Method and apparatus for controlling interaction behavior of vehicle

Abstract

The present application proposes a method for controlling an interaction behavior of a vehicle, comprising the following steps: during an automatic parking process of the vehicle, controlling one or more lighting devices of the vehicle to emit an indication signal relating to the automatic parking process in a manner perceptible by a user outside the vehicle, controlling a lighting device of a vehicle to emit an indication signal includes projecting a visual pattern on the ground surrounding the vehicle by means of the lighting device to identify a recommended parking area and / or a restricted entry area of a user during an automatic parking process. The invention further provides a device for controlling the interaction behavior of the vehicle, the vehicle and a computer program product. In the application, the visual ground projection not only helps the user to effectively supervise the automatic parking process at a proper position, but also helps to prevent the parking operation from being interfered or bringing potential safety hazards due to the improper position of the user, thereby greatly optimizing the automatic parking experience of the user.

Description

Technical Field

[0001] The present application relates to a method for controlling the interactive behavior of a vehicle. The present application also relates to a device for controlling the interactive behavior of a vehicle, a vehicle and a computer program product. Background Art

[0002] With the rapid development of autonomous driving technology, the automatic parking assist (APA) system has become an important function to improve driving convenience and safety.

[0003] Although automatic parking technology has made significant progress, there are still some challenges and shortcomings. At present, the interaction between the automatic parking system and the user is not clear enough, which makes it difficult for users to accurately grasp the progress of the automatic parking process. For example, the system may not clearly indicate the current parking status to the user, or the user may not be able to respond in time when the user intervention is required during the parking process. In addition, the user may accidentally hinder the parking operation during the automatic parking process, or be in a potential danger area without knowing it.

[0004] It can be seen that the existing automatic parking technology still has shortcomings in the interaction between vehicles and users. Summary of the invention

[0005] The purpose of the present application is to provide a method for controlling the interactive behavior of a vehicle, a device for controlling the interactive behavior of a vehicle, a vehicle and a computer program product, so as to at least solve some of the problems in the prior art.

[0006] According to a first aspect of the present application, a method for controlling an interactive behavior of a vehicle is provided, the method comprising the following steps:

[0007] During the automatic parking process of the vehicle, controlling one or more lighting devices of the vehicle to emit an indication signal related to the automatic parking process in a manner that can be perceived by a user outside the vehicle,

[0008] Among them, controlling the vehicle's lighting device to send an indication signal includes: projecting a visual pattern on the ground around the vehicle by means of the lighting device to identify the user's recommended staying area and / or restricted entry area during the automatic parking process.

[0009] The present application particularly includes the following technical concepts: by sending intuitive instruction signals to users outside the vehicle during the automatic parking process, the interactive experience between the user and the automatic parking system is significantly improved. In particular, by projecting a visual pattern on the ground, a clear and easy-to-understand interactive means is provided to the user. This visual ground projection not only helps the user to effectively supervise the automatic parking process in the appropriate position, but also helps to prevent interference with the parking operation or safety hazards caused by improper user position. This interactive method enhances the user's trust in the system, thereby optimizing the user's parking experience.

[0010] In an exemplary embodiment, the visual pattern includes an outline and / or a fill pattern of the recommended parking area and / or the restricted entry area; and / or the visual pattern used to identify the recommended parking area is different from the visual pattern used to identify the restricted entry area in terms of color, outline style, and / or fill pattern style. This design helps users quickly distinguish the two areas through visual differences, so as to better comply with the guidelines and regulations during the automatic parking process.

[0011] In an exemplary embodiment, the restricted access area includes: an area bounded by a first boundary line surrounding the vehicle; an area covering the automatic parking trajectory of the vehicle; and / or an area covering the expected parking position of the vehicle when the automatic parking process ends. This area division strategy ensures that during the automatic parking process, the user is guided to avoid areas that may interfere with the parking operation or bring safety risks.

[0012] In an exemplary embodiment, the recommended stop area includes an area between a first boundary line and a second boundary line surrounding the vehicle, the first boundary line is spaced from the vehicle by a first distance threshold, the second boundary line is spaced from the vehicle by a second distance threshold, and the second distance threshold is greater than the first distance threshold; and / or, the recommended stop area does not overlap with the restricted entry area. This ensures that the user can safely monitor the automatic parking process within the recommended stop area, while preventing the user from inadvertently entering an area that may affect the parking operation or pose a safety hazard.

[0013] In an exemplary embodiment, the projection of the visualization pattern is continuously performed during the entire automatic parking process. Such continuous projection ensures that the user can clearly see the recommended parking area and the restricted entry area during the entire parking operation, thereby better complying with the guidelines and regulations during the automatic parking process.

[0014] In an exemplary embodiment, the projection mode of the visual pattern is dynamically adjusted according to the position change of the vehicle and / or the user during the automatic parking process. This intelligent projection mechanism can be optimized according to the actual situation, providing users with real-time and accurate visual guidance, thereby improving the safety and convenience of the parking process.

