Out-of-vehicle interaction method and device, vehicle, storage medium and computer program product

Abstract

One or more embodiments of the invention provide an out-of-vehicle interaction method and device, a vehicle, a storage medium and a computer program product, and the method comprises the steps: obtaining vehicle driving information and surrounding environment information of a target vehicle, the surrounding environment information comprises road information used for representing the traffic condition of a road where the target vehicle is located and object information used for representing interactive objects around the target vehicle; and calling a vehicle-mounted actuator to execute an out-vehicle interaction operation aiming at a target object under the condition that the target object meeting an interaction condition exists in the interactive objects according to the vehicle driving information and the surrounding environment information.

Description

Technical Field

[0001] One or more embodiments of the present specification relate to the field of vehicle technology, and more particularly, to a vehicle-external interaction method, device, vehicle, storage medium, and computer program product. Background Art

[0002] In intelligent driving technology, the vehicle system relies on sensors to perceive the environment and control the vehicle through algorithms to assist the driver in completing tasks such as lane changes and intersections in the navigation route. The driver can interact with the above system through the onboard human-machine interface (HMI). At the same time, when the driver is driving manually, he will actively use external signals such as horns and lights to communicate his intentions or warnings to other traffic participants. With the popularization of assisted driving, new demands have arisen for vehicle-outside interaction capabilities: that is, when faced with situations that require expressing intentions or warnings of emergencies in assisted driving scenarios, there is a lack of effective means to actively convey information to pedestrians, vehicles and other traffic participants outside the vehicle to make up for the shortcomings of relying solely on HMI to remind the driver in the vehicle.

[0003] In related technologies, the vehicle's status is typically communicated to the outside world by changing the color of exterior lights after activating assisted driving. However, this approach is inherently static and passive, providing only one-way communication of the vehicle's "assisted driving is on" status, and is unable to proactively issue targeted warnings or intention signals based on specific traffic conditions. Therefore, in emergency or dynamic scenarios requiring timely warnings or interaction, this approach is ineffective in effectively alerting other traffic participants, presenting significant limitations. Summary of the Invention

[0004] In view of this, one or more embodiments of this specification provide the following technical solutions:

[0005] According to a first aspect of one or more embodiments of this specification, a vehicle-external interaction method is provided, the method comprising:

[0006] Acquire vehicle driving information and surrounding environment information of a target vehicle, wherein the surrounding environment information includes road information for representing a traffic condition of a road on which the target vehicle is located and object information for representing interactive objects around the target vehicle;

[0007] When it is determined according to the vehicle driving information and the surrounding environment information that there is a target object that meets the interaction conditions among the interactive objects, an on-vehicle actuator is called to perform an off-vehicle interaction operation on the target object.

[0008] According to a second aspect of one or more embodiments of this specification, a vehicle interaction device is provided, the device comprising:

[0009] An information acquisition unit, configured to acquire vehicle driving information and surrounding environment information of a target vehicle, wherein the surrounding environment information includes road information for representing a traffic condition of a road on which the target vehicle is located and object information for representing interactive objects around the target vehicle;

[0010] The information acquisition unit is used to call the vehicle actuator to perform an off-vehicle interactive operation on the target object when it is determined that there is a target object that meets the interaction conditions among the interactive objects based on the vehicle driving information and the surrounding environment information.

[0011] According to a third aspect of this specification, a vehicle is proposed, comprising: a processor; a memory for storing processor-executable instructions and an on-board actuator; wherein the processor implements the steps of the method described in the first aspect by running the executable instructions.

[0012] According to a fourth aspect of this specification, a computer-readable storage medium is provided, on which computer instructions are stored. When the instructions are executed by a processor, the steps of the method described in the first aspect are implemented.

[0013] According to a fifth aspect of this specification, a computer program product is provided, comprising a computer program / instruction, which implements the steps of the method described in the first aspect when executed by a processor.

[0014] As can be seen from the above embodiments, this specification can proactively identify target objects that require interaction in specific scenarios by acquiring and analyzing vehicle driving information and surrounding environment information in real time. Once it is confirmed that the object meets the preset "interaction conditions", the on-board actuator can be dynamically called to perform external interaction operations for the specific object. This overcomes the fundamental defect that indicator lights in traditional vehicles can only passively and statically display the assisted driving status, and elevates the external vehicle interaction from "status notification" to "intention communication and collaboration", thereby effectively improving the timeliness, pertinence and effectiveness of communication with other road users in complex or emergency traffic scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the architecture of an in-vehicle-external interaction system provided by an exemplary embodiment;

[0016] Figure 2 This is a flow chart of a vehicle-external interaction method provided by an exemplary embodiment;

[0017] Figures 3a to 3d is a schematic diagram of various vehicle-external interaction scenarios provided by an exemplary embodiment;

[0018] Figure 4 is a schematic diagram of the architecture of another vehicle-external interaction system provided by an exemplary embodiment;

[0019] Figure 5 is a flowchart of another vehicle-external interaction method provided by an exemplary embodiment;

[0020] Figure 6 is a schematic structural diagram of an electronic device provided by an exemplary embodiment;

[0021] Figure 7 This is a block diagram of an external vehicle interaction device provided by an exemplary embodiment. DETAILED DESCRIPTION

[0022] The user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this manual are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0023] Figure 1 This is a schematic diagram of the architecture of a vehicle-external interaction system provided by an exemplary embodiment. Figure 1 As shown, the system may include a vehicle controller 12 and on-board actuators 14 in a vehicle 10 .

