Vehicle-mounted driving game interaction system, method and device and electronic equipment

Abstract

The invention discloses a vehicle-mounted driving game interaction system, method and device and electronic equipment, and relates to the field of vehicle-mounted games, and the system comprises a driving control end module which comprises a main driving control end and a non-main driving control end; the control response module comprises an entity vehicle and a virtual vehicle; the entity vehicle or / and the virtual vehicle responds to a man-machine control instruction of the main driving control end; the virtual vehicle responds to a man-machine control instruction of the non-main driving control end; the control instruction operation module operates a preset operation strategy according to the man-machine control instruction of the main driving control end and the man-machine control instruction of the non-main driving control end; the preset operation strategy comprises an instruction that the virtual vehicle responds to the man-machine control of the main driving control end and an instruction that the virtual vehicle responds to the man-machine control of the non-main driving control end, and forming an operation result of data state interaction of the virtual vehicle; and the interface interaction module outputs an operation result and interacts with a man-machine control instruction.

Description

Technical Field

[0001] The present application relates to the field of in-vehicle games, and in particular to an in-vehicle driving game interactive system, an in-vehicle driving game interactive method, an in-vehicle driving game interactive device, an electronic device, a storage medium and a vehicle. Background Art

[0002] When driving a long distance, there are many people in the car and only one person is driving. Except for the main driver, other people are often resting or bored.

[0003] The main driver may gradually become sleepy and reduce his sensitivity in handling driving controls due to the lack of communication and interaction with other people when driving for a long time.

[0004] Although the co-pilot can observe the outside world together with the main driver, he cannot give frequent opinions that affect the main driver's control.

[0005] Therefore, a solution for in-vehicle driving game interaction is needed to present an interactive game, relieve the boredom of people in the car, and enhance the communication between the main driver and other members in other positions under the premise of ensuring driving safety. Summary of the invention

[0006] The purpose of the present invention is to provide an in-vehicle driving game interaction system, an in-vehicle driving game interaction method, an in-vehicle driving game interaction device, an electronic device, a storage medium and a vehicle, which at least solves the problem of game interaction between the driver and the co-driver, and solves one technical problem in the safety of game interaction under current driving control.

[0007] The present invention provides the following scheme:

[0008] According to one aspect of the present invention, there is provided an in-vehicle driving game interactive system, the in-vehicle driving game interactive system comprising: a driving control terminal module, a control response module, a control instruction calculation module and an interface interaction module;

[0009] The driving control terminal module is used to obtain command information of human-machine control;

[0010] The control response module is used to respond to the human-machine control instruction;

[0011] The control instruction calculation module is used to generate a calculation result under a preset calculation strategy according to the instruction information of human-machine control;

[0012] The interface interaction module is used to output the calculation results;

[0013] Wherein, the driving control terminal module includes a main driving control terminal and a non-main driving control terminal;

[0014] The control response module includes a physical vehicle and a virtual vehicle;

[0015] The physical vehicle and / or the virtual vehicle responds to the human-machine control command of the main driving control terminal;

[0016] The virtual vehicle responds to the instruction of the human-machine control of the non-primary driving control terminal;

[0017] The control instruction calculation module runs a preset calculation strategy according to the human-machine control instructions of the main driving control end and the human-machine control instructions of the non-main driving control end;

[0018] The preset operation strategy includes the virtual vehicle responding to the instructions of the human-machine control of the main driving control end and the virtual vehicle responding to the instructions of the human-machine control of the non-main driving control end, forming the operation result of the data state interaction of the virtual vehicle;

[0019] The interface interaction module outputs the calculation result and interacts with the instructions of human-computer control.

[0020] According to two aspects of the present invention, a method for interacting with a vehicle-mounted driving game is provided. Based on the vehicle-mounted driving game interactive system, the method for interacting with the vehicle-mounted driving game comprises:

[0021] Obtaining human-computer interaction mode information;

[0022] Corresponding to the human-computer interaction mode, setting a human-computer interaction operation strategy;

[0023] According to the human-machine interaction computing strategy, obtaining human-machine control instructions from the main driving control terminal and the non-main driving control terminal;

[0024] Generate the interactive results of the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the computing strategy of human-machine interaction;

[0025] The human-computer interface outputs data of the interaction result;

[0026] Based on the data of the interaction result, the interaction between the main driving control and the non-main driving control is continued.

[0027] Further, the human-computer interaction mode information includes: a first human-computer interaction mode;

[0028] Corresponding to the first human-computer interaction module, a human-computer interaction calculation strategy is set for the co-pilot to simulate the real-time driving behavior of the main driver;

[0029] According to the human-machine interactive computing strategy of the co-pilot simulating the real-time driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained;

[0030] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively;

[0031] Wherein, based on the observation horizon of the current road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the real-time driving behavior data of the main driver and the co-driver are generated respectively;

[0032] Comparing the real-time driving behavior data of the main driver with the driving behavior data of the co-driver, generating data on the difference between the driving behavior of the co-driver and the real-time driving behavior of the main driver;

[0033] Based on the data of the difference between the co-pilot's driving behavior and the main driver's real-time driving behavior, the evaluation results are output on the human-machine interface.

[0034] Further, the human-computer interaction mode information includes: a second human-computer interaction mode;

[0035] Corresponding to the second human-computer interaction module, a human-computer interaction calculation strategy for the co-pilot to simulate the historical driving behavior of the main driver is set;

[0036] According to the human-machine interactive computing strategy of the co-pilot simulating the historical driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained;

[0037] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively;

[0038] Wherein, based on the observation horizon of historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the historical driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively;

[0039] Comparing the data of the co-driver's driving behavior with the data of the driver's historical driving behavior to generate data on the difference between the co-driver's driving behavior and the driver's historical driving behavior;

[0040] Based on the data of the difference between the co-pilot's driving behavior and the main driver's historical driving behavior, the evaluation results are output on the human-machine interface.

[0041] Further, the human-computer interaction mode information includes: a third human-computer interaction mode;

[0042] Corresponding to the third human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot to simulate the automatic driving behavior of the main driver;

[0043] According to the human-machine interactive computing strategy of the co-pilot simulating the automatic driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained;

[0044] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively;

[0045] Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the automatic driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively;

[0046] Comparing the data of the driving behavior of the co-driver with the data of the driving behavior of the main driver, generating data on the difference between the driving behavior of the co-driver and the driving behavior of the main driver;

[0047] Based on the data of the difference between the co-pilot's driving behavior and the main driver's automatic driving behavior, the evaluation results are output on the human-machine interface.

[0048] Further, the human-computer interaction mode information includes: a fourth human-computer interaction mode;

[0049] Corresponding to the fourth human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot and the rear seats to respectively simulate the driving behavior of the main driver;

[0050] According to the human-machine interactive computing strategy of simulating the driving behavior of the main driver for the co-pilot and the rear seat, the human-machine control instructions of the main driver control terminal, the co-pilot and the rear seat control terminal are obtained;

[0051] The human-machine control instructions of the main driving control terminal, the co-pilot and the rear seat control terminal include the human-machine control instructions belonging to the steering wheel area, the pedal area, the gear area and / or the control console area of ​​the main driving, the co-pilot and the rear seat;

[0052] Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control panel area of ​​the main driver, the co-driver and the rear seat, the data of the driving behavior of the main driver and the co-driver and the rear seat are generated respectively;

[0053] Compare the driving behavior data of the co-pilot and the rear seat with the driving behavior data of the main driver to generate the difference data between the driving behavior of the co-pilot and the rear seat and the driving behavior of the main driver;

[0054] Based on the data on the differences in driving behavior between the front passenger and rear seat drivers and the main driver, the evaluation results are output on the human-machine interface.

[0055] Furthermore, the outputting of the evaluation results on the human-computer interface includes:

[0056] Set scoring strategies based on the driving behavior of the co-pilot and / or rear seat simulation driver;

[0057] The scoring strategy includes outputting scores for evaluation on a human-machine interface based on human-machine control instructions of the main driving control terminal, the co-pilot and / or rear seat control terminals, and corresponding vehicle driving status, and data corresponding to the difference between the driving behavior of the co-pilot and / or rear seat and the driving behavior of the main driver;

[0058] The state of the vehicle driving track formed by the human-machine control command of the main driver is tracked according to the vehicle driving track formed by the human-machine control command of the co-pilot and / or the rear seat, and a scoring display is formed;

[0059] The scoring display includes a fitting scoring display of a speed trajectory and a path trajectory that tracks the vehicle's travel track.

