Interaction method and device of movable platform, movable platform and storage medium

Abstract

The invention discloses an interaction method and device of a movable platform, the movable platform and a computer readable storage medium. The method comprises the following steps: receiving V2X information sent by V2X communication equipment; obtaining pose information of the movable platform; based on the V2X information and the pose information of the movable platform, displaying an identifier on an interactive interface of the movable platform; wherein the identifier is used for indicating the orientation of the target object relative to the movable platform, and the display position of the identifier in the interactive interface is dynamically changed based on the change of the pose information of the movable platform. Reliable information is provided for a user controlling the movable platform, and user experience and operation convenience are improved.

Description

Interaction method and device for mobile platform, mobile platform and storage medium Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a method and device for interacting with a mobile platform, a mobile platform, and a computer-readable storage medium. Background Art

[0002] V2X (Vehicle-to-Everything) is a communication technology designed to enable information exchange between mobile platforms and various entities. This includes communication between mobile platforms and other mobile platforms (V2V, vehicle-to-vehicle), between mobile platforms and infrastructure (V2I, vehicle-to-infrastructure), between mobile platforms and networks (V2N, vehicle-to-network), and between mobile platforms and pedestrians (V2P, vehicle-to-pedestrian).

[0003] Therefore, how to provide reliable information to users controlling mobile platforms based on the V2X information provided by V2X communication devices is an urgent problem to be solved.

[0004] Summary of the Invention

[0005] In view of this, one of the objectives of the present application is to provide an interactive method and device for a mobile platform, a mobile platform, and a computer-readable storage medium.

[0006] In a first aspect, an embodiment of the present application provides an interactive method for a mobile platform, comprising:

[0007] Receive V2X information sent by V2X communication equipment;

[0008] Acquiring position information of the movable platform;

[0009] Based on the V2X information and the posture information of the mobile platform, an identifier is displayed on an interactive interface of the mobile platform; wherein the identifier is used to indicate the position of the target object relative to the mobile platform, and the display position of the identifier in the interactive interface changes dynamically based on the change of the posture information of the mobile platform.

[0010] In a second aspect, an embodiment of the present application provides an interactive device, including:

[0011] at least one processor; and

[0012] at least one memory including computer program code;

[0013] The at least one memory and the computer program code are configured to enable the interaction device to at least execute the method described in the first aspect through the at least one processor.

[0014] In a third aspect, an embodiment of the present application provides a movable platform, comprising:

[0015] body;

[0016] a power system, provided in the machine body, for providing power to the movable platform;

[0017] The interactive device described in the second aspect is provided on the machine body.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method described in the first aspect is implemented.

[0019] The embodiments of the present application provide a method, device, mobile platform, and computer-readable storage medium for interacting with a mobile platform. These methods are capable of receiving V2X information sent by a V2X communication device and obtaining the position information of the mobile platform. By combining the V2X information with the position information of the mobile platform, the position of the target object relative to the mobile platform can be determined, and a corresponding identifier can be displayed on an interactive interface, allowing the user to accurately understand the position and direction of the target object in space relative to the mobile platform. The display position of the identifier is dynamically associated with the position information of the mobile platform. On the basis of enhancing the visualization effect of the interactive interface, the dynamic change of the identifier can also more intuitively reflect the change in the relative position between the target object and the mobile platform, thereby providing reliable information to the user controlling the mobile platform and improving the user experience and operational convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a schematic structural diagram of a movable platform exemplarily provided in an embodiment of the present application;

[0022] FIG2 is a schematic structural diagram of a power system exemplarily provided in an embodiment of the present application;

[0023] FIG3 is a schematic diagram of displaying a logo in an interactive interface according to an exemplary embodiment of the present application;

[0024] FIG4 is a flow chart of an interactive method exemplarily provided in an embodiment of the present application;

[0025] FIG5 is a schematic diagram of different identifiers corresponding to different types of target objects exemplarily provided in an embodiment of the present application;

[0026] FIG6A is a schematic diagram showing that a target object satisfies a first constraint degree, as exemplarily provided in an embodiment of the present application;

[0027] FIG6B is a schematic diagram showing that a target object satisfies a second constraint degree, as exemplarily provided in an embodiment of the present application;

[0028] FIG6C is a schematic diagram showing that a target object satisfies a third constraint degree, as exemplarily provided in an embodiment of the present application;

[0029] FIG7 is a schematic diagram of displaying a logo on a map according to an exemplary embodiment of the present application;

[0030] FIG8 is a schematic diagram of an exemplary embodiment of the present application providing an associated display of other movable platforms on a map;

[0031] FIG9 is a schematic structural diagram of an interactive device exemplarily provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] V2X (Vehicle-to-Everything) is a communication technology designed to enable information exchange between mobile platforms and various entities. This includes communication between mobile platforms and other mobile platforms (V2V, vehicle-to-vehicle), between mobile platforms and infrastructure (V2I, vehicle-to-infrastructure), between mobile platforms and networks (V2N, vehicle-to-network), and between mobile platforms and pedestrians (V2P, vehicle-to-pedestrian).

[0034] Taking vehicles as an example of mobile platforms, through V2X technology, vehicles can communicate with each other and share information such as their respective locations, speeds, and driving intentions, thereby improving road safety and reducing accidents.

[0035] V2X technology also allows vehicles to communicate with road infrastructure to obtain information such as traffic lights and road conditions, in order to optimize driving routes, alleviate traffic congestion, and provide more efficient transportation services.

[0036] V2X technology can also connect vehicles to the Internet and interact with cloud services, such as obtaining real-time weather information, navigation services, remote diagnosis, etc., providing drivers with more convenience and comfort.

[0037] V2X technology also enables vehicles to interact with pedestrians, providing information on their location and movements to enhance pedestrian safety and traffic efficiency.

[0038] In general, V2X technology can assist in information exchange between mobile platforms and all entities that may affect the mobile platforms, so as to improve traffic safety, reduce traffic congestion, reduce environmental pollution, and provide more information services.

[0039] Therefore, how to provide reliable information to users controlling mobile platforms based on the V2X information provided by V2X communication devices is an urgent problem to be solved.

