

[0059] Figure 2 is a flowchart of a starting reminder method shown according to an exemplary embodiment.

[0060] Figure 3 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0061] Figure 4 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0062] Figure 5 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0063] Figure 6 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0064] Figure 7 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0065] Figure 8 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0066] Figure 9 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0067] Figure 10 It is a flowchart of a start reminder method shown according to an exemplary embodiment.

[0068] Figure 11 It is a block diagram of a start reminder device shown according to an exemplary embodiment.

[0069] Figure 12 It is a block diagram of an electronic device shown according to an exemplary embodiment.

[0070] Figure 13 It is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed implementation manners

[0071] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0072] It should be understood that the term "including" and its variations used herein are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0073] It should be noted that the concepts such as "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependent relationships. The modifications of "one" and "multiple" mentioned in this disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly stated in the context, it should be understood as "one or more". In the description of this disclosure, unless otherwise specified, "multiple" means two or more than two, and other quantifiers are similar; "at least one (item)", "one (item) or more than one (item)" or their similar expressions refer to any combination of these items (items), including any combination of single item (item) or plural items (items).

[0074] In the embodiments of this disclosure, although operations or steps are described in a specific order in the drawings, it should not be understood that these operations or steps are required to be performed in the specific order shown or in a serial order, or that all the operations or steps shown are required to be performed to obtain the desired result. In the embodiments of this disclosure, these operations or steps can be performed serially; they can also be performed in parallel; or a part of these operations or steps can be performed.

[0075] The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information. It can be understood that before using the technical solutions disclosed in the embodiments of this disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in this disclosure should be informed to users and the authorization of users should be obtained in an appropriate manner according to relevant laws and regulations.

[0076] Figure 1 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 1 shown, the embodiments of this disclosure provide a start reminder method, which may include the following steps:

[0077] In step S101, when the vehicle in front starts, determine the state of the target object around the host vehicle and / or the vehicle state information of the host vehicle.

[0078] In this step, when the vehicle in front starts moving, the states of the target objects around the host vehicle and / or the vehicle state information of the host vehicle are detected. Exemplarily, the states of the target objects around the host vehicle and / or the vehicle state information of the host vehicle can be obtained through a perception module deployed on the assisted driving domain controller, such as a camera, a global positioning system, and a neural network system. Among them, the target objects around the host vehicle can include moving targets such as pedestrians and vehicles within a specified distance around the host vehicle or other fixed object targets, and the vehicle state information of the host vehicle can include whether the host vehicle is in a non-lane environment such as the roadside or a garage, or whether it is in a state of waiting for someone or picking someone up, as well as some other states that are not necessary to remind the vehicle in front to start moving.

[0079] In step S102, according to the states of the target objects and / or the vehicle state information, a corresponding start reminder strategy is executed, and the start reminder strategy includes reminding the vehicle in front to start moving or not reminding the vehicle in front to start moving.

[0080] In this step, according to the states of the target objects and / or the vehicle state information, a corresponding start reminder strategy is executed, and the start reminder strategy includes reminding the vehicle in front to start moving or not reminding the vehicle in front to start moving. Exemplarily, it can be determined whether to remind the vehicle in front to start moving based on the state information of the target objects alone, or based on the vehicle state information alone, or by combining the states of the target objects and the vehicle state information. Among them, determining whether to remind the vehicle in front to start moving based on the state information of the target objects alone can include determining whether to remind the vehicle in front to start moving based on whether the vehicle in front is turning. For example, if the vehicle in front turns right or left but the straight-ahead traffic light is still red, reminding the vehicle in front to start moving at this time will provide a wrong indication, which may cause the user to make a wrong operation and lead to adverse consequences. Then, there is no need to remind the vehicle in front to start moving, which can improve the accuracy of the system feedback and thus enhance user satisfaction; determining whether to remind the vehicle in front to start moving based on the vehicle state information of the host vehicle alone can include that if the host vehicle is in a non-moving state within a set time period, it is possible that the host vehicle is in a long-term parking state, such as waiting for someone or picking someone up. Then, there is no need to remind the vehicle in front to start moving, which can improve the accuracy of the system feedback and thus enhance the comfort of the user experience; determining whether to remind the vehicle in front to start moving by combining the states of the target objects and the vehicle state information can include that if the movement trajectories of other target objects are related to the host vehicle, it means that there may be other traffic participants or obstacles within the predicted movement trajectory of the host vehicle, and it is necessary to wait for avoidance or prompt risks. Then, there is no need to remind the vehicle in front to start moving, which can improve the accuracy of the system feedback and thus enhance the safety of using the vehicle and improve user satisfaction.

