Human-computer interaction method, device, electronic device, vehicle and medium for changing lanes of vehicle

Abstract

The present application provides a human-computer interaction method, device, electronic device, vehicle and medium for vehicle lane change, the method comprising: obtaining real-time perception data of the vehicle's surrounding environment, generating and displaying lane touch markers corresponding to lanes in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane; when the touch operation received by the lane touch marker reaches the touch condition for lane change, judging whether the safety condition for lane change is met based on the real-time perception data, and controlling whether the vehicle changes lanes to the target lane based on the judgment result. The human-computer interaction method for vehicle lane control provided by the present application improves the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of autonomous driving.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a human-computer interaction method, device, electronic device, vehicle and storage medium for vehicle lane change. Background Art

[0002] In recent years, with the development of intelligent driving technology, more and more vehicles on the market have automatic driving functions. The realization of automatic driving functions depends on the vehicle's Advanced Driver Assistance System (ADAS). After the vehicle starts automatic driving, the Advanced Driver Assistance System can obtain real-time data about the vehicle's environment and make judgments based on preset intelligent driving strategies, and control the vehicle to follow traffic rules and drive safely to the destination along the planned route.

[0003] However, in the related technologies, most of the autonomous driving driving modes are preset. If the advanced driving assistance system controls the vehicle to drive according to the preset driving mode, the user will not be able to control the vehicle to drive according to his or her own driving habits.

[0004] Therefore, it is necessary to provide a technical solution to solve the above technical problems. Summary of the invention

[0005] The present application provides a human-computer interaction method, device, electronic device, vehicle and storage medium for vehicle lane change, which can control the vehicle to change lanes to a lane specified by a user.

[0006] In a first aspect, the present application provides a human-computer interaction method for a vehicle lane change, comprising:

[0007] Acquire real-time perception data of the vehicle's surrounding environment, and generate and display a lane touch mark corresponding to a lane in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the lane touch mark is used to indicate real-time lane information about the lane in the real-time perception data;

[0008] detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane;

[0009] When the touch operation received by the lane touch marker reaches the touch condition for lane changing, it is determined whether the safety condition for lane changing is met according to the real-time perception data, and based on the determination result, it is controlled whether the vehicle changes lanes to the target lane.

[0010] Optionally, when the touch operation received by the lane touch marker reaches the touch condition for lane change, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, including:

[0011] If the type of touch operation received by the lane touch indicator is a preset lane change touch type, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result;

[0012] If the type of the touch operation received by the lane touch marker is not the lane change touch type, the vehicle is controlled to maintain the current driving state.

[0013] Optionally, the lane touch identification includes a lane touch graphic;

[0014] The lane change touch types include:

[0015] The lane touch graphic is long pressed, the lane touch graphic is clicked once, or the lane touch graphic is clicked multiple times in succession.

[0016] Optionally, the lane touch identification includes a lane touch number;

[0017] The lane change touch types include:

[0018] The lane touch number is long pressed, the lane touch number is clicked once, or the lane touch number is clicked multiple times in succession.

[0019] Optionally, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, includes:

[0020] According to the real-time lane information, determining whether the target lane is the lane where the vehicle is currently located;

[0021] If yes, control the vehicle to maintain the current state;

[0022] If not, when the real-time perception data meets the safety condition for lane change, the vehicle is controlled to change lanes to the target lane.

[0023] Optionally, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, includes:

[0024] According to the real-time lane information, determining whether the target lane is adjacent to the lane where the vehicle is currently located;

[0025] If yes, when the real-time perception data meets the safety condition for lane change, the vehicle is controlled to change lanes directly to the target lane;

[0026] If not, when the real-time perception data satisfies the safety condition for lane change, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0027] Optionally, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, includes:

[0028] Determining a lane changing direction of the vehicle according to the real-time lane information;

[0029] Turning on a turn signal on the vehicle corresponding to the lane changing direction, and when the real-time perception data satisfies a safety condition for lane changing, controlling the vehicle to change lanes to the target lane.

[0030] Optionally, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, includes:

[0031] According to the real-time lane information, determining whether the real-time road condition meets the safety conditions for lane change, and obtaining a determination result;

[0032] According to the judgment result, whether the vehicle changes lane to the target lane is controlled.

