Driving intention prompting method and device of vehicle, electronic equipment and storage medium

Abstract

A driving intention prompting method and device of a vehicle, an electronic device and a storage medium are disclosed, and relate to the technical field of automatic driving. The method comprises: acquiring environmental information around the vehicle and driving information of the vehicle; determining a driving intention of the vehicle according to the environmental information and the driving information; determining an information sharing strategy of the vehicle according to the driving intention, and generating prompting information according to the information sharing strategy; the information sharing strategy comprises at least one of image display or audio playing; and the prompting information is provided to traffic participants around the vehicle through at least one playing device arranged outside the vehicle. The application can ensure that the traffic participants outside the vehicle can understand the driving intention of the vehicle, so as to adjust their own behaviors according to the understood driving intention, and ensure the driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, and more specifically, to a method, device, electronic device, and storage medium for indicating driving intentions of a vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, the driving decision-making power is gradually shifting from the driver to the autonomous driving system, meaning more and more people will use autonomous driving functions to control their vehicles. However, currently, external signals from a car still require the driver to interpret them during driving; it's impossible to know the driving intentions or the car's internal state from external signals alone. Therefore, how to display the vehicle's driving intentions to the outside of the vehicle has become a pressing problem to be solved. Summary of the Invention

[0003] In view of this, embodiments of this application propose a method, device, electronic device, and storage medium for indicating driving intentions of a vehicle, in order to improve the above-mentioned problems.

[0004] According to a first aspect of the embodiments of this application, a method for prompting driving intention of a vehicle is provided. The method includes: acquiring environmental information surrounding the vehicle and driving information of the vehicle; determining the driving intention of the vehicle based on the environmental information and the driving information; determining an information sharing strategy of the vehicle based on the driving intention, and generating prompt information based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback; and providing the prompt information to traffic participants around the vehicle through at least one playback device disposed outside the vehicle.

[0005] In some embodiments, determining the information sharing strategy of the vehicle based on the driving intention includes: if it is determined that there are multiple driving intentions and there is a conflict among the multiple driving intentions, then obtaining a preset priority rule; the preset priority rule is used to indicate the priority order among different driving intentions; selecting the target driving intention with the highest priority from the multiple driving intentions according to the preset priority rule, and generating the information sharing strategy of the vehicle based on the target driving intention.

[0006] In some embodiments, determining that multiple driving intentions exist and that there is a conflict among the multiple driving intentions includes: obtaining the spatial weight, temporal weight, logical weight, and resource weight of each of the multiple driving intentions; adjusting the spatial weight, temporal weight, logical weight, and resource weight according to the environmental information to obtain the target spatial weight, target temporal weight, target logical weight, and target resource weight of each of the multiple driving intentions; determining the comprehensive conflict score of the multiple driving intentions based on the target spatial weight, target temporal weight, target logical weight, and target resource weight of each of the multiple driving intentions; and determining that there is a conflict among the multiple driving intentions if the comprehensive conflict score is greater than a score threshold.

[0007] In some embodiments, determining the vehicle's information sharing strategy based on the driving intention and generating prompt information based on the information sharing strategy includes: determining the intention statement of the driving intention; obtaining an expression mapping table and determining the target information sharing strategy corresponding to the intention statement in the expression mapping table, wherein the expression mapping table includes the correspondence between different intention statements and different visual expressions; determining the prompt information based on the target information sharing strategy, wherein the prompt information includes a playback control instruction to cause the playback device to execute the playback control instruction.

[0008] In some embodiments, before determining the vehicle's driving intention based on the environmental information and the driving information, the method further includes: if it is determined that the vehicle is in an emergency state based on the environmental information and the driving information, generating a first information sharing strategy and alarm information; and sending the alarm information to the vehicle's global status interaction device according to the first information sharing strategy, so that the global status interaction device can issue an alarm to traffic participants around the vehicle based on the alarm information, wherein the global status interaction device is located outside the vehicle's roof.

[0009] In some embodiments, the playback device further includes a forward interaction device, a side interaction device, and a rearward interaction device, wherein the forward interaction device is used to alert pedestrians or oncoming vehicles in front of the vehicle, the side interaction device is used to alert vehicles to the side of the vehicle, and the rearward interaction device is used to alert vehicles to the rear of the vehicle.

[0010] In some embodiments, determining the vehicle's information sharing strategy based on the driving intention and generating prompt information based on the information sharing strategy includes: if the driving intention is a dynamic driving intention of multiple consecutive stages, determining multiple stage intention sequences; determining a stage information sharing strategy for each stage intention in the multiple stage intention sequences; determining multiple serialized prompt information and a target playback device of the stage information sharing strategy according to the time sequence of the multiple stage intention sequences based on the stage information sharing strategy; and sequentially sending the multiple serialized prompt information to the target playback device according to the time sequence.

[0011] According to a second aspect of the embodiments of this application, a vehicle driving intention prompting device is provided. The device includes: an acquisition module for acquiring environmental information surrounding the vehicle and driving information of the vehicle; a driving intention determination module for determining the driving intention of the vehicle based on the environmental information and the driving information; a prompting information generation module for determining an information sharing strategy of the vehicle based on the driving intention and generating prompting information based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback; and a prompting module for providing the prompting information to traffic participants around the vehicle through at least one playback device disposed outside the vehicle.

[0012] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising: a processor; and a memory storing computer-readable instructions, wherein when the computer-readable instructions are executed by the processor, the driving intention prompting method for a vehicle as described above is implemented.

[0013] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which computer-readable instructions are stored, which, when executed by a processor, implement the driving intention prompting method for a vehicle as described above.

[0014] In the solution of this application, the driving intention of the vehicle is determined by obtaining environmental information around the vehicle and driving information of the vehicle. Based on the driving intention, an information sharing strategy is determined, and prompt information is generated according to the information sharing strategy. Finally, the prompt information is provided to traffic participants located outside the vehicle through at least one playback device set outside the vehicle, so as to ensure that traffic participants located outside the vehicle can understand the driving intention of the vehicle and adjust their own behavior according to the understood driving intention, thereby ensuring the driving safety of the vehicle.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the embodiments of this application. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] Figure 1 This is a schematic diagram of a vehicle driving intention prompting system according to an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating a method for indicating a vehicle's driving intention according to an embodiment of this application.

[0019] Figure 3 This is a flowchart illustrating a method for indicating a vehicle's driving intention according to another embodiment of this application.

[0020] Figure 4 This is a flowchart illustrating the specific steps of step 340 according to an embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating a method for indicating a vehicle's driving intention according to another embodiment of this application.

