Control method, control system and vehicle for a vehicle
By identifying the right-of-way levels of traffic participants and using video and audio output devices to send courtesy or warning messages, the problem of unclear communication when autonomous vehicles encounter vulnerable traffic participants such as pedestrians is solved, thus improving traffic efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG GEELY HLDG GRP CO LTD
- Filing Date
- 2026-03-02
- Publication Date
- 2026-06-12
AI Technical Summary
When autonomous vehicles encounter vulnerable road users such as pedestrians, they cannot effectively distinguish between giving way and temporarily slowing down, causing pedestrians to distrust the vehicles and hesitate, thus affecting traffic efficiency; vehicles behind cannot understand the reason for the sudden stop of the vehicle in front, which may cause traffic accidents and reduce driving safety.
By identifying the right-of-way levels of traffic participants and using the linkage of image and audio output devices, courtesy or warning messages, including image and audio information, are sent to the parties to be reminded, thereby improving communication efficiency and safety.
It improves communication efficiency and driving safety between vehicles and those being reminded, ensuring that all road users clearly understand the vehicle's intentions and avoiding traffic standoffs and accidents.
Smart Images
Figure CN122186015A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle control method, a control system, and a vehicle. Background Technology
[0002] With the development of autonomous driving technology, the demand for vehicle interaction with the outside world is increasing. Currently, autonomous vehicles typically only have basic obstacle avoidance decision-making capabilities (such as deceleration and stopping) when dealing with vulnerable road users such as pedestrians and non-motorized vehicles. At the hardware level of human-machine interface (HMI), they still heavily rely on traditional automotive lighting language (such as brake lights and turn signals) and physical motion states (such as deceleration and stopping) to convey intentions.
[0003] Currently, when a vehicle senses a pedestrian ahead, it mechanically slows down or stops, regardless of whether the pedestrian has the right-of-way. However, pedestrians cannot distinguish whether the vehicle is "actively yielding," "stopping due to a malfunction," or "merely slowing down temporarily." When the vehicle has stopped, pedestrians often hesitate to proceed due to distrust, leading to a traffic stalemate where "vehicles wait for pedestrians, and pedestrians wait for vehicles," severely impacting traffic efficiency.
[0004] Furthermore, other vehicles behind the vehicle (especially when their view is blocked by the vehicle in front) cannot understand why the vehicle in front has stopped suddenly. They are very likely to misjudge it as a "breakdown" or "unjustified stop" and choose to change lanes to overtake, which may cause traffic accidents targeting pedestrians in front and reduce driving safety. Summary of the Invention
[0005] This application provides a vehicle control method, control system, and vehicle with high safety.
[0006] This application provides a vehicle control method, wherein the vehicle includes a traffic risk warning device; the control method includes: When the vehicle is traveling, if there are other road users in front of the vehicle, the right-of-way level information of the other road users is determined; the right-of-way level information indicates whether the other road user has right-of-way or not. Based on the right-of-way level information, the information reminder mode output by the traffic risk reminder device is determined; Based on the information reminder mode, determine the reminder information of the passage risk reminder device corresponding to the information reminder mode and directed to the object to be reminded; Control the passage risk warning device to output the warning information.
[0007] In some embodiments, a vehicle information reminder mode is determined based on the right-of-way level information of traffic participants. Based on the information reminder mode, a reminder message corresponding to the reminder message is determined for the target of the reminder. The traffic risk reminder device is then controlled to output the reminder message, so that the target of the reminder receives the reminder message corresponding to the current right-of-way situation. This can improve the communication efficiency between the vehicle and the target of the reminder and improve driving safety.
[0008] Optionally, the traffic risk warning device includes an image output device and an audio output device; the warning information includes image information and audio information; the information warning mode includes a courtesy mode and a warning mode. The step of determining the reminder information of the passage risk reminder device corresponding to the information reminder mode and directed to the target being reminded, based on the information reminder mode, includes: Based on the information reminder mode, determine the image information of the image output device and the audio information of the audio output device corresponding to the object to be reminded in the information reminder mode; The control of the passage risk warning device to output the warning information includes: When controlling the image output device to output the image information, the audio output device is also linked to output the audio information.
