Automatic driving control method and device and vehicle

Abstract

The embodiment of the invention discloses an automatic driving control method and device and a vehicle. According to the embodiment of the invention, the control state of the vehicle is determined, the automatic driving state identifier and the corresponding demand prompt information are displayed on the control page of the vehicle in response to the control state being the automatic driving state, and the demand prompt information is displayed in response to the control state being the takeover state. And displaying the takeover state identifier and the corresponding safety prompt information on a control page of the vehicle. Therefore, according to the embodiment of the invention, different prompt information can be displayed when the vehicle is in different control states, so that a user can execute related operation based on the corresponding prompt information, and the user experience and the driving safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and more specifically, to an autonomous driving control method, device and vehicle. Background Art

[0002] With the gradual application and popularization of autonomous vehicles, the user experience and safety of riding in autonomous vehicles are crucial. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides an automatic driving control method, device and vehicle, so as to display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving the user experience and driving safety.

[0004] In a first aspect, an embodiment of the present invention provides an automatic driving control method, the method comprising:

[0005] Determining a control state of the vehicle, the control state including an automatic driving state and a takeover state;

[0006] In response to the control state being in the automatic driving state, displaying an automatic driving state identifier and corresponding demand prompt information on the control page of the vehicle;

[0007] In response to the control state being in the takeover state, a takeover state identifier and corresponding safety prompt information are displayed on the control page of the vehicle.

[0008] In a second aspect, an embodiment of the present invention provides an automatic driving control device, the device comprising:

[0009] a state determination unit configured to determine a control state of the vehicle, wherein the control state includes an automatic driving state and a takeover state;

[0010] a first display unit, configured to display an automatic driving state identifier and corresponding demand prompt information on the control page of the vehicle in response to the control state being in the automatic driving state;

[0011] The second display unit is configured to display a takeover status identifier and corresponding safety prompt information on the control page of the vehicle in response to the control status being in a takeover status.

[0012] In a third aspect, an embodiment of the present invention provides a vehicle, the vehicle comprising:

[0013] processor;

[0014] A display device, used to be controlled by the processor to display a control page of the vehicle;

[0015] A memory is used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described above.

[0016] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0017] The embodiment of the present invention determines the control state of the vehicle, and in response to the control state being in the automatic driving state, displays the automatic driving state identifier and the corresponding demand prompt information on the vehicle control page, and in response to the control state being in the takeover state, displays the takeover state identifier and the corresponding safety prompt information on the vehicle control page. Thus, the embodiment of the present invention can display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving the user experience and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0019] Figure 1 is a flow chart of an automatic driving control method according to an embodiment of the present invention;

[0020] Figure 2 is a schematic diagram of a vehicle control page according to an embodiment of the present invention;

[0021] Figure 3 is a schematic diagram of another vehicle control page according to an embodiment of the present invention;

[0022] Figure 4 is a flow chart of a parking control method according to an embodiment of the present invention;

[0023] Figure 5 is a schematic diagram of another vehicle control page according to an embodiment of the present invention;

[0024] Figure 6 is a schematic diagram of another vehicle control page according to an embodiment of the present invention;

[0025] Figure 7 is a flow chart of a vehicle control state switching method according to an embodiment of the present invention;

[0026] Figure 8 is a flow chart of an information reporting control method according to an embodiment of the present invention;

[0027] Fig. 9 is a schematic diagram of another vehicle control page according to an embodiment of the present invention;

[0028] Figure 10-12 This is a schematic diagram of a successful reporting page according to an embodiment of the present invention;

[0029] Figure 13-Figure 15 This is a schematic diagram of a reporting failure page according to an embodiment of the present invention;

[0030] Fig.16 is a schematic diagram of an automatic driving control device according to an embodiment of the present invention;

[0031] Fig.17 Schematic diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present application is described below based on embodiments, but the present application is not limited to these embodiments. In the detailed description of the present application below, some specific details are described in detail. It is possible for those skilled in the art to fully understand the present application without the description of these details. In order to avoid confusing the essence of the present application, known methods, processes, flows, components and circuits are not described in detail.

