WO2022160127A1

WO2022160127A1 - Control method and apparatus

Info

Publication number: WO2022160127A1
Application number: PCT/CN2021/073962
Authority: WO
Inventors: 宋思达; 马莎; 张慧
Original assignee: 华为技术有限公司
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2022-08-04
Also published as: CN112912810A

Abstract

A control method and apparatus, a chip, a computer-readable storage medium and a terminal, which are applied to the field of autonomous driving, intelligent driving or unmanned driving. The method comprises: determining a first state prompt; controlling at least one first target device in a first terminal to execute a first action, wherein the first action is used for indicating the first state prompt, and the first action corresponds to the first state prompt; acquiring information of the first action of the at least one first target device; and according to the information of the first action, acquiring a first state prompt from the first terminal where the first target device is located, wherein the first action is used for indicating the first state prompt. Thus, the acquired first state prompt is indicated on the basis of the first action of the first target device, such that the influence of environmental visibility, etc. can be reduced, and a driving policy can be correspondingly adjusted on the basis of the acquired first state prompt, thereby improving the safety and comfort of vehicle driving.

Description

控制方法和装置Control method and device

技术领域technical field

本申请涉及自动驾驶、智能驾驶或者无人驾驶技术领域，尤其涉及一种控制方法和装置。The present application relates to the technical field of automatic driving, intelligent driving or unmanned driving, and in particular, to a control method and device.

背景技术Background technique

随着社会的发展，智能汽车正在逐步进入人们的日常生活中。安装在汽车上的传感器可以在汽车行驶过程中随时感知周围的环境，也可以预先察觉到可能发生的危险并及时帮助驾驶员甚至自主采取必要的规避手段，有效增加了汽车驾驶的安全性和舒适性。With the development of society, smart cars are gradually entering people's daily life. The sensors installed on the car can sense the surrounding environment at any time during the driving process of the car, and can also detect possible dangers in advance and help the driver to take necessary evasion measures in time, effectively increasing the safety and comfort of car driving. sex.

通常的，汽车可以通过车灯的颜色等传递行驶意图，其他车辆则可以通过车载摄像头识别该车辆的车灯颜色信息，确定该车辆的行驶意图。Usually, the car can transmit the driving intention through the color of the headlights, etc., and other vehicles can identify the vehicle's headlight color information through the on-board camera to determine the driving intention of the vehicle.

但是，车载摄像头的识别成功率容易受到天气的影响，导致确定该车辆行驶意图的精度不高。However, the recognition success rate of in-vehicle cameras is easily affected by weather, resulting in low accuracy in determining the vehicle's driving intention.

发明内容SUMMARY OF THE INVENTION

本申请实施例提供一种控制方法和装置，应用于自动驾驶、智能驾驶或者无人驾驶技术领域。所述方法包括：确定第一状态提示，控制第一终端中的至少一个第一目标设备执行第一动作，第一动作用于指示第一状态提示。其中，第一动作对应于第一状态提示；获取至少一个第一目标设备的第一动作的信息，根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示。其中，第一动作用于指示第一状态提示。这样，获取的第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，基于所获取的第一状态提示可以相应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。Embodiments of the present application provide a control method and device, which are applied to the technical field of automatic driving, intelligent driving, or unmanned driving. The method includes: determining a first state prompt, and controlling at least one first target device in the first terminal to perform a first action, where the first action is used to indicate the first state prompt. The first action corresponds to a first state prompt; information about a first action of at least one first target device is obtained, and a first state prompt from the first terminal where the first target device is located is obtained according to the information of the first action. The first action is used to indicate the first state prompt. In this way, the obtained first state prompt is based on the first action instruction of the first target device, which can reduce the influence of environmental visibility, etc., and the driving strategy can be adjusted accordingly based on the obtained first state prompt, thereby improving the safety of vehicle driving. and comfort.

第一方面，本申请实施例提供一种控制方法，所述方法包括：确定第一状态提示；控制第一终端中的至少一个第一目标设备执行第一动作，第一动作用于指示第一状态提示；其中，第一动作对应于第一状态提示。这样，获取的第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，基于所获取的第一状态提示可以相应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。In a first aspect, an embodiment of the present application provides a control method, the method includes: determining a first state prompt; controlling at least one first target device in a first terminal to perform a first action, where the first action is used to instruct the first State prompt; wherein, the first action corresponds to the first state prompt. In this way, the obtained first state prompt is based on the first action instruction of the first target device, which can reduce the influence of environmental visibility, etc., and the driving strategy can be adjusted accordingly based on the obtained first state prompt, thereby improving the safety of vehicle driving. and comfort.

可能的实现方式中，第一动作与第一状态提示之间存在预先定义或者配置的对应关系。这样，基于该对应关系，可以通过所执行的第一动作准确知道所要传递的第一状态提示，从而提高车辆驾驶的安全性和舒适性。In a possible implementation manner, there is a predefined or configured correspondence between the first action and the first state prompt. In this way, based on the corresponding relationship, the first state prompt to be transmitted can be accurately known through the executed first action, thereby improving the safety and comfort of vehicle driving.

可能的实现方式中，还包括：控制第一终端中的至少一个第一处理装置执行第一处理，第一处理对应于第一状态提示。这样，除了可以通过第一目标设备执行的第一动作隐式地传递第一状态提示，也可以通过第一处理装置执行的第一处理显式地传递第一状态提示，从而提高传递第一状态提示的准确率。In a possible implementation manner, the method further includes: controlling at least one first processing device in the first terminal to execute a first process, where the first process corresponds to the first state prompt. In this way, in addition to implicitly transmitting the first state prompt through the first action performed by the first target device, the first state prompt can also be explicitly transmitted through the first processing performed by the first processing device, thereby improving the transmission of the first state. accuracy of the hint.

可能的实现方式中，控制第一终端中的至少一个第一目标设备执行第一动作，包括：确定第一终端周围的能见度低于阈值，控制第一终端中的至少一个第一目标设备执行第一动作；确定第一终端周围的能见度低于阈值，包括：获取第一终端的环境信息；确定第一终端周围的能见度低于阈值。In a possible implementation manner, controlling at least one first target device in the first terminal to perform the first action includes: determining that the visibility around the first terminal is lower than a threshold, and controlling at least one first target device in the first terminal to perform the first action. An action: determining that the visibility around the first terminal is lower than a threshold includes: acquiring environmental information of the first terminal; and determining that the visibility around the first terminal is lower than the threshold.

可能的实现方式中，获取第一终端的环境信息，包括：获取第一终端周围的图像数据；和/或，获取第一终端周围的天气信息。In a possible implementation manner, acquiring the environmental information of the first terminal includes: acquiring image data around the first terminal; and/or acquiring weather information around the first terminal.

可能的实现方式中，第一动作与至少一个第一目标设备的运动角度、运动速度、运动方向、振动频率中的至少一个相关。In a possible implementation manner, the first action is related to at least one of a movement angle, movement speed, movement direction, and vibration frequency of the at least one first target device.

可能的实现方式中，第一状态提示包括行驶意图和/或交通信息，行驶意图包括：转向、并线、掉头、靠边停车或起步，交通信息包括：道路拥堵、事故发生、车辆紧急状态或让行紧急车辆。In a possible implementation manner, the first state prompt includes driving intention and/or traffic information, the driving intention includes: turning, merging, U-turn, pulling over or starting, and the traffic information includes: road congestion, accident, vehicle emergency or letting go. Take an emergency vehicle.

可能的实现方式中，所述方法还包括：通过雷达获取来自第二终端的第二状态提示，第二状态提示通过第二终端的至少一个第二目标设备的第二动作指示；其中，第二动作对应于第二状态提示。In a possible implementation manner, the method further includes: obtaining a second state prompt from the second terminal through the radar, and the second state prompt passes the second action instruction of at least one second target device of the second terminal; The action corresponds to the second state prompt.

可能的实现方式中，第二目标设备包括车灯、雨刷或车标中的至少一个。In a possible implementation manner, the second target device includes at least one of a vehicle lamp, a wiper or a vehicle logo.

第二方面，本申请实施例提供一种控制方法，其特征在于，所述方法包括：获取至少一个第一目标设备的第一动作的信息；根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，其中，第一动作用于指示第一状态提示。获取的第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，基于所获取的第一状态提示可以相应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。In a second aspect, an embodiment of the present application provides a control method, wherein the method includes: acquiring information about a first action of at least one first target device; and acquiring information from the first target device according to the information about the first action The first state prompt of the first terminal where it is located, wherein the first action is used to indicate the first state prompt. The obtained first state prompt is based on the first action instruction of the first target device, which can reduce the influence of environmental visibility, etc., and the driving strategy can be adjusted accordingly based on the obtained first state prompt, thereby improving the safety and comfort of vehicle driving. sex.

可能的实现方式中，第一动作与第一状态提示之间存在预先定义或者配置的对应关系。这样，基于该对应关系，可以根据第一动作的信息，准确得到第一目标设备所在的第一终端的第一状态提示，从而根据第一状态提示相应调整驾驶策略。In a possible implementation manner, there is a predefined or configured correspondence between the first action and the first state prompt. In this way, based on the corresponding relationship, the first state prompt of the first terminal where the first target device is located can be accurately obtained according to the information of the first action, so that the driving strategy can be adjusted accordingly according to the first state prompt.

可能的实现方式中，获取至少一个第一目标设备的第一动作的信息，包括：通过雷达检测第一动作以获取第一动作的信息；或者，获取来自雷达的第一动作的信息。In a possible implementation manner, acquiring the information of the first action of the at least one first target device includes: detecting the first action by the radar to acquire the information of the first action; or acquiring the information of the first action from the radar.

可能的实现方式中，第一动作的信息包括：第一动作对应的第一状态提示、第一动作对应的第一原始数据或第一动作对应的第一状态分解信息；其中，第一原始数据包括通过雷达检测第一动作而得到的数据矩阵；第一状态分解信息包括第一原始数据经过时频分析而得到的信息，第一状态提示由多个第一状态分解信息组成。In a possible implementation manner, the information of the first action includes: a first state prompt corresponding to the first action, first raw data corresponding to the first action, or first state decomposition information corresponding to the first action; wherein the first raw data It includes a data matrix obtained by detecting the first action by radar; the first state decomposition information includes information obtained by the time-frequency analysis of the first original data, and the first state prompt is composed of a plurality of first state decomposition information.

可能的实现方式中，还包括：响应于第一终端的第一状态提示，控制第二终端执行操作。In a possible implementation manner, the method further includes: in response to the first state prompt of the first terminal, controlling the second terminal to perform an operation.

可能的实现方式中，所述方法还包括：确定第二状态提示；控制第二终端中的至少一个第二目标设备执行第二动作，第二动作用于指示第二状态提示；其中，第二动作对应于第二状态提示。In a possible implementation manner, the method further includes: determining a second state prompt; controlling at least one second target device in the second terminal to perform a second action, where the second action is used to indicate the second state prompt; wherein the second The action corresponds to the second state prompt.

可能的实现方式中，第二目标设备包括车灯、雨刷和/或车标。In a possible implementation manner, the second target device includes vehicle lights, wipers and/or vehicle logos.

第三方面，本申请实施例提供一种控制装置，其特征在于，所述装置包括：处理单元，用于确定第一状态提示；处理单元，还用于控制第一终端中的至少一个第一目标设备执行第一动作，第一动作用于指示第一状态提示；其中，第一动作对应于第一状态提示。In a third aspect, an embodiment of the present application provides a control device, characterized in that the device includes: a processing unit, configured to determine a first state prompt; and a processing unit, further configured to control at least one of the first terminals in the first terminal. The target device performs a first action, and the first action is used to indicate a first state prompt; wherein, the first action corresponds to the first state prompt.

可能的实现方式中，处理单元，还用于：控制第一终端中的至少一个第一处理装置执行第一处理，第一处理对应于第一状态提示。这样，除了可以通过第一目标设备执行的第一动作隐式地传递第一状态提示，也可以通过第一处理装置执行的第一处理显式地传递第一状态提示，从而提高传递第一状态提示的准确率。In a possible implementation manner, the processing unit is further configured to: control at least one first processing device in the first terminal to execute a first process, where the first process corresponds to the first state prompt. In this way, in addition to implicitly transmitting the first state prompt through the first action performed by the first target device, the first state prompt can also be explicitly transmitted through the first processing performed by the first processing device, thereby improving the transmission of the first state. accuracy of the hint.

可能的实现方式中，处理单元，具体用于：确定第一终端周围的能见度低于阈值，控制第一终端中的至少一个第一目标设备执行第一动作；处理单元，具体还用于：获取第一终端的环境信息；确定第一终端周围的能见度低于阈值。In a possible implementation manner, the processing unit is specifically configured to: determine that the visibility around the first terminal is lower than a threshold, and control at least one first target device in the first terminal to perform the first action; the processing unit is further configured to: acquire environmental information of the first terminal; determine that the visibility around the first terminal is lower than a threshold.

可能的实现方式中，处理单元，具体用于：获取第一终端周围的图像数据；和/或，获取第一终端周围的天气信息。In a possible implementation manner, the processing unit is specifically configured to: acquire image data around the first terminal; and/or acquire weather information around the first terminal.

可能的实现方式中，处理单元，具体用于：通过雷达获取来自第二终端的第二状态提示，第二状态提示通过第二终端的至少一个第二目标设备的第二动作指示；其中，第二动作对应于第二状态提示。In a possible implementation manner, the processing unit is specifically configured to: obtain the second state prompt from the second terminal through the radar, and the second state prompt passes the second action instruction of at least one second target device of the second terminal; The second action corresponds to the second state prompt.

可能的实现方式中，第二目标设备包括车灯、雨刷或车标中的指示一个。In a possible implementation manner, the second target device includes one of a vehicle lamp, a wiper, or an indication of a vehicle logo.

第四方面，本申请实施例提供一种控制装置，其特征在于，所述装置包括：处理单元，用于获取至少一个第一目标设备的第一动作的信息；处理单元，还用于根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，其中，第一动作用于指示第一状态提示。In a fourth aspect, an embodiment of the present application provides a control device, characterized in that the device includes: a processing unit, configured to acquire information about a first action of at least one first target device; Information about an action is to obtain a first state prompt from the first terminal where the first target device is located, where the first action is used to indicate the first state prompt.

可能的实现方式中，处理单元，具体用于：通过雷达检测第一动作以获取第一动作的信息；或者，获取来自雷达的第一动作的信息。In a possible implementation manner, the processing unit is specifically configured to: detect the first action by the radar to obtain the information of the first action; or obtain the information of the first action from the radar.

可能的实现方式中，处理单元，还用于：响应于第一终端的第一状态提示，控制第二终端执行操作。In a possible implementation manner, the processing unit is further configured to: control the second terminal to perform an operation in response to the first state prompt of the first terminal.

可能的实现方式中，处理单元，具体用于：确定第二状态提示；控制第二终端中的至少一个第二目标设备执行第二动作，第二动作用于指示第二状态提示；其中，第二动作对应于第二状态提示。In a possible implementation manner, the processing unit is specifically configured to: determine the second state prompt; control at least one second target device in the second terminal to perform a second action, where the second action is used to indicate the second state prompt; wherein, the first The second action corresponds to the second state prompt.

第五方面，本申请实施例提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序或指令，当计算机程序或指令在计算机上运行时，使得计算机执行如第一方面至第二方面的任意一种实现方式中描述的控制方法。In a fifth aspect, embodiments of the present application provide a computer-readable storage medium, where a computer program or instruction is stored, and when the computer program or instruction is run on a computer, the computer executes the steps from the first aspect to the first aspect. The control method described in any one of the implementation manners of the two aspects.

第六方面，本申请实施例提供一种包括指令的计算机程序产品，当指令在计算机上运行时，使得计算机执行第一方面至第二方面的任意一种实现方式中描述的控制方法。In a sixth aspect, embodiments of the present application provide a computer program product including instructions, when the instructions are run on a computer, the computer executes the control method described in any one of the implementation manners of the first aspect to the second aspect.

第七方面，本申请实施例提供一种终端，该终端包括第三方面及第三方面的各种可能的实现方式中描述的控制装置，或者，包括第四方面及第四方面的各种可能的实现方式中描述的控制装置。In a seventh aspect, an embodiment of the present application provides a terminal, where the terminal includes the control device described in the third aspect and various possible implementations of the third aspect, or includes the fourth aspect and various possible implementations of the fourth aspect The control device described in the implementation of .

可能的实现方式中，该终端可以包括车辆等交通工具，车辆等交通工具可通过控制装置实施本申请实施例所描述的控制方法。其中，上述实施例所描述的控制装置包括但不限于：车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头等其他传感器。In a possible implementation manner, the terminal may include vehicles such as vehicles, and vehicles such as vehicles may implement the control methods described in the embodiments of the present application through a control device. The control devices described in the above embodiments include, but are not limited to, on-board controllers, on-board modules, on-board modules, on-board components, on-board chips, on-board units, on-board radars, on-board cameras, and other sensors.

第八方面，本申请实施例提供一种控制装置，该装置包括处理器和存储介质，存储介质存储有指令，指令被处理器运行时，实现如第一方面至第二方面任意的实现方式描述的控制方法。In an eighth aspect, an embodiment of the present application provides a control device, the device includes a processor and a storage medium, the storage medium stores an instruction, and when the instruction is executed by the processor, the implementation is as described in any implementation manner of the first aspect to the second aspect. control method.

第九方面，本申请提供一种芯片或者芯片***，该芯片或者芯片***包括至少一个处理器和通信接口，通信接口和至少一个处理器通过线路互联，至少一个处理器用于运行计算机程序或指令，以进行第一方面至第二方面任意的实现方式中任一项所描述的控制方法。其中，芯片中的通信接口可以为输入/输出接口、管脚或电路等。In a ninth aspect, the present application provides a chip or a chip system, the chip or chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used for running a computer program or instruction, The control method described in any one of the implementation manners of the first aspect to the second aspect is performed. Wherein, the communication interface in the chip may be an input/output interface, a pin, a circuit, or the like.

在一种可能的实现中，本申请中上述描述的芯片或者芯片***还包括至少一个存储器，该至少一个存储器中存储有指令。该存储器可以为芯片内部的存储单元，例如，寄存器、缓存等，也可以是该芯片的存储单元(例如，只读存储器、随机存取存储器等)。In a possible implementation, the chip or chip system described above in this application further includes at least one memory, where instructions are stored in the at least one memory. The memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (eg, a read-only memory, a random access memory, etc.).

应当理解的是，本申请的第二方面至第九方面与本申请的第一方面的技术方案相对应，各方面及对应的可行实施方式所取得的有益效果相似，不再赘述。It should be understood that the second to ninth aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manner are similar, and will not be repeated.