[0009] In some embodiments, based on the information reminder mode, the image information of the image output device and the audio information of the audio output device corresponding to the information reminder mode are determined, and the image output device is controlled to output image information and the audio output device is controlled to output audio information, so that the object to be reminded receives image information and audio information corresponding to the current right-of-way situation. The information transmission between the vehicle and the object to be reminded is richer and more targeted, which can improve the communication efficiency between the vehicle and the object to be reminded and improve driving safety.
[0010] Optionally, the image output device includes a forward image output device for emitting information toward the front of the vehicle; the audio output device includes a forward speaker disposed on the front side of the vehicle. The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant has the right-of-way, the information reminder mode for the vehicle is determined to be the yielding mode; The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the yielding mode, the first yielding video information and the first yielding audio information corresponding to the object to be reminded being a traffic participant are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the forward image output device outputs the first courtesy image information, the forward speaker is activated to emit the first courtesy audio information.
[0011] In some embodiments, if a traffic participant has the right-of-way, the information reminder mode is determined to be the yielding mode, and the first yielding video information and the first yielding audio information corresponding to the traffic participant being the reminder target in the yielding mode are sent to the traffic participant, so that the traffic participant can more clearly know that under the current circumstances, the vehicle yields to the traffic participant, the traffic participant can pass with peace of mind, and improve traffic efficiency.
[0012] Optionally, determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant does not have the right-of-way, determine the collision risk between the vehicle and the traffic participant; If the collision risk is greater than the risk threshold, the information reminder mode of the vehicle is determined to be the warning mode. The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the warning mode, the first warning image information and the first warning audio information corresponding to the object to be reminded being a traffic participant are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the forward image output device outputs the first warning image information, the forward speaker is activated to emit the first warning audio information.
[0013] In some embodiments, if a traffic participant has no right-of-way and the risk of collision between a vehicle and a traffic participant is greater than a risk threshold, the information reminder mode is determined to be a warning mode, and a first warning image and a first warning audio message corresponding to the traffic participant in the warning mode are sent to the traffic participant, so that the traffic participant can more clearly know that there is a safety risk in the current situation and improve traffic safety.
[0014] Optionally, the first courtesy image information is in a cool color tone, and correspondingly, the first warning image information is in a warm color tone; wherein, the color recognition of the warm color tone is higher than that of the cool color tone.
[0015] In some embodiments, the color recognition of the first warning image information is higher than that of the first courtesy image information, so that the recipient can more clearly distinguish the intent of the information sent by the vehicle and improve communication efficiency.
[0016] Optionally, the first courtesy audio information is a low-frequency audio, and correspondingly, the first warning audio information is a high-frequency audio.
[0017] In some embodiments, the frequency of the first warning audio message is higher than the frequency of the first courtesy audio message, so that the recipient can more clearly distinguish the intent of the message sent by the vehicle and improve communication efficiency.
[0018] Optionally, the forward image output device includes a forward display device and a forward projection device; The control of the forward image output device to output the first courtesy image information includes: When the forward display device displays the first courtesy image information, the forward projection device is linked to project the first courtesy image information in front of the vehicle.
[0019] In some embodiments, by controlling the forward display device to display the first courtesy image information, and simultaneously coordinating the forward projection device to project the first courtesy image information in front of the vehicle, the vehicle can send richer image information, thereby improving the communication effect between the vehicle and the object to be reminded in front.
[0020] Optionally, the image output device includes a rear-facing image output device for transmitting information to the rear of the vehicle; the audio output device includes a rear-facing speaker disposed at the rear of the vehicle. The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant has the right-of-way, the information reminder mode for the vehicle is determined to be the yielding mode; The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the yielding mode, determine the second yielding video information and the second yielding audio information corresponding to the object to be reminded being the vehicle behind; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the rearward image output device outputs the second courtesy image information, the rearward speaker is activated to emit the second courtesy audio information.