[0081] In this way, in some cases of non-essential reminders, the reminder for the vehicle in front to start can be skipped, improving the accuracy of system feedback, thereby enhancing the comfort of the user experience and avoiding causing negative emotional value to the user. In some cases of essential reminders, the reminder for the vehicle in front to start is given to improve driving efficiency and prevent the user from failing to start in a timely manner due to negligence, resulting in traffic congestion.

[0082] In summary, the embodiments of the present disclosure provide a start reminder method, including: when the vehicle in front starts, determining the state of the target object around the host vehicle and / or the vehicle state information of the host vehicle; and according to the state of the target object and / or the vehicle state information, executing a corresponding start reminder strategy, where the start reminder strategy includes reminding the vehicle in front to start or not reminding the vehicle in front to start. The embodiments of the present disclosure can, when the vehicle in front starts, by detecting the state of the target object around the host vehicle and / or the vehicle state information of the host vehicle, identify and determine whether a start reminder for the vehicle in front is needed, thereby reducing misjudgment, avoiding unnecessary start reminders for the vehicle in front, and improving the user's vehicle use experience.

[0083] Figure 2 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 2 shown, the step of executing a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information may include the following steps:

[0084] In step S201, when the state of the target object and / or the vehicle state information meet the preset non-reminder conditions, no start reminder for the vehicle in front is given.

[0085] In this step, when the state of the target object and / or the vehicle state information meet the preset non-reminder conditions, no start reminder for the vehicle in front is given. This can improve the accuracy of system feedback, thereby enhancing the comfort of the user experience and avoiding causing negative emotional value to the user, and improving user satisfaction.

[0086] In a possible implementation manner, the target object may include the vehicle in front of the host vehicle, the vehicle behind the host vehicle, and a moving target in a specified direction around the host vehicle; correspondingly, the non-reminder conditions may include at least one of the following:

[0087] Determine that the driving trajectory of the vehicle in front is inconsistent with the driving trajectory of the host vehicle.

[0088] Determine that the host vehicle is in a non-lane environment.

[0089] Determine that the host vehicle is in a non-moving state within a set duration.

[0090] Determine that there is a moving target in a specified direction around the host vehicle.

[0091] Determine that there is no vehicle behind the host vehicle within a set distance.

[0092] Determine that other target objects in front of the host vehicle except the leading vehicle are related to the movement trajectory of the host vehicle.

[0093] Figure 3 It is a flowchart of a starting reminder method shown according to an exemplary embodiment. As Figure 3 shown, determining that the driving trajectory of the leading vehicle is inconsistent with that of the host vehicle may include the following steps:

[0094] In step S301, determine the first predicted movement trajectory of the leading vehicle.

[0095] In this step, determine the first predicted movement trajectory of the leading vehicle. Exemplarily, based on the movement parameters of the leading vehicle, such as speed, acceleration, steering angle and other parameters, neural network inference can be performed through the leading vehicle trajectory prediction module, such as the LSTM (Long Short-Term Memory) algorithm or the transformer learning model, to output the first predicted movement trajectory of the leading vehicle.

[0096] In a possible implementation manner, the first predicted movement trajectory of the leading vehicle can also be judged by the turn signal of the leading vehicle. For example, if the leading vehicle turns on the left turn signal, it can be predicted that the leading vehicle will turn left. If the leading vehicle turns on the right turn signal, it can be predicted that the leading vehicle will turn right.

[0097] In step S302, determine the second predicted movement trajectory of the host vehicle.