[0033] Optionally, after controlling whether the vehicle changes lanes to the target lane according to the judgment result, the human-computer interaction method for vehicle lane change further includes:

[0034] If the judgment result is yes, a cancel lane change touch icon and / or a continue lane change touch icon are displayed; wherein the cancel lane change touch icon is used to instruct the vehicle to cancel the lane change to the target lane, and the continue lane change touch icon is used to instruct the vehicle to continue the lane change to the target lane;

[0035] If it is detected that the cancel lane change touch mark is touched, the vehicle is controlled to change lanes back to the original lane or stay in the lane where the vehicle is currently located;

[0036] If it is detected that the continue lane change touch mark is touched, the vehicle is controlled to continue changing lanes to the target lane.

[0037] In a second aspect, the present application provides a human-machine interaction device for a vehicle lane change, comprising:

[0038] A display module, used to obtain real-time perception data of the surrounding environment of the vehicle, and generate and display a lane touch mark corresponding to the lane in the surrounding environment on the intelligent driving perception screen of the vehicle according to the real-time perception data; wherein the lane touch mark is used to indicate the real-time lane information in the real-time perception data;

[0039] A touch module, used for detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane;

[0040] The control module is used to determine whether the safety conditions for lane changing are met according to the real-time perception data when the touch operation received by the lane touch marker reaches the touch conditions for lane changing, and control whether the vehicle changes lanes to the target lane according to the judgment result.

[0041] In a third aspect, the present application provides an electronic device comprising at least one processor, wherein the processor is used to implement the human-computer interaction method for vehicle lane change as described in any one of the first aspects.

[0042] In a fourth aspect, the present application provides a vehicle comprising at least one processor, wherein the processor is used to implement the human-computer interaction method for vehicle lane change as described in any one of the first aspects.

[0043] In a fifth aspect, the present application provides a computer-readable storage medium having a program stored thereon, and when the program is executed by a processor, the human-computer interaction method for vehicle lane change as described in any one of the first aspects is implemented.

[0044] In the human-computer interaction method, device, electronic device, vehicle and storage medium for vehicle lane change provided by the present application, a lane touch mark corresponding to the lane in the surrounding environment of the vehicle is generated and displayed on the intelligent driving perception screen of the vehicle, and the user's touch operation is detected in real time, the target lane is determined according to the touch operation, and the vehicle is controlled to change lanes to the target lane when the touch operation meets the conditions for lane change, thereby providing a touch interaction method between the user and the intelligent driving system, so that the user can request the intelligent driving system to control the vehicle to change lanes to the target lane specified by the user through touch interaction. In addition, before controlling the vehicle to change lanes to the target lane, it also comprehensively considers whether the real-time perception data of the surrounding environment meets the safety conditions for lane change, while improving the personalization of the intelligent driving system and ensuring driving safety, thereby improving the user experience of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] Figure 1Shown is a schematic diagram of a scenario in which the human-computer interaction method for changing lanes of a vehicle according to an embodiment of the present application is applicable.

[0047] Figure 2 Shown is a flow chart of a human-computer interaction method for vehicle lane changing according to an embodiment of the present application.

[0048] Figure 3 Shown is a schematic diagram of an electronic image according to an embodiment of the present application.

[0049] Figure 4 Shown is a structural block diagram of a human-computer interaction device for changing lanes of a vehicle according to an embodiment of the present application.

[0050] Figure 5 Shown is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] Here, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0052] The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the attached claims. It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0053] In the related art, in vehicles with autonomous driving functions, the advanced driving assistance system usually controls the vehicle to drive according to a preset driving mode, making it impossible for users to control the vehicle to drive according to their own wishes.

[0054] In order to solve the technical problem in the related art that the user cannot control the vehicle to drive as he or she wishes when the vehicle is automatically driving, the embodiment of the present application provides a human-computer interaction method for vehicle lane changing, by generating and displaying lane touch marks corresponding to lanes in the surrounding environment of the vehicle on the vehicle's intelligent driving perception screen, and detecting the user's touch operation in real time, determining the target lane according to the touch operation, and controlling the vehicle to change lanes to the target lane when the touch operation meets the conditions for lane changing, thereby providing a touch interaction method between the user and the intelligent driving system, so that the user can request the intelligent driving system to control the vehicle to change lanes to the target lane specified by the user through touch interaction.

[0055] In addition, in the related art, if the driving mode preset by the advanced driving assistance system does not conform to the user's driving habits, the user wants to drive the vehicle as he wishes, and needs to take over the vehicle from the advanced driving assistance system. The advanced driving assistance system exits the control of the vehicle, and the user drives the vehicle as the driver. In other words, when the vehicle is driving, the vehicle is either completely controlled by the advanced driving assistance system or completely driven by the user, which results in inflexible control methods for manual driving and automatic driving, and poor user experience of automatic driving. For example, when the advanced driving assistance system controls the vehicle, the user wants to change lanes from the current lane to a slow or fast lane, but the advanced driving assistance system cannot determine the target lane that the user wants to change lanes to.