[0021] In some embodiments, if a traffic participant has the right-of-way, the information reminder mode is determined to be the yielding mode, and second yielding video information and second yielding audio information corresponding to the vehicles behind in the yielding mode are sent to the vehicles behind, so that the vehicles behind can clearly know that there is a traffic participant passing in front of them under the current circumstances, and the vehicles behind will not overtake rashly, thereby improving traffic safety.
[0022] Optionally, determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant does not have the right-of-way, determine the collision risk between the vehicle and the traffic participant; If the collision risk is greater than the risk threshold, the information reminder mode of the vehicle is determined to be the warning mode. The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the warning mode, the second warning image information and the second warning audio information corresponding to the object to be reminded being a vehicle behind are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the rearward image output device outputs the second warning image information, the rearward speaker is activated to emit the second warning audio information.
[0023] In some embodiments, if a traffic participant has no right-of-way and the collision risk between a vehicle and a traffic participant is greater than a risk threshold, the information reminder mode is determined to be a warning mode, and a second warning image and a second warning audio message corresponding to the vehicle behind in the warning mode are sent to the vehicle behind. The vehicle behind can clearly know that there is a traffic participant passing in front of the vehicle and there is a safety risk under the current circumstances, thereby improving traffic safety.
[0024] This application provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the vehicle control method as described in any of the preceding claims.
[0025] This application provides a vehicle control system, including one or more processors, for implementing the vehicle control method as described in any of the preceding claims.
[0026] This application provides a vehicle, including: Traffic risk warning device; and The control system described above is communicatively connected to the passage risk warning device.
[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0028] 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.
[0029] Figure 1 The diagram shown is a flowchart of one embodiment of the vehicle control method of this application.
[0030] Figure 2 The diagram shown is a flowchart of another embodiment of the vehicle control method of this application.
[0031] Figure 3 As shown Figure 1 This diagram illustrates an application scenario of the vehicle control method shown.
[0032] Figure 4 As shown Figure 1 This diagram illustrates another application scenario of the vehicle control method shown.
[0033] Figure 5 The diagram shown is a structural block diagram of one embodiment of the vehicle control system of this application. Detailed Implementation
[0034] This application provides a vehicle control method, a control system, and a vehicle. The vehicle control method, control system, and vehicle of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.
[0035] This application provides a vehicle, including a traffic risk warning device and a control system. The traffic risk warning device is used to output warning information. The control system is communicatively connected to the traffic risk warning device and is used to control the traffic risk warning device to output warning information.
[0036] The traffic risk warning device includes an image output device and an audio output device.
[0037] Image output devices are used to output image information. Image information can be images, text, or video. Image output devices include holographic projection devices, e-ink body panels, high-pixel matrix headlights, or grille interactive displays, enabling differentiated encoded display of visual information. Image output devices include forward-facing image output devices for projecting information forward of the vehicle. Forward-facing image output devices are located at the front of the vehicle. Forward-facing image output devices can also project information to the sides of the vehicle. Forward-facing image output devices include forward-facing display devices and forward-facing projection devices. Forward-facing display devices are used to display image information. Forward-facing display devices include displays and vehicle headlights, and can directly display image information. Forward-facing projection devices are used to project image information. Forward-facing projection devices can project image information onto the ground in front of and / or to the sides of the vehicle. Forward-facing projection devices include ground projection lights. Forward-facing display devices and forward-facing projection devices can output the same or different image information.
