CN-111002994-B - Prompt method, device, automatic driving vehicle and storage medium

CN111002994BCN 111002994 BCN111002994 BCN 111002994BCN-111002994-B

Abstract

The disclosure provides a prompting method, a prompting device, an automatic driving vehicle and a storage medium, and belongs to the field of automatic driving. The method comprises the steps of identifying a target vehicle with a running route which meets the running route of the automatic driving vehicle, and executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle, so that the automatic driving vehicle can execute corresponding driving operation according to the running route of the meeting vehicle, and safety is improved. In the process of executing the driving operation, through the output equipment of the automatic driving vehicle, the prompt information is output, and the prompt information is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, so that the meeting vehicle and other intelligent agents accurately and fully understand the driving operation executed by the automatic driving vehicle, the situation that the operation of the meeting vehicle and other intelligent agents conflicts with the driving operation of the automatic driving vehicle is avoided as far as possible, the occurrence probability of traffic accidents can be reduced, and the safety is improved.

Inventors

GUO RUI
FANG XIAO
CUI DIXIAO
SUN ZHENGWEI
GUO JINWEN
GUO LIPENG
DONG GUOYONG

Assignees

苏州智加科技有限公司
苏州智加科技有限公司
智加(美国)公司

Dates

Publication Date: 20260421
Application Date: 20191226
Priority Date: 20191226

Claims (20)