[0024] The vehicle controller 12, a vehicle module responsible for processing information, making decisions, and issuing interaction commands, can be a single central controller within the vehicle, such as a Central Electronic Module (CEM), or a combination of multiple control units working together, such as a CEM, an Autonomous Driving Controller (ADC), a Display Head Unit (DHU), or a combination thereof. This specification does not limit this. In short, the vehicle controller 12 can obtain real-time driving information and surrounding environment information from the vehicle 10 via the vehicle bus network. This surrounding environment information originates from onboard sensors and specifically includes road information representing the road conditions on which the vehicle is located and object information representing potential interaction targets around the vehicle. Based on the fusion analysis and judgment of this information, the vehicle controller 12 can apply preset decision logic and algorithms to determine whether there is a target object among the surrounding interactive objects that meets specific interaction conditions in the current scenario. Once a target object that meets the conditions is identified, the vehicle controller 12 can generate the corresponding interaction command. In addition, the vehicle controller 12 may also be associated with or integrated with an interactive device responsible for generating specific interactive signals, such as an in-vehicle infotainment display (Center Stack Display, CSD), so as to configure or display the interactive status.

[0025] The onboard actuator 14 is a terminal device that physically executes off-vehicle interactions in response to commands from the vehicle controller 12. Independent of in-vehicle display interfaces like the CSD, the onboard actuator 14 receives interaction commands from the vehicle controller 12. Based on the commands, the onboard actuator 14 dynamically activates its signal generation capabilities and outputs interactive signals to the external environment that are perceptible to the target object. These signals are intended to convey intent, warnings, or negotiation information to the identified target object, and are not intended for in-vehicle information display.

[0026] The following describes in detail an embodiment of the vehicle interaction method of this specification with reference to the accompanying drawings.

[0027] Figure 2 This is a flow chart of a vehicle interaction method shown in an exemplary embodiment of this specification. Figure 2 As shown, the method may include the following steps:

[0028] Step S202 , obtaining vehicle driving information and surrounding environment information of the target vehicle, wherein the surrounding environment information includes road information for characterizing the traffic conditions of the road where the target vehicle is located and object information for characterizing interactive objects around the target vehicle.

[0029] When the target vehicle is in the driving state, the above-mentioned vehicle-external interaction system can first obtain relevant information about itself and the environment. Specifically, the vehicle driving information of the target vehicle, such as vehicle speed, acceleration, driving direction, position coordinates and other data, can be obtained in real time through integrated vehicle-mounted sensors such as speed sensors, gyroscopes, and positioning modules. At the same time, the above-mentioned system can use vehicle-mounted environmental perception devices such as cameras, millimeter-wave radars, lidars, ultrasonic radars, global positioning systems (GPS) / inertial measurement units (IMUs), and vehicle-to-everything (V2X) to collect surrounding environment information. Among them, the surrounding environment information can be further clearly divided into two key dimensions: one is road information used to characterize the traffic conditions of the road where the target vehicle is located, covering lane markings, traffic light status, road type, traffic signs, road surface conditions, etc.; the other is object information used to characterize the interactive objects around the target vehicle, including but not limited to the identification, positioning and status attributes of entities such as surrounding vehicles, pedestrians, cyclists, and roadside infrastructure such as smart traffic lights and information signs. This step provides the necessary data foundation for subsequent decision-making and interactive operations.

[0030] This manual also includes a predictive interaction mechanism for high-risk road sections. Specifically, when the acquired road information indicates that the target vehicle is entering or in a high-risk section, a virtual traffic participant corresponding to the high-risk section—a "pseudo-interactive object"—can be proactively generated and dynamically added to the object information representing the surrounding environment. The "hypothetical interactive objects" are not physical entities, but rather virtual models pre-generated by the system based on road risk types and traffic regulations. Their type, location, predicted behavior, and other attributes are entirely determined by the risk scenario. For example, in a blind spot on a sharp bend, the virtual object can be set as a "potential oncoming vehicle in the oncoming lane"; during speed limits on school roads, the virtual object can be set as a "child who may cross the road"; and in the bright light transition zone at a tunnel exit, the virtual object can be set as a "low-speed obstacle ahead." In short, this method overcomes a series of physical limitations of vehicle sensors, such as obstructed field of view or insufficient detection range. By digitally rehearsing potential risks, the interaction triggering timing is advanced from a post-process response after detecting a physical object to a pre-process warning upon entering the risk zone, creating a critical time window for proactively invoking onboard actuators for safe interaction in the next step.