[0038] The image output device includes a rear-facing image output device for transmitting information to the rear of the vehicle. The rear-facing image output device is located at the rear of the vehicle. The rear-facing image output device can also transmit information to the sides of the vehicle. The rear-facing image output device includes a rear-facing display device and a rear-facing projection device. The rear-facing display device is used to display image information. The rear-facing display device includes a display screen and vehicle taillights, and can directly display image information. The rear-facing projection device is used to project image information. The rear-facing projection device can project image information onto the ground behind and / or to the side of the vehicle. The rear-facing projection device includes a ground projection light. The rear-facing display device and the rear-facing projection device can output the same or different image information.
[0039] The audio output device includes a front speaker located at the front of the vehicle. The audio output device is used to output audio information. The front speaker is used to output audio information towards the front of the vehicle.
[0040] The audio output device includes a rear-facing speaker located at the rear of the vehicle. The rear-facing speaker is used to output audio information to the rear of the vehicle.
[0041] The audio output device includes an ultrasonic directional sound transmission device (Audio Spotlight), which enables sound transmission only to specific traffic participants, reducing noise pollution to the surrounding environment.
[0042] The control system is communicatively connected to both the image output device and the audio output device. The control system controls the image output device to output image information and the audio output device to output audio information. Specifically, the control system controls the timing, frequency, and display mode of the image output device's output, such as the flashing frequency of vehicle lights. Similarly, the control system controls the timing and frequency of the audio output device's output.
[0043] Figure 1 The diagram shows a flowchart of one embodiment of the vehicle control method 10 of this application. The control system is used to execute the vehicle control method 10.
[0044] like Figure 1 As shown, the vehicle control method 10 includes steps 11 to 14.
[0045] Step 11: When the vehicle is moving, if there are other road users in front of the vehicle, determine their right-of-way level information. The right-of-way level information indicates whether the road user has a right-of-way or not.
[0046] Traffic participants include pedestrians, bicycles, motorcycles, tricycles, etc. on the road.
[0047] The vehicle includes lidar and cameras to identify the location of traffic participants.
[0048] In some embodiments, the right-of-way level information of a traffic participant is determined by the participant's location and the current road indicator lights. When the traffic participant is a pedestrian, if there is no zebra crossing at the participant's location, the participant is determined to have no right-of-way; if there is a zebra crossing at the participant's location and the road indicator light is green, the participant is determined to have no right-of-way; if there is a zebra crossing at the participant's location and the road indicator light is not green, the participant is determined to have right-of-way.
[0049] Step 12: Determine the information reminder mode output by the traffic risk reminder device based on the right-of-way level information.
[0050] The information alert modes include courtesy mode and warning mode.
[0051] The yielding mode is a mode in which vehicles convey a message of courtesy, such as sending a text or sound message saying "Vehicle has stopped, please proceed first." The warning mode is a mode in which vehicles convey a message of warning, such as sending a text or sound message saying "Danger! Illegal crossing."
[0052] Based on whether traffic participants have right-of-way or not, the vehicle's information notification mode is determined as either a yielding mode or a warning mode. Depending on the right-of-way situation of traffic participants, the vehicle sends different modes of information to the outside world, sending corresponding information based on the right-of-way situation, thereby improving the efficiency of communication between the vehicle and the outside world.
[0053] Step 13: Based on the information reminder mode, determine the reminder information of the passage risk reminder device corresponding to the information reminder mode and directed to the target being reminded.
[0054] The recipients of the reminders include road users in front of the vehicle and vehicles behind it. Based on the information reminder mode, for different recipients, the corresponding reminder message is determined for that mode. For example, in the yielding mode, for road users in front of the vehicle, the reminder message could be a "smiling face," a "forward arrow," the text "Please go first," and a gentle flashing light strip to remind them that they can proceed with confidence; for vehicles behind, the reminder message could be "Right of way, please yield," to remind them to yield to road users.
[0055] Step 14: Control the passage risk warning device to output warning information.
[0056] In some embodiments, a vehicle information reminder mode is determined based on the right-of-way level information of traffic participants. Based on the information reminder mode, a reminder message corresponding to the reminder message is determined for the target of the reminder. The traffic risk reminder device is then controlled to output the reminder message, so that the target of the reminder receives the reminder message corresponding to the current right-of-way situation. This can improve the communication efficiency between the vehicle and the target of the reminder and improve driving safety.