附图说明Description of drawings

图1为本申请实施例提供的一种雷达应用场景的示意图；FIG. 1 is a schematic diagram of a radar application scenario provided by an embodiment of the present application;

图2为本申请实施例提供的一种传统FMCW毫米波雷达***工作原理的示意图；2 is a schematic diagram of the working principle of a traditional FMCW millimeter-wave radar system provided by an embodiment of the present application;

图3为本申请实施例提供的一种应用场景的示意图；FIG. 3 is a schematic diagram of an application scenario provided by an embodiment of the present application;

图4为本申请实施例提供的一种车辆的功能框图；FIG. 4 is a functional block diagram of a vehicle according to an embodiment of the present application;

图5为本申请实施例提供的一种计算机***的结构示意图；5 is a schematic structural diagram of a computer system according to an embodiment of the present application;

图6为本申请实施例提供的一种控制方法的流程示意图；6 is a schematic flowchart of a control method provided by an embodiment of the present application;

图7为本申请实施例提供的一种雷达识别第一状态提示的示意图；FIG. 7 is a schematic diagram of a radar identification first state prompt provided by an embodiment of the present application;

图8为本申请实施例提供的一种控制方法的流程示意图；8 is a schematic flowchart of a control method provided by an embodiment of the present application;

图9为本申请实施例提供的一种控制方法的流程示意图；9 is a schematic flowchart of a control method provided by an embodiment of the present application;

图10为本申请实施例提供的一种雨刷动作的示意图；10 is a schematic diagram of a wiper action provided by an embodiment of the present application;

图11为本申请实施例提供的一种雨刷动作的示意图；11 is a schematic diagram of a wiper action provided by an embodiment of the application;

图12为本申请实施例提供的一种控制方法的流程示意图；12 is a schematic flowchart of a control method provided by an embodiment of the present application;

图13为本申请实施例提供的一种终端的结构示意图；FIG. 13 is a schematic structural diagram of a terminal according to an embodiment of the present application;

图14为本申请实施例提供的一种控制装置的结构示意图；14 is a schematic structural diagram of a control device provided by an embodiment of the application;

图15为本申请实施例提供的一种控制设备的硬件结构示意图；15 is a schematic diagram of a hardware structure of a control device provided by an embodiment of the application;

图16为本申请实施例提供的一种芯片的结构示意图。FIG. 16 is a schematic structural diagram of a chip provided by an embodiment of the present application.

具体实施方式Detailed ways

为了便于清楚描述本申请实施例的技术方案，在本申请的实施例中，采用了“第一”、“第二”等字样对功能和作用基本相同的相同项或相似项进行区分。例如，第一信息和第二信息仅仅是为了区分不同的信息，并不对其先后顺序进行限定。本领域技术人员可以理解“第一”、“第二”等字样并不对数量和执行次序进行限定，并且“第一”、“第二”等字样也并不限定一定不同。In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with basically the same function and effect. For example, the first information and the second information are only for distinguishing different information, and the sequence of the first information is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like are not necessarily different.

需要说明的是，本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。It should be noted that, in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or illustrations. Any embodiment or design described in this application as "exemplary" or "such as" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present the related concepts in a specific manner.

本申请实施例中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a，b，c，a-b，a-c，b-c，或a-b-c，其中a，b，c可以是单个，也可以是多个。In the embodiments of the present application, "at least one" refers to one or more, and "multiple" refers to two or more. "And/or", which describes the association relationship of the associated objects, indicates that there can be three kinds of relationships, for example, A and/or B, which can indicate: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A, B can be singular or plural. The character "/" generally indicates that the associated objects are an "or" relationship. "At least one item(s) below" or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (a) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c may be single or multiple .

随着社会的发展，智能汽车正在逐步进入人们的日常生活。其中，传感器在智能汽车的辅助驾驶和自动驾驶中发挥着十分重要的作用。With the development of society, smart cars are gradually entering people's daily life. Among them, sensors play a very important role in the assisted driving and automatic driving of smart cars.

一方面，传感器可以随时感知周围环境，传感器通过收集周围环境的数据，进行移动物体的辨识与追踪；传感器也可以识别静止场景中的车道线或标示牌，并结合导航仪以及地图数据进行路径规划。On the one hand, the sensor can sense the surrounding environment at any time, and the sensor can identify and track moving objects by collecting the data of the surrounding environment; the sensor can also identify the lane lines or signs in the static scene, and combine the navigator and map data for path planning .

另一方面，传感器可以预先察觉可能发生的危险，从而传感器可以帮助车辆采取规避手段远离危险；或者，传感器可以自主采取规避手段帮助车辆远离危险，从而有效地增加了汽车驾驶的安全性和舒适性。On the other hand, sensors can detect possible dangers in advance, so that the sensors can help the vehicle to take evasive measures to stay away from the danger; or, the sensors can autonomously take evasive measures to help the vehicle stay away from the danger, thereby effectively increasing the safety and comfort of car driving .

可能的方式中，传感器可以包括摄像头或雷达，示例性的，图1为本申请实施例提供的一种雷达应用场景的示意图，如图1，雷达可以安装在机动车辆、无人机、轨道车、自行车、信号灯、测速装置或基站等，基于雷达的不同的安装位置，基于雷达所要实现的功能也可能不同。例如，雷达安装在测速装置上时，主要用于监测道路上车辆的速度，以发现违规行驶的车辆；雷达安装在车辆尾灯时，主要用于检测在车辆倒车过程中有没有障碍物体，以防止发生事故。可以理解，雷达安装的位置和基于雷达所要实现的功能，可以根据实际应用场景设定，本申请实施例不作限定。In a possible manner, the sensor may include a camera or a radar. Exemplarily, FIG. 1 is a schematic diagram of a radar application scenario provided by an embodiment of the present application. , bicycles, signal lights, speed measuring devices or base stations, etc., based on the different installation positions of the radar, the functions to be implemented based on the radar may also be different. For example, when the radar is installed on the speed measuring device, it is mainly used to monitor the speed of vehicles on the road to find vehicles driving illegally; when the radar is installed on the taillights of the vehicle, it is mainly used to detect whether there are obstacles in the process of reversing the vehicle to prevent have an accident. It can be understood that the location where the radar is installed and the functions to be implemented based on the radar can be set according to actual application scenarios, which are not limited in the embodiments of the present application.

可能的方式中，雷达可以包括毫米波雷达、激光雷达或超声波雷达等，其中，毫米波是指波长在1mm-10mm之间的电磁波，毫米波对应的频率范围为30GHz-300GHz，在30GHz-300GHz的频率范围内，毫米波的特性可以包括带宽大、波长短、雷达分辨率高以及穿透强，毫米波的特性使其适合应用于车载领域。In a possible manner, the radar may include millimeter-wave radar, lidar, or ultrasonic radar, etc., wherein, millimeter-wave refers to electromagnetic waves with wavelengths between 1mm-10mm, and the corresponding frequency range of millimeter-wave is 30GHz-300GHz, and 30GHz-300GHz Within the frequency range of 1,000 millimeters, the characteristics of millimeter waves can include large bandwidth, short wavelength, high radar resolution and strong penetration. The characteristics of millimeter waves make them suitable for automotive applications.

带宽大意味着毫米波的频域资源丰富和毫米波的天线副瓣低，从而毫米波雷达有利于实现成像或准成像；波长短意味着毫米波雷达的设备体积和天线口径可以减小，从而毫米波雷达的重量可以减轻；穿透强意味着相比于激光雷达和光学***，毫米波雷达更加具有穿透烟、灰尘或雾的能力，使得毫米波雷达可以全天候工作。因此，毫米波雷达可以广泛应用于车辆中。The large bandwidth means that the millimeter-wave frequency domain resources are abundant and the antenna sidelobe of the millimeter-wave is low, so the millimeter-wave radar is conducive to the realization of imaging or quasi-imaging; the short wavelength means that the equipment volume and antenna aperture of the millimeter-wave radar can be reduced, thus The weight of millimeter-wave radar can be reduced; strong penetration means that compared to lidar and optical systems, millimeter-wave radar is more capable of penetrating smoke, dust or fog, allowing millimeter-wave radar to work around the clock. Therefore, millimeter-wave radar can be widely used in vehicles.

可能的方式中，车载毫米波雷达***可以包括振荡器(local oscillation，LO)、发射天线(transmit，TX)、接收天线(receive，RX)、混频器(mixer)、低通滤波器(low pass filter，LPF)、模数转换器(analog-to-digital converter，ADC)和数字信号处理器(digital signal processer，DSP)等装置。In a possible manner, the vehicle-mounted millimeter-wave radar system may include an oscillator (local oscillator, LO), a transmit antenna (transmit, TX), a receive antenna (receive, RX), a mixer (mixer), and a low-pass filter (low pass filter). pass filter, LPF), analog-to-digital converter (analog-to-digital converter, ADC) and digital signal processor (digital signal processor, DSP) and other devices.

示例性的，图2为本申请实施例提供的一种传统调频连续波(frequency modulated continuous wave，FMCW)毫米波雷达***工作原理的示意图。Exemplarily, FIG. 2 is a schematic diagram of the working principle of a traditional frequency modulated continuous wave (FMCW) millimeter-wave radar system according to an embodiment of the present application.

如图2所示，LO会产生频率随时间线性增加的FMCW信号，一部分FMCW信号输入至混频器作为本振信号，一部分FMCW信号通过TX发射出去，信号遇到目标物体会产生反射，RX接收目标物体反射回来的回波信号或者其它空间中的电磁波，回波信号或者其它空间中的电磁波与本振信号在混频器中进行混频操作，混频操作后的信号经过LPF并经过ADC后得到中频采样信号，DSP对中频采样信号进行处理(例如，快速傅里叶变换和/或频谱分析等)可以得到目标物体的信息(例如，距离、速度和/或角度等)。As shown in Figure 2, the LO will generate an FMCW signal whose frequency increases linearly with time. Part of the FMCW signal is input to the mixer as the local oscillator signal, and part of the FMCW signal is transmitted through the TX. The signal will be reflected when it encounters the target object, and the RX will receive it. The echo signal reflected by the target object or the electromagnetic wave in other space, the echo signal or the electromagnetic wave in other space and the local oscillator signal are mixed in the mixer, and the signal after the mixing operation passes through the LPF and the ADC. After obtaining the intermediate frequency sampled signal, the DSP can process the intermediate frequency sampled signal (eg, fast Fourier transform and/or spectrum analysis, etc.) to obtain the information of the target object (eg, distance, speed and/or angle, etc.).

可能的情况中，物体或者该物体的任何组成结构，在物体主体结构的运动以外，可能还存在着微小运动(或者称为微动)，微动的源头可能是一个摆动着手臂和大腿的行走的人、一个振动的表面、一架直升机的旋转的螺旋桨或一只拍打着翅膀的鸟。其中，微动可以包括振动、摆动、旋转、拍打或起伏波动。In a possible situation, the object or any constituent structure of the object, in addition to the movement of the main structure of the object, there may also be micro-motion (or micro-motion), and the source of the micro-motion may be a walking with swinging arms and thighs. a person, a vibrating surface, the spinning propeller of a helicopter or a flapping bird. Wherein, the fretting may include vibration, swing, rotation, beating or undulation.

微动可能会引起雷达发射信号在载频上时变的频率调制，这种时变的频率调制含有与载频、振动方向和入射信号方向之间的夹角、振动或转动速率等有关的谐波频率，因此，通过分析时变的频率调制可以得到目标物体的运动学性质，也可以作为目标物体进一步分类、识别和鉴别的特征。The fretting may cause time-varying frequency modulation of the radar transmit signal on the carrier frequency. This time-varying frequency modulation contains harmonics related to the carrier frequency, the angle between the direction of vibration and the direction of the incident signal, the rate of vibration or rotation, etc. Therefore, the kinematic properties of the target object can be obtained by analyzing the time-varying frequency modulation, which can also be used as a feature for further classification, identification and identification of the target object.

可能的方式中，汽车可以通过雷达识别其它车辆的位置和速度，雷达基于位置和速度，利用跟踪算法可以估计出其他车辆的运动轨迹，这样，汽车可以得到其他车辆下一时刻的运动轨迹。但是，汽车通过雷达估计的运动轨迹，因为缺乏其他车辆在下一时刻对行驶意图的准确表达，使得雷达估计出的运动轨迹的精确度不高。In a possible way, the car can identify the position and speed of other vehicles through the radar. Based on the position and speed, the radar can use the tracking algorithm to estimate the movement trajectory of other vehicles. In this way, the car can obtain the movement trajectory of other vehicles at the next moment. However, the motion trajectory estimated by the radar of the car is not accurate due to the lack of accurate expression of the driving intention of other vehicles at the next moment.

在自动驾驶或辅助驾驶中，汽车可以通过车载摄像头识别其它车辆的车灯(例如，转向灯)信息，从而汽车可以推断出其它车辆的行驶意图。但是，在炫光或者能见度不好(例如，雨、雪或大雾)的情况下，车辆摄像头对其它车辆的车灯信息的识别成功率下降，使得车载摄像头无法保证对其他车辆转向灯的识别准确率。In autonomous driving or assisted driving, the car can identify other vehicles' headlights (for example, turn signals) information through the on-board camera, so that the car can infer the driving intention of other vehicles. However, in the case of glare or poor visibility (for example, rain, snow or heavy fog), the success rate of the vehicle camera in recognizing the light information of other vehicles decreases, so that the vehicle camera cannot guarantee the recognition of the turn signals of other vehicles. Accuracy.

基于此，本申请实施例提供一种控制方法和装置，示例性的，第一车辆中的控制模块在确定第一状态提示后，可以控制第一终端中的至少一个第一目标设备执行第一动作；第二车辆可以获取该至少一个第一目标设备的第一动作的信息，并根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，这样，第二车辆中的控制模块所获取的第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，从而第二车辆中的控制模块可以在任意环境中识别第一车辆的行驶意图和/或交通信息，进而第二车辆可以相应调整驾驶策略，提高车辆驾驶的安全性和舒适性。Based on this, embodiments of the present application provide a control method and apparatus. Exemplarily, after determining the first state prompt, the control module in the first vehicle can control at least one first target device in the first terminal to execute the first action; the second vehicle can obtain the information of the first action of the at least one first target device, and obtain the first state prompt from the first terminal where the first target device is located according to the information of the first action, so that the second The first state prompt obtained by the control module in the vehicle is based on the first action instruction of the first target device, which can reduce the influence of environmental visibility, etc., so that the control module in the second vehicle can identify the first vehicle in any environment The driving intention and/or traffic information of the second vehicle can be adjusted accordingly, and the driving safety and comfort of the vehicle can be improved accordingly.

本申请实施例的控制方法可以应用于车辆、车辆中的芯片或车辆中的控制模块等，车辆、车辆中的芯片或车辆中的控制模块可以基于本申请实施例的方法，向其他车辆表达第一状态提示。The control methods in the embodiments of the present application can be applied to vehicles, chips in vehicles, control modules in vehicles, etc. The vehicles, chips in vehicles, or control modules in vehicles can express the first step to other vehicles based on the methods of embodiments of the present application. A status prompt.

示例性的，图3为本申请实施例提供的一种应用场景的示意图，如图3所示，第一车辆和第二车辆在不同的车道上行驶，若第一车辆需要右并线到与第二车辆相同的车道上，第一车辆可以控制至少一个第一目标设备执行用于指示右并线的动作，第二车辆根据第一目标设备的动作得到的第一车辆的右并线的行驶意图后，第二车辆可以相应调整行驶速度或行驶路线，避免第一车辆向右转向到与第二车辆相同的行驶路线的同时，第二车辆加速行驶而和第一车辆之间发生碰撞，以提高车辆驾驶的安全性。Exemplarily, FIG. 3 is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG. 3 , the first vehicle and the second vehicle are driving in different lanes. On the same lane as the second vehicle, the first vehicle can control at least one first target device to perform an action for instructing a right-merge line, and the second vehicle obtains the right-merge line of the first vehicle according to the action of the first target device. After the intention, the second vehicle can adjust the driving speed or the driving route accordingly, so as to avoid the first vehicle turning right to the same driving route as the second vehicle, the second vehicle accelerates and collides with the first vehicle, so as to avoid the collision between the first vehicle and the first vehicle. Improve vehicle driving safety.

在图3所描述的应用场景的基础上，图4为本申请实施例提供的一种可能的车辆400的功能框图，车辆400可以为第一车辆，也可以为第二车辆。可以理解，第一车辆或第二车辆的内部结构也可以与图4所示的内部结构不同，本申请实施例对此不作具体限定。Based on the application scenario described in FIG. 3 , FIG. 4 is a functional block diagram of a possible vehicle 400 provided by an embodiment of the present application, and the vehicle 400 may be a first vehicle or a second vehicle. It can be understood that the internal structure of the first vehicle or the second vehicle may also be different from the internal structure shown in FIG. 4 , which is not specifically limited in this embodiment of the present application.

如图4所示，车辆400可以被配置为完全或部分地自动驾驶模式。例如，车辆400可以为轿车、卡车、摩托车、公共汽车、割草机、娱乐车、游乐场车辆、施工设备、电车、高尔夫球车、火车或手推车等，本申请实施例不作具体限定。As shown in FIG. 4, vehicle 400 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 400 may be a car, a truck, a motorcycle, a bus, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, or a trolley, which is not specifically limited in the embodiments of the present application.

可能的方式中，当车辆400处于部分地自动驾驶模式时，车辆400确定车辆及其周边环境的当前状态后，车辆用户基于该当前状态操作车辆400。例如，车辆400确定周边环境中的至少一个其他车辆的可能行为，将该可能行为以语音的方式通知给车辆用户，车辆用户基于该语音操作车辆400。In a possible manner, when the vehicle 400 is in a partially automatic driving mode, after the vehicle 400 determines the current state of the vehicle and its surrounding environment, the vehicle user operates the vehicle 400 based on the current state. For example, the vehicle 400 determines a possible behavior of at least one other vehicle in the surrounding environment, notifies the vehicle user of the possible behavior by voice, and the vehicle user operates the vehicle 400 based on the voice.

可能的方式中，在车辆400处于完全地自动驾驶模式中时，车辆400可以自动执行驾驶相关操作。例如，车辆400确定周边环境中的至少一个其他车辆的可能行为，并确定该其他车辆执行可能行为自动执行驾驶车辆400的相关操作。In a possible manner, when the vehicle 400 is in a fully autonomous driving mode, the vehicle 400 may automatically perform driving-related operations. For example, the vehicle 400 determines a possible behavior of at least one other vehicle in the surrounding environment, and determines that the other vehicle performs the possible behavior to automatically perform an operation related to driving the vehicle 400 .

如图4所示，车辆400包括：行进***202、传感器***204、控制***206、一个或多个***设备208、计算机***212、电源210以及用户接口216。可选地，车辆400可包括更多或更少的子***，并且每个子***可包括多个元件。其中，车辆400的每个子***和元件可以通过有线或者无线互连。As shown in FIG. 4 , vehicle 400 includes: travel system 202 , sensor system 204 , control system 206 , one or more peripherals 208 , computer system 212 , power supply 210 , and user interface 216 . Alternatively, vehicle 400 may include more or fewer subsystems, and each subsystem may include multiple elements. Therein, each subsystem and element of the vehicle 400 may be interconnected by wire or wirelessly.

在图4中，行进***202包括：引擎218、传动装置220、能量源219及车轮221。In FIG. 4 , the travel system 202 includes an engine 218 , a transmission 220 , an energy source 219 and wheels 221 .

可能的方式中，传感器***204包括感测关于车辆400周边的环境的信息的若干个传感器。例如，传感器***204可包括：定位***222、惯性测量单元(inertial measurement unit，IMU)224、毫米波雷达226、激光雷达228以及摄像头230。其中，定位***222可以是全球定位***(global positioning system，GPS)，也可以是北斗***或者其他定位***。In a possible manner, the sensor system 204 includes several sensors that sense information about the environment surrounding the vehicle 400 . For example, sensor system 204 may include: positioning system 222 , inertial measurement unit (IMU) 224 , millimeter wave radar 226 , lidar 228 , and camera 230 . The positioning system 222 may be a global positioning system (global positioning system, GPS), or a Beidou system or other positioning systems.

