Control method and apparatus, and vehicle

Abstract

A control method, a control apparatus implementing the control method, and a vehicle comprising the control apparatus. The control method comprises: acquiring first driving behavior information of a first vehicle, wherein the first driving behavior information indicates at least one of the following: a dangerous lane change behavior, a lane change frequency, a honking duration, a honking frequency and a headlight flashing duration; and when the first driving behavior information triggers an emotion soothing condition of the first vehicle, controlling a second vehicle to give first prompt information, wherein the first prompt information is used for soothing a driver of the first vehicle. In the method, when it is determined that a driver of another vehicle needs soothing, a host vehicle is controlled to give prompt information used for soothing the driver of the another vehicle, which is conductive to alleviating a negative emotion of the driver of the another vehicle, thereby improving driving safety.

Description

Control method, device and vehicle TECHNICAL FIELD

[0001] The present application relates to the field of intelligent cockpit, and more particularly, to a control method, device and vehicle. BACKGROUND

[0002] When a vehicle is driving on a road, it will have a relationship with a nearby driving vehicle and a series of interactions will occur, such as overtaking, following, lane changing, adding a queue, emergency braking, queuing, etc. When these interactions occur between vehicles, the natural interaction between the drivers behind them is physically blocked, and the information is not smooth, which easily leads to misunderstandings, emotional barriers, and emotional suppression, thereby producing some emotional friction, such as complaints, accusations, and road rage. Due to the blocking nature of the vehicle, emotions can only be transmitted through horn honking, flashing lights, etc. Not only can emotions not be effectively dissipated, but it may also cause the widespread spread of negative emotions. The negative emotions of any traffic participant pose a great safety hazard to their own driving, passengers, and other vehicles.

[0003] Therefore, a control scheme for a vehicle to calm the emotions of a driver is urgently needed.

[0004] SUMMARY

[0005] The present application provides a control method, device and vehicle. When it is determined that the driver of another vehicle needs to be calmed, the vehicle is controlled to prompt information for calming the driver of the other vehicle, which helps to alleviate the negative emotions of the driver of the other vehicle, thereby improving driving safety.

[0006] In a first aspect, the present application provides a control method, which can be executed by a vehicle, for example, can be executed by a computing platform of the vehicle, or can also be executed by a chip or circuit for the vehicle; or the method can also be executed by a cloud server for vehicle communication.

[0007] The method comprises: obtaining first driving behavior information of a first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane changing behavior, lane changing frequency, horn honking duration, horn honking frequency, and headlamp flashing duration; when the first driving behavior information triggers an emotional calming condition of the first vehicle, controlling a second vehicle to prompt first prompt information, the first prompt information being used to calm the driver of the first vehicle.

[0008] In the technical solution, when it is determined that the driver of the other vehicle needs to be comforted according to the driving behavior of the other vehicle around the ego vehicle, the ego vehicle is controlled to prompt information for comforting the driver of the other vehicle, which helps to relieve the negative emotion of the driver of the other vehicle, thereby improving the driving safety. When the other vehicle wants to cut in the ego vehicle or other vehicles, or the other vehicle has the intention of cutting in other vehicles, the ego vehicle is controlled to prompt the information for comforting the driver of the other vehicle, which can relieve the negative emotion of the driver of the other vehicle, reduce or eliminate the intention of cutting in of the driver of the other vehicle, thereby improving the driving safety. Or, when the ego vehicle driving path affects the normal driving of the other vehicle, thereby causing the driver of the other vehicle to have a negative emotion, the ego vehicle is controlled to prompt the information for comforting the driver of the other vehicle, which can relieve the negative emotion of the driver of the other vehicle, thereby reducing the possibility of the driver of the other vehicle making a behavior threatening the driving safety, and helping to improve the driving safety.

[0009] In some implementations, controlling the second vehicle to prompt the first prompt information can include: controlling a display device (such as an out-of-cabin display screen, a window, a tail light, a headlight, etc.) and / or an out-of-cabin sound device of the second vehicle to prompt the first prompt information.

[0010] In some implementations, the first prompt information includes at least one of text information, image information, animation information, and audio information.

[0011] In combination with the first aspect, in some implementations of the first aspect, controlling the first vehicle to display the first prompt information includes: controlling a first region of the second vehicle to display the first prompt information according to a first orientation of the first vehicle, where the first region corresponds to the first orientation.

[0012] In the technical solution, according to the position of the other vehicle relative to the ego vehicle, the ego vehicle is controlled to display the comfort information in the region opposite to the orientation of the other vehicle, which can enable the driver of the other vehicle to timely receive the comfort information, helps to ensure the comfort effect of the comfort information, and further improves the driving safety.

[0013] In combination with the first aspect, in some implementations of the first aspect, the method further includes: when the first vehicle is transformed to a second orientation, controlling a second region of the second vehicle to display the first prompt information, where the second region corresponds to the second orientation.

[0014] In some implementations, the second orientation is different from the first orientation, and the second region and the first region can be the same or different.

[0015] In the technical solution, when the position of the other vehicle changes, the ego vehicle is controlled to display the comfort information in the region opposite to the orientation of the other vehicle after the position changes, which helps to ensure that the driver of the other vehicle continuously receives the comfort information, helps to ensure the comfort effect of the comfort information, and further improves the driving safety.

[0016] With reference to the first aspect, in some implementations of the first aspect, the controlling the second vehicle to prompt the first prompt information comprises: controlling the second vehicle to prompt the first prompt information according to at least one of the following: driving experience of the driver of the second vehicle, or road condition in front of the second vehicle.

[0017] In some implementations, the controlling the second vehicle to prompt the first prompt information according to the driving experience of the driver of the second vehicle and / or the road condition in front of the second vehicle can be understood as: determining the specific content of the first prompt information according to the driving experience of the driver of the second vehicle and / or the road condition in front of the second vehicle, and then controlling the second vehicle to prompt the first prompt information.

[0018] In the above technical solution, different soothing information can be prompted according to different driving scenarios, which helps to improve the effectiveness of the soothing information for the driver of the other vehicle, and improves the intelligence of the vehicle.

[0019] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: detecting second driving behavior information of the first vehicle within a first time length from the start of prompting the first prompt information; when the second driving behavior information no longer triggers the emotional soothing condition, controlling the second vehicle to stop prompting the first prompt information; or when the second driving behavior information still triggers the emotional soothing condition, controlling the second vehicle to prompt second prompt information, the second prompt information being different in type from the first prompt information.

[0020] In some implementations, the second prompt information being different in type from the first prompt information can comprise at least one of the following: the content of the first prompt information being different from the content of the second prompt information; or the prompting manner of the first prompt information being different from the prompting manner of the second prompt information.

[0021] In the above technical solution, when prompting the soothing information for soothing the driver of the other vehicle, it can be determined according to the driving behavior of the other vehicle whether the soothing information is effective, and other types of prompt information are replaced when the soothing information is ineffective, which helps to improve the effectiveness of the soothing information for the driver of the other vehicle, thereby improving the driving safety.

[0022] With reference to the first aspect, in some implementations of the first aspect, the method further comprises: when detecting a first emotion of the driver of the second vehicle, controlling the second vehicle to prompt third prompt information, the third prompt information being used for soothing the driver of the second vehicle, the first emotion comprising an angry emotion and / or an impatient emotion.

[0023] In some implementations, the controlling the second vehicle to prompt the third prompt information can comprise: controlling at least one of the following of the second vehicle to prompt the third prompt information: a display device (such as an in-cabin display screen) of the second vehicle, a light device (such as an atmosphere lamp) of the second vehicle, and an in-cabin sound producing device of the second vehicle.

[0024] In some implementations, the third prompt information includes at least one of text information, image information, animation information, audio information, and light information.

[0025] In the technical solution described above, when it is determined that the driver of the ego vehicle is in an angry mood and / or an impatient mood, the soothing information can be prompted by the prompting device, which helps to relieve the negative emotions of the driver of the ego vehicle, thereby improving the driving safety.

[0026] In combination with the first aspect, in some implementations of the first aspect, the method further includes: detecting the mood of the driver of the second vehicle within a second time length from the start of prompting the third prompt information; when the first mood of the driver of the second vehicle is not relieved, controlling the second vehicle to prompt fourth prompt information, the fourth prompt information and the third prompt information being different in type; or when the first mood of the driver of the second vehicle is relieved, controlling the second vehicle to prompt fifth prompt information, the fifth prompt information and the third prompt information being the same in type; wherein the fourth prompt information and the third prompt information being different in type includes at least one of the following: different in content; different in prompting manner; or when the third prompt information and the fourth prompt information both include voice information, the tone and / or the tone of the voice information in the third prompt information and the fourth prompt information are different.

[0027] In the technical solution described above, when the soothing information for soothing the driver of the ego vehicle is prompted, it can be determined according to the mood of the driver of the ego vehicle whether the soothing information is effective, and other types of prompt information are replaced when the soothing information is not effective, which helps to improve the effectiveness of the soothing information for the driver of the ego vehicle, thereby improving the driving safety.

[0028] In combination with the first aspect, in some implementations of the first aspect, controlling the second vehicle to prompt the third prompt information includes: controlling the second vehicle to prompt the third prompt information according to the prompt information preference of the driver of the second vehicle.

[0029] In some implementations, the prompt information preference is used to indicate the soothing style and / or the soothing manner of the third prompt information preferred by the driver of the second vehicle.

[0030] In the technical solution described above, the soothing information for soothing the driver of the ego vehicle is determined according to the preference of the driver of the ego vehicle, which helps to improve the effectiveness of the soothing information for the driver of the ego vehicle, thereby improving the driving safety.

[0031] In combination with the first aspect, in some implementations of the first aspect, controlling the second vehicle to prompt the third prompt information includes: controlling the second vehicle to prompt the third prompt information according to at least one of the following information: the road condition in front of the second vehicle, the emotion soothing condition triggering situation of the first vehicle, or the driving experience of the driver of the vehicle in front of the second vehicle. In combination with the first aspect, in some implementations of the first aspect, the method further includes: detecting the mood of the driver of the second vehicle within a second time length from the start of prompting the third prompt information; when the first mood of the driver of the second vehicle is not relieved, controlling the second vehicle to prompt fourth prompt information, the fourth prompt information and the third prompt information being different in type; or when the first mood of the driver of the second vehicle is relieved, controlling the second vehicle to prompt fifth prompt information, the fifth prompt information and the third prompt information being the same in type; wherein the fourth prompt information and the third prompt information being different in type includes at least one of the following: different in content; different in prompting manner; or when the third prompt information and the fourth prompt information both include voice information, the tone and / or the tone of the voice information in the third prompt information and the fourth prompt information are different.