[0056] In order to solve the technical problem of inflexible control methods of manual driving and automatic driving in related technologies, the embodiment of the present application provides a human-machine interaction method for vehicle lane change. Before controlling the vehicle to change lanes to the target lane, it also comprehensively considers whether the real-time perception data of the surrounding environment meets the safety conditions for lane change. Through the user performing touch operations and the intelligent driving system detecting touch operations in real time, the user and the intelligent driving system cooperate with each other, making the control methods of manual driving and automatic driving more flexible, and ensuring driving safety while improving the personalization of the intelligent driving system, thereby improving the user experience of automatic driving.

[0057] See also Figure 1 , Figure 1 The diagram is a schematic diagram of a scenario applicable to the human-machine interaction method for changing lanes of a vehicle according to an embodiment of the present application. The human-machine interaction method for changing lanes of a vehicle provided in the embodiment of the present application can be applied to a vehicle 10 having an intelligent driving system. The vehicle 10 may include a touch screen 11 and an electronic device connected to the touch screen 11. The electronic device may be, but is not limited to, a controller or a processor. The controller may include, but is not limited to, a body controller, a domain controller, and other devices, which are not listed one by one here. It should be noted that the vehicle 10 may also include Figure 1 For the introduction of other components not shown in the figure, please refer to the relevant description in the automotive field, which will not be described in detail here.

[0058] Please also read Figure 2 , Figure 2 The flowchart of the human-computer interaction method for changing lanes of a vehicle according to an embodiment of the present application is shown. The human-computer interaction method for changing lanes of a vehicle provided by the embodiment of the present application includes but is not limited to the following steps S101 to S103.

[0059] S101, obtaining real-time perception data of the vehicle's surrounding environment, and based on the real-time perception data, generating and displaying a lane touch marker corresponding to the lane in the surrounding environment on the vehicle's intelligent driving perception screen; wherein the lane touch marker is used to indicate real-time lane information about the lane in the real-time perception data.

[0060] The intelligent driving system can sense the surrounding environment of the vehicle in real time during driving through various sensors installed on the vehicle (such as millimeter wave radar, laser radar, single / binocular camera and satellite navigation, etc.), obtain real-time perception data of the surrounding environment of the vehicle, and identify, detect and track static and dynamic objects based on the real-time perception data. In order to show the user the surrounding environment of the vehicle and facilitate the user to grasp the information of the surrounding environment of the vehicle in real time, the intelligent driving system can generate and display an electronic image of the surrounding environment of the vehicle on the Advanced Driver Assistance System View (ADV) of the vehicle.

[0061] The electronic image may include a vehicle identification and a lane identification. Among them: the vehicle identification is an identification corresponding to a vehicle in the surrounding environment of the own vehicle, which may include a vehicle identification corresponding to the own vehicle and an other vehicle identification corresponding to another vehicle, which is used to indicate real-time vehicle information in the surrounding environment; the lane identification is an identification corresponding to a lane in the surrounding environment of the own vehicle, which may include an identification corresponding to the own lane where the own vehicle is located and an identification corresponding to another lane where the own vehicle is not located, which is used to indicate real-time lane information in the surrounding environment. In some embodiments, the electronic image may also only include the own vehicle identification and the lane identification without including other vehicle identification. The embodiment of the present application does not limit the specific types of perceived objects in the surrounding environment of the own vehicle contained in the electronic image.

[0062] Please also read Figure 3 , Figure 3 The electronic image of the embodiment of the present application is shown as a schematic diagram. The electronic image includes the vehicle identification, the other vehicle identification and the lane identification. The other vehicle identification may include the other vehicle graphic and / or the other vehicle number. The lane identification may include the lane graphic and / or the lane number. Figure 3 The electronic images shown are described in detail.

[0063] Lane markings include lane graphics and lane numbers ①, ②, ③ and ④. Among them: a solid line and a dotted line in the longitudinal direction constitute the lane graphics of the rightmost lane (lane ①) in the same direction, two dotted lines in the longitudinal direction constitute the lane graphics of the middle lane (lane ②) in the same direction, a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ③) in the same direction, and a dotted line and a solid line in the longitudinal direction constitute the lane graphics of the leftmost lane (lane ④) in the opposite direction.