[0015] In an exemplary embodiment, dynamically adjusting the projection mode of the visualization pattern includes: making the position of the visualization pattern move synchronously with the movement of the vehicle to keep the relative position of at least a part of the visualization pattern and the vehicle constant; changing the projection mode of the visualization pattern when detecting that the user leaves the recommended stay area or enters the restricted entry area; when detecting a new risk object that poses a safety risk to the user, adjusting the projection mode of the visualization pattern so that the restricted entry area identified by the visualization pattern covers the new risk object or the recommended stay area identified by the visualization pattern avoids the new risk object; and / or, when the automatic parking trajectory of the vehicle is updated, adjusting the projection mode of the visualization pattern so that the restricted entry area identified by the visualization pattern at least partially covers the updated automatic parking trajectory. This dynamic adjustment mechanism can flexibly update the visualization pattern according to the real-time position changes of the vehicle and the user, as well as the changes in the surrounding environment, to provide users with timely and accurate visual guidance.

[0016] In an exemplary embodiment, the method further includes: when the user is in a restricted access area, controlling the vehicle to stop and interrupting the automatic parking operation; when the user is not in a recommended stop area, controlling the vehicle to stop and interrupting the automatic parking operation; and / or, when the user is in a recommended stop area, permitting the automatic parking operation of the vehicle. By deciding whether to continue the automatic parking according to whether the user is in a safe and recommended area, the safety and effectiveness of the entire automatic parking process are ensured.

[0017] In an exemplary embodiment, controlling the lighting device of the vehicle to send an indication signal further comprises:

[0018] Control the vehicle to project text prompts related to the automatic parking process on the vehicle's surroundings, the text prompts including the following: requiring the user to enter a recommended parking area; requiring the user to leave a restricted entry area; requiring the user to take over the vehicle; and / or, notifying the user that the automatic parking process is blocked; notifying the user that the automatic parking process is ready. By projecting text prompts on the vehicle's surroundings, clear interactive guidance can be provided to the user.

[0019] In an exemplary embodiment, controlling the lighting device of the vehicle to send an indication signal further includes: indicating whether the triggering condition of the automatic parking process is met, the current automatic parking stage and / or the vehicle state by controlling the working state of the vehicle lights, wherein different working states of the lights are different in terms of flashing frequency, brightness, flashing rhythm and / or color. These changes of the lights provide intuitive feedback to the user on the progress of the automatic parking, making it easier to understand and identify.

[0020] In an exemplary embodiment, the working state of the vehicle's lights is controlled in the following manner: when the triggering condition of the automatic parking process is met, the lights are controlled to flash at a first frequency; when the automatic parking operation is about to start, the lights are controlled to flash at a second frequency; when the automatic parking operation is in progress, the lights are controlled to maintain stable lighting; and / or, when the automatic parking operation is completed, the lights are controlled to flash at a third frequency. Thus, the different working modes of the lights help users clearly understand the current parking process.

[0021] In an exemplary embodiment, the working state of the vehicle's lights is controlled in the following manner: in the initial parking state before the vehicle performs an automatic parking operation, the lights are controlled to display a first color; when the vehicle is about to start automatic driving from the initial parking state, the lights are controlled to switch from the first color to the second color, and the lights are operated in a flashing manner in the second color; after the vehicle starts to perform automatic driving, the lights are controlled to maintain stable illumination in the second color. As a result, the user can intuitively understand the dynamics of the vehicle, such as whether the vehicle is in a stopped state or about to start moving. This intuitive feedback mechanism not only enhances the communication between the vehicle and the user, but also helps the user predict the behavior of the vehicle and make appropriate responses, thereby improving the safety and interactive experience of the entire automatic parking process.

[0022] In an exemplary embodiment, the method further includes: detecting a trigger condition for the automatic parking process; if the trigger condition is detected to be satisfied, controlling the vehicle to execute the automatic parking process, wherein the trigger condition includes at least one of the following: receiving an automatic parking instruction; the user is within a predetermined range around the vehicle; the vehicle's environmental conditions meet safety requirements; and / or the vehicle is in a drivable state. This multi-condition trigger mechanism makes automatic parking safer and smarter, and optimizes the user's parking experience.

[0023] According to a second aspect of the present application, a device for controlling the interactive behavior of a vehicle is provided, the device comprising a processor and a memory, the memory storing computer program instructions, and when the computer program instructions are executed by the processor, the processor is capable of executing the method described in the first aspect of the present application.

[0024] According to a third aspect of the present application, a vehicle is provided, comprising one or more lighting devices and the device according to the second aspect of the present application.

[0025] According to a fourth aspect of the present application, a computer program product is provided, comprising computer program instructions, wherein when the computer program instructions are executed by a processor, the processor is enabled to perform the method according to the first aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present application can be better understood. The accompanying drawings include:

[0027] Figure 1 A block diagram of a vehicle according to an exemplary embodiment of the present application is shown, the vehicle including an apparatus for controlling an interactive behavior of the vehicle;

[0028] Figure 2 A flow chart of a method for controlling an interactive behavior of a vehicle according to an exemplary embodiment of the present application is shown;

[0029] Figure 3 A flow chart showing a method for controlling an interactive behavior of a vehicle according to another exemplary embodiment of the present application is shown;

[0030] Figure 4A , Figure 4B , Figure 4C , Figure 4D , Figure 4E and Figure 4F A schematic diagram showing a visualization pattern projected on the ground around a vehicle according to an exemplary embodiment of the present application; and

[0031] Figure 5A , Figure 5B and Figure 5C A schematic diagram showing a method of dynamically adjusting the projection of a visualization pattern during an automatic parking process according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0032] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0033] Figure 1 A block diagram of a vehicle 100 according to an exemplary embodiment of the present application is shown, the vehicle 100 comprising an apparatus 10 for controlling an interactive behavior of the vehicle.