[0040] Based on this, an embodiment of the present application provides an interaction method for a mobile platform, which can receive V2X information sent by a V2X communication device and obtain the posture information of the mobile platform. By combining the V2X information and the posture information of the mobile platform, the orientation of the target object relative to the mobile platform can be determined, and a corresponding identifier can be displayed on the interactive interface, so that the user can accurately understand the position and direction of the target object relative to the mobile platform in space, and the display position of the identifier is dynamically associated with the posture information of the mobile platform. On the basis of enhancing the visualization effect of the interactive interface, the dynamic change of the identifier can also more intuitively reflect the change in the relative posture between the target object and the mobile platform, thereby providing reliable information to the user who controls the mobile platform and improving user experience and operational convenience.

[0041] The interaction method provided in the embodiment of the present application can be executed by an interaction device.

[0042] On the one hand, the interactive device can be a computer software product integrated into a mobile platform, and the computer software product includes an application program that can execute the interactive method provided in the embodiment of the present application.

[0043] On the other hand, the interactive device includes a processor. When executing the interactive method, the processor may call an executable program in a memory or perform the operation through a logic operation circuit.

[0044] The interactive device may execute the interactive method in the background, or may display the method to the user in the form of a graphical interface, or may execute part of the method in the background and display the other part to the user. Furthermore, the interactive device may execute the interactive method completely autonomously, or partially autonomously while other parts require human intervention.

[0045] The interactive device can be installed in a movable platform. The movable platform includes but is not limited to aircraft, vehicles, ships, intelligent robots and other movable devices. The movable platform can be a manned movable platform or an unmanned movable platform.

[0046] In some embodiments, the aircraft may include a rotary-wing aircraft, such as a quadrotor, a hexacopter, or an octorotor; a fixed-wing aircraft; or a combination of a rotary-wing aircraft and a fixed-wing aircraft. Optionally, the aircraft includes an unmanned aerial vehicle. The aircraft may include, but is not limited to, any of manned aircraft, logistics aircraft, aerial photography aircraft, agricultural plant protection aircraft, and industrial rescue aircraft. The above is merely illustrative, and the embodiments of this application do not specifically limit the type of aircraft.

[0047] In some embodiments, the vehicle may include an autonomous vehicle, a manually driven vehicle, or a vehicle with a human and a machine. Optionally, the vehicle may be used in one or more scenarios, such as a passenger vehicle, a logistics vehicle, or a sanitation vehicle. The above is merely illustrative and should not be construed as limiting the embodiments of this application.

[0048] Any description of a vehicle in this application may be applicable to and used for any movable object, such as any vehicle. In addition, the methods and devices disclosed in this application in the context of terrestrial motion may also be applicable to other types of motion, such as motion in the air, on / under water, or in space.

[0049] Please refer to FIG. 1 . The movable platform 100 includes a body 10 ; a power system 20 disposed in the body 10 for providing power to the movable platform; and the aforementioned control device 30 disposed in the body 10 .

[0050] In some embodiments, the display device 40 of the mobile platform 100 may be provided on the body 10 to provide an interactive interface for displaying a logo. In other embodiments, the display device 40 of the mobile platform may not be provided on the body 10, but may be provided on a control device for controlling the mobile platform 100. Optionally, the control device may be a remote terminal.

[0051] The body 10 refers to the structure of the mobile platform 100, including its outer shape, frame, and connecting components. The body 10 is a crucial component of the mobile platform 100, supporting and protecting the other components of the mobile platform 100 and determining its motion performance, stability, and adaptability.

[0052] The power system 20 can provide the required power and energy support for the movable platform 100 .

[0053] Taking an unmanned aerial vehicle as an example, please refer to Figure 2. The power system 20 may include one or more electronic speed regulators 21 (referred to as ESCs for short), one or more propellers 22, and one or more motors 23 corresponding to the one or more propellers, wherein the motor 23 is connected between the electronic speed regulator 21 and the propeller 22, and the motor 23 and the propeller 22 are arranged on the wings of the unmanned aerial vehicle.

[0054] Taking a fuel vehicle as an example, the power system 20 may include an internal combustion engine, which uses fuel for combustion and drives the vehicle by rotating the engine.

[0055] Taking new energy vehicles as an example, the power system 20 consists of a battery pack, a motor and an electronic control system. The battery pack supplies power to the motor, and the motor converts electrical energy into mechanical energy to drive the vehicle. Among them, the electronic control system is used to control the vehicle's power output and driving mode, as well as manage the battery's charging and discharging process.

[0056] Exemplarily, the movable platform also includes sensors, including but not limited to at least one of lidar, millimeter wave radar, gyroscope, ultrasonic sensor, electronic compass, inertial measurement unit (IMU), visual sensor, global navigation satellite system and barometer.

[0057] Exemplarily, the movable platform further includes a communication device, which can realize communication connection with other devices.

[0058] In an exemplary application scenario, please refer to Figure 3. Taking the mobile platform 100 as a vehicle as an example, while driving, the vehicle can receive V2X information sent by the V2X communication device and execute the interaction method provided in the embodiment of the present application, so that the mark 50 used to indicate the position of the target object relative to the mobile platform is displayed in the vehicle's interaction interface.

[0059] The following is an exemplary description of the interaction method provided in the embodiment of the present application:

[0060] Please refer to FIG4 , which is a flow chart of an interaction method provided in an embodiment of the present application. The interaction method is exemplarily described by applying it to a mobile platform. The method includes:

[0061] In S101 , V2X information sent by a V2X communication device is received.

[0062] For example, V2X communication equipment refers to wireless communication between vehicles (V2V), vehicles (V2I), and vehicles (V2P). V2X communication equipment utilizes onboard communication units (IMUs) and related communication standards, such as IEEE 802.11p and LTE-V, to enable vehicles to communicate with each other and exchange information with road infrastructure, pedestrians, and other traffic participants.

[0063] For example, V2X information refers to various information involved in vehicle-to-vehicle communication (V2V), vehicle-to-infrastructure communication (V2I), and vehicle-to-pedestrian communication (V2P). This information can be transmitted and exchanged through V2X communication equipment to improve traffic safety, optimize traffic flow, support autonomous driving, etc.

[0064] For example, V2X information includes but is not limited to the following:

[0065] (1) Traffic status information: such as the vehicle’s current speed, acceleration, location, and direction of travel, as well as traffic infrastructure information such as traffic light status and road speed limits.

