Vehicle navigation method, device and equipment based on automatic driving, and storage medium

Abstract

The application provides a vehicle navigation method and device based on automatic driving, equipment and storage medium; the method comprises the following steps: in response to the vehicle being in an automatic driving state, displaying an auxiliary driving interface comprising automatic driving information of the vehicle; when the distance between the position of the vehicle and the first state switching point is less than the first distance threshold, outputting a takeover prompt information based on the auxiliary driving interface; wherein the first state switching point is the position in the road where the vehicle automatically switches from the automatic driving state to the manual driving state; the takeover prompt information is used to prompt the driving object of the vehicle to take over the vehicle, so that the vehicle switches from the automatic driving state to the manual driving state; in response to the vehicle switching from the automatic driving state to the manual driving state, displaying a navigation map for navigating the vehicle. Through the application, the deep integration of automatic driving and map navigation can be realized, and the guiding performance in automatic driving can be effectively improved.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and in particular to a vehicle navigation method, device, equipment and storage medium based on autonomous driving. Background Technology

[0002] With the rapid development of computer and communication technologies, vehicle navigation has been widely used in people's daily travel. Autonomous vehicle navigation is one of the important applications in the field of vehicle navigation. Vehicles can automatically drive to their destination based on autonomous navigation routes without the need for manual operation by the user.

[0003] In related technologies, when a vehicle switches from autonomous driving to manual driving, the driver, relying solely on the information on the existing guidance panel, cannot clearly know the exact location of the next action after taking over the vehicle. This can lead to the vehicle missing key intersections and taking the wrong route. When the vehicle switches to manual driving, insufficient information on the guidance panel after the driver takes over can prevent the vehicle from following the correct route. Summary of the Invention

[0004] This application provides a vehicle navigation method, device, electronic device, computer-readable storage medium, and computer program product based on autonomous driving, which can achieve deep integration of autonomous driving and map navigation and effectively improve the guidance performance in autonomous driving.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a vehicle navigation method based on autonomous driving, including:

[0007] In response to the vehicle being in autonomous driving mode, an assisted driving interface including autonomous driving information of the vehicle is displayed;

[0008] When the distance between the vehicle's position and the first state switching point is less than the first distance threshold, a takeover prompt message is output based on the assisted driving interface;

[0009] The first state switching point is the position in the road where the vehicle automatically switches from the autonomous driving state to the manual driving state.

[0010] The takeover prompt message is used to prompt the driver of the vehicle to take over the vehicle, so that the vehicle switches from the automatic driving state to the manual driving state;

[0011] In response to the vehicle switching from the autonomous driving state to the manual driving state, a navigation map for navigating the vehicle is displayed.

[0012] This application provides a vehicle navigation device based on autonomous driving, comprising:

[0013] An autonomous driving module is used to display an assisted driving interface including autonomous driving information of the vehicle in response to the vehicle being in autonomous driving mode;

[0014] The takeover prompt module is used to output takeover prompt information based on the assisted driving interface when the distance between the vehicle's position and the first state switching point is less than the first distance threshold; wherein, the first state switching point is the position in the road where the vehicle automatically switches from the autonomous driving state to the manual driving state; the takeover prompt information is used to prompt the driver of the vehicle to take over the vehicle so that the vehicle switches from the autonomous driving state to the manual driving state.

[0015] A switching module is used to display a navigation map for navigating the vehicle in response to the vehicle switching from the autonomous driving state to the manual driving state.

[0016] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a display module, used to display the navigation route of the vehicle in the assisted driving interface through a navigation overlay or floating window.

[0017] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: an adjustment module, used to adjust the display area of ​​the navigation overlay when the vehicle is traveling in the autonomous driving state while the navigation route of the vehicle is displayed through the navigation overlay; or, when the vehicle is displayed through a floating window, to adjust the display area of ​​the floating window while the vehicle is traveling in the autonomous driving state; wherein the size of the display area is negatively correlated with the distance.

[0018] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: displaying takeover guidance information in the assisted driving interface; wherein, the takeover guidance information is used to guide the driving object to perform a target operation, and the target operation is used to trigger the vehicle to switch from the autonomous driving state to the manual driving state.

[0019] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: an instruction information module, used to display operation instruction information in the assisted driving interface; wherein, the operation instruction information is used to indicate the control operation that the driving object needs to perform on the vehicle after the vehicle switches from the autonomous driving state to the manual driving state.

[0020] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a switching assistance information module, used to display state switching assistance information in the assisted driving interface, wherein the state switching assistance information includes at least one of the following: the first state switching point, the distance, and the remaining time for the vehicle to travel to the first state switching point based on the autonomous driving state.

[0021] In the above scheme, the aforementioned switching assistance information module is also used to display the vehicle's driving path in the assisted driving interface, and in the driving path, to display the first path between the vehicle's location and the first state switching point using a first style; wherein, the first style is used to distinguish the first path from paths other than the first path in the driving path.

[0022] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a lane display module, used to display at least one drivable lane corresponding to the target location of the vehicle in the assisted driving interface using a second style, wherein the at least one drivable lane includes the lane currently being driven by the vehicle; wherein the second style is used to distinguish the drivable lane from lanes other than the drivable lane in the assisted driving interface.

[0023] In the above scheme, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a takeover alarm module, used to output takeover alarm information to remind the driver to take over the vehicle in a strong reminder manner when the distance between the vehicle's location and a first state switching point on the road is less than a second distance threshold and the second distance threshold is less than the first distance threshold; wherein, the takeover alarm information corresponds to a higher level of urgency of the vehicle takeover than the takeover prompt information corresponds to a higher level of urgency of the vehicle takeover.

[0024] In the above scheme, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a volume adjustment module, used to dynamically adjust the volume corresponding to the takeover prompt information during the output of the takeover prompt information when the output mode of the takeover prompt information is voice output mode, wherein the volume is negatively correlated with the distance; and a font adjustment module, used to dynamically adjust the font size of the text corresponding to the takeover prompt information during the output of the takeover prompt information when the output mode of the takeover prompt information is text output mode, wherein the font size is negatively correlated with the distance.

[0025] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a progress module, used to display the vehicle's driving progress bar in the assisted driving interface; and to identify the position corresponding to the first state switching point in the driving progress bar.

[0026] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a cancellation display module, used to display an exit control corresponding to the navigation map; and in response to a trigger operation on the exit control, canceling the display of the navigation map.

[0027] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a switching control display module, used to display a map mode switching control in the map navigation interface; and a mode switching module, used to switch the map mode of the navigation map from a first map mode to a second map mode in response to a trigger operation on the map mode switching control.

[0028] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a state switching prompt information module, used to display state switching prompt information in the map navigation interface in response to the switching condition of switching from the manual driving state to the autonomous driving state being met; wherein, the state switching prompt information is used to prompt that the driving state of the vehicle can be switched from the manual driving state to the autonomous driving state.

[0029] In the above scheme, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a second state switching point module, used to display a second state switching point in the map navigation interface; wherein, the second state switching point is the position on the vehicle's driving road where the switching condition for switching from manual driving state to autonomous driving state is met.

[0030] In the above solution, the vehicle navigation device based on autonomous driving provided in this application embodiment further includes: a distance display module, used to display the distance between the vehicle's location and the second state switching point in the map navigation interface, and when the distance is less than a distance threshold, display a switching control for switching the manual driving state to the autonomous driving state.

[0031] This application provides an electronic device, including:

[0032] Memory, used to store executable instructions;

[0033] The processor, when executing executable instructions stored in the memory, implements the vehicle navigation method based on autonomous driving provided in the embodiments of this application.

[0034] This application provides a computer-readable storage medium storing executable instructions, which, when executed by a processor, implement the vehicle navigation method based on autonomous driving provided in this application.

[0035] This application provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle navigation method based on autonomous driving provided in this application.

[0036] The embodiments of this application have the following beneficial effects:

[0037] When the vehicle is in autonomous driving mode, if the distance between the vehicle and the state transition point is less than a distance threshold, the driver is prompted to take over the vehicle. Upon switching from autonomous to manual driving mode, a navigation map is displayed. This prompt allows the driver to quickly take over, preventing accidents caused by failure to do so after the automatic switch. Furthermore, the timely display of the navigation map upon switching to manual mode enables the driver to accurately perform driving maneuvers based on the map. This deep integration of autonomous driving and map navigation effectively enhances user safety and improves guidance performance within the autonomous driving system. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the architecture of a vehicle navigation system based on autonomous driving provided in an embodiment of this application;

[0039] Figure 2 This is a schematic diagram of the structure of a vehicle navigation device based on autonomous driving provided in an embodiment of this application;

[0040] Figure 3 This is a flowchart illustrating the vehicle navigation method based on autonomous driving provided in an embodiment of this application;

[0041] Figure 4 This is a schematic diagram of the driver assistance interface provided in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of the interface for the takeover prompt information provided in an embodiment of this application;

[0043] Figure 6A and Figure 6BThis is a schematic diagram of the navigation route in the driver assistance interface provided in this application embodiment;

[0044] Figure 7 This is a schematic diagram of the navigation overlay in the driver assistance interface provided in this application embodiment;

[0045] Figure 8 This is a schematic diagram of the floating window in the driver assistance interface provided in this application embodiment;

[0046] Figure 9 This is a schematic diagram of the takeover guidance information in the driver assistance interface provided in this application embodiment;

[0047] Figure 10 This is a schematic diagram of the interface of the driving status icon provided in the embodiments of this application;

[0048] Figure 11 This is a schematic diagram of the interface for operation instruction information provided in an embodiment of this application;

[0049] Figure 12 This is a schematic diagram of the interface for state switching assistance information provided in an embodiment of this application;

[0050] Figure 13 This is a schematic diagram of the interface for the driving path provided in an embodiment of this application;

[0051] Figure 14 This is a schematic diagram of the interface for takeover alarm information provided in an embodiment of this application;

[0052] Figures 15A to 15C This is a schematic diagram of the interface of the driving progress bar provided in the embodiment of this application;

[0053] Figure 16 This is a schematic diagram of the interface of the map mode switching control provided in the embodiments of this application;

[0054] Figure 17 This is a schematic diagram of the interface for providing state switching prompts in an embodiment of this application;

[0055] Figure 18 This is a schematic diagram of the interface of the second state switching point provided in the embodiments of this application;

[0056] Figure 19 This is an interface diagram illustrating the distance between the vehicle's location and the second state switching point, as provided in an embodiment of this application.

[0057] Figure 20A and Figure 20B This is a schematic diagram illustrating the effect of the vehicle navigation method based on autonomous driving provided in the embodiments of this application;

[0058] Figure 21This is a schematic diagram illustrating the principle of the vehicle navigation method based on autonomous driving provided in the embodiments of this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0060] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0061] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0063] Before providing a further detailed description of the embodiments of this application, the nouns and terms involved in the embodiments of this application will be explained, and the nouns and terms involved in the embodiments of this application shall be interpreted as follows.

[0064] 1) Responding to: used to indicate the conditions or states on which the operation is performed depends. When the conditions or states on which it depends are met, one or more operations can be performed in real time or with a set delay. Unless otherwise specified, there is no restriction on the order in which the multiple operations are performed.

[0065] 2) Autonomous driving: Relying on the collaborative efforts of artificial intelligence, visual computing, radar, image acquisition devices and global positioning systems, it can guide and make decisions on vehicle driving tasks without requiring the driver to perform physical driving operations, and replace the driver's control behavior to enable the vehicle to complete the function of safe driving.

[0066] 3) Blind spots for autonomous driving: Areas in the electronic map that do not support autonomous driving, such as toll stations and ramps, which are areas that vehicles cannot pass independently without driver operation in autonomous driving mode.

[0067] 4) Navigation route: refers to the route calculated based on the set navigation start point and navigation end point, that is, starting from the navigation start point, passing through a series of roads, and finally reaching the navigation end point. In the embodiments of this application, the navigation route may include the suggested driving lanes for each road that needs to be passed, or it may not distinguish between lanes. Of course, it may also distinguish between lanes on some roads and not distinguish between lanes on others.

[0068] 5) Driver Assistance Interface: This refers to the interface displayed by the on-board terminal when the vehicle is in autonomous driving mode (including semi-autonomous driving mode and fully autonomous driving mode). This interface is used to display autonomous driving information in real time when the vehicle is in autonomous driving mode, such as the lane the vehicle is currently in, the vehicle speed, and the duration of autonomous driving.