[0022] Figure 6 This is a schematic flowchart illustrating a method for prompting driving intentions of a vehicle according to another embodiment of this application.

[0023] Figure 7 This is a schematic flowchart illustrating a method for prompting driving intentions of a vehicle according to another embodiment of this application.

[0024] Figure 8 This is a visual mapping decision flowchart of driving intention shown according to an embodiment of this application.

[0025] Figure 9 This is a flowchart illustrating a method for prompting driving intentions of a vehicle according to an embodiment of this application.

[0026] Figure 10 This is a block diagram of a vehicle driving intention prompting device according to an embodiment of this application.

[0027] Figure 11 This is a hardware structure diagram of an electronic device according to an embodiment of this application.

[0028] The accompanying drawings have illustrated specific embodiments of the present application. More detailed descriptions will follow. These drawings and descriptions are not intended to limit the scope of the present application's embodiments in any way, but rather to illustrate the concepts of the present application's embodiments to those skilled in the art through specific embodiments. Detailed Implementation

[0029] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0030] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0031] Please see Figure 1 , Figure 1 This application illustrates a driving intention prompt for a vehicle provided in one embodiment, such as... Figure 1 As shown below, the method for implementing the vehicle's driving intention prompting system will be illustrated by example.

[0032] In one optional implementation, the vehicle's driving intention prompting system includes a data processing core unit 110, a data input interface 120, a perception module 130, a decision-making and planning module 140, a vehicle control module 150, a system monitoring module 160, and a multimodal external playback module 170. The data processing core unit 110, decision-making and planning module 140, vehicle control module 150, and system monitoring module 160 refer to software units or modules, while the data input interface 120, perception module 130, and multimodal external playback module 170 refer to hardware devices.

[0033] For example, the data processing core unit 110 adopts a high-performance domain controller or system-on-a-chip (SoC) that meets automotive-grade standards, and integrates a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and an AI (Artificial Intelligence) acceleration unit to run core algorithms such as intent encoding and mapping arbitration.

[0034] The data input interface 120 connects in real time to the following modules of the autonomous driving system via an in-vehicle Ethernet or high-speed CAN FD bus: the perception module 130 is used to acquire information such as the target list (location, speed, and type of vehicles, pedestrians, non-motorized vehicles, etc.), drivable areas, and traffic light status; the decision-making and planning module 140 is used to acquire the planned trajectory path, speed curve, vehicle actions to be executed (such as changing lanes to the left, decelerating and stopping, and passing through intersections) and their time windows; the vehicle control module 150 is used to acquire the current actuator status such as steering angle, braking pressure, and throttle opening; and the system monitoring module 160 is used to acquire the operating status of the autonomous driving system, which may include the autonomous driving activation status (including on or off), compliance with the design operating domain, system fault level, and manual takeover requests.

[0035] The multimodal external playback module 170 may include a forward interaction area, a side interaction area, a rear interaction area, and a global status area. The forward interaction area includes a high-resolution pixel light group located on the front bumper or grille, and a short-throw projection device installed inside the windshield, for transmitting information to pedestrians and oncoming vehicles. The side interaction area includes a dynamic indicator light strip integrated into the housing of the electronic exterior rearview mirror, and a linear display screen embedded in the side skirt of the vehicle body, for transmitting lane change, blind spot, and other intentions to vehicles on the side. The rear interaction area includes a fully pixelated through-type taillight and a projection device on the rear windshield, for transmitting following, braking, system status, and other information to vehicles behind. The global status area is a panoramic status light strip located on the roof, which uses colors (such as green / blue / yellow / red) to globally indicate the core status of the autonomous driving system.

[0036] Figure 1 The vehicle's driving intention prompting system can be used to achieve the following Figure 2 For the described method of indicating driving intent for the vehicle, please refer to [link / reference]. Figure 2 , Figure 2 This application illustrates a method for indicating a vehicle's driving intention according to an embodiment of the present application. In a specific embodiment, this method can be applied to, for example... Figure 10 The vehicle shown includes a driving intention prompting device 700 and an electronic device 800 equipped with the driving intention prompting device 700. Figure 11 The specific process of this embodiment will be described below. Of course, it is understood that this method can be executed by an electronic device with computing power, such as a vehicle-mounted server, a cloud server, or other processors. The following will focus on... Figure 2 The process shown is described in detail. The method for prompting the driving intention of the vehicle may specifically include the following steps 210-240.

[0037] Step 210: Obtain environmental information around the vehicle and driving information of the vehicle.

[0038] As an alternative approach, during vehicle operation using an autonomous driving system or autonomous driving function, to ensure driving safety, it is necessary to make decisions based on real-time environmental information and vehicle driving information to determine the vehicle's driving intention for the next moment. To ensure timely notification to others outside the vehicle regarding the vehicle's driving intention, environmental and driving information can be acquired beforehand, and the driving decision for the next moment can be determined and displayed accordingly.

[0039] In some optional embodiments, environmental information surrounding the vehicle can be acquired using various types of sensors installed on the vehicle. This environmental information may include traffic light information, lane information, traffic participant information, and drivable areas. For example, LiDAR sensors, image acquisition sensors, and other sensors installed on the vehicle can be used to acquire environmental information surrounding the vehicle.

[0040] Optionally, vehicle driving information can be obtained through the vehicle's autonomous driving system or through the vehicle's domain controller. This driving information may include the vehicle's planned trajectory, speed curve, upcoming vehicle actions (such as changing lanes to the left, slowing down and stopping, or passing through an intersection) and their time windows, as well as other information related to vehicle movement.

[0041] Step 220: Determine the vehicle's driving intention based on the environmental information and the driving information.

[0042] As an alternative approach, when a vehicle is operating in autonomous driving mode or using assisted driving, it can be controlled directly through the domain controller in the autonomous driving system based on real-time information. However, this system cannot inform the driver or other road users outside the vehicle of their driving intentions. This means that the driver and other road users cannot be informed of the vehicle's next move in a timely manner, leading to a conflict between their driving intentions and the vehicle's own, potentially causing an accident. Therefore, it is possible to determine the vehicle's driving intentions based on environmental and driving information beforehand. This allows for advance notification to other road users outside the vehicle, enabling proactive intervention and ensuring the safety of both the vehicle and other road users.

[0043] Optionally, in order to accurately determine the vehicle's driving intention, environmental information and driving information can be fused and correlated to obtain high-dimensional information. Then, the high-dimensional information can be transformed based on a pre-defined syntax to obtain the vehicle's driving intention.