[0064] The other vehicle identification includes the other vehicle graphic and the other vehicle number A, B, C, D. Among them: Vehicle A, Vehicle B and Vehicle C are vehicles traveling in the same direction in lane ①, lane ② and lane ③ respectively, and Vehicle D is a vehicle traveling in the opposite direction in lane ④.

[0065] Setting the lane marker as a touchable marker forms a lane touch marker. The lane touch marker may include a lane touch number (touchable lane number) and / or a lane touch graphic (touchable lane graphic). Compared to the lane marker, the lane touch marker is used not only to indicate the real-time lane information in the surrounding environment of the vehicle, but also to receive the user's touch operation. The user can specify the lane by touching the lane touch marker in the electronic image. Because the lane touch number marker is small, the user needs to touch accurately to make the touch operation effective. Therefore, in order to facilitate the user to perform touch operations on the lane touch marker, the entire lane graphic can be set to be touchable so that the lane touch graphic covers the entire lane graphic, so that the user can perform touch operations at any position of the lane graphic without having to accurately touch the lane touch graphic located at a certain place.

[0066] It should be noted that Figure 3 In the electronic image shown, the vehicle logo is black, the other vehicle logos of cars B and C are white, the other vehicle logos of cars A and D are gray, the lane graphics of lanes ①, ②, and ③ are white, and the lane graphics of lane ④ is gray ( Figure 3) Wherein: a white other vehicle logo indicates that the current self-vehicle can perform at least one vehicle control method (such as overtaking or following) relative to the other vehicle represented by the other vehicle logo, and a gray other vehicle logo indicates that the current self-vehicle cannot perform any vehicle control method relative to the other vehicle represented by the other vehicle logo; similarly, a white lane graphic indicates that the current self-vehicle can perform at least one lane control method (such as changing lanes) relative to the lane represented by the lane graphic, and a gray lane graphic indicates that the current self-vehicle cannot perform any lane control method relative to the lane represented by the lane graphic. In a specific scenario, the colors of the other vehicle logos corresponding to different other vehicles and the lane graphics corresponding to different lanes can be specifically set, and the colors of the lane numbers corresponding to different lanes can also be different. For example, the self-vehicle logo can be set to the real color of the self-vehicle, the other vehicle logo on which at least one vehicle control method can be performed can be set to green, and the other vehicle logo on which no vehicle control method can be performed can be set to red. The embodiment of the present application does not limit the specific colors of different lane logos, different other vehicle logos, and self-vehicle logos.

[0067] S102, detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane.

[0068] When the user performs a touch operation on the lane touch indicator, the lane touch indicator will receive the touch operation. However, because the user generally only specifies one lane, only one lane touch indicator will receive the touch operation. The lane corresponding to the lane touch indicator that receives the touch operation is the lane specified by the user, that is, the target lane.

[0069] S103, when the touch operation received by the lane touch marker reaches the touch condition for lane change, determine whether the safety condition for lane change is met based on the real-time perception data, and control whether the vehicle changes lanes to the target lane based on the determination result.

[0070] When the touch operation received by the lane touch marker corresponding to the target lane meets the touch conditions for lane change, the intelligent driving system confirms that the user wants to control the vehicle to change lanes to the target lane. However, the intelligent driving system also needs to determine whether the real-time road conditions are safe based on the real-time lane information before deciding whether to control the vehicle to change lanes to the target lane. If the real-time lane information does not allow it, the intelligent driving system will not control the vehicle to change lanes to the target lane. For example Figure 3 In the electronic image shown, if the current vehicle is traveling in lane ② and the target lane is lane ③, it means that the user wants to control the vehicle to change lanes to lane ③. At this time, the vehicle will pass through an intersection. Lane ③ is a left turn lane, and the vehicle's driving route is straight. In this case, the real-time road condition is not safe, and the vehicle cannot be controlled to change lanes to lane ③. The vehicle must pass the intersection before it can be controlled to change lanes to lane ③.

[0071] In some embodiments, in the above step S103, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, specifically includes the following steps:

[0072] Based on the real-time lane information, it is determined whether the real-time road conditions meet the safety conditions for lane change, and based on the determination result, the vehicle is controlled to change lanes to the target lane.

[0073] In some embodiments, in the above step S103, when the touch operation received by the lane touch indicator reaches the touch condition for lane change, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, the following steps are specifically included:

[0074] If the type of touch operation received by the lane touch indicator is a preset lane change touch type, then judging whether the safety conditions for lane change are met based on the real-time sensing data, and controlling whether the vehicle changes lanes to the target lane based on the judgment result;

[0075] If the type of touch operation received by the lane touch marker is not the preset lane change touch type, the vehicle is controlled to maintain the current driving state.