[0066] (2) Road hazard warning: Warning information about road hazards caused by factors such as emergency braking, traffic accidents, road obstacles, and sudden weather.

[0067] (3) Traffic congestion information: including the following distance between vehicles, traffic congestion level, road smoothness and other information, which is used for traffic flow optimization and intelligent traffic management.

[0068] (4) Intersection safety information: safety warning information in special traffic scenarios such as pedestrians crossing roads, school areas, and intersections.

[0069] (5) Autonomous driving decision support information: including information on surrounding vehicles, pedestrians, road conditions, etc., which is used by the autonomous driving system to make decisions and plan paths.

[0070] In S102 , the position and posture information of the movable platform is obtained.

[0071] Exemplarily, the posture information of the movable platform includes position information and direction information of the movable platform in three-dimensional space.

[0072] In one possible implementation, the movable platform includes a sensor (such as an inertial measurement unit, a global positioning system, a visual sensor, etc.), and the position information of the movable platform can be determined based on data collected by the sensor.

[0073] In another possible implementation, the mobile platform includes a communication device, and the position information of the mobile platform is obtained from a third-party device based on the communication device. For example, the mobile platform can use information about surrounding Wi-Fi base stations and signal strength to determine its relative position and the direction it is facing.

[0074] Of course, the above two implementation methods can also be combined to comprehensively determine the posture information of the movable platform, and this embodiment does not impose any limitation on this.

[0075] In S103, based on the V2X information and the posture information of the mobile platform, an identifier is displayed on the interactive interface of the mobile platform; wherein the identifier is used to indicate the position of the target object relative to the mobile platform, and the display position of the identifier in the interactive interface changes dynamically based on the change of the posture information of the mobile platform.

[0076] In this embodiment, by combining V2X information with the posture information of the mobile platform, the orientation of the target object relative to the mobile platform can be determined, and a corresponding identifier can be displayed on the interactive interface, so that the user can accurately understand the position and direction of the target object relative to the mobile platform in space, and the display position of the identifier is dynamically associated with the posture information of the mobile platform. On the basis of enhancing the visualization effect of the interactive interface, the dynamic change of the identifier can also more intuitively reflect the change in the relative posture between the target object and the mobile platform, thereby providing reliable information to the user who controls the mobile platform and improving user experience and operational convenience.

[0077] In some embodiments, a target object refers to an object or situation that affects the movement of the movable platform.

[0078] In some embodiments, target objects may be of different types, and each type of target object may be used to represent different traffic conditions. The different traffic conditions may be determined based on at least one of the following information: channel status information, traffic density information, traffic restriction information, weather information, and distribution information of other mobile platforms with higher traffic priority than the mobile platform.

[0079] Optionally, the channel status information refers to the current status of the road or channel, such as whether there are obstacles, construction, accidents, or whether the road surface is smooth. For traffic conditions determined based on the channel status information, corresponding target objects may include obstacles (such as pedestrians, bicycles, road facilities, or other vehicles), road sections under construction or maintenance, road sections with accidents, and road sections with uneven road surfaces. In some embodiments, a road section may be a path.

[0080] Optionally, traffic density information refers to the number and density of vehicles on the road. For a traffic condition determined based on the traffic density information, the corresponding target object may include a road section where congestion occurs.

[0081] Optionally, the traffic restriction information refers to traffic restrictions for certain vehicles or specific time periods, such as prohibited areas, temporary traffic control measures, etc. For traffic conditions determined based on the traffic restriction information, the corresponding target object may include road sections that are prohibited for the mobile platform to pass.

[0082] Optionally, weather status information refers to the impact of weather conditions on traffic conditions, such as rain, snow, strong winds, visibility, heavy rain (which may cause landslides), etc. For traffic conditions determined based on weather status information, corresponding target objects may include road sections with low visibility, road sections with landslides, etc.

[0083] Optionally, the distribution information of other movable platforms having a higher traffic priority than the movable platform refers to the distribution of vehicles that require emergency avoidance, such as police cars, ambulances, and fire trucks that are performing tasks. For the traffic conditions determined based on the distribution information, the corresponding target objects may include other movable platforms that have a higher traffic priority than the movable platform. Among them, whether the communication priority of other movable platforms is higher than that of the mobile platform can be determined based on the V2X information received from the V2X communication device; taking the movable platform as a vehicle as an example, for example, if the V2X information carries the location information of a police car and indicates that the police car is performing a task, it can be determined that the traffic priority of the police car is higher than that of the vehicle.

[0084] For example, V2X information sent by V2X communication devices can carry information about the type of target object. The mobile platform can then display different identifiers in the interactive interface based on the type of target object. This helps users more accurately understand the different types of target objects in their surroundings, improving their awareness of traffic conditions and risks.

[0085] For example, as shown in Figure 5, if the target object is a road section under construction or maintenance, a construction sign can be displayed in the interactive interface. If the target object is a pedestrian, a person icon can be displayed in the interactive interface. If the target object is a road section that is prohibited for the mobile platform, a restricted traffic sign can be displayed in the interactive interface. By using different icons, colors, or other visual elements, users can more quickly understand the type and attributes of the target object, thereby making better decisions and taking better actions.

[0086] In some embodiments, as shown in FIG3 , the aforementioned interactive interface is provided by a heads-up display (HUD) mounted on a mobile platform. A heads-up display (HUD) allows information to be projected into the viewer's field of view in the form of images or text, such as on a transparent glass or plastic material, allowing the viewer to access important information without having to look away. For example, in a vehicle, the HUD is mounted within the driver's field of view to display the aforementioned signs, helping the driver maintain focus on the road and reducing the risk of traffic accidents caused by looking down.

[0087] In other embodiments, the aforementioned interactive interface may also be provided by a central control display mounted on the mobile platform, and the aforementioned logo may be displayed on the central control display. A central control display refers to a screen in a vehicle or other device used to display and operate various functions and settings, typically located on the center console of a vehicle cockpit or on a control panel of a device.

[0088] Of course, when the mobile platform is equipped with a head-up display and a central control display, the above-mentioned logo can be displayed in at least one of the head-up display and the central control display. This embodiment does not impose any restrictions on this. For example, the user can make display selections based on actual needs.