[0034] The vehicle 100 may be a fully autonomous or partially autonomous vehicle and is equipped with an automatic parking function. The automatic parking function of the vehicle 100 (also known as Remote Parking Assistance, RPA) is an intelligent driving assistance function that allows the vehicle 100 to autonomously complete parking operations under the supervision of the driver. Whether the driver is inside or outside the vehicle, the vehicle 100 can use its onboard sensors, control systems, and vehicle networking technology to identify suitable parking spaces and automatically perform operations such as steering, acceleration, and braking to achieve safe and precise parking.

[0035] For the purpose of illustration, Figure 1 A car is taken as an example to illustrate the vehicle 100 , but the vehicle 100 involved in the present application is not limited to a car, and it can also be a truck, a van or any other type of vehicle 100 .

[0036] like Figure 1 As shown, the vehicle 100 includes a device 10 for controlling interactive behaviors of the vehicle 100 , and the device 10 is connected to a plurality of sensors 12 - 15 , a communication interface 11 , lighting devices 31A- 31L, and a driving execution device 20 of the vehicle 100 .

[0037] By means of the communication interface 11, the device 10 can communicate wirelessly with a portable mobile terminal (the wireless communication technology includes, for example, Bluetooth, WiFi, ZigBee, NFC, radio frequency communication, and cellular network, etc.) to determine the position and direction of the vehicle user relative to the vehicle 100 and receive instructions for activating or terminating automatic parking. The portable mobile terminal may include an electronic key, a smart phone, a smart watch, a tablet computer, a laptop computer, etc.

[0038] The device 10 is capable of receiving input data from a plurality of sensors 12-14 of the vehicle 100, and utilizing the data to control the automatic parking process or manage the interactive behavior of the vehicle 100. For example, the device 10 can obtain images through a camera 12 mounted on the vehicle 100, and the camera 12 is configured to capture images of ground markings (such as parking lines), pedestrians and other moving objects, and static obstacles. In addition, the sensor also includes a ranging sensor 13, which may be based on technologies such as radar, laser, ultrasonic or laser radar (LiDAR), and is capable of detecting objects around the vehicle 100 and accurately measuring the distance between them and the vehicle 100. The sensor also includes a GPS sensor 14 for positioning the vehicle 100, which determines the current position of the vehicle 100 by receiving satellite signals.

[0039] In addition to the above sensors 12-14, the vehicle 100 is also equipped with a vehicle state sensor 15, such as a speed sensor, an acceleration sensor, a steering angle sensor, and an inertial measurement unit (IMU). Through these vehicle state sensors 15, the device 10 can monitor the real-time state of the vehicle 100 and ensure that the vehicle 100 is in a ready state to perform an automatic parking operation.

[0040] The device 10 for controlling the interactive behavior of the vehicle 100 may be implemented as an electronic control unit (ECU) of the vehicle 100, for example. The device 10 includes a processor and a memory, wherein the memory stores computer program instructions. When the computer program instructions are executed by the processor, the processor may, for example, execute a method for controlling the interactive behavior of the vehicle 100 (which will be described below with reference to Figure 2 Detailed description). The computer program instructions may be stored in a computer-readable storage medium. The computer-readable storage medium may include, for example, a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. The processor may be a central processing unit, or may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0041] The lighting devices 31A-31L may include the standard lights 31A, 31B, 31C, 31D, 31E, and 31F of the vehicle 100, including but not limited to: headlights 31A and 31B located at the front of the vehicle 100, turn signals 31E and 31F located at the sides of the vehicle 100, and taillights 31C and 31D located at the rear of the vehicle 100. These lights 31A-31F are capable of receiving control signals from the device 10 and performing lighting control or projection functions according to the control signals. In addition, the lighting devices 31A-31L may also include special projection lights 31G, 31H, 31L, and 31K, which may include, for example, a plurality of light source arrays (such as LED arrays) and be mounted on the vehicle body so as to project light onto the ground around the vehicle 100. Through the combination of these lights, a visual pattern may be formed on the ground around the vehicle 100, thereby providing the user with intuitive guidance on recommended stop areas and restricted entry areas.

[0042] The driving execution device 20 is configured to be able to execute lateral control and longitudinal control of the vehicle 100. The execution device 20 may include key components such as a power system, a transmission system, a steering system, and a braking system. The driving execution device 20 may be communicatively connected with the device 10, so that the driving execution device 20 can respond to the automatic parking command issued by the device 10 and execute the corresponding vehicle 100 control operation.

[0043] Figure 2 A flow chart of a method for controlling the interactive behavior of a vehicle according to an exemplary embodiment of the present application is shown. The method exemplarily includes steps S1 to S4, and can be used, for example, in Figure 1 The device 10 shown is implemented in the context of.

[0044] In optional step S1 , triggering conditions for an automated parking process are detected.