[0098] In this step, determine the second predicted movement trajectory of the host vehicle. Exemplarily, based on the movement parameters of the host vehicle, such as speed, acceleration, steering angle and other parameters, neural network inference can be performed through the host vehicle trajectory prediction module, such as the LSTM algorithm or the transformer learning model, to output the second predicted movement trajectory of the host vehicle.

[0099] In a possible implementation manner, the second predicted movement trajectory of the host vehicle can also be determined through the navigation data of the host vehicle.

[0100] In step S303, when the first predicted movement trajectory is inconsistent with the second predicted movement trajectory, determine that the driving trajectory of the leading vehicle is inconsistent with that of the host vehicle.

[0101] In this step, when the first predicted motion trajectory is inconsistent with the second predicted motion trajectory, it is determined that the driving trajectory of the vehicle ahead is inconsistent with the driving trajectory of the host vehicle. Exemplarily, the first predicted motion trajectory and the second predicted motion trajectory can be compared. When it is determined that there is a large deviation between the two trajectories, it is determined that the driving trajectory of the vehicle ahead is inconsistent with the driving trajectory of the host vehicle. For example, when the vehicle ahead makes a turning or U-turn, etc., but the host vehicle expects to go straight, there is no need to give a start reminder for the vehicle ahead, because at this time, the vehicle ahead may turn right or left, but the straight-ahead traffic light is still red. Giving a start reminder at this time will provide a wrong indication and may cause the user to make a wrong operation, resulting in adverse consequences, such as running a red light, being fined, having points deducted, etc.

[0102] Figure 4 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 4 shown, the determining of the first predicted motion trajectory of the vehicle ahead may include the following steps:

[0103] In step S401, motion parameters of the vehicle ahead are obtained, and the motion parameters include speed, acceleration, and steering angle.

[0104] In step S402, according to the motion parameters of the vehicle ahead, the first predicted motion trajectory of the vehicle ahead is determined.

[0105] Exemplarily, the method for determining the first predicted motion trajectory of the vehicle ahead according to the motion parameters of the vehicle ahead may refer to the embodiment of step S301 described above, and the present disclosure will not elaborate herein.

[0106] Figure 5 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 5 shown, the determining that the host vehicle is in a non-lane environment may include the following steps:

[0107] In step S501, the displacement distance of the host vehicle within a preset first historical duration is determined.

[0108] In this step, the displacement distance of the host vehicle within a preset first historical duration can be determined according to the historical positioning information of the host vehicle. Exemplarily, the first historical duration can be 30 seconds.

[0109] In step S502, when the displacement distance is less than a first preset distance, it is determined that the host vehicle is in a non-lane environment.

[0110] In this step, when the displacement distance of the host vehicle within the first historical duration is less than the first preset distance, it is determined that the host vehicle is in a non-lane environment. Exemplarily, the first preset distance can be 50 meters, that is, when the displacement distance of the host vehicle within 30 seconds is less than 50 meters, it is possible that the host vehicle is located in a non-lane environment such as the roadside, parking lot or garage. In this case, there is no need to give a start reminder for the vehicle in front, which can improve the accuracy of the system feedback, thereby enhancing the comfort of the user experience and avoiding causing negative emotional value to the user, and improving user satisfaction.

[0111] Figure 6 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 6 shown, the determining that the host vehicle is in a non-moving state within a set duration may include the following steps:

[0112] In step S601, determine the driving speed of the host vehicle within a preset second historical duration.

[0113] In this step, according to the historical driving speed information of the host vehicle, determine the driving speed of the host vehicle within a preset second historical duration. Exemplarily, the second historical duration can be the most recent 2 minutes.

[0114] In step S602, when the driving speed of the host vehicle within the preset second historical duration is all zero, determine that the host vehicle is in a non-moving state within the set duration.

[0115] In this step, when the driving speed of the host vehicle within the preset second historical duration is all zero, determine that the host vehicle is in a non-moving state within the set duration. Exemplarily, if the host vehicle has been in a non-moving state for the most recent 2 minutes, it is possible that the host vehicle is in a long-term parking state, such as waiting for someone or picking someone up. In this case, there is no need to give a start reminder for the vehicle in front, which can improve the accuracy of the system feedback, thereby enhancing the comfort of the user experience and avoiding causing negative emotional value to the user, and improving user satisfaction.