[0076] The intelligent driving system may preset one or more lane change touch types. When a user performs a lane change touch type touch operation on a lane touch mark, it may be considered that the user wants to control the vehicle to change lanes to the lane corresponding to the lane touch mark. The lane change touch type may be a common touch type, such as long press, single click, multi-click, or drag.

[0077] If the type of touch operation received by the lane touch marker corresponding to the target lane is a lane change touch type, it means that the user has performed a lane change touch type touch operation on the lane touch marker corresponding to the target lane, which means that the user wants to control the vehicle to change lanes to the target lane. Then, based on the real-time perception data, it is determined whether the safety conditions for lane change are met, and based on the determination result, the vehicle is controlled to change lanes to the target lane.

[0078] If the type of touch operation received by the lane touch marker corresponding to the target lane is not the lane change touch type, it means that although the user has performed a touch operation on the lane touch marker corresponding to the target lane, he has not performed a touch operation of the lane change touch type, which means that the user does not want to control the vehicle to change lanes to the target lane, or the user wants to control the vehicle to change lanes to the target lane but has not performed the correct touch operation. In this case, the vehicle is controlled to maintain the current driving state.

[0079] In some embodiments, the lane touch identification in the above step S101 includes a lane touch graphic, and the lane change touch type in the above step includes: the lane touch graphic is long pressed, the lane touch graphic is clicked once, or the lane touch graphic is clicked multiple times in succession.

[0080] In some embodiments, the lane touch identification in the above step S101 includes a lane touch number, and the lane change touch type in the above step includes: the lane touch number is long pressed, the lane touch number is clicked once, or the lane touch graphic is clicked multiple times in succession.

[0081] like Figure 3 As shown, the lane touch identification includes a lane touch number and a lane touch graphic. Among them, the lane change touch type can be a long press, a single click, or multiple clicks on the lane touch number, and the lane change touch type can also be a long press, a single click, or multiple clicks on the lane touch graphic.

[0082] In some embodiments, only by touching the lane touch graphic can the vehicle be controlled to change lanes to the lane corresponding to the touched lane touch graphic. For example, the user can only request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch graphic by long pressing, single clicking, or multiple clicking on the lane touch graphic.

[0083] In some embodiments, the vehicle can be controlled to change lanes to the lane corresponding to the touched lane touch number or lane touch graphic by touching the lane touch number or lane touch graphic. For example, the user can request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch number by clicking or double-clicking the lane touch number, or can request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch graphic by clicking or triple-clicking the lane touch graphic.

[0084] It should be noted that when the lane touch number or lane touch graphic can be touched to control the vehicle to change lanes to the lane corresponding to the touched lane touch number or lane touch graphic, the lane change touch type is not limited to a single click or double click on the lane touch number or a double click or triple click on the lane touch graphic, but can also be other methods. For example, the user can request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch number or lane touch graphic by single clicking on the lane touch number or long pressing on the lane touch graphic. The embodiment of the present application does not limit the specific form of the lane change touch type.

[0085] In some embodiments, in the above step S103, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, specifically includes the following steps:

[0086] According to the real-time lane information, determine whether the target lane is the lane where the vehicle is currently located;

[0087] If so, the vehicle is controlled to maintain the current state;

[0088] If not, when the real-time perception data meets the safety conditions for lane change, the vehicle is controlled to change lanes to the target lane.

[0089] If the target lane is not the lane where the ego vehicle is currently located, it means that the ego vehicle is not currently driving in the target lane. In this case, when the real-time perception data meets the safety conditions for lane change, the ego vehicle needs to be controlled to change lanes to the target lane in response to the user's touch operation on the lane touch mark corresponding to the target lane. If the target lane is the lane where the ego vehicle is currently located, it means that the ego vehicle is currently driving in the target lane. In this case, the ego vehicle only needs to be controlled to maintain the current state and does not need to be controlled to change lanes to the target lane.

[0090] In some embodiments, in the above step S103, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, specifically includes the following steps:

[0091] According to the real-time lane information, determine whether the target lane is adjacent to the lane where the vehicle is currently located;

[0092] If so, when the real-time perception data meets the safety conditions for lane change, the vehicle is controlled to change lanes directly to the target lane;

[0093] If not, when the real-time perception data meets the safety conditions for lane change, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0094] If the target lane is adjacent to the lane the vehicle is currently in, the vehicle can be controlled to change lanes directly to the target lane. If the target lane is not adjacent to the lane the vehicle is currently in, the vehicle needs to be controlled to change lanes from the lane the vehicle is currently in to the adjacent lanes multiple times until it changes lanes to the target lane.