[0045] In the present application, the automatic parking process may refer to both the automatic parking process of the vehicle and the automatic parking process.

[0046] Specifically, first, it can be checked whether a command requesting the start of automatic parking is received. Such a command can be issued, for example, by means of a portable mobile terminal of a vehicle user, or can also be issued by the vehicle user in the vehicle through interaction with the vehicle computer (for example, through a touch screen, gestures or voice commands). Additionally or alternatively, such an automatic parking process can also be initiated without the driver issuing a command. For example, when the driver parks the vehicle near an available parking space and leaves the vehicle to a preset position, the system will automatically recognize this behavior as a trigger signal for automatic parking.

[0047] After receiving the automatic parking command, the user's location can be further detected to determine whether the user is within a predetermined range around the vehicle. This distance requirement may vary depending on the car manufacturer and the specific automatic parking system, but it is usually required that the user remain within 10 meters, 8 meters or 5 meters of the vehicle. This design is to ensure that the user can monitor the parking process of the vehicle at any time and intervene quickly in the event of any abnormal situation. For example, the distance between the user and the vehicle can be estimated by analyzing the signal strength sent by the user's portable mobile terminal. In addition, the vehicle's camera can be used to capture images of the surrounding environment and identify the user's location through image analysis technology. In order to improve the accuracy and reliability of positioning, data from multiple environmental sensors can also be combined. The automatic parking function will only be activated when the system confirms that the user is in a specified area around the vehicle.

[0048] After receiving the automatic parking instruction, the vehicle's environmental conditions and vehicle status can be further evaluated to see if they meet the triggering conditions for the automatic parking process. Specifically, the vehicle's environmental sensors can be used to evaluate the surrounding environment to ensure that there are no obstacles blocking the parking path, that the ground conditions are suitable for parking operations, and that the identified parking space is large enough for the vehicle to park. In addition, it is also necessary to ensure that the vehicle is in a drivable state and that all necessary components such as sensors, actuators, and control systems are in normal working order. In addition, the vehicle's status can be checked to ensure that the vehicle is in a drivable state and that all necessary components such as sensors, actuators, and control systems are in normal working order.

[0049] In the optional step S2, if it is detected that one or more of the above trigger conditions are met, the vehicle is controlled to perform the automatic parking process. Specifically, an automatic parking trajectory can be planned from the current position of the vehicle to an available parking space or a parking area. Then, the longitudinal guidance and lateral guidance of the vehicle are automatically controlled to navigate the vehicle to the target position along the automatic parking trajectory. Throughout the automatic parking process, the system will continue to monitor changes in the vehicle's surroundings and track the user's position. Based on this real-time information, the initially planned automatic parking trajectory can be dynamically adjusted when necessary to ensure the safety and accuracy of the automatic parking process. In addition, if any potential risks are detected or the user issues an intervention instruction, the vehicle can be controlled to respond immediately to interrupt the current automatic parking operation or continue it when conditions permit.

[0050] In step S3, during the automatic parking process of the vehicle, one or more lighting devices of the vehicle are controlled to emit indication signals related to the automatic parking process in a manner that can be perceived by users outside the vehicle. As described above, the one or more lighting devices here can be either standard vehicle lights (such as headlights, taillights and turn signals), or projection lamps or decorative lamps dedicated to projection or signal indication purposes. Specifically, in this step, a visual pattern can be projected on the ground around the vehicle with the help of the lighting device to identify the recommended stay area and / or restricted entry area for the user during the automatic parking process. These patterns can be projected onto the side, front and / or rear of the vehicle to provide clear visual guidance for the vehicle user. According to actual needs, these visual patterns can completely identify the entire recommended stay area and / or restricted entry area, or only partially identify these areas.

[0051] The recommended stop area refers to a specific area where the user should be located during the automatic parking process. In a specific implementation case, this area may correspond to the supervision area or include the supervision area. The supervision area is set as an area within a fixed distance around the vehicle, the purpose of which is to ensure that the user can effectively monitor the vehicle within the visible range. The size and boundaries of the supervision area usually depend on the effective communication range between the user's portable mobile terminal and the vehicle. This ensures that when the user is in the supervision area, the vehicle can stably receive control signals issued by the user, such as instructions to stop or continue driving. Generally speaking, the supervision area requires the user to keep a distance of several meters to more than ten meters from the vehicle, but the specific value of this distance will vary according to the system design of each vehicle. In addition, the recommended stop area of ​​the vehicle can also take into account the safety of the user and / or the potential impact of the user's location on the vehicle's driving trajectory. Specifically, the recommended stop area can be set to keep a distance exceeding the safety threshold from the vehicle, and has no intersection with the vehicle's driving trajectory and the driving trajectory of other surrounding vehicles. When determining the recommended stop area of ​​the vehicle, multiple key factors such as supervision, safety and obstacles can be considered comprehensively. As long as the area meets all necessary requirements. As long as the region meets all the requirements that must be considered, this application does not limit its specific shape, size and whether it is continuous.