可能的方式中，定位***222可用于估计车辆400的地理位置，IMU 224用于基于惯性加速度感测车辆400的位置和朝向变化。在一些实施例中，IMU 224可以是加速度计和陀螺仪的组合。In a possible manner, the positioning system 222 may be used to estimate the geographic position of the vehicle 400, and the IMU 224 may be used to sense changes in the position and orientation of the vehicle 400 based on inertial acceleration. In some embodiments, IMU 224 may be a combination of an accelerometer and a gyroscope.

可选的，传感器***204还可以包括：被监视车辆400的内部***的传感器(例如，车内空气质量监测器、燃油量表和/或机油温度表等)。来自这些传感器中的一个或多个的传感器数据可用于检测和识别对象及其相应特性(例如，位置、形状、方向和/或速度等)，这种检测和识别是车辆400进行自主安全操作的关键功能。Optionally, the sensor system 204 may also include sensors of the internal systems of the vehicle 400 to be monitored (eg, an in-vehicle air quality monitor, a fuel gauge and/or an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect and identify objects and their corresponding characteristics (eg, location, shape, direction, and/or speed, etc.) that the vehicle 400 operates autonomously and safely key function.

可能的方式中，毫米波雷达226可利用无线电信号感测车辆400的周边环境内的物体。例如，第二车辆可以通过毫米波雷达226感测第一车辆内的至少一个第一目标设备，并检测至少一个第一目标设备执行的第一动作，以获取第一动作对应的第一状态提示。在一些实施例中，除了感测物体以外，毫米波雷达226还可用于感测物体的速度和/或前进方向。In a possible manner, the millimeter wave radar 226 may utilize radio signals to sense objects within the surrounding environment of the vehicle 400 . For example, the second vehicle may use the millimeter wave radar 226 to sense at least one first target device in the first vehicle, and detect a first action performed by the at least one first target device, so as to obtain a first state prompt corresponding to the first action . In some embodiments, in addition to sensing objects, millimeter wave radar 226 may be used to sense the speed and/or heading of objects.

可能的方式中，激光雷达228可利用激光感测车辆400所位于的环境中的物体。在一些实施例中，激光雷达228可包括一个或多个激光源、激光扫描器以及一个或多个检测器，以及其他***组件。In a possible manner, the lidar 228 may utilize laser light to sense objects in the environment in which the vehicle 400 is located. In some embodiments, lidar 228 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

可能的方式中，摄像头230可用于捕捉车辆400的周边环境的多个图像。例如，摄像头230可以捕捉第一车辆周围的环境数据或图像数据，第一车辆基于环境数据或图像数据，确定第一车辆的能见度低于阈值，从而第一车辆可以控制至少一个第一目标设备执行第一动作，其中，摄像头230可以是静态摄像头或视频摄像头。In a possible manner, the camera 230 may be used to capture multiple images of the surrounding environment of the vehicle 400 . For example, the camera 230 may capture environment data or image data around the first vehicle, and the first vehicle determines, based on the environment data or image data, that the visibility of the first vehicle is lower than a threshold, so that the first vehicle may control the at least one first target device to execute In the first action, the camera 230 may be a still camera or a video camera.

在图4中，控制***206为控制车辆400及其组件的操作，控制***206可包括各种元件。例如，控制***206可包括：转向***232、油门234、制动单元236、计算机视觉***240、路线控制***242以及障碍规避***244中的至少一个。可以理解的是，在一些实例中，控制***206可以增加或替换地包括除了所示出和描述的那些以外的组件，或者也可以减少一部分上述示出的组件。In FIG. 4 , the control system 206 is to control the operation of the vehicle 400 and its components, and the control system 206 may include various elements. For example, the control system 206 may include at least one of a steering system 232 , a throttle 234 , a braking unit 236 , a computer vision system 240 , a route control system 242 , and an obstacle avoidance system 244 . It will be appreciated that, in some instances, the control system 206 may include additional or alternative components in addition to those shown and described, or may reduce some of the components shown above.

可能的方式中，计算机视觉***240可以处理和分析由摄像头230捕捉的图像，以便计算机视觉***240识别车辆400周边环境中的物体和/或物体的特征。其中，物体和/或物体的特征可包括：交通信号、道路边界或障碍物。计算机视觉***240可使用物体识别算法、运动中恢复结构(structure from motion，SFM)算法、视频跟踪和其他计算机视觉技术。在一些实施例中，计算机视觉***240可以用于为环境绘制地图、跟踪物体、估计物体的速度等。In a possible manner, computer vision system 240 may process and analyze images captured by camera 230 so that computer vision system 240 may identify objects and/or characteristics of objects in the environment surrounding vehicle 400 . Among them, the object and/or the characteristics of the object may include: traffic signals, road boundaries or obstacles. Computer vision system 240 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 240 may be used to map the environment, track objects, estimate the speed of objects, and the like.

可能的方式中，路线控制***242可用于确定车辆400的行驶路线，障碍规避***244可用于识别、评估和避开或者以其他方式越过车辆400的环境中的潜在障碍物。In a possible manner, the route control system 242 may be used to determine the route of travel of the vehicle 400 and the obstacle avoidance system 244 may be used to identify, evaluate and avoid or otherwise overcome potential obstacles in the environment of the vehicle 400 .

车辆400通过***设备208与外部传感器、其他车辆、其他计算机***或用户之间进行交互。例如，***设备208可包括：无线通信***246、车载电脑248、麦克风250以及扬声器252。可能的方式中，无线通信***246可以直接地或者经由通信网络与一个或多个设备无线通信。Vehicle 400 interacts with external sensors, other vehicles, other computer systems, or users through peripherals 208 . Peripherals 208 may include, for example, a wireless communication system 246 , an in-vehicle computer 248 , a microphone 250 , and a speaker 252 . In a possible manner, the wireless communication system 246 may wirelessly communicate with one or more devices, either directly or via a communication network.

车辆400的部分或所有功能受计算机***212控制。计算机***212可包括至少一个处理器213，处理器213执行存储在数据存储装置214中的指令215。计算机***212还可以是采用分布式方式，控制车辆400的个体组件或子***的多个计算设备。Some or all of the functions of the vehicle 400 are controlled by the computer system 212 . Computer system 212 may include at least one processor 213 that executes instructions 215 stored in data storage device 214 . Computer system 212 may also be a plurality of computing devices that control individual components or subsystems of vehicle 400 in a distributed fashion.

可能的方式中，处理器213可以是任何常规的处理器，诸如商业可获得的中央处理器(central processing unit，CPU)。替选地，该处理器可以是诸如用于供专门应用的集成电路(application specific integrated circuit，ASIC)或其它基于硬件的处理器的专用设备。在此处所描述的各个方面中，处理器213可以位于远离该车辆且与该车辆进行无线通信的位置。在其它方面中，此处所描述的一些过程可以由布置于车辆内的处理器上执行，而此处所描述的另一些过程可以由远程处理器执行，这些过程包括采取执行单一操纵的必要步骤。In a possible manner, the processor 213 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor may be a special-purpose device such as an application specific integrated circuit (ASIC) or other hardware-based processor for use in a specific application. In various aspects described herein, the processor 213 may be located remotely from and in wireless communication with the vehicle. In other aspects, some of the processes described herein may be performed by a processor disposed within a vehicle, while other processes described herein may be performed by a remote processor, including taking steps necessary to perform a single maneuver.

可能的方式中，数据存储装置214可包含指令215(例如，程序逻辑指令)，指令215可被处理器213处理，以便处理器213执行车辆400的各种功能，这些功能包括以上所描述的功能。数据存储装置214也可包含额外的指令，包括向推进***202、传感器***204、控制***206和***设备208中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。In a possible manner, the data storage device 214 may contain instructions 215 (eg, program logic instructions) that may be processed by the processor 213 such that the processor 213 performs various functions of the vehicle 400 , including the functions described above . The data storage device 214 may also contain additional instructions, including sending data to, receiving data from, interacting with, and/or performing data processing on one or more of the propulsion system 202 , the sensor system 204 , the control system 206 , and the peripherals 208 . control commands.

除了指令215以外，数据存储装置214还可存储数据，例如道路地图、路线信息、车辆的位置、方向、速度以及其它这样的车辆数据，以及其他信息。这种信息可在车辆400在自主、半自主和/或手动模式中操作期间被车辆400和计算机***212使用。In addition to instructions 215, data storage device 214 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, among other information. Such information may be used by the vehicle 400 and the computer system 212 during operation of the vehicle 400 in autonomous, semi-autonomous, and/or manual modes.

可能的方式中，用户接口216，用于向车辆400的用户提供信息或从其接收信息。可选地，用户接口216可包括在***设备208的集合内的一个或多个输入/输出设备，例如无线通信***246、车载电脑248、麦克风250和扬声器252。In a possible manner, the user interface 216 is used to provide information to or receive information from a user of the vehicle 400 . Optionally, user interface 216 may include one or more input/output devices within the set of peripheral devices 208 , such as wireless communication system 246 , onboard computer 248 , microphone 250 and speaker 252 .

计算机***212可基于从各种子***(例如，行进***202、传感器***204和控制***206)以及从用户接口226接收的输入来控制车辆400的功能。例如，计算机***212可利用来自控制***206的输入，以便控制转向***232避免由传感器***204和障碍规避***244检测到的障碍物。在一些实施例中，计算机***212可对车辆400及其子***的许多方面提供控制。Computer system 212 may control functions of vehicle 400 based on input received from various subsystems (eg, travel system 202 , sensor system 204 , and control system 206 ) and from user interface 226 . For example, computer system 212 may utilize input from control system 206 in order to control steering system 232 to avoid obstacles detected by sensor system 204 and obstacle avoidance system 244 . In some embodiments, computer system 212 may provide control over many aspects of vehicle 400 and its subsystems.

可选地，上述这些组件中的一个或多个可与车辆400分开安装或关联。例如，数据存储装置214可以部分或完全地与车辆400分开存在。上述组件可以按有线和/或无线方式耦合在一起。Alternatively, one or more of these components described above may be installed or associated with the vehicle 400 separately. For example, data storage device 214 may exist partially or completely separate from vehicle 400 . The above-described components may be coupled together in a wired and/or wireless manner.

可选地，上述组件只是一个示例，实际应用中，上述各个模块中的组件有可能根据实际需要增添或者删除，图4不应理解为对本申请实施例的限制。Optionally, the above component is just an example. In practical applications, components in each of the above modules may be added or deleted according to actual needs, and FIG. 4 should not be construed as a limitation on the embodiments of the present application.

除了提供调整自动驾驶汽车的速度或行驶路线的指令之外，计算设备还可以提供修改车辆400的转向角的指令，以使得自动驾驶汽车遵循给定的轨迹和/或维持与自动驾驶汽车附近的障碍物(例如，道路上的相邻车道中的车辆)的安全横向和纵向距离。In addition to providing instructions to adjust the speed or route of the self-driving car, the computing device may also provide instructions to modify the steering angle of the vehicle 400 so that the self-driving car follows a given trajectory and/or maintains a close proximity to the self-driving car. Safe lateral and longitudinal distances to obstacles (eg, vehicles in adjacent lanes on the road).

为了更好地描述图4中所示的计算机***212，示例性的，图5为计算机***212的结构示意图。In order to better describe the computer system 212 shown in FIG. 4 , by way of example, FIG. 5 is a schematic structural diagram of the computer system 212 .

如图5所示，计算机***212包括处理器213、显示适配器(video adapter)107、收发器123、摄像头155和通用串行总线(universal serial bus，USB)端口125等中的至少一个。其中，收发器123可以发送和/或接受无线电通信信号，摄像头155可以捕捉静态数字视频图像和动态数字视频图像。As shown in FIG. 5, the computer system 212 includes at least one of a processor 213, a video adapter 107, a transceiver 123, a camera 155, a universal serial bus (USB) port 125, and the like. The transceiver 123 can transmit and/or receive radio communication signals, and the camera 155 can capture still digital video images and dynamic digital video images.

可能的方式中，处理器213和***总线105耦合，***总线105通过总线桥111和输入输出(input/output，I/O)总线耦合，I/O总线和I/O接口115耦合，I/O接口115可以和多种I/O设备进行通信。例如，I/O设备可以为输入设备117(如：键盘，鼠标，触摸屏等)或多媒体盘(media tray)121(例如，紧凑型光盘只读储存器(compact disc read-only memory，CD-ROM)、多媒体接口等)。可选的，和I/O接口115相连接的接口可以是通用串行总线(universal serial bus，USB)接口。In a possible manner, the processor 213 is coupled to the system bus 105, the system bus 105 is coupled to the input/output (I/O) bus through the bus bridge 111, the I/O bus is coupled to the I/O interface 115, and the I/O bus is coupled to the I/O interface 115. The O interface 115 can communicate with various I/O devices. For example, the I/O device may be an input device 117 (eg, a keyboard, mouse, touch screen, etc.) or a media tray 121 (eg, a compact disc read-only memory (CD-ROM) ), multimedia interfaces, etc.). Optionally, the interface connected to the I/O interface 115 may be a universal serial bus (universal serial bus, USB) interface.

可能的方式中，处理器213可以是一个或者多个处理器，其中每个处理器都可以包括一个或多个处理器核；处理器113可以是任何传统处理器，包括精简指令集计算机(reduced instruction set computing，RISC)、复杂指令集计算机(complex instruction set computing，CISC)或上述的组合。In a possible manner, the processor 213 may be one or more processors, each of which may include one or more processor cores; the processor 113 may be any conventional processor, including a reduced instruction set computer (reduced instruction set computer). instruction set computing, RISC), complex instruction set computer (complex instruction set computing, CISC) or a combination of the above.

可选地，处理器可以是诸如专用集成电路(application specific integrated circuit，ASIC)的专用装置；或者，处理器213可以是神经网络处理器或者是神经网络处理器和上述传统处理器的组合。Alternatively, the processor may be a dedicated device such as an application specific integrated circuit (ASIC); alternatively, the processor 213 may be a neural network processor or a combination of a neural network processor and the above conventional processors.

可选地，在本申请所描述的各种实施例中，计算机***212可位于远离自动驾驶车辆的地方，并且可与自动驾驶车辆无线通信。在其它方面，本申请所描述的一些过程可以设置在自动驾驶车辆内的处理器上执行，其它的过程由远程处理器执行，该过程包括采取执行单个操纵所需的动作。Alternatively, in various embodiments described herein, computer system 212 may be located remotely from the autonomous vehicle and may communicate wirelessly with the autonomous vehicle. In other aspects, some of the processes described herein may be arranged to be performed on a processor within an autonomous vehicle, and other processes may be performed by a remote processor, including taking actions required to perform a single maneuver.

可能的方式中，计算机***212可以通过网络接口129和软件部署服务器149通信。例如，网络接口129可以是硬件网络接口(例如，网卡)。网络127可以是外部网络(例如，因特网)，也可以是内部网络(例如，以太网或者虚拟专用网络(virtual private network，VPN))。可选地，网络127还可以是无线网络(例如，无线保真(wireless-fidelity，WiFi)网络，蜂窝网络)。In a possible manner, computer system 212 may communicate with software deployment server 149 via network interface 129 . For example, network interface 129 may be a hardware network interface (eg, a network card). The network 127 may be an external network (eg, the Internet) or an internal network (eg, an Ethernet network or a virtual private network (VPN)). Optionally, the network 127 may also be a wireless network (eg, wireless-fidelity (WiFi) network, cellular network).

可能的方式中，应用程序143包括控制汽车自动驾驶相关程序147。例如，自动驾驶相关的程序147可以包括管理自动驾驶的汽车和路上障碍物交互的程序、控制自动驾驶汽车路线或者速度的程序、控制自动驾驶汽车和路上其他自动驾驶汽车交互的程序等。In a possible manner, the application program 143 includes a program 147 related to controlling the automatic driving of the car. For example, the self-driving related programs 147 may include programs that manage the interaction of the self-driving car with road obstacles, programs that control the route or speed of the self-driving car, programs that control the interaction of the self-driving car with other self-driving cars on the road, and the like.

应用程序143可以存在于软件部署服务器(deploying server)149的***上。在一些实施例中，在需要执行应用程序143时，计算机***可以从软件部署服务器149下载应用程序143。Application 143 may exist on the system of software deployment server 149 . In some embodiments, the computer system may download the application 143 from the software deployment server 149 when the application 143 needs to be executed.

传感器153和计算机***212关联，传感器153用于探测计算机***212周围的环境。例如，传感器153可以探测动物、汽车、障碍物或人行横道等物体；进一步地，传感器还可以探测上述动物、汽车、障碍物或人行横道等物体周围的环境，例如，环境可以为动物周围的天气条件、动物周围的环境的光亮度、动物周围出现的其他动物等。可选地，若计算机***212安装在自动驾驶的汽车上，传感器可以是摄像头，红外线感应器，化学检测器，麦克风等。图5也仅仅是是一种示例性的展示，不对本申请的方案造成限制。 Sensor 153 is associated with computer system 212 , and sensor 153 is used to detect the environment surrounding computer system 212 . For example, the sensor 153 can detect objects such as animals, cars, obstacles or pedestrian crossings; further, the sensor can also detect the environment around the above-mentioned objects such as animals, cars, obstacles or pedestrian crossings, for example, the environment can be the weather conditions around the animals, The brightness of the environment around the animal, other animals that appear around the animal, etc. Alternatively, if the computer system 212 is installed in an autonomous vehicle, the sensors may be cameras, infrared sensors, chemical detectors, microphones, and the like. FIG. 5 is also only an exemplary display, and does not limit the solution of the present application.

下面以具体的实施例对本申请实施例的技术方案以及本申请实施例的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以独立实现，也可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。The technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the above-mentioned technical problems will be described in detail below with specific examples. The following specific embodiments can be implemented independently or combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

需要说明的是，下面所描述的步骤的执行主体可以是车辆、车辆中的芯片或车辆中的控制模块等，为了便于描述，以执行主体为车辆中的控制模块为例对下述具体实施例进行示例性说明，第一车辆中的控制模块称为第一控制模块，第二车辆中的控制模块称为第二控制模块。It should be noted that the execution subject of the steps described below may be a vehicle, a chip in the vehicle, or a control module in the vehicle. By way of example, the control module in the first vehicle is referred to as the first control module, and the control module in the second vehicle is referred to as the second control module.

其中，第一控制模块或第二控制模块可以为多域控制器(multi domain controller，MDC)，可以为不集成在MDC且可以控制MDC的模块，也可以为集成在MDC中的模块。可以理解，第一控制模块或第二控制模块的具体内容，也可以根据实际应用场景设定，本申请实施例不作限定。以下多以MDC为例进行示例性说明。Wherein, the first control module or the second control module may be a multi domain controller (multi domain controller, MDC), may be a module that is not integrated in the MDC and can control the MDC, or may be a module integrated in the MDC. It can be understood that the specific content of the first control module or the second control module may also be set according to an actual application scenario, which is not limited in this embodiment of the present application. In the following, MDC is used as an example for illustrative description.

图6为本申请实施例提供的一种控制方法的流程示意图，如图6所示，可以包括以下步骤：FIG. 6 is a schematic flowchart of a control method provided by an embodiment of the present application. As shown in FIG. 6 , the following steps may be included:

S601：第一控制模块确定第一状态提示。S601: The first control module determines a first state prompt.