[0032] In some implementations, the third prompt information is prompted by the second vehicle according to at least one of a road condition in front of the second vehicle, the mood soothing condition triggering situation of the first vehicle, or driving experience of a driver of a vehicle in front of the second vehicle. It can be understood that: according to one or more of the road condition in front of the second vehicle, the mood soothing condition of the first vehicle being triggered, or the driving experience of the driver of the vehicle in front of the second vehicle being less, the content of the third prompt information is determined, and then the third prompt information is prompted by the second vehicle.

[0033] In the above technical solution, different soothing information can be prompted according to different driving scenes, which helps to improve the effectiveness of the soothing information for the driver of the ego vehicle, and improves the intelligence of the vehicle.

[0034] With reference to the first aspect, in some implementations of the first aspect, the method further includes: when detecting a first emotion of a driver of the second vehicle, performing at least one of the following: adjusting an air conditioning temperature of the second vehicle; or controlling the second vehicle to turn on a first fragrance, the first fragrance being used for stabilizing the emotion.

[0035] The second aspect provides a control device, including an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire first driving behavior information of a first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane changing behavior, lane changing frequency, horn sounding duration, horn sounding frequency, and headlamp flashing duration; and the processing unit is configured to: when the first driving behavior information triggers a mood soothing condition of the first vehicle, control a second vehicle to prompt first prompt information, the first prompt information being used for soothing a driver of the first vehicle.

[0036] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: according to a first orientation of the first vehicle, control a first area of the second vehicle to prompt the first prompt information, wherein the first area corresponds to the first orientation.

[0037] With reference to the second aspect, in some implementations of the second aspect, the processing unit is further configured to: when the first vehicle changes to a second orientation, control a second area of the second vehicle to display the first prompt information, the second area corresponding to the second orientation.

[0038] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: according to at least one of the following information, control the second vehicle to prompt the first prompt information: driving experience of a driver of the second vehicle, or a road condition in front of the second vehicle.

[0039] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a first detecting unit, configured to: detect the second driving behavior information of the first vehicle within a first time duration during which the first prompt information is prompted; and the processing unit is further configured to: control the second vehicle to stop prompting the first prompt information when the second driving behavior information no longer triggers the emotional appeasing condition; or control the second vehicle to prompt a second prompt information when the second driving behavior information still triggers the emotional appeasing condition, the second prompt information being different from the first prompt information in type.

[0040] With reference to the second aspect, in some implementations of the second aspect, the apparatus further includes a second detecting unit, and the processing unit is further configured to: control the second vehicle to prompt a third prompt information when the second detecting unit detects a first emotion of a driver of the second vehicle, the third prompt information being used to appease the driver of the second vehicle, the first emotion including an angry emotion and / or an impatient emotion.

[0041] With reference to the second aspect, in some implementations of the second aspect, the second detecting unit is further configured to: detect an emotion of the driver of the second vehicle within a second time duration since the third prompt information is prompted; and the processing unit is further configured to: control the second vehicle to prompt a fourth prompt information when the first emotion of the driver of the second vehicle is not alleviated, the fourth prompt information being different from the third prompt information in type; or control the second vehicle to prompt a fifth prompt information when the first emotion of the driver of the second vehicle is alleviated, the fifth prompt information being the same as the third prompt information in type; wherein the fourth prompt information being different from the third prompt information in type includes at least one of: different content; different prompting manners; or when the third prompt information and the fourth prompt information both include voice information, the voice information in the third prompt information and the voice information in the fourth prompt information being different in tone and / or intonation.

[0042] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the second vehicle to prompt the third prompt information according to a prompt information preference of the driver of the second vehicle.

[0043] With reference to the second aspect, in some implementations of the second aspect, the processing unit is configured to: control the second vehicle to prompt the third prompt information according to at least one of: a road condition in front of the second vehicle, a triggering condition of the emotional appeasing condition of the first vehicle, or a driving experience of a driver of a preceding vehicle of the second vehicle.

[0044] With reference to the second aspect, in some implementations of the second aspect, the processing unit further includes: adjusting an air conditioning temperature of the second vehicle; or controlling the second vehicle to turn on a first fragrance, the first fragrance being used to stabilize the emotion, when the second detecting unit detects the first emotion of the driver of the second vehicle.

[0045] In a third aspect, a control apparatus is provided, which comprises: a processor configured to execute a computer program stored in a memory to cause the apparatus to perform the method in any possible implementation of the first aspect.

[0046] In some implementations of the third aspect, the control apparatus further comprises the memory.

[0047] In a fourth aspect, a vehicle is provided, which comprises the apparatus in any possible implementation of the second aspect or the third aspect.

[0048] In a fifth aspect, a computer program product is provided, which comprises: computer program codes, which, when executed on a computer or a processor, cause the computer or the processor to perform the method in any possible implementation of the first aspect.

[0049] It should be noted that the computer program codes can be stored in the storage medium in whole or in part, and the storage medium can be packaged together with the processor or packaged separately from the processor.

[0050] In a sixth aspect, a computer readable medium is provided, which stores instructions, which, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0051] In a seventh aspect, a chip is provided, which comprises a circuit configured to perform the method in any possible implementation of the first aspect.

[0052] The beneficial effects not described in the second aspect to the seventh aspect can be referred to the description in the first aspect, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0053] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application;

[0054] FIG. 2 is a schematic block diagram of a control system according to an embodiment of the present application;

[0055] FIG. 3 is a schematic flowchart of a control method according to an embodiment of the present application;

[0056] FIG. 4 is a schematic diagram of a self-vehicle display area according to an embodiment of the present application;

[0057] FIG. 5 is a schematic diagram of an application scenario of a control method according to an embodiment of the present application;

[0058] FIG. 6 is another schematic diagram of an application scenario of a control method according to an embodiment of the present application;

[0059] FIG. 7 is another schematic flow chart of the control method according to an embodiment of the present application;

[0060] FIG. 8 is yet another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0061] FIG. 9 is yet another schematic diagram of an application scenario of the control method according to an embodiment of the present application;

[0062] FIG. 10 is a schematic diagram of a GUI according to an embodiment of the present application;

[0063] FIG. 11 is another schematic flow chart of the control method according to an embodiment of the present application;

[0064] FIG. 12 is a schematic block diagram of a control device according to an embodiment of the present application;

[0065] FIG. 13 is another schematic block diagram of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0067] FIG. 1 is a functional block diagram of a vehicle according to an embodiment of the present application. As shown in FIG. 1, the vehicle 100 can include a perception system 120, a prompting device 130 and a computing platform 150, wherein the perception system 120 can include several sensors for sensing information of the environment around the vehicle 100. For example, the perception system 120 can include a positioning system, which can be a global positioning system (GPS), a Beidou system or other positioning systems. For another example, the perception system 120 can further include one or more of an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, a sound sensor (including an in-cabin sound sensor and an out-cabin sound sensor) and a vision sensor (including an in-cabin vision sensor and an out-cabin vision sensor).

[0068] The prompting device 130 can include any of the following: a sound-emitting device, a display device, a light device. Among them, the sound-emitting device can include a loudspeaker, a sound box, etc. The display device is mainly divided into two categories, the first category is a vehicle-mounted display screen; the second category is a projection display screen, such as a head-up display (HUD). The vehicle-mounted display screen is a kind of physical display screen, and is an important part of the vehicle information entertainment system. The vehicle-mounted display screen can include a human machine interface (HMI). The head-up display, also known as a head-up display system, is mainly used to display driving information such as speed, navigation, etc. on a display device in front of the user (such as the windshield), so as to reduce the user's visual transfer time, avoid pupil changes caused by the user's visual transfer, and improve driving safety and comfort. The light device involved in the present application is used to display light, or to display patterns through light. The light device can be an atmosphere lamp or a breathing lamp composed of light emitting diode (LED) lamp beads or lamp strips, wherein the lamp strip can include a plurality of LED lamp beads; or the light device can also be other types of lamps. The light device can be arranged at positions such as an instrument panel, a central control screen, etc. The light device can also be arranged around the display screen such as the instrument panel, the central control screen, etc. or other positions convenient for prompting information to the driver, such as the steering wheel. Or the light device can also be a digital light processing (DLP) based device (hereinafter referred to as DLP headlight), through which a specific pattern can be projected onto the road outside the vehicle to achieve the purpose of prompting other road users. Or the light device can also include the tail light of the vehicle 100, which can be a matrix type tail light composed of LED lamp beads, through which a series of patterns and / or texts can be displayed.

[0069] Part or all functions of the vehicle 100 can be controlled by the computing platform 150. The computing platform 150 can include processors 151-15n, which are circuits having a processing capability of signals. In one implementation, the processors can be circuits having an instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a kind of microprocessor), a digital signal processor (DSP), and the like. In another implementation, the processors can be circuits having a certain function implemented by a logic relationship of hardware circuits, which is fixed or can be reconfigured, such as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD) implemented hardware circuit, such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration process, which can be understood as the process of the processor loading instructions to implement the functions of the above part or all units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a kind of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), and the like. In addition, the computing platform 150 can also include a memory for storing instructions, and part or all of the processors 151-15n can call the instructions in the memory to implement corresponding functions.

[0070] Optionally, the above structure of the vehicle 100 is only schematic, and in actual application, each component in the vehicle 100 described above can be added or deleted according to actual needs.

[0071] FIG. 2 shows a schematic block diagram of a control system according to an embodiment of the present application. As shown in FIG. 2, the system includes an emotion detection module 210, a he-vehicle emotion appeasing module 220, a self-vehicle emotion appeasing module 230, and a fusion control module 240. The emotion detection module 210 can include one or more sensors in the perception system 120 of the vehicle 100, or can further include one or more processors in the computing platform 150; in some implementations, the emotion detection module 210 can also include one or more processors in a cloud server in communication with the vehicle 100. The he-vehicle emotion appeasing module 220, the self-vehicle emotion appeasing module 230, and the fusion control module 240 can each include one or more processors in the computing platform 150. The roles of the modules in the system shown in FIG. 2 are described below as items (I) to (IV).