[0095] In some embodiments, in the above step S103, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, specifically includes the following steps:

[0096] Determine the lane change direction of the vehicle according to the real-time lane information;

[0097] Turn on the turn signal on the vehicle corresponding to the lane change direction, and when the real-time perception data meets the safety conditions for lane change, control the vehicle to change lanes to the target lane.

[0098] The intelligent driving system can determine the relative position of the target lane and the lane the vehicle is currently in based on real-time lane information, thereby determining the lane change direction of the vehicle.

[0099] If the target lane is to the left of the lane where the ego vehicle is currently located, it means that the target lane is to the left of the lane where the ego vehicle is currently located. In this case, the ego vehicle needs to change lanes to the left once or multiple times. After turning on the left turn signal of the ego vehicle, when the real-time perception data meets the safety conditions for lane change, the ego vehicle is controlled to change lanes to the left to drive to the target lane.

[0100] If the target lane is on the right relative to the lane where the ego vehicle is currently located, it means that the target lane is on the right side of the lane where the ego vehicle is currently located. In this case, the ego vehicle needs to change lanes to the right once or multiple times. After turning on the right turn signal of the ego vehicle, when the real-time perception data meets the safety conditions for lane change, the ego vehicle is controlled to change lanes to the right to the target lane.

[0101] In some embodiments, after determining whether the safety condition for lane change is met based on the real-time perception data in step S103, and controlling whether the vehicle changes lanes to the target lane based on the determination result, the human-computer interaction method for lane change of a vehicle in the embodiment of the present application further includes the following steps:

[0102] If the judgment result is yes, a cancel lane change touch icon and / or a continue lane change touch icon are displayed; wherein the cancel lane change touch icon is used to indicate cancellation of the lane change to the target lane, and the continue lane change touch icon is used to indicate continuation of the lane change to the target lane;

[0103] If it is detected that the cancel lane change touch mark is touched, the vehicle is controlled to change lanes back to the original lane or stay in the current lane;

[0104] If it is detected that the continue lane change touch mark is touched, the vehicle is controlled to continue changing lanes to the target lane.

[0105] During the process of controlling the vehicle to change lanes to the target lane, the user may change his mind and no longer want to change lanes to the target lane. At this time, the intelligent driving system can display a cancel lane change touch icon and / or a continue lane change touch icon on the intelligent driving perception screen of the vehicle, indicating canceling the lane change to the target lane and continuing the lane change to the target lane, respectively.

[0106] The user can perform touch operations on the cancel lane change touch icon or the continue lane change touch icon. If the cancel lane change touch icon is detected to be touched, it means that the user does not want to continue changing lanes to the target lane, and the vehicle is controlled to change lanes back to the original lane or stay in the current lane. If the continue lane change touch icon is detected to be touched, it means that the user wants to continue changing lanes to the target lane, and the vehicle is controlled to continue changing lanes to the target lane.

[0107] The present application also provides a human-machine interaction device for changing lanes of a vehicle. Figure 4 , Figure 4 The structure block diagram of the human-machine interaction device for changing lanes of a vehicle according to an embodiment of the present application is shown. The human-machine interaction device 21 for changing lanes of a vehicle provided by the embodiment of the present application may include:

[0108] The display module 211 is used to obtain real-time perception data of the surrounding environment of the vehicle, and based on the real-time perception data, generate and display a lane touch mark corresponding to the lane in the surrounding environment on the intelligent driving perception screen of the vehicle; wherein the lane touch mark is used to indicate the real-time lane information about the lane in the real-time perception data;

[0109] The touch module 212 is used to detect the touch operation received by the lane touch mark in real time, and determine the lane corresponding to the touched lane touch mark as the target lane;

[0110] The control module 213 is used to determine whether the safety conditions for lane changing are met based on the real-time perception data when the touch operation received by the lane touch marker reaches the touch conditions for lane changing, and control whether the vehicle changes lanes to the target lane based on the judgment result.

[0111] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and the same technical effect can be achieved, which will not be repeated here.

[0112] In some embodiments, the control module 213 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the judgment result. Specifically, it is used to: determine whether the real-time road conditions meet the safety conditions for lane changing based on the real-time lane information, and control whether the vehicle changes lanes to the target lane based on the judgment result.