本申请实施例中，第一状态提示可以包括行驶意图和/或交通信息等。行驶意图可以指第一车辆的行驶意图，行驶意图可以包括转向、并线、掉头或靠边停车或起步等。交通信息可以指第一车辆周围的路况信息，交通信息可以包括道路拥堵、事故发生、车辆紧急状态或让行紧急车辆等。可以理解，第一状态提示的具体内容可以根据实际应用场景设定，本申请实施例对此不作具体限定。In this embodiment of the present application, the first state prompt may include driving intention and/or traffic information, and the like. The driving intention may refer to the driving intention of the first vehicle, and the driving intention may include turning, merging, turning around or pulling over to stop or start, and the like. The traffic information may refer to road condition information around the first vehicle, and the traffic information may include road congestion, accident occurrence, vehicle emergency state or yielding emergency vehicle, and the like. It can be understood that the specific content of the first state prompt may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为MDC时，MDC确定第一状态提示，可以包括以下实现方式：In this embodiment of the present application, when the first control module is the MDC, the MDC determines the first state prompt, which may include the following implementations:

一种实现中，在第一状态提示包括行驶意图时，确定行驶意图。例如，第一车辆出现故障时，MDC所确定的行驶意图可以为靠边停车。可以理解，MDC确定行驶意图的具体实现方式，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In one implementation, the driving intention is determined when the first state prompt includes the driving intention. For example, when the first vehicle fails, the driving intention determined by the MDC may be to pull over. It can be understood that the specific implementation manner for the MDC to determine the driving intention may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

又一种实现中，在第一状态提示包括交通信息时，确定交通信息。例如，MDC可以通过传感器***感知当前道路的交通拥堵情况，从而MDC确定该交通信息为道路拥堵。可以理解，MDC确定交通信息的具体实现方式，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In yet another implementation, the traffic information is determined when the first state prompt includes the traffic information. For example, the MDC can sense the current traffic congestion on the road through the sensor system, so that the MDC determines that the traffic information is road congestion. It can be understood that the specific implementation manner in which the MDC determines the traffic information may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

再一种实现中，在第一状态提示包括行驶意图和交通信息时，确定行驶意图和交通信息。例如，在第一车辆即将进入该道路前，MDC通过地图得到道路的交通拥堵情况，需要控制第一车辆调头驶入另一条道路，则MDC确定该交通信息为道路交通拥堵，行驶意图为掉头。可以理解，MDC确定行驶意图和交通信息的具体实现方式，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In yet another implementation, when the first state prompt includes the driving intention and the traffic information, the driving intention and the traffic information are determined. For example, before the first vehicle is about to enter the road, MDC obtains the traffic congestion situation of the road through the map, and needs to control the first vehicle to turn around and drive into another road, then the MDC determines that the traffic information is road traffic congestion, and the driving intention is to turn around. It can be understood that the specific implementation manner in which the MDC determines the driving intention and the traffic information may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块确定第一状态提示的实现方式，包括：第一控制模块可以通过控制MDC，使得MDC确定第一状态提示，MDC确定第一状态提示的实现方式可以参照前述步骤的内容适应描述，在此不再赘述。In the embodiment of the present application, when the first control module is a module that is not integrated in the MDC and can control the MDC, the first control module determines an implementation manner of the first status prompt, including: the first control module can control the MDC to make the MDC Determining the first state prompt, the implementation manner of the MDC determining the first state prompt can be adapted to the description with reference to the content of the foregoing steps, which will not be repeated here.

本申请实施例中，在第一控制模块为集成在MDC中的模块时，第一控制模块确定第一状态提示的实现方式，与前述步骤所描述的MDC确定第一状态提示的实现方式类似，在此不再赘述。In the embodiment of the present application, when the first control module is a module integrated in the MDC, the first control module determines the implementation manner of the first state prompt, which is similar to the implementation manner of the MDC determining the first state prompt described in the preceding steps, It is not repeated here.

S602：第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作。S602: The first control module controls at least one first target device in the first terminal to perform the first action.

本申请实施例中，第一终端可以为第一车辆，第一车辆包括至少一个第一目标设备；或者，第一终端也可以为安装在第一车辆上的设备，该设备包括至少一个第一目标设备以及接收控制指令的控制装置，基于该控制指令，第一控制模块可以控制至少一个第一目标设备执行第一动作。可以理解，第一终端的安装位置以及第一终端包括的装置的具体内容，可以根据实际应用场景设定，本申请实施例对此不作限定。In this embodiment of the present application, the first terminal may be a first vehicle, and the first vehicle includes at least one first target device; or, the first terminal may also be a device installed on the first vehicle, and the device includes at least one first target device. A target device and a control device receiving a control instruction, based on the control instruction, the first control module can control at least one first target device to perform a first action. It can be understood that the installation location of the first terminal and the specific content of the device included in the first terminal may be set according to an actual application scenario, which is not limited in this embodiment of the present application.

本申请实例中，第一目标设备相对第一车辆具备运动的功能，例如，第一目标设备执行的第一动作可以包括转动、摆动、振动或起伏波动中的至少一个等。可以理解，第一目标设备执行第一动作的频率以及第一动作的具体内容可以根据实际应用场景设定，本申请实施例对此不作具体限定。In the example of the present application, the first target device has the function of moving relative to the first vehicle. For example, the first action performed by the first target device may include at least one of rotation, swing, vibration, or ups and downs. It can be understood that the frequency at which the first target device performs the first action and the specific content of the first action may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，第一动作用于指示第一状态提示，第一状态提示是通过所执行的第一动作所表达的，基于第一动作，第一控制模块可以向外传递第一状态提示；第一控制模块控制第一目标设备执行的第一动作不同时，第一控制模块向外传递的第一状态提示也不同，或者可以理解为，第一动作对应于第一状态提示，基于不同的第一动作，第一目标设备可以向外传递不同的第一状态提示。In the embodiment of the present application, the first action is used to indicate the first state prompt, and the first state prompt is expressed by the executed first action. Based on the first action, the first control module can transmit the first state prompt to the outside. When the first action performed by the first control module to control the first target device is different, the first state prompt transmitted by the first control module to the outside is also different, or it can be understood that the first action corresponds to the first state prompt, based on different For the first action, the first target device can transmit different first state prompts to the outside.

本申请实施例中，第一动作与第一状态提示之间存在预先定义或者配置的对应关系，该对应关系可以存储在第一车辆和第二车辆中。例如，在第一车辆中的至少一个第一目标设备执行第一动作后，第二控制模块可以通过雷达检测该第一动作，获取第一动作的信息，并通过第一动作与第一状态提示之间存在的对应关系，第二控制模块可以得到第一目标设备所要表达的第一状态提示。In this embodiment of the present application, there is a predefined or configured correspondence between the first action and the first state prompt, and the correspondence may be stored in the first vehicle and the second vehicle. For example, after at least one first target device in the first vehicle performs the first action, the second control module may detect the first action through radar, obtain information about the first action, and prompt the first action and the first state There is a corresponding relationship between them, and the second control module can obtain the first state prompt to be expressed by the first target device.

一种实现中，在第一动作与第一状态提示之间存在预先定义的对应关系时，该对应关系可以是第一控制模块定义的。例如，第一控制模块控制第一车辆转向时，第一车辆中的第一目标设备可能处于摆动状态，则第一控制模块定义的第一状态提示可以为转向，以及定义的第一动作可以为摆动。可以理解，第一控制模块定义的第一动作与第一状态提示之间的对应关系的具体内容，可以根据实际应用场景设定，本申请对此不作限定。In one implementation, when there is a predefined correspondence between the first action and the first state prompt, the correspondence may be defined by the first control module. For example, when the first control module controls the steering of the first vehicle, the first target device in the first vehicle may be in a swinging state, then the first state prompt defined by the first control module may be steering, and the defined first action may be swing. It can be understood that the specific content of the correspondence between the first action and the first state prompt defined by the first control module can be set according to the actual application scenario, which is not limited in this application.

又一种实现中，在第一动作与第一状态提示之间存在预先配置的对应关系时，可以由云端预先配置第一动作与第一状态提示之间的对应关系，云端将对应关系传输给第一车辆和第二车辆，第一车辆和第二车辆储存对应关系。可以理解，云端配置的第一动作与第一状态提示之间的对应关系的具体内容，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In another implementation, when there is a preconfigured correspondence between the first action and the first state prompt, the cloud may preconfigure the correspondence between the first action and the first state prompt, and the cloud transmits the correspondence to the The first vehicle and the second vehicle, and the first vehicle and the second vehicle store the corresponding relationship. It can be understood that the specific content of the correspondence between the first action configured in the cloud and the first state prompt may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

再一种实现中，在第一动作与第一状态提示之间存在预先定义与预先配置的对应关系时，该对应关系可以为一个集合，该集合中包括多个对应关系，每个对应关系中包括一个第一动作和一个第一状态提示。例如，该集合中可以包括第一控制模块预先定义的对应关系，以及云端预先配置的对应关系。In yet another implementation, when there is a pre-defined and pre-configured correspondence between the first action and the first state prompt, the correspondence may be a set, and the set includes multiple correspondences, and each correspondence Including a first action and a first state prompt. For example, the set may include correspondences predefined by the first control module and correspondences preconfigured in the cloud.

具体的，在第一控制模块为MDC时，MDC控制第一终端中的至少一个第一目标设备执行第一动作，可以包括以下实现方式：Specifically, when the first control module is an MDC, the MDC controls at least one first target device in the first terminal to perform the first action, which may include the following implementations:

一种实现中，MDC控制第一终端中的一个第一目标设备执行第一动作。例如，在MDC确定道路交通拥堵时，MDC控制一个第一目标设备执行第一动作，从而第二控制模块可以根据第一目标设备执行的第一动作的信息，得到第一目标设备所要表达的第一状态提示。In one implementation, the MDC controls a first target device in the first terminal to perform the first action. For example, when the MDC determines that the road is congested, the MDC controls a first target device to perform the first action, so that the second control module can obtain the first action to be expressed by the first target device according to the information of the first action performed by the first target device. A status prompt.

又一种实现中，MDC控制第一终端中的多个第一目标设备执行第一动作。例如，在MDC确定道路交通拥堵时，MDC可以控制多个第一目标设备执行第一动作，多个第一目标设备执行的第一动作相同，第二控制模块没有获取到其中一个第一目标设备执行的第一动作的信息时，可以从另一个第一目标设备执行的第一动作来获取第一动作的信息，从而第二控制模块得到多个第一目标设备所要表达的相同的第一状态提示。这里的多个第一目标设备的类型可以相同或者不同。In another implementation, the MDC controls multiple first target devices in the first terminal to perform the first action. For example, when the MDC determines that the road is congested, the MDC may control multiple first target devices to perform the first action, the multiple first target devices perform the same first action, and the second control module does not acquire one of the first target devices When the information of the first action executed, the information of the first action can be obtained from the first action executed by another first target device, so that the second control module obtains the same first state to be expressed by the plurality of first target devices hint. The types of the multiple first target devices here may be the same or different.

再一种实现中，MDC控制第一终端中的多个第一目标设备执行不同的动作，多个不同的动作组合为第一动作。例如，在MDC确定道路交通拥堵时，MDC可以控制多个第一目标设备按照时间顺序先后执行不同的动作，多个时间段的不同动作组成第一动作，从而第二控制模块获取第一动作的信息，得到多个第一目标设备执行不同动作所要表达的第一状态提示。这里的多个第一目标设备的类型可以相同或者不同。In yet another implementation, the MDC controls multiple first target devices in the first terminal to perform different actions, and the multiple different actions are combined into the first action. For example, when the MDC determines that the road is congested, the MDC can control multiple first target devices to perform different actions in chronological order, and different actions in multiple time periods constitute the first action, so that the second control module obtains the first action. information to obtain first state prompts to be expressed by multiple first target devices performing different actions. The types of the multiple first target devices here may be the same or different.

具体的，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作，包括：第一控制模块通过控制MDC，使得MDC控制第一终端中的至少一个第一目标设备执行第一动作，MDC控制第一终端中的至少一个第一目标设备执行第一动作的实现方式可以参照前述步骤的描述，在此不再赘述。Specifically, when the first control module is a module that is not integrated in the MDC and can control the MDC, the first control module controls at least one first target device in the first terminal to perform the first action, including: the first control module controls the MDC, so that the MDC controls at least one first target device in the first terminal to perform the first action, and the implementation manner of the MDC controlling at least one first target device in the first terminal to perform the first action may refer to the description of the preceding steps, here No longer.

具体的，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作的实现方式，与前述步骤所描述的MDC控制第一终端中的至少一个第一目标设备执行第一动作的实现方式类似，在此不再赘述。Specifically, when the first control module is a module that is not integrated in the MDC and can control the MDC, the implementation manner in which the first control module controls at least one first target device in the first terminal to perform the first action is the same as that described in the preceding steps. The implementation manner of the MDC controlling at least one first target device in the first terminal to perform the first action is similar, and details are not repeated here.

S603：第二控制模块获取至少一个第一目标设备的第一动作的信息。S603: The second control module acquires information of the first action of the at least one first target device.

本申请实施例中，第二控制模块获取至少一个第一目标设备的第一动作的信息，第二控制模块需要跟踪到第一目标设备。例如，第二车辆上的雷达可以通过距离速度二维傅里叶变换的方法，得到第一目标设备对应的距离速度图，雷达通过恒虚警算法对距离速度图进行检测得到第一目标设备对应的点云目标检测结果，再通过角度傅里叶变换得到第一目标设备的点云目标的角度，雷达通过聚类算法将点云目标聚类成目标，从而雷达基于多帧数据，利用跟踪算法跟踪到第一目标设备。之后，基于第一目标设备的多帧数据，进一步进行额外的数字信号处理，如短时傅里叶变换、小波变换这类时频分析方法分析得到第一目标设备的第一动作的信息。In this embodiment of the present application, the second control module acquires information about the first action of at least one first target device, and the second control module needs to track the first target device. For example, the radar on the second vehicle can obtain the distance-velocity map corresponding to the first target device through the method of two-dimensional Fourier transform of the distance-speed, and the radar detects the distance-velocity map through the constant false alarm algorithm to obtain the corresponding distance-velocity map of the first target device. The point cloud target detection result is obtained, and then the angle of the point cloud target of the first target device is obtained through the angle Fourier transform. The radar uses the clustering algorithm to cluster the point cloud targets into targets, so that the radar uses the tracking algorithm based on multi-frame data. Track to the first target device. Afterwards, based on the multi-frame data of the first target device, further additional digital signal processing is performed, such as time-frequency analysis methods such as short-time Fourier transform and wavelet transform to obtain the information of the first action of the first target device.

本申请实施例中，第一动作的信息用于第二控制模块获取第一目标设备所在的第一车辆的第一状态提示，第二控制模块获取的第一动作的信息可以包括：第一动作对应的第一状态提示、第一动作对应的第一原始数据或第一动作对应的第一状态分解信息。可以理解，第一动作的信息的具体内容，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In the embodiment of the present application, the information of the first action is used by the second control module to obtain the first state prompt of the first vehicle where the first target device is located, and the information of the first action obtained by the second control module may include: the first action The corresponding first state prompt, the first raw data corresponding to the first action, or the first state decomposition information corresponding to the first action. It can be understood that the specific content of the information of the first action may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第二车辆行驶过程中，第二控制模块可以通过雷达检测第二车辆周围的目标，当检测到至少一个第一目标设备执行的第一动作时，第二控制模块可以获取至少一个第一目标设备的第一动作的信息。In this embodiment of the present application, during the driving of the second vehicle, the second control module may detect targets around the second vehicle through radar, and when detecting the first action performed by at least one first target device, the second control module may Obtain the information of the first action of the at least one first target device.

具体的，在第二控制模块为MDC时，MDC获取至少一个第一目标设备的第一动作的信息，可以包括以下实现方式：Specifically, when the second control module is the MDC, the MDC obtains information about the first action of at least one first target device, which may include the following implementations:

一种实现中，在第一动作的信息包括第一动作对应的第一状态提示时，第一状态提示为通过雷达检测第一动作而得到的。In one implementation, when the information of the first action includes a first state prompt corresponding to the first action, the first state prompt is obtained by detecting the first action by radar.

示例性的，图7为本申请实施例提供的一种雷达识别第一状态提示的示意图，如图7所示，第二车辆上的雷达可以将发出的一部分信号作为本振信号，一部分信号通过发射天线发射出去，并经第一目标设备反射回来的由接收天线接收的信号作为回波信号，雷达将本振信号与回波信号依次进行混频处理、LPF处理以及ADC处理后，雷达得到中频采样信号，雷达通过对中频采样信号进行时频分析得到区别于第一车辆运动的第一动作的微多普勒特征，雷达将第一动作的微多普勒特征导入训练好的神经网络或者其它分类识别功能算法模块，进行第一动作的分类识别，从而获取第一动作对应的第一状态提示。其中，第一动作的微多普勒特征可以看做是第一动作在多普勒域上的图像。Exemplarily, FIG. 7 is a schematic diagram of a radar identifying a first state prompt provided by an embodiment of the application. As shown in FIG. 7 , the radar on the second vehicle may use a part of the signal sent out as a local oscillator signal, and a part of the signal passes through. The signal transmitted by the transmitting antenna and received by the receiving antenna reflected by the first target device is used as an echo signal. After the radar performs mixing processing, LPF processing and ADC processing on the local oscillator signal and the echo signal in sequence, the radar obtains the intermediate frequency Sampling signal, the radar obtains the micro-Doppler feature of the first action that is different from the first motion of the first vehicle by performing time-frequency analysis on the intermediate frequency sampling signal, and the radar imports the micro-Doppler feature of the first action into the trained neural network or other The classification and recognition function algorithm module performs classification and recognition of the first action, thereby obtaining the first state prompt corresponding to the first action. Among them, the micro-Doppler feature of the first action can be regarded as an image of the first action in the Doppler domain.

又一种实现中，在第一动作的信息包括第一原始数据时，第一原始数据为通过雷达检测第一目标设备而得到的数据矩阵。In another implementation, when the information of the first action includes the first raw data, the first raw data is a data matrix obtained by detecting the first target device by the radar.

示例性的，第二车辆上的雷达可以将发出的一部分信号作为本振信号，一部分经第一动作发射回来的信号作为回波信号，雷达将本振信号与回波信号依次进行混频处理、LPF处理以及ADC处理后，雷达得到中频采样信号，雷达通过对中频采样信号进行二维傅立叶变换后，可以得到二维傅立叶变换后的数据矩阵。Exemplarily, the radar on the second vehicle may use a part of the signal sent out as a local oscillator signal, and a part of the signal transmitted back through the first action as an echo signal, and the radar sequentially performs frequency mixing processing on the local oscillator signal and the echo signal, After LPF processing and ADC processing, the radar obtains an intermediate frequency sampling signal, and the radar can obtain a two-dimensional Fourier transformed data matrix by performing a two-dimensional Fourier transform on the intermediate frequency sampling signal.