[0072] (I) The emotion detection module 210 includes a self-vehicle emotion detection module 211 and a he-vehicle emotion detection module 212. The self-vehicle emotion detection module 211 determines the emotion of the driver of the self-vehicle according to one or more of the voice detected by the in-cabin sound sensor, the facial expression information and / or the body information of the driver detected by the in-cabin vision sensor, and the vehicle control information, in combination with a voice recognition algorithm, a sound source recognition algorithm, a facial key point detection algorithm, an emotion recognition algorithm, etc. to obtain an emotion detection result. The he-vehicle emotion detection module 212 determines the dangerousness of the he-vehicle according to the he-vehicle behavior information (such as whether the he-vehicle honks for a long time, frequently changes lanes, or frequently flashes lights) detected by the out-of-cabin sound sensor and / or the out-of-cabin vision sensor; or the he-vehicle emotion detection module 212 can also obtain information of the he-vehicles around the self-vehicle from the RSU or the cloud server, such as the emotion information of the driver of the he-vehicle, the speed and / or acceleration of the he-vehicle, etc., and determine the dangerousness of the he-vehicle in combination with these information. It can be understood that in some cases, the dangerousness of the he-vehicle can reflect the emotion of the driver of the he-vehicle. Further, the emotion detection module 210 sends the detection result to the he-vehicle emotion appeasing module 220, the self-vehicle emotion appeasing module 230, and the fusion control module 240, respectively.

[0073] (ii) The ego car emotion soothing module 220 is configured to control the ego car to present soothing information to soothe the other car driver's emotion when the ego car emotion soothing module 220 determines that the other car's driving behavior information satisfies the ego car's emotion soothing condition (e.g., the other car's danger level is greater than or equal to a danger level threshold). The ego car emotion soothing module 220 can further obtain the position of the other car relative to the ego car from the fusion control module 240. Further, the ego car emotion soothing module 220 is configured to control the ego car to display soothing information 1 in a region corresponding to the position of the other car to soothe the other car driver's emotion when the ego car emotion soothing module 220 determines that the other car's danger level is greater than the danger level threshold. For example, when the other car is behind the ego car, the ego car emotion soothing module 220 can control the ego car to display the soothing information 1 in a region of the ego car's rear (e.g., the rear windshield, the blank region of the rear windshield, the blank region below the license plate, etc.). When the other car is at the left rear of the ego car, the ego car emotion soothing module 220 can control the ego car to display the soothing information 1 in a region of the ego car's rear and / or the left rear door (e.g., the left rear door's window, the blank region below the left rear door's window, etc.). When the other car is at the right rear of the ego car, the ego car emotion soothing module 220 can control the ego car to display the soothing information 1 in a region of the ego car's rear and / or the right rear door (e.g., the right rear door's window, the blank region below the right rear door's window, etc.). In addition, the ego car emotion soothing module 220 can further obtain the road condition in front of the ego car, the ego car driver's driving experience, etc. from the fusion control module 240, and determine the specific content of the soothing information 1 according to at least one of the foregoing information.

[0074] (iii) The ego car emotion soothing module 230 is configured to control the ego car's presentation device to present soothing information 2 to soothe the ego car driver's emotion when the ego car driver's emotion is an angry emotion and / or an impatient emotion. The presentation device can include the presentation device 130 shown in FIG. 1. In some implementations, the ego car emotion soothing module 230 can further obtain the ego car driver's identity information from the fusion control module 240, the identity information being associated with the ego car driver's preference, and the ego car emotion soothing module 230 can determine the type of the soothing information 2 (e.g., humor, mischief, etc.) according to the ego car driver's preference. Further, the ego car emotion detection module 211 can continuously detect the ego car driver's emotion when the ego car emotion soothing module 230 controls the ego car's presentation device to present the soothing information 2, and the ego car emotion soothing module 230 can adjust the soothing information according to the change of the ego car driver's emotion. For example, when the ego car driver's emotion is relieved, the ego car emotion soothing module 230 can continuously present the same type of soothing information until the ego car driver's angry emotion and / or impatient emotion is reduced to a certain threshold. If the ego car driver's emotion is not relieved within a certain time period (e.g., 30 seconds or 40 seconds, etc.), the ego car emotion soothing module 230 can switch the soothing information to another type (e.g., switch the soothing information of the same enemy type to the soothing information of the mischief type). In addition, the ego car emotion soothing module 230 can further obtain the road condition in front of the ego car, the other car's danger level, etc. from the fusion control module 240, and determine the specific content of the soothing information 2 according to at least one of the foregoing information.

[0075] It should be noted that the type of the appeasing information is consistent with the enemy, which can be understood as the content of the appeasing information conforms to the user's emotion or helps the user express emotion, so as to achieve the purpose of releasing the user's emotion. For example, when the user is in an angry emotion, the consistent with the enemy type information can be the text and / or voice for releasing the user's angry emotion from the user's perspective, such as information with content such as "this person is too much, how can he do this to us!".

[0076] (Four) The fusion control module 240 is configured to send the position information of the other vehicle, the road condition information in front of the ego vehicle, the driving experience information of the driver of the ego vehicle, the gender information of the driver of the other vehicle, and the like to the other-vehicle-emotion appeasing module 220. The fusion control module 240 is also configured to send the identity information of the driver of the ego vehicle, the road condition information in front of the ego vehicle, the driving experience information of the driver of the other vehicle, and the like to the ego-vehicle-emotion appeasing module 230.

[0077] It should be understood that the above modules are only an example, and in actual application, the above modules can be added or deleted according to actual needs. For example, in the system architecture shown in FIG. 2, the other-vehicle-emotion appeasing module 220 and the ego-vehicle-emotion appeasing module 230 can be combined into one module. For another example, the system architecture shown in FIG. 2 can further include a prompting module, which can include the prompting device 130 shown in FIG. 1.

[0078] The above introduces the control system architecture provided by the embodiments of the present application, and the following details the flow of the control method provided by the embodiments of the present application based on the control system shown in FIG. 2.

[0079] FIG. 3 shows a schematic flowchart of the control method provided by the embodiments of the present application. The method can be applied to the vehicle 100 shown in FIG. 1, or the method can be executed by the system shown in FIG. 2. More specifically, the method 300 can be executed by the other-vehicle-emotion appeasing module 220, and the method can include:

[0080] S301, obtaining driving behavior information of other vehicles around the ego vehicle.

[0081] In some implementations, the driving behavior information can include at least one of the following: dangerous lane-changing behavior, lane-changing frequency, horn sounding duration, horn sounding frequency, headlamp flashing duration. Alternatively, the driving behavior information can also include speed, acceleration, and the like of the other vehicle. In an example, the horn sounding duration and the horn sounding frequency of the other vehicle can be determined according to the information collected by the cabin-outside sound sensor of the ego vehicle; the headlamp flashing duration of the other vehicle can be determined according to the information collected by the cabin-outside vision sensor of the ego vehicle, wherein the headlamp flashing can be the switching between high beam and low beam of the headlamp; the speed and / or acceleration of the other vehicle can be determined according to the information collected by the radar sensor of the ego vehicle or the cabin-outside vision sensor of the ego vehicle. In another example, the ego vehicle can receive the speed, acceleration, and the like of the other vehicle from the cloud server or the RSU.

[0082] Exemplarily, the dangerous lane-changing behavior of a vehicle can refer to the lane-changing of the vehicle affecting the driving path of other vehicles (such as the ego vehicle) on the road, for example, the lane-changing of the vehicle causing other vehicles to avoid the vehicle by sudden deceleration or lane-changing.

[0083] S302, when the driving behavior information of the vehicle 1 meets the emotion appeasing condition, the ego vehicle is controlled to prompt information 1, which is used to appease the driver of the vehicle 1.

[0084] Exemplarily, the distance between the vehicle 1 and the ego vehicle is less than or equal to a certain distance (for example, 50 meters, or 100 meters, or other distances). In some implementations, the information 1 includes the appeasing information 1 in the foregoing embodiments.

[0085] In some implementations, when the driving behavior information of the vehicle 1 meets at least one of the following: the vehicle 1 has dangerous lane-changing behavior; the horn sounding duration of the vehicle 1 is greater than or equal to a duration threshold 1; the headlamp flashing duration of the vehicle 1 is greater than or equal to a duration threshold 2; the horn sounding frequency of the vehicle 1 is greater than or equal to a frequency threshold 1; or, the lane-changing frequency of the vehicle 1 is greater than or equal to a frequency threshold 2, it is determined that the driving behavior information of the vehicle 1 meets the emotion appeasing condition.

[0086] In yet some implementations, the dangerous degree of the vehicle 1 can be determined according to the driving behavior information of the other vehicle, and when the dangerous degree of the vehicle 1 is greater than or equal to a dangerous degree threshold, it is determined that the driving behavior information of the vehicle 1 meets the emotion appeasing condition. Wherein, the dangerous degree of the vehicle 1 can be represented according to a dangerous degree table.

[0087] In an example, the risk degree score of the other vehicle can be determined according to the following formula: S1 = a*W + b*V, where the greater the value of S1, the higher the risk degree of the other vehicle. W represents the detection result of the honking, and W is 0 when the honking duration is less than a duration threshold 1 and the honking frequency is less than a frequency threshold 1, otherwise, W is 1. V represents the detection result of the visual sensor, and V is 0 when the duration of the headlamp flashing is less than a duration threshold 2 and the frequency of the other vehicle changing lanes is less than a frequency threshold 2, otherwise, V is 1. a and b represent the weights of the detection result of the honking and the detection result of the visual sensor, respectively, and a can be 1 and b can be 2, or a and b can also be other values. When a is 1 and b is 2, S1 is greater than or equal to 0 and less than or equal to 3.