[0069] During the implementation of the embodiments of this application, the applicant discovered the following problems with the related technology:

[0070] In related technologies, most situations where the road ahead no longer supports autonomous driving occur when the driver needs to exit a high-precision map area, such as entering a ramp. After taking over the vehicle, the user needs to immediately perform actions like changing lanes to the right or entering the ramp. Relying solely on the existing guidance panel information, the driver cannot clearly know the exact location of the next action after taking over, leading to the vehicle missing key intersections and taking the wrong route. Because these technologies guide the driver through guidance panel information, when switching from autonomous to manual driving mode, the insufficient information on the guidance panel after taking over results in the vehicle not following the correct route, leading to poor navigation guidance performance.

[0071] This application provides a vehicle navigation method, device, electronic device, computer-readable storage medium, and computer program product based on autonomous driving, which can effectively improve the guidance performance in autonomous driving. The following describes exemplary applications of the vehicle navigation electronic device based on autonomous driving provided in this application. The device provided in this application can be implemented as various types of user terminals such as in-vehicle terminals, laptops, tablets, desktop computers, set-top boxes, and mobile devices (e.g., mobile phones, portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices), or as a server. The following describes exemplary applications when the device is implemented as an in-vehicle terminal.

[0072] See Figure 1 , Figure 1This is a schematic diagram of the architecture of a vehicle navigation system 100 based on autonomous driving provided in this application embodiment. To support an exemplary application, for example, when a driver is driving the vehicle, in response to a trigger operation by the driver on the in-vehicle terminal 400-1 installed in the vehicle, the vehicle is set to autonomous driving mode. The in-vehicle terminal 400-1, in response to the vehicle being in autonomous driving mode, displays an assisted driving interface including the vehicle's autonomous driving information. When the vehicle switches from autonomous driving mode to manual driving mode, the assisted driving interface switches to a map navigation interface, displaying a navigation map. The terminal (exemplarily shown as in-vehicle terminal 400-1) connects to the server 200 via a network 300, which can be a wide area network (WAN), a local area network (LAN), or a combination of both, using wireless or wired links for data transmission.

[0073] In some embodiments, the vehicle terminal 400-1 may be a mobile terminal carried by the driver that establishes a communication connection with the vehicle's control system, such as a smartphone that establishes a communication connection with the vehicle's control system, or it may be a terminal installed in the vehicle. The vehicle terminal installed in the vehicle includes various external devices such as a vehicle video server, a touch screen, and an external camera.

[0074] The terminal (such as vehicle terminal 400-1) is used to present the navigation interface of the autonomous vehicle on the graphical interface 410 (graphical interface 410-1 is shown as an example), and in response to the vehicle switching from autonomous driving state to manual driving state, it sends a state switching request to the server 200.

[0075] Server 200 is used to receive state switching requests sent by the vehicle terminal and send navigation map data to vehicle terminal 400-1.

[0076] In practical applications, server 200 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The terminal (such as vehicle-mounted terminal 400-1) can be a smartphone, tablet, laptop, desktop computer, smart speaker, smart TV, smartwatch, etc., but is not limited to these. The terminal (such as vehicle-mounted terminal 400-1) and server 200 can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0077] In some embodiments, the vehicle navigation method based on autonomous driving provided in this application can be implemented by various electronic devices or computer devices. For example, it can be implemented by an in-vehicle terminal alone, by a server alone, or by both the in-vehicle terminal and the server collaboratively. The structure of the electronic device implementing the vehicle navigation method based on autonomous driving provided in this application is described below, taking an in-vehicle terminal as an example. See [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of the structure of the electronic device 400 provided in the embodiments of this application. Figure 2 The illustrated electronic device 400 includes at least one processor 410, a memory 450, at least one network interface 420, and a user interface 430. The various components in the electronic device 400 are coupled together via a bus system 440. It is understood that the bus system 440 is used to implement communication between these components. In addition to a data bus, the bus system 440 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 2 The general labeled all buses as Bus System 440.

[0078] The processor 410 can be an integrated circuit chip with signal processing capabilities, such as a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0079] User interface 430 includes one or more output devices 431 that enable the presentation of media content, including one or more speakers and / or one or more visual displays. User interface 430 also includes one or more input devices 432, including user interface components that facilitate user input, such as a keyboard, mouse, microphone, touch screen display, camera, other input buttons and entry points.

[0080] The memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state storage, hard disk drives, optical disk drives, etc. The memory 450 may optionally include one or more storage devices physically located away from the processor 410.

[0081] The memory 450 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), and the volatile memory may be random access memory (RAM). The memory 450 described in this application embodiment is intended to include any suitable type of memory.

[0082] In some embodiments, memory 450 is capable of storing data to support various operations, examples of which include programs, modules, and data structures or subsets or supersets thereof, as illustrated below.

[0083] Operating system 451 includes system programs for handling various basic system services and performing hardware-related tasks, such as the framework layer, core library layer, driver layer, etc., for implementing various basic business functions and handling hardware-based tasks;

[0084] The network communication module 452 is used to reach other computing devices via one or more (wired or wireless) network interfaces 420, exemplary network interfaces 420 including: Bluetooth, WiFi, and Universal Serial Bus (USB), etc.

[0085] Presentation module 453 is configured to enable the presentation of information (e.g., a user interface for operating peripheral devices and displaying content and information) via one or more output devices 431 (e.g., a display screen, a speaker, etc.) associated with user interface 430;

[0086] The input processing module 454 is used to detect and translate one or more user inputs or interactions from one or more input devices 432.

[0087] In some embodiments, the vehicle navigation device based on autonomous driving provided in this application can be implemented in software. Figure 2 An autonomous driving-based vehicle navigation device 455 stored in memory 450 is shown. This device can be software in the form of programs and plugins, and includes the following software modules: an autonomous driving module 4551, a takeover prompt module 4552, and a switching module 4553. These modules are logically connected and can therefore be arbitrarily combined or further separated according to their implemented functions. The functions of each module will be described below.

[0088] In other embodiments, the vehicle navigation device based on autonomous driving provided in this application can be implemented in hardware. As an example, the vehicle navigation device based on autonomous driving provided in this application can be a processor in the form of a hardware decoding processor, which is programmed to execute the vehicle navigation method based on autonomous driving provided in this application. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0089] Based on the above description of the vehicle navigation system and electronic device based on autonomous driving provided in the embodiments of this application, the vehicle navigation method based on autonomous driving provided in the embodiments of this application is described below. In some embodiments, the vehicle navigation method based on autonomous driving provided in the embodiments of this application can be implemented by a server or a terminal alone, or by a server and a terminal working together. The implementation of the vehicle navigation method based on autonomous driving provided in the embodiments of this application is described below using an in-vehicle terminal mounted on a vehicle as an example.

[0090] See Figure 3 , Figure 3 This is a flowchart illustrating a vehicle navigation method based on autonomous driving provided in an embodiment of this application, which will be combined with... Figure 3 Steps 101 to 103 shown will be explained.

[0091] In step 101, the vehicle terminal responds to the vehicle being in autonomous driving mode by displaying an assisted driving interface that includes autonomous driving information of the vehicle.

[0092] In some embodiments, a vehicle refers to a vehicle capable of driving in an autonomous driving state, i.e., an autonomous vehicle. Autonomous vehicles are also known as driverless cars, computer-driven cars, or wheeled mobile robots. They are intelligent cars that achieve driverless operation through computer systems. Autonomous vehicles rely on the collaborative efforts of artificial intelligence, visual computing, radar, and global positioning systems to enable computer systems to automatically and safely operate motor vehicles without any human intervention.

[0093] In some embodiments, a vehicle may have at least two levels of autonomous driving. The level of autonomous driving characterizes the vehicle's ability to drive autonomously; the lower the level, the lower the capability. In some embodiments, according to a grading standard, the autonomous driving levels of the aforementioned autonomous vehicles can be divided into six levels from L0 to L5. L0 represents traditional human driving without autonomous driving intervention; that is, when the vehicle's driving level is L0, it indicates that the vehicle is in manual driving mode. When the vehicle's driving levels are L1 to L5, it indicates that the vehicle is in autonomous driving mode. L1 to L5 are graded according to the maturity of autonomous driving.

[0094] Level L0: Driving is entirely driver-controlled; the car only executes commands and does not intervene. This includes braking, steering, accelerator, and power transmission. The driver must assess the potential hazards.

[0095] Level 1: The automated system can sometimes assist the driver in completing certain driving tasks, but can only assist in completing one driving operation at a time. The driver needs to monitor the driving environment and be prepared to take over at any time.

[0096] Level 2: During driving, the system can control acceleration and deceleration, as well as steering wheel. The driver can relinquish primary control, but still needs to observe the surrounding situation and provide safe operation.

[0097] Level 3: Under suitable conditions, the vehicle can perform all driving maneuvers and has the ability to alert the driver. The driver does not need to monitor the driving environment and can be distracted, but cannot fall asleep. The driver must be able to take over the vehicle at any time to handle situations that the artificial intelligence may not be able to cope with. For example, LiDAR is indispensable, high-precision maps are required, and a central processing unit is needed to process more complex and larger volumes of data.

[0098] Level 4: Simply input the origin and destination before departure, and then the vehicle can be completely handed over to the autonomous driving system. This includes technologies such as lasers, radar, high-precision maps, central processing units, intelligent roads, and traffic infrastructure.

[0099] Level 5 (L5): Level 5 autonomous driving is similar in definition to Level 4, where the intelligent system independently performs all driving operations. However, the difference lies in the fact that Level 4 autonomous driving is only applicable to certain scenarios, typically on roads with very simple and standardized conditions. Level 5, on the other hand, requires the autonomous vehicle to be able to drive itself fully in any scenario. In some embodiments, when the vehicle is in autonomous driving mode, an assisted driving interface is displayed that includes the vehicle's autonomous driving information. This information may include at least one of the following: information on multiple lanes in the road where the vehicle is located, the vehicle's current lane information, driving speed, current driving position, driving time, driving distance, distance to the next point of interest, and real-time vehicle status information (such as remaining fuel). The route through the current lane can be a route that extends continuously along the current lane, or a route that changes lanes from the current lane to another lane ahead.

[0100] In practical applications, when a vehicle's driving level is L1 to L3, it can be said that the vehicle is in a semi-autonomous driving state, and when the driving level is L4 to L5, it can be said that the vehicle is in a fully autonomous driving state.

[0101] In some embodiments, the driver assistance interface is the interface displayed by the corresponding in-vehicle terminal when the vehicle is in autonomous driving mode (including semi-autonomous driving mode and fully autonomous driving mode). The interface is used to display autonomous driving information when the vehicle is in autonomous driving mode in real time, such as the lane the vehicle is currently in, the vehicle speed, the duration of autonomous driving, etc.

[0102] As an example, Figure 4 This is a schematic diagram of the driver assistance interface provided in an embodiment of this application. For example... Figure 4 The illustrated driver assistance interface 32 includes the road 1 where the vehicle is located. For road 1, in addition to showing the first lane, it also shows a second lane (which may have the same or different direction of travel as the first lane) and the driving route through the first lane. Furthermore, the driver assistance interface 32 also includes roads 2 and 3.

[0103] The driver assistance interface displays the road where the vehicle is located and the road where the vehicle is not located. The route through the current road can be a route that extends along the current road, or a route that changes lanes from the current road to another road ahead.

[0104] As an example, such as Figure 4 The illustrated driver assistance interface 32 includes road 1 where the vehicle is located. Additionally, the driver assistance interface also includes road 2 and road 3.

[0105] It is worth noting that, while displaying various autonomous driving information (such as road information, lane information, real-time location information, etc.) involved in the autonomous driving process, corresponding prompts can also be output simultaneously in the form of text, voice or vibration, thereby improving the safety of autonomous driving in multiple dimensions and achieving effective reminders.

[0106] When the vehicle is in autonomous driving mode, the real-time position of the vehicle in the lane is displayed in the driver assistance interface.

[0107] As an example, such as Figure 4 The illustrated driver assistance interface 32 includes the driving route through the first lane 1 and the real-time position within the first lane 1. Figure 4 (represented by vehicle 11).

[0108] In some embodiments, when the vehicle is in manual driving mode, the vehicle can be set to automatic driving mode in the following manner: the on-board terminal receives a switching command indicating to switch from manual driving mode to automatic driving mode, and in response to the switching command, controls the vehicle to switch from manual driving mode to automatic driving mode.