再一种实现中，在第一动作的信息包括第一状态分解信息时，第一状态分解信息为第一原始数据经过时频分析而得到的信息，第一状态提示由多个第一状态分解信息组成。例如，第一状态分解信息可以为多个符号或者多个向量组成的集合，该集合表示不同时刻区别于第一车辆运动的第一动作的微多普勒特征。In yet another implementation, when the information of the first action includes first state decomposition information, the first state decomposition information is information obtained through time-frequency analysis of the first original data, and the first state prompt is decomposed by a plurality of first states. information composition. For example, the first state decomposition information may be a set composed of multiple symbols or multiple vectors, and the set represents the micro-Doppler features of the first motion different from the first vehicle motion at different times.

示例性的，第二车辆上的雷达可以通过时频分析方法(例如，短时傅里叶变换或小波变换)对第一原始数据进行处理，使得雷达可以提取区别于第一车辆运动的第一动作的多个微多普勒特征。Exemplarily, the radar on the second vehicle may process the first raw data through a time-frequency analysis method (for example, short-time Fourier transform or wavelet transform), so that the radar can extract the first raw data that is different from the motion of the first vehicle. Multiple micro-Doppler signatures of motion.

具体的，在第二控制模块为不集成在MDC且可以控制MDC的模块时，第二控制模块获取至少一个第一目标设备的第一动作的信息，包括：第二控制模块通过控制MDC，使得MDC可以获取至少一个第一目标设备的第一动作的信息，MDC获取至少一个第一目标设备的第一动作的信息的实现方式和前述步骤描述的内容类似，在此不再赘述。Specifically, when the second control module is a module that is not integrated in the MDC and can control the MDC, the second control module acquires the information of the first action of at least one first target device, including: the second control module controls the MDC to make The MDC may acquire the information of the first action of the at least one first target device, and the implementation manner of the MDC acquiring the information of the first action of the at least one first target device is similar to that described in the foregoing steps, and will not be repeated here.

具体的，在第二控制模块为集成在MDC中的模块时，第二控制模块获取至少一个第一目标设备的第一动作的信息的实现方式，与前述步骤所描述的MDC获取至少一个第一目标设备的第一动作的信息的实现方式类似，在此不再赘述。Specifically, when the second control module is a module integrated in the MDC, the implementation manner in which the second control module obtains the information of the first action of the at least one first target device is the same as the MDC described in the preceding steps to obtain the at least one first action. The implementation manner of the information of the first action of the target device is similar, and details are not repeated here.

S604：第二控制模块根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示。S604: The second control module obtains, according to the information of the first action, a first state prompt from the first terminal where the first target device is located.

本申请实施例中，在第二控制模块为MDC时，MDC根据第一动作的信息，获取来自第一目标设备所在的第一车辆的第一状态提示，可以包括以下实现方式：In the embodiment of the present application, when the second control module is the MDC, the MDC obtains the first state prompt from the first vehicle where the first target device is located according to the information of the first action, which may include the following implementations:

一种实现中，在第一动作的信息包括第一动作对应的第一状态提示时，MDC通过雷达获取来自第一目标设备所在的第一车辆的第一状态提示，从而MDC可以得到第一车辆向外传递的行驶意图和/或交通信息。In one implementation, when the information of the first action includes the first state prompt corresponding to the first action, the MDC obtains the first state prompt from the first vehicle where the first target device is located through the radar, so that the MDC can obtain the first state prompt of the first vehicle. Outgoing driving intent and/or traffic information.

又一种实现中，在第一动作的信息包括第一原始数据时，MDC可以根据第一原始数据，获取来自第一目标设备所在的第一车辆的第一状态。In another implementation, when the information of the first action includes the first raw data, the MDC may obtain the first state from the first vehicle where the first target device is located according to the first raw data.

示例性的，MDC可以通过时频分析方法(例如，短时傅里叶变换或小波变换)对第一原始数据进行处理，从而MDC提取区别于第一车辆运动的第一动作的微多普勒特征，MDC将微多普勒特征导入训练好的神经网络或者其他具有分类识别功能的算法模块，进行第一动作的分类识别，得到第一原始数据对应的第一状态提示。Exemplarily, the MDC may process the first raw data through a time-frequency analysis method (eg, short-time Fourier transform or wavelet transform), so that the MDC extracts the micro-Doppler of the first motion different from the first vehicle motion. feature, the MDC imports the micro-Doppler feature into the trained neural network or other algorithm module with a classification and recognition function, performs classification and recognition of the first action, and obtains a first state prompt corresponding to the first raw data.

再一种实现中，在第一动作的信息包括第一状态分解信息时，MDC可以根据第一状态分解信息，获取来自第一目标设备所在的第一车辆的第一状态提示。In yet another implementation, when the information of the first action includes the first state decomposition information, the MDC may obtain the first state prompt from the first vehicle where the first target device is located according to the first state decomposition information.

示例性的，MDC可以将区别于第一车辆运动的多个时刻的第一动作的微多普勒特征进行组合，并将组合后的微多普勒特征导入训练好的神经网络或者具有分类识别功能的算法模块，进行第一动作的分类识别，从而可以得到第一状态提示。Exemplarily, the MDC can combine the micro-Doppler features of the first motion at multiple moments that are different from the first vehicle motion, and import the combined micro-Doppler features into the trained neural network or have a classification recognition method. The functional algorithm module performs classification and identification of the first action, so as to obtain the first state prompt.

本申请实施例中，在第二控制模块为不集成在MDC且可以控制MDC的模块时，第二控制模块根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，包括：第二控制模块通过控制MDC，使得MDC获取来自第一目标设备所在的第一终端的第一状态提示，MDC获取来自第一目标设备所在的第一终端的第一状态提示的实现方式，可以参照前述步骤的描述，在此不再赘述。In this embodiment of the present application, when the second control module is a module that is not integrated in the MDC and can control the MDC, the second control module obtains the first state from the first terminal where the first target device is located according to the information of the first action The prompt includes: the second control module controls the MDC, so that the MDC obtains the first state prompt from the first terminal where the first target device is located, and the MDC obtains the realization of the first state prompt from the first terminal where the first target device is located For the manner, reference may be made to the description of the foregoing steps, and details are not repeated here.

本申请实施例中，在第二控制模块为集成在MDC中的模块时，第二控制模块获取第一状态提示的实现方式，与前述步骤所描述的MDC获取来自第一目标设备所在的第一终端的第一状态提示的实现方式类似，在此不再赘述。In the embodiment of the present application, when the second control module is a module integrated in the MDC, the implementation manner of the second control module obtaining the first state prompt is the same as the MDC obtaining the first state prompt from the first target device described in the preceding steps. The implementation manner of the first state prompt of the terminal is similar, and details are not described herein again.

综上所述，本申请实施例中，第一控制模块确定第一状态提示后，控制至少一个第一目标设备执行第一动作，第二控制模块获取第一动作的信息，并根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，第二控制模块所获取的第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，从而第二车辆可以在任意环境中识别第一车辆的行驶意图和/或交通信息，第二控制模块基于行驶意图和/或交通信息，控制第二车辆相应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。To sum up, in the embodiment of the present application, after the first control module determines the first state prompt, it controls at least one first target device to perform the first action, and the second control module obtains the information of the first action, and according to the first action information, obtain the first state prompt from the first terminal where the first target device is located, and the first state prompt obtained by the second control module is based on the first action instruction of the first target device, which can reduce environmental visibility and so on. Influence, so that the second vehicle can identify the driving intention and/or traffic information of the first vehicle in any environment, and the second control module controls the second vehicle to adjust the driving strategy accordingly based on the driving intention and/or traffic information, thereby improving the driving of the vehicle. safety and comfort.

在图6对应的实施例的基础上，示例性的，图8为本申请实施例提供的一种控制方法的流程示意图，如图8所示，可以包括以下步骤：On the basis of the embodiment corresponding to FIG. 6, exemplarily, FIG. 8 is a schematic flowchart of a control method provided by an embodiment of the present application. As shown in FIG. 8, the following steps may be included:

S801：第一控制模块确定第一状态提示。S801: The first control module determines a first state prompt.

S802：第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作。S802: The first control module controls at least one first target device in the first terminal to perform the first action.

本申请实施例中，第一控制模块可以根据环境信息等，决策采用至少一个第一目标设备传递第一状态提示，并控制第一终端中的至少一个第一目标设备执行第一动作。In this embodiment of the present application, the first control module may decide to use at least one first target device to transmit the first state prompt according to environmental information and the like, and control at least one first target device in the first terminal to perform the first action.

例如，环境信息可以包括第一车辆行驶过程中的环境中的天气信息等，例如，天气信息可以包括：下雨、下雪、有雾、有风、风力或降水量等，所述环境信息可以通过任何可能的方式获取，本申请不做限定。可以理解，环境信息的具体内容可以根据实际应用场景设定，本申请实施例对此不作具体限定。For example, the environmental information may include weather information in the environment during the driving of the first vehicle, and the like. For example, the weather information may include: rain, snow, fog, wind, wind or precipitation, etc. The environmental information may Obtained in any possible way, which is not limited in this application. It can be understood that the specific content of the environment information may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为MDC时，MDC根据环境信息，控制第一终端中的至少一个第一目标设备执行第一动作，可以包括以下实现方式：In this embodiment of the present application, when the first control module is the MDC, the MDC controls at least one first target device in the first terminal to perform the first action according to the environment information, which may include the following implementations:

一种实现中，在第一控制模块为MDC时，MDC获取第一终端周围的图像数据，MDC根据图像数据确定第一终端周围的能见度低于阈值。可以理解，阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。In one implementation, when the first control module is the MDC, the MDC acquires image data around the first terminal, and the MDC determines that the visibility around the first terminal is lower than a threshold according to the image data. It can be understood that the specific value of the threshold may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

示例性的，MDC可以通过摄像头采集第一终端周围的图像数据，并对图像数据进行分析得到第一终端周围的环境为大雪环境，大雪会影响视线，从而MDC确定第一终端周围的能见度低于阈值。Exemplarily, the MDC may collect image data around the first terminal through a camera, and analyze the image data to obtain that the environment around the first terminal is a heavy snow environment, and heavy snow will affect the line of sight, so the MDC determines that the visibility around the first terminal is lower than threshold.

又一种实现中，在第一控制模块为MDC时，MDC获取第一终端周围的天气信息，MDC根据天气信息确定第一终端周围的能见度低于阈值。In another implementation, when the first control module is the MDC, the MDC acquires weather information around the first terminal, and the MDC determines that the visibility around the first terminal is lower than a threshold according to the weather information.

示例性的，MDC可以通过网络得到天气信息，例如，MDC可以从网络得到当前的天气信息为大雨天气，且降水量大于或等于第二阈值，从而MDC确定第一终端周围的能见度低于阈值。可以理解，降水量的具体值以及第二阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。Exemplarily, the MDC may obtain weather information through the network. For example, the MDC may obtain from the network that the current weather information is heavy rain, and the precipitation is greater than or equal to the second threshold, so the MDC determines that the visibility around the first terminal is lower than the threshold. It can be understood that the specific value of the precipitation and the specific value of the second threshold may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

示例性的，MDC可以通过设置在第一车辆中的雨量传感器得到天气信息，例如，MDC可以从雨量传感器得到当前的天气信息为大雨天气，且降水量大于或等于第三阈值，从而MDC确定第一终端周围的能见度低于阈值。可以理解，降水量的具体值以及第三阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。Exemplarily, the MDC may obtain weather information through a rain sensor provided in the first vehicle. For example, the MDC may obtain from the rain sensor that the current weather information is heavy rain, and the precipitation is greater than or equal to a third threshold, so that the MDC determines the first The visibility around a terminal is below a threshold. It can be understood that the specific value of the precipitation amount and the specific value of the third threshold may be set according to actual application scenarios, which are not specifically limited in this embodiment of the present application.

再一种实现中，在第一控制模块为MDC时，MDC获取第一终端周围的图像数据以及天气信息，MDC根据图像数据以及天气信息，确定第一终端周围的能见度低于阈值。In yet another implementation, when the first control module is the MDC, the MDC acquires image data and weather information around the first terminal, and the MDC determines that the visibility around the first terminal is lower than a threshold according to the image data and weather information.

示例性的，MDC可以通过摄像头采集的图像数据，确定第一终端周围的环境为下雨环境；同时，MDC通过网络确定降水量，且降水量大于或等于第四阈值，从而MDC确定第一终端周围的能见度低于阈值。可以理解，第四阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。Exemplarily, the MDC may use the image data collected by the camera to determine that the environment around the first terminal is a rainy environment; at the same time, the MDC determines the amount of precipitation through the network, and the amount of precipitation is greater than or equal to a fourth threshold, so that the MDC determines that the first terminal is Surrounding visibility is below threshold. It can be understood that the specific value of the fourth threshold may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作包括：第一控制模块通过控制MDC，使得MDC控制第一终端中的至少一个第一目标设备执行第一动作，MDC控制第一终端中的至少一个第一目标设备执行第一动作的实现方式可以参照前述步骤的描述，在此不再赘述。In the embodiment of the present application, when the first control module is a module that is not integrated in the MDC and can control the MDC, the first control module controlling at least one first target device in the first terminal to perform the first action includes: the first control module By controlling the MDC, the MDC controls at least one first target device in the first terminal to perform the first action, and the implementation manner of the MDC controlling at least one first target device in the first terminal to perform the first action may refer to the description of the preceding steps. It is not repeated here.

本申请实施例中，在第一控制模块为集成在MDC中的模块时，第一控制模块控制第一终端中的至少一个第一目标设备执行第一动作的实现方式，与前述步骤所描述的MDC控制第一终端中的至少一个第一目标设备执行第一动作的实现方式类似，在此不再赘述。In this embodiment of the present application, when the first control module is a module integrated in the MDC, the implementation manner in which the first control module controls at least one first target device in the first terminal to perform the first action is the same as that described in the preceding steps. The implementation manner in which the MDC controls at least one first target device in the first terminal to perform the first action is similar, and details are not described herein again.

S803：第一控制模块控制第一终端中的至少一个第一处理装置执行第一处理。S803: The first control module controls at least one first processing apparatus in the first terminal to perform the first processing.

本申请实施例中，第一处理装置可以包括车灯等，车灯用于执行第一处理，车灯可以包括：前转向灯、后转向灯、后雾灯、侧面转向灯、刹车灯或日间行车灯等，第一处理可以为车灯常亮、车灯连续闪烁或车灯不连续闪烁等。可以理解，第一处理装置的具体内容以及第一处理的具体内容，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In this embodiment of the present application, the first processing device may include vehicle lights, etc., the vehicle lights are used to perform the first processing, and the vehicle lights may include: front turn signals, rear turn lights, rear fog lights, side turn lights, brake lights or sun lights The first processing may be that the lights are always on, the lights are flashing continuously, or the lights are not flashing continuously. It can be understood that the specific content of the first processing device and the specific content of the first processing may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为MDC时，MDC控制第一终端中的至少一个第一目标设备执行第一动作，可以包括以下实现方式：In this embodiment of the present application, when the first control module is the MDC, the MDC controls at least one first target device in the first terminal to perform the first action, which may include the following implementations:

一种实现中，MDC控制第一终端中的一个第一处理装置执行第一处理。例如，在MDC确定道路交通拥堵时，MDC控制日间行车灯连续闪烁3次，车灯连续闪烁所要表达的第一状态提示为道路拥堵。可以理解，车灯连续闪烁的频率和次数，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In one implementation, the MDC controls a first processing device in the first terminal to perform the first processing. For example, when the MDC determines that the road is congested, the MDC controls the daytime running lights to flash three times continuously, and the first state prompt to be expressed by the continuous flashing of the lights is road congestion. It can be understood that the frequency and number of consecutive flashes of the vehicle light may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

又一种实现中，MDC控制第一终端中的多个第一处理装置执行第一处理。例如，第一车辆出现故障时，MDC控制日间行车灯常亮，以及控制后转向灯不连续闪烁5次，日间行车灯常亮以及后转向灯不连续闪烁5次所要表达的第一状态提示为靠边停车。可以理解，常亮的时间以及不连续闪烁的频率和次数，可以根据实际应用场景设定，本申请实施例对此不作具体限定。In yet another implementation, the MDC controls a plurality of first processing apparatuses in the first terminal to perform the first processing. For example, when the first vehicle fails, MDC controls the daytime running lights to be always on, and controls the rear turn signals to flash 5 times discontinuously. A status prompt is to pull over. It can be understood that the time of constant light and the frequency and number of discontinuous flashes can be set according to actual application scenarios, which are not specifically limited in this embodiment of the present application.

需要说明的是，MDC在控制第一终端中的至少一个第一目标设备执行第一动作的同时，可以控制第一终端中的至少一个第一处理装置执行第一处理，第一处理和第一动作对应相同的第一状态提示，这样，MDC除了通过第一处理装置执行的第一处理显式地传递第一状态提示，也可以通过第一目标设备执行的第一动作隐式地传递第一状态提示，从而提高了传递第一状态提示的准确率。It should be noted that, while controlling at least one first target device in the first terminal to perform the first action, the MDC can control at least one first processing device in the first terminal to perform the first processing, the first processing and the first processing Actions correspond to the same first state prompt. In this way, in addition to explicitly passing the first state prompt through the first processing executed by the first processing device, the MDC can also implicitly pass the first state prompt through the first action executed by the first target device. state prompt, thereby improving the accuracy of transmitting the first state prompt.

本申请实施例中，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块控制第一终端中的至少一个第一处理装置执行第一处理，包括：第一控制模块通过控制MDC，使得MDC可以控制第一终端中的至少一个第一处理装置执行第一处理，MDC控制第一终端中的至少一个第一处理装置执行第一处理的实现方式可以参照前述步骤的描述，在此不再赘述。In this embodiment of the present application, when the first control module is a module that is not integrated in the MDC and can control the MDC, the first control module controls at least one first processing device in the first terminal to perform the first processing, including: a first control The module controls the MDC, so that the MDC can control at least one first processing device in the first terminal to perform the first processing, and the implementation manner of the MDC controlling at least one first processing device in the first terminal to perform the first processing can refer to the preceding steps. description, which will not be repeated here.

本申请实施例中，在第一控制模块为集成在MDC中的模块时，第一控制模块控制第一终端中的至少一个第一处理装置执行第一处理的实现方式，与MDC控制第一终端中的至少一个第一处理装置执行第一处理的实现方式类似，在此不再赘述。In this embodiment of the present application, when the first control module is a module integrated in the MDC, the first control module controls at least one first processing device in the first terminal to perform the first processing. This is the same as the MDC controlling the first terminal. The implementation manner in which at least one of the first processing apparatuses performs the first processing is similar, and details are not described herein again.

S804：第二控制模块获取至少一个第一目标设备的第一动作的信息。S804: The second control module acquires information of the first action of the at least one first target device.

本申请实施例中，第二控制模块可以通过雷达检测第一动作，以获取第一动作的信息；或者，第二控制模块获取来自雷达的第一动作的信息，第二控制模块获取第一动作的信息的具体实现，可以参考S603的内容适应描述，在此不再赘述。In the embodiment of the present application, the second control module may detect the first action through the radar to obtain the information of the first action; or, the second control module may obtain the information of the first action from the radar, and the second control module may obtain the first action For the specific implementation of the information, please refer to the content adaptation description of S603, which will not be repeated here.

S805：第二控制模块根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示。S805: The second control module obtains, according to the information of the first action, a first state prompt from the first terminal where the first target device is located.

S806：第二控制模块响应于第一终端的第一状态提示，控制第二终端执行操作。S806: The second control module controls the second terminal to perform an operation in response to the first state prompt of the first terminal.