[0060] Furthermore, it also includes:

[0061] According to the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat, the vehicle driving trajectory formed by the human-machine control instructions of the main driver is tracked, and the scoring sampling points are set;

[0062] Generate a fitting scoring display of the vehicle's running track based on the scoring sampling points;

[0063] Among them, the scoring sampling points include scoring sampling points with geographic coordinates as the reference system and scoring sampling points with the time axis as the reference system.

[0064] Furthermore, it also includes:

[0065] Running deep learning models in the background;

[0066] Among them, based on the same road conditions as the main driver, the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seats tracks the vehicle driving trajectory formed by the human-machine control instructions of the main driver, and forms a scoring display, which is a deep learning model for driving decision training.

[0067] According to three aspects of the present invention, there is provided a vehicle-mounted driving game interactive device, the vehicle-mounted driving game interactive device comprising:

[0068] An information acquisition module, used to obtain human-computer interaction mode information;

[0069] A strategy setting module, used to set a human-computer interaction operation strategy corresponding to the human-computer interaction mode;

[0070] An instruction acquisition module, used for acquiring human-machine control instructions of a main driving control terminal and a non-main driving control terminal according to the computing strategy of the human-machine interaction;

[0071] A result generation module, used to generate the interaction results of the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the calculation strategy of the human-machine interaction;

[0072] An interface output module is used to output the data of the interaction result on a human-computer interface;

[0073] The interaction continuation module is used to continue the interaction between the main driving control and the non-main driving control according to the data of the interaction result.

[0074] According to four aspects of the present invention, there is provided an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0075] A computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the in-vehicle driving game interactive method.

[0076] According to five aspects of the present invention, a computer-readable storage medium is provided, comprising: a computer program executable by an electronic device is stored therein, and when the computer program runs on the electronic device, the electronic device executes the steps of the in-vehicle driving game interactive method.

[0077] According to six aspects of the present invention, there is provided a vehicle, comprising:

[0078] An electronic device for implementing the steps of the in-vehicle driving game interactive method;

[0079] A processor, the processor runs a program, and when the program runs, the steps of the in-vehicle driving game interactive method are executed from the data output by the electronic device;

[0080] The storage medium is used to store a program, and when the program is running, it executes the steps of the in-vehicle driving game interactive method for data output from the electronic device.

[0081] Compared with the prior art, the present invention has the following advantages:

[0082] This application refers to the control behavior of the main driver, evaluates and compares the control behavior of the co-pilot and the people in the back seats, forms the scoring of the game, and enables the main driver and the co-pilot and the people in the back seats to interact in the game.

[0083] This application sets scoring sampling points and segmented scoring to make the scoring of the game clearly expressed and increase the flexibility of the game process.

[0084] This application obtains the driving decision data of people who do not yet have driving qualifications, runs a deep learning model in the background, and trains the model. Without intervening in the current actual driving, the driving decision deep learning model can be trained simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0086] Figure 1 It is a structural diagram of an in-vehicle driving game interactive system provided by one or more embodiments of the present invention.

[0087] Figure 2 It is a flow chart of an in-vehicle driving game interactive method provided by one or more embodiments of the present invention.

[0088] Figure 3 It is a structural diagram of an in-vehicle driving game interactive device provided by one or more embodiments of the present invention.

[0089] Figure 4 is a structural diagram of a co-pilot control device provided by one or more embodiments of the present invention.

[0090] Figure 5 is a stereoscopic diagram of a cylindrical rod body provided by one or more embodiments of the present invention.

[0091] Figure 6 is a stereoscopic diagram of a hidden steering wheel interface provided by one or more embodiments of the present invention.

[0092] Figure 7 It is a stereoscopic diagram of a buckle at the bottom end of a cylindrical rod body provided by one or more embodiments of the present invention.

[0093] Figure 8 is a three-dimensional diagram of a press contact provided by one or more embodiments of the present invention.

[0094] Fig. 9 It is a circuit schematic diagram of a left turn detection circuit or a right turn detection circuit provided by one or more embodiments of the present invention.

[0095] Fig.10 is a stereoscopic diagram of an accelerator pedal and a brake pedal provided by one or more embodiments of the present invention.

[0096] Fig.11 It is a circuit schematic diagram of an accelerator pedal and brake pedal drive circuit provided by one or more embodiments of the present invention.

[0097] Fig.12 It is a structural block diagram of an electronic device of the in-vehicle driving game interactive method provided by one or more embodiments of the present invention. DETAILED DESCRIPTION

[0098] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0099] Figure 1 It is a structural diagram of an in-vehicle driving game interactive system provided by one or more embodiments of the present invention.

[0100] like Figure 1 The in-vehicle driving game interactive system shown includes: a driving control terminal module, a control response module, a control instruction calculation module and an interface interaction module;

[0101] Driving control module, used to obtain command information for human-machine control;

[0102] A control response module is used to respond to human-machine control instructions;

[0103] The control instruction calculation module is used to generate the calculation result under the preset calculation strategy according to the instruction information of human-machine control;

[0104] Interface interaction module, used to output calculation results;

[0105] Among them, the driving control end module includes a main driving control end and a non-main driving control end;

[0106] The control response module includes a physical vehicle and a virtual vehicle;

[0107] The physical vehicle and / or the virtual vehicle responds to the instructions of the human-machine control of the main driving control end;

[0108] The virtual vehicle responds to the instructions of the non-main driving control end human-machine control;

[0109] The control command calculation module runs the preset calculation strategy according to the human-machine control instructions of the main driving control end and the human-machine control instructions of the non-main driving control end;

[0110] The preset operation strategy includes the virtual vehicle responding to the instructions of the human-machine control of the main driving control end and the virtual vehicle responding to the instructions of the human-machine control of the non-main driving control end, forming the operation result of the data state interaction of the virtual vehicle;

[0111] The interface interaction module outputs the calculation results and interacts with the human-computer control instructions.

[0112] Specifically, in this embodiment, the driving control end module includes the control ends of the steering wheel area, the pedal area, the gear area, and the control console area. For example, the steering wheel and the buttons on the steering wheel, such as the accelerator, brake, and clutch pedals, the forward, reverse, and parking gears, and the air conditioner switch. The control state of the control ends of the steering wheel area, the pedal area, the gear area, and the control console area affects the driving state of the vehicle, including the air conditioner on the control console, which affects the acceleration capability, etc.

[0113] The control response module responds to human-machine control commands from the steering wheel area, pedal area, gear area, and control console area. The control response includes the control response directly related to the actual driving of the vehicle, and also includes the control response on the computer platform through the virtual data solution.

[0114] The control command calculation module includes the control command calculation for directly executing the main driver's human-machine control command to control the vehicle's driving, such as the steering wheel motor directly converting the steering wheel angle into the power torque to form the steering wheel steering. The control command calculation module also includes the control command calculation for executing the non-main driver's human-machine control command to control the virtual vehicle's driving, such as indirectly controlling the virtual steering wheel steering according to the steering wheel angle on the game interface.

[0115] The preset operation strategy includes a game-style rule, which is used to evaluate whether the vehicle driving behavior formed by the human-machine control instructions is excellent.

[0116] The interface interaction module includes the interface interaction displayed on the screen. Through the interface interaction, human-machine interaction is formed between the operator and the control end of the steering wheel area, pedal area, gear area, and control console area. It also includes the interaction between the driving behavior data of the main driver's seat and the non-main driver's seat.

[0117] Figure 2 It is a flow chart of an in-vehicle driving game interactive method provided by one or more embodiments of the present invention.

[0118] like Figure 2 The in-vehicle driving game interactive method shown is based on the in-vehicle driving game interactive system, and the in-vehicle driving game interactive method includes:

[0119] Step S1, obtaining human-computer interaction mode information;

[0120] Step S2, corresponding to the human-computer interaction mode, setting the human-computer interaction operation strategy;

[0121] Step S3, obtaining human-machine control instructions of the main driving control terminal and the non-main driving control terminal according to the computing strategy of human-machine interaction;

[0122] Step S4, generating an interaction result between the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the computing strategy of human-machine interaction;

[0123] Step S5, the human-machine interface outputs data of the interaction result;

[0124] Step S6: continuing the interaction between the main driving control and the non-main driving control according to the data of the interaction result.