[0089] In some embodiments, given the size of the movable platform, different parts of the movable platform are selected to represent the movable platform, resulting in different display positions of the identifiers displayed in the interactive interface. Therefore, to more accurately represent the position and orientation of the target object relative to the movable platform in space, the identifier displayed in the interactive interface can be used to indicate the orientation of the target object relative to a specified part of the movable platform.

[0090] In one possible embodiment, the movable platform is directly controlled by the driver, and the designated portion may be the driving position of the movable platform, so that the driver can clearly know the orientation of the target object relative to the driving position, which helps to improve the driver's perception of the surrounding environment, is very helpful for avoiding collisions, changing lanes, and making turns in complex road conditions, and helps to provide more accurate environmental perception and obstacle avoidance capabilities.

[0091] In another possible implementation, the movable platform is remotely controlled by a user. For example, the movable platform is a remote-controlled car or a robot. The designated location may be an installation location of a sensor of the movable platform. Identifying the orientation of the target object relative to the sensor can help the user control the movable platform more accurately, thereby providing more accurate environmental perception and obstacle avoidance capabilities.

[0092] In some embodiments, the position of the above-mentioned marker relative to the designated portion of the movable platform is the same as the position of the target object relative to the designated portion of the movable platform; thereby, the marker can provide accurate position indication, so that the driver or the user operating the movable platform can better understand the position and direction of the target object and make corresponding operations and decisions.

[0093] In other embodiments, taking into account the possible existence of some communication delays, processing delays and other problems, it is allowed that the position of the identifier relative to the designated part of the movable platform and the position of the target object relative to the designated part of the movable platform have a certain error; that is, the position of the identifier relative to the designated part of the movable platform and the position of the target object relative to the designated part of the movable platform are within a preset difference range; wherein, the preset difference range can be specifically set according to the actual application scenario, so as to provide a basically accurate position indication. This embodiment allows a certain error range to improve the fault tolerance of the movable platform, avoid frequent switching or erroneous indication of the movable platform due to minor errors, and is also conducive to improving the reliability and stability of the movable platform; and presetting a certain error range can make the movable platform more adaptable and applicable to different actual scenarios and working environments. For example, under different network conditions and different device combinations, the movable platform can still provide a basically accurate position indication without the need for adjustment for each specific situation.

[0094] In some embodiments, the process of displaying an identifier based on V2X information and the position and posture information of the mobile platform (S103) is exemplified herein: the mobile platform may determine the location information of the target object based on the V2X information, and then display an identifier on the mobile platform's interactive interface based on the target object's location information and the mobile platform's position and posture information. This embodiment combines the target object's location with the mobile platform's position and posture information to more accurately perceive and track information such as the target object's location and motion state.

[0095] Exemplarily, the movable platform can determine the position of the target object relative to the movable platform based on the position information of the target object and the posture information of the movable platform; and then determine the display position of the identifier in the interactive interface of the movable platform based on the position of the target object relative to the movable platform, so as to display the identifier at the display position. In this embodiment, by determining the position of the target object relative to the movable platform, the movable platform can more accurately understand the relative position relationship between the target object and itself; displaying the identifier in the interactive interface and placing it in the correct display position can intuitively convey the position and orientation information of the target object to the user, so that the user can quickly and accurately locate the target object and understand changes in its relative position at any time.

[0096] In the process of determining the position of the target object relative to the movable platform, the movable platform can determine the position of the target object relative to the movable platform based on the position information of the target object in the first coordinate system, the posture information of the movable platform in the second coordinate system, and the conversion relationship between the first coordinate system and the second coordinate system. The conversion relationship between the first coordinate system and the second coordinate system includes a rotation matrix and a translation moment vector. The first coordinate system and the second coordinate system may be the same or different. When the first coordinate system and the second coordinate system are the same, the rotation matrix is ​​a unit matrix and the translation vector is a 0 vector. This embodiment accurately calculates the relative position between the target object and the movable platform through the conversion relationship between the first coordinate system and the second coordinate system.

[0097] For example, the first coordinate system is a geographic coordinate system based on an earth ellipsoid model, and the location information of the target object in the first coordinate system is longitude and latitude information. The second coordinate system is a coordinate system based on a movable platform.

[0098] For example, as described above, the movable platform itself has a certain volume, and different parts of the movable platform are selected to represent the movable platform, and the display positions of the logos finally displayed in the interactive interface are also different. Therefore, the posture information of the designated part of the movable platform can be determined, for example, the designated part of the movable platform is the driving position or the installation position of the sensor, and then the position of the target object relative to the designated part of the movable platform is determined based on the position information of the target object and the posture information of the designated part of the movable platform; and then the display position of the logo in the interactive interface of the movable platform is determined based on the position of the target object relative to the designated part of the movable platform, so as to display the logo at the display position; wherein, the position of the logo displayed in the interactive interface relative to the designated part of the movable platform satisfies the above conditions, so as to improve the accuracy of the orientation indication.

[0099] For example, when a target object is within the detection range of the mobile platform's sensors, the target object's location information can also be determined based on data collected by the mobile platform's sensors. That is, when determining the relative orientation of the target object's location information and the mobile platform's posture information based on the target object's location information and the mobile platform's posture information, reference can be made to the target object's location information determined based on V2X information, or to the target object's location information determined based on data collected by the mobile platform's sensors. Furthermore, the two types of location information can be combined, such as by weighted summation, to determine the target object's location information.

[0100] For example, given that the target object's location information determined based on data collected by sensors onboard a mobile platform is more accurate, if the mobile platform's sensors cannot detect the target object, the target object's location information determined based on V2X information can be used in related calculations. If the target object is within the detection range of the mobile platform's sensors, the target object's location information determined based on data collected by sensors onboard the mobile platform can be used in related calculations, thereby improving the accuracy of the calculation results.

[0101] In some embodiments, while the mobile platform is moving along a target path, the mobile platform can determine the degree of constraint imposed by the target object on the movement of the mobile platform on the target path. The target path can be understood as the planned path or navigation path of the mobile platform from its departure point to its destination. The degree of constraint can be understood as the degree of influence of the target object on the movement of the mobile platform on the target path, such as whether it will cause the target object to be unable to continue moving on the target path. Furthermore, an operation of displaying an identifier on the interactive interface of the mobile platform can be performed based on the degree of constraint imposed by the target object on the movement of the mobile platform on the target path. This embodiment performs an operation of displaying an identifier based on the degree of constraint imposed by the target object on the movement of the mobile platform on the target path, allowing the user to intuitively understand the constraints imposed by the target object on the mobile platform and to make corresponding decisions based on the degree of constraint, such as adjusting the speed, changing the path, etc., to ensure safety and avoid potential obstacles, thereby avoiding erroneous actions due to a lack of understanding of the degree of constraint.