[0044] Optionally, after obtaining environmental and driving information, the information can be analyzed to determine the vehicle's driving decisions within a short period and the real-time information of traffic participants surrounding the vehicle. By correlating these driving decisions and real-time information, higher-dimensional information can be obtained. For example, analyzing environmental and driving information yields real-time information about traffic participants: a perceived rapidly approaching vehicle on the left, and the vehicle's driving decisions within a short period: a lane change to the left after 5 seconds. Correlation analysis is then performed.

[0045] Optionally, the preset syntax can be to convert the vehicle's driving decisions within a short period of time and the real-time information of traffic participants around the vehicle according to the executing subject, action, object, and time delay, and then decompose and analyze the converted information to obtain the vehicle's driving intention. For example, knowing that there is a rapidly approaching vehicle on the left and planning to change lanes to the left in 5 seconds, the subject is the vehicle itself and the vehicle on the left side of the vehicle, the actions are moving forward and changing lanes to the left respectively, and the time delay is 5 seconds. Then, after decomposition and analysis, the vehicle's driving intention is to accelerate and change lanes to the left.

[0046] Step 230: Determine the information sharing strategy of the vehicle based on the driving intention, and generate prompt information based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback.

[0047] As an alternative approach, to ensure the accuracy of the determined information sharing strategy, a mapping table of different information sharing strategies under different actions in different scenarios can be pre-set. Then, based on the vehicle's actions and scenarios in the driving intention, the vehicle's information sharing strategy can be determined according to the mapping table. This information sharing strategy can then be displayed or played to inform traffic participants outside the vehicle of the vehicle's driving intention.

[0048] In some optional embodiments, since the information sharing strategy includes at least one form of image display or audio playback, different interactive devices are included in different information sharing strategies. Therefore, after determining the information sharing strategy, control instructions for the interactive devices can be generated according to the interactive devices corresponding to the information sharing strategy, and corresponding prompt information can be generated based on the control instructions. For example, if the information sharing strategy is determined to be an interactive device using vehicle lights and a text display, then a first prompt information about the vehicle light color and the vehicle light change, and a second prompt information about the text display interactive device displaying text, can be generated.

[0049] Optionally, to ensure the accuracy of the determined information sharing strategy, an intent-expression mapping strategy library can be pre-set. This library can include factors such as different scene types, ambient lighting, information recipients, and security priorities. Therefore, the corresponding information sharing strategy can be determined through this mapping strategy library and the vehicle's driving intent, thereby enabling the generation of prompt information based on the information sharing strategy.

[0050] Step 240: Provide the prompt information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

[0051] As an alternative approach, after generating the prompt information, in order to inform traffic participants outside the vehicle of the vehicle's driving intention, the prompt information can be sent to at least one playback device outside the vehicle. The prompt information can then be displayed as an image or played as audio by the playback device located outside the vehicle, thereby providing the corresponding prompt information to traffic participants around the vehicle.

[0052] In some alternative embodiments, the notification information may include information that pedestrians in front of the vehicle have stopped and can proceed with confidence, information that road users behind the vehicle are braking to yield to pedestrians, or information that road users to the side and rear of the vehicle are about to change lanes or turn.

[0053] Optionally, the playback device may include a light display device, an image display device, an audio speaker, and a projection device. The type of playback device can be set according to actual needs, and no specific limitation is made here.

[0054] In the embodiments of this application, the driving intention of the vehicle is determined by the environmental information around the vehicle and the vehicle's driving information. Based on the driving intention, an information sharing strategy is determined, and prompt information is generated according to the information sharing strategy. Finally, the prompt information is provided to traffic participants located outside the vehicle through at least one playback device located outside the vehicle. This ensures that traffic participants located outside the vehicle can understand the driving intention of the vehicle and adjust their own behavior according to the understood driving intention, thereby ensuring the driving safety of the vehicle.

[0055] Please see Figure 3 , Figure 3 This application illustrates a method for indicating a vehicle's driving intention according to an embodiment of this application. The following will focus on... Figure 3 The process shown is described in detail. The method for prompting the driving intention of the vehicle may specifically include the following steps 310-360.

[0056] Step 310: Obtain environmental information around the vehicle and driving information of the vehicle.

[0057] Step 320: Determine the vehicle's driving intention based on the environmental information and the driving information.

[0058] Step 330: Determine the information sharing strategy of the vehicle based on the driving intention.

[0059] Step 340: If it is determined that there are multiple driving intentions and there is a conflict among the multiple driving intentions, then a preset priority rule is obtained; the preset priority rule is used to indicate the priority order among different driving intentions.

[0060] As an alternative approach, since a vehicle determines its driving intention based on real-time environmental information and real-time vehicle status information during driving, there may be multiple driving intentions. However, these multiple driving intentions may conflict. To avoid conflicting driving intentions being executed simultaneously, which could lead to a vehicle safety accident, the priority of each new schematic diagram can be determined among the multiple conflicting driving intentions. This priority can be used to filter multiple driving intentions, thereby ensuring that the vehicle will only execute one driving intention.

[0061] Optionally, priority rules corresponding to different driving intentions can be preset, so as to determine the priority of multiple driving intentions of the vehicle in real time through these rules, thereby accurately filtering out the target driving intention from multiple driving intentions.

[0062] Optionally, during vehicle operation, different types of control parameters are used to indicate different driving intentions of the vehicle. In order to obtain the priority of different driving intentions, the corresponding priority can be set based on the degree of safety impact of different types of control parameters on vehicle operation. Thus, after determining multiple driving intentions of the vehicle, the priority of the corresponding driving intention can be determined based on the priority of the corresponding control parameters.

[0063] Optionally, the preset priority rules may include different control parameters and the relationship between them and their corresponding priorities. For example, for driving intention A, there may be three parameters: a, b, and c. Each of a, b, and c corresponds to a priority level of I, II, and III, which can be used to determine the priority of driving intention A as x. (I+II+III), where x is the priority coefficient.

[0064] In some embodiments, such as Figure 4 As shown, step 340 includes steps 341-344.

[0065] Step 341: Obtain the spatial weight, temporal weight, logical weight, and resource weight of each of the multiple driving intentions.

[0066] As an alternative approach, spatial weights, temporal weights, logical weights, and resource weights can be pre-set for different driving intentions of the vehicle. By using spatial weights, temporal weights, logical weights, and resource weights, it is possible to accurately determine whether multiple driving intentions conflict, and thus determine whether multiple driving intentions need to be filtered.