[0031] In addition, the above-mentioned road information can be used to characterize relevant road sections based on, for example, high-precision map data, real-time traffic event push, historical accident hotspot database, or road topology features identified by sensors; the above-mentioned high-risk sections may also include continuous sharp bend blind spots, intersections without traffic lights, construction areas, school sections, low-visibility sections in rainy and foggy weather, tunnel entrances and exits, etc., which are not restricted in this manual.

[0032] Step S204 : when it is determined based on the vehicle driving information and the surrounding environment information that there is a target object among the interactive objects that meets the interaction conditions, calling an on-vehicle actuator to perform an off-vehicle interaction operation on the target object.

[0033] After achieving a refined understanding of the target vehicle's state and surrounding environment, the system can enter the core interaction decision-making phase. This involves performing a comprehensive analysis based on the previously acquired vehicle driving information and surrounding environment information to determine whether there is a target object among the interactable objects that meets the specified interaction conditions.

[0034] The above interaction conditions can be flexibly set according to specific application scenarios. Figure 3a to Figure 3d As an example, several typical interaction conditions are listed:

[0035] like Figure 3a As shown on the left, the corresponding interaction conditions are: when the vehicle speed V is greater than the preset safety speed threshold, and the distance S between the vehicle and the other vehicle is less than the preset safety distance threshold, the other vehicle has crossed the line; or, Figure 3a As shown on the left, the corresponding interaction conditions are: when the ego vehicle's speed V exceeds the preset safe speed threshold, the distance S to the other vehicle is less than the preset safe distance threshold, and the speed Vx of the other vehicle approaching the ego vehicle in the adjacent lane exceeds the preset approach speed. If any of these interaction conditions are met, indicating that the other vehicle is excessively crossing the lane or is too close to the ego vehicle, proactive reminders can be provided by performing external vehicle interaction actions targeting these targets, thereby improving assisted driving safety.

[0036] like Figure 3b As shown, the corresponding interaction conditions are: In the traffic light intersection scenario, when the vehicle recognizes that the traffic light is Figure 3b When the traffic light turns green, a stationary vehicle ahead of the vehicle blocks the road for longer than the preset vehicle waiting time. As long as the above interaction conditions are met, indicating that the vehicle ahead is unreasonably stationary, active reminders can be provided by performing vehicle-to-vehicle interaction operations targeting the target object, thereby improving traffic efficiency.

[0037] like Figure 3cAs shown in the figure, the corresponding interaction condition is: in a congested scenario, the ego vehicle detects that the distance between it and another vehicle is less than the minimum safe distance. As long as these interaction conditions are met, it indicates that there is a risk of collision between the ego vehicle and the other vehicle. At this time, by performing the vehicle-to-vehicle interaction operation for the target object, the ego vehicle is promptly alerted to the vehicle that is too close to the ego vehicle, thereby reducing the collision risk.

[0038] like Figure 3d As shown, the corresponding interaction condition is when, for example, an electronic map and / or scene recognition results based on the vehicle's camera indicate that the vehicle is passing through an intersection or T-junction and the traffic light is broken. As long as these interaction conditions are met, indicating a high risk of collision with a vehicle traveling in the perpendicular lane, the vehicle can be alerted to avoid the collision by performing an off-vehicle interaction operation targeting the target object.

[0039] In addition, the corresponding interaction conditions may also include: the vehicle triggers the automatic emergency braking mode and the deceleration is greater than the preset deceleration threshold, or the automatic emergency steering mode is triggered. As long as any of the above interaction conditions is met, it means that the target vehicle has emergency braking or emergency steering. At this time, external interaction reminders are performed by executing off-vehicle interaction operations to avoid being rear-ended by the following vehicle or colliding with vehicles in adjacent lanes. For example: it is determined that the brightness of the current scene is greater than the preset minimum brightness threshold, there is a risk of pedestrians crossing, there are intelligent traffic facilities that need to be responded to in front, or it is perceived that an emergency vehicle needs to be given way. In short, after the system determines that there is a target object that meets any of the above interaction conditions, it can call the on-board actuator to interact with the target object to remind the target object.