[0109] Here, the triggering of the switching command is explained. In some embodiments, the switching command can be triggered as follows: the in-vehicle terminal displays the autonomous driving control corresponding to the autonomous driving function, and receives the switching command in response to a trigger operation on the autonomous driving control.

[0110] In some embodiments, the switching command can also be triggered by the following method: the vehicle terminal outputs a switching prompt message; wherein the switching prompt message is used to indicate whether to switch from manual driving mode to automatic driving mode; and the switching command is triggered in response to a confirmation command for the switching prompt message. In practical applications, other methods can also be used to trigger the switching command, such as triggering it through a voice command input by the user; this application embodiment does not impose specific limitations.

[0111] Here, we explain when the switching prompt information is displayed. In practical applications, the server determines whether the vehicle can switch to autonomous driving mode based on the current driving environment of the in-vehicle terminal. For example, it checks whether the data acquisition accuracy of the in-vehicle environmental data acquisition device is lower than the minimum data accuracy required for autonomous driving in the current driving environment. The required minimum data accuracy varies in different driving environments. Setting different minimum data accuracy in different environments ensures vehicle driving safety.

[0112] When the server determines that the vehicle can switch to autonomous driving mode, it sends an autonomous driving activation signal to the vehicle terminal, so that the vehicle terminal outputs a switching prompt message; the autonomous driving activation signal indicates that the vehicle can activate autonomous driving mode in the current driving environment.

[0113] In some embodiments, after determining that the vehicle can switch to autonomous driving mode, the server may also perform the following operations: the on-board terminal sends the vehicle's real-time location information to the server and receives calibration location information returned by the server; based on the real-time location information and calibration location information, the server determines the vehicle's recognition accuracy on the driving road; the server sends the recognition accuracy to the server so that the server compares the recognition accuracy with a data accuracy threshold to obtain a comparison result. The comparison result is used by the server to determine whether to send a signal indicating that autonomous driving can be activated. The comparison result indicates whether the data accuracy is greater than the data accuracy threshold. The data accuracy threshold may be the minimum data accuracy required for autonomous driving mode. In some embodiments, after the server compares the data accuracy with the data accuracy threshold and obtains the comparison result, it may also perform the following processing: in response to the comparison result indicating that the data accuracy is greater than the data accuracy threshold, the server sends a signal indicating that autonomous driving can be activated. In response to the comparison result indicating that the data accuracy is less than or equal to the data accuracy threshold, the server does not send a signal indicating that autonomous driving can be activated.

[0114] In some embodiments, the determination of the vehicle's recognition accuracy on the driving road based on real-time location information and calibration location information can be achieved by: determining the difference between the calibration location information and the real-time location information as the vehicle's error on the driving road; and determining the ratio of the error to the calibration location information as the vehicle's recognition accuracy on the driving road.

[0115] In some embodiments, the switching prompt information can be output via at least one of text (e.g., displaying a text message prompting whether to activate the autonomous driving mode) or voice (e.g., playing a voice message prompting whether to activate the autonomous driving mode). In practical applications, when the switching prompt information is output via text, a selection control for choosing whether to activate the autonomous driving state can also be displayed, allowing the user to trigger a confirmation command for the switching prompt information based on the selection control; when the switching prompt information is output via voice, the in-vehicle terminal can collect the user's voice content, and when a voice command indicating that the user is activating the autonomous driving mode is collected, a confirmation command for the switching prompt information is triggered.

[0116] As an example, see Figure 4The vehicle terminal receives a signal that autonomous driving can be activated and displays a selection control 311 for selecting whether to activate autonomous driving, so that the user can trigger a confirmation command for the switching prompt information based on the selection control; in response to the triggering operation of the "Yes" selection button in the selection control 311, the vehicle terminal sets the vehicle to autonomous driving state, and in response to the vehicle being in autonomous driving state, displays an assisted driving interface 32 including the vehicle's autonomous driving information.

[0117] As an example, the vehicle terminal receives a signal indicating that autonomous driving can be activated and displays a text message indicating that autonomous driving status can be activated. When it receives a user instruction to activate autonomous driving mode (e.g., a click on a physical button on the vehicle or a response from a smart voice assistant (activating autonomous driving status)), it triggers a confirmation instruction for the switching prompt message, sets the vehicle to autonomous driving status, and displays an assisted driving interface that includes autonomous driving information of the vehicle in response to the vehicle being in autonomous driving status.

[0118] Thus, when the vehicle is in autonomous driving mode, the assisted driving interface, which displays autonomous driving information, can intuitively show the vehicle's autonomous driving information, making it easier for users to accurately obtain relevant autonomous driving information and effectively improving vehicle driving safety and user driving experience.

[0119] In step 102, when the distance between the vehicle's position and the first state switching point is less than the first distance threshold, a takeover prompt message is output based on the assisted driving interface.

[0120] In some embodiments, the first state switching point is the location on the road where the vehicle automatically switches from autonomous driving to manual driving; the takeover prompt information is used to prompt the driver of the vehicle to take over the vehicle so that the vehicle switches from autonomous driving to manual driving.

[0121] When a vehicle is traveling in autonomous driving mode, and there is a blind spot ahead, as the vehicle moves closer to the state switching point, it needs to switch from autonomous driving mode to manual driving mode as soon as possible. At this time, a takeover prompt message can be output in the driver assistance interface to effectively remind the driver to take over the vehicle as soon as possible and switch the vehicle from autonomous driving mode to manual driving mode.

[0122] In some embodiments, the first state transition point can be a point on the vehicle's driving route on the road where autonomous driving is not supported. Before this transition point, the vehicle can operate autonomously, but after it, autonomous driving is no longer supported. Therefore, at this location, the vehicle automatically switches from autonomous driving to manual driving. When the vehicle reaches this transition point, the vehicle on the road automatically switches from autonomous driving to manual driving. Situations where autonomous driving is not supported may include blind spots or other circumstances that prevent the vehicle from continuing autonomous driving, or where continuing autonomous driving would not guarantee driving safety. Examples include turning ahead (where the navigation accuracy of autonomous driving is insufficient, and continuing autonomous driving would not guarantee driving safety), entering a ramp (where the navigation accuracy of autonomous driving is insufficient, and continuing autonomous driving would not guarantee driving safety), or entering a tunnel (where network connectivity is unavailable, preventing the vehicle from communicating with the server and relying on its own computing power, which cannot accurately calculate the driving route).

[0123] In some embodiments, when the distance between the vehicle's position and the first state switching point is less than a first distance threshold, after outputting a takeover prompt message in the assisted driving interface, before the vehicle reaches the first state switching point, the vehicle can be switched from automatic driving mode to manual driving mode in response to the driver's operation of the relevant physical buttons on the vehicle (e.g., operation of holding the steering wheel, operation of stepping on the brake, etc.). Thus, when the distance between the vehicle's position and the first state switching point is less than the first distance threshold, and the vehicle has not reached the first state switching point, the driver actively switches the vehicle from automatic driving mode to manual driving mode based on the reminder of the takeover prompt message, so that the vehicle switches from automatic driving mode to manual driving mode before reaching the first state switching point, thereby ensuring the vehicle's driving safety.

[0124] In some embodiments, if the distance between the vehicle's position and the first state transition point is less than a first distance threshold, and the driver does not receive a takeover prompt before the vehicle reaches the first state transition point, or the driver does not take any takeover measures after receiving the takeover prompt, then after the distance between the vehicle's position and the first state transition point on the road is less than the first distance threshold, and the takeover prompt is output in the assisted driving interface, the vehicle automatically switches from autonomous driving mode to manual driving mode when it reaches the first state transition point.

[0125] In some embodiments, the above-mentioned output takeover prompt information can be implemented in at least one of the following ways: displaying text information to prompt the driver of the vehicle to take over the vehicle; playing voice information to prompt the driver of the vehicle to take over the vehicle; dynamically or statically displaying an icon to prompt the driver of the vehicle to take over the vehicle.

[0126] In some embodiments, the output time of the takeover warning message can start from the distance between the vehicle's current location and the first state transition point being equal to a distance threshold, and continue until the driver takes over the vehicle. During this output time, the takeover warning message can be output continuously or periodically. The output period can be determined according to the actual situation. For example, the output period is positively correlated with the distance between the vehicle and the first state transition point, and negatively correlated with the frequency of the takeover warning message output. That is, the shorter the distance between the vehicle and the first state transition point, the higher the frequency of the takeover warning message output. In this way, the reminder effect of the takeover warning message on the driver can be effectively improved, enabling the driver to take over the vehicle as soon as possible, minimizing the probability that the vehicle will be taken over only when it reaches the first state transition point, effectively advancing the time when the vehicle is taken over, so that the vehicle is taken over as early as possible when it is about to reach the first state transition point.

[0127] As an example, see Figure 5 , Figure 5 This is a schematic diagram of the interface for the takeover prompt information provided in this embodiment of the application. When the distance between the vehicle's location 340 and the first state switching point 342 on the road is greater than or equal to a first distance threshold, no takeover prompt information is output in the assisted driving interface 320. When the distance between the vehicle's location 340 and the first state switching point 342 is less than the first distance threshold, takeover prompt information 341 is output in the assisted driving interface 321.

[0128] Thus, the frequency of outputting takeover warning messages is controlled according to the distance between the vehicle and the first state switching point. When the distance between the vehicle and the first state switching point is long, the takeover warning message is output at a slower frequency; when the distance is short, the takeover warning message is output at a faster frequency. Since the distance between the vehicle and the first state switching point reflects the urgency of the vehicle being taken over, the shorter the distance, the higher the urgency of the vehicle being taken over. Therefore, outputting takeover warning messages at a faster frequency allows the vehicle to switch from autonomous driving mode to manual driving mode as quickly as possible, avoiding autonomous driving on roads unsuitable for autonomous driving. This provides a better warning to the driver and effectively improves vehicle driving safety.

[0129] When a vehicle switches from autonomous driving to manual driving, the driver needs to manually drive the vehicle to its destination. Since the switch typically occurs when there are blind spots ahead, such as when another vehicle needs to turn, the driver may need to perform the turn as quickly as possible after taking over. To provide advance warning and ensure the driver can accurately control the vehicle along the correct route after taking over, the navigation route can be displayed in advance when the distance between the vehicle's location and the first state switch point is less than a first threshold. This allows the driver to know the navigation route before taking over and prepare accordingly, enabling them to make the correct driving actions as soon as possible to ensure the vehicle follows the correct route.

[0130] In some embodiments, when the distance between the vehicle's location and the first state switching point is less than a first distance threshold, the vehicle's navigation route can be displayed in the following manner: in the assisted driving interface, the vehicle's navigation route is displayed through a navigation overlay or floating window.

[0131] As an example, see Figure 6A , Figure 6A This is a schematic diagram of the navigation route in the assisted driving interface provided in this application embodiment. When the distance between the position of the vehicle 340 and the first state switching point 342 is less than the first distance threshold, the navigation route of the vehicle is displayed in the assisted driving interface 322 through the floating window 343.

[0132] As an example, see Figure 6B , Figure 6B This is a schematic diagram of the navigation route in the assisted driving interface provided in this application embodiment. When the distance between the position of the vehicle 340 and the first state switching point 342 is less than the first distance threshold, the navigation route of the vehicle is displayed in the assisted driving interface 323 through the navigation overlay 344.

[0133] Thus, when the distance between the vehicle's position and the first state transition point is less than a first distance threshold, the vehicle's navigation route is displayed in the assisted driving interface via a navigation overlay or floating window. By displaying the vehicle's navigation route in the assisted driving interface before taking over the vehicle, the driver can be informed in advance of the driving route after taking over, allowing them to plan their route and driving actions in advance, thereby ensuring driving safety after switching to manual driving mode.

[0134] To maximize the guidance performance of the displayed vehicle navigation route, as the vehicle approaches the first state transition point on the road, the display area of ​​the navigation overlay or floating window can be adjusted to increase the alerting effect on the driver. On the one hand, this makes the driver more aware of the navigation route after taking over the vehicle; on the other hand, the increased display area also serves to remind the driver of the urgency of taking over the vehicle.