[0067] Optionally, in order to accurately determine whether there is a conflict between multiple driving intentions, a correspondence between the initial weights of each driving intention during the vehicle's driving process can be set in advance, namely, initial spatial weight, initial temporal weight, initial logical weight, and initial resource weight. After multiple driving intentions are determined, the spatial weight, temporal weight, logical weight, and resource weight of the multiple driving intentions can be determined based on this correspondence.

[0068] Step 342: Adjust the spatial weight, temporal weight, logical weight, and resource weight according to the environmental information to obtain the target spatial weight, target temporal weight, target logical weight, and target resource weight for each driving intention among multiple driving intentions.

[0069] As an alternative approach, since the weights of different driving intentions vary in different environmental scenarios, the initial weight of each driving intention can be adjusted using real-time environmental information of the vehicle's environment. This ensures that the actual weight of each driving intention is relevant to the actual scenario, thereby guaranteeing the vehicle's driving safety.

[0070] In some optional embodiments, in order to ensure that each driving intention can be accurately corrected, different weight adjustment values ​​corresponding to environmental information can be preset. This allows the weight adjustment value corresponding to each dimension to be determined based on the environmental information. Then, the spatial weight, temporal weight, logical weight, and resource weight are adjusted according to the weight adjustment to obtain the target spatial weight, target temporal weight, target logical weight, and target resource weight for each driving intention among multiple driving intentions.

[0071] Step 343: Determine the comprehensive conflict score of the multiple driving intentions based on the target space weight, target time weight, target logic weight, and target resource weight of each driving intention.

[0072] As an alternative approach, given the target space weight, target time weight, target logic weight, and target resource weight of each of the multiple driving intentions, the comprehensive conflict score of the multiple driving intentions can be calculated by weighted summing of the weights of all dimensions of the multiple driving intentions.

[0073] In some alternative embodiments, a comprehensive conflict score for each driving intention can be obtained by weighted summation of all weights for each driving intention, and then the existence of a conflict between multiple driving intentions can be determined based on the comprehensive conflict score of each driving intention.

[0074] Alternatively, the overall conflict score for any combination of driving intentions can be obtained by weighted summation of all weights for any combination of driving intentions.

[0075] Step 344: If the overall conflict score is determined to be greater than the score threshold, then a conflict is determined to exist between the multiple driving intentions.

[0076] As an alternative approach, the overall conflict score for each driving intention can be compared with a score threshold to determine whether a conflict exists between different driving intentions. Optionally, when the overall conflict score is determined to be greater than the score threshold, a conflict can be determined to exist between multiple driving intentions.

[0077] Optionally, if the overall conflict score indicates the conflict score between any combination of driving intentions among multiple driving intentions, the target combination with the largest overall conflict score can be determined among any combination of driving intentions among multiple driving intentions, thereby finding the driving intention pair with the most serious conflict; then, based on the degree of conflict of the driving intention pair, it is determined whether the driving intention pair should coexist, arbitrate, or suppress, thereby ensuring the driving safety of the vehicle.

[0078] Please continue reading Figure 3 Step 350: Select the target driving intention with the highest priority from the multiple driving intentions according to the preset priority rules, and generate the information sharing strategy of the vehicle based on the target driving intention.

[0079] As an optional approach, to ensure vehicle driving safety, the corresponding preset priority rule can be based on vehicle driving safety as the standard. For example, the preset priority rule could be that ensuring vehicle driving safety has a higher priority than ensuring the vehicle system state, which in turn has a higher priority than the control intention. This allows the selection of the target driving intention with the highest priority among multiple driving intentions, thus choosing the target driving intention that ensures vehicle driving safety. For instance, between the intention to operate in response to a system malfunction and the intention to change lanes, the intention to operate in response to the system malfunction is prioritized as the target driving intention, thereby preventing safety accidents caused by continuing to drive after a vehicle malfunction.

[0080] Step 360: Provide the prompt information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

[0081] The specific steps of steps 310-330 and 350 can be found in steps 210 and 240, and will not be repeated here.

[0082] In this embodiment, when multiple driving intentions are determined and there are conflicts, in order to ensure the driving safety of the vehicle, the target driving intention with the highest priority is selected from the multiple driving intentions according to the preset priority. This allows the generation of a corresponding information sharing strategy based on the target driving intention. This allows the notification of traffic participants located outside the vehicle based on the determined information sharing strategy, thereby further ensuring the driving safety of the vehicle.

[0083] Please see Figure 5 , Figure 5 This application illustrates a method for indicating a vehicle's driving intention according to an embodiment of this application. The following will focus on... Figure 5 The process shown is described in detail. The method for prompting the driving intention of the vehicle may specifically include the following steps 410-460.

[0084] Step 410: Obtain environmental information around the vehicle and driving information of the vehicle.

[0085] Step 420: Determine the vehicle's driving intention based on the environmental information and the driving information.

[0086] Step 430: Determine the intent statement of the driving intention.

[0087] As an alternative approach, to accurately determine the information sharing strategy corresponding to the driving intention, the driving intention needs to be converted into an understandable intention statement. This intention statement may include the scenario, vehicle actions, the affected object, and the duration of the action. For example, if a vehicle's driving intention is to slow down at a zebra crossing, its intention statement would be "Slow down and yield to pedestrians in a city daytime scenario." The corresponding scenario is city daytime driving, the vehicle action is to slow down and yield, the affected object is pedestrians, and the duration of the action is 10 seconds.

[0088] Optionally, the driving intention is a command used by the vehicle's automated driving system to control the vehicle's movement. However, this command cannot be directly played through the vehicle's playback device, thus preventing road users outside the vehicle from promptly understanding the vehicle's driving intention. Therefore, it is necessary to convert the driving intention into an intention statement that the playback device can understand.

[0089] Step 440: Obtain the expression mapping table and determine the target information sharing strategy corresponding to the intent statement in the expression mapping table, wherein the expression mapping table includes the correspondence between different intent statements and different visual expressions.

[0090] As an alternative approach, after determining the intent statement, in order to control the vehicle's playback device to play or display the intent statement, it is necessary to determine the target information sharing strategy corresponding to the intent statement. In this way, the vehicle's playback device can be controlled to display or play the corresponding intent statement through the target information sharing strategy.

[0091] In some optional embodiments, since the playback device may include various different types of image display devices, light display devices, or voice playback devices located at different positions in the vehicle, in order to enable these playback devices to execute their unique playback states for different intention statements, an expression mapping table can be obtained first. By determining the target information sharing strategy corresponding to the intention statement in the expression mapping table, prompts can be given to traffic participants located outside the vehicle based on the target information sharing strategy.