[0040] Depending on the interaction requirements, the above-mentioned actuators may include the vehicle's light-emitting elements, such as daytime running lights, taillights, turn signals, special indicator lights, etc. on the vehicle body; sound-emitting elements, such as conventional speakers, and directional sound field systems based on speaker arrays, multi-band sound synthesizers, etc.; vibration elements, such as low-frequency vibrators, micro air pump arrays; communication elements, such as V2X communication units, millimeter wave interaction units, etc.; image display elements, such as projection lamps, light-emitting diode (LED) signboards, etc. The actuators can perform at least one of the following off-vehicle interactive operations for the target objects: emitting a warning light based on the light-emitting element, such as controlling the vehicle's exterior lights to produce a specific color change, flashing pattern, or brightness change; emitting a warning sound based on the sound-emitting element, such as using ultrasonic modulated audio technology to transmit a warning in a specific direction while taking into account the advantage of reducing urban noise pollution, or emitting a simulated engine sound for a more significant warning effect when driving at low speeds; emitting a warning vibration based on the vibration element, such as using a low-frequency vibrator integrated in the chassis to warn blind pedestrians, or using a micro-air pump array arranged around the vehicle and an airflow control algorithm to emit a short burst of airflow in the direction of pedestrians as a warning; sending a warning signal based on the communication element, such as establishing wireless communication with other vehicles based on dedicated short-range communication (DSRC) or cellular vehicle-to-everything (C-V2X), or sending data to surrounding vehicles or the cloud based on millimeter wave signals; and displaying an image containing the warning information based on the image display element, such as projecting the corresponding interactive information on the road surface using laser projection or DLP technology, or displaying a specific pattern on a smart surface display. Of course, each off-vehicle interactive operation can also be configured with different operation execution times according to actual needs to adapt to diverse driving environments.

[0041] Of course, it should be noted that some on-board actuators, such as global light-emitting elements and non-directional sound field systems, are limited by their physical properties and cannot achieve spatially directional interaction. In such scenarios, the system defaults to defining the effective scope of off-vehicle interaction operations as the spatial coverage area centered on the target vehicle, and automatically associates interaction objects based on the principle of spatial proximity priority. That is, when there are multiple potential interaction objects, the entity with the closest geometric distance is selected as the target object for the above off-vehicle interaction operation by default.

[0042] For the above interaction conditions, they can be determined according to the object type of the interactive object to ensure the accuracy of the interaction decision and the adaptability of the scene.

[0043] In one embodiment, the object type of the corresponding interactive object can be determined based on the object information, and the presence of a target object that meets the interaction conditions corresponding to the object type can be determined based on the vehicle driving information and the surrounding environment information. This embodiment can be specifically divided into the following two stages in order:

[0044] 1. Object type identification stage, that is, based on the above object information, the object type corresponding to each interactive object is determined through a preset classification algorithm. The object types include but are not limited to: pedestrians including children, the elderly, and cyclists; motor vehicles including trucks, buses, and motorcycles; non-motor vehicles including bicycles and electric scooters; traffic infrastructure including smart traffic lights and roadside units (RSUs); and animals including wild animals that intrude on the road. For example: when the object information contains the physical characteristics, movement trajectory, and V2X broadcast identity of the interactive object, the vehicle-to-vehicle interaction system can determine the above object type based on one or more combinations of methods such as computer vision recognition of cameras / radars, cluster analysis based on point cloud data, or V2X message parsing.

[0045] Second, in the interaction condition matching phase, the system dynamically loads the interaction condition rule base bound to the identified object type. It also combines real-time vehicle information such as vehicle speed, steering angle, and acceleration, as well as surrounding environmental information such as road curvature, weather, and lighting conditions, to calculate whether the object in the current scene triggers the corresponding interaction condition.

[0046] In addition, in the process of determining the target object that meets the interaction conditions, when it is found that there are multiple interactive objects that meet their respective corresponding interaction conditions, the above-mentioned system can use the above-mentioned multiple interactive objects as candidate objects, and calculate and determine the interaction urgency of each candidate object. Among them, the quantification process of the interaction urgency depends on the real-time acquisition of vehicle driving information, road information, object information and the specific connotation of the interaction conditions, such as avoiding collisions, politely giving way, responding to road rights, cooperating with traffic control, etc., and can comprehensively consider multi-dimensional factors such as time to collision (TTC), potential collision severity, spatial relationship closeness, traffic rule priority and safety risk level. Subsequently, the system sorts or compares the candidate objects according to their interaction urgency, and finally determines at least one candidate object with a relatively higher interaction urgency, such as the one with the highest urgency, as the target object that meets the interaction conditions. This mechanism ensures that, when resources are limited or information overload needs to be avoided, the system prioritizes the most urgent and impactful interactions that have the greatest impact on driving safety or traffic efficiency. For example, responding to an oncoming emergency vehicle over a pedestrian moving slowly in the distance, or prioritizing a braking vehicle ahead over a vehicle traveling in the same direction from the side, significantly improving the accuracy, safety, and practical utility of vehicle-to-vehicle interactions. Of course, as mentioned above, the onboard actuators here can default to supporting spatially directed vehicle-to-vehicle interactions. Otherwise, the target object can be selected using the aforementioned spatial proximity priority principle.