[0135] In some embodiments, when the distance between the vehicle's location and the first state switching point is less than a first distance threshold, the vehicle's navigation route can be displayed in the following manner: when the vehicle's navigation route is displayed through a navigation overlay, the display area of ​​the navigation overlay is adjusted during the vehicle's autonomous driving process; or, when the vehicle's navigation route is displayed through a floating window, the display area of ​​the floating window is adjusted during the vehicle's autonomous driving process; wherein the size of the display area is negatively correlated with the distance.

[0136] In some embodiments, the display area of ​​the navigation overlay or floating window is negatively correlated with the distance between the vehicle's location and the first state switching point on the road; that is, the closer the distance, the larger the display area of ​​the navigation overlay or floating window.

[0137] In some embodiments, since the navigation overlay or floating window is displayed in the driver assistance interface, the display area of ​​the navigation overlay and the display area of ​​the floating window are relative to the display area of ​​the driver assistance interface. That is, the maximum display area of ​​the navigation overlay or floating window is less than or equal to the display area of ​​the driver assistance interface.

[0138] As an example, see Figure 7 , Figure 7 This is a schematic diagram of the navigation overlay in the driver assistance interface provided in this application embodiment. When the navigation route of the vehicle is displayed through the navigation overlay, the display area of ​​the navigation overlay is adjusted as the vehicle travels in autonomous driving mode. At a first moment, in the driver assistance interface 324, the distance between the vehicle's location 340 and the first state switching point 342 in the road is a first distance. As the vehicle travels in autonomous driving mode, at a second moment, in the driver assistance interface 325, the distance between the vehicle's location 340 and the first state switching point 342 in the road is a second distance, wherein the first distance is greater than the second distance. The first display area of ​​the navigation overlay 343-1 in the driver assistance interface 324 is adjusted to the second display area of ​​the navigation overlay 343-2 in the driver assistance interface 325, wherein the first display area is smaller than the second display area.

[0139] As an example, see Figure 8 , Figure 8This is a schematic diagram of the floating window in the driver assistance interface provided in this application embodiment. When the vehicle's navigation route is displayed through the floating window, the display area of ​​the floating window is adjusted as the vehicle travels in autonomous driving mode. At a first moment, in the driver assistance interface 326, the distance between the vehicle's location 340 and the first state switching point 342 in the road is a first distance. As the vehicle travels in autonomous driving mode, at a second moment, in the driver assistance interface 327, the distance between the vehicle's location 340 and the first state switching point 342 in the road is a second distance, wherein the first distance is greater than the second distance. The first display area of ​​the floating window 343-3 in the driver assistance interface 326 is adjusted to the second display area of ​​the floating window 343-4 in the driver assistance interface 327, wherein the first display area is smaller than the second display area.

[0140] Thus, by setting the display area of ​​the navigation overlay or floating window to be negatively correlated with the distance between the vehicle's location and the first state transition point on the road, the urgency of needing to take over the vehicle gradually increases as the distance decreases during autonomous driving. By gradually increasing the display area of ​​the navigation overlay or floating window, the driver is alerted to the urgency of taking over the vehicle. Simultaneously, the navigation route displayed in the navigation overlay or floating window also gradually increases in size, providing the driver with a more significant advance notice of the driving route after taking over the vehicle. This allows the driver to know the route in time before taking over and to plan their route and driving actions, thereby ensuring driving safety after switching to manual driving mode.

[0141] To maximize the guidance performance of the displayed vehicle navigation route, as the vehicle gradually approaches the first state switching point on the road during its journey, takeover guidance information can be displayed in the assisted driving interface to guide the driver to perform the correct target operation, thereby triggering the vehicle to switch from automatic driving mode to manual driving mode.

[0142] In some embodiments, when the distance between the vehicle's position and the first state switching point is less than a first distance threshold, takeover guidance information can be displayed as follows: in the assisted driving interface, takeover guidance information is displayed; wherein, the takeover guidance information is used to guide the driving object to perform a target operation, and the target operation is used to trigger the vehicle to switch from autonomous driving state to manual driving state.

[0143] In some embodiments, the target operation may be an operation that triggers the vehicle to switch from an autonomous driving state to a manual driving state. For example, the target operation may be a driver pressing the brake pedal, a driver clicking a physical button on the vehicle, or a driver flicking a manual paddle shifter on the vehicle.

[0144] In some embodiments, the takeover guidance information can be provided by displaying an icon that mimics a driver performing a target operation. Alternatively, it can be provided by displaying an animation that mimics a driver performing a target operation. Finally, it can be provided through text prompts to guide the driver in performing the target operation.

[0145] In some embodiments, when the guidance method for taking over the guidance information is to display an animation that mimics the driving-only execution of the target operation, the display of the animation that mimics the driving-only execution of the target operation can be implemented in the following ways: in response to the driving direction being a straight direction, an animation of hands holding the steering wheel in a straight-going posture is played in the guidance window; in response to the driving direction being a turning direction, an animation of hands holding the steering wheel in a turning posture is played in the guidance window.

[0146] As an example, see Figure 9 , Figure 9 This is a schematic diagram of the takeover guidance information in the assisted driving interface provided in this application embodiment. The assisted driving interface displays takeover guidance information 344 (e.g., the text reminder "Please take over the vehicle immediately"); wherein, the takeover guidance information 344 (e.g., the text reminder "Please take over the vehicle immediately") is used to guide the driver to perform a target operation, which triggers the vehicle to switch from automatic driving mode to manual driving mode.

[0147] Thus, when the distance between the vehicle's position and the first state switching point on the road is less than the first distance threshold, the driver can be guided to switch from autonomous driving to manual driving by displaying takeover guidance information in the assisted driving interface. This can more significantly inform the driver of the driving route after taking over the vehicle, thereby ensuring the vehicle's driving safety.

[0148] In some embodiments, the driving status icon can be displayed as follows: when the vehicle is in autonomous driving mode, a first display style is used to display the driving status icon to indicate the vehicle's driving status. When the vehicle switches from autonomous driving mode to manual driving mode, the display style of the driving status icon is switched from the first display style to a second display style, the second display style indicating that the vehicle's driving status is manual driving mode.

[0149] In some embodiments, the driving status icon can be continuously displayed in the human-machine interface. When the vehicle is in autonomous driving mode, the driving status icon is lit; when the vehicle switches from autonomous driving mode to manual driving mode, the driving status icon is off. That is, the first display style is lit, and the second display style is off. In other words, the driving status icon indicates whether the vehicle is in autonomous driving mode; when it is lit, it indicates that the vehicle is in autonomous driving mode.

[0150] In other embodiments, the driving status icon can be continuously displayed in the human-machine interface. When the vehicle is in autonomous driving mode, the driving status icon is off; when the vehicle switches from autonomous driving mode to manual driving mode, the driving status icon is lit. That is, the first display style is off, and the second display style is lit. In other words, the driving status icon indicates whether the vehicle is in manual driving mode; when it is lit, it indicates that the vehicle is in manual driving mode.

[0151] In other embodiments, the driving status icon can be displayed in the human-machine interface in different styles depending on the vehicle's driving status. When the vehicle is in autonomous driving mode, the driving status icon is displayed in the human-machine interface in a first display style, such as an icon of hands off the steering wheel. When the vehicle switches from autonomous driving mode to manual driving mode, the driving status icon is displayed in the human-machine interface in a second display style, such as an icon of hands holding the steering wheel.

[0152] As an example, see Figure 10 , Figure 10 This is a schematic diagram of the driving status icon interface provided in an embodiment of this application. When the vehicle is in autonomous driving mode, the driving status icon is displayed in the human-machine interface according to a first display style, for example, icon style 345 showing hands off the steering wheel. When the vehicle switches from autonomous driving mode to manual driving mode, the driving status icon is displayed in the human-machine interface according to a second display style, for example, icon style 346 showing hands holding the steering wheel.

[0153] In this way, by switching the display style of the driving status icon, the switching of driving status can be indicated, making it easier for the driver to intuitively observe the driving status of the vehicle, determine the driving behavior according to different driving statuses, and thus ensure the driving safety of the vehicle.

[0154] To maximize guidance performance, as the vehicle approaches the first state transition point on the road during its journey, operation instructions can be displayed on the driver assistance interface to guide the driver to make the correct control operations after taking over the vehicle, so that the vehicle follows the navigation route and avoids driving on non-navigation routes.

[0155] In some embodiments, when the distance between the vehicle's position and the first state switching point is less than a first distance threshold, operation instruction information can be displayed in the following manner: operation instruction information is displayed in the assisted driving interface; wherein, the operation instruction information is used to indicate the control operation that the driving object needs to perform on the vehicle after the vehicle switches from the autonomous driving state to the manual driving state.

[0156] In some embodiments, the control operation includes at least one of the following: power control operation, direction control operation, and speed control operation. The power control operation may be a driver pressing the brake pedal or the accelerator pedal, thereby controlling the vehicle's speed. The direction control operation may be a driver rotating the steering wheel, thereby controlling the vehicle's direction.

[0157] In some embodiments, the operation instruction information may guide the driver to perform the control operation by displaying an icon that mimics a driving object performing a control operation. Alternatively, the operation instruction information may guide the driver to perform the target operation by displaying an animation that mimics a driving object performing a control operation. Finally, the operation instruction information may guide the driver to perform the control operation by displaying operation instruction text.

[0158] As an example, see Figure 11 , Figure 11 This is a schematic diagram of the interface for operation instruction information provided in this application embodiment. The assisted driving interface displays operation instruction information 347; wherein, operation instruction information 347 is used to indicate the control operations that the driver needs to perform on the vehicle after switching from automatic driving mode to manual driving mode. Operation instruction information 347 can be operation instruction text: "Turning right after taking over; please slow down and turn the steering wheel right after taking over."

[0159] In this way, by displaying operation instructions in the driver assistance interface, the driver is instructed on the control operations required for the vehicle after switching from automatic driving to manual driving. This allows the driver to perform the correct driving behavior after taking over the vehicle, thereby ensuring driving safety.

[0160] To maximize guidance performance, as the vehicle approaches the first state transition point on the road, state transition assistance information can be displayed in the driver assistance interface to remind the driver that the vehicle is gradually approaching the first state transition point and that they need to take over the vehicle as soon as possible.

[0161] In some embodiments, when the distance between the vehicle's position and the first state switching point is less than a first distance threshold, operation instruction information can be displayed in the following manner: in the assisted driving interface, state switching assistance information is displayed, which includes at least one of the following: the first state switching point, the distance, and the remaining time for the vehicle to travel to the first state switching point based on the autonomous driving state.

[0162] As an example, see Figure 12 , Figure 12 This is a schematic diagram of the interface for state switching assistance information provided in this application embodiment. When the distance between the vehicle's position and the first state switching point is less than a first distance threshold, state switching assistance information is displayed in the assisted driving interface. The state switching assistance information includes at least one of the following: first state switching point 342, distance 348 (distance between the vehicle's location 340 and the first state switching point 342, distance: 900m), and the remaining time 349 (remaining time: 9s) for the vehicle to travel to the first state switching point based on the autonomous driving state.

[0163] Thus, displaying state switching assistance information in the assisted driving interface allows the driver to understand the urgency of taking over the vehicle when the distance between the vehicle's position and the first state switching point is less than the first distance threshold, and to take over the vehicle in a timely manner, thereby ensuring the vehicle's driving safety.

[0164] In some embodiments, when the state switching assistance information includes the distance, the above-mentioned display of the state switching assistance information in the assisted driving interface can be achieved in the following way: in the assisted driving interface, the vehicle's driving path is displayed, and in the driving path, a first style is used to display the first path between the vehicle's location and the first state switching point; wherein, the first style is used to distinguish the first path from paths other than the first path in the driving path.

[0165] In some embodiments, the first path is a portion of the vehicle's travel path, specifically the path between the first state transition point and the vehicle's current location. The vehicle's travel path includes the first path and paths other than the first path.

[0166] In some embodiments, the first style can be a target color style, a target line thickness style, etc. When the first style is a target color style, the target color style can be red. Then the color style of the paths other than the first path in the driving path can be any color other than red.

[0167] As an example, see Figure 13 , Figure 13This is a schematic diagram of the driving path interface provided in the embodiment of this application. In the assisted driving interface, the driving path 450 of the vehicle is displayed, and in the driving path 450, a first style is used to display the first path 453 between the vehicle's current position 454 and the first state switching point 452; wherein, the first style is used to distinguish the first path 453 from the path 451 other than the first path in the driving path 450.