[0125] Specifically, in this embodiment, the human-computer interaction mode can be understood as a mode that sets the role relationship between the main driver and the non-main driver. The human-computer interaction operation strategy can be understood as the interaction rules of the role relationship between the main driver and the non-main driver in the human-computer interaction mode. Based on the human-computer interaction operation strategy, a series of instructions for human-computer control involved in the human-computer interaction operation strategy are selected. Through the interaction of the role relationship between the main driver and the non-main driver, the result under the interaction rule is formed and outputted in the human-computer interface, such as displaying an image and emitting a sound signal. Based on the continuous driving process of the vehicle, the interaction between the main driver's control and the non-main driver's control is continued.

[0126] In this embodiment, the human-computer interaction mode information includes: a first human-computer interaction mode;

[0127] Corresponding to the first human-machine interaction module, a human-machine interaction calculation strategy is set for the co-pilot to simulate the real-time driving behavior of the main driver;

[0128] According to the human-machine interactive computing strategy of the co-pilot simulating the real-time driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained;

[0129] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include the human-machine control instructions of the steering wheel area, pedal area, gear area and / or control panel area belonging to the main driving and co-pilot respectively;

[0130] Wherein, based on the observation horizon of the current road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the real-time driving behavior data of the main driver and the co-driver are generated respectively;

[0131] Comparing the real-time driving behavior data of the main driver with the driving behavior data of the co-driver, generating data on the difference between the driving behavior of the co-driver and the real-time driving behavior of the main driver;

[0132] Based on the data of the difference between the co-pilot's driving behavior and the main driver's real-time driving behavior, the evaluation results are output on the human-machine interface.

[0133] Specifically, in this embodiment, the driving behavior of the co-pilot is equivalent to the driving behavior of the virtual vehicle, and the real-time driving behavior of the main driver is equivalent to the driving behavior of the physical vehicle. The first human-computer interaction mode can be regarded as a human-computer interaction game mode in which the co-pilot simulates the real-time driving behavior of the main driver. For example, in this game mode, the main driver drives the vehicle normally, and the co-pilot can obtain a front windshield view equivalent to that of the main driver, and simulate the control state of the current main driver driving the vehicle through the co-pilot's control terminal to form a game interaction. Among them, the main driver focuses on the actual driving environment, and the co-pilot focuses on the driving behavior of the main driver in addition to focusing on the actual driving environment. The game result under the game rules is formed by comparing the control terminal signal of the main driver and the control terminal signal of the co-pilot.

[0134] For example, the co-pilot controls the steering wheel, tracks the steering wheel of the main driver, and outputs the evaluation results of the game through the fitting degree of the steering angle change curve. The game results are displayed on the human-machine interface, and the personnel interact with the co-pilot and the main driver through the game results.

[0135] In this embodiment, the human-computer interaction mode information includes: a second human-computer interaction mode;

[0136] Corresponding to the second human-computer interaction module, a human-computer interaction calculation strategy is set for the co-pilot to simulate the historical driving behavior of the main driver;

[0137] According to the human-machine interactive computing strategy of the co-pilot simulating the historical driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained;

[0138] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include the human-machine control instructions of the steering wheel area, pedal area, gear area and / or control panel area belonging to the main driving and co-pilot respectively;

[0139] Wherein, based on the observation horizon of historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the historical driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively;

[0140] Comparing the data of the co-driver's driving behavior with the data of the driver's historical driving behavior to generate data on the difference between the co-driver's driving behavior and the driver's historical driving behavior;

[0141] Based on the data of the difference between the co-pilot's driving behavior and the main driver's historical driving behavior, the evaluation results are output on the human-machine interface.

[0142] Specifically, in this embodiment, the driving behavior of the co-pilot is equivalent to the driving behavior of the virtual vehicle, and the historical driving behavior of the main driver is equivalent to the driving behavior of the virtual vehicle. The second human-machine interaction mode can be regarded as a human-machine interaction game mode in which the co-pilot simulates the historical driving behavior of the main driver. For example, in this game mode, the main driver drives the vehicle normally, and the co-pilot can retrieve the data of the main driver's historical driving behavior to play a human-machine interaction game.

[0143] In this game mode, the real-time driving behavior of the main driver can be unaffected by the actions of the co-driver, and the co-driver is in the game alone. In this game mode, the steering of the steering wheel controlled by the main driver can also be tracked, and the evaluation results of the game can be output through the fitting degree of the steering angle change curve. The game results are displayed on the human-machine interface, and the personnel interact with the co-driver and the main driver through the game results displayed on the human-machine interface.

[0144] In this embodiment, the human-computer interaction mode information includes: a third human-computer interaction mode;

[0145] Corresponding to the third human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot to simulate the autonomous driving behavior of the main driver;

[0146] According to the human-machine interactive computing strategy of the co-pilot simulating the main driver's automatic driving behavior, the human-machine control instructions of the main driver's control end and the co-pilot's control end are obtained;

[0147] The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include the human-machine control instructions of the steering wheel area, pedal area, gear area and / or control panel area belonging to the main driving and co-pilot respectively;

[0148] Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the automatic driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively;

[0149] Comparing the data of the driving behavior of the co-driver with the data of the driving behavior of the main driver, generating data on the difference between the driving behavior of the co-driver and the driving behavior of the main driver;

[0150] Based on the data of the difference between the co-pilot's driving behavior and the main driver's automatic driving behavior, the evaluation results are output on the human-machine interface.

[0151] Specifically, in this embodiment, the driving behavior of the co-pilot is equivalent to the driving behavior of the virtual vehicle, and the autonomous driving behavior of the main driver is equivalent to the driving behavior of the virtual vehicle. The third human-computer interaction mode can be regarded as a human-computer interaction game mode in which the co-pilot simulates the autonomous driving behavior of the main driver. For example, in this game mode, the main driver drives the vehicle normally, the autonomous driving module runs in the background, and the co-pilot can play a human-computer interaction game with the data of the main driver's autonomous driving behavior.

[0152] In this game mode, the real-time driving behavior of the main driver can be unaffected by the actions of the co-driver, and the co-driver is in the game alone. In this game mode, the steering of the steering wheel controlled by the main driver can also be tracked, and the evaluation results of the game can be output through the fitting degree of the steering angle change curve. The game results are displayed on the human-machine interface, and the personnel interact with the co-driver and the main driver through the game results displayed on the human-machine interface.

[0153] In this embodiment, the human-computer interaction mode information includes: a fourth human-computer interaction mode;

[0154] Corresponding to the fourth human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot and the rear seats to respectively simulate the driving behavior of the main driver;

[0155] According to the human-machine interactive computing strategy of simulating the driving behavior of the main driver in the co-pilot and rear seats, the human-machine control instructions of the main driver control terminal, the co-pilot and rear seat control terminals are obtained;

[0156] The human-machine control instructions of the main driving control terminal, the co-pilot and the rear seat control terminal include the human-machine control instructions of the steering wheel area, the pedal area, the gear area and / or the control panel area of ​​the main driving and co-pilot, and the rear seat;

[0157] Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control panel area of ​​the main driver, the co-driver and the rear seat, the data of the driving behavior of the main driver and the co-driver and the rear seat are generated respectively;

[0158] Compare the driving behavior data of the co-pilot and the rear seat with the driving behavior data of the main driver to generate the difference data between the driving behavior of the co-pilot and the rear seat and the driving behavior of the main driver;

[0159] Based on the data on the differences in driving behavior between the front passenger and rear seat drivers and the main driver, the evaluation results are output on the human-machine interface.

[0160] Specifically, in this embodiment, the fourth human-machine interaction mode can be regarded as a human-machine interaction game mode in which the co-pilot and the rear seat personnel simulate the real-time, historical, and automatic driving behaviors of the main driver. For example, in this game mode, the co-pilot and the rear seat personnel are in the same game scene.

[0161] Since the control terminals of the co-pilot and the back seat usually do not have the complete state of human-machine control of the steering wheel area, pedal area, gear area or / and console area, the respective control terminals can be allocated to realize the human-machine control terminals of the steering wheel area, pedal area, gear area or / and console area corresponding to the main driver. For example, the co-pilot installs a game steering wheel, the back seat uses the air conditioning button as the signal control terminal of the gear, and the virtual button on the touch screen as the control terminal of the pedal. The co-pilot and the people in the back seat jointly control a virtual vehicle character and interact with the vehicle character under the main driver in the game.