1. A method of prompting application to an autonomous vehicle, the method comprising: Identifying a target vehicle, the target vehicle being a vehicle having a travel route that intersects the travel route of the autonomous vehicle; executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle, and outputting prompt information through the output equipment of the automatic driving vehicle in the process of executing the driving operation; the target vehicle comprises a vehicle which is opposite to the running direction of the automatic driving vehicle in the current road; The output equipment comprises a plurality of display screens, a loudspeaker, a vehicle flute and a prompt lamp, wherein each display screen faces different directions and displays different information, the prompt information is at least used for prompting other intelligent agents including human beings or other automatic driving vehicles except the automatic driving vehicle, the prompt information comprises a meeting state of the automatic driving vehicle and a target vehicle and operations which the other intelligent agents should execute, and the meeting state comprises the distance between the automatic driving vehicle and the target vehicle, the driving operation currently executed by the automatic driving vehicle and whether the automatic driving vehicle dodges currently; The prompt information specifically prompts that the automatic driving vehicle is avoiding the target vehicle; When a shielding area exists in front of the driving road of the automatic driving vehicle, the identification target vehicle comprises at least one of the following: If the similarity between the sound characteristics of the monitored sound and the preset whistle characteristics is higher than a preset threshold value, and the source direction of the monitored sound is in front of the automatic driving vehicle, taking the vehicle which emits the sound as a target vehicle; Shooting a picture of the front environment, and extracting light features in the picture, wherein if the similarity between the extracted light features and preset light features is higher than a preset threshold value, the vehicle emitting light is taken as a target vehicle; A vehicle identification request is sent to a vehicle networking wireless device, so that the vehicle networking wireless device screens vehicle information in a preset range of the position of the automatic driving vehicle according to the vehicle identification request, and returns the vehicle information to the automatic driving vehicle; determining whether other vehicles exist in front according to vehicle information returned by the vehicle networking wireless equipment, and taking the vehicle in front as a target vehicle if the other vehicles exist; In the case where the target vehicle is a vehicle in the road where the current vehicle is located in a direction opposite to the traveling direction of the autonomous vehicle, the performing driving operation in accordance with the position of the autonomous vehicle and the position of the target vehicle includes: If the road where the automatic driving vehicle is located is shielded, when a convex mirror arranged in the road is positioned in the visual field of the automatic driving vehicle, acquiring the relative position of the automatic driving vehicle and the convex mirror, and shooting the convex mirror to obtain a convex mirror image, identifying the position and the angle of an obstacle contained in the convex mirror image, determining the relative position of the obstacle and the automatic driving vehicle based on the relative position of the automatic driving vehicle and the convex mirror and the position and the angle of the obstacle, and determining the meeting position of the automatic driving vehicle and the target vehicle according to the position of the obstacle, the position of the automatic driving vehicle and the position of the target vehicle; If there is no obstacle in front of the autonomous vehicle or there is an obstacle in front of the autonomous vehicle and the meeting position is located behind the obstacle, a deceleration operation or a parking operation is performed, and if there is an obstacle in front of the autonomous vehicle and the meeting position is located in front of the obstacle, an acceleration operation is performed.
2. The method of claim 1, wherein the identifying the target vehicle comprises: Identifying a vehicle in a second lane as the target vehicle when performing an operation of changing from a first lane to the second lane; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: executing waiting operation in the junction area of the first lane and the second lane; when the position of the autonomous vehicle and the position of the target vehicle satisfy a meeting condition, an operation of traveling from the first lane to the second lane is performed.
3. The method according to claim 2, wherein the outputting of the prompt message through the output device of the autonomous vehicle during the execution of the driving operation includes: Outputting first prompt information through the output device in the process of executing the waiting operation, wherein the first prompt information is used for prompting that the automatic driving vehicle is waiting to enter the second lane; And in the process of executing the operation of moving from the first lane to the second lane, outputting second prompt information through the output device, wherein the second prompt information is used for prompting that the automatic driving vehicle is converging into the second lane.
4. The method of claim 1, wherein the identifying the target vehicle comprises: identifying a vehicle traveling from another lane to a first lane where the vehicle is currently located as the target vehicle; or identifying a vehicle with a running direction pointing to a first lane in the lanes adjacent to the first lane, as the target vehicle; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: And executing a deceleration operation, a lane changing operation or a current running operation according to the position of the automatic driving vehicle and the position of the target vehicle.
5. The method according to claim 4, wherein the outputting of the prompt message through the output device of the autonomous vehicle during the execution of the driving operation includes: in the process of executing the deceleration operation, outputting a third prompt message through the output device, wherein the third prompt message is used for prompting the automatic driving vehicle to avoid the target vehicle, or Outputting fourth prompt information through the output device in the process of executing the lane changing operation, wherein the fourth prompt information is used for prompting that the automatic driving vehicle is changing lanes; and in the process of keeping the current running operation, outputting fifth prompt information through the output equipment, wherein the fifth prompt information is used for prompting that the automatic driving vehicle does not avoid.
6. The method of claim 1, wherein the identifying the target vehicle comprises: identifying a vehicle which is positioned in front of the automatic driving vehicle and has a running speed smaller than the running speed of the automatic driving vehicle in a first lane where the vehicle is currently positioned as the target vehicle; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: performing an operation beyond the target vehicle; After the operation of performing the overrun of the target vehicle is completed, the driving operation in the first lane is continued.
7. The method according to claim 6, wherein the outputting of the prompt message through the output device of the autonomous vehicle during the execution of the driving operation includes: outputting a sixth prompt message through the output device in the process of executing the operation of exceeding the target vehicle, wherein the sixth prompt message is used for prompting that the automatic driving vehicle is overtaking; and after the operation of exceeding the target vehicle is completed, outputting seventh prompt information through the output device, wherein the seventh prompt information is used for prompting the automatic driving vehicle to normally run.
8. The method of claim 1, wherein the identifying the target vehicle comprises: Identifying a vehicle which is positioned behind the automatic driving vehicle and has a running speed greater than the running speed of the automatic driving vehicle in a first lane where the vehicle is currently positioned as the target vehicle; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: performing an operation of avoiding the target vehicle; after the target vehicle overruns the autonomous vehicle, the driving operation in the first lane is continued.
9. The method according to claim 8, wherein the outputting of the prompt message through the output device of the autonomous vehicle during the execution of the driving operation includes: And in the process of executing the operation of avoiding the target vehicle, outputting eighth prompt information through the output equipment, wherein the eighth prompt information is used for prompting that the automatic driving vehicle is avoiding, or prompting that the target vehicle and the automatic driving vehicle keep a vehicle distance.
10. The method according to claim 8, wherein the outputting of the prompt message through the output device of the autonomous vehicle during the execution of the driving operation includes: And outputting a ninth prompt message through the output device when the target vehicle exceeds the automatic driving vehicle and if the distance between the target vehicle and the automatic driving vehicle is smaller than a preset distance, wherein the ninth prompt message is used for prompting that the vehicle distance is too close.