[0168] Thus, by displaying the vehicle's driving path in the assisted driving interface, and using a first style to display the first path between the vehicle's current location and the first state switching point, the assisted driving interface can effectively distinguish between the first path between the vehicle's current location and the first state switching point and other paths. By highlighting the first path, the urgency of taking over the vehicle can be accurately determined, and the vehicle can be taken over in a timely manner, thereby ensuring the vehicle's driving safety.

[0169] In some embodiments, drivable lanes can also be displayed in the driver assistance interface in the following manner: in the driver assistance interface, a second style is adopted to display at least one drivable lane corresponding to the target location of the vehicle, and the at least one drivable lane includes the lane in which the vehicle is currently traveling; wherein, the second style is used to distinguish between drivable lanes and lanes other than drivable lanes in the driver assistance interface.

[0170] In some embodiments, the target location can be the end point of the vehicle navigation route, i.e., the destination of the navigation route. The road on which the vehicle travels has at least one drive lane. Different roads have different numbers of lanes, for example, two-lane roads in both directions, four-lane roads in both directions, eight-lane roads in both directions, twelve-lane roads in both directions, one-lane roads in one direction, two-lane roads in one direction, and four-lane roads in one direction. Taking a four-lane road in both directions as an example, there are two lanes for travel in the first direction and two lanes for travel in the second direction, which are opposite directions. In the two lanes for travel in the first direction, if there are two directions of travel ahead, such as a right turn and a straight-ahead direction, one of the two lanes for travel in the first direction is a dedicated right-turn lane and the other is a dedicated straight-ahead lane.

[0171] In some embodiments, the second style can be a target color style, a target line thickness style, etc. When the second style is a target color style, the target color style can be red. Then, the color style of the lanes other than the drivable lanes in the assisted driving interface can be any color other than red.

[0172] As an example, when a vehicle travels on a north-south oriented, eight-lane road, since the direction of travel to the destination is fixed (i.e., the vehicle travels north or south), there are four lanes corresponding to the target location: four lanes for southward travel and four lanes for northward travel. These lanes corresponding to the target location include both drivable lanes and non-drivable lanes.

[0173] As an example, when the vehicle's target location corresponds to one of the four southbound lanes, two of these lanes are straight-ahead lanes, and two are right-turn lanes. Therefore, the vehicle has two drivable lanes and two non-drivable lanes at its target location. Specifically, the drivable lanes at the target location are the right-turn lanes among the four southbound lanes, and the non-drivable lanes are the straight-ahead lanes among the four southbound lanes. Alternatively, the drivable lanes at the target location are the straight-ahead lanes among the four southbound lanes, and the non-drivable lanes are the right-turn lanes among the four southbound lanes.

[0174] As an example, see Figure 13 , Figure 13 The diagram shows an eight-lane road system in both directions. Of these, four lanes travel in the first direction (lanes 51, 52, 53, and 54), and four lanes travel in the second direction (lanes 61, 62, 63, and 64). Among the four lanes traveling in the first direction, three are regular lanes (lanes 51, 52, and 53) and one is an emergency lane (lane 54). The regular lanes (lanes 51, 52, and 53) are for all vehicles, while the emergency lane (lane 54) is for vehicles in emergency situations. Similarly, among the four lanes traveling in the second direction, there are three regular lanes and one emergency lane. In the driver assistance interface, the second style is adopted to display at least one drivable lane (lane 51 and lane 52) corresponding to the target location of the vehicle. The at least one drivable lane (lane 51 and lane 52) includes the lane (lane 51) that the vehicle is currently traveling in. The second style is used to distinguish between the drivable lane (lane 51 and lane 52) and the lanes other than the drivable lanes in the driver assistance interface (lane 53, lane 54, lane 61, lane 62, lane 63 and lane 64).

[0175] Thus, by using the second style in the assisted driving interface to display at least one drivable lane corresponding to the target location of the vehicle, the drivable lane and lanes other than the drivable lane can be effectively distinguished in the assisted driving interface. By highlighting the drivable lane, the driving route of the takeover vehicle can be accurately known, thereby ensuring the driving safety of the vehicle.

[0176] As the vehicle moves, its position gradually approaches the first state transition point on the road. In order to remind the driver of the urgency of taking over the vehicle and to make the vehicle switch from automatic driving mode to manual driving mode as early as possible before the first state transition point, the driver can be strongly reminded by outputting a takeover warning message when the vehicle approaches the first state transition point, so that the driver knows the urgency of taking over the vehicle.

[0177] In some embodiments, after outputting the takeover prompt information, a takeover alarm information may also be output in the following manner: in response to the distance between the vehicle's location and a first state switching point on the road being less than a second distance threshold, and the second distance threshold being less than the first distance threshold, a strong reminder method is used to output a takeover alarm information to remind the takeover of the vehicle; wherein, the takeover alarm information corresponds to a higher level of urgency of takeover of the vehicle than the takeover prompt information corresponds to.

[0178] In some embodiments, the second distance threshold is less than the first distance threshold. When the distance between the vehicle's location and the first state switching point in the road is less than or equal to the second distance threshold, the distance between the vehicle's location and the first state switching point in the road is already very small, and the urgency of the vehicle being taken over is already very high. At this time, a strong reminder method can be used to output takeover alarm information to remind the vehicle to take over.

[0179] In some embodiments, the above-mentioned output for reminding the takeover vehicle of the takeover alarm information can be implemented in the following ways: displaying the takeover alarm information for reminding the takeover vehicle, and playing the takeover alarm information voice for reminding the takeover vehicle.

[0180] In some embodiments, the above-mentioned strong reminder method may be flashing display, highlighting display, or repeated voice broadcast, and the volume gradually increases during the repeated voice broadcast.

[0181] In some embodiments, the output time for the takeover alarm information for the vehicle taking over can start from when the distance is equal to the second distance threshold and continue until the driver takes over the vehicle. During this output time, the output period can be determined according to the actual situation. For example, the output period is positively correlated with the distance and negatively correlated with the frequency of the takeover alarm information. That is, the shorter the distance between the vehicle and the first state switching point, the higher the frequency of outputting the takeover alarm information.

[0182] In some embodiments, when the takeover alarm information for reminding the takeover vehicle is output, the strong reminder method can be flashing or highlighting. When the takeover alarm information for reminding the takeover vehicle is output, the strong reminder method can be repeated voice broadcast, and the volume gradually increases during the repeated voice broadcast.

[0183] As an example, see Figure 14 , Figure 14 This is a schematic diagram of the takeover alarm information interface provided in this application embodiment. In response to the distance between the vehicle's location and the first state switching point in the road being less than a second distance threshold, a takeover alarm information 455 is output to remind the driver to take over the vehicle in a strong reminder manner (the takeover alarm information is displayed by flashing a bright warning light at the edge of the assisted driving interface; the shorter the distance between the vehicle and the first state switching point, the higher the flashing frequency of the takeover alarm information).

[0184] As an example, in response to the distance between the vehicle's location and the first state switching point on the road being less than a second distance threshold, a takeover alarm message "Please take over immediately" is played by repeatedly broadcasting the message and gradually increasing the volume during the repeated playback.

[0185] Thus, in response to the distance between the vehicle's location and the first state switching point on the road being less than the second distance threshold, a strong reminder method is used to output a takeover alarm message to remind the driver to take over the vehicle. This allows the driver to perceive that the urgency of taking over the vehicle corresponding to the takeover alarm message is higher than that of taking over the vehicle corresponding to the takeover prompt message, and to take over the vehicle as soon as possible. The driver can accurately determine the urgency of taking over the vehicle, thereby ensuring the driving safety of the vehicle.

[0186] As the vehicle moves closer to the first state transition point, the urgency of the vehicle being taken over gradually increases. In order to convey the urgency of the vehicle being taken over to the driver so that the driver can take over the vehicle as soon as possible, the driver can be made aware of the urgency of the vehicle being taken over by controlling the volume, font size, etc., so that the driver can take over the vehicle as soon as possible and switch the vehicle from the autonomous driving state to the manual driving state.

[0187] In some embodiments, when the takeover prompt information is output in the form of voice output, the volume of the takeover prompt information is dynamically adjusted during the output process, and the volume is negatively correlated with the distance.

[0188] In some embodiments, when the takeover prompt information is output in the form of voice output, as the distance between the vehicle's location and the first state switching point on the road gradually shortens during the vehicle's movement, the urgency of taking over the vehicle gradually increases. Therefore, by gradually increasing the volume of the takeover prompt information, the driver can be reminded to take over the vehicle as soon as possible. This allows the driver to understand the urgency of taking over the vehicle through the volume of the takeover prompt information and take over the vehicle as soon as possible, thereby ensuring the driving safety of the vehicle.

[0189] As an example, the volume is negatively correlated with distance; the shorter the distance, the higher the volume, and the longer the distance, the lower the volume.

[0190] In some embodiments, when the takeover prompt information is output in text mode, the font size of the text corresponding to the takeover prompt information is dynamically adjusted during the output of the takeover prompt information, and the font size is negatively correlated with the distance.

[0191] In some embodiments, when the takeover prompt information is output as text, as the distance between the vehicle's location and the first state switching point on the road gradually shortens during the vehicle's journey, the urgency of taking over the vehicle gradually increases. Therefore, by gradually increasing the font size of the text corresponding to the takeover prompt information, the driver can be reminded to take over the vehicle as soon as possible. This allows the driver to understand the urgency of taking over the vehicle through the font size of the text corresponding to the takeover prompt information, and take over the vehicle as soon as possible, thereby ensuring the driving safety of the vehicle.

[0192] As an example, the font size of the text corresponding to the takeover prompt is negatively correlated with the distance; the shorter the distance, the larger the font size, and the longer the distance, the smaller the font size.

[0193] In step 103, in response to the vehicle switching from autonomous driving mode to manual driving mode, a navigation map for navigating the vehicle is displayed.

[0194] When the vehicle is in autonomous driving mode, the driver can perform relevant operations on the vehicle to switch it from autonomous driving mode to manual driving mode. When the vehicle switches from autonomous driving mode to manual driving mode, the vehicle's on-board terminal can display a navigation map for navigating the vehicle.

[0195] In some embodiments, the timing of the vehicle switching from autonomous driving to manual driving can be determined by the driver of the vehicle. For example, the vehicle can be switched from autonomous driving to manual driving in response to the driver's operation of the relevant physical buttons on the vehicle (e.g., gripping the steering wheel, pressing the brake, etc.).

[0196] In some embodiments, the timing of the vehicle switching from autonomous driving to manual driving can also be determined based on the actual road conditions. For example, if there is a blind spot ahead of the vehicle (e.g., the road ahead requires turning, entering a ramp, or entering a tunnel (where network connection is unavailable), and the vehicle cannot continue to support autonomous driving, the vehicle will automatically switch from autonomous driving to manual driving in response to the corresponding state switching point.

[0197] When a vehicle is traveling in autonomous driving mode, and there is a blind spot ahead, as the vehicle moves closer to the state switching point, it needs to switch from autonomous driving mode to manual driving mode as soon as possible. At this time, a takeover prompt message can be output in the driver assistance interface to effectively remind the driver to take over the vehicle as soon as possible and switch the vehicle from autonomous driving mode to manual driving mode.

[0198] In some embodiments, when displaying a navigation map for navigating the vehicle, the following processing may also be performed: outputting a switched-to-manual driving prompt message to indicate that the vehicle has been switched to manual driving mode.

[0199] In some embodiments, outputting a switched-to-manual-drive notification message can be achieved by at least one of the following methods: displaying a text message indicating that the vehicle has been switched to manual driving mode; or playing a voice message indicating that the vehicle has been switched to manual driving mode.

[0200] As the vehicle moves closer to the first state transition point, the urgency of taking over the vehicle gradually increases. To provide feedback on the urgency of taking over the vehicle to the driver so that the driver can take over the vehicle as soon as possible, a vehicle driving progress bar can be displayed in the assisted driving interface. The progress bar can also indicate the location of the first state transition point. This allows the driver to clearly perceive the position of the vehicle and the first state transition point, thereby judging the urgency of taking over the vehicle and taking over the vehicle as soon as possible.

[0201] In some embodiments, the following processing may also be performed: displaying a vehicle driving progress bar in the driver assistance interface; and identifying the position corresponding to the first state switching point in the driving progress bar.