[0052] A restricted access area is a specific area that users should avoid entering during the automatic parking process. The location and shape of the area can be determined taking into account safety and interference with the vehicle's automatic parking process. The restricted access area usually includes an area within a certain range around the vehicle, and the boundaries of this area are set according to the detection range of the vehicle's sensors and safety specifications. The purpose of this is to prevent users from getting too close to the vehicle during the automatic parking process, thereby reducing the risk of collision. In addition, the restricted access area may also include an area covering the vehicle's automatic parking trajectory, which not only covers the vehicle's planned driving path, but also includes the space occupied by the vehicle during movement. In addition, the restricted access area may also include an area covering the expected driving trajectory of another vehicle around the vehicle, which can effectively prevent the user from interfering with the driving of other vehicles or increasing the risk of collision during the automatic parking process due to improper positioning. For another example, the restricted access area should also cover the expected parking position at the end of the automatic parking process (such as the parking space to be driven into and the designated parking exit position) to prevent users from entering these areas, thereby affecting the smooth progress of the automatic parking process.

[0053] It should be understood that the recommended parking area and the restricted entry area are not necessarily fixed, but may change dynamically as the vehicle moves. This means that at one point in the automatic parking process, a location may be designated as a recommended parking area; at another point in the automatic parking process, this location may no longer be a recommended parking area, and may even be converted into a restricted entry area.

[0054] In one embodiment, the visualization pattern may include an outline and / or a fill pattern. The outline may be a solid line, a dotted line, a straight line, a curve, a jagged line, etc. According to the specific shapes of the recommended stay area and the restricted entry area, the outline may form a semicircular, rectangular or irregular shape. The fill pattern may be color fill, grid fill, dot fill, etc. In addition, the projected visualization pattern may be static or designed as an animation effect to enhance its attractiveness and recognition.

[0055] In one embodiment, in order to clearly distinguish between the recommended parking area and the restricted entry area, the two areas can be marked by visual patterns using different colors, outline styles, or fill patterns. This differentiated design helps users quickly identify the purpose of different areas, so as to better comply with the guidelines and regulations during the automatic parking process.

[0056] In one embodiment, the projection of the visualization pattern may continue throughout the automated parking process to provide continuous guidance regarding recommended stopping areas and restricted entry areas.

[0057] In one embodiment, the projection mode of the visual pattern can also be dynamically adjusted according to the position changes of the vehicle and / or the user during the automatic parking process. Dynamically adjusting the projection mode includes but is not limited to: changing the position of the pattern; changing the color or brightness of the pattern; changing the shape or size of the pattern; adding dynamic elements to the pattern, such as flashing or pulsating effects, to attract the user's attention.

[0058] In a specific implementation, the position of the visualization pattern can be moved synchronously with the movement of the vehicle to keep the relative position of at least a part of the visualization pattern and the vehicle constant. For another example, if it is detected that the user leaves the recommended stay area or enters the restricted entry area, the user can be reminded by changing the light projection mode. For another example, if a new risk object that poses a safety risk to the user is detected during the automatic parking process of the vehicle, the projection mode of the visualization pattern can be adjusted so that the restricted entry area identified by the visualization pattern covers the new risk object or the recommended stay area identified by the visualization pattern avoids the new risk object. For another example, as the automatic parking trajectory of the vehicle is updated, the projection mode of the visualization pattern can also be adjusted accordingly so that the restricted entry area identified by the visualization pattern at least partially covers the updated automatic parking trajectory.

[0059] In optional step S4, the user's position may be continuously monitored, and the automatic parking operation of the vehicle may be adjusted according to the user's position relative to the visual pattern projected on the ground around the vehicle. Specifically, if the user is detected to be in a restricted access area, and / or if the user leaves or does not enter a recommended stop area, the vehicle is controlled to stop and the automatic parking operation is interrupted. If the user is detected to be in a recommended stop area, the automatic parking operation of the vehicle is permitted.

[0060] It should be noted that although Figure 1 In the illustrated embodiment, in addition to step S3, steps S1, S2 and S4 are also shown, but these steps are not prerequisites or necessary consequences for executing step S3. In other words, step S3 can be implemented independently of steps S1, S2 and S4.

[0061] Figure 3 FIG. 1 is a flow chart of a method for controlling the interactive behavior of a vehicle according to another exemplary embodiment of the present application. Figure 3 In the method shown, Figure 2 The method shown is shown to also include additional steps S3' and S3". These two additional steps are shown to be performed in parallel with step S3, but it should be understood that there is no fixed order of execution between them and step S3. Therefore, additional steps S3' and S3" may also be performed after step S3, synchronously with it, or before step S3.

[0062] In the additional step S3', text prompts related to the automatic parking process are projected in the surrounding environment of the vehicle with the help of the vehicle's lighting device. The projection of these text prompts is not limited to the ground, but can also be projected on the walls of nearby buildings, the bodies of other vehicles, or formed in space through holographic projection technology. The text prompts are intended to guide users on how to interact with the vehicle, such as guiding users to enter recommended parking areas, leave restricted access areas, or take over vehicle control when necessary. In addition, the text prompts can also provide users with feedback information about the immediate status of the automatic parking process, such as prompting whether the automatic parking process is currently blocked, whether it is paused, or whether it is ready, so that users can understand the current parking status and take corresponding actions as needed.