[0102] For example, the movable platform can generate differentiated identifiers based on the degree of constraint imposed by the target object on the movable platform's movement along the target path, and display the differentiated identifiers in the interactive interface; wherein the differentiated identifiers dynamically change according to the change in the degree of constraint. This embodiment reflects different degrees of constraint through differentiated identifiers, and uses dynamically changing identifiers to reflect the change in the degree of constraint imposed by the target object on the movable platform in real time on the interactive interface, allowing users to intuitively perceive and understand the constraint situation and more accurately locate the degree of constraint imposed by the target object on the movable platform. This real-time feedback and visual expression helps to increase the user's sensitivity to the state of the target object, enabling them to respond and adjust more promptly and appropriately.

[0103] For example, the degree to which the target object constrains the movement of the movable platform on the target path may be determined based on an overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path of the movable platform.

[0104] The virtual safety zone of a target object is used to represent the target object's range of influence. This virtual safety zone can be determined based on data collected by sensors onboard the mobile platform. For example, when the target object is within the detection range of a visual sensor onboard the mobile platform, the visual sensor can accurately determine the target object's actual range of influence.

[0105] Furthermore, to improve accuracy, the virtual safety zone of the target object can also be determined in combination with the type information of the target object carried by the V2X information. For example, if the target object indicates a road section with low visibility and the data collected by the sensors carried by the mobile platform also reflects the reduced visibility in the direction of the mobile platform's advance, the entire area in the direction of the mobile platform's advance can be determined as the virtual safety zone of the target object.

[0106] The virtual safety zone of the target path is used to characterize the movable range of the movable platform. Taking a vehicle as an example, the movable range of the movable platform can be determined based on the width of the channel in which the vehicle travels.

[0107] In some possible implementations, the degree of constraint of the target object on the movement of the movable platform on the target path includes a first constraint degree, a second constraint degree, and a third constraint degree; wherein the first constraint degree is greater than or equal to the second constraint degree; and the second constraint degree is greater than the third constraint degree.

[0108] For example, different indicators can be displayed in the interactive interface based on the different levels of constraint, such as the first, second, and third levels. For example, the first level of constraint corresponds to a red indicator, the second level of constraint corresponds to a yellow indicator, and the third level of constraint corresponds to a green indicator. Differentiated indicators can enable users to intuitively perceive and understand different constraint situations, increase their sensitivity to the state of the target object, and enable them to respond and adjust more promptly and appropriately.

[0109] Please refer to Figure 6A, the first constraint level indicates that the target object is on the target path; that is, the position information of the target object coincides with the position information of a certain path point in the target path, and the position information of the target object can be determined based on at least one of the V2X information and the data collected by the sensor carried by the mobile platform.

[0110] The distance between the target object and the movable platform is negatively correlated with the first constraint level. That is, as the distance between the target object and the movable platform decreases and the first constraint level increases, the corresponding marker dynamically changes based on the change in the first constraint level. For example, the red marker may begin to flash, and the flashing frequency may gradually increase as the distance decreases. Alternatively, the red marker may change texture or shape accordingly as the distance decreases. This embodiment does not impose any restrictions on this.

[0111] In one example, the target object is located in front of the movable platform, such as a construction section or an obstacle in front. As the movable platform moves, the distance between the target object and the movable platform gradually shortens.

[0112] In another example, the target object is located behind the movable platform, for example, there are other movable platforms behind the movable platform that have a higher passage priority than the movable platform. As the two move, the distance between the target object and the movable platform gradually shortens.

[0113] Please refer to Figure 6B, the second constraint level indicates that the target object is not on the target path, but there is an overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path; that is, the position information of the target object and the position information of a certain path point in the target path do not coincide with each other, but the actual influence range of the target object and the movable range of the movable platform still overlap.

[0114] The area of ​​the overlapping region is positively correlated with the second constraint level. That is, the larger the area of ​​the overlapping region, the greater the second constraint level, and vice versa. The corresponding marker changes dynamically based on the constraint level. For example, the yellow marker may begin to flash, and the flashing frequency may gradually increase as the area of ​​the overlapping region increases. Alternatively, the yellow marker may change texture or shape as the distance decreases. This implementation does not impose any restrictions on this.

[0115] For example, the target object is a movable obstacle, which also moves during the movement of the movable platform, so that the area of ​​the overlapping area between the actual influence range of the movable obstacle and the movable range of the movable platform becomes larger and larger.

[0116] For another example, the target object is a construction section. Due to the accumulation of construction materials, there is an overlapping area between the actual impact range of the target object and the movable range of the movable platform.

[0117] Referring to Figure 6C , the third constraint level indicates that the target object is not on the target path, and the target object's virtual safety zone does not overlap with the target path's virtual safety zone. This can occur in two situations: the first is when the target object's virtual safety zone and the target path's virtual safety zone are both in the same direction; in a same-direction channel, the vehicle is traveling in the same direction. The second is when the target object's virtual safety zone and the target path's virtual safety zone are in opposite directions; in opposite directions, the vehicle is traveling in opposite directions.

[0118] In the case of a same-direction channel, the user also needs to pay a certain degree of attention to factors such as other vehicles changing lanes based on the target object. Therefore, the third constraint level corresponding to the same-direction channel is set for the channel where the target object's virtual safety zone is located and the channel indicated by the virtual safety zone of the target path. This is greater than the third constraint level corresponding to the channel where the target object's virtual safety zone is located and the channel indicated by the virtual safety zone of the target path are different. Different third constraint levels will also result in different corresponding signs, such as differences in color, texture, or shape.

[0119] In some embodiments, during the movement of a movable platform along a target path, it may be determined whether the degree of constraint imposed by the target object on the movement of the movable platform along the target path satisfies a preset condition. Exemplarily, the preset condition is a first degree of constraint or a second degree of constraint, i.e., the target object has an impact on the movement of the movable platform along the target path. In response to the degree of constraint satisfying the preset condition, at least one of the following operations may be performed:

[0120] (1) Determine a new target path and control the movable platform to move along the new target path.