[0057] In some embodiments, the reminder information includes image information and audio information; step 13 includes: determining the image information of the image output device and the audio information of the audio output device corresponding to the information reminder mode for the object to be reminded, according to the information reminder mode; step 14 includes: when controlling the image output device to output image information, the audio output device is linked to output audio information.
[0058] For example, when the image output device outputs the text "Please go first," the audio output device simultaneously outputs the audio version of "Please go first." Even if one of the image or audio output devices malfunctions, the other can still output the reminder message, improving information redundancy. Synchronizing audio and video allows for better delivery of information to the recipient, improving communication efficiency for both parties.
[0059] Based on the information reminder mode, the image information of the image output device and the audio information of the audio output device corresponding to the reminder mode are determined, and the image output device is controlled to output image information and the audio output device to output audio information, so that the reminder recipient receives image information and audio information corresponding to the current right-of-way situation. The information transmission between the vehicle and the reminder recipient is richer and more targeted, which can improve the communication efficiency between the vehicle and the reminder recipient and improve driving safety.
[0060] Figure 2 The diagram shown is a flowchart of another embodiment of the vehicle control method 10 of this application.
[0061] In some embodiments, step 12 includes: step 121, if the traffic participant has the right-of-way, determining that the vehicle's information reminder mode is the yielding mode; step 13 includes: step 131, according to the correspondence between the object to be reminded and the yielding mode, determining the first yielding image information and the first yielding audio information corresponding to the object to be reminded being a traffic participant; step 14 includes: step 141, when controlling the forward image output device to output the first yielding image information, linking the forward speaker to emit the first yielding audio information.
[0062] If a traffic participant has the right-of-way, it means that the traffic participant has the priority to pass, and the vehicle's information reminder mode is the yielding mode. According to the preset correspondence between the target of the reminder and the yielding mode, the first yielding video information and the first yielding audio information are determined when the target of the reminder is a traffic participant in the yielding mode. When the forward video output device outputs the first yielding video information, the forward speaker is activated to emit the first yielding audio information, allowing the traffic participant to understand, based on the first yielding video information and the first yielding audio information, that the vehicle's current intention is to yield to the traffic participant. This allows the traffic participant to pass with confidence, avoiding hesitation due to uncertainty about the vehicle's intention.
[0063] Figure 3 As shown Figure 1 The diagram illustrates an application scenario of the vehicle control method 10 shown.
[0064] like Figure 3 As shown, the vehicle's information reminder mode is the courtesy mode. The forward-facing image output device outputs the text message "Vehicle has stopped, please proceed first," and projects a corresponding pattern onto the ground in front of the vehicle. The forward-facing speaker also emits the audio message "Vehicle has stopped, please proceed first."
[0065] If a traffic participant has the right-of-way, the information reminder mode is set to yield mode, and the first yield video and audio information corresponding to the traffic participant being reminded under the yield mode are sent to the traffic participant. This allows the traffic participant to be more clearly informed that under the current circumstances, vehicles should yield to the traffic participant, and the traffic participant can pass with peace of mind, thus improving traffic efficiency.
[0066] In some embodiments, "controlling the forward image output device to output the first yielding image information" in step 141 includes: when controlling the forward display device to display the first yielding image information, coordinating the forward projection device to project the first yielding image information in front of the vehicle.
[0067] refer to Figure 3The forward display device displays the first yielding image information (the text "Vehicle has stopped, please go first"), while the forward projection device projects the first yielding image information (the pattern of traffic participants passing) in front of the vehicle.
[0068] By controlling the forward display device to display the first courtesy image information, and linking the forward projection device to project the first courtesy image information in front of the vehicle, the vehicle can send richer image information and improve the communication effect between the vehicle and the object to be reminded in front.