[0047] Furthermore, this specification also optimizes the decision logic for triggering multiple interaction requirements for a single target object.

[0048] In one embodiment, if the target object simultaneously satisfies multiple alternative interaction conditions, the system can determine the priority of each of these alternative interaction conditions and select at least one alternative interaction condition as the interaction condition based on the order of priority, from highest to lowest. Specifically, when the state or behavior of the identified target object simultaneously satisfies multiple alternative interaction conditions in a preset set of target external vehicle interaction conditions (for example, the behavior of an oncoming vehicle may trigger both a collision warning and a lane crossing warning), the system can initiate condition priority determination. Specifically, the system determines the priority of each alternative interaction condition, evaluating factors such as safety criticality, traffic law enforcement, urgency, interaction efficiency impact, and pre-set policies. The system then ranks the conditions in descending order of priority and selects at least one condition with the highest priority as the final interaction condition to be executed. For example, for an oncoming vehicle that simultaneously triggers a high-risk collision and an efficiency optimization condition, the system will prioritize the external vehicle interaction based on the high-risk collision condition. This mechanism ensures the focus and clarity of interaction intent in complex scenarios, avoids execution conflicts, and optimizes resource utilization.

[0049] In the above embodiment, the present invention provides an intelligent execution strategy for the case where the same target object meets multiple interaction conditions. Specifically, the system will select one of the following two modes based on the nature, urgency, resource usage, and preset rules of the interaction operation:

[0050] First, a sequential execution mode calls on-board actuators to execute each off-vehicle interaction action in descending order of interaction condition priority. For example, if the target object is a vehicle braking suddenly ahead, and both the high-priority "collision warning" and the medium-priority "recommend increasing following distance" interaction conditions are triggered simultaneously, the system can prioritize the high-priority collision warning action, such as rapidly flashing red warning lights or sounding a buzzer. After completing this action or confirming the risk has been mitigated, the system can then execute the recommendation to increase following distance, such as through an external display screen. This mode prioritizes the timely delivery of the most critical information, avoiding information overload or confusion, and effectively manages actuator resources, for example, preventing multiple on-board actuators from competing for communication bandwidth or physical space. It is particularly suitable for scenarios where interactions are time-dependent or require gradual user cognition and response.

[0051] Second, the onboard actuator is called to simultaneously execute multiple off-vehicle interaction operations for the aforementioned target objects. For example, when the target object is a smart intersection requesting coordinated passage, and multiple interaction conditions are triggered, such as "confirming receipt of the passage request" and "reporting the estimated time of arrival," with similar priorities and urgency, and no conflicting actuator resources, the system can simultaneously send a confirmation message through the V2X communication module and display the estimated time of arrival on the external display. This mode can improve the efficiency and richness of information transmission and is suitable for supporting parallel processing without interfering with each other, such as different actuators responsible for different information. It is particularly conducive to delivering more comprehensive collaborative information when the time window is limited.

[0052] In addition, the specific implementation of the above-mentioned vehicle-external interaction operations relies on the intelligent management of the mapping relationship between interaction conditions and vehicle-external interaction operations. This manual has designed a clear operation selection logic for this purpose.

[0053] In one embodiment, if a corresponding interaction condition is established between the aforementioned interaction condition and at least one external vehicle interaction operation, an onboard actuator can be invoked to execute the external vehicle interaction operation corresponding to the interaction condition. The system can maintain a predefined or learnable library or rule set for mapping interaction conditions to external vehicle interaction operations. When the system determines that a specific interaction condition needs to be executed, it first determines whether the interaction condition has a corresponding relationship with at least one specific external vehicle interaction operation. This relationship can be a pre-defined, precise match based on the context and conditional content. For example, the interaction condition "high risk of collision with target object" is mapped to the external vehicle interaction operation "rapidly flashing red warning light + emitting a buzzer alarm"; the interaction condition "requesting cooperative passage" is mapped to the external vehicle interaction operation "sending a confirmation message via V2X + displaying cooperative intent on the display screen." In short, if such a relationship is determined, the system can precisely invoke an onboard actuator to execute the specific external vehicle interaction operation that corresponds to the interaction condition, either one-to-one or in a related combination. This mechanism ensures that interaction intent is accurately and efficiently translated into clear, externally perceptible signals or actions, minimizing information ambiguity.