[0088] In another example, the risk degree score of the other vehicle can be determined according to the following formula: S2 = a'*W + b'*FL + c'*CL + d'*Ac, where the greater the value of S2, the higher the risk degree of the other vehicle. W represents the detection result of the honking, and W is 0 when the honking duration is less than a duration threshold 1 and the honking frequency is less than a frequency threshold 1, otherwise, W is 1. FL represents the detection result of the headlamp, and FL is 0 when the duration of the headlamp flashing is less than a duration threshold 2, otherwise, FL is 1. CL represents the detection result of the other vehicle changing lanes, and CL is 0 when the frequency of the other vehicle changing lanes is less than a frequency threshold 2, otherwise, CL is 1. A represents the detection result of the motion parameter of the other vehicle, and Ac is 0 when the speed of the other vehicle is less than a speed threshold and the acceleration of the other vehicle is less than an acceleration threshold, otherwise, Ac is 1. a', b', c', and d' represent the weights of the detection result of the honking, the detection result of the headlamp, the detection result of the other vehicle changing lanes, and the detection result of the motion parameter of the other vehicle, respectively, and a', b', c', and d' can all be 1, or they can also be other values. When a', b', c', and d' are all 1, S2 is greater than or equal to 0 and less than or equal to 4.

[0089] For example, the duration threshold 1 can be 3 seconds, or 2 seconds, or other values. The frequency threshold 1 can be 5 times per second, or 3 times per second, or other values. The duration threshold 2 can be 1 second, or 2 seconds, or other values. The frequency threshold 2 can be 3 times per minute, or other values. The speed threshold can be the speed limit of the road, or 120% of the speed limit of the road, or other values. The acceleration threshold can be 10 km / s 2 , or other values. For example, when S1 is used to represent the risk degree of the vehicle, the threshold 1 can be 1, or other values. Or, when S2 is used to represent the risk degree of the vehicle, the threshold 1 can be 1, or 2, or other values.

[0090] It should be noted that in actual implementation, the dangerous degree of the other vehicle can also be measured by other ways other than the above formula.

[0091] In some implementations, the information 1 includes one or more of text information, image information, and audio information; and the control of the self vehicle to prompt the information 1 can include at least one of the following: controlling an out-of-cabin sound device (such as an out-of-cabin loudspeaker) of the self vehicle to play the audio information; controlling a display device (such as a vehicle window or a display device outside the self vehicle) of the self vehicle to display the text information and / or the image information; and controlling an out-of-cabin light device (such as a DLP headlamp or a tail lamp) of the self vehicle to display the text information and / or the image information.

[0092] For example, when the information 1 is prompted by the display device and / or the out-of-cabin light device, the vehicle 1 can prompt the information 1 through the region 1. The region 1 can include at least one of a rear region of the vehicle, such as the rear windshield A, the blank area B between the license plate and the windshield, the blank area C below the license plate, or the tail lamp F shown in (a) of FIG. 4; or the region 1 can include a left rear region of the vehicle, such as the left rear window D and / or the blank area E near the left rear door handle shown in (a) of FIG. 4; or the region 1 can include a right rear region of the vehicle, such as the right rear window and / or the blank area (not shown in the figure) near the right rear door handle of the vehicle; or the region 1 can also include a front region of the vehicle, such as the front headlamp (such as a DLP headlamp) of the vehicle.

[0093] When it is required to display information on any position on the rear windshield A, the left rear window D, or the right rear window, the information can be projected to the glass at the corresponding position through one or more projection devices in the self vehicle. In an example, the projection device can be arranged at the position G shown in (b) of FIG. 4, i.e., the position aligned between the main driver seat and the front passenger seat on the roof of the self vehicle, and when it is required to project information to the rear windshield A, the left rear window D, or the right rear window, the light outlet direction and the focal length of the projection device are adjusted so that the projected image can be displayed externally on the target window. In addition, a display screen (such as an ink screen or an LED screen) can be arranged in the blank area B, the blank area C, or the blank area near the right rear door handle to achieve the purpose of displaying the calming information in the above blank areas.

[0094] In some implementations, the information 1 can be displayed by the region 1 of the self vehicle according to the orientation of the vehicle 1 relative to the self vehicle, i.e., the orientation of the region 1 and the vehicle 1 relative to the self vehicle corresponds.

[0095] In an example, the vehicle rear region is controlled to display the information 1 when the vehicle 1 is located behind the ego vehicle and the distance between the head of the vehicle 1 and the tail of the ego vehicle is greater than or equal to a distance threshold 1. The distance threshold 1 can be 10 cm, or 30 cm, or other values. For example, as shown in (a) of FIG. 5, the rear windshield A is controlled to display the information 1 when the vehicle 1 is located at the position 1 or the position 2 or directly behind the ego vehicle. It is understood that the display device at the blank region B and / or the blank region C can also be controlled to display the information 1.

[0096] In another example, the vehicle left rear region is controlled to display the information 1 when the vehicle 1 is located at the left rear of the ego vehicle and the head of the vehicle 1 is located between the tail and the head of the ego vehicle. For example, as shown in (b) of FIG. 5, the left rear window D is controlled to display the information 1 when the vehicle 1 is located at the position 3. It is understood that the display device at the blank region E can also be controlled to display the information 1. In some implementations, the rear windshield A, the blank region B, or the blank region C can also be controlled to display the information 1 when the left rear window D and / or the display device at the blank region E is controlled to display the information 1. The information 1 displayed at different locations can have the same or different content.

[0097] In yet another example, the vehicle right rear region is controlled to display the information 1 when the vehicle 1 is located at the right rear of the ego vehicle and the head of the vehicle 1 is located between the tail and the head of the ego vehicle. For example, as shown in (c) of FIG. 5, the right rear window of the ego vehicle is controlled to display the information 1 when the vehicle 1 is located at the position 4. It is understood that the display device at the blank region near the right rear door handle can also be controlled to display the information 1. In some implementations, the rear windshield A, the blank region B, or the blank region C can also be controlled to display the information 1 when the right rear window and / or the display device at the blank region near the right rear door handle is controlled to display the information 1. The information 1 displayed at different locations can have the same or different content.

[0098] In yet another example, the vehicle head region is controlled to display the information 1 when the vehicle 1 is located in front of the ego vehicle and the distance between the tail of the vehicle 1 and the head of the ego vehicle is less than or equal to a distance threshold 2. For example, when the vehicle 1 accelerates and changes lanes to the front of the ego vehicle, the DLP headlamp of the ego vehicle is controlled to project the information 1 to appease the driver of the vehicle 1.

[0099] In some implementations, the information 1 can be text information for soothing the driver of the vehicle 1. In an example, the text information can be general soothing information (or persuasion information), such as "Dear, don't be in a hurry, safety first" as shown in (a) of FIG. 5, or "There are thousands of roads, safety is the first road" as shown in (b) of FIG. 5. In another example, the text information can be soothing information determined according to the road condition in front of the ego vehicle; for example, the front nearest intersection has a green light, and the ego vehicle stops, and if the ego vehicle is yielding to other road users, and the driving behavior information of the vehicle 1 triggers the emotional soothing condition, the text information can be soothing information determined according to the road condition of yielding, such as "The front is yielding, don't be in a hurry, old man" as shown in (c) of FIG. 5. In another example, the text information can be soothing information determined according to the experience of the driver of the ego vehicle; for example, when the driver of the ego vehicle is a novice driver (i.e., insufficient driving experience), the text information can also be soothing information determined according to the driving experience of the driver of the ego vehicle, such as "I am a novice, please understand" as shown in (c) of FIG. 5. In another example, the text information can be soothing information determined according to a time period; for example, when the vehicle is in the rush hour for going to work, the text information can be soothing information determined according to the rush hour for going to work, such as "Everyone is in a hurry to go to work, please understand" ; for another example, when the vehicle is in the rush hour for going home, the text information can be soothing information determined according to the rush hour for going home, such as "Don't be in a hurry, drive smoothly, so as to return to your warm and cozy home faster". In another example, the text information can be soothing information determined according to the geographical location of the road segment being driven; for example, the text information can be a soothing sentence expressed in the local dialect determined according to the geographical location. It should be noted that in some implementations, the content of the information 1 as described above can also be played through the out-of-cabin sound device, i.e., the information 1 can also be audio information.

[0100] In some scenarios, the information 1 can also include images such as emoticons and color text with soothing effects, such as the cute emoticon "(·ω·)" as shown in (c) of FIG. 5; or the information 1 can also include animations with soothing effects, etc.

[0101] In some implementations, the information 1 can be preset content, or the information 1 can also be generated in response to the settings and / or inputs of the driver of the ego vehicle. For example, when it is determined that the driving behavior information of the vehicle 1 meets the emotional appeasement condition, the driver of the vehicle 1 is prompted to appease through the prompting device (such as the in-cabin display screen, the in-cabin), and then the information 1 is generated according to the detected voice of the driver of the ego vehicle. In an example, taking the vehicle 1 located behind the ego vehicle as an example, as shown in (a) of FIG. 6, when it is detected that the driving behavior information of the vehicle 1 meets the emotional appeasement condition, the message "The driver of the car behind seems to be in a hurry. If you have something to convey to him, we can help you relay it" is displayed on the center screen. Further, the driver of the ego vehicle can input a voice, for example, as shown in (b) of FIG. 6, when the driver of the vehicle 1 is observed to be a female through the rearview mirror by the driver of the ego vehicle, if the voice "Miss, please don't be in a hurry, safety first" of the driver of the ego vehicle is detected, the text information "Miss, please don't be in a hurry, safety first" is generated, and the information is displayed on the rear area of the ego vehicle, for example, as shown in (c) of FIG. 6, the aforementioned information is displayed on the rear windshield. In another example, when the ego vehicle cuts in the vehicle 1, causing the driving behavior information of the vehicle 1 to meet the emotional appeasement condition, the driver of the ego vehicle can still be prompted by the center screen that the car behind needs to be appeased, and further, when the voice "Please tell him that I have urgent matters and please understand" of the driver of the ego vehicle is detected by the ego vehicle, the information 1 "Sorry, sorry, I have urgent matters that affect your driving, please understand (o)" is generated, and the aforementioned information is displayed on the area of the ego vehicle corresponding to the position of the vehicle 1. In actual implementation, the information 1 can also be generated by a large language model (LLM), for example, the ego vehicle prompts the driver of the vehicle 1 to appease through the prompting device, after the driver of the ego vehicle receives the information that the driver of the vehicle 1 needs to be appeased, the driver of the ego vehicle can input the voice "Help me to appease the beautiful lady", when the aforementioned voice of the driver of the ego vehicle is detected by the ego vehicle, the text of the information 1 can be generated according to the aforementioned voice, for example, "Hey sister, you don't have to be angry, what is more important than safely reaching the destination", and the aforementioned information is displayed on the area of the ego vehicle corresponding to the position of the vehicle 1.