[0092] Optionally, the expression mapping table may include various different expression methods or forms, thereby enabling the generation of corresponding target information sharing strategies based on the expression method and / or form corresponding to the intent statement. For example, for the intent statement of yielding to pedestrians, the corresponding target information sharing strategy may include displaying a red light on the vehicle's taillights, displaying the text or image of "Yield to Pedestrians" on the display device located on the vehicle, and displaying the words "Please proceed" on the display device located in front of the vehicle.

[0093] Optionally, a large "intent-expression" mapping strategy library is built into the expression mapping table. This library matches the optimal information sharing strategy for each intent statement based on factors such as safety priority, scene type (highway / city), ambient lighting, and receiving object (vehicle / person). For example, the intent "slow down and yield to pedestrians" in a daytime urban scene can be mapped to an information sharing strategy of displaying a pedestrian icon on the front pixel lights and projecting a green light strip on the ground in front of the pedestrian.

[0094] Step 450: Determine the prompt information based on the target information sharing strategy, wherein the prompt information includes a playback control instruction to cause the playback device to execute the playback control instruction.

[0095] As an alternative approach, after determining the target information sharing strategy, in order to ensure that traffic participants located outside the vehicle can quickly and accurately understand the vehicle's driving intention, a prompt message can be generated based on the target visualization. This prompt message can then be accurately played through at least one playback device located outside the vehicle.

[0096] Optionally, the prompt information may include text prompts, light color display information, and light change information, and the prompt information can be generated for different playback devices based on the visualization scheme in the target information sharing strategy.

[0097] Step 460: Provide the prompt information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

[0098] The specific steps of steps 410-420 and 460 can be found in steps 210-220 and 240, and will not be repeated here.

[0099] In this embodiment, the intention statement of driving intention can be determined first. Then, the target information sharing strategy corresponding to the intention statement can be determined by the expression mapping table. Based on the target information sharing strategy, the corresponding prompt information can be generated. In this way, the playback device can be controlled to execute the playback control command in the prompt information through the prompt information, so as to ensure that traffic participants located outside the vehicle can be notified, and further ensure the driving safety of the vehicle.

[0100] Please see Figure 6 , Figure 6 This application illustrates a method for indicating a vehicle's driving intention according to an embodiment of this application. The following will focus on... Figure 6 The process shown is described in detail. The method for prompting the driving intention of the vehicle may specifically include the following steps 510-560.

[0101] Step 510: Obtain environmental information around the vehicle and driving information of the vehicle.

[0102] Step 520: If it is determined that the vehicle is in an emergency state based on the environmental information and the driving information, then a first information sharing strategy and alarm information are generated.

[0103] As an alternative approach, to ensure safe vehicle operation, it is necessary to first determine whether the vehicle is in an emergency situation. This prevents accidents caused by the vehicle continuing to be controlled by the autonomous driving system while handling an emergency. Therefore, before determining the vehicle's driving intention, it is possible to first determine whether the vehicle is in an emergency situation based on environmental and driving information. If an emergency situation is determined, a first information sharing strategy and corresponding alarm information can be generated promptly.

[0104] In some embodiments, it can be determined first, based on environmental information and driving information, whether the vehicle has experienced a system failure or is out of control, so that if it is determined that the vehicle may experience a system failure or is out of control, the vehicle is in an emergency state.

[0105] Optionally, the first information sharing strategy is used to promptly inform traffic participants located outside the vehicle that the vehicle is in an emergency. This allows traffic participants outside the vehicle to adjust their own status as quickly as possible based on the first information sharing strategy, thereby avoiding a collision with the vehicle and further serious safety accidents. Optionally, the alarm information may include at least one of displayed alarm information and voice alarm information.

[0106] Step 530: The alarm information is sent to the vehicle's global status interaction device according to the first information sharing strategy, so that the global status interaction device can issue an alarm to traffic participants around the vehicle based on the alarm information, wherein the global status interaction device is located on the outside of the vehicle's roof.

[0107] As an alternative approach, after obtaining the first information sharing strategy and the alarm information, the first information sharing strategy and the alarm information are transmitted to the vehicle's global state interaction device, so that the global state interaction device can issue alarms to traffic participants located outside the vehicle based on the first information sharing strategy and the alarm information.

[0108] In some optional embodiments, the global status interaction device may be located on the roof of the vehicle and may include a roof panoramic status light strip. The color of the roof global status light strip indicates the vehicle's status. When the global status interaction device receives an alarm message, the roof panoramic status light strip is displayed in red based on the alarm message, thereby indicating that the vehicle is in an emergency.

[0109] In some alternative embodiments, if the vehicle is currently in autonomous driving mode, a second information sharing strategy can be generated, and the roof panoramic status light strip can be controlled to display green based on the second information sharing strategy, thereby informing traffic participants located outside the vehicle that the vehicle is in autonomous driving mode; if the vehicle is currently in manual driving mode, a third information sharing strategy can be generated, and the roof panoramic status light strip can be controlled to display yellow based on the third information sharing strategy, thereby informing traffic participants located outside the vehicle that the vehicle is in manual driving mode.

[0110] In some embodiments, the playback device further includes a forward interaction device, a side interaction device, and a rearward interaction device, wherein the forward interaction device is used to alert pedestrians or oncoming vehicles in front of the vehicle, the side interaction device is used to alert vehicles to the side of the vehicle, and the rearward interaction device is used to alert vehicles to the rear of the vehicle.

[0111] As an alternative approach, in order to enable all traffic participants around the vehicle to understand the vehicle's actual driving intention in real time, a forward interaction device can be installed in front of the vehicle, a rearward interaction device can be installed behind the vehicle, and a lateral interaction device can be installed on the side of the vehicle. This ensures that traffic participants in all directions around the vehicle can understand the vehicle's driving intention in real time.

[0112] Optionally, the forward-facing interaction device may include a front pixel grid light module and a windshield lower edge projection module, which can display the vehicle's driving mode icon through the front pixel grid light module and project forward, such as text or zebra crossings, through the windshield lower edge projection module; the rear-facing interaction device may include a full-pixel continuous taillight module and a rear windshield projection module, which can provide braking or following warnings through the full-pixel continuous taillight module and project emergency braking or blind spot warnings through the rear windshield projection module; the side-facing interaction device may include an electronic side mirror light strip module and a side skirt linear display module, which can indicate the side and rear blind spot status through the electronic side mirror light strip module and display lane change arrows or turning status through the side skirt linear display module.

[0113] Step 540: Determine the vehicle's driving intention based on the environmental information and the driving information.

[0114] Step 550: Determine the information sharing strategy of the vehicle based on the driving intention, and generate prompt information based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback.