本申请实施例中，第二终端可以为第二车辆，或者，第二终端也可以为安装在第二车辆上的设备，第二控制模块基于第一状态提示，可以控制第二终端适应调整驾驶策略。可以理解，第二终端的安装位置可以根据实际应用场景设定，本申请实施例对此不作限定。In this embodiment of the present application, the second terminal may be a second vehicle, or the second terminal may also be a device installed on the second vehicle, and the second control module may control the second terminal to adapt to and adjust driving based on the first state prompt Strategy. It can be understood that the installation location of the second terminal may be set according to an actual application scenario, which is not limited in this embodiment of the present application.

本申请实施例中，第二控制模块响应于第一终端的第一状态提示，控制第二终端执行操作，可以包括以下实现方式：In this embodiment of the present application, the second control module controls the second terminal to perform operations in response to the first state prompt of the first terminal, which may include the following implementations:

一种实现中，在第二控制模块为MDC时，MDC响应于第一状态提示，控制第二终端执行操作。例如，MDC获取的第一状态提示为前方道路拥堵，MDC控制第二车辆掉头驶入另一条道路。In one implementation, when the second control module is the MDC, the MDC controls the second terminal to perform operations in response to the first state prompt. For example, the first state prompt obtained by the MDC is that the road ahead is congested, and the MDC controls the second vehicle to turn around and enter another road.

又一种实现中，在第二控制模块为不集成在MDC且可以控制MDC的模块时，第二控制模块可以通过控制MDC，使得MDC可以响应于第一状态提示，从而MDC控制第二终端执行操作。例如，第二控制模块获取的第一状态提示为前方道路拥堵，第二控制模块通过控制MDC，使得MDC控制第二车辆掉头驶入另一条道路。In another implementation, when the second control module is a module that is not integrated in the MDC and can control the MDC, the second control module can control the MDC so that the MDC can respond to the first state prompt, so that the MDC controls the second terminal to execute operate. For example, the first state prompt obtained by the second control module is that the road ahead is congested, and the second control module controls the MDC so that the MDC controls the second vehicle to turn around and drive into another road.

再一种实现中，在第二控制模块为集成在MDC中的模块时，第二控制模块响应于第一状态提示，控制第二终端执行操作。例如，第二控制模块获取的第一状态提示为前方道路拥堵，由于第二控制模块集成在MDC中，因而MDC可以获取该第一状态提示，从而MDC可以控制第二车辆掉头驶入另一条道路。In yet another implementation, when the second control module is a module integrated in the MDC, the second control module controls the second terminal to perform operations in response to the first state prompt. For example, the first state prompt obtained by the second control module is that the road ahead is congested. Since the second control module is integrated in the MDC, the MDC can obtain the first state prompt, so that the MDC can control the second vehicle to turn around and drive into another road .

需要说明的是，在第二终端为第二车辆且第二车辆中无MDC时，第二控制模块通过控制电子控制单元(electronic control unit，ECU)，使得ECU控制第二车辆执行操作。可以理解，第二控制模块控制ECU以及ECU控制第二车辆的具体实现方式，可以根据实际应用场景设定，本申请实施例不作限定。It should be noted that, when the second terminal is the second vehicle and there is no MDC in the second vehicle, the second control module controls an electronic control unit (ECU) so that the ECU controls the second vehicle to perform operations. It can be understood that the specific implementation manner in which the second control module controls the ECU and the ECU controls the second vehicle may be set according to actual application scenarios, and is not limited in the embodiments of the present application.

S807：第二控制模块确定第二状态提示。S807: The second control module determines the second state prompt.

本申请实施例中，第二控制模块确定第二状态提示的实现方式，与第一控制模块确定第一状态提示的实现方式类似，在此不再赘述。可以理解，第二控制模块确定第二状态提示的实现方式，也可以根据实际应用场景采用其他的方式，本申请实施例不作限定。In the embodiment of the present application, the implementation manner of the second control module determining the second state prompt is similar to the implementation manner of the first control module determining the first state prompt, and details are not described herein again. It can be understood that the second control module determines the implementation manner of the second state prompt, and other manners may also be adopted according to actual application scenarios, which are not limited in the embodiments of the present application.

S808：第二控制模块控制第二终端中的至少一个第二目标设备执行第二动作。S808: The second control module controls at least one second target device in the second terminal to perform the second action.

本申请实施例中，第二动作用于指示第二状态提示，第二状态提示是通过所执行的第二动作所表达的，基于第二动作，第二控制模块可以向外传递第二状态提示；第二控制模块控制第二目标设备执行的第二动作不同时，第二控制模块向外传递的第二状态提示也不同，或者可以理解为，第二动作对应于第二状态指示，基于不同的第二动作，第二目标设备可以向外传递不同的第二状态提示。In this embodiment of the present application, the second action is used to indicate the second state prompt, and the second state prompt is expressed by the executed second action. Based on the second action, the second control module can transmit the second state prompt to the outside. When the second action performed by the second control module to control the second target device is different, the second state prompt transmitted by the second control module to the outside is also different, or it can be understood that the second action corresponds to the second state indication, based on different For the second action, the second target device can transmit different second state prompts to the outside.

本申请实施例中，第二目标设备可以包括车灯、雨刷或车标中的至少一个，第二控制模块控制第二目标设备执行第二动作的实现方式，与第一控制模块控制第一目标设备执行第一动作的实现方式类似，在此不再赘述。可以理解，第二目标设备的具体内容以及第二控制模块控制第二目标设备执行第二动作的实现方式，也可以根据实际应用场景采用其他的方式，本申请实施例不作限定。In this embodiment of the present application, the second target device may include at least one of a vehicle lamp, a wiper, or a vehicle logo. The second control module controls the implementation of the second target device to perform the second action, and the first control module controls the first target device. The implementation manner in which the device performs the first action is similar, and details are not described herein again. It can be understood that the specific content of the second target device and the implementation manner in which the second control module controls the second target device to perform the second action may also adopt other methods according to actual application scenarios, which are not limited in the embodiments of the present application.

需要说明的是，在第二目标设备包括车灯时，第二控制模块控制车灯执行第二动作，可以理解为，第二控制模块可以控制车灯中可以机械运动的部件执行第二动作。It should be noted that when the second target device includes a vehicle lamp, the second control module controls the vehicle lamp to perform the second action. It can be understood that the second control module can control the mechanically movable component in the vehicle lamp to perform the second action.

需要说明的是，在第二目标设备包括车标时，车标是可以机械运动的，因此，第二控制模块可以控制车标执行第二动作。It should be noted that when the second target device includes a car logo, the car logo can move mechanically, and therefore, the second control module can control the car logo to perform the second action.

S809：第一控制模块通过雷达获取来自第二终端的第二状态提示。S809: The first control module obtains the second status prompt from the second terminal through the radar.

本申请实施中，第一控制模块通过雷达获取第二状态提示的实现方式，与第二控制模块获取第一状态提示的实现方式类似，在此不再赘述。可以理解，第一控制模块获取第二状态提示的实现方式，也可以根据实际应用场景采用其他的方式，本申请实施例不作限定。In the implementation of the present application, the implementation manner in which the first control module obtains the second state prompt through the radar is similar to the implementation manner in which the second control module obtains the first state prompt, and will not be repeated here. It can be understood that the implementation manner for the first control module to obtain the second state prompt may also be implemented in other manners according to an actual application scenario, which is not limited in this embodiment of the present application.

需要说明的是，在S801-S806所描述的内容之后，可以执行S807-S809所描述的内容；或者，在S801-S806所描述的内容之前，可以执行S807-S809所描述的内容，本申请实施例对此不作具体限定。It should be noted that, after the content described in S801-S806, the content described in S807-S809 may be executed; or, before the content described in S801-S806, the content described in S807-S809 may be executed. This application implements This example is not specifically limited.

例如，初始时刻，第一车辆行驶在第二车辆前面，下一时刻，第二车辆超车行驶在第一车辆前面，可以按照S801-S809的顺序执行本申请实施例所描述的内容；或者，初始时刻，第一车辆行驶在第二车辆后面，下一时刻，第一车辆超车行驶在第二车辆前面，可以按照S807-S809、S801-S806的顺序执行本申请实施例所描述的内容。For example, at the initial moment, the first vehicle is driving in front of the second vehicle, and at the next moment, the second vehicle is overtaking and driving in front of the first vehicle, and the content described in the embodiments of the present application may be executed in the order of S801-S809; At a moment, the first vehicle is driving behind the second vehicle, and at the next moment, the first vehicle is overtaking and driving in front of the second vehicle.

需要说明的是，本申请实施例的S803、S806-S809是可选步骤，可以根据实际应用场景设置可选步骤的一个或多个，本申请实施例各步骤之间的先后顺序也可以根据实际应用场景进行调整，本申请实施例对此不作具体限定。It should be noted that S803 and S806-S809 in this embodiment of the present application are optional steps, and one or more optional steps may be set according to actual application scenarios, and the sequence of steps in this embodiment of the present application may also be based on actual conditions. The application scenario is adjusted, which is not specifically limited in this embodiment of the present application.

综上所述，在本申请实施例中，第一控制模块确定第一状态提示，第一控制模块根据第一状态提示，控制第一终端中的至少一个第一目标设备执行第一动作，以及，第一控制模块控制第一终端中的至少一个第一处理装置执行第一处理，第二控制模块获取第一动作的信息，并根据第一动作的信息，获取来自第一目标设备所在的第一终端的第一状态提示，第二控制模块获取第一状态提示是基于第一目标设备的第一动作指示的，可以减少环境能见度等的影响，从而第二车辆可以在任意环境中识别第一车辆的行驶意图和/或交通信息，第二控制模块基于行驶意图和/或交通信息，控制第二车辆适应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。To sum up, in this embodiment of the present application, the first control module determines the first state prompt, and the first control module controls at least one first target device in the first terminal to perform the first action according to the first state prompt, and , the first control module controls at least one first processing device in the first terminal to perform the first processing, the second control module obtains the information of the first action, and according to the information of the first action, obtains information from the first target device where the first target device is located The first state prompt of a terminal, the second control module obtains the first state prompt based on the first action instruction of the first target device, which can reduce the influence of environmental visibility, etc., so that the second vehicle can identify the first state in any environment. The driving intention and/or traffic information of the vehicle, and the second control module controls the second vehicle to adapt and adjust the driving strategy based on the driving intention and/or the traffic information, thereby improving the safety and comfort of the vehicle driving.

在图6对应的实施例的基础上，示例性的，图9为本申请实施例提供的一种控制方法的流程示意图，本申请实施例是以第一目标设备为雨刷为例进行示例性说明，可以包括以下步骤：On the basis of the embodiment corresponding to FIG. 6 , exemplarily, FIG. 9 is a schematic flowchart of a control method provided by an embodiment of the present application, and the embodiment of the present application takes the first target device as a wiper as an example for illustrative description , which can include the following steps:

S901：第一控制模块确定第一状态提示。S901: The first control module determines a first state prompt.

S902：第一控制模块控制第一终端中的至少一个雨刷执行第一动作。S902: The first control module controls at least one wiper in the first terminal to perform the first action.

本申请实施例中，雨刷用于执行第一动作，第一控制模块可以通过雨刷传递所要表达的第一状态提示，雨刷可以为前挡风玻璃上的雨刷(前档雨刷)，也可以为后挡风玻璃上的雨刷(后档雨刷)，本申请实施例不作具体限定。In the embodiment of the present application, the wiper is used to perform the first action, and the first control module can transmit the first state prompt to be expressed through the wiper, and the wiper can be the wiper on the front windshield (front gear wiper), or the rear The windshield wiper (rear wiper) is not specifically limited in the embodiment of the present application.

本申请实施中，雨刷执行的第一动作与雨刷的运动角度、运动速度、运动方向、振动频率中的至少一个相关，在雨刷执行第一动作的运动角度、运动速度、运动方向、振动频率中的至少一个不同时，雨刷执行第一动作所传递的第一状态提示也不同。In the implementation of this application, the first action performed by the wiper is related to at least one of the movement angle, movement speed, movement direction, and vibration frequency of the wiper. When at least one of the wipers is different, the first state prompt transmitted by the wiper performing the first action is also different.

例如，雨刷执行第一动作时的角度为第一角度时，雨刷向外传递的第一状态提示为左转向；雨刷执行第一动作时的角度为第二角度时，雨刷向外传递的第一状态提示为右转向，第一角度与第二角度不同。可以理解，第一角度的具体值与第二角度的具体值，可以根据实际应用场景设定，本申请实施例不作具体限定。For example, when the angle when the wiper performs the first action is the first angle, the first state prompt transmitted by the wiper to the outside is left steering; when the angle when the wiper performs the first action is the second angle, the first state transmitted by the wiper outwards is the second angle. The status prompt is right steering, and the first angle is different from the second angle. It can be understood that the specific value of the first angle and the specific value of the second angle may be set according to actual application scenarios, which are not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为MDC时，MDC控制第一终端中的至少一个雨刷执行第一动作，包括：MDC通过雨量传感器判断当前雨量，在当前雨量大于或等于第五阈值时，MDC控制第一终端中的至少一个雨刷执行第一动作。可以理解，雨量传感器的安装位置以及第五阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。In the embodiment of the present application, when the first control module is the MDC, the MDC controls at least one wiper in the first terminal to perform the first action, including: the MDC determines the current rainfall through the rain sensor, and when the current rainfall is greater than or equal to the fifth threshold , the MDC controls at least one wiper in the first terminal to perform the first action. It can be understood that the installation position of the rain sensor and the specific value of the fifth threshold may be set according to an actual application scenario, which is not specifically limited in this embodiment of the present application.

一种实现中，在当前雨量大于或等于第五阈值时，MDC控制一个雨刷执行第一动作的一种实现为：在MDC确定的第一状态提示为道路交通拥堵时，MDC可以通过雨量传感器得到当前雨量，并判断当前雨量大于或等于第五阈值，从而MDC控制前档雨刷或者后档雨刷执行第一动作，第二控制模块根据前档雨刷或者后档雨刷执行的第一动作的信息，可以得到前档雨刷或者后档雨刷所要表达的第一状态提示。In an implementation, when the current rainfall is greater than or equal to the fifth threshold, an implementation in which the MDC controls a wiper to perform the first action is: when the first state determined by the MDC indicates that the road is congested, the MDC can obtain through the rain sensor. The current rainfall is judged to be greater than or equal to the fifth threshold, so that the MDC controls the front wiper or the rear wiper to perform the first action, and the second control module can perform the first action according to the information of the first action performed by the front wiper or the rear wiper. Get the first state prompt to be expressed by the front wiper or the rear wiper.

又一种实现中，在当前雨量大于或等于第五阈值时，MDC控制多个雨刷执行第一动作的一种实现为：在MDC确定道路交通拥堵时，MDC可以通过雨量传感器得到当前雨量，并判断当前雨量大于或等于第五阈值，MDC可以控制前档雨刷以及后档雨刷执行第一动作，前档雨刷和后档雨刷执行的第一动作相同，第二控制模块没有获取到前挡雨刷执行的第一动作的信息时，可以从后档雨刷执行的第一动作来获取第一动作的信息，从而第二控制模块可以得到雨刷所要表达的第一状态提示。In another implementation, when the current rainfall is greater than or equal to the fifth threshold, an implementation in which the MDC controls the plurality of wipers to perform the first action is: when the MDC determines that the road is congested, the MDC can obtain the current rainfall through the rain sensor, and Judging that the current rainfall is greater than or equal to the fifth threshold, the MDC can control the front wipers and the rear wipers to perform the first action, the front wipers and the rear wipers perform the same first action, and the second control module does not obtain the front wipers to perform When the information of the first action is obtained, the information of the first action can be obtained from the first action performed by the rear wiper, so that the second control module can obtain the first state prompt to be expressed by the wiper.

示例性的，图10为本申请实施例提供的一种雨刷动作的示意图，如图10所示，第一时刻，雨刷以角速度ω1从第一位置转向第二位置；第二时刻，雨刷以角速度ω2从第二位置转向第三位置；第三时刻，雨刷以角速度ω1从第三位置转向第二位置；第四时刻，雨刷以角速度ω2从第二位置转向第一位置。Exemplarily, FIG. 10 is a schematic diagram of a wiper action provided by an embodiment of the application. As shown in FIG. 10 , at the first moment, the wiper rotates from the first position to the second position at the angular velocity ω1; at the second moment, the wiper rotates at the angular velocity ω1. ω2 turns from the second position to the third position; at the third moment, the wiper turns from the third position to the second position at the angular velocity ω1; at the fourth moment, the wiper turns from the second position to the first position at the angular velocity ω2.

其中，第一位置为水平位置，第三位置为水平位置，第三位置和第一位置不同，第一位置与第二位置之间的角度为第三角度，第二位置与第三位置之间的角度为第四角度，第三角度与第四角度的和为平角。可以理解的是，第三角度的具体值、第四角度的具体值、ω1的具体值以及ω2的具体值，可以根据实际应用场景设定，本申请实施例对此不作具体限定。The first position is the horizontal position, the third position is the horizontal position, the third position is different from the first position, the angle between the first position and the second position is the third angle, and the angle between the second position and the third position The angle is the fourth angle, and the sum of the third angle and the fourth angle is a straight angle. It can be understood that the specific value of the third angle, the specific value of the fourth angle, the specific value of ω1, and the specific value of ω2 can be set according to actual application scenarios, which are not specifically limited in this embodiment of the present application.

示例性的，图11为本申请实施例提供的一种雨刷动作的示意图，如图11所示，第一时刻，雨刷以角速度ω3从第四位置转向第五位置；第二时刻，雨刷以角速度ω4从第五位置转向第四位置；第三时刻，雨刷以角速度ω3从第四位置转向第五位置；第四时刻，雨刷以角速度ω4从第五位置转向第四位置。Exemplarily, FIG. 11 is a schematic diagram of a wiper action provided by an embodiment of the application. As shown in FIG. 11 , at the first moment, the wiper rotates from the fourth position to the fifth position at the angular velocity ω3; at the second moment, the wiper rotates at the angular velocity ω3. ω4 turns from the fifth position to the fourth position; at the third moment, the wiper turns from the fourth position to the fifth position at the angular velocity ω3; at the fourth moment, the wiper turns from the fifth position to the fourth position at the angular velocity ω4.

其中，第四位置为水平位置，第五位置为水平位置，第四位置和第五位置不同，第四位置与第五位置之间的角度为平角。可以理解的是，ω3的具体值和ω4的具体值，可以根据实际应用场景设定，本申请实施例对此不作具体限定。The fourth position is a horizontal position, the fifth position is a horizontal position, the fourth position and the fifth position are different, and the angle between the fourth position and the fifth position is a flat angle. It can be understood that the specific value of ω3 and the specific value of ω4 may be set according to actual application scenarios, which are not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为不集成在MDC且可以控制MDC的模块时，第一控制模块控制第一终端中的至少一个雨刷执行第一动作，包括：第一控制模块通过控制MDC，使得MDC可以通过雨量传感器判断当前雨量，在当前雨量大于或等于第六阈值时，从而MDC控制第一终端中的至少一个雨刷执行第一动作。In the embodiment of the present application, when the first control module is a module that is not integrated in the MDC and can control the MDC, the first control module controls at least one wiper in the first terminal to perform the first action, including: the first control module controls the MDC, so that the MDC can judge the current rainfall through the rain sensor, and when the current rainfall is greater than or equal to the sixth threshold, the MDC controls at least one wiper in the first terminal to perform the first action.