[0063] In the additional step S3", the working state of the vehicle's lights may also be controlled to indicate whether the triggering condition of the automatic parking process is met, the current automatic parking stage and / or the vehicle state. Different working states of the lights differ, for example, in terms of flashing frequency, brightness, flashing rhythm and / or color, so as to convey different information to users outside the vehicle. Here, the lights refer in particular to the standard lighting devices of the vehicle (such as headlights, turn signals and / or taillights). In this way, the lights not only play their traditional lighting and signal indication roles, but also become a tool for communicating the automatic parking state with the user, thereby enhancing the user's intuitive understanding of the automatic parking process.

[0064] In one embodiment, the working state of the vehicle's lights can be controlled in the following manner to convey different automatic parking stages to the user: for example, when the triggering condition of the automatic parking process has been met, the lights are controlled to flash at a first frequency (e.g., flash slowly for 3 seconds); when the automatic parking operation is about to begin, the lights are controlled to flash at a second frequency (e.g., flash quickly for 1 second); when the automatic parking operation is in progress, the lights are controlled to maintain stable lighting; and / or, when the automatic parking operation has been completed, the lights are controlled to flash at a third frequency (e.g., flash slowly for 5 seconds). For example, these three frequencies and the corresponding flashing durations can be designed to be different from each other, so as to clearly distinguish the various automatic parking stages. During the period when the vehicle performs the automatic parking operation, the lights remain constantly illuminated, which is different from the flashing mode in the preparation or transition stage, so that the user can intuitively recognize the ongoing state of the automatic parking process.

[0065] In another embodiment, the working state of the vehicle's lights can also be controlled in the following manner to convey to the user the different states of the vehicle during the automatic parking process: in the initial parking state before the vehicle performs the automatic parking operation, the lights are controlled to display a first color (e.g., red) to indicate that the vehicle is ready and stationary; when the vehicle is about to start automatic driving from the initial parking state, the lights are controlled to switch from the first color to the second color (e.g., from red to green), and the lights are operated in a flashing mode in the second color to warn the surrounding environment that the vehicle is about to start moving; and / or, after the vehicle starts to perform automatic driving, the lights are controlled to maintain a stable illumination of the second color (e.g., green) to indicate that the vehicle is performing automatic driving. The "initial parking state" here specifically refers to the initial parking state of the vehicle before starting the automatic parking operation, rather than any temporary parking during the automatic parking process. In another embodiment, the lights can be controlled to display one color during the automatic parking process of the vehicle, and another color during the automatic parking process to distinguish between the two different automatic parking stages.

[0066] Figure 4A , Figure 4B , Figure 4C , Figure 4D , Figure 4E and Figure 4F A schematic diagram showing a visualization pattern projected on the ground around a vehicle according to an exemplary embodiment of the present application.

[0067] exist Figure 4A In the illustrated scene, by controlling the projection devices 31G, 31L, 31H, 31K in the form of light strips mounted on the side of the vehicle body, a visual pattern is projected onto the ground around the vehicle 100 to identify the restricted access area 41. Figure 4A As shown, the projected visualization pattern is presented as a contour line of the restricted access area 41, which corresponds to a first boundary line 401 surrounding the vehicle 100. The first boundary line 401 maintains a first distance threshold (for example, within a range of 0.5 meters to 1 meter) with the vehicle 100.

[0068] exist Figure 4B In the illustrated scene, in addition to projecting the outline of the restricted entry area 41 through the projection devices 31G, 31L, 31H, and 31K, which corresponds to the first boundary line 401, a filling pattern 402 is further projected in the area surrounded by the first boundary line 401. The filling pattern 402 is used to more intuitively identify the restricted entry area 41, making the area 41 more visually obvious and easy to identify. Through the combination of the outline 401 and the filling pattern 402, the user and the surrounding personnel can be more effectively reminded to keep a distance from the vehicle 100 and avoid entering the automatic parking operation area of ​​the vehicle 100.

[0069] exist Figure 4C In the illustrated scenario, the restricted access area 41 is defined to also include the following area: the area covers the automatic parking trajectory 403 of the vehicle 100 and the expected parking position 404 when the vehicle 100 ends the automatic parking process. Optionally, it is not necessary to identify the complete automatic parking trajectory 403 and the expected parking position 404 through a visual pattern at the beginning, but the trajectory to be driven can be gradually projected as the vehicle 100 moves, and the expected parking position 404 can be projected when approaching the end point.

[0070] exist Figure 4D In the illustrated scene, a visual pattern is projected on the ground around the vehicle 100 by controlling the projection devices 31G, 31L, 31H, and 31K to identify the recommended stay area 42. In this embodiment, the recommended stay area 42 is defined as the area between the first boundary line 401 surrounding the vehicle 100 and the second boundary line 405 surrounding the vehicle 100. Figure 4DAs shown, the projected visualization pattern includes not only contour lines (ie, lines corresponding to the positions of the first and second boundary lines 401 , 405 ), but also a filled projection 406 on the area between the first boundary line 401 and the second boundary line 405 .

[0071] and Figure 4D The recommended stop area for the full circle shape in Figure 4E The scene shown projects a semicircular recommended parking area 42. This projection method is intended to avoid the expected driving direction of the vehicle 100 (e.g., backward) to ensure that the user will not interfere with the automatic parking path of the vehicle 100 when staying in the restricted parking area 42.