[0162] In this game mode, the real-time driving behavior of the main driver can be unaffected by the actions of the co-driver, and the co-driver and the people in the back seat can all participate in the game state. In this game mode, the game rules can also be set to track the steering of the steering wheel controlled by the main driver, and the evaluation results of the game can be output through the fitting degree of the steering angle change curve. The game results are displayed on the human-machine interface, and the people interact with the behaviors of the co-driver and the main driver.

[0163] In this embodiment, outputting the evaluation results on the human-machine interface includes:

[0164] Set scoring strategies based on the driving behavior of the co-pilot and / or rear seat simulation driver;

[0165] The scoring strategy includes outputting scores for evaluation on a human-machine interface based on human-machine control commands of the main driver control terminal, the co-driver and / or the rear seat control terminal, the corresponding vehicle driving status, and data corresponding to the difference between the driving behavior of the co-driver and / or the rear seat and the driving behavior of the main driver;

[0166] The state of the vehicle driving track formed by the human-machine control command of the main driver is tracked according to the vehicle driving track formed by the human-machine control command of the co-pilot and / or the rear seat, and a scoring display is formed;

[0167] The scoring display includes a fitting scoring display of a speed trajectory and a path trajectory that tracks the vehicle's travel track.

[0168] Specifically, in this embodiment, in order to form a more vivid and intuitive game interaction experience, a scoring strategy is set. For example, the human-machine control instructions of the main driver control terminal, the co-driver and / or the rear seat control terminal, the corresponding vehicle driving status, and the data corresponding to the difference between the co-driver and / or the rear seat driving behavior and the main driver's driving behavior are output on the human-machine interface for evaluation. For example,

[0169] For example, in the game mode where the co-pilot tracks the steering of the main driver, the co-pilot's control terminal simulates the control state of the current main driver driving the vehicle to form a game score. When the degree of fit is high, the score increases, and when the degree of fit is low, the score decreases.

[0170] In this embodiment, it also includes:

[0171] According to the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat, the vehicle driving trajectory formed by the human-machine control instructions of the main driver is tracked, and the scoring sampling points are set;

[0172] Generate a fitting scoring display of the vehicle's running track based on the scoring sampling points;

[0173] Among them, the scoring sampling points include scoring sampling points with geographic coordinates as the reference system and scoring sampling points with the time axis as the reference system.

[0174] Specifically, in this embodiment, the vehicle driving trajectory is formed by the human-machine control instructions of the co-pilot and / or the rear seat on the co-pilot side, and the vehicle driving trajectory is formed by the human-machine control instructions of the main driver on the main driver side. A scoring sampling point is set on the navigation map, and sampling is recorded when the vehicle reaches the sampling point, and the time consumption data of reaching the same location is observed.

[0175] Among them, the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat is realized by the automatic driving software. Assuming that the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat takes less time, the scoring is displayed as an increase of one point. Or if the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat fits the vehicle driving trajectory formed by the human-machine control instructions of the main driver, and the deviation value is less than the preset threshold, the scoring is displayed as an increase of one point, etc. The specific game rules are set according to the settings of the control terminal, the performance of the preset vehicle, etc.

[0176] In this embodiment, it also includes:

[0177] Running deep learning models in the background;

[0178] Among them, based on the same road conditions as the main driver, the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seats tracks the vehicle driving trajectory formed by the human-machine control instructions of the main driver, and forms a scoring display, which is a deep learning model for driving decision training.

[0179] Specifically, in this embodiment, the deep learning model for driving decision training can input not only the driving behavior data of the main driver, but also the driving behavior data of the co-driver and the rear seat. Through the game process, based on the main driver's behavior, it can be learned that the decision made by the person who has not obtained the driving authority under the same road condition scenario as the main driver.

[0180] For example, when setting scoring sampling points, the driving decisions of the main driver and the co-driver may be different between the two scoring sampling points, such as the selected lane and the configured speed.

[0181] In the double-blind situation, the main driver and the co-driver or / and the people in the back seat each operate the human-machine control terminal, and the driving decision data finally formed is used to train the deep learning network, expand the driving decision data of non-professionals, and provide comparative data for data analysis such as traffic accidents. For example, the mistakes that novice drivers are more likely to make can be predicted and prevented according to the preset prevention strategy.

[0182] Figure 3 It is a structural diagram of an in-vehicle driving game interactive device provided by one or more embodiments of the present invention.

[0183] like Figure 3 The in-vehicle driving game interactive device shown includes: an information acquisition module, a strategy setting module, an instruction acquisition module, a result generation module, an interface output module, and an interaction continuation module;

[0184] An information acquisition module, used to obtain human-computer interaction mode information;

[0185] A strategy setting module is used to set the operation strategy of human-computer interaction according to the human-computer interaction mode;

[0186] An instruction acquisition module is used to acquire human-machine control instructions from the main driving control terminal and the non-main driving control terminal according to the calculation strategy of human-machine interaction;

[0187] A result generation module, used to generate the interaction results of the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the calculation strategy of the human-machine interaction;

[0188] Interface output module, used for outputting interactive result data of human-computer interface;

[0189] The interaction continuation module is used to continue the interaction between the main driving control and the non-main driving control based on the data of the interaction result.

[0190] It is worth noting that although the present system only discloses an information acquisition module, a policy setting module, an instruction acquisition module, a result generation module, an interface output module, and an interactive continuity module, it does not mean that the present device is limited to the above-mentioned basic functional modules. Rather, what the present invention wants to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the scope of protection of the claims of the present invention is limited to the above-mentioned basic functional modules.

[0191] Compared with the prior art, the present invention has the following advantages:

[0192] This application refers to the control behavior of the main driver, evaluates and compares the control behavior of the co-pilot and the people in the back seats, forms the scoring of the game, and enables the main driver and the co-pilot and the people in the back seats to interact in the game.

[0193] This application sets scoring sampling points and segmented scoring to make the scoring of the game clearly expressed and increase the flexibility of the game process.

[0194] This application obtains the driving decision data of people who do not yet have driving qualifications, runs a deep learning model in the background, and trains the model. Without intervening in the current actual driving, the driving decision deep learning model can be trained simultaneously.

[0195] Figure 4 is a structural diagram of a co-pilot control device provided by one or more embodiments of the present invention.

[0196] Figure 5 is a stereoscopic diagram of a cylindrical rod body provided by one or more embodiments of the present invention.

[0197] Figure 6 is a stereoscopic diagram of a hidden steering wheel interface provided by one or more embodiments of the present invention.

[0198] Figure 7 It is a stereoscopic diagram of a buckle at the bottom end of a cylindrical rod body provided by one or more embodiments of the present invention.

[0199] Figure 8 is a stereoscopic diagram of a press contact provided by one or more embodiments of the present invention.

[0200] Fig. 9It is a circuit schematic diagram of a left turn detection circuit or a right turn detection circuit provided by one or more embodiments of the present invention.

[0201] Fig.10 is a stereoscopic diagram of an accelerator pedal and a brake pedal provided by one or more embodiments of the present invention.

[0202] Fig.11 It is a circuit schematic diagram of an accelerator pedal and brake pedal drive circuit provided by one or more embodiments of the present invention.

[0203] In a specific embodiment, a solution of a co-pilot control device is provided, the co-pilot control device comprises: a cylindrical rod body, and a ring-shaped steering wheel (such as Figure 4 The annular steering wheel can rotate left and right; a left turn detection circuit and a right turn detection circuit are respectively arranged in the cylindrical rod body; and a pressing contact is also arranged at the bottom end of the annular steering wheel and outside the cylindrical rod body.

[0204] When the circular steering wheel rotates to the left, the pressing contact contacts the detection switch of the left turn detection circuit, and the left turn detection circuit is turned on (such as Fig.11 When the circular steering wheel rotates to the right, the pressing contact contacts the detection switch of the right turn detection circuit, and the right turn detection circuit is turned on. A horn button is also provided at the center of the circular steering wheel; the sensing signals of the left turn detection circuit, the right turn detection circuit and the horn button are all connected to the corresponding control points of the ECU.

[0205] The corresponding control point of the ECU connected to the left turn detection circuit, the right turn detection circuit and the sensing signal of the horn button is connected to the horn or multimedia function.