[0115] Step 560: Provide the prompt information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

[0116] The specific steps of steps 510 and 540-560 can be found in steps 210-240, and will not be repeated here.

[0117] In this embodiment, when it is determined that the vehicle is in an emergency state based on the acquired environmental and driving information, a corresponding first information sharing strategy and alarm information are generated. By sending the first information sharing strategy and alarm information to the global state interaction device, the global state interaction device can issue alarm information to traffic participants around the vehicle, thereby further ensuring the driving safety of the vehicle.

[0118] Please see Figure 7 , Figure 7 This application illustrates a method for indicating a vehicle's driving intention according to an embodiment of this application. The following will focus on... Figure 7 The process shown is described in detail. The method for prompting the driving intention of the vehicle may specifically include the following steps 610-670.

[0119] Step 610: Obtain environmental information around the vehicle and driving information of the vehicle.

[0120] Step 620: Determine the vehicle's driving intention based on the environmental information and the driving information.

[0121] Step 630: If the driving intention is a dynamic driving intention of multiple consecutive stages, then determine a sequence of multiple stage intentions.

[0122] As an alternative approach, since the vehicle's autonomous driving system may generate a sequential driving sequence during the process of controlling the vehicle to drive, thereby controlling the vehicle to complete the complete driving intention, it can be determined that the driving intention is a dynamic driving intention of multiple consecutive stages. In this case, in order to display the driving intention based on different stages, multiple stage intention sequences can be determined first according to the time series.

[0123] Optionally, a sequence of multiple stage intentions can be generated based on the dynamic driving intentions of multiple consecutive stages. For example, for the dynamic driving intentions of multiple consecutive stages such as "slowing down to yield to pedestrians, and then turning left after a gap appears in the oncoming traffic flow", a sequence of multiple stage intentions such as slowing down to yield to pedestrians, waiting for a gap in the traffic flow, and performing a left turn can be generated.

[0124] Step 640: Determine the stage information sharing strategy for each stage intent in the plurality of stage intent sequences.

[0125] As an alternative approach, after determining multiple stages of intent sequences, to ensure that the vehicle's playback device can accurately play according to the intent of each stage, thereby ensuring that traffic participants outside the vehicle can promptly understand the vehicle's driving intent at each stage, a stage information sharing strategy for each stage intent can be determined first. This allows the playback device to be controlled based on the stage information sharing strategy. Optionally, the stage information sharing strategy for each stage intent in the multiple stage intent sequences can be determined according to a preset mapping table of intents and information sharing strategies.

[0126] Step 650: Based on the phase information sharing strategy and the time sequence of the multiple phase intention sequences, determine multiple serialized prompt messages and the target playback device of the phase information sharing strategy.

[0127] As an alternative approach, in order to ensure that the vehicle's playback device can accurately play according to the intent of each stage, multiple serialized prompt messages can be determined according to the time sequence of multiple stage intent sequences, and the target playback device used in each stage in the stage information sharing strategy can be determined. In this way, the vehicle's driving intent can be played through the serialized prompt messages and the target playback device used in each stage.

[0128] Step 660: According to the time sequence, the multiple serialized prompt messages are sent sequentially to the target playback device.

[0129] As an alternative approach, to avoid sending multiple serialized prompts to the corresponding target playback device simultaneously, which could cause the target playback device to play the prompt before executing the corresponding driving intention, thus preventing traffic participants outside the vehicle from accurately understanding the vehicle's driving intention, multiple serialized prompts can be sent to the target playback device sequentially according to time order.

[0130] In some embodiments, during the process of the autonomous driving system sequentially controlling the vehicle according to multiple consecutive stages of dynamic driving intentions, the prompt information for the next stage is sent to the corresponding target playback device only after each feedback information is received. For example, for multiple consecutive stages of dynamic driving intentions such as "slow down to yield to pedestrians and cross after a gap appears in the oncoming traffic flow," when executing the intention to yield to pedestrians, the prompt information for yielding to pedestrians is sent to the forward interaction device and the global interaction device. In the forward interaction device, this is mapped as a "stationary pedestrian" icon projected onto the zebra crossing by a front projection, and in the global interaction device, the roof light strip is blue to indicate waiting. When the feedback "pedestrians have crossed" is received and the vehicle is driven while waiting for a gap in the traffic flow, the prompt information for waiting for the gap in the traffic flow is sent to the lateral interaction device and the forward interaction device. This is achieved by mapping the forward interaction device to display a "waiting" animation on the front headlights, and displaying light information indicating the left turn direction on the side light strip in the side interaction device; when the waiting traffic gap is completed and a left turn is executed, a prompt message for executing the left turn is sent to the side interaction device, the rear interaction device, and the global interaction device. This is then mapped to a dynamic forward arrow on the side skirt display in the side interaction device, the roof light strip in the global interaction device turns green (indicating execution), and the taillights in the rear interaction device display the text "turning left" to inform vehicles behind.

[0131] Step 670: Provide the prompt information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

[0132] The specific steps of steps 610-620 and 670 can be found in steps 210-220 and 240, and will not be repeated here.

[0133] In this embodiment, when the driving intention is determined to be a dynamic driving intention in multiple consecutive stages, multiple stage intention sequences are first determined, as well as a stage information sharing strategy for each stage intention in the multiple stage intention sequences. Then, according to the stage information sharing strategy and the time sequence of the multiple stage intention sequences, multiple serialized prompt messages and the target playback device of the stage information sharing strategy are determined. Finally, according to the time sequence, the multiple serialized prompt messages are sent to the target playback device in sequence, thereby ensuring that traffic participants located outside the vehicle can be notified, further ensuring the driving safety of the vehicle.

[0134] Figure 8 This is a visual mapping decision flowchart of driving intent shown according to an embodiment of this application, such as... Figure 8As shown, after the vehicle's engine receives multi-source data, it first determines whether the vehicle has malfunctioned or requires driver intervention based on the data. Therefore, when the vehicle is in an emergency transition or degraded control, its information sharing strategy is set to a high-priority alarm. Then, the vehicle displays an emergency icon via rapidly flashing red headlights and all headlights, while simultaneously issuing a driver intervention audible alert. This generates corresponding control commands, which are then sent to a designated external display unit for playback. The multi-source data consists of environmental information and vehicle driving information collected by various types of sensors installed in the vehicle. The vehicle's engine can be the electronic processing unit of the vehicle's autonomous driving system.