[0116] Figure 7 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 7 shown, the determining that there is a moving target in a specified direction around the host vehicle may include the following steps:

[0117] In step S701, when a moving target within a second preset distance from the host vehicle is detected in the specified direction around the host vehicle, determine that there is a moving target in the specified direction around the host vehicle.

[0118] In this step, when a moving target within a second preset distance from the host vehicle is detected in a specified direction around the host vehicle, it is determined that there is a moving target in the specified direction around the host vehicle. Exemplarily, the specified direction can be the driving direction of the host vehicle or the side direction of the host vehicle, and the second preset distance can be 2 meters. That is, when it is detected by a camera or in-vehicle radar that there is a moving target within a certain range around the host vehicle, the moving target can include pedestrians, baby strollers, luggage, electric vehicles, etc. Then it is possible that the host vehicle is waiting for passengers to get on or off, or waiting for the moving target in front to pass, so there is no need to give a reminder for the leading vehicle to start, so as not to bring negative emotional value to the user.

[0119] Figure 8 is a flowchart of a starting reminder method shown according to an exemplary embodiment. As Figure 8 shown, the determining that there is no vehicle behind the host vehicle within a set distance may include the following steps:

[0120] In step S801, when no vehicle moving in the same direction is detected within the set distance behind the host vehicle, it is determined that there is no vehicle behind the host vehicle within the set distance.

[0121] In this step, when no vehicle moving in the same direction is detected within the set distance behind the host vehicle, it is determined that there is no vehicle behind the host vehicle within the set distance. Exemplarily, the set distance can be 5 meters. That is, when it is detected by a camera or in-vehicle radar that there is no vehicle moving in the same direction within 5 meters behind the host vehicle, the urgency for the host vehicle to start and follow the vehicle in front in a timely manner is reduced, so there is no need to give a reminder for the leading vehicle to start, so as not to bring negative emotional value to the user.

[0122] Figure 9 is a flowchart of a starting reminder method shown according to an exemplary embodiment. As Figure 9 shown, the determining that other target objects in front of the host vehicle except the leading vehicle are related to the predicted trajectory of the host vehicle may include the following steps:

[0123] In step S901, obtain a third predicted motion trajectory of the host vehicle within a future preset time period.

[0124] In this step, obtain a third predicted motion trajectory of the host vehicle within a future preset time period. Exemplarily, the future preset time period can be 5 seconds. The prediction method of the third predicted motion trajectory can refer to the foregoing step S301 or step S302, and the present disclosure will not elaborate herein.

[0125] In step S902, obtain the distance between the other target object and the third predicted motion trajectory, and / or obtain a fourth predicted motion trajectory of the target object within the future preset time period.

[0126] In this step, obtain the distance between the other target object and the third predicted motion trajectory, and / or obtain the fourth predicted motion trajectory of the target object within a preset future time period. Exemplarily, the other target object can be a moving target or a stationary target in the moving direction of the host vehicle. The distance between the other target object and the third predicted motion trajectory can be obtained by using an in-vehicle radar or camera to acquire an image and then inputting the image into a large model for calculation. The prediction method of the fourth predicted motion trajectory can refer to the foregoing step S301 or step S302, and details are not described herein again in the present disclosure.

[0127] In step S903, when the distance is less than the distance threshold, and / or when there is an interaction between the third predicted motion trajectory and the fourth predicted motion trajectory, it is determined that the motion trajectory of the other target object is related to that of the host vehicle.

[0128] In this step, when the distance is less than the distance threshold, and / or when there is an interaction between the third predicted motion trajectory and the fourth predicted motion trajectory, it is determined that the motion trajectory of the other target object is related to that of the host vehicle. Exemplarily, the distance threshold can be 2 meters. That is, when the distance between the target object and the third predicted motion trajectory is less than 2 meters, and / or the fourth predicted motion trajectory of the target object within a preset future time period overlaps with the third predicted motion trajectory of the host vehicle within the same preset future time period, and / or the minimum distance between the fourth predicted motion trajectory of the target object within a preset future time period and the third predicted motion trajectory of the host vehicle within the same preset future time period is less than the distance threshold (e.g., 2 meters), it is determined that the motion trajectory of the other target object is related to that of the host vehicle. This means that there may be other traffic participants or obstacles within the predicted running trajectory of the host vehicle, and it is necessary to wait for avoidance or risk reminder. Then, there is no need to perform the start reminder for the vehicle ahead, which can improve the accuracy of the system feedback, thereby enhancing the comfort of the user experience and avoiding causing negative emotional value to the user, and improving user satisfaction.