[0206] The outer side of the cylindrical rod body is also provided with: a speaker key mode switching key; the speaker key mode switching key switches the operation mode of the speaker key between the speaker control mode and the media playback pause control mode; the speaker key mode switching key is arranged on the side of the cylindrical rod body.

[0207] A hidden steering wheel interface is added in the position directly in front of the co-pilot; a buckle is arranged at the bottom end of the cylindrical rod body, and the buckle is inserted into the hidden steering wheel interface.

[0208] Also arranged on the ground directly in front of the co-pilot are: an accelerator pedal and a brake pedal; the accelerator pedal is electrically connected to the left turn detection circuit; the brake pedal is electrically connected to the right turn detection circuit.

[0209] Also provided on the ground directly in front of the co-pilot are: an accelerator pedal and a brake pedal; the accelerator pedal is connected to the corresponding control point of the ECU; the brake pedal is connected to the corresponding control point of the ECU.

[0210] In another specific embodiment, a driver and co-driver control method is based on the co-driver control device described above, and the driver and co-driver control method includes: obtaining driver steering wheel control data; obtaining co-driver steering wheel control data; according to the driver steering wheel control data and the co-driver steering wheel control data, driving the co-driver steering wheel side rotation state display;

[0211] Driving the co-pilot steering wheel side rotation state display includes displaying real-time data based on the comparison of the main driving steering wheel control data and the co-pilot steering wheel control data, and generating a scoring display of the game interface; wherein, according to the real-time data, obtaining whether the action state of the co-pilot steering wheel leads or lags behind the action state of the main driving steering wheel;

[0212] The main driver's steering wheel is tracked according to the movement of the co-driver's steering wheel, the control action of the co-driver's steering wheel leading or lagging behind the movement of the main driver's steering wheel is eliminated, and a scoring display is generated on the game interface.

[0213] In yet another specific embodiment, Figure 4 is a structural diagram of a co-pilot control device provided by one or more embodiments of the present invention. Figure 4 The co-pilot control device is installed on the table in front of the co-pilot seat. The co-pilot control device includes: a cylindrical rod body and a circular steering wheel sleeved on the top of the cylindrical rod body. The co-pilot can experience the feeling of controlling the vehicle through the device, so that the co-pilot's attention is distracted and it is not easy to fall asleep.

[0214] In use, the bottom end of the cylindrical rod is plugged into the table in front of the co-pilot, and the top end of the cylindrical rod is sleeved with a circular steering wheel. The circular steering wheel is roughly the same size and shape as the steering wheel set in front of the driver.

[0215] The annular steering wheel arranged at the top end of the cylindrical rod body can rotate left and right under the driving force of the grip of the co-driver.

[0216] Figure 4 Only a top view of the annular steering wheel is shown. The cylindrical rod body used to support the annular steering wheel is arranged below the center of the annular steering wheel surface.

[0217] exist Figure 4 The annular steering wheel shown includes an annular disc body and a horn button arranged at the center.

[0218] The annular disc is provided to facilitate the co-pilot to hold and turn left and right during driving. Due to the circular shape, the co-pilot can conveniently hold and turn left and right during driving.

[0219] The horn button arranged at the center of the annular disk body can facilitate the co-driver to operate the vehicle horn.

[0220] Figure 5 The specific shape of the cylindrical rod is shown. Figure 5 The cylindrical rod body is cylindrical in shape as a whole. Its lower end is plugged into the platform in front of the co-pilot, and its upper end is fixedly connected to the bottom surface of the circular steering wheel.

[0221] The plug-in port at the bottom end of the cylindrical rod body is a hidden plug-in port. Figure 6 A perspective view of this port is shown. Figure 6 The hidden plug-in port includes a circular recess and a clamping portion arranged on the side of the circular recess.

[0222] The circular recess is used to accommodate the inserted cylindrical rod body. The clamping portion is used to fix the inserted cylindrical rod body.

[0223] The circular depression is directly arranged on the table surface in front of the co-pilot. On the inner side of the circular depression, a plurality of clamping parts are arranged along the circumferential direction. Correspondingly, at the bottom end of the cylindrical rod body, a plurality of bosses protruding from the outer surface of the rod body are also arranged.

[0224] It should be understood that there is a gap between different clamping parts. When the user needs to insert the cylindrical rod into the hidden plug port, the boss on the outer surface of the rod is adjusted to the gap position, and then the bottom end of the cylindrical rod is inserted into the circular recess.

[0225] After completing the above plugging operation, the plugged rod body needs to be fixed. The fixing method is to rotate the cylindrical rod body.

[0226] After the rotation, the boss at the bottom end of the cylindrical rod body is aligned with the circular recessed clamping portion, thereby completing the clamping operation of the cylindrical rod body.

[0227] It should be noted that in the technical solution of the present application, the circular depression has a plurality of different clamping parts. At the same time, the outer side of the bottom end of the cylindrical rod also has a plurality of different bosses. Figure 6 and Figure 7 In the illustrated embodiment, two clamping parts are arranged on the outer circumference of the circular depression. At the same time, two different bosses are arranged on the outer side of the bottom end of the cylindrical rod body.

[0228] It should be understood that Figure 6 and Figure 7 The number of bosses and the clamping parts shown is not the only choice for actual application scenarios. The number of bosses and the clamping parts can be any integer.

[0229] However, it should be noted that, in any number configuration, the number of bosses and the clamping parts should be equal. In addition, in any number configuration, the bosses and the clamping parts should be aligned. Because only when the bosses and the clamping parts are aligned can the bosses and the clamping parts be accurately aligned during the clamping operation of the cylindrical rod body, thereby achieving a firm clamping of the cylindrical rod body.

[0230] In addition, it should be noted that the above-mentioned boss plus the bottom end clamping configuration of the cylindrical rod body is only an example of a possible clamping configuration. The technical solution of the present application is not limited to the above-mentioned boss plus the clamping configuration of the clamping portion. For example, the present application can also adopt a magnetic clamping type in the bottom end clamping of the cylindrical rod body.

[0231] Typically, the cylindrical rod body should be a hollow rod body. A left turn detection circuit and a right turn detection circuit are arranged inside the cylindrical rod body. A horn button is arranged at the center of the circular steering wheel.

[0232] The so-called left-turn detection circuit and right-turn detection circuit, as the name implies, are capable of detecting the left-turn action and the right-turn action of the circular steering wheel.

[0233] In the inner cavity of the cylindrical rod body, a pressing contact point for detecting a left turn of the circular steering wheel and a pressing contact point for detecting a right turn of the circular steering wheel are respectively arranged on the inner side walls at the same height.

[0234] When the co-driver operates the circular steering wheel to turn left, the pressing contact used to detect the left turn of the circular steering wheel is pressed. Then, the corresponding left turn detection circuit is connected, and the relevant points of the ECU connected to the left turn detection circuit receive the corresponding sensing signal, completing the control function corresponding to the left turn action of the co-driver.

[0235] When the co-driver operates the circular steering wheel to turn right, the pressing contact for detecting the right turn of the circular steering wheel is pressed. Then, the corresponding right turn detection circuit structure receives the corresponding sensing signal at the relevant point of the ECU connected to the right turn detection circuit, completing the control function corresponding to the right turn action of the co-driver.

[0236] The left-turn detection circuit and the right-turn detection circuit are both connected to a pressing contact point arranged on the outer surface of the cylindrical rod. Figure 8 shows a schematic diagram of the push contacts. Figure 8 The push contact is actually a switch. When the push contact is pressed, the left turn detection circuit or the right turn detection circuit connected to the push contact is turned on. The left turn detection circuit or the right turn detection circuit sends a left turn detection signal or a right turn detection signal to the relevant controller on the vehicle.

[0237] When the pressing contact is no longer pressed, the left turn detection circuit or the right turn detection circuit connected to the pressing contact is no longer turned on, the left turn detection signal or the right turn detection signal is no longer sent, and the relevant controller on the vehicle no longer receives the relevant signal.

[0238] exist Fig. 9 In the schematic diagram of the left turn detection circuit and the right turn detection circuit shown, the pressing contact is actually equivalent to the switch in the circuit schematic diagram. When the pressing contact is pressed, the switch in the circuit is closed, and the ECU receives the corresponding left turn detection signal or right turn detection signal. When the pressing contact is no longer pressed, the switch in the circuit is disconnected, and the ECU no longer receives the corresponding left turn detection signal or right turn detection signal.