[0202] In some embodiments, the driving progress bar can be used to indicate the degree of completion of the vehicle's journey to the navigation destination, or the driving progress bar can be used to indicate the degree of completion of the vehicle's journey to the first state transition point.

[0203] As an example, see Figure 15A , Figure 15A This is a schematic diagram of the driving progress bar interface provided in this application embodiment. In the assisted driving interface, a driving progress bar 456 is displayed. The driving progress bar 456 is used to indicate the completion rate of the vehicle's journey to the navigation destination. The driving progress bar 456 includes a completed portion 457 and an incomplete portion 458. The completed portion 457 indicates the proportion of the route already traveled by the vehicle to the navigation destination relative to the entire navigation route. The incomplete portion 458 indicates the proportion of the route not yet traveled by the vehicle to the navigation destination relative to the entire navigation route. The driving progress bar 456 also marks the position 459 corresponding to the first state transition point.

[0204] As an example, see Figure 15B , Figure 15B This is a schematic diagram of the driving progress bar interface provided in this application embodiment. In the assisted driving interface, a driving progress bar 460 is displayed. The driving progress bar 460 is used to indicate the completion rate of the vehicle 340's journey to the first state switching point 342. The driving progress bar 460 includes a completed portion 461 and an incomplete portion 462. The completed portion 461 indicates the proportion of the length of the path already traveled by the vehicle during its journey to the first state switching point 342 to the length of a first distance threshold. The incomplete portion 462 indicates the proportion of the length of the path not yet traveled by the vehicle during its journey to the first state switching point to the length of the first distance threshold. The position 463 corresponding to the first state switching point is also marked in the driving progress bar 462.

[0205] In some embodiments, when the driving progress bar is used to indicate the completion of the vehicle's journey to the navigation destination, the driving progress bar may be displayed when the vehicle begins navigation and the driver assistance interface is displayed. When the driving progress bar is used to indicate the completion of the vehicle's journey to the first state transition point, the driving progress bar may be displayed when the distance between the vehicle's position and the first state transition point on the road is less than a first distance threshold.

[0206] Thus, by displaying a driving progress bar in the assisted driving interface, and marking the location of the first state transition point within the progress bar, the driver can intuitively understand the vehicle's progress through the progress bar. Simultaneously, by analyzing the relative position between the progress bar and the first state transition point, the driver can determine the distance between the vehicle's current location and the first state transition point, assessing the urgency of needing to take over the vehicle and thus ensuring driving safety. In some embodiments, a navigation map is used to guide the driver in manual driving mode, following a navigation route.

[0207] To allow drivers to cancel the display of the navigation map when they do not need it, an exit control can be displayed in the map navigation interface after the navigation map, which includes the vehicle's navigation route, is shown, so that the navigation map can be canceled.

[0208] In some embodiments, after step 103 above, the following processing may be performed: displaying an exit control corresponding to the navigation map; and canceling the display of the navigation map in response to a triggering operation on the exit control.

[0209] In some embodiments, the exit control guides the driver to confirm whether to cancel the display of the navigation map. The triggering operation for the exit control can be a single click, double click, etc., and the specific triggering method does not constitute a limitation of this application.

[0210] In some embodiments, after displaying a navigation map including the vehicle's navigation route in the map navigation interface, the driver may be familiar with the route to the destination and does not need the navigation map to guide them there. In this case, displaying an exit control corresponding to the navigation map allows the driver to exit the navigation map by triggering the exit control, which effectively reduces the computing device's operating power and improves the computing device's operating efficiency, provided they are familiar with the path in the navigation map.

[0211] As an example, see Figure 15C , Figure 15C This is a schematic diagram of the driving progress bar interface provided in this application embodiment. In the map navigation interface, after displaying the navigation map including the vehicle's navigation route, an exit control 464 corresponding to the navigation map is displayed. In response to the triggering operation of the exit control 464, the display of the navigation map is canceled 465.

[0212] Thus, after displaying the navigation map including the vehicle's navigation route in the map navigation interface, an exit control can be displayed, allowing the driver to choose to cancel the display of the navigation map if they can drive the vehicle without needing it.

[0213] To make the displayed navigation map more suitable for the driver's navigation needs, the map mode can also be switched.

[0214] In some embodiments, a map mode switching control can also be displayed in the map navigation interface. After step 103 above, the map mode can be switched in the following way: in response to a trigger operation on the map mode switching control, the map mode of the navigation map is switched from the first map mode to the second map mode.

[0215] In some embodiments, the first map mode and the second map mode are different. When the first map mode is a two-dimensional map mode, the second map mode can be a three-dimensional map mode. When the first map mode is a three-dimensional map mode, the second map mode can be a two-dimensional map mode. When the first map mode is a real-view navigation mode, the second map mode can be a lane-level navigation mode. When the first map mode is a lane-level navigation mode, the second map mode can be a real-view navigation mode.

[0216] As an example, see Figure 16 , Figure 16 This is a schematic diagram of the interface of the map mode switching control provided in this application embodiment. In response to a trigger operation (e.g., a click operation) on the map mode switching control 466, the map mode of the navigation map is switched from the first map mode 467 to the second map mode 469.

[0217] In this way, by displaying a map mode switching control in the map navigation interface, the map mode can be switched in response to the trigger operation of the map mode switching control, thereby meeting the needs of different drivers and different driving environments for map modes.

[0218] After the vehicle is switched to manual driving mode, as the vehicle moves forward, when the conditions for autonomous driving mode are met, the vehicle can be switched back from manual driving mode to autonomous driving mode, thus providing a driving mode that meets the driving needs of the driver under different driving conditions.

[0219] In some embodiments, after step 103 above, a state switching prompt can be displayed as follows: In response to the fulfillment of the switching condition from manual driving to autonomous driving, a state switching prompt is displayed on the map navigation interface. The state switching prompt indicates that the vehicle's driving state can be switched from manual driving to autonomous driving.

[0220] In some embodiments, the state transition prompt information can be displayed either as state transition prompt text or as an autopilot control.

[0221] In some embodiments, after displaying the state switching prompt, the manual driving state is switched to the autonomous driving state in response to the triggering operation of the state switching prompt.

[0222] In some embodiments, after displaying the state switching prompt information, the manual driving state is switched to the autonomous driving state in response to a trigger operation for the state switching.

[0223] In some embodiments, the switching condition for switching from manual driving mode to automatic driving mode may be that there is no blind spot in front of the vehicle (e.g., the vehicle has already left the turning lane, exited the ramp, or exited the tunnel (unable to connect to the network), and the vehicle can continue to support automatic driving.

[0224] As an example, see Figure 17 , Figure 17 This is a schematic diagram of the interface for the state switching prompt information provided in an embodiment of this application. In response to the fulfillment of the switching condition for switching from manual driving mode to autonomous driving mode, the state switching prompt information 470 is displayed in the map navigation interface, and in response to the trigger operation for state switching, the manual driving mode is switched to the autonomous driving mode.

[0225] Thus, when the conditions for switching from manual driving to automatic driving are met, a status switching prompt message is displayed on the map navigation interface, so that the driver can switch to automatic driving in a timely manner when needed, thereby reducing the driver's driving burden and effectively leveraging the role of automatic driving.

[0226] In some embodiments, after step 103 above, the second state switching point can be displayed in the following manner: the second state switching point is displayed in the map navigation interface; wherein, the second state switching point is the location on the vehicle's driving road where the switching conditions for switching from manual driving state to automatic driving state are met.

[0227] In some embodiments, the vehicle does not meet the switching conditions for switching to autonomous driving mode before it reaches the second state transition point. After the vehicle reaches the second state transition point, the vehicle meets the conditions for switching to autonomous driving mode.

[0228] As an example, see Figure 18 , Figure 18 This is a schematic diagram of the interface for the second state switching point provided in this application embodiment. The map navigation interface displays the second state switching point 471; the second state switching point 471 is the location on the vehicle's driving road where the switching conditions for switching from manual driving mode to automatic driving mode are met.

[0229] Thus, by displaying the second state switching point in the map navigation interface, drivers can accurately know when to switch from manual driving to automatic driving. When the switching conditions are met while the driver is manually driving the vehicle, the driver can switch to automatic driving as soon as possible, which can effectively utilize the function of automatic driving and reduce the driver's driving burden.

[0230] In some embodiments, after step 103 above, the distance between the vehicle's location and the second state switching point can be displayed in the following way: in the map navigation interface, the distance between the vehicle's location and the second state switching point is displayed, and when the distance is less than a distance threshold, a switching control for switching from manual driving mode to automatic driving mode is displayed.

[0231] In some embodiments, when the distance between the vehicle's location and the second state switching point is less than a distance threshold, the vehicle is about to meet the switching conditions for switching from manual driving to autonomous driving. At this time, a switching control for switching from manual driving to autonomous driving is displayed so that the driver can operate on the switching control. After the vehicle meets the switching conditions for switching from manual driving to autonomous driving, it can switch from manual driving to autonomous driving in response to the trigger operation of the switching control.

[0232] As an example, see Figure 19 , Figure 19 This is a schematic diagram of the interface showing the distance between the vehicle's location and the second state switching point provided in this application embodiment. In the map navigation interface, the distance 474 between the vehicle's location 472 and the second state switching point 471 is displayed, and when the distance 474 is less than a distance threshold, a switching control 473 for switching from manual driving mode to automatic driving mode is displayed.

[0233] Thus, when the vehicle is in autonomous driving mode, if the distance between the vehicle and the state transition point is less than a distance threshold, the driver is prompted to take over the vehicle. When the vehicle switches from autonomous driving to manual driving mode, a navigation map is displayed for navigation. This prompt allows the driver to take over the vehicle quickly, preventing accidents caused by failure to do so after the automatic switch. Furthermore, the timely display of the navigation map when switching to manual driving mode enables the driver to accurately perform driving operations based on the map. This deep integration of autonomous driving and map navigation effectively enhances user safety and improves guidance performance in autonomous driving.

[0234] The following will describe an exemplary application of the embodiments of this application in a real-world vehicle autonomous driving navigation scenario.

[0235] In some practical applications of autonomous driving navigation, in response to the vehicle being in autonomous driving mode, an autonomous driving navigation map is displayed. Based on the navigation route, it continuously monitors whether the road ahead supports autonomous driving assistance (i.e., whether there are blind spots). When the user is about to reach a toll station, ramp, or other road segment that does not support autonomous driving assistance (i.e., an autonomous driving blind spot), a manual driving navigation map is displayed on the autonomous driving navigation map starting from a set distance (e.g., 1 kilometer) from the blind spot, accompanied by text-to-speech (TTS) broadcast. Starting from key points, warning and takeover prompts are sent to the user, including but not limited to a gradually increasing steering wheel guidance animation, a gradually increasing visual flashing warning, and TTS voice broadcast, along with a gradually increasing beeping sound, effectively guiding the driver to take over.

[0236] See Figure 20A , Figure 20A This is a schematic diagram illustrating the effect of the vehicle navigation method based on autonomous driving provided in this application embodiment. In response to the vehicle being in autonomous driving mode, the navigation interface displays as shown below. Figure 20A The autonomous driving navigation interface 41 shown displays the driving trajectory and route of vehicle 411, as well as the nearby vehicle 412 ahead of vehicle 411, the vehicle speed of vehicle 411, the current road traffic rules (e.g., speed limit 90 km / h), and the guidance panel 413 of vehicle 411. The guidance panel 413 displays key driving information of vehicle 411 on the navigation route, such as remaining mileage (16 km), remaining driving time (16 km), driving route prompts (5.2 km to enter Weier Road), and estimated arrival time (15:20).

[0237] See Figure 20A When the road ahead no longer supports autonomous driving and the driver needs to take over the vehicle, a navigation map panel appears on the left. This panel contains two parts of information: (1) information specific to the vehicle's autonomous driving state, such as "About to exit assisted driving" and "Please take over the vehicle immediately"; (2) information on the next action after the driver takes over the vehicle, such as "1.1 km to enter Laiguangying Bridge". At the same time, the accurate action location and lane line information of the currently passable lane are displayed on the map. By deeply integrating the above two parts of information, two important prompts are conveyed to the user: first, the driver needs to take over the vehicle, and second, the driver needs to take action after taking over (enter Laiguangying Bridge to the right). At the same time, an exit boundary line appears ahead of the guide path on the right to indicate that if the driver does not take over, the autonomous driving will exit at the next location. As the vehicle gradually approaches the boundary line, the guide path becomes shorter and shorter until it disappears, exiting the autonomous driving state and entering the human driving state.