其中，MDC控制第一终端中的至少一个雨刷执行第一动作的实现方式可以参照前述步骤的描述，在此不再赘述。可以理解，雨量传感器的安装位置以及第六阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。Wherein, the implementation manner of the MDC controlling at least one wiper in the first terminal to perform the first action may refer to the description of the foregoing steps, which will not be repeated here. It can be understood that the installation position of the rain sensor and the specific value of the sixth threshold can be set according to the actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块为集成在MDC中的模块时，第一控制模块可以通过雨量传感器判断当前雨量，在当前雨量大于或等于第七阈值时，从而第一控制模块控制第一终端中的至少一个雨刷执行第一动作。In the embodiment of the present application, when the first control module is a module integrated in the MDC, the first control module can judge the current rainfall through the rain sensor, and when the current rainfall is greater than or equal to the seventh threshold, the first control module controls the At least one wiper in a terminal performs the first action.

其中，第一控制模块控制第一终端中的至少一个雨刷执行第一动作的实现方式，与MDC控制第一终端中的至少一个雨刷执行第一动作的实现方式类似，在此不再赘述。可以理解，雨量传感器的安装位置以及第七阈值的具体值可以根据实际应用场景设定，本申请实施例对此不作具体限定。The implementation manner in which the first control module controls at least one wiper in the first terminal to perform the first action is similar to the implementation in which the MDC controls at least one wiper in the first terminal to perform the first action, and will not be repeated here. It can be understood that the installation position of the rain sensor and the specific value of the seventh threshold can be set according to the actual application scenario, which is not specifically limited in this embodiment of the present application.

本申请实施例中，在第一控制模块控制雨刷执行如图10所示的雨刷动作时，雨刷所要表达的第一状态提示可以为左转向，在第一控制模块控制雨刷执行如图11所示的雨刷动作时，雨刷所要表达的第一状态提示可以为靠边停车。可以理解，图10或图11所示的雨刷动作所要表达第一状态提示的具体内容，可以根据实际应用场景设定，本申请实施例不作限定。In the embodiment of the present application, when the first control module controls the wiper to perform the wiper action as shown in FIG. 10 , the first state prompt to be expressed by the wiper may be a left turn, and the first control module controls the wiper to perform as shown in FIG. 11 . When the wiper moves, the first state prompt to be expressed by the wiper may be pulling over. It can be understood that the specific content of the first state prompt to be expressed by the wiper action shown in FIG. 10 or FIG. 11 may be set according to an actual application scenario, which is not limited in this embodiment of the present application.

需要说明的是，雨刷可以采用与图10或图11相同的动作或者不同的动作来传递第一状态提示，相同的动作或者不同的动作所要表达的第一状态提示的具体内容，可以根据实际应用场景设定，本申请实施例不作限定。It should be noted that the wiper can use the same action or different action as in FIG. 10 or FIG. 11 to transmit the first state prompt, and the specific content of the first state prompt to be expressed by the same action or different action can be based on the actual application. Scenario setting is not limited in this embodiment of the present application.

需要说明的是，图10或图11所示的雨刷执行的第一动作与雨刷正常刮雨的动作不同；可能的情况中，在雨刷执行第一动作时，雨刷也可以在刮雨。It should be noted that the first action performed by the wiper shown in FIG. 10 or FIG. 11 is different from the action of the wiper for normal wiping; in a possible situation, when the wiper performs the first action, the wiper may also wipe the rain.

S903：第二控制模块获取至少一个雨刷的第一动作的信息。S903: The second control module acquires information of the first action of at least one wiper.

S904：第二控制模块根据第一动作的信息，获取来自雨刷所在的第一终端的第一状态提示。S904: The second control module acquires, according to the information of the first action, a first state prompt from the first terminal where the wiper is located.

本申请实施例中，S901、S903以及S904可以S601、S603以及S604的内容适应描述，在此不再赘述。In this embodiment of the present application, S901, S903, and S904 can be adapted to the description of the contents of S601, S603, and S604, and details are not repeated here.

综上所述，本申请实施例中，第一控制模块确定第一状态提示后，控制至少一个雨刷执行第一动作，第二控制模块获取第一动作的信息，并根据第一动作的信息，获取来自雨刷所在的第一车辆的第一状态提示，第二车辆所获取的第一状态提示是基于雨刷的第一动作指示的，可以减少环境能见度等的影响，从而第二车辆可以在任意环境中识别第一车辆的行驶意图和/或交通信息，第二控制模块基于行驶意图和/或交通信息，控制第二车辆适应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。To sum up, in the embodiment of the present application, after the first control module determines the first state prompt, it controls at least one wiper to perform the first action, and the second control module obtains the information of the first action, and according to the information of the first action, Obtain the first state prompt from the first vehicle where the wiper is located, and the first state prompt obtained by the second vehicle is based on the first action instruction of the wiper, which can reduce the influence of environmental visibility, etc., so that the second vehicle can operate in any environment. Recognizing the driving intention and/or traffic information of the first vehicle, the second control module controls the second vehicle to adapt and adjust the driving strategy based on the driving intention and/or the traffic information, thereby improving the safety and comfort of vehicle driving.

在图6-图9对应的实施例的基础上，示例性的，图12为本申请实施例提供的一种控制方法的流程示意图，本申请实施例是以第一目标设备为雨刷为例进行示例性说明，如图12所示，可以包括以下步骤：On the basis of the embodiments corresponding to FIGS. 6 to 9 , exemplarily, FIG. 12 is a schematic flowchart of a control method provided by an embodiment of the present application. In the embodiment of the present application, the first target device is a windshield wiper as an example. An exemplary illustration, as shown in Figure 12, may include the following steps:

S1201：第一控制模块确定第一状态提示。S1201: The first control module determines a first state prompt.

S1202：第一控制模块控制第一终端中的至少一个雨刷执行第一动作。S1202: The first control module controls at least one wiper in the first terminal to perform the first action.

S1203：第一控制模块控制第一终端中的至少一个第一处理装置执行第一处理。S1203: The first control module controls at least one first processing device in the first terminal to perform the first processing.

S1204：第二控制模块获取至少一个雨刷的第一动作的信息。S1204: The second control module acquires information of the first action of at least one wiper.

S1205：第二控制模块根据第一动作的信息，获取来自雨刷所在的第一终端的第一状态提示。S1205: The second control module obtains, according to the information of the first action, a first state prompt from the first terminal where the wiper is located.

S1206：第二控制模块响应于第一终端的第一状态提示，控制第二终端执行操作。S1206: The second control module controls the second terminal to perform an operation in response to the first state prompt of the first terminal.

S1207：第二控制模块确定第二状态提示。S1207: The second control module determines the second state prompt.

S1208：第二控制模块控制第二终端中的至少一个第二目标设备执行第二动作。S1208: The second control module controls at least one second target device in the second terminal to perform the second action.

S1209：第一控制模块通过雷达获取来自第二终端的第二动作的信息。S1209: The first control module obtains the information of the second action from the second terminal through the radar.

本申请实施例中，S1201、S1204、S1205可以参考S601、S603、S604的内容适应描述，S1202可以参考S802的内容适应描述，S1203、S1206-S1209可以参照图8对应的实施例的S803、S806-S809内容适应描述，在此不再赘述。In this embodiment of the present application, S1201, S1204, and S1205 can refer to the content adaptation description of S601, S603, and S604; S1202 can refer to the content adaptation description of S802; The content of S809 is adapted to the description and will not be repeated here.

需要说明的是，在S1201-S1206所描述的内容之后，可以执行S1207-S1209所描述的内容；或者，在S1201-S1206所描述的内容之前，可以执行S1207-S1209所描述的内容，本申请实施例对此不作具体限定。It should be noted that, after the content described in S1201-S1206, the content described in S1207-S1209 may be executed; or, before the content described in S1201-S1206, the content described in S1207-S1209 may be executed, which is implemented in this application. This example is not specifically limited.

需要说明的是，本申请实施例的S1203、S1206-S1209是可选步骤，可以根据实际应用场景设置可选步骤的一个或多个，本申请实施例各步骤之间的先后顺序也可以根据实际应用场景进行调整，本申请实施例对此不作具体限定。It should be noted that S1203 and S1206-S1209 in this embodiment of the present application are optional steps, and one or more optional steps may be set according to actual application scenarios, and the sequence of steps in this embodiment of the present application may also be based on actual conditions The application scenario is adjusted, which is not specifically limited in this embodiment of the present application.

综上所述，在本申请实施例中，第一控制模块确定第一状态提示，第一控制模块根据第一状态提示，控制雨刷执行第一动作，以及，第一控制模块控制至少一个第一处理装置执行第一处理；第二控制模块获取第一动作的信息，并根据第一动作的信息，获取来自雨刷所在的第一终端的第一状态提示，第二控制模块获取第一状态提示是基于第一雨刷的第一动作指示的，可以减少环境能见度等的影响，从而第二车辆可以在任意环境中识别第一车辆的行驶意图和/或交通信息，第二控制模块基于行驶意图和/或交通信息，控制第二车辆适应调整驾驶策略，从而提高车辆驾驶的安全性和舒适性。To sum up, in the embodiment of the present application, the first control module determines the first state prompt, the first control module controls the wiper to perform the first action according to the first state prompt, and the first control module controls at least one first action The processing device executes the first process; the second control module obtains the information of the first action, and according to the information of the first action, obtains the first state prompt from the first terminal where the wiper is located, and the second control module obtains the first state prompt is Based on the first action instruction of the first wiper, the influence of environmental visibility and the like can be reduced, so that the second vehicle can recognize the driving intention and/or traffic information of the first vehicle in any environment, and the second control module is based on the driving intention and/or traffic information. Or traffic information, control the second vehicle to adapt and adjust the driving strategy, thereby improving the safety and comfort of vehicle driving.

上面结合图6-图12，对本申请实施例的方法进行了说明，下面对本申请实施例提供的执行上述方法的装置进行描述。The methods of the embodiments of the present application have been described above with reference to FIGS. 6 to 12 , and the apparatuses provided by the embodiments of the present application for executing the above methods are described below.

示例性的，图13为本申请实施例提供的一种终端的结构示意图，如图13所示，终端130包括控制装置140，进一步地，终端还包括雷达。其中，控制装置与雷达可以通过有线方式或者无线方式连接。可以理解，终端所包括的其他部件或其他装置可以根据实际应用场景设定，本申请实施例不作限定。Exemplarily, FIG. 13 is a schematic structural diagram of a terminal provided by an embodiment of the present application. As shown in FIG. 13 , the terminal 130 includes a control device 140 , and further, the terminal further includes a radar. Wherein, the control device and the radar can be connected in a wired or wireless manner. It can be understood that other components or other devices included in the terminal may be set according to actual application scenarios, which are not limited in this embodiment of the present application.

本申请实施例中，上述终端可以通过控制装置140执行上述实施例所描述的方法，或者，上述终端可以在雷达的辅助下，通过控制装置140执行上述实施例所描述的方法。可以理解，终端对控制装置140或雷达进行控制的实现方式，可以根据实际应用场景设定，本申请实施例不作具体限定。In this embodiment of the present application, the above-mentioned terminal may execute the method described in the above-mentioned embodiment through the control device 140, or the above-mentioned terminal may execute the method described in the above-mentioned embodiment through the control device 140 with the assistance of a radar. It can be understood that the manner in which the terminal controls the control device 140 or the radar may be set according to an actual application scenario, and is not specifically limited in this embodiment of the present application.

在图13所示的终端的基础上，为了更好地描述控制装置140，示例性的，图14为本申请实施例提供的一种控制装置140的结构示意图，如图14所示，控制装置140可以用于通信设备、电路、硬件组件或者芯片中，该控制装置包括：处理单元141，处理单元141用于支持控制装置执行信息处理的步骤。On the basis of the terminal shown in FIG. 13 , in order to better describe the control device 140, exemplarily, FIG. 14 is a schematic structural diagram of a control device 140 provided by an embodiment of the application. As shown in FIG. 14 , the control device 140 may be used in communication equipment, circuits, hardware components or chips, and the control apparatus includes: a processing unit 141, where the processing unit 141 is used to support the control apparatus to perform steps of information processing.

在一种可能的实施例中，控制装置还可以包括：存储单元142。处理单元141、存储单元142通过通信线路相连。In a possible embodiment, the control apparatus may further include: a storage unit 142 . The processing unit 141 and the storage unit 142 are connected through a communication line.

存储单元142可以包括一个或者多个存储器，存储器可以是一个或者多个设备、电路中用于存储程序或者数据的器件。The storage unit 142 may include one or more memories, which may be devices in one or more devices or circuits for storing programs or data.

存储单元142可以独立存在，通过通信线路与控制装置具有的处理单元141相连。存储单元142也可以和处理单元141集成在一起。The storage unit 142 may exist independently, and is connected to the processing unit 141 of the control device through a communication line. The storage unit 142 may also be integrated with the processing unit 141 .

本申请实施例提供了一种控制装置，该控制装置包括一个或者多个模块，用于实现上述图6-图12中所包含的步骤中的方法，该一个或者多个模块可以与上述图6-图12中所包含的步骤中的方法的步骤相对应。例如，对于执行对该控制装置的动作进行控制或处理的模块可以称为处理模块。An embodiment of the present application provides a control device, where the control device includes one or more modules for implementing the methods in the steps included in the foregoing FIG. - The steps of the method in the steps contained in Figure 12 correspond. For example, a module that controls or processes the actions of the control device may be referred to as a processing module.

示例性的，图15为本申请实施例提供的一种控制设备的硬件结构示意图，如图15所示，该控制设备包括处理器151，通信线路154以及至少一个通信接口(图15中示例性的以通信接口153为例进行说明)。Exemplarily, FIG. 15 is a schematic diagram of the hardware structure of a control device provided by an embodiment of the present application. As shown in FIG. 15 , the control device includes a processor 151, a communication line 154 and at least one communication interface (exemplified in FIG. 15 ). The communication interface 153 is used as an example for description).

处理器151可以是一个通用中央处理器(central processing unit，CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制本申请方案程序执行的集成电路。The processor 151 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the programs of the present application. integrated circuit.

通信线路154可包括在上述组件之间传送信息的电路。 Communication lines 154 may include circuitry that communicates information between the aforementioned components.

通信接口153，使用任何收发器一类的装置，用于与其他设备或通信网络通信，如以太网，无线局域网(wireless local area networks，WLAN)等。The communication interface 153, using any device such as a transceiver, is used to communicate with other devices or communication networks, such as Ethernet, wireless local area networks (WLAN) and the like.

可能的，该控制设备还可以包括存储器152。Possibly, the control device may also include a memory 152 .

存储器152可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、只读光盘(compact disc read-only memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过通信线路154与处理器相连接。存储器也可以和处理器集成在一起。The memory 152 may be read-only memory (ROM) or other type of static storage device that can store static information and instructions, random access memory (RAM) or other type of static storage device that can store information and instructions It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, CD-ROM storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being executed by a computer Access any other medium without limitation. The memory may exist independently and be connected to the processor through communication line 154 . The memory can also be integrated with the processor.

其中，存储器152用于存储执行本申请方案的计算机执行指令，并由处理器151来控制执行。处理器151用于执行存储器152中存储的计算机执行指令，从而实现本申请实施例所提供的控制方法。The memory 152 is used for storing computer-executed instructions for executing the solutions of the present application, and the execution is controlled by the processor 151 . The processor 151 is configured to execute the computer-executed instructions stored in the memory 152, thereby implementing the control method provided by the embodiments of the present application.

可能的，本申请实施例中的计算机执行指令也可以称之为应用程序代码，本申请实施例对此不作具体限定。Possibly, the computer-executed instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

在具体实现中，作为一种实施例，处理器151可以包括一个或多个CPU，例如图15中的CPU0和CPU1。In a specific implementation, as an embodiment, the processor 151 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 15 .

在具体实现中，作为一种实施例，控制设备可以包括多个处理器，例如图15中的处理器151和处理器155。这些处理器中的每一个可以是一个单核(single-CPU)处理器，也可以是一个多核(multi-CPU)处理器。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。In a specific implementation, as an embodiment, the control device may include multiple processors, such as the processor 151 and the processor 155 in FIG. 15 . Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (eg, computer program instructions).

示例性的，图16为本申请实施例提供的一种芯片的结构示意图。芯片160包括一个或两个以上(包括两个)处理器1610和通信接口1630。Exemplarily, FIG. 16 is a schematic structural diagram of a chip according to an embodiment of the present application. The chip 160 includes one or more (including two) processors 1610 and a communication interface 1630 .

在一些实施方式中，存储器1640存储了如下的元素：可执行模块或者数据结构，或者他们的子集，或者他们的扩展集。In some implementations, memory 1640 stores the following elements: executable modules or data structures, or a subset thereof, or an extension set thereof.

本申请实施例中，存储器1640可以包括只读存储器和随机存取存储器，并向处理器1610提供指令和数据。存储器1640的一部分还可以包括非易失性随机存取存储器(non-volatile random access memory，NVRAM)。In this embodiment of the present application, the memory 1640 may include a read-only memory and a random access memory, and provides instructions and data to the processor 1610 . A portion of memory 1640 may also include non-volatile random access memory (NVRAM).

本申请实施例中，存储器1640、通信接口1630以及存储器1640通过总线***1620耦合在一起。其中，总线***1620除包括数据总线之外，还可以包括电源总线、控制总线和状态信号总线等。为了便于描述，在图16中将各种总线都标为总线***1620。In this embodiment of the present application, the memory 1640 , the communication interface 1630 and the memory 1640 are coupled together through the bus system 1620 . The bus system 1620 may also include a power bus, a control bus, a status signal bus, and the like, in addition to a data bus. For ease of description, the various buses are designated as bus system 1620 in FIG. 16 .

上述本申请实施例描述的方法可以应用于处理器1610中，或者由处理器1610实现。处理器1610可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器1610中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器1610可以是通用处理器(例如，微处理器或常规处理器)、数字信号处理器(digital signal processing，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field-programmable gate array，FPGA)或者其他可编程逻辑器件、分立门、晶体管逻辑器件或分立硬件组件，处理器1610可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。The methods described in the foregoing embodiments of the present application may be applied to the processor 1610, or implemented by the processor 1610. The processor 1610 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 1610 or an instruction in the form of software. The above-mentioned processor 1610 may be a general-purpose processor (eg, a microprocessor or a conventional processor), a digital signal processor (digital signal processing, DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate Array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates, transistor logic devices or discrete hardware components, the processor 1610 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present invention .

结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。其中，软件模块可以位于随机存储器、只读存储器、可编程只读存储器或带电可擦写可编程存储器(electrically erasable programmable read only memory，EEPROM)等本领域成熟的存储介质中。该存储介质位于存储器1640，处理器1610读取存储器1640中的信息，结合其硬件完成上述方法的步骤。The steps of the method disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium mature in the field, such as random access memory, read-only memory, programmable read-only memory, or electrically erasable programmable read only memory (EEPROM). The storage medium is located in the memory 1640, and the processor 1610 reads the information in the memory 1640, and completes the steps of the above method in combination with its hardware.