[0239] It should be noted that Fig. 9 In the schematic diagram shown, ECU is only shown as an example of a controller. In actual application scenarios, the controller that actually receives the left turn detection signal or the right turn detection signal may not be ECU, but other types of controllers. For example, the controller that actually receives the control signal may be: body controller, smart cockpit controller, vehicle data controller, EPB controller.

[0240] In addition, it should be noted that although the pressing contact is arranged on the outside of the cylindrical rod, its specific arrangement position is at the bottom end of the outside of the cylindrical rod. In other words, when the cylindrical rod is inserted into the circular depression, people cannot see the above-mentioned pressing contact from the appearance. This is because the pressing contact is already in the circular depression.

[0241] The detection circuit of the horn button on the circular steering wheel is similar to the circuit principle of the left turn detection circuit and the right turn detection circuit, and the horn button is also used as a switch. When the horn button is pressed, the detection circuit is connected, and the corresponding control point of the ECU receives the corresponding induction signal, thereby completing the control function related to pressing the horn button.

[0242] The control functions performed by the left-turn detection circuit, the right-turn detection circuit and the horn button can be any control functions implemented by the ECU.

[0243] Typically, the control functions performed by the left-turn detection circuit, the right-turn detection circuit and the horn button may be horn or multimedia functions.

[0244] If the left turn detection circuit, right turn detection circuit or horn button is required to complete a certain control function, it is only necessary to connect the detection signal of the left turn detection circuit, right turn detection circuit or horn button to the ECU, or the corresponding control point of the corresponding domain controller, and use the detection signal of the left turn detection circuit, right turn detection circuit and horn button as the enable signal of the corresponding control function to complete the corresponding control function on the vehicle.

[0245] Furthermore, in order to facilitate the relevant control operations of the co-pilot, a foot pedal similar to the accelerator and brake pedal in front of the main driver is also set on the ground in front of the co-pilot.

[0246] Fig.10 A stereogram of an accelerator pedal and a brake pedal is shown. With the accelerator pedal and the brake pedal, if the co-driver wants to complete a control function corresponding to the accelerator pedal or the brake pedal, he only needs to step on the corresponding pedal with his foot to complete the control function corresponding to the stepped pedal.

[0247] In some embodiments, the accelerator pedal and brake pedal provided in front of the co-pilot do not have independent control functions. More specifically, the control function performed by the accelerator pedal provided in front of the co-pilot is the same as the control function performed by the left turn detection circuit. The control function performed by the brake pedal provided in front of the co-pilot is the same as the control function performed by the right turn detection circuit.

[0248] Fig.11 The schematic diagram of the circuit for realizing this non-independent control function is shown in FIG. Fig.11 , take the accelerator pedal to realize the function of the left turn detection circuit as an example. Fig.11 In the circuit schematic diagram shown, the accelerator pedal is equivalent to another switch connected in parallel with the original switch. When the accelerator pedal is stepped on, although the original switch is not turned on, the other switch connected in parallel with it is turned on, and the left turn detection circuit is turned on, and the corresponding enable signal can be sent to trigger the corresponding control function of the ECU or the corresponding domain controller.

[0249] In possible embodiments of the present application, the domain controller may be: an autonomous driving domain controller, a vehicle body domain controller, or an intelligent cockpit domain controller.

[0250] If the brake pedal performs the same control function as the right turn detection circuit, its circuit schematic is the same as Fig. 9 The scheme shown is similar.

[0251] Since the co-driver control device provided in the present application provides the co-driver with a variety of different vehicle control means, the co-driver can use these control means provided to him to perform corresponding control operations on the vehicle's response devices and subsystems during the driving or parking of the vehicle. Therefore, the co-driver will no longer feel bored or sleepy when the vehicle is in motion or parked.

[0252] In various embodiments of the present application, a variety of different control means are provided for the co-driver. These control means include: left turn detection circuit, right turn detection circuit, horn button, accelerator pedal, brake pedal. These different control means are in line with each other to achieve effective control of various control items of the vehicle, which is also a problem that technicians need to solve.

[0253] It should be understood that in the technical solution of the present application, the control points controlled by the left turn detection circuit, the right turn detection circuit, the horn button, the accelerator pedal, and the brake pedal can be any control points connected to the ECU on the vehicle. These control points can be divided into: control points of the body domain controller, control points of the autonomous driving domain controller, and control points of the smart cockpit domain controller.

[0254] Smart cockpit domain controllers include: T-BOX, IVI, and IC.

[0255] IVI, integrating audio and video functions, smartphone and multimedia device mirroring, and applications.

[0256] T-BOX is an in-vehicle component used to communicate with the backend system / mobile phone APP to realize vehicle information display and control of the mobile phone APP, and to realize Telematics functions and emergency rescue phone functions.

[0257] The body domain controller includes BCM, PEPS, TPMS, EPB, ESCL, AC, CCU, LSPM, DSM, and HMC.

[0258] The autonomous driving domain controller includes automatic parking module, 360-degree panoramic parking system, ACC, AEB, and lane keeping module.

[0259] The 360-degree panoramic parking system integrates the vehicle's surrounding conditions through four cameras installed on the front, rear, left and right sides of the vehicle. It can understand the blind spots around the vehicle while displaying a real panoramic view. It can also display a single view on either side and accurately locate the position and distance of obstacles with the help of ruler lines. The owner can intuitively see a 360-degree panoramic bird's-eye view of the vehicle through the display screen, without any blind spots, and can calmly deal with problems such as parking, meeting other vehicles on narrow roads, and avoiding obstacles.

[0260] In ACC, the sensor sends instructions to the actuator based on the driving status of the vehicle in front and the vehicle itself, after calculation and judgment by the ECU, to determine its own driving status and scan the vehicles in front. As long as all vehicles on the road strictly abide by traffic rules and etiquette, and do not change lanes forcibly or cut in line, it can effectively relieve driving fatigue and improve safety.

[0261] The lane keeping module keeps the vehicle in the lane by installing a camera to identify the marking lines of the driving lane. If the vehicle approaches the marking lines and may leave the driving lane, the steering wheel will vibrate or make sounds to draw the driver's attention, and the steering wheel will be slightly turned to correct the driving direction to keep the vehicle in the correct lane. If the steering wheel detects that there is no active intervention for a long time, an alarm will be issued to remind the driver.

[0262] BDM Rongguang LIN line is connected with the window anti-pinch module, rain and sun sensor, etc. The window anti-pinch module realizes the window anti-pinch function through the setting of sensors; the rain and sun sensor can sense the rainfall and sunshine in time to realize feedback.

[0263] The fuel cell hydrogen vehicle electrical processing platform based on the BDM domain controller has a modular and integrated architecture, based on the body domain controller, autonomous driving domain controller, and intelligent cockpit domain controller, thus realizing a complete electrical architecture platform.

[0264] Other electronic control system control points include: electric vehicle battery management system (BMS), electric vehicle whole vehicle controller (VCU), electric vehicle motor controller (ACC), electronic steering column lock (ESCL), electronic power steering system (EPS), adaptive front lighting system (AFS), body control system (BCM), lane departure warning system (LD-WS), automatic parking system (APA), vehicle collision warning system (CCAS), airbag system (SRS), pre-tensioned seat belt (PSB), adaptive variable suspension system (CATS), automatic transmission control unit (TCU), Autosar software components, automatic emergency braking system (AEB), advanced driver assistance system (ADAS), electronic parking brake system (EPB), electronic shift module (ESM).

[0265] How these different control points are distributed on specific control devices, that is, the left turn detection circuit, right turn detection circuit, horn button, accelerator pedal, and brake pedal in this application, and what specific control operations are used to complete the corresponding control parameter adjustment, can be selected in this application in a variety of different ways.

[0266] The first option is called centralized control. That is, all control points are centralized on one control device. For example, the control operations of all control points that need to be controlled can be centralized on one control device, the left turn detection circuit.

[0267] Since the same control device is used to perform control operations on multiple control points at the same time, which control point is targeted at each control operation and what kind of control operation is performed are the problems that the control logic should solve.

[0268] The most direct solution is to integrate all the control points that need to be controlled into a circular linked list. Each control operation is for a control point in the circular linked list. After executing a control operation, the control point for the next control operation is moved back in the circular linked list. In this way, the control operation of all the control points that need to be controlled can be completed over and over again.