[0069] refer to Figure 2 Step 12 includes: Step 122 and Step 123.
[0070] Step 122: If the traffic participant has no right-of-way, determine the collision risk between the vehicle and the traffic participant.
[0071] Step 123: If the collision risk is greater than the risk threshold, determine the vehicle's information reminder mode to be warning mode.
[0072] Step 13 includes: Step 132, determining the first warning image information and the first warning audio information corresponding to the traffic participant as the object to be reminded, according to the correspondence between the object to be reminded and the warning mode.
[0073] Step 14 includes: Step 142, when the forward image output device outputs the first warning image information, the forward speaker is linked to emit the first warning audio information.
[0074] If a traffic participant lacks the right-of-way, it indicates that their passage is illegal, posing a collision risk. If the collision risk exceeds a risk threshold, the information alert mode is changed to warning mode. Based on a pre-defined correspondence between the target of the alert and the warning mode, the corresponding first warning image and first warning audio information are determined when the target of the alert is a traffic participant in warning mode. When the forward image output device outputs the first warning image information, the forward speaker simultaneously emits the first warning audio information, allowing traffic participants to understand the vehicle's intention to warn them of a potential risk, thus improving traffic safety.
[0075] Figure 4 As shown Figure 1 This is a schematic diagram of another application scenario of the vehicle control method 10 shown.
[0076] like Figure 4As shown, the vehicle's information alert mode is warning mode. The forward-facing image output device outputs the text message "Danger! Illegal crossing" and projects a corresponding "No Entry for Road Users" image onto the ground in front of the vehicle. The forward-facing speaker also emits the audio message "Danger! Illegal crossing".
[0077] In some embodiments, if a traffic participant has no right-of-way and the risk of collision between a vehicle and a traffic participant is greater than a risk threshold, the information reminder mode is determined to be a warning mode, and a first warning image and a first warning audio message corresponding to the traffic participant in the warning mode are sent to the traffic participant, so that the traffic participant can more clearly know that there is a safety risk in the current situation and improve traffic safety.
[0078] In some embodiments, the first courtesy image information is in a cool color tone, and correspondingly, the first warning image information is in a warm color tone; wherein, the color recognition of the warm color tone is higher than that of the cool color tone.
[0079] For example, in Figure 3 In the illustrated embodiment, the image information output by the forward image output device is in cool tones, such as green or blue. Figure 4 In the illustrated embodiment, the image information output by the forward image output device is in warm tones, such as red or yellow.
[0080] The color recognition of the first warning image information is higher than that of the first courtesy image information, which makes it easier for the person being reminded to clearly distinguish the intent of the information sent by the vehicle, thus improving communication efficiency.
[0081] In some embodiments, the first courtesy audio information is low-frequency audio, and correspondingly, the first warning audio information is high-frequency audio.
[0082] The frequency of the first warning audio message is higher than that of the first courtesy audio message, which allows the recipient to more clearly distinguish the intent of the message sent by the vehicle, thus improving communication efficiency.
[0083] In some embodiments, after step 121, step 13 includes: determining second yielding image information and second yielding audio information corresponding to the vehicle behind as the object to be reminded, according to the correspondence between the object to be reminded and the yielding mode; step 14 includes: when controlling the rearward image output device to output the second yielding image information, activating the rearward speaker to emit the second yielding audio information.
[0084] Based on the preset correspondence between the target of the reminder and the yielding mode, the system determines the corresponding second yielding video information and second yielding audio information when the target of the reminder is a vehicle behind in the yielding mode. When the rear-facing video output device outputs the second yielding video information, the rear-facing speaker is activated to emit the second yielding audio information, enabling the vehicle behind to understand, based on the second yielding video information and the second yielding audio information, that the vehicle's current intention is to yield to other road users and not to stop due to a malfunction.
[0085] like Figure 3 As shown, the rear-facing image output device outputs the text message "Person ahead" and projects a corresponding pattern onto the ground to the side of the vehicle. The rear-facing speaker then emits an audio message indicating "Person ahead." This serves as a warning to vehicles behind that a road user is approaching.