[0113] In some embodiments, when the touch operation received by the lane touch marker reaches the touch condition for lane changing, the control module 213 determines whether the safety condition for lane changing is met based on the real-time perception data, and controls the vehicle to change lanes to the target lane based on the judgment result. Specifically, it is used for: if the type of touch operation received by the lane touch marker is the lane changing touch type, then determine whether the safety condition for lane changing is met based on the real-time perception data, and control the vehicle to change lanes to the target lane based on the judgment result; if the type of touch operation received by the lane touch marker is not the lane changing touch type, then control the vehicle to maintain the current driving state.

[0114] In some embodiments, the control module 213 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls the vehicle to change lanes to the target lane based on the judgment result. Specifically, it is used to: determine whether the target lane is the lane where the vehicle is currently located based on the real-time lane information; if so, control the vehicle to maintain the current driving state; if not, when the real-time perception data meets the safety conditions for lane changing, control the vehicle to change lanes to the target lane.

[0115] In some embodiments, the control module 213 determines whether the safety conditions for lane change are met based on the real-time perception data, and controls the vehicle to change lanes to the target lane based on the judgment result. Specifically, it is used to: determine whether the target lane is adjacent to the lane where the vehicle is currently located based on the real-time lane information; if so, when the real-time perception data meets the safety conditions for lane change, control the vehicle to change lanes directly to the target lane; if not, when the real-time perception data meets the safety conditions for lane change, control the vehicle to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

[0116] In some embodiments, the control module 213 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls the vehicle to change lanes to the target lane based on the judgment result. Specifically, it is used to: determine the lane changing direction of the vehicle based on the real-time lane information; turn on the turn signal on the vehicle corresponding to the lane changing direction, and when the real-time perception data meets the safety conditions for lane changing, control the vehicle to change lanes to the target lane.

[0117] In some embodiments:

[0118] The display module 211 is also used for: after the control module 213 determines whether the safety condition for lane change is met according to the real-time perception data, and controls whether the vehicle changes lanes to the target lane according to the determination result, if the determination result is yes, displaying a cancel lane change touch mark and / or a continue lane change touch mark; wherein the cancel lane change touch mark is used to indicate cancellation of the lane change to the target lane, and the continue lane change touch mark is used to indicate continuation of the lane change to the target lane;

[0119] The control module 213 is also used for: after the display module 211 displays the cancel lane change touch mark and / or the continue lane change touch mark, if it is detected that the cancel lane change touch mark is touched, then the vehicle is controlled to change lanes back to the original lane or stay in the current lane; if it is detected that the continue lane change touch mark is touched, then the vehicle is controlled to continue changing lanes to the target lane.

[0120] The present application also provides an electronic device, which may include the above-mentioned vehicle lane changing human-machine interaction device 21. Figure 5 , Figure 5The electronic device 20 may include one or more processors 22, and the processor 22 is used to implement the above-mentioned human-computer interaction method for vehicle lane change.

[0121] In some embodiments, the electronic device 20 may include a computer-readable storage medium 23, which may store a program that can be called by the processor 22 and may include a non-volatile storage medium. In other embodiments, the electronic device 20 may also include a memory 24 and an interface 25. In other embodiments, the electronic device 20 may also include other hardware according to actual applications.

[0122] The computer-readable storage medium 23 provided in the embodiment of the present application stores a program thereon, which, when executed by the processor 22, is used to implement the above-mentioned human-computer interaction method for vehicle lane change.

[0123] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 23 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage medium 23 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be a computer-readable instruction, a data structure, a module of a program, or other data. The computer-readable storage medium 23 includes but is not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassette, tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0124] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

[0125] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the phrase "includes a ..." defines an element, and does not exclude the presence of other identical elements in the process, method, commodity or device including the element.

Claims

1. A human-computer interaction method for vehicle lane change, characterized in that: include: Acquire real-time perception data of the vehicle's surrounding environment, and generate and display a lane touch mark corresponding to a lane in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the lane touch mark is used to indicate real-time lane information about the lane in the real-time perception data; detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane; When the touch operation received by the lane touch marker reaches the touch condition for lane change, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result; If the judgment result is yes, a cancel lane change touch icon and / or a continue lane change touch icon are displayed; wherein, the cancel lane change touch icon is used to instruct the vehicle to cancel the lane change to the target lane, and the continue lane change touch icon is used to instruct the vehicle to continue the lane change to the target lane.

2. The human-computer interaction method for vehicle lane change according to claim 1, characterized in that: When the touch operation received by the lane touch marker reaches the touch condition for lane change, judging whether the safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result, including: If the type of touch operation received by the lane touch indicator is a preset lane change touch type, judging whether a safety condition for lane change is met according to the real-time perception data, and controlling whether the vehicle changes lanes to the target lane according to the judgment result; If the type of the touch operation received by the lane touch marker is not the lane change touch type, the vehicle is controlled to maintain the current driving state.