[0102] In some embodiments, during the process of displaying information 1 in region 1 of the ego vehicle, the driving behavior of the vehicle 1 is detected, and it is determined whether to continue displaying the information 1 according to the driving behavior of the vehicle 1. In an example, when the driving behavior of the vehicle 1 no longer satisfies the emotional soothing condition (e.g., the danger level of the vehicle 1 is less than a threshold 1), the ego vehicle stops prompting the information 1. In another example, within a time period 1 from the ego vehicle prompting the information 1, if the driving behavior of the vehicle 1 still satisfies the emotional soothing condition, the ego vehicle prompts information 2. The type of information 2 is different from the type of information 1, for example, the information 1 is general soothing information, and the information 2 can be humorous soothing information; or the information 1 is text information, and the information 2 can be soothing information containing images or animations; or the information 1 is text information, and the information 2 can include audio information. The time period 1 can be 30 seconds, or can also be 20 seconds, or can also be other time periods.

[0103] In some embodiments, the vehicle 1 is a vehicle other than a public service vehicle (e.g., an ambulance, a police car, a fire truck).

[0104] The control method provided by the embodiments of the present application can determine whether the driver of the other vehicle needs to be soothed according to the driving behavior of the other vehicle around the ego vehicle, and when it is determined that the driver of the other vehicle needs to be soothed, the ego vehicle is controlled to prompt information for soothing the driver of the other vehicle, which helps to alleviate the negative emotions of the driver of the other vehicle, thereby improving the driving safety. In addition, the ego vehicle can be controlled to display soothing information in a region opposite to the other vehicle in terms of direction according to the position of the other vehicle relative to the ego vehicle, which can enable the driver of the other vehicle to timely receive the soothing information, thereby helping to ensure the soothing effect of the soothing information.

[0105] FIG. 7 shows another schematic flowchart of the control method provided by the embodiments of the present application. The method can be applied to the vehicle 100 shown in FIG. 1, or the method can be executed by the system shown in FIG. 2. The method 700 can be executed before the method 300, or can be executed after the method 300, or can be executed synchronously with the method 300. More specifically, the method can be executed by the ego vehicle emotional soothing module 230, and the method can include:

[0106] S701, obtaining biological feature information and voice information of the ego vehicle driver, and vehicle control information of the ego vehicle.

[0107] Exemplarily, the biometric information can include facial feature information and / or limb feature information; the voice information can include tone, preset vocabulary and the like; and the vehicle control information can include at least one of the following: force of the driver holding the steering wheel, frequency of the horn, duration of the horn, opening degree of the pedal (such as the accelerator pedal and / or the decelerator pedal) and opening degree change rate. Exemplarily, the tone of the voice emitted by the driver and whether there is impolite language can be determined according to the information collected by the in-vehicle cabin sound sensor, in combination with a voice recognition algorithm and a sound source recognition algorithm; and the emotion of the driver of the ego vehicle can be determined according to the information collected by the in-vehicle cabin visual sensor, in combination with a face key point detection algorithm and an emotion recognition algorithm.

[0108] S702, determining whether the driver of the ego vehicle is in emotion 1 according to at least one of the biometric information, the voice information or the vehicle control information.

[0109] In some implementations, the emotion 1 of the driver of the ego vehicle can be characterized by an emotion score. The emotion 1 can be an angry emotion and / or an impatient emotion. Exemplarily, the emotion score of the driver of the ego vehicle can be determined according to the following formula: E = a*CR + b*VO + g*VC, and the greater the value of E is, the more angry or impatient the driver of the ego vehicle is. a, b and g can each take 1, or a, b and g can also take other values. Wherein:

[0110] CR represents the detection result of the facial information, CR = a1*CR1 + a2*CR2 + a3*CR3 + a4*CR4, CR1 takes 1 when it is detected that the driver of the ego vehicle frowns, otherwise CR1 takes 0; CR2 takes 1 when it is detected that the upper eyelid of the driver of the ego vehicle is lifted sharply and the lower eyelid is tense, otherwise CR2 takes 0; CR3 takes 1 when it is detected that the driver of the ego vehicle's nose flares, otherwise CR3 takes 0; CR4 takes 1 when it is detected that the driver of the ego vehicle's lips are tightly closed or the upper lip is tense and teeth are exposed, otherwise CR4 takes 0. a1, a2, a3 and a4 represent the weights of the four items respectively, and a1, a2, a3 and a4 can each take 0.25; or a1, a2, a3 and a4 can also take other values, and the sum of a1, a2, a3 and a4 is 1. The value range of CR can be 0 to 1.

[0111] VO represents the detection result of the voice information, VO = b1*VO1 + b2*VO2, VO1 takes 1 when it is detected that the driver of the ego vehicle sounds high-pitched and sharp, otherwise VO1 takes 0; VO2 takes 1 when it is detected that the driver of the ego vehicle uses words sharply and uses aggressive words, otherwise VO2 takes 0. b1 and b2 represent the weights of the two items respectively, and b1 and b2 can each take 0.5; or b1 and b2 can also take other values, and the sum of b1 and b2 is 1. The value range of VO can be 0 to 1.

[0112] VC represents the detection result of the vehicle control information, VC = γ1*VC1 + γ2*VC2 + γ3*VC3 + γ4*VC4, when the steering wheel grip force is greater than the grip force required for normal driving is detected, VC1 takes 1, otherwise, VC1 takes 0; when the accelerator pedal opening rate is greater than or equal to the rate threshold (such as 50% / s, or other numerical values), VC2 takes 1, otherwise, VC2 takes 0; when the self-vehicle headlamp flicker duration is greater than or equal to the duration threshold 2, VC3 takes 1, otherwise, VC3 takes 0; when the horn duration is greater than or equal to the duration threshold 1, or the horn frequency is greater than or equal to the frequency threshold 1, VC4 takes 1, otherwise, VC4 takes 0. γ1, γ2, γ3 and γ4 can take 0.3, 0.3, 0.2, 0.2 respectively; or, γ1, γ2, γ3 and γ4 can also take other numerical values, and the sum of γ1, γ2, γ3 and γ4 is 1. The value range of VC can be 0 to 1.

[0113] More specifically, when any of CR, VO, VC is greater than or equal to threshold 2, it is determined that the ego driver is in emotion 1, wherein the threshold 2 can be 0.7, or other numerical values. Or, when the value of E is greater than or equal to threshold 3, it is determined that the ego driver is in emotion 1, wherein the threshold 3 can be 1, or 1.5, or other numerical values.

[0114] In yet some implementations, the ego driver's emotion can be classified into happy, sad, angry (and / or impatient), disgusted, etc. based on the ego driver's facial expression and tone of voice. A multi-dimensional vector can be used to represent the user's emotional state, i.e., different combinations of emotional dimensions correspond to different dimensional emotional spaces, each emotional dimension has a value range, and the emotional dimension value can be located at any position within the value range. Any emotion can be represented by a set of numerical values, which represent the position of the emotion in the dimensional emotional space. When the emotional dimension value falls into the "angry" dimensional emotional space, it is determined that the ego driver is in emotion 1, otherwise, it is determined that the ego driver is not in emotion 1.

[0115] S703, when the ego driver is in emotion 1, the prompt device is controlled to prompt information a, and the information a is used to calm the ego driver.

[0116] Exemplarily, the prompt device can include one or more of in-cabin display devices (such as center control screens, instrument screens, HUDs, etc.), in-cabin sound devices (such as speakers, sound boxes, etc.), and in-cabin light devices. In some implementations, the information a includes the aforementioned calming information 2.

[0117] In some implementations, the information a can include at least one of text information, audio information, animation information, or light information. The text information can include a soothing sentence; the audio information can include soothing music, soothing voice, etc.; the animation information can include a soothing animation (e.g., an animation of a wooden fish being tapped); and the light information can include cool-toned light (e.g., blue or green light) or light with a soothing effect (e.g., yellow light). Further, the text information can also include a humorous or a same-tribe-against-enemy-tribe sentence, for example, the same-tribe-against-enemy-tribe sentence can include: “It’s so infuriating, how can they do this to us, master, let’s not be so kind to them”; or, a humorous sentence can be displayed as: “Master, your mouth is so puffed that it can hang a bottle, stop being angry”. In addition, the soothing voice can include multiple emotional types, such as gentle, humorous, mischievous, and same-tribe-against-enemy-tribe, and different types of sentences can be played in different tones.

[0118] In an example, identity information of the ego driver can be obtained, the identity information indicating a preference of the ego driver, such as a preference for a gentle, humorous, mischievous, or same-tribe-against-enemy-tribe soothing manner, and then the type of the information a is determined according to the preference of the ego driver. For example, when the ego driver prefers a gentle soothing manner, the information a can include a gentle voice; when the ego driver prefers a humorous soothing manner, the information a can include humorous text and / or voice.

[0119] In another example, the content of the information a can be determined according to the road condition in front of the ego vehicle, for example, when the ego driver is detected to be in emotion 1 in a road congestion, the information a can include text and / or voice of the following content: “The ego vehicle is about to be stuck in a traffic jam, master, you have to hold on, and hold on through this congestion to bring the ego vehicle to a smooth road ahead”.

[0120] In another example, when it is detected that a “intern” label or a “new driver” label is attached to the rear of a vehicle in front of the ego vehicle, and the ego driver is detected to be in emotion 1, it can be determined that the driver of the vehicle in front of the ego vehicle has less driving experience, and then the content of the information a is determined according to the driving experience of the driver of the vehicle in front of the ego vehicle. For example, as shown in FIG. 8, the information a can include text and / or voice of the following content: “Master, don’t be impatient, the person in front may be a new driver, let’s wait for him”.

[0121] In another example, when the ego vehicle has a high speed or acceleration, and the ego driver is detected to be in emotion 1, the content of the information a can be determined according to the motion state of the ego vehicle. For example, as shown in FIG. 9, the information a can include text and / or voice of the following content: “Stop being angry, the bearing is about to emit sparks”.

[0122] In another example, when it is determined by the method 300 that the dangerous degree of the vehicle 1 is higher than the threshold value 1, the content of the information a can be determined according to the dangerous degree of the vehicle 1. For example, the information a can include the text and / or voice as follows: "The car behind may be in a hurry, let's not be angry with him, and let bygones be bygones".