[0086] If a traffic participant has the right-of-way, the information reminder mode is set to yield mode, and second yield video information and second yield audio information corresponding to the vehicles behind are sent to the vehicles to be reminded under the yield mode. This allows the vehicles behind to clearly know that there is a traffic participant passing in front of them under the current circumstances, and the vehicles behind will not overtake rashly, thus improving traffic safety.
[0087] In some embodiments, controlling the rearward image output device to output the second courtesy image information includes: when controlling the rearward display device to display the second courtesy image information, coordinating the rearward projection device to project the second courtesy image information to the rear of the vehicle.
[0088] refer to Figure 3 The rear-facing display shows the second courtesy image information (the text "Someone ahead"), while the rear-facing projection device projects the second courtesy image information (a "No Driving" symbol) to the rear and sides of the vehicle.
[0089] By controlling the rearward display device to display the second courtesy image information, and linking the rearward projection device to project the second courtesy image information to the rear of the vehicle, the vehicle can send richer image information and improve the communication effect between the vehicle and the object to be reminded behind.
[0090] In some embodiments, after step 123, step 13 includes: determining the second warning image information and the second warning audio information corresponding to the vehicle behind as the object to be reminded, according to the correspondence between the object to be reminded and the warning mode; step 14 includes: when controlling the rearward image output device to output the second warning image information, linking the rearward speaker to emit the second warning audio information.
[0091] Based on the preset correspondence between the target of the warning and the warning mode, the corresponding second warning image information and second warning audio information are determined when the target of the warning is a vehicle behind in the warning mode. When the rear-facing image output device outputs the second warning image information, the rear-facing speaker is activated to emit the second warning audio information, enabling road users to know that there are road users ahead of the vehicle and that there is a risk to their passage, thereby improving traffic safety.
[0092] like Figure 4 As shown, the rear-facing image output device outputs the text message "Someone ahead" and projects a corresponding pattern onto the ground in front of the vehicle. The rear-facing speaker then emits the audio message "Someone ahead".
[0093] If a traffic participant has no right-of-way and the risk of collision between a vehicle and a traffic participant is greater than the risk threshold, the information reminder mode is set to warning mode. A second warning image and a second warning audio message corresponding to the vehicle behind in the warning mode are sent to the vehicle behind. The vehicle behind can clearly know that there is a traffic participant passing in front of the vehicle and there is a safety risk under the current circumstances, thereby improving traffic safety.
[0094] Figure 5 The diagram shown is a structural block diagram of one embodiment of the vehicle control system of this application.
[0095] like Figure 5 As shown, the vehicle control system includes one or more processors 21 for implementing the vehicle control method 10 as described above.
[0096] In some embodiments, the vehicle control system may include a computer-readable storage medium 22, which may store a program that can be invoked by a processor 21, and may include a non-volatile storage medium. In some embodiments, the vehicle control system may include memory 23 and an interface 24. In some embodiments, the vehicle control system may also include other hardware depending on the specific application.
[0097] The computer-readable storage medium 22 of this application embodiment stores a program thereon, which, when executed by the processor 21, is used to implement the vehicle control method 10 described above.
[0098] This application may take the form of a computer program product implemented on one or more computer-readable storage media 22 (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage media 22 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented using any method or technology. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media 22 include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.
Claims
1. A method for controlling a vehicle, characterized in that, The vehicle includes a traffic risk warning device, an image output device, and an audio output device; the control method includes: When the vehicle is traveling, if there are other road users in front of the vehicle, the right-of-way level information of the other road users is determined; the right-of-way level information indicates whether the other road user has right-of-way or not. Based on the right-of-way level information, the information reminder mode output by the traffic risk reminder device is determined; Based on the information reminder mode, determine the reminder information of the passage risk reminder device corresponding to the information reminder mode and directed to the object to be reminded; Control the passage risk warning device to output the warning information.