[0129] Figure 10 is a flowchart of a start reminder method shown according to an exemplary embodiment. As Figure 10 shown, performing the corresponding start reminder strategy according to the state of the target object and / or the vehicle state information may further include the following steps:

[0130] In step S1001, when the state of the target object and / or the vehicle state information do not meet the preset non-reminder conditions, a start reminder for the vehicle ahead is performed.

[0131] In this step, when the state of the target object and / or the vehicle state information do not meet the preset non-reminder conditions, a reminder for the vehicle in front to start is given. In this way, the user is reminded to start only when a reminder for the vehicle in front to start is needed, which can avoid reminding the user when a reminder for the vehicle in front to start is not needed, thereby improving the comfort of the user experience and the accuracy of system feedback, and enhancing the user's driving experience.

[0132] In some possible implementation manners, the method for reminding the vehicle in front to start may include at least one of the following: voice reminder; tone reminder; visual reminder; vibration reminder. Exemplarily, the voice reminder may include a voice reminder of "the vehicle in front starts"; the tone reminder may include a short tone, such as a short "beep beep beep" or "di di di" tone; the visual reminder may include highlighting (such as marking in red) the vehicle in front on the visual interface of the driving scene on the in-vehicle screen, or highlighting (such as marking in red) the vehicle in front on the visual interface of the driving scene on the HUD (Head-Up Display); the vibration reminder may include a vibration of the steering wheel or the seat or other hardware vibration methods for reminder.

[0133] In summary, the embodiments of the present disclosure provide a start reminder method, including: when the vehicle in front starts, determining the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle; and according to the state of the target object and / or the vehicle state information, executing a corresponding start reminder strategy, where the start reminder strategy includes reminding the vehicle in front to start or not reminding the vehicle in front to start. The embodiments of the present disclosure can, when the vehicle in front starts, by detecting the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle, identify and determine whether a reminder for the vehicle in front to start is needed, thereby reducing misjudgment, avoiding unnecessary reminders for the vehicle in front to start, and improving the user's driving experience.

[0134] Figure 11 is a block diagram of a start reminder device shown according to an exemplary embodiment. As Figure 11 shown, the embodiments of the present disclosure provide a start reminder device 1100, which may include the following modules:

[0135] A detection module 1110, configured to determine the state of the target object around the own vehicle and / or the vehicle state information of the own vehicle when the vehicle in front starts.

[0136] An execution module 1120, configured to execute a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information, where the start reminder strategy includes reminding the vehicle in front to start or not reminding the vehicle in front to start.

[0137] In some possible implementation manners, the execution module 1120 is further configured to:

[0138] When the state of the target object and / or the vehicle state information meet the preset non-reminder conditions, no reminder for the leading vehicle to start is given.

[0139] In some possible implementation manners, the target object includes the leading vehicle, the following vehicle of the host vehicle, and moving targets in a specified direction around the host vehicle; the non-reminder conditions include at least one of the following:

[0140] It is determined that the driving trajectory of the leading vehicle is inconsistent with the driving trajectory of the host vehicle;

[0141] It is determined that the host vehicle is in a non-lane environment;

[0142] It is determined that the host vehicle is in a non-moving state within a set time period;

[0143] It is determined that there are moving targets in a specified direction around the host vehicle;

[0144] It is determined that there is no following vehicle within a set distance behind the host vehicle;

[0145] It is determined that other target objects in front of the host vehicle except the leading vehicle are related to the movement trajectory of the host vehicle.