[0123] In another example, the content of the information a can be determined according to the time period, for example, when the vehicle driving time period is the rush hour to work, the information a can be the appeasing information determined according to the rush hour to work, for example, the information a can include the text and / or voice as follows: "Master, everyone is in a hurry to work, let's be patient, and forgive them"; for example, when the vehicle driving time period is the rush hour to leave work, the information a can be the appeasing information determined according to the rush hour to leave work, for example, the information a can include the text and / or voice as follows: "Master, don't be in a hurry, drive smoothly, and you can get back to your warm nest faster".

[0124] In another example, the content of the information a can be determined according to the geographical location of the driving road section, for example, the information a can include the appeasing text and / or voice expressed in the dialect of the region determined according to the geographical location.

[0125] In some implementations, the appeasing information can be played through the voice assistant. When it is determined that the driver is in the emotion 1, the appearance of the voice assistant can also be changed. In an example, when the appearance of the voice assistant is the voice ball as shown in (a) of FIG. 9, when it is determined that the driver is in the emotion 1, the shape of the voice ball can be changed, for example, the voice ball is changed to the wooden fish shape as shown in (b) of FIG. 9, or the voice ball can also display a dynamic knocking wooden fish action; or, when it is determined that the driver is in the emotion 1, the expression of the voice ball can be changed, for example, the expression of the voice ball is changed to the frustrated expression as shown in (c) of FIG. 9, and a touching action is configured. In another example, when the appearance of the voice assistant is the virtual person as shown in (d) of FIG. 9, when it is determined that the driver is in the emotion 1, the dress of the virtual person can be changed, for example, the dress of the virtual person is changed to the style as shown in (e) of FIG. 9; or, when it is determined that the driver is in the emotion 1, the dress of the virtual person can also be changed to a Buddhist robe, etc. In another example, when the voice assistant is a line type appearance, when it is determined that the driver is in the emotion 1, the color of the voice assistant can be changed, for example, the color of the voice assistant is changed to a cool color.

[0126] In some implementations, when the information a includes literal information and / or voice information, the literal information and / or voice information can be preset content, or the literal information and / or voice information can also be information generated by the LLM. For example, when it is determined that the ego driver is in emotion 1, the ego driver is preliminarily comforted through the prompting device (such as the in-cabin display screen, the in-cabin) by prompting the literal information and / or voice information such as "Master, don't be angry". Further, after the ego driver hears or presses the foregoing information, the ego driver can input the voice "voice assistant, I am indeed a little angry, please comfort me in the tone of star a". When the ego driver detects the foregoing voice, the ego driver can generate the text of the information a according to the foregoing voice, for example "You don't want to be angry with the road, it's not worth it to be angry. Think about it, what is it, don't get angry! We have a lot of people, don't be like them. You, drive well, be happy, and you'll be there soon", and play the foregoing text in the tone of star a.

[0127] In some implementations, when the prompting device prompts the information a, the temperature of the air conditioner can also be adjusted, for example, the temperature of the air conditioner is lowered, or when the temperature of the air conditioner is too low, the temperature of the air conditioner can also be increased; or, the fragrance with a calming effect can also be released, etc.

[0128] In some implementations, the emotion level of the ego driver can be determined according to the emotion division, and different soothing ways are adopted when the ego driver is in different emotion levels. Specifically, it can be as shown in Table 1 or Table 2. It should be understood that Table 1 and Table 2 are only exemplary descriptions, and in actual implementation, emotion 1 can also be divided into fewer or more levels, or different emotion levels can also adopt other soothing ways.

[0129] Table 1

[0130] Table 2

[0131] In some implementations, the soothing style when the driver of the ego vehicle is in the emotion 1 can be determined in response to a user setting. Illustratively, the user can be provided with an interface to set the soothing style through the HMI. For example, the user can be provided with an interface to select the soothing style through the center screen as shown in (a) of FIG. 10, by displaying “Please select your preferred soothing style” through the center screen, and further providing five options of “Option 1”, “Option 2”, “Option 3”, “Option 4”, and “Customize”. Among them, “Option 1”, “Option 2”, “Option 3”, and “Option 4” can correspond to the four styles of “humorous”, “gentle”, “same enemy”, and “star”, respectively. In an example, when it is detected that the user clicks on the option corresponding to any one of the styles of “humorous”, “gentle”, and “same enemy”, the subsequent soothing can display the soothing text information corresponding to the selected type, or play the soothing voice information corresponding to the selected type. In another example, when it is detected that the user clicks on the option four corresponding to the “star” style, it can jump to a page for selecting a specific star, and when it is detected that the user selects a star (such as star a), the subsequent soothing can play the soothing voice information in the voice of the star. Optionally, in the case where the user selects the “star” soothing style, the specific style (such as humorous, gentle, or same enemy) when using the star voice to soothe can be further set. In still another example, the “Customize” option supports the user to edit the voice tone of the soothing voice that the user wants. For example, when it is detected that the user clicks on the “Customize” option, the HMI can pop up the interface shown in (b) of FIG. 10, prompting the user to “Please import reference voice, or click the microphone below to record voiceprint”. If the user wants to use the soothing voice in the voice of his own family member for subsequent soothing, and the ego vehicle has saved an audio file containing the voice of the user's family member, the user can click the “Please select audio file” button to import the audio file containing the voice of the user's family member, and the ego vehicle extracts the voiceprint of the user's family member from the audio file, so as to use the voice of the user's family member to soothe in the subsequent soothing; or, the user's family member is in the ego vehicle at this time, and the user can also click the microphone button and record the voice of the user's family member, so that the ego vehicle uses the voice of the user's family member to soothe in the subsequent soothing. Optionally, in the case where the user selects the “Customize” soothing style, the specific style (such as humorous, gentle, or same enemy) when using the customized voice to soothe can be further set.

[0132] It can be understood that the above-mentioned information collection process (such as the voiceprint collection process) / feature extraction process is executed with the user's knowledge and permission, that is, the information collection process / feature extraction process meets the legal and regulatory requirements and does not belong to the act of harming public interests.

[0133] In some implementations, the soothing manner when the ego driver is in the emotion 1 can be determined in response to a user setting. Illustratively, the user can be provided with an interface to set the soothing manner through the HMI. For example, the user can be provided with an interface to select the soothing manner through the center screen, as shown in (c) of FIG. 10, by displaying “Please select the soothing manner you want” through the center screen, and further providing “Option a”, “Option b”, “Option c”, and “Option d” as four options. Among them, “Option a”, “Option b”, “Option c”, and “Option d” can correspond to the four soothing manners of “Set style voice”, “Music”, “Ambient light”, and “Animation”, respectively. Further, when it is detected that the user clicks one or more of the four options, the user is soothed in the manner corresponding to the option or the combination of the manners corresponding to the one or more options in the subsequent soothing. For example, when it is detected that the user clicks the two options (e.g., Option a and Option c) corresponding to the “Set style voice” and “Ambient light” soothing manners, the ego driver is soothed by controlling the ambient light to display light with a soothing effect and controlling the in-cabin sound device to play voice in a set style (e.g., a humorous style, a custom style, or a default style) when the ego driver is in the emotion 1.

[0134] It should be noted that the content of the graphic user interface (GUI) shown in FIG. 10 is only illustrative, and the layout and content of the GUI can be different from that shown in FIG. 10 in actual implementation, and more or fewer options can be displayed in the GUI in actual implementation.

[0135] In some implementations, when the information a is prompted, the emotion of the driver of the ego vehicle is detected, and when the emotion 1 of the driver of the ego vehicle is not relieved (e.g., the emotion score E does not change or becomes larger) within a time length 2 counted from the start of prompting the information a, the prompting device is controlled to prompt information b. The information b and the information a are of different types. When the information a and the information b both include voice information, the types can be different in terms of different tones of the voice information. For example, the information a includes a tone of same hatred for enemies, and the information b can include a tone of gentleness. Or, when the information a and the information b both include voice information, the types can be different in terms of different timbres of the voice information. For example, the information a includes voice information of a robot tone, and the information b includes voice information of a tone of family members of the driver of the ego vehicle. Or, for example, the types can be different in terms of different prompting manners. For example, the information a includes music and light, and the information b can include voice and / or text. Or, the types can be different in terms of different contents. For example, the information a includes a content of same hatred for enemies, and the information b includes a content of humor. When the emotion 1 of the driver of the ego vehicle is relieved (e.g., the emotion score E becomes smaller or is 0) within the time length 2 counted from the start of prompting the information a, the prompting device is controlled to prompt information c, and the information c and the information a are of the same type. The time length 2 can be 20 seconds, or 30 seconds, or other time lengths.

[0136] The control method provided in the embodiments of the present application can prompt soothing information through the prompting device when it is determined that the driver of the ego vehicle is in an angry mood and / or an impatient mood, which helps to relieve the negative emotions of the driver of the ego vehicle, thereby improving the driving safety.

[0137] FIG. 11 shows another schematic flowchart of a control method provided in the embodiments of the present application. The method 1100 can be performed by the vehicle 100 shown in FIG. 1, or can also be performed by the system shown in FIG. 2. The method 1100 can include the following steps.

[0138] S1110, obtaining first driving behavior information of a first vehicle, the first driving behavior information indicating at least one of the following: dangerous lane changing behavior, lane changing frequency, horn sounding time length, horn sounding frequency, and headlamp flashing duration.

[0139] For example, the first vehicle can include the vehicle 1 in the method 300, or the first vehicle can also include other vehicles around the ego vehicle. The manner of obtaining the first driving behavior information can refer to the description in S301, which will not be repeated here.

[0140] S1120, when the first driving behavior information triggers an emotion soothing condition of the first vehicle, controlling a second vehicle to prompt first prompt information, the first prompt information being used to soothe the driver of the first vehicle.

[0141] Exemplarily, when the first vehicle is the vehicle 1 in the method 300, the first driving behavior information can include the driving behavior information of the vehicle 1 in S302, and the method of determining that the first driving behavior information triggers the emotional appeasement condition of the first vehicle can refer to the description of the driving behavior information of the vehicle 1 in S302 satisfying the emotional appeasement condition, which will not be repeated here.