[0121] For example, other passable channels can be determined based on data collected by sensors carried by the movable platform, path planning can be performed based on the other passable channels, a new target path can be determined, and the movable platform can be controlled to move to other passable channels according to the new target path to ensure the movement safety of the movable platform.

[0122] (2) Generate a speed adjustment instruction, which is used to adjust the movement speed of the movable platform. For example, the movement speed of the movable platform can be reduced to reduce risk and allow users more reaction time.

[0123] (3) Generate a control mode switching instruction, which is used to switch the control mode of the mobile platform, such as switching from automatic driving mode to manual driving mode, with the driver taking over.

[0124] (4) Generate confidence control instructions, which are used to adjust the confidence of the data collected by the sensors in the mobile platform. For example, in the case of low visibility, the confidence of the visual sensor on the mobile platform is reduced.

[0125] This embodiment adjusts the path, speed, control mode or confidence level of the data collected by the sensor of the movable platform when the degree of constraint of the target object meets the preset conditions. This can more flexibly adapt to different constraint situations, improve the accuracy and stability of the movable platform's movement, and reduce operational risks.

[0126] In one example, the movable platform is taken as a vehicle. For example, the target object is a construction section or a section where an accident occurred, and the construction section or the section where the accident occurred is on the target path of the movable platform. If the first constraint degree is met, the vehicle can determine a new target path and control the movable platform to move along the new target path, and the vehicle can slow down.

[0127] In another example, taking the movable platform as a vehicle as an example, for example, the target object is other vehicles located behind the vehicle and having a higher passage priority than the vehicle, such as a fire truck, and the first constraint level is met, then the vehicle can determine other passable channels based on the data collected by its own sensors, perform path planning based on the other passable channels, determine a new target path, and control the movable platform to transform to other passable channels according to the new target path.

[0128] In another example, taking the movable platform as a vehicle as an example, for example, the target object is a road section with low visibility, and the virtual safety zone of the target object is the entire area involving low visibility, then the first constraint level is met, and the vehicle can generate a confidence control instruction to adjust the confidence of the data collected by the sensor in the movable platform; and generate a control mode switching instruction to exit the automatic driving mode and let the driver take over; and generate a speed adjustment instruction to slow down and ensure driving safety.

[0129] In some embodiments, referring to FIG. 7 , the interactive interface may further display a map, and associated display identifiers may be displayed in the map, thereby providing more intuitive and clear visual information to help users better understand the relative position and status of the target object.

[0130] Exemplarily, the map includes at least one of a sensory environment map (as shown on the left side of FIG. 7 ) and a navigation map (as shown on the right side of FIG. 7 ). The sensory environment map is determined based on data collected by sensors on the mobile platform, and the navigation map is provided by third-party navigation software. The logo may be displayed on at least one of the sensory environment map and the navigation map.

[0131] It is understood that this embodiment does not impose any restrictions on the number of interactive interfaces. For example, the mobile platform includes a heads-up display and a central control display, the heads-up display is used to provide a first interactive interface, and the central control display is used to provide a second interactive interface. The first interactive interface can display a logo, the second interactive interface can display a map, and the logo can be displayed in association with the map.

[0132] In some embodiments, as shown in FIG8 , the interactive interface may also display a map. Based on V2X information, a mobile platform may determine the location information of other mobile platforms around the mobile platform that are capable of transmitting and receiving V2X information. These other mobile platforms are then displayed on the map in association with their location information. Displaying the location information of other mobile platforms in this embodiment facilitates traffic coordination among mobile platforms. Based on the locations of other mobile platforms, a mobile platform can predict their potential actions and adjust its own movement strategy accordingly to avoid potential collisions and conflicts, thereby improving the overall safety of the transportation system.

[0133] It is understood that this embodiment does not impose any restrictions on the number of interactive interfaces. The aforementioned identifiers indicating the position of the target object relative to the movable platform and other movable platforms displayed in association with the map can be displayed in the same interactive interface or in different interactive interfaces, and this embodiment does not impose any restrictions on this.

[0134] For example, the movable platform includes a head-up display and a central control display. The head-up display is used to provide a first interactive interface, and the central control display is used to provide a second interactive interface. The logo can be displayed in the first interactive interface, the map can be displayed in the second interactive interface, and other movable platforms can be displayed in association with the map.

[0135] There is no limitation on the specific display method of displaying other mobile platforms in association with each other in the map, and FIG8 is only an example.

[0136] In some embodiments, in addition to displaying the logo in the interactive interface, voice playback, vibration prompts, or text warning information can be output to prompt the user of the relative position of the target object and the movable platform from multiple dimensions.

[0137] The various technical features in the above embodiments can be arbitrarily combined as long as there is no conflict or contradiction between the combinations of features. Therefore, the arbitrary combination of the various technical features in the above embodiments also falls within the scope of disclosure of this specification.

[0138] Correspondingly, referring to FIG9 , the embodiment of the present application further provides an interactive device 30 , including:

[0139] at least one processor 31; and

[0140] at least one memory 32 comprising computer program code;

[0141] The at least one memory 32 and the computer program code are configured to enable the interactive device 30 to perform at least the following steps via the at least one processor 31:

[0142] Receive V2X information sent by V2X communication equipment;

[0143] Obtaining the pose information of the movable platform;

[0144] Based on V2X information and the posture information of the mobile platform, an identifier is displayed on the interactive interface of the mobile platform; wherein the identifier is used to indicate the position of the target object relative to the mobile platform, and the display position of the identifier in the interactive interface changes dynamically based on the change of the posture information of the mobile platform.

[0145] In some embodiments, the interaction device may include an interaction interface.

[0146] In other embodiments, the interactive device may not include an interactive interface, and the interactive device may be communicatively connected to the interactive interface of the movable platform.

[0147] In some embodiments, the interactive interface is provided by a heads-up display carried by the movable platform.

[0148] In some embodiments, the marker is used to indicate the position of the target object relative to the designated portion of the movable platform.

[0149] In some embodiments, the designated location is a driving position of the movable platform.

[0150] In some embodiments, the designated location is a mounting location of a sensor of the movable platform.