11. The method of claim 1, wherein said performing a driving operation in accordance with the location of the autonomous vehicle and the location of the target vehicle comprises: Acquiring the distance between the automatic driving vehicle and the target vehicle according to the position of the automatic driving vehicle and the position of the target vehicle; when the distance is smaller than a preset distance, executing deceleration operation; After the deceleration operation is performed, when the distance is not less than the preset distance, the deceleration operation is stopped.
12. The method according to claim 1, wherein the driving operation is a deceleration operation or a parking operation, and wherein the outputting of the prompt information through the output device of the autonomous vehicle during the execution of the driving operation includes: And in the process of executing the driving operation, outputting prompt information of avoiding the automatic driving vehicle through the output equipment of the automatic driving vehicle.
13. The method according to claim 1, wherein the driving operation is an acceleration operation, and wherein the outputting of the prompt information through the output device of the autonomous vehicle during the execution of the driving operation includes: and in the process of executing the driving operation, outputting prompt information for requesting the target vehicle to avoid through the output equipment of the automatic driving vehicle.
14. The method according to any one of claims 1-13, wherein the outputting of the prompt message via the output device of the autonomous vehicle comprises at least one of: Displaying the prompt information through the display screen; Playing the prompt information through the loudspeaker; Illuminating a prompt lamp corresponding to the driving operation; illuminating a prompting lamp corresponding to the current environmental information; And executing the whistling operation according to the whistling rhythm corresponding to the driving operation.
15. A reminder device for use with an autonomous vehicle, the device comprising: The target vehicle identification module is used for identifying a target vehicle, wherein the target vehicle is a vehicle with a running route intersected with the running route of the automatic driving vehicle; A driving operation execution module for executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle; The prompt information output module is used for outputting prompt information through the output equipment of the automatic driving vehicle in the process of executing driving operation; the target vehicle comprises a vehicle which is opposite to the running direction of the automatic driving vehicle in the current road; The output equipment comprises a plurality of display screens, a loudspeaker, a vehicle flute and a prompt lamp, wherein each display screen faces different directions and displays different information, the prompt information is at least used for prompting other intelligent agents including human beings or other automatic driving vehicles except the automatic driving vehicle, the prompt information comprises a meeting state of the automatic driving vehicle and a target vehicle and operations which the other intelligent agents should execute, and the meeting state comprises the distance between the automatic driving vehicle and the target vehicle, the driving operation currently executed by the automatic driving vehicle and whether the automatic driving vehicle dodges currently; The prompt information specifically prompts that the automatic driving vehicle is avoiding the target vehicle; The target vehicle identification module is configured to perform at least one of the following when a shadow area exists in front of the automated driving vehicle driving road: If the similarity between the sound characteristics of the monitored sound and the preset whistle characteristics is higher than a preset threshold value, and the source direction of the monitored sound is in front of the automatic driving vehicle, taking the vehicle which emits the sound as a target vehicle; Shooting a picture of the front environment, and extracting light features in the picture, wherein if the similarity between the extracted light features and preset light features is higher than a preset threshold value, the vehicle emitting light is taken as a target vehicle; A vehicle identification request is sent to a vehicle networking wireless device, so that the vehicle networking wireless device screens vehicle information in a preset range of the position of the automatic driving vehicle according to the vehicle identification request, and returns the vehicle information to the automatic driving vehicle; determining whether other vehicles exist in front according to vehicle information returned by the vehicle networking wireless equipment, and taking the vehicle in front as a target vehicle if the other vehicles exist; In the case where the target vehicle is a vehicle in the road where the current vehicle is located in a direction opposite to the direction in which the autonomous vehicle is traveling, the driving operation execution module is further configured to: The method comprises the steps of obtaining the relative position of an automatic driving vehicle and a convex mirror when the convex mirror arranged in the road is located in the visual field of the automatic driving vehicle if the road where the automatic driving vehicle is located is shielded, shooting the convex mirror to obtain a convex mirror image, identifying the position and the angle of an obstacle contained in the convex mirror image, determining the relative position of the obstacle and the automatic driving vehicle based on the relative position of the automatic driving vehicle and the position and the angle of the obstacle, determining the meeting position of the automatic driving vehicle and the target vehicle according to the position of the obstacle, the position of the automatic driving vehicle and the position of the target vehicle, executing a deceleration operation or a parking operation if the front of the automatic driving vehicle has no obstacle or the front of the automatic driving vehicle has the obstacle and the meeting position is located behind the obstacle, and executing an acceleration operation if the front of the automatic driving vehicle has the obstacle and the meeting position is located in front of the obstacle.
16. The apparatus of claim 15, wherein the target vehicle identification module comprises: A first identifying unit that identifies a vehicle in a second lane as the target vehicle when an operation of changing from a first lane to the second lane is performed; the driving operation execution module includes: a waiting unit for executing a waiting operation in an interface area of the first lane and the second lane; And a lane changing unit configured to perform an operation of traveling from the first lane to the second lane when a position of the autonomous vehicle and a position of the target vehicle satisfy a meeting condition.
17. The apparatus of claim 16, wherein the hint information output module comprises: The first prompting unit is used for outputting first prompting information through the output equipment in the process of executing the waiting operation, wherein the first prompting information is used for prompting that the automatic driving vehicle is waiting to enter the second lane; And the second prompting unit is used for outputting second prompting information through the output equipment in the process of executing the operation of driving from the first lane to the second lane, wherein the second prompting information is used for prompting that the automatic driving vehicle is converging into the second lane.
18. The apparatus of claim 15, wherein the target vehicle identification module comprises: A second recognition unit for recognizing a vehicle traveling from another lane to a first lane where the vehicle is currently located as the target vehicle, or A third identifying unit, configured to identify, as the target vehicle, a vehicle in which a traveling direction points to a first lane in a lane adjacent to the first lane where the current vehicle is located; the driving operation execution module includes: And the first execution unit is used for executing a deceleration operation, a lane changing operation or a current running operation according to the position of the automatic driving vehicle and the position of the target vehicle.
19. The apparatus of claim 18, wherein the hint information output module comprises: A third prompting unit for outputting a third prompting message through the output device in the process of executing the deceleration operation, wherein the third prompting message is used for prompting the automatic driving vehicle to avoid the target vehicle, or A fourth prompting unit, configured to output, through the output device, fourth prompting information for prompting that the autonomous vehicle is changing lanes in a process of executing the lane changing operation; And the fifth prompting unit is used for outputting fifth prompting information through the output equipment in the process of keeping the current running operation, and the fifth prompting information is used for prompting that the automatic driving vehicle does not avoid.
20. The apparatus of claim 15, wherein the target vehicle identification module comprises: A fourth identifying unit configured to identify, as the target vehicle, a vehicle that is located in front of the autonomous vehicle and that has a traveling speed that is less than a traveling speed of the autonomous vehicle, in a first lane in which the vehicle is currently located; the driving operation execution module includes: An overtaking unit for performing an operation of overriding the target vehicle; And a first normal running unit configured to continue to perform a driving operation in the first lane after completion of performing an operation exceeding the target vehicle.