[0146] In some possible implementation manners, the execution module 1120 is further configured to:

[0147] Determine the first predicted movement trajectory of the leading vehicle;

[0148] Determine the second predicted movement trajectory of the host vehicle;

[0149] In the case where the first predicted movement trajectory is inconsistent with the second predicted movement trajectory, it is determined that the driving trajectory of the leading vehicle is inconsistent with the driving trajectory of the host vehicle.

[0150] In some possible implementation manners, the execution module 1120 is further configured to:

[0151] Obtain the movement parameters of the leading vehicle, where the movement parameters include speed, acceleration, and steering angle;

[0152] Determine the first predicted movement trajectory of the leading vehicle according to the movement parameters of the leading vehicle.

[0153] In some possible implementation manners, the execution module 1120 is further configured to:

[0154] Determine the displacement distance of the host vehicle within a preset first historical time period;

[0155] In the case where the displacement distance is less than the first preset distance, it is determined that the host vehicle is in a non-lane environment.

[0156] In some possible embodiments, the execution module 1120 is further configured to:

[0157] Determine the driving speed of the host vehicle within a preset second historical duration;

[0158] When the driving speed of the host vehicle within the preset second historical duration is zero, determine that the host vehicle is in a non-moving state within a set duration.

[0159] In some possible embodiments, the execution module 1120 is further configured to:

[0160] When a moving target within a second preset distance from the host vehicle is detected in the specified direction around the host vehicle, determine that there is a moving target in the specified direction around the host vehicle.

[0161] Optionally, the execution module 1120 is further configured to:

[0162] When no vehicle moving in the same direction is detected within a set distance behind the host vehicle, determine that there is no vehicle behind the host vehicle within the set distance.

[0163] In some possible embodiments, the execution module 1120 is further configured to:

[0164] Obtain a third predicted motion trajectory of the host vehicle within a preset future duration;

[0165] Obtain the distance between the other target object and the third predicted motion trajectory, and / or obtain a fourth predicted motion trajectory of the target object within the preset future duration;

[0166] When the distance is less than a distance threshold, and / or the third predicted motion trajectory and the fourth predicted motion trajectory intersect, determine that the motion trajectory of the other target object is related to that of the host vehicle.

[0167] In some possible embodiments, the execution module 1120 is further configured to:

[0168] When the state of the target object and / or the vehicle state information do not meet the preset non-reminder conditions, give a reminder for the leading vehicle to start.

[0169] In some possible embodiments, the giving of a reminder for the leading vehicle to start includes at least one of the following methods:

[0170] Voice reminder;

[0171] Tone reminder;

[0172] Visual reminder;

[0173] Vibration reminder.

[0174] In summary, the embodiments of the present disclosure provide a start reminder device, including: a detection module, configured to determine the state of target objects around the host vehicle and / or the vehicle state information of the host vehicle when the preceding vehicle starts; an execution module, configured to execute a corresponding start reminder strategy according to the state of the target objects and / or the vehicle state information, where the start reminder strategy includes reminding the preceding vehicle to start or not reminding the preceding vehicle to start. The embodiments of the present disclosure can, when the preceding vehicle starts, identify and determine whether a start reminder for the preceding vehicle is needed by detecting the state of target objects around the host vehicle and / or the vehicle state information of the host vehicle, thereby reducing misjudgment, avoiding unnecessary start reminders for the preceding vehicle, and improving the user's vehicle use experience.

[0175] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0176] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the start reminder method provided by the present disclosure are implemented.

[0177] Figure 12 is a block diagram of an electronic device shown according to an exemplary embodiment. For example, the electronic device 1200 may be a driving domain controller.

[0178] Referring to Figure 12 , the electronic device 1200 may include one or more of the following components: a processing component 1202, a memory 1204, a power supply component 1206, a multimedia component 1208, an audio component 1210, an input / output interface 1211, a sensor component 1214, and a communication component 1216.

[0179] The processing component 1202 generally controls the overall operation of the electronic device 1200, such as operations associated with display, telephone call, data communication, camera operation, and recording operation. The processing component 1202 may include one or more processors 1220 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 1202 may include one or more modules to facilitate the interaction between the processing component 1202 and other components. For example, the processing component 1202 may include a multimedia module to facilitate the interaction between the multimedia component 1208 and the processing component 1202.