[0151] In some embodiments, the position of the marker relative to the designated portion of the movable platform and the position of the target object relative to the designated portion of the movable platform are within a preset difference range.

[0152] In some embodiments, the position of the marker relative to the designated portion of the movable platform is the same as the position of the target object relative to the designated portion of the movable platform.

[0153] In some embodiments, the interaction device 30 is further used to determine the location information of the target object based on the V2X information; and display an identifier on the interaction interface of the mobile platform according to the location information of the target object and the posture information of the mobile platform.

[0154] In some embodiments, the interactive device 30 is also used to determine the position of the target object relative to the movable platform based on the position information of the target object and the posture information of the movable platform; and determine the display position of the logo in the interactive interface of the movable platform based on the position of the target object relative to the movable platform, so as to display the logo at the display position.

[0155] In some embodiments, the interaction device 30 is also used to determine the position of the target object relative to the movable platform based on the position information of the target object in the first coordinate system, the posture information of the movable platform in the second coordinate system, and the conversion relationship between the first coordinate system and the second coordinate system.

[0156] In some embodiments, the interactive device 30 is also used to determine the degree of constraint of the target object on the movement of the movable platform on the target path during the movement of the movable platform along the target path; and perform an operation of displaying an identifier on the interactive interface of the movable platform based on the degree of constraint of the target object on the movement of the movable platform on the target path.

[0157] In some embodiments, the interaction device 30 is further configured to generate differentiated identifiers according to the different degrees of constraint imposed by the target object on the movement of the movable platform on the target path, and the differentiated identifiers dynamically change according to the change in the degree of constraint.

[0158] In some embodiments, the degree of constraint is determined based on an overlapping area between a virtual safety zone of the target object and a virtual safety zone of a target path of the movable platform;

[0159] The virtual safety zone of the target object is used to represent the influence range of the target object, and the virtual safety zone of the target path is used to represent the movable range of the movable platform.

[0160] In some embodiments, the degree of constraint includes a first degree of constraint, a second degree of constraint, and a third degree of constraint; wherein the first degree of constraint is greater than or equal to the second degree of constraint; the second degree of constraint is greater than the third degree of constraint;

[0161] wherein the first constraint degree indicates that the target object is on the target path;

[0162] The second constraint degree indicates that the target object is not on the target path, but there is an overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path;

[0163] The third constraint level indicates that the target object is not on the target path, and there is no overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path.

[0164] In some embodiments, if the constraint level is a first constraint level, the distance between the target object and the movable platform is negatively correlated with the first constraint level; or,

[0165] If the constraint level is the second constraint level, the area of ​​the overlapping region is positively correlated with the second constraint level; or

[0166] If the constraint degree is the third constraint degree, the channel where the virtual safety zone of the target object is located and the channel indicated by the virtual safety zone of the target path are both the third constraint degree corresponding to the same-direction channel, which is greater than the third constraint degree corresponding to the channel where the virtual safety zone of the target object is located and the channel indicated by the virtual safety zone of the target path are the opposite-direction channels.

[0167] In some embodiments, the virtual safety zone of the target object is determined based on data collected by sensors carried by the movable platform.

[0168] In some embodiments, the location information of the target object is determined based on V2X information and / or data collected by sensors carried by the mobile platform;

[0169] The movable platform includes a sensor, and the position information of the movable platform is determined based on data collected by the sensor; and / or, the movable platform includes a communication device, and the position information of the movable platform is obtained from a third-party device based on the communication device.

[0170] In some embodiments, the V2X information carries type information of the target object; different types of target objects correspond to different identifiers.

[0171] In some embodiments, different types of target objects are used to represent different traffic conditions.

[0172] In some embodiments, different traffic conditions are determined based on at least one of the following information: channel status information, traffic density information, traffic restriction information, weather status information, and distribution information of other movable platforms with higher traffic priority than the movable platform.

[0173] In some embodiments, the interactive interface displays a map. The interactive device 30 is further configured to associate the displayed identifier with the map.

[0174] In some embodiments, the interactive interface displays a map.

[0175] The interaction device 30 is further configured to determine, based on the V2X information, the location information of other mobile platforms around the mobile platform that are capable of transmitting and receiving V2X information; and display the other mobile platforms in association with each other on a map according to the location information of the other mobile platforms.

[0176] In some embodiments, the interaction device 30 is further configured to determine whether the degree of constraint of the target object on the movement of the movable platform along the target path satisfies a preset condition during the movement of the movable platform along the target path;

[0177] In response to the constraint level satisfying a preset condition, at least one of the following operations is performed:

[0178] determining a new target path and controlling the movable platform to move along the new target path;

[0179] Generate a speed adjustment instruction, the speed adjustment instruction is used to adjust the movement speed of the movable platform;

[0180] Generate a control mode switching instruction, the switching instruction is used to switch the control mode of the movable platform;

[0181] A confidence control instruction is generated, where the confidence control instruction is used to adjust the confidence of data collected by the sensor in the movable platform.

[0182] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0183] Accordingly, referring to FIG1 , the present embodiment further provides a movable platform 100, including:

[0184] Body 10;

[0185] a power system 20 , provided in the body 10 , for providing power to the movable platform 100 ;

[0186] The aforementioned interaction device 30 is disposed on the body 10 .

[0187] In some embodiments, the display device 40 of the mobile platform 100 may be provided on the body 10 to provide an interactive interface for displaying a logo. In other embodiments, the display device 40 of the mobile platform may not be provided on the body 10, but may be provided on a control device for controlling the mobile platform 100. Optionally, the control device may be a remote terminal.

[0188] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, is also provided. The instructions are executable by a processor of a device to perform 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, or the like.

[0189] A non-transitory computer-readable storage medium can implement the above method when instructions in the storage medium are executed by a processor.

[0190] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0191] The above is a detailed introduction to the methods and devices provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the methods and core ideas of the present application. At the same time, for those skilled in the art, based on the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An interaction method for a movable platform, characterized in that, it includes: Receiving V2X information sent by a V2X communication device; Obtaining the pose information of the movable platform; Based on the V2X information and the pose information of the movable platform, displaying an identifier on the interaction interface of the movable platform; wherein, the identifier is used to indicate the orientation of the target object relative to the movable platform, and the display position of the identifier on the interaction interface changes dynamically based on the change of the pose information of the movable platform.