[0054] In another embodiment, when no corresponding relationship is established between the above-mentioned interaction conditions and any off-vehicle interaction operations, the on-vehicle actuator is called to perform off-vehicle interaction operations that comply with preset operation rules. In this embodiment, taking into account the infinite complexity of traffic scenarios and the potential long-tail effect, there may be certain triggered or identified interaction conditions for which no corresponding specific operations are pre-defined in the current mapping library. For example, a rare roadside equipment signal or a new type of interaction request is encountered. When no corresponding relationship is established between the above-mentioned interaction conditions and any known off-vehicle interaction operations, the system will not ignore the interaction requirement, nor will it arbitrarily perform operations that may cause misunderstandings. On the contrary, the system can call the on-vehicle actuator to perform general or safety-first off-vehicle interaction operations that comply with preset operation rules. Among them, the so-called "preset operation rules" are intended to provide a safe, conservative and relatively clear-intentioned fallback response, including: executing default safety warning operations, such as lighting up a yellow warning light in a specific pattern, emitting a medium-low tone prompt sound, and displaying "Attention interaction request" information to the driver; executing standardized inquiry / response operations, such as sending standardized "request for repeat information" or "unable to recognize intention" messages through V2X, or displaying a preset question mark icon or "interacting" text on the external display; or, based on the basic attributes of the unknown interaction condition, executing the closest known off-vehicle interaction operation and waiting.

[0055] In summary, the dual mechanism achieved by combining the two aforementioned embodiments ensures the robustness and practicality of the vehicle-to-vehicle interaction method. It not only enables accurate and efficient intent expression in conventional scenarios, but also effectively handles unknown or unforeseen interaction scenarios, consistently providing safety-compliant and relatively clear feedback. This avoids the potential risks of system silence or incorrect operations due to a lack of mapping, significantly improving the system's adaptability and reliability in open road environments.

[0056] The following combination Figure 4 and Figure 5 Another embodiment of the vehicle interaction method in this specification is described in detail. First, Figure 4 As shown, in one embodiment, the vehicle controller in the above-mentioned vehicle-external interaction system can be specifically divided into ADC, DHU and CEM; the vehicle actuators can be divided into speakers and lights. In addition, DHU can be connected to CSD, and CEM is additionally connected to the light sensor of the target vehicle. Figure 4 The above method is introduced into the system architecture of Figure 5 The following steps may be included:

[0057] Step S502: The autonomous driving domain controller determines the target object.

[0058] In one embodiment, the autonomous driving domain controller (ADC) can monitor scenarios where the ego vehicle's speed exceeds 30 km / h and the distance to the target vehicle is less than 50 meters by acquiring driving information of the target vehicle and object information of other vehicles surrounding the target vehicle from the surrounding environment. When the ego vehicle detects a continuous lane crossing for 1 second or a vehicle in the adjacent lane cuts in at a relative speed greater than 1 m / s, the ADC can generate an interaction trigger signal, such as "Need2Remind = 1," that lasts for 1 second. For example, if the ego vehicle is cruising at 80 km / h and the vehicle ahead crosses the lane for 1.2 seconds and is 45 meters away, the ADC may output a "Need2Remind = 1" signal.

[0059] Step S504: The driving information host receives the user policy configuration.

[0060] In one embodiment, the driving information host (DHU) can provide an interactive mode selection interface via the in-vehicle entertainment display (CSD), converting user touch operations into control signals. These modes can include: off (Ext_action = off), smart mode (Ext_action = intell), audible reminder (Ext_action = horns), or light reminder (Ext_action = beam). Assuming the driver clicks the "smart mode" option on the CSD, the DHU will output an Ext_action = intell signal. Those skilled in the art will appreciate that there is no specific order in which steps S502 and S504 are executed.

[0061] In step S506 , the central electronic module processes the signal and determines the interaction mode.

[0062] In one embodiment, upon receiving a Need2Remind = 1 signal for one second, the Central Electronic Module (CEM) can make a decision based on the Ext_action value sent by the DHU. If in intelligent mode (intell), the CEM uses the light sensor data and implements the following strategy: activating the horn command (horns = 1) when there is sufficient light and activating the lights command (Beam_SW = 1) when there is insufficient light. If in forced mode (horns / beam), the CEM directly outputs the corresponding execution command, with all commands having a fixed duration of 0.5 seconds. For example, if Ext_action = intell and the light sensor detects daylight (>10,000 lux), the CEM outputs horns = 1 for 0.5 seconds.

[0063] Step S508 : The vehicle-mounted actuator implements the off-vehicle interactive operation.

[0064] In one embodiment, the speaker unit responds to a horns = 1 signal with a 0.5-second beep, and the headlight system responds to a Beam_SW = 1 signal with a 0.5-second strobe. The actuator actions strictly match the duration and pattern of the control command. For example, the speaker responds to a horns = 1 command with a short beep, and the headlight responds to a Beam_SW = 1 command with three high-frequency flashes.

[0065] Step S510: The driving information host synchronizes the interactive status.

[0066] In one embodiment, the driver information unit (DHU) can capture interactive behaviors in real time, display text prompts through the CSD, and record operation logs to ensure that the driver is aware of the system status. Specifically, when the horn is activated, the CSD can display a pop-up message to the driver of the target vehicle stating "Unsafe behavior detected by surrounding vehicles, active reminder in progress."