[0269] In the control operation performed by each control point, a loop control method can also be adopted. The possible control states of each control point are also formed into a circular linked list. For example, there are three possible working conditions for a control point, namely: state 1, state 2, and state 3. In the first control operation of the control point, the control point flows from state 1 to state 2. Then, in the second control operation of the control point, the control point should flow from state 2 to state 3. After the third control operation of the control point is executed, the control point should flow from state 3 back to state 1.

[0270] In the centralized control mode, relatively complex control operations can also be adopted. For example, the selection of control points can be completed first, and then the control operations of the selected control points can be completed.

[0271] Since all the control points that need to be controlled form a circular linked list, the first step is to find the control points that need to perform control actions in the circular linked list. The specific method of finding is to circularly shift in the circular linked list.

[0272] The control operation of the control device twice in a row can be set as a circular shift execution. For example, the operation of the left turn detection circuit twice in a row is a circular shift in the control point circular linked list. By continuously executing such a circular shift operation, the control point to be controlled can be selected. After the control point is selected, the control operation of the control point is completed through normal control operation.

[0273] The second option is called distributed control. That is, different control points are distributed to different control devices. Each control device is responsible for the control action of only one control point.

[0274] For example, the left turn detection circuit is only responsible for the control operation of the AFS, or is only responsible for the control operation of the BCM.

[0275] In the decentralized control mode, each control device is only responsible for controlling one or several control points. If the number of control devices is equal to the number of control points, or even the number of control points is less than the number of control devices, each control device is only responsible for one control point to complete the control of all control points.

[0276] However, usually, the number of control points is greater than the number of control devices. In this case, the control points can be grouped. Control points with similar functions and related to each other are classified into the same group, and then a specific control device is responsible for the control operation of the control points in a group.

[0277] For a group having multiple different control points, that is, the same control device is responsible for multiple control points, the previous control method of first selecting a specific control point in centralized control and then executing the control action can still be adopted.

[0278] That is to say, different control points in the same group form a circular linked list. First, select the control point to be controlled in the training linked list composed of the control points. After the control point is selected, the control operation of the control point is executed.

[0279] The execution of the control operation can also be carried out in a circular linked list control mode, that is, by selecting a control state in a circular linked list formed by the control states, the control operation of the control point is completed.

[0280] The above-mentioned control point groupings and the corresponding relationships between the groups and the control devices can all be preset through pre-setting operations.

[0281] The third option is hierarchical control. In this control method, each control device no longer corresponds to one or several specific control points. Instead, all control points that need to be controlled are cataloged and classified into a hierarchical system. The specific control device then selects the control point that needs to be controlled in this cataloged hierarchical system to complete the corresponding control operation.

[0282] In hierarchical control, the correspondence between control devices and control points is broken. The correspondence between control devices and control points is no longer one-to-one or one-to-many. In hierarchical control, each control device corresponds to a specific selection function in the control point selection.

[0283] Exemplarily, the left turn detection circuit corresponds to the upper layer, the right turn detection circuit corresponds to the lower layer, the horn button corresponds to OK, the accelerator pedal corresponds to the previous option, and the brake pedal corresponds to the next option.

[0284] In the hierarchical control method, first catalog the control points that need to be controlled, and classify all the control points into a tree-like classification system. This tree-like classification system has its own root node, and then the root node derives multiple different score nodes, that is, subtrees.

[0285] For example, the root node of the classification system is the vehicle electronic control system. Then, its subtrees are the intelligent cockpit domain controller, the body domain controller, and the autonomous driving domain controller. Each subtree continues downward to derive more subtrees.

[0286] The selection operation of the control point is to traverse the entire directory system, that is, the entire tree structure.

[0287] The execution of the instruction to the previous level means jumping from the current level to the previous level. The execution of the instruction to the next level means jumping from the current level to the next level lower than the current level.

[0288] Previous Option and Next Option are jumps between different control items at the same level. There is an original order between the options at the same level. The Previous Option command can jump from the current option to an option with a higher order. The Next Option command can jump from the current option to an option with a lower order.

[0289] Through the above-mentioned jumps between levels and jumps within levels, the entire directory system can be conveniently traversed. After finding the control item to be controlled through the above-mentioned traversal, the determination command can be executed to control the control point to be controlled.

[0290] In the hierarchical control mode, the hierarchical directory system should be displayed by the central control screen of the vehicle, so that the co-pilot can jump between different levels until the corresponding control point is selected.

[0291] In addition, whether it is centralized control, decentralized control, or hierarchical control, certain settings are required for the control process. These settings can be completed through the vehicle's central control screen.

[0292] In centralized control, the order of each control point that needs to be controlled in the circular linked list of control points, and for a specific control point, the order of different control states in the corresponding circular linked list all need to be set in order to complete effective control operations.

[0293] Preferably, in the setting interface of the centralized control, possible control points are used as options, and the co-pilot selects from the options, and the selected items are added to the circular linked list. Among the selected options, the order of the options can be adjusted. In this way, the pre-setting of the control point circular linked list is completed. In the actual centralized control operation, it is only necessary to continuously shift forward or continuously shift backward to select the option that needs to be selected.

[0294] The setting of the circular linked list of control states is similar to the setting of the circular linked list of control points.

[0295] In the distributed control method, how to group different control points and, after grouping, which control device each group corresponds to also require pre-setting operations.

[0296] You can also add the control points that need to be controlled as options. After creating a group of control points, select the control points that need to be added to this group from the options. Each control point can only be added once. After completing the grouping of all control points, correspond a group to a certain control device, and the grouping of control points and the control device association operation are completed.

[0297] Note that when there are a large number of control points, one control device can be associated with multiple groups.

[0298] The setup operation of hierarchical control is more complicated. First of all, how to establish a hierarchical directory system requires setup operation.

[0299] In the compilation process of the entire directory system, all control points that need to be controlled are first classified as options under the corresponding directories to establish a tree-shaped directory system. The entire directory system can only have one root node, which is the vehicle electronic control system.

[0300] In the directory system, the order of different control points in the same level can also be set. Generally speaking, the order of relatively important and commonly used control points should be higher. This will make it easier for the co-pilot to select during the control operation.

[0301] In short, no matter which control method is adopted, setting operation is essential. Through orderly and accurate setting operation, the orderliness of control operation can be significantly improved.

[0302] Fig.12 It is a structural block diagram of an electronic device of the in-vehicle driving game interactive method provided by one or more embodiments of the present invention.

[0303] like Fig.12 As shown, the present application provides an electronic device, including: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus;

[0304] A computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the in-vehicle driving game interactive method.

[0305] The present application also provides a computer-readable storage medium, which stores a computer program that can be executed by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of the in-vehicle driving game interactive method.

[0306] The present application also provides a vehicle, specifically comprising:

[0307] An electronic device for realizing a method for transmitting audio to a vehicle;

[0308] A processor, the processor runs a program, and when the program runs, the data output from the electronic device executes the steps based on the in-vehicle driving game interactive method;

[0309] The storage medium is used to store a program, and when the program is running, it executes the steps based on the vehicle driving game interactive method for the data output from the electronic device.

[0310] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0311] The electronic device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory. The operating system can be any one or more computer operating systems that implement electronic device control through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. In addition, in an embodiment of the present invention, the electronic device can be a handheld device such as a smart phone or a tablet computer, or can be an electronic device such as a desktop computer or a portable computer, which is not particularly limited in the embodiment of the present invention.

[0312] The execution subject of the electronic device control in the embodiment of the present invention may be an electronic device, or a functional module in the electronic device that can call and execute a program. The electronic device may obtain the firmware corresponding to the storage medium. The firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media may be the same or different, which is not limited here. After the electronic device obtains the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium may be burned into the storage medium. The process of burning the firmware into the storage medium may be implemented using existing technology, which will not be described in detail in the embodiment of the present invention.

[0313] The electronic device may also obtain a reset command corresponding to the storage medium. The reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media may be the same or different, and are not limited here.

[0314] At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the existing technology and will not be described in detail in the embodiments of the present invention.

[0315] For the convenience of description, the above devices are described in terms of functions and are divided into various units and modules. Of course, when implementing the present application, the functions of each unit and module can be implemented in the same or multiple software and / or hardware.

[0316] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined.