[0072] exist Figure 4F In the illustrated scene, the visualization pattern projected on the ground is used to simultaneously identify the recommended stay area 42 and the restricted access area 41. In order to distinguish the two areas, the recommended stay area 42 is projected and filled 406 in the first style in its interior (i.e., the area between the first boundary line 401 and the second boundary line 405), while the restricted access area 41 is projected and filled 407 in the second style in its interior (i.e., within the first boundary line 401). In addition, the outer boundary line of the recommended stay area 42 (i.e., the second boundary line 405) is projected as a dotted line; while the outer boundary line of the restricted access area 41 (i.e., the first boundary line 401) is projected as a bold solid line. It is also observed that the visualization pattern used to identify the recommended stay area 42 deliberately avoids the automatic parking trajectory 403 of the vehicle 100, while the visualization pattern of the restricted access area 41 also extends from the current position of the vehicle 100 and partially covers the automatic parking trajectory 403 to be driven, which ensures that there is no overlap between the recommended stay area 42 and the restricted access area 41.

[0073] Figure 5A , Figure 5B and Figure 5C A schematic diagram showing a method of dynamically adjusting the projection of a visualization pattern during an automatic parking process according to an exemplary embodiment of the present application is shown.

[0074] exist Figure 5A In the illustrated scene, as the position of the vehicle 100 changes during the automatic parking operation, the visual patterns 401, 405 projected on the surrounding ground also change synchronously. The direction of travel of the vehicle 100 is schematically indicated by arrow 51. At the initial moment, a first boundary line 401 and a second boundary line 405 surrounding the vehicle 100 are projected. As the vehicle 100 moves, the positions of the two boundary lines 401, 405 also move synchronously with the vehicle 100 to ensure that the positions of the visual patterns 401, 405 always remain constant relative to the vehicle 100.

[0075] In an embodiment not shown, as the vehicle moves during the automatic parking process, only part of the visualization pattern may be dynamically adjusted, while other parts remain unchanged. For example, at the initial moment, the visualization pattern includes the complete automatic parking trajectory of the vehicle and the expected parking position, which together define the restricted access area. As the vehicle moves, only the part of the visualization pattern surrounding the vehicle needs to be updated, and the projection of the part of the visualization pattern corresponding to the automatic parking trajectory and the expected parking position remains unchanged.

[0076] exist Figure 5B In the illustrated scene, in addition to the visualization patterns 401 and 405 projected on the ground, the position of the user 500 is also shown. The position of the user 500 can be detected and tracked in real time by means of the environmental sensors of the vehicle 100, and the projection mode of the visualization patterns 401 and 405 can be dynamically changed according to the position change of the user 500.

[0077] like Figure 5B As shown, at the initial moment, the user 500 is located in the recommended stay area 42 identified by the visualization patterns 401, 405. As the vehicle 100 moves, the user 500 leaves the recommended stay area 42 and enters the restricted-entry area 41. In response to this change, the projection of the contour line 401 used to identify the restricted-entry area 41 becomes a bold animation display to warn the user 500. At the same time, a pulsating arrow pattern 501 is also displayed in the recommended stay area 42 to indicate that the user 500 should leave the restricted-entry area 41 as soon as possible and return to the recommended stay area 42.

[0078] exist Figure 5C In the illustrated scene, at the initial moment, the visualized patterns 401, 405 projected on the ground around the vehicle 100 form a complete circle to mark the recommended stopping area 42. As the vehicle 100 moves during the automatic parking operation, the distance between the vehicle 100 and the surrounding parked vehicles 300 gradually decreases, which results in that part of the space within the first boundary line 401 that originally belonged to the recommended stopping area 42 is actually unavailable for users to stand because the space is occupied by the surrounding vehicles 300.

[0079] In response to this situation, the system dynamically adjusts the shape of the visualization pattern to exclude the area occupied by the surrounding parked vehicles 300 from the recommended stop area 42. In this way, the outer contour 405 of the recommended stop area 42 is no longer close to the surrounding vehicles 300, but forms a gap around them, ensuring that the user will not come into contact with the surrounding parked vehicles 300 when located in the recommended stop area 42. In this way, the visualization pattern projection method can adapt to changes in the surrounding environment and provide users with more real-time and accurate guidance.

[0080] Although the specific embodiments of the present application are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present application. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for controlling the interactive behavior of a vehicle (100), the method comprising the following steps: During an automatic parking process of a vehicle (100), one or more lighting devices (31A, 31H) of the vehicle (100) are controlled to emit an indication signal related to the automatic parking process in a manner that can be perceived by a user (500) outside the vehicle (100), The method comprises: controlling the lighting device (31A, 31H) of the vehicle (100) to emit an indication signal, comprising: projecting a visual pattern on the ground around the vehicle (100) by means of the lighting device (31A, 31H) to identify a recommended stop area (42) and / or a restricted entry area (41) for a user (500) during an automatic parking process.

2. The method according to claim 1, wherein: The visualization pattern includes an outline and / or a fill pattern of the recommended stay area (42) and / or the restricted entry area (41); and / or The visual pattern used to identify the recommended stay area (42) is different from the visual pattern used to identify the restricted access area (41) in terms of color, outline style and / or fill pattern style.