在上述实施例中，存储器存储的供处理器执行的指令可以以计算机程序产品的形式实现。其中，计算机程序产品可以是事先写入在存储器中，也可以是以软件形式下载并安装在存储器中。In the above-described embodiments, the instructions stored by the memory for execution by the processor may be implemented in the form of a computer program product. The computer program product may be written in the memory in advance, or downloaded and installed in the memory in the form of software.

计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行计算机程序指令时，全部或部分地产生按照本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络或者其他可编程装置。计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一计算机可读存储介质传输，例如，计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL)或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存储的任何可用介质或者是包括一个或多个可用介质集成的服务器、数据中心等数据存储设备。例如，可用介质可以包括磁性介质(例如，软盘、硬盘或磁带)、光介质(例如，数字通用光盘(digital versatile disc，DVD))、或者半导体介质(例如，固态硬盘(solid state disk，SSD))等。A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. Computer instructions may be stored on or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center over a wire (e.g. Coaxial cable, optical fiber, digital subscriber line (DSL) or wireless (eg infrared, wireless, microwave, etc.) means to transmit to another website site, computer, server or data center. The computer readable storage medium may be Any available medium on which a computer can store or a data storage device that includes one or more of the available media integration servers, data centers, etc. For example, available media may include magnetic media (eg, floppy disks, hard disks, or tapes), optical media (eg, Digital versatile disc (digital versatile disc, DVD)), or semiconductor media (for example, solid state disk (solid state disk, SSD)), etc.

本申请实施例还提供了一种计算机可读存储介质。上述实施例中描述的方法可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。计算机可读介质可以包括计算机存储介质和通信介质，还可以包括任何可以将计算机程序从一个地方传送到另一个地方的介质。存储介质可以是可由计算机访问的任何目标介质。Embodiments of the present application also provide a computer-readable storage medium. The methods described in the above embodiments may be implemented in whole or in part by software, hardware, firmware or any combination thereof. Computer-readable media can include both computer storage media and communication media and also include any medium that can transfer a computer program from one place to another. The storage medium can be any target medium that can be accessed by a computer.

作为一种可能的设计，计算机可读介质可以包括紧凑型光盘只读储存器(compact disc read-only memory，CD-ROM)、RAM、ROM、EEPROM或其它光盘存储器；计算机可读介质可以包括磁盘存储器或其它磁盘存储设备。而且，任何连接线也可以被适当地称为计算机可读介质。例如，如果使用同轴电缆，光纤电缆，双绞线，DSL或无线技术(如红外，无线电和微波)从网站，服务器或其它远程源传输软件，则同轴电缆，光纤电缆，双绞线，DSL或诸如红外，无线电和微波之类的无线技术包括在介质的定义中。如本文所使用的磁盘和光盘包括光盘(CD)，激光盘，光盘，数字通用光盘(digital versatile disc，DVD)，软盘和蓝光盘，其中磁盘通常以磁性方式再现数据，而光盘利用激光光学地再现数据。As a possible design, the computer-readable medium may include compact disc read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disk storage; the computer-readable medium may include magnetic disks memory or other disk storage devices. Also, any connection line is properly termed a computer-readable medium. For example, if using coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies (such as infrared, radio, and microwave) to transmit software from a website, server, or other remote source, coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of medium. Disk and disc, as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and blu-ray disc, where disks usually reproduce data magnetically, while discs use lasers to optically reproduce data.

上述的组合也应包括在计算机可读介质的范围内。以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。Combinations of the above should also be included within the scope of computer-readable media. The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

一种控制方法，其特征在于，所述方法包括：A control method, characterized in that the method comprises:

确定第一状态提示；Determine the first state prompt;

控制第一终端中的至少一个第一目标设备执行第一动作，所述第一动作用于指示所述第一状态提示；controlling at least one first target device in the first terminal to perform a first action, where the first action is used to indicate the first state prompt;

其中，所述第一动作对应于所述第一状态提示。Wherein, the first action corresponds to the first state prompt.
根据权利要求1所述的方法，其特征在于，所述第一动作与所述第一状态提示之间存在预先定义或者配置的对应关系。The method according to claim 1, wherein there is a predefined or configured correspondence between the first action and the first state prompt.
根据权利要求1或2所述的方法，其特征在于，还包括：The method according to claim 1 or 2, further comprising:

控制所述第一终端中的至少一个第一处理装置执行第一处理，所述第一处理对应于所述第一状态提示。Controlling at least one first processing device in the first terminal to execute a first process, where the first process corresponds to the first state prompt.
根据权利要求1-3任一项所述的方法，其特征在于，所述控制所述第一终端中的至少一个第一目标设备执行第一动作，包括：The method according to any one of claims 1-3, wherein the controlling at least one first target device in the first terminal to perform the first action comprises:

确定所述第一终端周围的能见度低于阈值，控制所述第一终端中的所述至少一个第一目标设备执行所述第一动作；determining that the visibility around the first terminal is lower than a threshold, and controlling the at least one first target device in the first terminal to perform the first action;

所述确定所述第一终端周围的能见度低于阈值，包括：The determining that the visibility around the first terminal is lower than a threshold includes:

获取所述第一终端的环境信息；obtaining the environment information of the first terminal;

确定所述第一终端周围的所述能见度低于所述阈值。It is determined that the visibility around the first terminal is below the threshold.
根据权利要求4所述的方法，其特征在于，所述获取所述第一终端的环境信息，包括：The method according to claim 4, wherein the acquiring the environment information of the first terminal comprises:

获取所述第一终端周围的图像数据；acquiring image data around the first terminal;

和/或，获取所述第一终端周围的天气信息。and/or, acquiring weather information around the first terminal.
根据权利要求1-5任一项所述的方法，其特征在于，所述第一动作与所述至少一个第一目标设备的运动角度、运动速度、运动方向、振动频率中的至少一个相关。The method according to any one of claims 1-5, wherein the first action is related to at least one of a movement angle, movement speed, movement direction, and vibration frequency of the at least one first target device.
根据权利要求1-6任一项所述的方法，其特征在于，所述第一状态提示包括行驶意图和/或交通信息，所述行驶意图包括：转向、并线、掉头、靠边停车或起步，所述交通信息包括：道路拥堵、事故发生、车辆紧急状态或让行紧急车辆。The method according to any one of claims 1-6, wherein the first state prompt includes driving intention and/or traffic information, and the driving intention includes: turning, merging, turning around, pulling over or starting , the traffic information includes: road congestion, accident occurrence, vehicle emergency state or yielding emergency vehicle.
根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-7, wherein the method further comprises:

通过雷达获取来自第二终端的第二状态提示，所述第二状态提示通过所述第二终端的至少一个第二目标设备的第二动作指示；其中，所述第二动作对应于所述第二状态提示。The second state prompt from the second terminal is obtained through the radar, and the second state prompt is indicated by the second action of at least one second target device of the second terminal; wherein, the second action corresponds to the first Two status prompts.
根据权利要求8所述的方法，其特征在于，所述第二目标设备包括车灯、雨刷或车标中的至少一个。The method of claim 8, wherein the second target device comprises at least one of a vehicle lamp, a wiper or a vehicle logo.
一种控制方法，其特征在于，所述方法包括：A control method, characterized in that the method comprises:

获取至少一个第一目标设备的第一动作的信息；acquiring information about a first action of at least one first target device;

根据所述第一动作的信息，获取来自所述第一目标设备所在的第一终端的第一状态提示，其中，所述第一动作用于指示所述第一状态提示。Acquire a first state prompt from the first terminal where the first target device is located according to the information of the first action, where the first action is used to indicate the first state prompt.
根据权利要求10所述的方法，其特征在于，所述第一动作与所述第一状态提示之间存在预先定义或者配置的对应关系。The method according to claim 10, wherein there is a predefined or configured correspondence between the first action and the first state prompt.
根据权利要求10或11所述的方法，其特征在于，所述第一状态提示包括行驶意图和/或交通信息，所述行驶意图包括：转向、并线、掉头、靠边停车或起步，所述交通信息包括：道路拥堵、事故发生、车辆紧急状态或让行紧急车辆。The method according to claim 10 or 11, wherein the first state prompt includes driving intention and/or traffic information, and the driving intention includes: turning, merging, turning around, pulling over or starting, the Traffic information includes: road congestion, accident, vehicle emergency or yield to emergency vehicles.
根据权利要求10-12任一项所述的方法，其特征在于，所述第一动作与所述至少一个第一目标设备的运动角度、运动速度、运动方向、振动频率中的至少一个相关。The method according to any one of claims 10-12, wherein the first action is related to at least one of a movement angle, movement speed, movement direction, and vibration frequency of the at least one first target device.
根据权利要求10-13任一项所述的方法，其特征在于，所述获取至少一个第一目标设备的第一动作的信息，包括：The method according to any one of claims 10-13, wherein the acquiring information of the first action of the at least one first target device comprises:

通过雷达检测所述第一动作以获取所述第一动作的信息；或者，The first action is detected by radar to obtain the information of the first action; or,

获取来自雷达的所述第一动作的信息。Obtain information from the radar for the first action.
根据权利要求10-14任一项所述的方法，其特征在于，所述第一动作的信息包括：所述第一动作对应的所述第一状态提示、所述第一动作对应的第一原始数据或所述第一动作对应的第一状态分解信息；其中，所述第一原始数据包括通过雷达检测所述第一动作而得到的数据矩阵；所述第一状态分解信息包括所述第一原始数据经过时频分析而得到的信息，所述第一状态提示由多个所述第一状态分解信息组成。The method according to any one of claims 10-14, wherein the information of the first action includes: the first state prompt corresponding to the first action, the first state corresponding to the first action Raw data or first state decomposition information corresponding to the first action; wherein the first raw data includes a data matrix obtained by detecting the first action by radar; the first state decomposition information includes the first state decomposition information Information obtained by time-frequency analysis of original data, the first state prompt is composed of a plurality of first state decomposition information.
根据权利要求10-15任一项所述的方法，其特征在于，还包括：响应于所述第一终端的所述第一状态提示，控制第二终端执行操作。The method according to any one of claims 10-15, further comprising: controlling the second terminal to perform an operation in response to the first state prompt of the first terminal.
根据权利要求10-16任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 10-16, wherein the method further comprises:

确定第二状态提示；Determine the second status prompt;

控制第二终端中的至少一个第二目标设备执行第二动作，所述第二动作用于指示所述第二状态提示；其中，所述第二动作对应于所述第二状态提示。At least one second target device in the second terminal is controlled to perform a second action, where the second action is used to indicate the second state prompt; wherein the second action corresponds to the second state prompt.
根据权利要求17所述的方法，其特征在于，所述第二目标设备包括车灯、雨刷或车标中的至少一个。The method of claim 17, wherein the second target device comprises at least one of a vehicle lamp, a wiper or a vehicle logo.
一种控制装置，其特征在于，所述装置包括：A control device, characterized in that the device comprises:

处理单元，用于确定第一状态提示；a processing unit, configured to determine the first state prompt;

所述处理单元，还用于控制第一终端中的至少一个第一目标设备执行第一动作，所述第一动作用于指示所述第一状态提示；The processing unit is further configured to control at least one first target device in the first terminal to perform a first action, where the first action is used to indicate the first state prompt;

其中，所述第一动作对应于所述第一状态提示。Wherein, the first action corresponds to the first state prompt.
根据权利要求19所述的装置，其特征在于，所述第一动作与所述第一状态提示之间存在预先定义或者配置的对应关系。The apparatus according to claim 19, wherein there is a predefined or configured correspondence between the first action and the first state prompt.
根据权利要求19或20所述的装置，其特征在于，所述处理单元，还用于：The device according to claim 19 or 20, wherein the processing unit is further configured to:

控制所述第一终端中的至少一个第一处理装置执行第一处理，所述第一处理对应于所述第一状态提示。Controlling at least one first processing device in the first terminal to execute a first process, where the first process corresponds to the first state prompt.
根据权利要求19-21任一项所述的装置，其特征在于，所述处理单元，具体用于：The device according to any one of claims 19-21, wherein the processing unit is specifically configured to:

确定所述第一终端周围的能见度低于阈值，控制所述第一终端中的所述至少一个第一目标设备执行所述第一动作；determining that the visibility around the first terminal is lower than a threshold, and controlling the at least one first target device in the first terminal to perform the first action;

所述处理单元，具体还用于：The processing unit is also specifically used for:

获取所述第一终端的环境信息；obtaining the environment information of the first terminal;

确定所述第一终端周围的所述能见度低于所述阈值。It is determined that the visibility around the first terminal is below the threshold.
根据权利要求22所述的装置，其特征在于，所述处理单元，具体用于：The device according to claim 22, wherein the processing unit is specifically configured to:

获取所述第一终端周围的图像数据；acquiring image data around the first terminal;

和/或，获取所述第一终端周围的天气信息。and/or, acquiring weather information around the first terminal.
根据权利要求19-23任一项所述的装置，其特征在于，所述第一动作与所述至少一个第一目标设备的运动角度、运动速度、运动方向、振动频率中的至少一个相关。The apparatus according to any one of claims 19-23, wherein the first action is related to at least one of a movement angle, movement speed, movement direction, and vibration frequency of the at least one first target device.
根据权利要求19-24任一项所述的装置，其特征在于，所述第一状态提示包括行驶意图和/或交通信息，所述行驶意图包括：转向、并线、掉头、靠边停车或起步，所述交通信息包括：道路拥堵、事故发生、车辆紧急状态或让行紧急车辆。The device according to any one of claims 19-24, wherein the first state prompt includes driving intention and/or traffic information, and the driving intention includes: turning, merging, turning around, pulling over or starting , the traffic information includes: road congestion, accident occurrence, vehicle emergency state or yielding emergency vehicle.
根据权利要求19-25任一项所述的装置，其特征在于，所述处理单元，具体用于：The device according to any one of claims 19-25, wherein the processing unit is specifically configured to:

通过雷达获取来自第二终端的第二状态提示，所述第二状态提示通过所述第二终端的至少一个第二目标设备的第二动作指示；其中，所述第二动作对应于所述第二状态提示。The second state prompt from the second terminal is obtained through the radar, and the second state prompt is indicated by the second action of at least one second target device of the second terminal; wherein, the second action corresponds to the first Two status prompts.
根据权利要求26所述的装置，其特征在于，所述第二目标设备包括车灯、雨刷或车标中的至少一个。The apparatus of claim 26, wherein the second target device comprises at least one of a vehicle lamp, a wiper or a vehicle logo.
一种控制装置，其特征在于，所述装置包括：A control device, characterized in that the device comprises:

处理单元，用于获取至少一个第一目标设备的第一动作的信息；a processing unit, configured to acquire information of a first action of at least one first target device;

所述处理单元，还用于根据所述第一动作的信息，获取来自所述第一目标设备所在的第一终端的第一状态提示，其中，所述第一动作用于指示所述第一状态提示。The processing unit is further configured to acquire, according to the information of the first action, a first state prompt from the first terminal where the first target device is located, wherein the first action is used to indicate the first Status prompt.
根据权利要求28所述的装置，其特征在于，所述第一动作与所述第一状态提示之间存在预先定义或者配置的对应关系。The apparatus according to claim 28, wherein there is a predefined or configured correspondence between the first action and the first state prompt.
根据权利要求28或29所述的装置，其特征在于，所述第一状态提示包括行驶意图和/或交通信息，所述行驶意图包括：转向、并线、掉头、靠边停车或起步，所述交通信息包括：道路拥堵、事故发生、车辆紧急状态或让行紧急车辆。The device according to claim 28 or 29, wherein the first state prompt includes driving intention and/or traffic information, and the driving intention includes: turning, merging, turning around, pulling over or starting, the Traffic information includes: road congestion, accident, vehicle emergency or yield to emergency vehicles.
根据权利要求28-30任一项所述的装置，其特征在于，所述第一动作与所述至少一个第一目标设备的运动角度、运动速度、运动方向、振动频率中的至少一个相关。The apparatus according to any one of claims 28-30, wherein the first action is related to at least one of a movement angle, movement speed, movement direction, and vibration frequency of the at least one first target device.
根据权利要求28-31任一项所述的装置，其特征在于，所述处理单元，具体用于：The device according to any one of claims 28-31, wherein the processing unit is specifically configured to:

通过雷达检测所述第一动作以获取所述第一动作的信息；或者，The first action is detected by radar to obtain the information of the first action; or,

获取来自雷达的所述第一动作的信息。Obtain information from the radar for the first action.
根据权利要求28-32任一项所述的装置，其特征在于，所述第一动作的信息包括：所述第一动作对应的所述第一状态提示、所述第一动作对应的第一原始数据或所述第一动作对应的第一状态分解信息；其中，所述第一原始数据包括通过雷达检测所述第一动作而得到的数据矩阵；所述第一状态分解信息包括所述第一原始数据经过时频分析而得到的信息，所述第一状态提示由多个所述第一状态分解信息组成。The device according to any one of claims 28-32, wherein the information of the first action includes: the first state prompt corresponding to the first action, the first state prompt corresponding to the first action, and the first action corresponding to the first action. Raw data or first state decomposition information corresponding to the first action; wherein, the first raw data includes a data matrix obtained by detecting the first action by radar; the first state decomposition information includes the first state decomposition information Information obtained by time-frequency analysis of original data, the first state prompt is composed of a plurality of first state decomposition information.
根据权利要求28-33任一项所述的装置，其特征在于，所述处理单元，还用于：响应于所述第一终端的所述第一状态提示，控制第二终端执行操作。The apparatus according to any one of claims 28-33, wherein the processing unit is further configured to: control the second terminal to perform an operation in response to the first state prompt of the first terminal.
根据权利要求28-34任一项所述的装置，其特征在于，所述处理单元，具体用于：The device according to any one of claims 28-34, wherein the processing unit is specifically configured to:

确定第二状态提示；Determine the second status prompt;

控制第二终端中的至少一个第二目标设备执行第二动作，所述第二动作用于指示所述第二状态提示；其中，所述第二动作对应于所述第二状态提示。At least one second target device in the second terminal is controlled to perform a second action, where the second action is used to indicate the second state prompt; wherein the second action corresponds to the second state prompt.
根据权利要求35所述的装置，其特征在于，所述第二目标设备包括车灯、雨刷或车标中的至少一个。The apparatus of claim 35, wherein the second target device comprises at least one of a vehicle lamp, a wiper or a vehicle logo.
一种芯片，其特征在于，所述芯片包括至少一个处理器和通信接口，所述通信接口和所述至少一个处理器耦合，所述至少一个处理器用于运行计算机程序或指令，以实现如权利要求1-9中任一项所述的控制方法，或以实现如权利要求10-18中任一项所述的控制方法。A chip, characterized in that the chip includes at least one processor and a communication interface, the communication interface is coupled to the at least one processor, and the at least one processor is used to run a computer program or instructions to implement the claim The control method according to any one of claims 1-9, or to realize the control method according to any one of claims 10-18.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有指令，当所述指令被运行时，实现如权利要求1-9中任一项所述的控制方法，或实现如权利要求10-18中任一项所述的控制方法。A computer-readable storage medium, wherein an instruction is stored in the computer-readable storage medium, and when the instruction is executed, the control method according to any one of claims 1-9 is implemented, or A control method as claimed in any one of claims 10-18 is implemented.
一种终端，其特征在于，所述终端包括如权利要求19-27任一项所述的控制装置或如权利要求28-36任一项所述的控制装置。A terminal, characterized in that the terminal comprises the control device according to any one of claims 19-27 or the control device according to any one of claims 28-36.