3. The human-computer interaction method for vehicle lane change according to claim 2, characterized in that: The lane touch control mark includes a lane touch control graphic; The lane change touch types include: The lane touch graphic is long pressed, the lane touch graphic is clicked once, or the lane touch graphic is clicked multiple times in succession.

4. The human-computer interaction method for vehicle lane change according to claim 2, characterized in that: The lane touch identification includes a lane touch number; the lane change touch type includes: The lane touch number is long pressed, the lane touch number is clicked once, or the lane touch number is clicked multiple times in succession.

5. The human-computer interaction method for vehicle lane change according to any one of claims 1 to 4, characterized in that: The determining, based on the real-time perception data, whether a safety condition for lane change is met, and controlling, based on the determination result, whether the vehicle changes lanes to the target lane includes: According to the real-time lane information, determining whether the target lane is the lane where the vehicle is currently located; If yes, control the vehicle to maintain the current state; If not, when the real-time perception data meets the safety condition for lane change, the vehicle is controlled to change lanes to the target lane.

6. The human-computer interaction method for vehicle lane change according to any one of claims 1 to 4, characterized in that: The determining, based on the real-time perception data, whether a safety condition for lane change is met, and controlling, based on the determination result, whether the vehicle changes lanes to the target lane includes: According to the real-time lane information, determining whether the target lane is adjacent to the lane where the vehicle is currently located; If yes, when the real-time perception data meets the safety condition for lane change, the vehicle is controlled to change lanes directly to the target lane; If not, when the real-time perception data satisfies the safety condition for lane change, the vehicle is controlled to change lanes multiple times from the lane where the vehicle is currently located to the target lane.

7. The human-computer interaction method for vehicle lane change according to any one of claims 1 to 4, characterized in that: The determining, based on the real-time perception data, whether a safety condition for lane change is met, and controlling, based on the determination result, whether the vehicle changes lanes to the target lane includes: Determining a lane changing direction of the vehicle according to the real-time lane information; Turning lights on the vehicle corresponding to the lane changing direction are turned on, and when the real-time perception data meets the safety conditions for lane changing, the vehicle is controlled to change lanes to the target lane.

8. The human-computer interaction method for vehicle lane change according to any one of claims 1 to 4, characterized in that: The determining, based on the real-time perception data, whether a safety condition for lane change is met, and controlling, based on the determination result, whether the vehicle changes lanes to the target lane includes: According to the real-time lane information, it is determined whether the real-time road condition meets the safety condition for lane change, and according to the determination result, it is controlled whether the vehicle changes lanes to the target lane.

9. The human-computer interaction method for vehicle lane change according to claim 1, characterized in that: After controlling whether the vehicle changes lanes to the target lane according to the judgment result, the human-computer interaction method for changing lanes of a vehicle further includes: If it is detected that the cancel lane change touch mark is touched, the vehicle is controlled to change lanes back to the original lane or stay in the lane where the vehicle is currently located; If it is detected that the continue lane change touch mark is touched, the vehicle is controlled to continue changing lanes to the target lane.

10. A human-machine interaction device for vehicle lane change, characterized in that: include: A display module, used to obtain real-time perception data of the surrounding environment of the vehicle, and generate and display a lane touch mark corresponding to the lane in the surrounding environment on the intelligent driving perception screen of the vehicle according to the real-time perception data; wherein the lane touch mark is used to indicate the real-time lane information in the real-time perception data; A touch module, used for detecting the touch operation received by the lane touch marker in real time, and determining the lane corresponding to the touched lane touch marker as the target lane; A control module is used to determine whether a safety condition for lane change is met based on the real-time perception data when the touch operation received by the lane touch indicator reaches a touch condition for lane change, and to control whether the vehicle changes lanes to the target lane based on the determination result; the control module is also used to display a cancel lane change touch indicator and / or a continue lane change touch indicator if the determination result is yes; wherein the cancel lane change touch indicator is used to instruct the vehicle to cancel the lane change to the target lane, and the continue lane change touch indicator is used to instruct the vehicle to continue the lane change to the target lane.

11. An electronic device, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the human-computer interaction method for vehicle lane change according to any one of claims 1 to 9.

12. A vehicle, characterized in that: The method comprises one or more processors, wherein the processors are used to implement the human-computer interaction method for vehicle lane change according to any one of claims 1 to 9.

13. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the human-computer interaction method for vehicle lane change as described in any one of claims 1 to 9 is implemented.

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