[0135] If the vehicle's autonomous driving system is determined to be operating normally, the core driving intent can be identified first. Based on this core intent, the corresponding information sharing strategy can be determined. For example, if the core driving intent is determined to be path planning and an impending lane change, then it's necessary to inform traffic participants outside the vehicle of the lane change direction and timing. Therefore, the corresponding information sharing strategy is to reinforce the steering intent. This can be achieved by using the side skirt sequential turn signals of the vehicle's lateral interaction device to indicate the lane change direction, and by using the rearward interaction device to project a preview of the lane change trajectory onto the rear side of the ground. This generates corresponding control commands, which are then sent to a designated external display unit for playback.

[0136] If the driver's core intention is determined to be to perceive a pedestrian crossing ahead, then it is determined that the driver needs to yield to the pedestrian. Therefore, the corresponding information sharing strategy is to clearly perceive the presence of a pedestrian ahead and yield, and then project zebra crossing light to the front of the pedestrian through the front lights of the vehicle's forward interaction device, display a pedestrian icon on the roof through the vehicle's global interaction device, generate corresponding control commands, and finally send the control commands to a designated external display unit for playback.

[0137] If the core driving intent is determined to be emergency braking, then it is determined that the vehicle needs to inform traffic participants outside the vehicle to change lanes and decelerate urgently. Therefore, the corresponding information sharing strategy is unconventional brake embrittlement, which can then be achieved through the full-screen red pulse of the vehicle's rear-view interaction device's full-pixel taillights, the display of an emergency icon and braking distance via the rear window projection of the vehicle's rear-view interaction device, thereby generating corresponding control commands, and finally sending the control commands to a designated external display unit for playback.

[0138] Figure 9 This is a flowchart illustrating a method for prompting driving intent of a vehicle according to an embodiment of this application, as shown below. Figure 9As shown, the vehicle's autonomous driving system operates periodically, collecting multi-source data in parallel to determine the vehicle's perception, decision-making, and system state. Then, an intent encoding engine fuses the collected multi-source data in real time to detect and arbitrate conflicts between the vehicle's perception, decision-making, and system state. If a conflicting intent is identified, for example, when a system malfunction state and a lane-change planning decision coexist, a pre-set safety arbitration protocol is initiated. Arbitration follows the principle that safety priority is greater than state priority, which is greater than intent priority, and the arbitration result is output. Only the content with the highest priority is output in this arbitration result, such as a malfunction alarm.

[0139] Optionally, if it is determined that there is no conflict, the final visualization instruction set is generated by selecting an expression scheme based on the vehicle's driving scenario and Operational Design Domain (ODD). The visualization instruction set is then assigned to each display unit, so that the external display unit can synchronously execute the visualization instruction set to present a dynamic visualization effect. The external display unit can maintain its state and continuously display the information, or start a cycle timer after the display ends to facilitate control of the next cycle.

[0140] Among them, the ODD selection expression scheme can include ODD(IN), ODD(BOUNDARY) and ODD(OUT). ODD(IN) indicates a confident, stable and predictable state display, such as a solid green light on the roof indicating normal operation, a standard lane change indicating lane change in progress, and the side skirt indicating the direction of lane change.

[0141] ODD (BOUNDARY) indicates a cautious warning status, such as when entering a tunnel, in deteriorating weather, or during strong winds and heavy rain, indicating that the system's capabilities are beginning to be limited, and conveying caution, transparency, and warnings. For example, the rear window may display "Lane lines blurred, maintain a safe distance" and the front may display "Drive cautiously" as a reminder.

[0142] ODD(OUT) indicates an emergency call status display. If the vehicle is in an area without a high-precision map, or if sensors are malfunctioning, the system cannot operate safely. It conveys an emergency, a request for help, and transparency. If the light strip flashes red rapidly, the rear window displays "System failure, manual intervention in progress," the entire vehicle's lights have a red pulse effect, and there is a ground projection, please be careful to avoid the vehicle.

[0143] The above embodiments describe in detail the vehicle driving intention prompting method provided by the embodiments of this application. In other embodiments, this application also provides a vehicle driving intention prompting device. Figure 10 This is a block diagram of a vehicle driving intention prompting device according to an embodiment of this application, such as... Figure 10As shown, the vehicle's driving intention prompting device 700 includes: an acquisition module 710, a driving intention determination module 720, a prompt information generation module 730, and a prompting module 740.

[0144] The acquisition module 710 is used to acquire environmental information around the vehicle and driving information of the vehicle; the driving intention determination module 720 is used to determine the driving intention of the vehicle based on the environmental information and the driving information; the prompt information generation module 730 is used to determine the information sharing strategy of the vehicle based on the driving intention, and generate prompt information based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback; the prompt module 740 is used to provide the prompt information to traffic participants around the vehicle through at least one playback device disposed outside the vehicle.

[0145] In some embodiments, the prompt information generation module 730 includes: a preset priority rule acquisition submodule, used to acquire a preset priority rule if it is determined that there are multiple driving intentions and there is a conflict among the multiple driving intentions; the preset priority rule is used to indicate the priority order among different driving intentions; and an information sharing strategy generation submodule, used to select the target driving intention with the highest priority from the multiple driving intentions according to the preset priority rule, and generate the information sharing strategy of the vehicle according to the target driving intention.

[0146] In some embodiments, the preset priority rule acquisition submodule includes: a weight acquisition unit, used to acquire the spatial weight, temporal weight, logical weight, and resource weight of each of the plurality of driving intentions; a weight adjustment unit, used to adjust the spatial weight, temporal weight, logical weight, and resource weight according to the environmental information to obtain the target spatial weight, target temporal weight, target logical weight, and target resource weight of each of the plurality of driving intentions; a comprehensive conflict score determination unit, used to determine the comprehensive conflict score of the plurality of driving intentions based on the target spatial weight, target temporal weight, target logical weight, and target resource weight of each of the plurality of driving intentions; and a target determination unit, used to determine that there is a conflict between the plurality of driving intentions if the comprehensive conflict score is greater than a score threshold.

[0147] In other embodiments, the prompt information generation module 730 includes: an intent statement determination submodule, used to determine the intent statement of the driving intent; a target information sharing strategy determination submodule, used to obtain an expression mapping table and determine the target information sharing strategy corresponding to the intent statement in the expression mapping table, wherein the expression mapping table includes the correspondence between different intent statements and different visual expressions; and a prompt information determination submodule, used to determine the prompt information based on the target information sharing strategy, wherein the prompt information includes a playback control instruction to cause the playback device to execute the playback control instruction.