[0180] The memory 1204 is configured to store various types of data to support the operation of the electronic device 1200. Examples of such data include instructions for any application or method operating on the electronic device 1200, contact data, phone book data, messages, pictures, videos, and the like. The memory 1204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0181] The power supply component 1206 provides power to various components of the electronic device 1200. The power supply component 1206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 1200.

[0182] The multimedia component 1208 includes a screen that provides an output interface between the electronic device 1200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of the touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 1208 includes a front camera and / or a rear camera. When the electronic device 1200 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0183] The audio component 1210 is configured to output and / or input audio signals. For example, the audio component 1210 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 1200 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 1204 or transmitted via the communication component 1216. In some embodiments, the audio component 1210 further includes a speaker for outputting audio signals.

[0184] The input / output interface 1211 provides an interface between the processing component 1202 and the peripheral interface module, and the peripheral interface module may be a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: home button, volume button, power button, and lock button.

[0185] The sensor component 1214 includes one or more sensors for providing status assessments of various aspects for the electronic device 1200. For example, the sensor component 1214 can detect the on / off state of the electronic device 1200, the relative positioning of components, such as the display and keypad of the electronic device 1200, the sensor component 1214 can also detect a change in the position of the electronic device 1200 or a component of the electronic device 1200, the presence or absence of user contact with the electronic device 1200, the orientation or acceleration / deceleration of the electronic device 1200, and the temperature change of the electronic device 1200. The sensor component 1214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 1214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1214 may further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0186] The communication component 1216 is configured to facilitate communication between the electronic device 1200 and other devices in a wired or wireless manner. The electronic device 1200 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1216 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1216 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0187] In an exemplary embodiment, the electronic device 1200 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0188] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1204 including instructions, and the above instructions can be executed by a processor 1220 of an electronic device 1200 to complete the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0189] In addition to being an independent electronic device, the above device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip. The integrated circuit can be a single IC or a collection of multiple ICs; the chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip), etc. The above integrated circuit or chip can be used to execute executable instructions (or code) to implement the above start reminder method. The executable instructions can be stored in the integrated circuit or chip, or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above start reminder method is implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above start reminder method.

[0190] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above start reminder method when executed by the programmable device.

[0191] Figure 13 is a block diagram of a vehicle shown according to an exemplary embodiment. Refer to Figure 13, Vehicle 1300 may include electronic device 1200 and various subsystems. For example, an infotainment system 1310, a perception system 1320, a decision control system 1330, a drive system 1340, and a computing platform 1350. Among them, vehicle 1300 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of vehicle 1300 may be interconnected by wired or wireless means.

[0192] In some embodiments, the infotainment system 1310 may include a communication system, an entertainment system, a navigation system, etc.

[0193] The perception system 1320 may include several sensors for sensing information about the environment around vehicle 1300. For example, the perception system 1320 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0194] The decision control system 1330 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0195] The drive system 1340 may include components that provide motive power for vehicle 1300. In one embodiment, the drive system 1340 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0196] Some or all functions of vehicle 1300 are controlled by the computing platform 1350. The computing platform 1350 may include at least one processor 1351 and a memory 1352. The processor 1351 may execute instructions 1353 stored in the memory 1352.

[0197] The processor 1351 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0198] The memory 1352 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0199] In addition to the instructions 1353, the memory 1352 can also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 1352 can be used by the computing platform 1350.

[0200] In an embodiment of the present disclosure, the processor 1351 can execute the instructions 1353 to complete all or part of the steps of the above-mentioned start reminder method.

[0201] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device, and the computer program has a code portion for executing the above-mentioned start reminder method when executed by the programmable device.

[0202] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0203] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A start reminder method, characterized in that: include: When the preceding vehicle starts, determining the state of target objects around the own vehicle and / or vehicle state information of the own vehicle; A corresponding start reminder strategy is executed according to the state of the target object and / or the vehicle state information, wherein the start reminder strategy includes reminding the preceding vehicle to start or not reminding the preceding vehicle to start.

2. The method according to claim 1, characterized in that The executing a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information includes: When the state of the target object and / or the vehicle state information meets a preset non-reminding condition, no preceding vehicle starting reminder is performed.