3. The method according to claim 1 or 2, wherein: The restricted access area (41) includes: an area bounded by a first boundary line (401) surrounding the vehicle (100); an area covering the automatic parking trajectory (403) of the vehicle (100); and / or An area covering the expected parking position (404) of the vehicle (100) when the automated parking process is completed.

4. The method according to any one of claims 1 to 3, wherein: The recommended stay area (42) includes an area between a first boundary line (401) and a second boundary line (405) surrounding the vehicle (100), the first boundary line (401) being spaced from the vehicle (100) by a first distance threshold, the second boundary line (405) being spaced from the vehicle (100) by a second distance threshold, the second distance threshold being greater than the first distance threshold; and / or The recommended stay area (42) does not overlap with the restricted entry area (41).

5. The method according to any one of claims 1 to 4, wherein: The projection of the visualization pattern continues during the entire automated parking process.

6. The method according to any one of claims 1 to 5, wherein: The projection mode of the visualization pattern is dynamically adjusted according to the position change of the vehicle (100) and / or the user (500) during the automatic parking process.

7. The method according to claim 6, wherein: Dynamically adjust the projection of the visualization pattern including: The position of the visualization pattern is moved synchronously with the movement of the vehicle (100) to keep the relative position of at least a part of the visualization pattern and the vehicle (100) constant; When it is detected that the user (500) leaves the recommended stay area (42) or enters the restricted entry area (41), changing the projection mode of the visualization pattern; When a new risk object that poses a safety risk to the user (500) is detected, adjusting the projection mode of the visualization pattern so that the restricted entry area (41) identified by the visualization pattern covers the new risk object (300) or the recommended stay area (42) identified by the visualization pattern avoids the new risk object (300); and / or When the automatic parking trajectory (403) of the vehicle (100) is updated, the projection mode of the visualization pattern is adjusted so that the restricted access area (41) identified by the visualization pattern at least partially covers the updated automatic parking trajectory (403).

8. The method according to any one of claims 1 to 7, wherein: The method further comprises: When the user (500) is in the restricted access area (41), controlling the vehicle (100) to stop and interrupt the automatic parking operation; When the user (500) is not in the recommended stop area (42), controlling the vehicle (100) to stop and interrupt the automatic parking operation; and / or When the user (500) is in the recommended parking area (42), an automatic parking operation of the vehicle (100) is permitted.

9. The method according to any one of claims 1 to 8, wherein: Controlling the lighting device (31A, 31H) of the vehicle (100) to send an indication signal also includes: By means of a lighting device (31A, 31H) of a vehicle (100), a text prompt related to an automatic parking process is projected in the surrounding environment of the vehicle, wherein the text prompt includes the following contents: Requesting the user (500) to enter a recommended stay area (42); Requesting the user (500) to leave the restricted access area (41); Requesting the user (500) to take over the vehicle (100); The automated parking process is blocked by a user (500); and / or The automatic parking process is ready by the user (500).

10. The method according to any one of claims 1 to 9, wherein: Controlling the lighting device (31A, 31H) of the vehicle (100) to send an indication signal also includes: By controlling the working state of the vehicle lights (100), it is indicated whether the triggering conditions of the automatic parking process are met, the current automatic parking stage and / or the vehicle state, and different working states of the vehicle lights are different in terms of flashing frequency, brightness, flashing rhythm and / or color.

11. The method according to claim 10, wherein: The working state of the vehicle light (100) is controlled by: When the triggering condition of the automatic parking process is met, controlling the vehicle lights to flash at a first frequency; When the automatic parking operation is about to start, controlling the vehicle lights to flash at a second frequency; Control the vehicle lights to remain on while the automated parking maneuver is in progress; and / or When the automatic parking operation has been completed, the vehicle lights are controlled to flash at a third frequency.

12. The method according to claim 10 or 11, wherein: The working state of the headlight of the vehicle (100) is controlled by: In an initial parking state before the vehicle (100) performs an automatic parking operation, controlling the vehicle lights to display a first color; When the vehicle (100) is about to start automatic driving from an initial parking state, controlling the vehicle lights to switch from a first color to a second color, and causing the vehicle lights to operate in a flashing manner in the second color; After the vehicle (100) starts to perform automatic driving, the vehicle lights are controlled to maintain stable illumination at the second color.

13. The method according to any one of claims 1 to 12, wherein: The method further comprises: detecting triggering conditions for an automated parking process; If it is detected that the trigger condition is met, the vehicle (100) is controlled to perform an automatic parking process, wherein the trigger condition includes at least one of the following: - Receive automatic parking instructions; - the user (500) is within a predetermined range around the vehicle (100); - the environmental conditions of the vehicle (100) meet safety requirements; and / or -The vehicle (100) is in a drivable state.

14. A device (10) for controlling the interactive behavior of a vehicle (100), the device (10) comprising a processor and a memory, the memory storing computer program instructions, and when the computer program instructions are executed by the processor, the processor is capable of executing the method according to claims 1 to 13.

15. A vehicle (100) comprising one or more lighting devices (31A, 31H) and a device (10) according to claim 14.

16. A computer program product comprising computer program instructions, wherein: The computer program instructions, when executed by a processor, enable the processor to perform a method according to any one of claims 1 to 13.

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