[0148] In some embodiments, the vehicle driving intention prompting device 700 further includes: an alarm information generation module, configured to generate a first information sharing strategy and alarm information if it is determined that the vehicle is in an emergency state based on the environmental information and the driving information; and an alarm module, configured to send the alarm information to the vehicle's global status interaction device according to the first information sharing strategy, so that the global status interaction device can issue an alarm to traffic participants around the vehicle based on the alarm information, wherein the global status interaction device is located outside the vehicle's roof.

[0149] In some embodiments, the playback device further includes a forward interaction device, a side interaction device, and a rearward interaction device, wherein the forward interaction device is used to alert pedestrians or oncoming vehicles in front of the vehicle, the side interaction device is used to alert vehicles to the side of the vehicle, and the rearward interaction device is used to alert vehicles to the rear of the vehicle.

[0150] In some other embodiments, the prompt information generation module 730 includes: an intent sequence determination submodule, configured to determine multiple stage intent sequences if the driving intent is a dynamic driving intent of multiple consecutive stages; a stage information sharing strategy determination submodule, configured to determine a stage information sharing strategy for each stage intent in the multiple stage intent sequences; a target playback device determination submodule, configured to determine multiple serialized prompt information and the target playback device of the stage information sharing strategy according to the time sequence of the multiple stage intent sequences based on the stage information sharing strategy; and an information sending submodule, configured to send the multiple serialized prompt information to the target playback device sequentially according to the time sequence.

[0151] According to one aspect of the embodiments of this application, an electronic device is also provided, such as... Figure 11As shown, the electronic device 800 also includes a processor 810 and one or more memories 820. The one or more memories 820 are used to store program instructions executed by the processor 810. When the processor 810 executes the program instructions, it implements the above-described method for prompting the driving intention of the vehicle.

[0152] Furthermore, the processor 810 may include one or more processing cores. The processor 810 runs or executes instructions, programs, code sets, or instruction sets stored in the memory 820, and retrieves data stored in the memory 820. Optionally, the processor 810 may be implemented using at least one hardware form selected from Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 810 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor and may be implemented using a separate communication chip.

[0153] According to one aspect of this application, a computer-readable storage medium is also provided, which may be included in the cloud server described in the above embodiments; or it may exist independently and not assembled into the cloud server. The aforementioned computer-readable storage medium carries computer-readable instructions that, when executed by a processor, implement the methods in any of the above embodiments.

[0154] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. Computer-readable storage media can be, for example, but not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0155] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0156] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0157] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for indicating driving intent in a vehicle, characterized in that, The method includes: Obtain environmental information surrounding the vehicle and the vehicle's driving information; The vehicle's driving intention is determined based on the environmental information and the driving information; The information sharing strategy of the vehicle is determined based on the driving intention, and a prompt message is generated based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback; The alert information is provided to traffic participants around the vehicle by at least one playback device located outside the vehicle.

2. The method according to claim 1, characterized in that, The step of determining the information sharing strategy for the vehicle based on the driving intention includes: If it is determined that there are multiple driving intentions and there are conflicts among the multiple driving intentions, then a preset priority rule is obtained; the preset priority rule is used to indicate the priority order among different driving intentions. According to the preset priority rules, the target driving intention with the highest priority is selected from the multiple driving intentions, and the information sharing strategy of the vehicle is generated based on the target driving intention.

3. The method according to claim 2, characterized in that, If it is determined that there are multiple driving intentions and that there is a conflict among the multiple driving intentions, it includes: Obtain the spatial weight, temporal weight, logical weight, and resource weight of each of the multiple driving intentions; Based on the environmental information, the spatial weight, temporal weight, logical weight, and resource weight are adjusted to obtain the target spatial weight, target temporal weight, target logical weight, and target resource weight for each of the multiple driving intentions. Based on the target space weight, target time weight, target logic weight, and target resource weight of each of the multiple driving intentions, a comprehensive conflict score for the multiple driving intentions is determined. If the overall conflict score is determined to be greater than the score threshold, then a conflict is determined to exist between the multiple driving intentions.

4. The method according to claim 1, characterized in that, The step of determining the vehicle's information sharing strategy based on the driving intention and generating prompt information based on the information sharing strategy includes: The intent statement that determines the driving intention; Obtain an expression mapping table and determine the target information sharing strategy corresponding to the intent statement in the expression mapping table, wherein the expression mapping table includes the correspondence between different intent statements and different visual expressions; The prompt information is determined based on the target information sharing strategy, wherein the prompt information includes a playback control instruction so that the playback device executes the playback control instruction.

5. The method according to claim 1, characterized in that, Before determining the vehicle's driving intention based on the environmental information and the driving information, the method further includes: If it is determined that the vehicle is in an emergency state based on the environmental information and the driving information, a first information sharing strategy and alarm information are generated. According to the first information sharing strategy, the alarm information is sent to the vehicle's global status interaction device, so that the global status interaction device can issue an alarm to traffic participants around the vehicle based on the alarm information, wherein the global status interaction device is located on the exterior of the vehicle's roof.

6. The method according to claim 5, characterized in that, The playback device further includes a forward interaction device, a side interaction device, and a rearward interaction device. The forward interaction device is used to alert pedestrians or oncoming vehicles in front of the vehicle, the side interaction device is used to alert vehicles to the side of the vehicle, and the rearward interaction device is used to alert vehicles behind the vehicle.

7. The method according to any one of claims 1-6, characterized in that, The step of determining the vehicle's information sharing strategy based on the driving intention and generating prompt information based on the information sharing strategy includes: If the driving intention is a dynamic driving intention in multiple consecutive stages, then a sequence of multiple stage intentions is determined; Determine the stage information sharing strategy for each stage intent in the multiple stage intent sequences; Based on the phase information sharing strategy and the time sequence of the multiple phase intent sequences, determine multiple serialized prompt messages and the target playback device of the phase information sharing strategy; According to the time sequence, the multiple serialized prompt messages are sent sequentially to the target playback device.

8. A vehicle driving intention indication device, characterized in that, The device includes: The acquisition module is used to acquire environmental information around the vehicle and the vehicle's driving information; A driving intention determination module is used to determine the driving intention of the vehicle based on the environmental information and the driving information; A prompt message generation module is used to determine the vehicle's information sharing strategy based on the driving intention, and generate prompt messages based on the information sharing strategy; the information sharing strategy includes at least one of image display or audio playback; The alert module is used to provide the alert information to traffic participants around the vehicle via at least one playback device located outside the vehicle.

9. An electronic device, characterized in that, The electronic device includes: processor; A memory storing computer-readable instructions that, when executed by the processor, implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be invoked by a processor to execute the method as described in any one of claims 1 to 7.

Images