3. The method according to claim 2, characterized in that The target objects include the vehicle in front of the vehicle, the vehicle behind the vehicle, and moving targets in a specified direction around the vehicle; the preset no-reminding condition includes at least one of the following: Determining that the driving trajectory of the preceding vehicle is inconsistent with the driving trajectory of the own vehicle; Determining that the vehicle is in a non-lane environment; Determining that the vehicle is in a non-moving state within a set time period; Determining that there is a moving target in a specified direction around the vehicle; Determining that there is no following vehicle within a set distance behind the vehicle; Determine that other target objects in front of the ego vehicle, except the leading vehicle, are related to the motion trajectory of the ego vehicle.

4. The method according to claim 3, characterized in that The determining that the driving trajectory of the preceding vehicle is inconsistent with the driving trajectory of the own vehicle includes: Determining a first predicted motion trajectory of the leading vehicle; Determining a second predicted motion trajectory of the ego-vehicle; When the first predicted motion trajectory is inconsistent with the second predicted motion trajectory, it is determined that the driving trajectory of the preceding vehicle is inconsistent with the driving trajectory of the own vehicle.

5. The method according to claim 4, characterized in that The determining of the first predicted motion trajectory of the preceding vehicle comprises: Acquiring motion parameters of the leading vehicle, wherein the motion parameters include speed, acceleration and steering angle; A first predicted motion trajectory of the leading vehicle is determined according to the motion parameters of the leading vehicle.

6. The method according to claim 3, characterized in that The determining that the vehicle is in a non-lane environment includes: Determining a displacement distance of the vehicle within a preset first historical time period; When the displacement distance is less than the first preset distance, it is determined that the vehicle is in a non-lane environment.

7. The method according to claim 3, characterized in that The determining that the vehicle is in a non-moving state within a set time period includes: Determining the driving speed of the vehicle within a preset second historical time period; When the driving speed of the vehicle within the preset second historical time period is zero, it is determined that the vehicle is in a non-moving state within the set time period.

8. The method according to claim 3, characterized in that The determining that there is a moving target in a specified direction around the vehicle includes: When a moving target within a second preset distance from the vehicle is detected in the designated direction around the vehicle, it is determined that there is a moving target in the designated direction around the vehicle.

9. The method according to claim 3, characterized in that: The determining that there is no rear vehicle within a set distance behind the vehicle includes: When no same-direction vehicle is detected within the set distance behind the own vehicle, it is determined that no rear vehicle exists within the set distance behind the own vehicle.

10. The method according to claim 3, characterized in that: The determining that other target objects in front of the vehicle other than the preceding vehicle are related to the predicted trajectory of the vehicle includes: Obtaining a third predicted motion trajectory of the vehicle within a preset time period in the future; Acquire the distance between the other target object and the third predicted motion trajectory, and / or acquire the fourth predicted motion trajectory of the target object within the future preset time period; When the distance is less than a distance threshold, and / or there is an interaction between the third predicted motion trajectory and the fourth predicted motion trajectory, it is determined that the other target object is related to the motion trajectory of the vehicle.

11. The method according to claim 2, characterized in that The executing a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information also includes: When the state of the target object and / or the vehicle state information does not satisfy the preset non-reminding condition, a preceding vehicle starting reminder is performed.

12. The method according to claim 1 or 11, characterized in that: The method of reminding the preceding vehicle to start includes at least one of the following: Voice reminder; Beep reminder; Visual reminders; Vibration reminder.

13. A start reminder device, characterized in that: include: A detection module, used to determine the state of target objects around the own vehicle and / or vehicle state information of the own vehicle when the leading vehicle starts; The execution module is used to execute a corresponding start reminder strategy according to the state of the target object and / or the vehicle state information, wherein the start reminder strategy includes reminding the preceding vehicle to start or not reminding the preceding vehicle to start.

14. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to: execute the executable instructions to implement the method according to any one of claims 1 to 12.

15. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

16. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

17. A chip, characterized in that: The method comprises a processor and an interface; the processor is used to read instructions to execute the method according to any one of claims 1 to 12.

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