[0067] Figure 6 This is a schematic structural diagram of a device provided by an exemplary embodiment. Figure 6 At the hardware level, the device includes a processor 602, an internal bus 604, a network interface 606, a memory 608, and a non-volatile memory 610. Of course, it may also include hardware required for other functions. One or more embodiments of this specification can be implemented based on software, such as the processor 602 reading the corresponding computer program from the non-volatile memory 610 into the memory 608 and then running it. Of course, in addition to software implementation, one or more embodiments of this specification do not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0068] Please refer to Figure 7 , the vehicle-exterior interaction device can be applied to Figure 6 The device shown in the figure is used to implement the technical solution of this specification. The vehicle-external interaction device may include:

[0069] The information acquisition unit 702 is used to acquire vehicle driving information and surrounding environment information of the target vehicle, wherein the surrounding environment information includes road information for characterizing the traffic conditions of the road where the target vehicle is located and object information for characterizing interactive objects around the target vehicle.

[0070] The interactive operation execution unit 704 is used to call the vehicle actuator to execute the off-vehicle interactive operation for the target object when it is determined that there is a target object that meets the interaction conditions among the interactive objects based on the vehicle driving information and the surrounding environment information.

[0071] Optionally, the information acquisition unit 704 is specifically configured to:

[0072] In the case where multiple candidate objects among the interactive objects respectively meet corresponding interaction conditions, determining the interaction urgency of each candidate object;

[0073] At least one candidate object with a relatively higher interaction urgency is determined as a target object that meets the interaction condition.

[0074] Optionally, the information acquisition unit 704 is specifically configured to:

[0075] In the case that the target object satisfies multiple candidate interaction conditions simultaneously, the priority of each candidate interaction condition in the multiple candidate interaction conditions is determined, and at least one candidate interaction condition is selected as the interaction condition according to the priorities from high to low.

[0076] Optionally, there are multiple interaction conditions; the information acquisition unit 704 is specifically configured to:

[0077] Call the vehicle actuators in descending order of priority to perform the vehicle-external interaction operation on the target object; or

[0078] The vehicle-mounted actuator is called to simultaneously execute an off-vehicle interactive operation for the target object.

[0079] Optionally, the information acquisition unit 704 is specifically configured to:

[0080] In a case where a correspondence is established between the interaction condition and at least one off-vehicle interaction operation, calling an on-vehicle actuator to execute the off-vehicle interaction operation corresponding to the interaction condition;

[0081] In the case that no corresponding relationship is established between the interaction condition and any off-vehicle interaction operation, the on-vehicle actuator is called to perform the off-vehicle interaction operation that complies with the preset operation rules.

[0082] Optionally, the information acquisition unit 704 is specifically configured to:

[0083] Determining the object type of the corresponding interactive object according to the object information;

[0084] It is determined based on the vehicle driving information and the surrounding environment information whether there is a target object among the interactive objects that meets the interaction condition corresponding to the object type.

[0085] Optionally, the device further includes:

[0086] The phantom object adding unit is configured to add a phantom interactive object corresponding to a high-risk road section to the object information when the road information indicates that the target vehicle has entered or is in a high-risk road section.

[0087] Optionally, the off-vehicle interaction operation includes at least any of the following:

[0088] Emitting a warning light based on a light-emitting element;

[0089] Prompt sound based on the sound-emitting element;

[0090] Sending a prompt vibration based on a vibration element;

[0091] sending a prompt signal based on the communication element;

[0092] Displays an image containing prompt information based on the image display component.

[0093] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0094] 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 displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this specification. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0095] Based on the same concept as the above method, this specification also provides a vehicle, including: a processor and a memory for storing processor executable instructions; wherein, the processor implements the steps of the method described in any of the above embodiments by running the executable instructions.

[0096] Based on the same concept as the above method, this specification also provides a computer-readable storage medium on which computer instructions are stored. When the instructions are executed by a processor, the steps of the method described in any of the above embodiments are implemented.

[0097] Based on the same concept as the above method, this specification also provides a computer program product, including a computer program / instruction, which implements the steps of the method described in any of the above embodiments when executed by a processor.

[0098] Embodiments of the subject matter and functional operations described in this specification may be implemented in the following: digital electronic circuits, tangibly embodied computer software or firmware, computer hardware including the structures disclosed in this specification and their structural equivalents, or a combination of one or more of them. Embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible, non-transitory program carrier to be executed by a data processing device or to control the operation of the data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information and transmit it to a suitable receiver device for execution by the data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

[0099] The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform the corresponding functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can be implemented as, special purpose logic circuitry, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit).

[0100] Computers suitable for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit will receive instructions and data from a read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operably coupled to such large-capacity storage devices to receive data from them or to transmit data to them, or both. However, a computer does not necessarily have such a device. In addition, a computer can be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a GPS receiver, or a portable storage device such as a universal serial bus (USB) flash drive, to name a few.