[0238] See Figure 20B , Figure 20B This is a schematic diagram illustrating the effect of the vehicle navigation method based on autonomous driving provided in this application embodiment. When the distance between the vehicle and the boundary line is less than a distance threshold, the vehicle is about to disengage from autonomous driving, and a flashing decorative animation 48 is displayed at the edge of the display interface to remind the driver to take over the vehicle immediately.

[0239] In some embodiments, see Figure 21 , Figure 21 This is a flowchart illustrating a vehicle navigation method based on autonomous driving provided in an embodiment of this application, which will be combined with... Figure 21 Steps 201 to 213 are described below.

[0240] In step 201, the driver uses an in-vehicle map navigation application (APP) for route navigation.

[0241] In step 202, the in-vehicle map navigation APP sends the calibrated vehicle location.

[0242] In step 203, the server sends the calibrated vehicle location information.

[0243] In step 204, the data terminal sends the vehicle location and the data accuracy of all roads between the destination and the destination.

[0244] In step 205, the current route is matched in real time to determine whether it supports autonomous driving based on the accuracy of the road data. When autonomous driving is supported, a signal indicating that autonomous driving can be activated is sent and displayed in the in-vehicle map navigation APP.

[0245] In step 206, the in-vehicle map navigation APP transmits the autonomous driving activation signal to the vehicle, which is then displayed synchronously on the vehicle's instrument panel.

[0246] In step 207, the driver triggers a physical button / lever on the vehicle to activate autonomous driving.

[0247] In step 208, the vehicle sends an autonomous driving activation signal to the server.

[0248] In step 209, the server sends all information about the autonomous driving mode to the in-vehicle map navigation app so that the app can switch to autonomous driving mode. Simultaneously, it calculates in real time whether the distance from the vehicle's current location to the non-high-precision data connection point is within 1 kilometer. If it is within 1 kilometer, the server sends the navigation map, boundary location, remaining distance, and takeover prompt to the in-vehicle map navigation app.

[0249] In step 210, the in-vehicle map navigation app provides a secondary takeover prompt to the driver: The primary prompt displays a progress bar indicating the exit from autonomous driving, accompanied by a voice announcement. The secondary prompt flashes on both sides of the screen, with a voice announcement also playing.

[0250] In step 211, the driver takes control of the vehicle by turning the steering wheel or applying the brakes.

[0251] In step 212, the vehicle sends a signal to the server to exit autonomous driving.

[0252] In step 213, the server sends map navigation mode information to the in-vehicle map navigation APP so that the in-vehicle map navigation APP switches to map navigation mode.

[0253] Therefore, when disengaging autonomous driving, displaying a map navigation panel clearly informs the driver of the next steps after taking over the vehicle (how to proceed after taking over), effectively enhancing the driver's sense of security and preventing them from taking the wrong route due to the switch in driving mode (from autonomous driving to manual driving). The map navigation panel also provides a smooth transition between disengaging autonomous driving and entering map navigation mode, allowing the driver time to adapt to the map mode switch and ensuring efficient navigation information retrieval. Displaying the exit boundary before the guided route when disengaging autonomous driving effectively reduces driver anxiety, preventing accidental actions upon receiving the takeover prompt.

[0254] It is understood that, in the embodiments of this application, the data related to autonomous driving information, etc., need to obtain user permission or consent when the embodiments of this application are applied to specific products or technologies, and the collection, use and processing of related data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0255] The following continues to describe the exemplary structure of the vehicle navigation device 455 based on autonomous driving provided in the embodiments of this application as a software module. In some embodiments, such as Figure 2 As shown, the software modules stored in the autonomous driving-based vehicle navigation device 455 in the memory 440 may include: an autonomous driving module 4551, used to display an assisted driving interface including autonomous driving information of the vehicle in response to the vehicle being in autonomous driving mode; a takeover prompt module 4552, used to output takeover prompt information based on the assisted driving interface when the distance between the vehicle's position and a first state switching point is less than a first distance threshold; wherein, the first state switching point is the position on the road where the vehicle automatically switches from the autonomous driving mode to the manual driving mode; the takeover prompt information is used to prompt the driver of the vehicle to take over the vehicle so that the vehicle switches from the autonomous driving mode to the manual driving mode; and a switching module 4553, used to display a navigation map for navigating the vehicle in response to the vehicle switching from the autonomous driving mode to the manual driving mode.

[0256] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a display module, used to display the navigation route of the vehicle in the assisted driving interface through a navigation overlay or a floating window.

[0257] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: an adjustment module, configured to adjust the display area of ​​the navigation overlay when the vehicle is traveling in the autonomous driving state while the navigation route of the vehicle is displayed through the navigation overlay; or, when the vehicle is displayed through a floating window, adjust the display area of ​​the floating window while the vehicle is traveling in the autonomous driving state; wherein the size of the display area is negatively correlated with the distance.

[0258] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: displaying takeover guidance information in the assisted driving interface; wherein the takeover guidance information is used to guide the driving object to perform a target operation, and the target operation is used to trigger the vehicle to switch from the autonomous driving state to the manual driving state.

[0259] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: an instruction information module, used to display operation instruction information in the assisted driving interface; wherein the operation instruction information is used to indicate the control operation that the driving object needs to perform on the vehicle after the vehicle switches from the autonomous driving state to the manual driving state.

[0260] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a switching assistance information module, used to display state switching assistance information in the assisted driving interface, the state switching assistance information including at least one of the following: the first state switching point, the distance, and the remaining time for the vehicle to travel to the first state switching point based on the autonomous driving state.

[0261] In some embodiments, the aforementioned switching assistance information module is further configured to display the vehicle's driving path in the assisted driving interface, and in the driving path, display a first path between the vehicle's location and the first state switching point using a first style; wherein, the first style is used to distinguish the first path from paths other than the first path in the driving path.

[0262] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a lane display module, used to display at least one drivable lane corresponding to the target location of the vehicle in the assisted driving interface using a second style, wherein the at least one drivable lane includes the lane currently being driven by the vehicle; wherein the second style is used to distinguish the drivable lane from lanes other than the drivable lane in the assisted driving interface.

[0263] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a takeover alarm module, configured to output takeover alarm information to remind the driver to take over the vehicle in a strong reminder manner when the distance between the vehicle's location and a first state switching point on the road is less than a second distance threshold and the second distance threshold is less than the first distance threshold; wherein the takeover alarm information corresponds to a higher level of urgency for the vehicle than the takeover prompt information corresponds to.

[0264] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a volume adjustment module, used to dynamically adjust the volume corresponding to the takeover prompt information during the output of the takeover prompt information when the output mode of the takeover prompt information is voice output mode, wherein the volume is negatively correlated with the distance; and a font adjustment module, used to dynamically adjust the font size of the text corresponding to the takeover prompt information during the output of the takeover prompt information when the output mode of the takeover prompt information is text output mode, wherein the font size is negatively correlated with the distance.

[0265] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a progress module, used to display the vehicle's driving progress bar in the assisted driving interface; and to identify the position corresponding to the first state switching point in the driving progress bar.

[0266] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a cancellation display module, used to display an exit control corresponding to the navigation map; and to cancel the display of the navigation map in response to a triggering operation on the exit control.

[0267] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a switching control display module, used to display a map mode switching control in the map navigation interface; and a mode switching module, used to switch the map mode of the navigation map from a first map mode to a second map mode in response to a trigger operation on the map mode switching control.

[0268] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a state switching prompt information module, used to display state switching prompt information in the map navigation interface in response to the switching condition of switching from manual driving state to autonomous driving state being met; wherein, the state switching prompt information is used to prompt that the driving state of the vehicle can be switched from manual driving state to autonomous driving state.

[0269] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a second state switching point module, used to display a second state switching point in the map navigation interface; wherein, the second state switching point is the location on the vehicle's driving road where the switching condition for switching from manual driving state to autonomous driving state is met.

[0270] In some embodiments, the vehicle navigation device 455 based on autonomous driving provided in this application further includes: a distance display module, used to display the distance between the location of the vehicle and the second state switching point in the map navigation interface, and to display a switching control for switching the manual driving state to the autonomous driving state when the distance is less than a distance threshold.

[0271] This application provides a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer-executable instructions from the computer-readable storage medium and executes the computer-executable instructions, causing the electronic device to perform the vehicle navigation method based on autonomous driving described in this application embodiment.

[0272] This application provides a computer-readable storage medium storing computer-executable instructions. When these computer-executable instructions are executed by a processor, they cause the processor to execute the vehicle navigation method based on autonomous driving provided in this application. For example, ... Figure 3 The method for vehicle navigation based on autonomous driving is shown.

[0273] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a variety of devices including one or any combination of the above-mentioned memories.

[0274] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0275] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0276] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0277] In summary, the embodiments of this application have the following beneficial effects:

[0278] (1) When the vehicle is in autonomous driving mode, if the distance between the vehicle and the state switching point of driving mode is less than the distance threshold, the driver is prompted to take over the vehicle. When the vehicle switches from autonomous driving mode to manual driving mode, a navigation map for navigating the vehicle is displayed. In this way, with the prompt of the takeover information, the driver can take over the vehicle as soon as possible, avoiding vehicle accidents caused by failure to take over the vehicle in time after the vehicle automatically switches from autonomous driving mode to manual driving mode. At the same time, since the navigation map can be displayed in time when the vehicle switches to manual driving mode, the driver can accurately perform the corresponding driving operations according to the navigation map. This realizes the deep integration of autonomous driving and map navigation, effectively improving the user's driving safety and improving the guidance performance in autonomous driving.

[0279] (2) The frequency of outputting takeover prompts is controlled according to the distance between the vehicle and the first state switching point. When the distance between the vehicle and the first state switching point is long, the takeover prompts are output at a slower frequency. When the distance between the vehicle and the first state switching point is short, the takeover prompts are output at a faster frequency. Since the distance between the vehicle and the first state switching point reflects the urgency of the vehicle being taken over, the shorter the distance between the vehicle and the first state switching point, the higher the urgency of the vehicle being taken over. Therefore, the takeover prompts are output at a faster frequency so that the vehicle can switch from the autonomous driving state to the manual driving state as soon as possible, avoid autonomous driving on roads that are not suitable for autonomous driving, provide better prompts to the driver, and effectively improve the driving safety of the vehicle.

[0280] (3) When the distance between the vehicle's position and the first state switching point is less than the first distance threshold, the vehicle's navigation route is displayed in the assisted driving interface through a navigation overlay or floating window. By displaying the vehicle's navigation route in the assisted driving interface before taking over the vehicle, the driver can be informed in advance of the driving route after taking over the vehicle. This allows the driver to know the driving route in time and plan the route and driving actions before taking over the vehicle, thereby ensuring the driving safety of the vehicle after switching to manual driving mode.

[0281] (4) By setting the display area of ​​the navigation overlay or floating window to be negatively correlated with the distance between the vehicle's location and the first state switching point on the road, the urgency of vehicle takeover gradually increases as the distance decreases during the vehicle's autonomous driving operation. By gradually increasing the display area of ​​the navigation overlay or floating window, the driver is alerted to the urgency of the takeover. Simultaneously, the navigation route displayed in the navigation overlay or floating window also gradually increases in size, providing a more significant advance notice of the driving route after takeover. This allows the driver to know the route in time before taking over and to plan their route and driving actions, thus ensuring driving safety after switching to manual driving mode.

[0282] (5) When the distance between the vehicle's position and the first state switching point is less than the first distance threshold, the driver is guided to switch the vehicle from the autonomous driving state to the manual driving state by displaying takeover guidance information in the assisted driving interface. This can more significantly inform the driver of the driving route after taking over the vehicle, thereby ensuring the driving safety of the vehicle.

[0283] (6) By switching the display style of the driving status icon, the driving status can be indicated, so that the driver can intuitively observe the driving status of the vehicle and determine the driving behavior for different driving statuses, thereby ensuring the driving safety of the vehicle.

[0284] (7) By displaying operation instructions in the driver assistance interface, the driver is instructed on the control operations required for the vehicle after the vehicle switches from automatic driving to manual driving. This allows the driver to perform the correct driving behavior after taking over the vehicle, thereby ensuring the driving safety of the vehicle.