Description

Prompt method, device, automatic driving vehicle and storage medium Technical Field The disclosure relates to the field of automatic driving, and in particular relates to a prompting method, a prompting device, an automatic driving vehicle and a storage medium. Background An autonomous vehicle, also called an unmanned vehicle, is an intelligent vehicle that is unmanned through a computer system, and that can automatically and safely operate the vehicle without any human active operation. In recent years, the appearance of automatic driving vehicles gradually replaces the traditional vehicles, so that the life of people is more convenient. In order to reduce the occurrence probability of traffic accidents and improve the operation accuracy, an autonomous vehicle generally needs to recognize the current environmental information, and perform driving operations, such as a deceleration operation when an obstacle in front is detected, based on the recognized environmental information. However, the environment where the automatic driving vehicle is located may further include other agents, and if the other agents misjudge the driving operation of the automatic driving vehicle and perform the operation that conflicts with the driving operation of the automatic driving vehicle, traffic accidents may still occur, so that the safety is poor. Disclosure of Invention The embodiment of the application provides a prompting method, a prompting device, an automatic driving vehicle and a storage medium, which can solve the problem of poor safety in the related technology. The technical scheme provided by the embodiment of the application is as follows: According to a first aspect provided by an embodiment of the present application, there is provided a prompting method, including: identifying a target vehicle, the target vehicle being a vehicle having a travel route that intersects with a travel route of an autonomous vehicle; executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle; In the process of executing the driving operation, the prompting information is output through the output equipment of the automatic driving vehicle, the prompting information is used for prompting the meeting state of the automatic driving vehicle and the target vehicle, and the output equipment comprises at least one of a display screen, a loudspeaker, a whistle or a prompting lamp. In one possible implementation manner, the identifying the target vehicle includes: Identifying a vehicle in a second lane as the target vehicle when performing an operation of changing from a first lane to the second lane; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: executing waiting operation in the junction area of the first lane and the second lane; when the position of the autonomous vehicle and the position of the target vehicle satisfy a meeting condition, an operation of traveling from the first lane to the second lane is performed. In one possible implementation manner, during the execution of the driving operation, the outputting, by the output device of the autopilot vehicle, a prompt message includes: Outputting first prompt information through the output device in the process of executing the waiting operation, wherein the first prompt information is used for prompting that the automatic driving vehicle is waiting to enter the second lane; And in the process of executing the operation of moving from the first lane to the second lane, outputting second prompt information through the output device, wherein the second prompt information is used for prompting that the automatic driving vehicle is converging into the second lane. In one possible implementation manner, the identifying the target vehicle includes: identifying a vehicle traveling from another lane to a first lane where the vehicle is currently located as the target vehicle; or identifying a vehicle with a running direction pointing to a first lane in the lanes adjacent to the first lane, as the target vehicle; The executing driving operation according to the position of the automatic driving vehicle and the position of the target vehicle comprises: And executing a deceleration operation, a lane changing operation or a current running operation according to the position of the automatic driving vehicle and the position of the target vehicle. In one possible implementation manner, during the execution of the driving operation, the outputting, by the output device of the autopilot vehicle, a prompt message includes: in the process of executing the deceleration operation, outputting a third prompt message through the output device, wherein the third prompt message is used for prompting the automatic driving vehicle to avoid the target vehicle, or Outputting fourth prompt information through the output device in the process of executi