[0317] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0318] It can be known from the description of the above implementation modes that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute the methods described in the various implementation modes of the present application or certain parts of the implementation modes.

[0319] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An in-vehicle driving game interactive system, characterized in that: The in-vehicle driving game interactive system includes: a driving control terminal module, a control response module, a control instruction calculation module and an interface interaction module; The driving control terminal module is used to obtain command information of human-machine control; The control response module is used to respond to the human-machine control instruction; The control instruction calculation module is used to generate a calculation result under a preset calculation strategy according to the instruction information of human-machine control; The interface interaction module is used to output the calculation results; Wherein, the driving control terminal module includes a main driving control terminal and a non-main driving control terminal; The control response module includes a physical vehicle and a virtual vehicle; The physical vehicle and / or the virtual vehicle responds to the human-machine control command of the main driving control terminal; The virtual vehicle responds to the instruction of the human-machine control of the non-primary driving control terminal; The control instruction calculation module runs a preset calculation strategy according to the human-machine control instructions of the main driving control end and the human-machine control instructions of the non-main driving control end; The preset operation strategy includes the virtual vehicle responding to the instructions of the human-machine control of the main driving control end and the virtual vehicle responding to the instructions of the human-machine control of the non-main driving control end, forming the operation result of the data state interaction of the virtual vehicle; The interface interaction module outputs the calculation result and interacts with the instructions of human-computer control.

2. A method for interactive driving games in a vehicle, characterized in that: Based on the in-vehicle driving game interactive system of claim 1, the in-vehicle driving game interactive method comprises: Obtaining human-computer interaction mode information; Corresponding to the human-computer interaction mode, setting a human-computer interaction operation strategy; According to the human-machine interaction computing strategy, obtaining human-machine control instructions from the main driving control terminal and the non-main driving control terminal; Generate the interactive results of the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the computing strategy of human-machine interaction; The human-computer interface outputs data of the interaction result; Based on the data of the interaction result, the interaction between the main driving control and the non-main driving control is continued.

3. The in-vehicle driving game interactive method according to claim 2, characterized in that: The human-computer interaction mode information includes: a first human-computer interaction mode; Corresponding to the first human-computer interaction module, a human-computer interaction calculation strategy is set for the co-pilot to simulate the real-time driving behavior of the main driver; According to the human-machine interactive computing strategy of the co-pilot simulating the real-time driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained; The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively; Wherein, based on the observation horizon of the current road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the real-time driving behavior data of the main driver and the co-driver are generated respectively; Comparing the real-time driving behavior data of the main driver with the driving behavior data of the co-driver, generating data on the difference between the driving behavior of the co-driver and the real-time driving behavior of the main driver; Based on the data of the difference between the co-pilot's driving behavior and the main driver's real-time driving behavior, the evaluation results are output on the human-machine interface.

4. The in-vehicle driving game interactive method according to claim 2, characterized in that: The human-computer interaction mode information includes: a second human-computer interaction mode; Corresponding to the second human-computer interaction module, a human-computer interaction calculation strategy for the co-pilot to simulate the historical driving behavior of the main driver is set; According to the human-machine interactive computing strategy of the co-pilot simulating the historical driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained; The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively; Wherein, based on the observation horizon of historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the historical driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively; Comparing the data of the co-driver's driving behavior with the data of the driver's historical driving behavior to generate data on the difference between the co-driver's driving behavior and the driver's historical driving behavior; Based on the data of the difference between the co-pilot's driving behavior and the main driver's historical driving behavior, the evaluation results are output on the human-machine interface.

5. The in-vehicle driving game interactive method according to claim 2, characterized in that: The human-computer interaction mode information includes: a third human-computer interaction mode; Corresponding to the third human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot to simulate the automatic driving behavior of the main driver; According to the human-machine interactive computing strategy of the co-pilot simulating the automatic driving behavior of the main driver, the human-machine control instructions of the main driver control terminal and the co-pilot control terminal are obtained; The human-machine control instructions of the main driving control terminal and the co-pilot control terminal include human-machine control instructions belonging to the steering wheel area, pedal area, gear area and / or control panel area of ​​the main driving and co-pilot respectively; Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control console area of ​​the main driver and the co-driver, the data of the automatic driving behavior of the main driver and the data of the driving behavior of the co-driver are generated respectively; Comparing the data of the driving behavior of the co-driver with the data of the driving behavior of the main driver, generating data on the difference between the driving behavior of the co-driver and the driving behavior of the main driver; Based on the data of the difference between the co-pilot's driving behavior and the main driver's automatic driving behavior, the evaluation results are output on the human-machine interface.

6. The in-vehicle driving game interactive method according to claim 2, characterized in that: The human-computer interaction mode information includes: a fourth human-computer interaction mode; Corresponding to the fourth human-machine interaction module, a human-machine interaction computing strategy is set for the co-pilot and the rear seats to respectively simulate the driving behavior of the main driver; According to the human-machine interactive computing strategy of simulating the driving behavior of the main driver for the co-pilot and the rear seat, the human-machine control instructions of the main driver control terminal, the co-pilot and the rear seat control terminal are obtained; The human-machine control instructions of the main driving control terminal, the co-pilot and the rear seat control terminal include the human-machine control instructions belonging to the steering wheel area, the pedal area, the gear area and / or the control console area of ​​the main driving, the co-pilot and the rear seat; Wherein, based on the observation horizon of current or historical road driving, according to the human-machine control instructions of the steering wheel area, pedal area, gear area or / and control panel area of ​​the main driver, the co-driver and the rear seat, the data of the driving behavior of the main driver and the co-driver and the rear seat are generated respectively; Compare the driving behavior data of the co-pilot and the rear seat with the driving behavior data of the main driver to generate the difference data between the driving behavior of the co-pilot and the rear seat and the driving behavior of the main driver; Based on the data on the differences in driving behavior between the front passenger and rear seat drivers and the main driver, the evaluation results are output on the human-machine interface.

7. The in-vehicle driving game interactive method according to any one of claims 2 to 6, characterized in that: Outputting the evaluation results on the human-machine interface includes: Set scoring strategies based on the driving behavior of the co-pilot and / or rear seat simulation driver; The scoring strategy includes outputting scores for evaluation on a human-machine interface based on human-machine control instructions of the main driving control terminal, the co-pilot and / or rear seat control terminals, and corresponding vehicle driving status, and data corresponding to the difference between the driving behavior of the co-pilot and / or rear seat and the driving behavior of the main driver; The state of the vehicle driving track formed by the human-machine control command of the main driver is tracked according to the vehicle driving track formed by the human-machine control command of the co-pilot and / or the rear seat, and a scoring display is formed; The scoring display includes a fitting scoring display of a speed trajectory and a path trajectory that tracks the vehicle's travel track.

8. The in-vehicle driving game interactive method according to claim 7, characterized in that: Also includes: According to the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seat, the vehicle driving trajectory formed by the human-machine control instructions of the main driver is tracked, and the scoring sampling points are set; Generate a fitting scoring display of the vehicle's running track based on the scoring sampling points; Among them, the scoring sampling points include scoring sampling points with geographic coordinates as the reference system and scoring sampling points with the time axis as the reference system.

9. The in-vehicle driving game interactive method according to claim 8, characterized in that: Also includes: Running deep learning models in the background; Among them, based on the same road conditions as the main driver, the vehicle driving trajectory formed by the human-machine control instructions of the co-pilot and / or the rear seats tracks the vehicle driving trajectory formed by the human-machine control instructions of the main driver, and forms a scoring display, which is a deep learning model for driving decision training.

10. An in-vehicle driving game interactive device, characterized in that: The vehicle-mounted driving game interactive device comprises: An information acquisition module, used to obtain human-computer interaction mode information; A strategy setting module, used to set a human-computer interaction operation strategy corresponding to the human-computer interaction mode; An instruction acquisition module, used for acquiring human-machine control instructions of a main driving control terminal and a non-main driving control terminal according to the computing strategy of the human-machine interaction; A result generation module, used to generate the interaction results of the main driving control and the non-main driving control according to the human-machine control instructions of the main driving control terminal and the non-main driving control terminal, and the calculation strategy of the human-machine interaction; An interface output module is used to output the data of the interaction result on a human-computer interface; The interaction continuation module is used to continue the interaction between the main driving control and the non-main driving control according to the data of the interaction result.

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