2. The vehicle control method according to claim 1, characterized in that, The traffic risk warning device includes an image output device and an audio output device; the warning information includes image information and audio information; the information warning mode includes a courtesy mode and a warning mode. The step of determining the reminder information of the passage risk reminder device corresponding to the information reminder mode and directed to the target being reminded, based on the information reminder mode, includes: Based on the information reminder mode, determine the image information of the image output device and the audio information of the audio output device corresponding to the object to be reminded in the information reminder mode; The control of the passage risk warning device to output the warning information includes: When controlling the image output device to output the image information, the audio output device is also linked to output the audio information.
3. The vehicle control method according to claim 2, characterized in that, The image output device includes a forward image output device for emitting information forward of the vehicle; the audio output device includes a forward speaker disposed on the front side of the vehicle. The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant has the right-of-way, the information reminder mode for the vehicle is determined to be the yielding mode; The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the yielding mode, the first yielding video information and the first yielding audio information corresponding to the object to be reminded being a traffic participant are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the forward image output device outputs the first courtesy image information, the forward speaker is activated to emit the first courtesy audio information.
4. The vehicle control method according to claim 3, characterized in that, The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant does not have the right-of-way, determine the collision risk between the vehicle and the traffic participant; If the collision risk is greater than the risk threshold, the information reminder mode of the vehicle is determined to be the warning mode. The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the warning mode, the first warning image information and the first warning audio information corresponding to the object to be reminded being a traffic participant are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the forward image output device outputs the first warning image information, the forward speaker is activated to emit the first warning audio information.
5. The vehicle control method according to claim 4, characterized in that, The first courtesy image information is in a cool color tone, and correspondingly, the first warning image information is in a warm color tone; wherein, the color recognition of the warm color tone is higher than that of the cool color tone; and / or, The first courtesy audio message is a low-frequency audio message, and correspondingly, the first warning audio message is a high-frequency audio message.
6. The vehicle control method according to claim 3, characterized in that, The forward image output device includes a forward display device and a forward projection device; The control of the forward image output device to output the first courtesy image information includes: When the forward display device displays the first courtesy image information, the forward projection device is linked to project the first courtesy image information in front of the vehicle.
7. The vehicle control method according to claim 2, characterized in that, The image output device includes a rear-facing image output device for transmitting information to the rear of the vehicle; the audio output device includes a rear-facing speaker disposed at the rear of the vehicle. The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant has the right-of-way, the information reminder mode for the vehicle is determined to be the yielding mode; The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the yielding mode, determine the second yielding video information and the second yielding audio information corresponding to the object to be reminded being the vehicle behind; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the rearward image output device outputs the second courtesy image information, the rearward speaker is activated to emit the second courtesy audio information.
8. The vehicle control method according to claim 7, characterized in that, The step of determining the information reminder mode output by the traffic risk reminder device based on the right-of-way level information includes: If the traffic participant does not have the right-of-way, determine the collision risk between the vehicle and the traffic participant; If the collision risk is greater than the risk threshold, the information reminder mode of the vehicle is determined to be the warning mode. The step of determining, according to the information reminder mode, the image information of the image output device facing the object to be reminded and the audio information of the audio output device facing the object to be reminded, corresponding to the information reminder mode, includes: Based on the correspondence between the object to be reminded and the warning mode, the second warning image information and the second warning audio information corresponding to the object to be reminded being a vehicle behind are determined; The step of controlling the image output device to output the image information, and simultaneously coordinating the audio output device to output the audio information, includes: When the rearward image output device outputs the second warning image information, the rearward speaker is activated to emit the second warning audio information.
9. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 8.
10. A vehicle control system, characterized in that, It includes one or more processors for implementing the vehicle control method as described in any one of claims 1 to 8.
11. A vehicle, characterized in that, include: Traffic risk warning device; and The control system as described in claim 10 is communicatively connected to the passage risk warning device.