[0285] (8) In the assisted driving interface, state switching assistance information is displayed, which makes it easier for the driver to know the urgency of taking over the vehicle when the distance between the vehicle's position and the first state switching point is less than the first distance threshold, and to take over the vehicle in a timely manner, thereby ensuring the driving safety of the vehicle.

[0286] (9) By displaying the vehicle's driving path in the assisted driving interface, and using the first style to display the first path between the vehicle's location and the first state switching point in the driving path, the first path between the vehicle's location and the first state switching point and other paths can be effectively distinguished in the assisted driving interface. By highlighting the first path, the urgency of taking over the vehicle can be accurately determined, and the vehicle can be taken over in a timely manner, thereby ensuring the driving safety of the vehicle.

[0287] (10) In response to the distance between the vehicle's location and the first state switching point on the road being less than the second distance threshold, a strong reminder method is used to output a takeover alarm message to remind the driver to take over the vehicle. This allows the driver to perceive that the urgency of taking over the vehicle corresponding to the takeover alarm message is higher than that of taking over the vehicle corresponding to the takeover prompt message, and to take over the vehicle as soon as possible. The driver can accurately know the urgency of taking over the vehicle, thereby ensuring the driving safety of the vehicle.

[0288] (11) When the takeover prompt information is output in the form of voice output, as the distance between the vehicle's location and the first state switching point on the road gradually shortens during the vehicle's movement, the urgency of the vehicle being taken over gradually increases. Therefore, the driver can be reminded to take over the vehicle as soon as possible by gradually increasing the volume of the takeover prompt information. This allows the driver to understand the urgency of taking over the vehicle through the volume of the takeover prompt information and take over the vehicle as soon as possible, thereby ensuring the driving safety of the vehicle.

[0289] (12) When the takeover prompt information is output in text mode, as the distance between the vehicle's location and the first state switching point on the road gradually shortens during the vehicle's movement, the urgency of the vehicle being taken over gradually increases. Therefore, by gradually increasing the font size of the text corresponding to the takeover prompt information, the driver can be reminded to take over the vehicle as soon as possible. This allows the driver to understand the urgency of taking over the vehicle through the font size of the text corresponding to the takeover prompt information and take over the vehicle as soon as possible, thereby ensuring the driving safety of the vehicle.

[0290] (13) By displaying a driving progress bar in the assisted driving interface and marking the position corresponding to the first state switching point in the driving progress bar, the driver can intuitively understand the driving progress of the vehicle through the driving progress bar. At the same time, by judging the distance between the current position of the vehicle and the first state switching point through the relative position relationship between the progress of the driving progress bar and the first state switching point, the driver can judge the urgency of the vehicle being taken over by the distance and take over the vehicle as soon as possible, thereby ensuring the driving safety of the vehicle.

[0291] (14) In the map navigation interface, after the navigation map including the vehicle's navigation route is displayed, the driver may be familiar with the route to the destination and does not need the navigation map to guide him to the destination. In this case, displaying the exit control corresponding to the navigation map can allow the driver to exit the navigation map by triggering the exit control if he is familiar with the route in the navigation map, thereby effectively reducing the operating consumption of the computing device and improving the operating efficiency of the computing device.

[0292] (15) In the map navigation interface, after displaying the navigation map including the vehicle's navigation route, an exit control can be displayed so that the driver can choose to cancel the display of the navigation map when driving the vehicle without the navigation map.

[0293] (16) By displaying a map mode switching control in the map navigation interface, the map mode can be switched in response to the trigger operation of the map mode switching control, thereby meeting the map mode requirements of different driving objects and different driving environments.

[0294] (17) When the switching conditions for switching from manual driving mode to automatic driving mode are met, a state switching prompt message is displayed on the map navigation interface so that the driver can switch to automatic driving mode in time when needed, thereby reducing the driver's driving burden and effectively playing the role of automatic driving mode.

[0295] (18) By displaying the second state switching point in the map navigation interface, the driver can accurately know the timing of switching from manual driving state to automatic driving state. When the driver is manually driving the vehicle, if the switching conditions are met, the driver can switch to automatic driving state as soon as possible, which can effectively play the role of automatic driving state and reduce the driving burden of the driver.

[0296] (19) When exiting autonomous driving mode, displaying a map navigation panel allows the driver to clearly understand the next steps after taking over the vehicle (how to proceed after taking over), effectively improving the driver's sense of security and preventing them from taking the wrong route due to the switch in driving mode (from autonomous driving mode to manual driving mode). The map navigation panel also provides a transition between exiting autonomous driving mode and entering map navigation mode, allowing the driver to adapt to the map mode switch in advance and ensuring the driver's efficiency in reading navigation information. Displaying the boundary of exiting autonomous driving mode before the guided route when exiting autonomous driving mode effectively reduces the driver's anxiety, preventing them from making mistakes as soon as the takeover prompt appears.

[0297] (20) By using the second style in the assisted driving interface to display at least one drivable lane corresponding to the target location of the vehicle, the drivable lane and lanes other than the drivable lane can be effectively distinguished in the assisted driving interface. By highlighting the drivable lane, the driving route of the takeover vehicle can be accurately known, thereby ensuring the driving safety of the vehicle.

[0298] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and scope of this application are included within the scope of protection of this application.

Claims

1. A vehicle navigation method based on autonomous driving, characterized in that, The method includes: In response to the vehicle being in autonomous driving mode, an assisted driving interface including autonomous driving information of the vehicle is displayed; When the distance between the vehicle's position and the first state switching point is less than the first distance threshold, a takeover prompt message is output based on the assisted driving interface; The first state switching point is the location in the road where the vehicle automatically switches from the autonomous driving state to the manual driving state. The takeover prompt message is used to prompt the driver of the vehicle to take over the vehicle, so that the vehicle switches from the automatic driving state to the manual driving state; When the distance between the vehicle's position and the first state switching point is less than the first distance threshold, the navigation route of the vehicle is displayed in the assisted driving interface through a navigation overlay or a floating window, wherein the maximum display area of ​​the navigation overlay or the floating window is less than or equal to the display area of ​​the assisted driving interface. In response to the vehicle switching from the autonomous driving state to the manual driving state, the assisted driving interface is switched to a map navigation interface, in which a navigation map including the vehicle's navigation route is displayed.

2. The method according to claim 1, characterized in that, The method further includes: When the navigation route of the vehicle is displayed through the navigation overlay, the display area of ​​the navigation overlay is adjusted as the vehicle travels based on the autonomous driving state. Alternatively, when the vehicle's navigation route is displayed via a floating window, the display area of ​​the floating window is adjusted as the vehicle travels based on the autonomous driving state. The size of the display area is negatively correlated with the distance.

3. The method according to claim 1, characterized in that, The method further includes: The assisted driving interface displays takeover guidance information; The takeover guidance information is used to guide the driver to perform a target operation, and the target operation is used to trigger the vehicle to switch from the automatic driving state to the manual driving state.

4. The method according to claim 1, characterized in that, The method further includes: The assisted driving interface displays operation instructions. The operation instruction information is used to indicate the control operations that the driving object needs to perform on the vehicle after the vehicle switches from the automatic driving state to the manual driving state.

5. The method according to claim 1, characterized in that, The method further includes: The assisted driving interface displays state switching assistance information, which includes at least one of the following: The first state switching point, the distance, and the remaining time for the vehicle to travel to the first state switching point based on the autonomous driving state.

6. The method according to claim 5, characterized in that, When the state switching assistance information includes the distance, displaying the state switching assistance information in the assisted driving interface includes: The assisted driving interface displays the vehicle's driving path, and In the driving path, a first style is used to display the first path between the vehicle's location and the first state switching point; The first style is used to distinguish the first path from other paths in the driving path.

7. The method according to claim 1, characterized in that, The method further includes: In the assisted driving interface, a second style is adopted to display at least one drivable lane corresponding to the target location of the vehicle, and the at least one drivable lane includes the lane in which the vehicle is currently traveling; The second style is used to distinguish between the drivable lane and lanes other than the drivable lane in the driver assistance interface.

8. The method according to claim 1, characterized in that, Following the output takeover prompt message, the method further includes: In response to the fact that the distance between the vehicle's location and the first state switching point in the road is less than a second distance threshold, and the second distance threshold is less than the first distance threshold, a takeover alarm message is output in a strong reminder manner to remind the driver to take over the vehicle. The takeover alarm information corresponds to a higher level of urgency for the takeover of the vehicle than the takeover prompt information corresponds to the same level of urgency.

9. The method according to claim 1, characterized in that, The method further includes: When the takeover prompt information is output in voice mode, the volume of the takeover prompt information is dynamically adjusted during the output process, and the volume is negatively correlated with the distance. When the takeover prompt information is output in text mode, the font size of the text corresponding to the takeover prompt information is dynamically adjusted during the output process, and the font size is negatively correlated with the distance.

10. The method according to claim 1, characterized in that, The method further includes: The driving assistance interface displays the vehicle's driving progress bar; The position corresponding to the first state switching point is marked in the driving progress bar.

11. The method according to claim 1, characterized in that, After displaying a navigation map including the vehicle's navigation route in the map navigation interface, the method further includes: Display the exit control corresponding to the navigation map; In response to a triggering action on the exit control, the navigation map is canceled from display.

12. The method according to claim 1, characterized in that, The method further includes: The map navigation interface displays a map mode switching control; After displaying a navigation map including the vehicle's navigation route in the map navigation interface, the method further includes: In response to a trigger operation on the map mode switching control, the map mode of the navigation map is switched from the first map mode to the second map mode.

13. The method according to claim 1, characterized in that, After displaying a navigation map including the vehicle's navigation route in the map navigation interface, the method further includes: When the switching condition for switching from manual driving mode to automatic driving mode is met, a state switching prompt message is displayed on the map navigation interface; The state switching prompt information is used to indicate that the driving state of the vehicle can be switched from the manual driving state to the automatic driving state.

14. The method according to claim 1, characterized in that, After displaying a navigation map including the vehicle's navigation route in the map navigation interface, the method further includes: The second state switching point is displayed in the map navigation interface; The second state switching point is the location on the vehicle's driving road where the switching conditions for switching from manual driving to automatic driving are met.

15. The method according to claim 14, characterized in that, The method further includes: The map navigation interface displays the distance between the vehicle's current location and the second state switching point, and When the distance is less than a distance threshold, a switching control for switching from manual driving mode to automatic driving mode is displayed.

16. A vehicle navigation device based on autonomous driving, characterized in that, The device includes: An autonomous driving module is used to display an assisted driving interface including autonomous driving information of the vehicle in response to the vehicle being in autonomous driving mode; The takeover prompt module is used to output takeover prompt information based on the assisted driving interface when the distance between the vehicle's position and a first state switching point is less than a first distance threshold; wherein, the first state switching point is the position on the road where the vehicle automatically switches from the autonomous driving state to the manual driving state; the takeover prompt information is used to prompt the driver of the vehicle to take over the vehicle so that the vehicle switches from the autonomous driving state to the manual driving state; when the distance between the vehicle's position and the first state switching point is less than the first distance threshold, the navigation route of the vehicle is displayed in the assisted driving interface through a navigation overlay or a floating window, wherein the maximum display area of ​​the navigation overlay or the floating window is less than or equal to the display area of ​​the assisted driving interface; The switching module is used to switch the assisted driving interface to a map navigation interface in response to the vehicle switching from the autonomous driving state to the manual driving state. The map navigation interface displays a navigation map including the navigation route of the vehicle.

17. The apparatus according to claim 16, characterized in that, The device further includes: The instruction information module is used to display operation instruction information in the assisted driving interface; wherein, the operation instruction information is used to indicate the control operation that the driving object needs to perform on the vehicle after the vehicle switches from the automatic driving state to the manual driving state.

18. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable instructions; A processor, when executing executable instructions or computer programs stored in the memory, implements the vehicle navigation method based on autonomous driving as described in any one of claims 1 to 15.

19. A computer-readable storage medium storing computer-executable instructions or a computer program, characterized in that, When the computer-executable instructions are executed by the processor, they implement the vehicle navigation method based on autonomous driving as described in any one of claims 1 to 15.

20. A computer program product comprising a computer program or computer-executable instructions, characterized in that, When the computer program or computer-executable instructions are executed by a processor, the vehicle navigation method based on autonomous driving as described in any one of claims 1 to 15 is implemented.

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