[0142] Exemplarily, the second vehicle can include the ego vehicle in the method 300, and the first prompt information can include the information 1 in S302. The specific content and / or form of the first prompt information and the specific implementation of controlling the second vehicle to prompt the first prompt information can refer to the description in S302, which will not be repeated here.

[0143] In some implementations, the method of controlling the first vehicle to display the first prompt information includes: controlling a first region of the second vehicle to prompt the first prompt information according to a first orientation of the first vehicle, where the first region corresponds to the first orientation.

[0144] Exemplarily, the first orientation of the first vehicle is the orientation of the first vehicle relative to the second vehicle, and the first region can include the region 1 in the method 300. More specifically, when the first orientation is the rear of the second vehicle, the first region can be the tail region of the second vehicle; when the first orientation is the left rear of the second vehicle, the first region can include the tail region and / or the left rear side region of the second vehicle; when the first orientation is the right rear of the second vehicle, the first region can include the tail region and / or the right rear side region of the second vehicle; and when the first orientation is the front of the second vehicle, the first region can be the head region of the second vehicle. More specific corresponding relationship between the first region and the first orientation can refer to the description in the method 300, which will not be repeated here.

[0145] In some implementations, the method further includes: when the first vehicle changes to a second orientation, controlling a second region of the second vehicle to display the first prompt information, where the second region corresponds to the second orientation.

[0146] Exemplarily, the second orientation is different from the first orientation, and the second region can be the same as or different from the first region. For example, when the first vehicle changes from the rear of the second vehicle to the left rear, the first prompt information is controlled to be displayed by the tail region, and then changed to be displayed by the tail region and / or the left rear side region; for another example, when the first vehicle changes from the rear of the second vehicle to the front, the first prompt information is controlled to be displayed by the tail region, and then changed to be displayed by the head region.

[0147] In some embodiments, the method further includes: controlling the second vehicle to prompt the first prompt information according to at least one of: driving experience of the driver of the second vehicle, or road condition in front of the second vehicle.

[0148] For example, the driving experience of the driver of the second vehicle can be determined according to input of the driver of the second vehicle, and the road condition in front of the second vehicle can be detected by a perception system of the second vehicle. According to the driving experience of the driver of the second vehicle and / or the road condition in front of the second vehicle, the controlling of the second vehicle to prompt the first prompt information can be understood as: determining the specific content of the first prompt information according to the driving experience of the driver of the second vehicle and / or the road condition in front of the second vehicle, and then controlling the second vehicle to prompt the first prompt information. For more specific embodiments, refer to the description of the method 300, which will not be repeated here.

[0149] In some embodiments, the method further includes: detecting second driving behavior information of the first vehicle within a first time length since the prompting of the first prompt information; controlling the second vehicle to stop prompting the first prompt information when the second driving behavior information no longer triggers the emotional appeasement condition; or controlling the second vehicle to prompt second prompt information when the second driving behavior information still triggers the emotional appeasement condition, the second prompt information being different from the first prompt information in type.

[0150] For example, when the first prompt information is the information 1 in the method 300, the second prompt information can include the information 2 in the method 300; the first time length can be 10 seconds, or can also be 20 seconds, or can also be other time lengths, for example, the first time length can be the same as the time length 1 in the method 300. The second prompt information and the first prompt information being different in type can include at least one of: the content of the first prompt information being different from the content of the second prompt information, for example, the first prompt information being general appeasement information, and the second prompt information being humorous appeasement information; or the prompting manner of the first prompt information being different from the prompting manner of the second prompt information, for example, the first prompt information being text information, and the second prompt information being audio information.

[0151] In some embodiments, the method further includes: controlling the second vehicle to prompt third prompt information when detecting a first emotion of the driver of the second vehicle, the third prompt information being used to appease the driver of the second vehicle, the first emotion including an angry emotion and / or an impatient emotion.

[0152] For example, the first emotion can be emotion 1 in method 700, and the third prompt information can include information a in method 700. More specifically, the method of determining that the driver of the second vehicle is in the first emotion can refer to the description in S702; the specific content and / or form of the third prompt information, and the method of controlling the second vehicle to prompt the third prompt information can refer to the description in S703, which will not be repeated here.

[0153] In some implementations, the method further includes: detecting the emotion of the driver of the second vehicle within a second duration from the start of prompting the third prompt information; when the first emotion of the driver of the second vehicle is not alleviated, controlling the second vehicle to prompt fourth prompt information, the fourth prompt information being different in type from the third prompt information; or when the first emotion of the driver of the second vehicle is alleviated, controlling the second vehicle to prompt fifth prompt information, the fifth prompt information being the same in type as the third prompt information; wherein the fourth prompt information being different in type from the third prompt information includes at least one of the following: different in content; different in prompting manner; or when the third prompt information and the fourth prompt information both include voice information, the tone and / or the intonation of the voice information in the third prompt information being different from the tone and / or the intonation of the voice information in the fourth prompt information.

[0154] For example, when the third prompt information is information a in method 700, the fourth prompt information can include information b in method 700, and the fifth prompt information can include information c in method 700; the second duration can be 10 seconds, or can also be 20 seconds, or can also be other durations, for example, the second duration can be the same as the duration 2 in method 700. For example, the specific implementation of prompting the fourth prompt information can refer to the description in S703, which will not be repeated here.

[0155] In some implementations, controlling the second vehicle to prompt the third prompt information includes: controlling the second vehicle to prompt the third prompt information according to the prompt information preference of the driver of the second vehicle.

[0156] For example, the prompt information preference is used to indicate the soothing style and / or soothing manner of the third prompt information preferred by the driver of the second vehicle, and the prompt preference information can include the identity information of the driver in the foregoing embodiments, or the prompt information preference can also be a preference determined in response to the setting of the driver of the ego vehicle. Controlling the second vehicle to prompt the third prompt information according to the prompt information preference of the driver of the second vehicle can be understood as: determining the specific style and / or soothing manner of the third prompt information according to the prompt information preference of the driver of the second vehicle, and then controlling the second vehicle to prompt the third prompt information. More specific implementations can refer to the description in S703, which will not be repeated here.

[0157] In some embodiments, the control of the second vehicle to prompt the third prompt information comprises: controlling the second vehicle to prompt the third prompt information according to at least one of the following: the road condition in front of the second vehicle, the situation of the emotional appeasing condition trigger of the first vehicle, or the driving experience of the driver of the front vehicle of the second vehicle.

[0158] For example, the driving experience of the driver of the front vehicle of the second vehicle can be determined according to the icon pasted on the rear of the front vehicle, such as the "intern" sign or the "new driver" sign on the rear of the front vehicle, to determine that the driver of the front vehicle has less driving experience (e.g., a new driver). More specifically, the control of the second vehicle to prompt the third prompt information according to at least one of the following: the road condition in front of the second vehicle, the situation of the emotional appeasing condition trigger of the first vehicle, or the driving experience of the driver of the front vehicle of the second vehicle can be understood as: determining the content of the third prompt information according to one or more of the following: the road condition in front of the second vehicle, the situation of the emotional appeasing condition trigger of the first vehicle, or the less driving experience of the driver of the front vehicle of the second vehicle, and then controlling the second vehicle to prompt the third prompt information. More specific implementations can be referred to the description in S703, which will not be repeated here.

[0159] In some embodiments, the method further comprises: when detecting the first emotion of the driver of the second vehicle, performing at least one of the following: adjusting the air conditioning temperature of the second vehicle; or controlling the second vehicle to turn on the first fragrance, the first fragrance being used for stabilizing the emotion.

[0160] For example, the first fragrance can include the fragrance 1 in the foregoing embodiments.

[0161] The control method provided by the embodiments of the present application can determine that the driver of the other vehicle needs to be appeased according to the driving behavior of the other vehicle around the first vehicle, control the ego vehicle to prompt information for appeasing the driver of the other vehicle, help to alleviate the negative emotion of the driver of the other vehicle, and thus improve the driving safety. For example, when the other vehicle wants to cut in the ego vehicle or other vehicles, or the other vehicle has the intention of cutting off the ego vehicle or other vehicles, the ego vehicle can prompt information for appeasing the driver of the other vehicle, which can alleviate the negative emotion of the driver of the other vehicle, reduce or eliminate the intention of cutting in or cutting off, and thus improve the driving safety. For another example, when the driving path of the ego vehicle affects the normal driving of the other vehicle, causing the driver of the other vehicle to have a negative emotion, the ego vehicle can prompt information for appeasing the driver of the other vehicle, which can alleviate the negative emotion of the driver of the other vehicle, reduce the possibility of the driver of the other vehicle making a behavior that threatens the driving safety, and thus improve the driving safety.

[0162] It should be noted that the "cutting off" refers to that the front vehicle blocks the passage of the rear vehicle on the same driving section, or the rear vehicle intentionally blocks the normal driving of the vehicle being overtaken during overtaking.

[0163] In each of the embodiments of the present application, the terms and / or descriptions between the embodiments are consistent and can be referred to each other if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0164] The control method provided by the embodiments of the present application is described in detail above in combination with FIG. 1 to FIG. 11. The device provided by the embodiments of the present application will be described in detail below in combination with FIG. 12 and FIG. 13. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments, and therefore, the content not described in detail can be referred to the method embodiments described above, and for brevity, will not be described here again.

[0165] FIG. 12 shows a schematic block diagram of the control device 2000 provided by the embodiments of the present application, which can include units for performing the methods shown in FIG. 3, FIG. 7, and FIG. 11. And each unit in the device 2000 is used to implement the corresponding flow of the above method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement the corresponding data acquisition or transceiving function. The device 2000 further includes a processing unit 2020, which can be used to implement the corresponding processing function.

[0166] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit, so that the device implements the related actions in the above various method embodiments.

[0167] Optionally, the device 2000 further includes a detection unit, which is used to perform the detection actions in the above various method embodiments. The detection unit can include one or more sensors in the perception system 120 shown in FIG. 1, and can also include one or more processors in the computing platform 150.

[0168] It should be understood that the specific process of each unit performing the above corresponding steps has been described in detail in the above method embodiments, and for brevity, will not be described here again.

[0169] It should also be understood that the device 2000 here is embodied in the form of functional units. The term "module" or "unit" here can refer to an application-specific ASIC, an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combination logic circuit, and / or other suitable components that support the described functions.