2. The method according to claim 1, characterized in that, The interaction interface is provided by a head-up display carried by the movable platform.

3. The method according to claim 1, characterized in that, The identifier is used to indicate the orientation of the target object relative to a specified part of the movable platform.

4. The method according to claim 3, characterized in that, The specified part is the driver's seat of the movable platform.

5. The method according to claim 3, characterized in that, The specified part is the installation part of the sensor of the movable platform.

6. The method according to claim 3, characterized in that, The orientation of the identifier relative to the specified part of the movable platform is within a preset difference range from the orientation of the target object relative to the specified part of the movable platform.

7. The method according to claim 3, characterized in that, The orientation of the identifier relative to the specified part of the movable platform is the same as the orientation of the target object relative to the specified part of the movable platform.

8. The method according to claim 1, characterized in that, The displaying the identifier on the interaction interface of the movable platform based on the V2X information and the pose information of the movable platform includes: Determining the position information of the target object based on the V2X information; Displaying the identifier on the interaction interface of the movable platform according to the position information of the target object and the pose information of the movable platform.

9. The method according to claim 8, characterized in that, The displaying the identifier on the interaction interface of the movable platform according to the position information of the target object and the pose information of the movable platform includes: Determining the orientation of the target object relative to the movable platform according to the position information of the target object and the pose information of the movable platform; Determining the display position of the identifier on the interaction interface of the movable platform according to the orientation of the target object relative to the movable platform, so as to display the identifier at the display position.

10. The method according to claim 9, characterized in that, The determining the orientation of the target object relative to the movable platform according to the position information of the target object and the pose information of the movable platform includes: Determine the orientation of the target object relative to the movable platform according to the position information of the target object in the first coordinate system, the pose information of the movable platform in the second coordinate system, and the conversion relationship between the first coordinate system and the second coordinate system.

11. The method according to any one of claims 1 to 10, wherein, the method further includes: During the movement of the movable platform along the target path, determine the degree of constraint of the target object on the movement of the movable platform on the target path; According to the degree of constraint of the target object on the movement of the movable platform on the target path, perform the operation of displaying a mark on the interaction interface of the movable platform.

12. The method according to claim 11, wherein, the performing the operation of displaying a mark on the interaction interface of the movable platform according to the degree of constraint of the target object on the movement of the movable platform on the target path further includes: Generate a differentiated mark according to the different degrees of constraint of the target object on the movement of the movable platform on the target path, and the differentiated mark changes dynamically according to the change of the degree of constraint.

13. The method according to claim 11, wherein, the degree of constraint is determined according to the overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path of the movable platform; wherein, the virtual safety zone of the target object is used to represent the influence range of the target object, and the virtual safety zone of the target path is used to represent the movable range of the movable platform.

14. The method according to claim 13, wherein, the degree of constraint includes a first degree of constraint, a second degree of constraint and a third degree of constraint; wherein, the first degree of constraint is greater than or equal to the second degree of constraint; the second degree of constraint is greater than the third degree of constraint; wherein, the first degree of constraint indicates that the target object is on the target path; the second degree of constraint indicates that the target object is not on the target path, but there is an overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path; the third degree of constraint indicates that the target object is not on the target path, and there is no overlapping area between the virtual safety zone of the target object and the virtual safety zone of the target path.

15. The method according to claim 14, wherein, if the degree of constraint is the first degree of constraint, the distance between the target object and the movable platform is negatively correlated with the first degree of constraint; or, if the degree of constraint is the second degree of constraint, the area of the overlapping area is positively correlated with the second degree of constraint; or, If the degree of constraint is the third degree of constraint, the third degree of constraint corresponding to the channels where the virtual safety zones of the target object are located and the channels indicated by the virtual safety zones of the target path are in the same direction is greater than the third degree of constraint corresponding to the channels where the virtual safety zones of the target object are located and the channels indicated by the virtual safety zones of the target path are in opposite directions.

16. The method according to claim 13, wherein, the virtual safety zone of the target object is determined based on the data collected by the sensors carried by the movable platform.

17. The method according to any one of claims 1 to 10, wherein, the position information of the target object is determined based on the V2X information and / or the data collected by the sensors carried by the movable platform; the movable platform includes sensors, and the pose information of the movable platform is determined based on the data collected by the sensors; and / or, the movable platform includes a communication device, and the pose information of the movable platform is obtained from a third-party device based on the communication device.

18. The method according to any one of claims 1 to 10, wherein, the V2X information carries the type information of the target object; different types of target objects correspond to different identifiers.

19. The method according to claim 18, wherein, the different types of target objects are used to represent different traffic conditions.

20. The method according to claim 19, wherein, the different traffic conditions are determined based on at least one of the following information: channel status information, traffic density information, traffic restriction condition information, weather status information, and distribution information of other movable platforms with a higher traffic priority than the movable platform.

21. The method according to any one of claims 1 to 10, wherein, a map is displayed on the interaction interface, and the display of the identifier on the interaction interface of the movable platform includes: associatively displaying the identifier in the map.

22. The method according to any one of claims 1 to 10, wherein, a map is displayed on the interaction interface; the method further includes: determining the position information of other movable platforms capable of receiving and transmitting V2X information around the movable platform based on the V2X information; associatively displaying the other movable platforms in the map according to the position information of the other movable platforms.

23. The method according to any one of claims 1 to 10, wherein, further includes: during the movement of the movable platform along the target path, determining whether the degree of constraint of the target object on the movement of the movable platform on the target path meets a preset condition; in response to the degree of constraint meeting the preset condition, performing at least one of the following operations: determining a new target path and controlling the movable platform to move along the new target path; generating a speed adjustment instruction for adjusting the movement speed of the movable platform; generating a control mode switching instruction for switching the control mode of the movable platform. Generate a confidence control instruction for adjusting the confidence of data collected by sensors in the movable platform.

24. An interaction device, characterized in that it includes: at least one processor; and at least one memory including computer program code; wherein the at least one memory and the computer program code are configured to, through the at least one processor, enable the interaction device to at least execute the method according to any one of claims 1 to 23.

25. A movable platform, characterized in that it includes: a body; a power system provided on the body for providing power for the movable platform; the interaction device according to claim 24, provided on the body.

26. A computer-readable storage medium, characterized in that the computer-readable storage medium stores executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 23 is implemented.

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