[0101] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and storage devices, including, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks. The processor and memory can be supplemented by, or incorporated in, special purpose logic circuitry.

[0102] Although this specification includes many specific implementation details, these should not be interpreted as limiting the scope of any invention or the scope of protection claimed, but are mainly used to describe the features of specific embodiments of specific inventions. Certain features described in multiple embodiments within this specification may also be implemented in combination in a single embodiment. On the other hand, the various features described in a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although features may work in certain combinations as described above and even initially claimed as such, one or more features from the claimed combination may be removed from the combination in some cases, and the claimed combination may point to a sub-combination or a variation of the sub-combination.

[0103] Similarly, although operations are depicted in a particular order in the accompanying drawings, this should not be understood as requiring that these operations be performed in the particular order shown or performed sequentially, or that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system modules and components in the above-described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product, or packaged into multiple software products.

[0104] Thus, specific embodiments of the subject matter have been described. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the particular order shown or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing may be advantageous.

[0105] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. A vehicle-external interaction method, characterized in that: The method comprises: Acquire vehicle driving information and surrounding environment information of a target vehicle, wherein the surrounding environment information includes road information for representing a traffic condition of a road on which the target vehicle is located and object information for representing interactive objects around the target vehicle; When it is determined according to the vehicle driving information and the surrounding environment information that there is a target object that meets the interaction conditions among the interactive objects, an on-vehicle actuator is called to perform an off-vehicle interaction operation on the target object.

2. The method according to claim 1, characterized in that The determining whether there is a target object that meets the interaction condition among the interactable objects includes: In the case where multiple candidate objects among the interactive objects respectively meet corresponding interaction conditions, determining the interaction urgency of each candidate object; At least one candidate object with a relatively higher interaction urgency is determined as a target object that meets the interaction condition.

3. The method according to claim 1, characterized in that The determining whether there is a target object that meets the interaction condition among the interactable objects includes: In the case that the target object satisfies multiple candidate interaction conditions simultaneously, the priority of each candidate interaction condition in the multiple candidate interaction conditions is determined, and at least one candidate interaction condition is selected as the interaction condition according to the priorities from high to low.

4. The method according to claim 3, characterized in that There are multiple interaction conditions; calling the vehicle-mounted actuator to perform the off-vehicle interaction operation for the target object includes: The on-board actuators are called in sequence from high to low priority to execute the off-vehicle interactive operations for the target object; or, the on-board actuators are called to execute the off-vehicle interactive operations for the target object at the same time.

5. The method according to claim 1, wherein The calling of the vehicle-mounted actuator to perform the off-vehicle interactive operation on the target object includes: In a case where a correspondence is established between the interaction condition and at least one off-vehicle interaction operation, calling an on-vehicle actuator to execute the off-vehicle interaction operation corresponding to the interaction condition; In the case that no corresponding relationship is established between the interaction condition and any off-vehicle interaction operation, the on-vehicle actuator is called to perform the off-vehicle interaction operation that complies with the preset operation rules.

6. The method according to claim 1, characterized in that The determining, based on the vehicle driving information and the surrounding environment information, that there is a target object that meets the interaction condition among the interactable objects includes: Determining the object type of the corresponding interactive object according to the object information; It is determined based on the vehicle driving information and the surrounding environment information whether there is a target object among the interactive objects that meets the interaction condition corresponding to the object type.

7. The method according to claim 1, characterized in that The method further comprises: In a case where the road information indicates that the target vehicle has entered or is in a high-risk road section, a phantom interactive object corresponding to the high-risk road section is added to the object information.

8. The method according to any one of claims 1 to 7, characterized in that The off-vehicle interaction operation includes at least any of the following: Emitting a warning light based on a light-emitting element; Prompt sound based on the sound-emitting element; Sending a prompt vibration based on a vibration element; sending a prompt signal based on the communication element; Displays an image containing prompt information based on the image display component.

9. A vehicle interaction device, characterized in that: The device includes: An information acquisition unit, configured to acquire vehicle driving information and surrounding environment information of a target vehicle, wherein the surrounding environment information includes road information for representing a traffic condition of a road on which the target vehicle is located and object information for representing interactive objects around the target vehicle; The information acquisition unit is used to call the vehicle actuator to perform an off-vehicle interactive operation on the target object when it is determined that there is a target object that meets the interaction conditions among the interactive objects based on the vehicle driving information and the surrounding environment information.

10. A vehicle, characterized in that: include: processor; A memory for storing processor-executable instructions and an on-vehicle actuator; wherein the processor implements the steps of the method according to any one of claims 1 to 8 by running the executable instructions.

11. A computer-readable storage medium, characterized in that Computer instructions are stored thereon, and when the instructions are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, characterized in that The method comprises a computer program / instruction, which implements the steps of the method according to any one of claims 1 to 8 when the computer program / instruction is executed by a processor.

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