[0170] The apparatus of each of the above solutions has the function of implementing the corresponding steps performed by the computing platform 150 in the above method. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as the processing unit, can be replaced by a processor, for performing related processing operations in each method embodiment.

[0171] For example, the acquisition unit 2010 and the processing unit 2020 can be arranged in the vehicle 100 shown in FIG. 1, or can also be arranged in the system shown in FIG. 2. More specifically, part of the acquisition unit 2010 and the processing unit 2020 can be arranged in the other-vehicle emotion appeasing module 220 shown in FIG. 2, and another part of the acquisition unit 2010 and the processing unit 2020 can be arranged in the self-vehicle emotion appeasing module 230 shown in FIG. 2. For example, the operations performed by the acquisition unit 2010 and the processing unit 2020 can be performed by one processor, or can also be performed by different processors. In a specific implementation process, the one or more processors can be processors arranged in the vehicle 100 shown in FIG. 1; or the apparatus 2000 can be a chip arranged in the vehicle 100.

[0172] In a specific implementation process, each unit in the above apparatus can be integrated together or can also be independently implemented. In one implementation, the units are integrated together to be implemented in the form of a system on a chip (SoC).

[0173] FIG. 13 is another schematic block diagram of a control apparatus provided by an embodiment of the present application. The control apparatus 2100 shown in FIG. 13 can include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, the transceiver 2120, and the memory 2130 are connected through an internal connection path. The memory 2130 is configured to store instructions, and the processor 2110 is configured to execute the instructions stored in the memory 2130 to implement the method in each of the above embodiments. Alternatively, the memory 2130 can be coupled to the processor 2110 through an interface, or can be integrated with the processor 2110.

[0174] It should be noted that the transceiver 2120 can include, but is not limited to, a transceiving device such as an input / output interface, to implement the communication between the apparatus 2100 and other devices or communication networks.

[0175] The memory 2130 can be volatile memory and / or nonvolatile memory. In particular, the nonvolatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically EPROM (EEPROM), or flash memory. The volatile memory can be random access memory (RAM). For example, the RAM can be used as external cache. By way of example and not limitation, the RAM includes the following types: static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0176] The transceiver 2120 uses a transceiving device such as, but not limited to, a transceiver, to implement communication between the device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0177] The embodiments of the present application also provide an intelligent driving device, which includes the control device 2000 or the control device 2100 in the above embodiments.

[0178] The intelligent driving device related to the embodiments of the present application can include a road vehicle, a water vehicle, an air vehicle, an industrial device, an agricultural device, or an entertainment device, etc. For example, the intelligent driving device can be a vehicle, which is a general concept of a vehicle, and can be a vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a mower, a harvester, etc.), an entertainment device, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0179] In some implementations, the intelligent driving device described above can be the vehicle 100 shown in FIG. 1.

[0180] The embodiment of the present application further provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer, the computer program codes make the computer implement the method in each embodiment of the present application.

[0181] The embodiment of the present application further provides a computer readable storage medium, which stores computer instructions, and when the computer instructions are run on a computer, the computer instructions make the computer implement the method in each embodiment of the present application.

[0182] The embodiment of the present application further provides a chip, which comprises a circuit, and is used for executing the method in each embodiment of the present application.

[0183] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, and will not be described here.

[0184] In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the present application is a description of the association relationship of the associated object, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b or c can represent: a, b, c, a-b, a-c, b-c or a-b-c, wherein a, b and c can be single or multiple.

[0185] In the embodiments of the present application, the prefix words such as "first", "second" are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present application does not limit the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not be limited by the use of such prefix words.

[0186] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the division of the above-described device embodiments is only a logical function division, and there can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0187] In each embodiment of the present application, the terms and / or descriptions between different embodiments have consistency and can be mutually referred to if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0188] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0189] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0190] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method, characterized in that, include: Obtain first driving behavior information of the first vehicle, wherein the first driving behavior information indicates at least one of the following: dangerous lane changing behavior, lane changing frequency, horn duration, horn frequency, and headlight flashing duration; When the first driving behavior information triggers the emotional calming condition of the first vehicle, the second vehicle is controlled to display a first prompt message, which is used to calm the driver of the first vehicle.

2. The method according to claim 1, characterized in that, The control of the first vehicle to display the first prompt information includes: Based on the first location of the first vehicle, the second vehicle is controlled to display the first prompt information in a first area, wherein the first area corresponds to the first location.

3. The method according to claim 2, characterized in that, The method further includes: When the first vehicle changes to the second position, the second vehicle is controlled to display the first prompt information in a second area, and the second area corresponds to the second position.

4. The method according to any one of claims 1 to 3, characterized in that, The control of the second vehicle to display the first prompt information includes: The second vehicle is controlled to display the first prompt information based on at least one of the following: The driving experience of the driver of the second vehicle, or the road conditions ahead of the second vehicle.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Within a first duration starting from the first prompt message, detect the second driving behavior information of the first vehicle; When the second driving behavior information no longer triggers the emotional calming condition, control the second vehicle to stop displaying the first prompt information; or... When the second driving behavior information still triggers the emotional calming condition, the second vehicle is controlled to display a second prompt message, which is of a different type than the first prompt message.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Upon detecting a first emotion in the driver of the second vehicle, the system controls the second vehicle to display a third prompt message. The third prompt message is used to soothe the driver of the second vehicle. The first emotion includes anger and / or impatience.

7. The method according to claim 6, characterized in that, The method further includes: During a second period of time following the initial display of the third notification message, the driver's emotions in the second vehicle are detected. If the driver of the second vehicle's first emotional state remains unresolved, the second vehicle is controlled to display a fourth notification message, which is of a different type than the third notification message; or, When the driver of the second vehicle experiences a relief from the first emotional state, the second vehicle is controlled to display a fifth notification message, which is of the same type as the third notification message. Wherein, the fourth prompt information and the third prompt information are different in type, including at least one of the following: different content; different prompting methods; or, when both the third prompt information and the fourth prompt information include voice information, the voice information in the third prompt information and the voice information in the fourth prompt information have different timbre and / or different tone.

8. The method according to claim 6 or 7, characterized in that, The control of the second vehicle to display the third prompt information includes: Based on the prompting preferences of the driver of the second vehicle, the second vehicle is controlled to display the third prompting information.

9. The method according to any one of claims 6 to 8, characterized in that, The third prompt information for controlling the second vehicle includes: The second vehicle is controlled to display the third notification information based on at least one of the following: The road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle ahead of the second vehicle.

10. The method according to any one of claims 6 to 9, characterized in that, The method further includes: Upon detecting the first emotion of the driver of the second vehicle, perform at least one of the following: Adjust the air conditioning temperature of the second vehicle; or Control the second vehicle to activate the first fragrance, which is used to stabilize emotions.

11. A control device, characterized in that, include: The acquisition unit is used to acquire first driving behavior information of the first vehicle, wherein the first driving behavior information indicates at least one of the following: dangerous lane changing behavior, lane changing frequency, horn duration, horn frequency, and headlight flashing duration. The processing unit is configured to control the second vehicle to display a first prompt message when the first driving behavior information triggers the emotional calming condition of the first vehicle. The first prompt message is used to calm the driver of the first vehicle.

12. The apparatus according to claim 11, characterized in that, The processing unit is used for: Based on the first location of the first vehicle, the second vehicle is controlled to display the first prompt information in a first area, wherein the first area corresponds to the first location.

13. The apparatus according to claim 12, characterized in that, The processing unit is also used for: When the first vehicle changes to the second position, the second vehicle is controlled to display the first prompt information in a second area, and the second area corresponds to the second position.

14. The apparatus according to any one of claims 11 to 13, characterized in that, The processing unit is used for: The second vehicle is controlled to display the first prompt information based on at least one of the following: The driving experience of the driver of the second vehicle, or the road conditions ahead of the second vehicle.

15. The apparatus according to any one of claims 11 to 14, characterized in that, The device further includes a first detection unit, the first detection unit being used for: Within a first duration after the first prompt message is displayed, the second driving behavior information of the first vehicle is detected. The processing unit is also used for: When the second driving behavior information no longer triggers the emotional calming condition, control the second vehicle to stop displaying the first prompt information; or... When the second driving behavior information still triggers the emotional calming condition, the second vehicle is controlled to display a second prompt message, which is of a different type than the first prompt message.

16. The apparatus according to any one of claims 11 to 15, characterized in that, The device further includes a second detection unit, and the processing unit is further configured to: When the second detection unit detects a first emotion of the driver of the second vehicle, it controls the second vehicle to display a third prompt message. The third prompt message is used to soothe the driver of the second vehicle. The first emotion includes anger and / or impatience.

17. The apparatus according to claim 16, characterized in that, The second detection unit is also used for: During the second duration following the presentation of the third notification message, the driver's emotions in the second vehicle are detected; The processing unit is also used for: If the driver of the second vehicle is not relieved of the first emotion, the second vehicle is controlled to display a fourth prompt message, which is of a different type than the third prompt message. or, When the driver of the second vehicle experiences a relief from the first emotional state, the second vehicle is controlled to display a fifth notification message, which is of the same type as the third notification message. Wherein, the fourth prompt information and the third prompt information are different in type, including at least one of the following: different content; different prompting methods; or, when both the third prompt information and the fourth prompt information include voice information, the voice information in the third prompt information and the voice information in the fourth prompt information have different timbre and / or different tone.

18. The apparatus according to claim 16 or 17, characterized in that, The processing unit is used for: Based on the prompting preferences of the driver of the second vehicle, the second vehicle is controlled to display the third prompting information.

19. The apparatus according to any one of claims 16 to 18, characterized in that, The processing unit is used for: The second vehicle is controlled to display the third notification information based on at least one of the following: The road conditions ahead of the second vehicle, the triggering of the emotional calming conditions of the first vehicle, or the driving experience of the driver of the vehicle ahead of the second vehicle.

20. The apparatus according to any one of claims 16 to 19, characterized in that, The processing unit further includes: When the second detection unit detects the first emotion of the driver of the second vehicle, at least one of the following is performed: Adjust the air conditioning temperature of the second vehicle; or Control the second vehicle to activate the first fragrance, which is used to stabilize emotions.

21. A control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 10.

22. The apparatus according to claim 21, characterized in that, The device also includes the memory.

23. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 11 to 22.

24. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 10.

25. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 10.

26. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 10.

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