[0033] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0034] Unless the context clearly requires otherwise, the words "include", "comprising" and similar words throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, the meaning is "including but not limited to".

[0035] In the description of this application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0036] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0037] In the application of autonomous driving vehicles, objects in the vehicle (such as safety officers, drivers, passengers, etc.) need to have certain control rights over the vehicle. For example, when an object in the vehicle needs to get off, the vehicle needs to be controlled to pull over through a parking command. For another example, when the vehicle has certain faults or an accident occurs on the road, the objects on the vehicle need to be processed initially, etc. How to effectively realize the control of the objects on the vehicle to improve driving safety and user experience is crucial. Based on this, the embodiments of the present invention provide an autonomous driving control method, device, and vehicle to display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving user experience and driving safety.

[0038] Figure 1 : is a flow chart of the automatic driving control method according to an embodiment of the present invention. Figure 1 As shown, the automatic driving control method of the embodiment of the present invention includes the following steps:

[0039] Step S110, determining the control state of the vehicle, wherein the control state of the vehicle includes an automatic driving state and a takeover state.

[0040] In the current and future application scenarios of autonomous driving vehicles, in complex road sections or other special circumstances, it is necessary to take over to control the vehicle in order to ensure the driving safety of the vehicle. Therefore, the control state of the vehicle includes the autonomous driving state and the takeover state. Among them, this embodiment can be taken over manually by the in-vehicle safety officer, or it can be taken over remotely. In the scenario of remote takeover, the vehicle sends the data of the sensor system (such as video data, etc.) to the remote end, and the remote end analyzes the driving environment based on the data of the sensor system and controls the driving of the vehicle. In the following implementation method, this embodiment is mainly described in detail by taking over by the in-vehicle safety officer as an example. It should be understood that the embodiments of the present invention are not limited to this.

[0041] In an optional implementation, when the vehicle is in an automatic driving state, if a corresponding situation occurs, such as the current road conditions are complex or an emergency occurs, the in-vehicle safety officer can take over the vehicle through a predetermined operation (such as by controlling the brakes, or taking over the steering wheel, etc.), and the vehicle switches to a takeover state. When the vehicle is in a takeover state, the vehicle state and the driving environment both meet the automatic driving conditions, and the in-vehicle safety officer can switch the vehicle to an automatic driving state by triggering an automatic driving instruction. Optionally, the vehicle state may include the usage status of each sensor in the vehicle sensor system, etc. The driving environment may include road condition information, etc.

[0042] Further optionally, after detecting that the driving environment meets the conditions for autonomous driving, the in-vehicle device (such as an in-vehicle screen, voice device, etc.) can be used to prompt the in-vehicle safety officer that the conditions for autonomous driving are currently met and the vehicle can be switched to the autonomous driving state. The in-vehicle safety officer can trigger the autonomous driving command through voice, the state switching control in the vehicle control page, etc., to control the vehicle to switch to the autonomous driving state.

[0043] The automatic driving state is the state in which the vehicle controls the driving based on its own sensor system and vehicle control system, and the takeover state is the state in which the driver controls the driving. In the takeover state, the driver can control the driving based on the data and prompts of the vehicle's sensor system and vehicle control system to ensure the driving safety of the vehicle.

[0044] In the embodiments of the invention, since the driving environment of the vehicle is generally not particularly complex when it is in the automatic driving state, the control interface of the vehicle can tend to provide demand prompts for objects on the vehicle (such as the need to pull over, etc.), while the driving environment in the manual driving state is relatively complex, so the control interface of the vehicle can tend to provide some safety prompts. Therefore, the embodiments of the invention can display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving the user experience and driving safety.

[0045] Furthermore, the sensor system of the vehicle may include various sensors for the vehicle to perceive environmental information and vehicle status information, such as camera sensors, radar sensors, temperature and humidity sensors, attitude sensors (such as gyroscopes, magnetometers, etc.), speed sensors, acceleration sensors, etc. The vehicle control system is used to plan the vehicle's driving path according to the environmental information and vehicle status information perceived by the vehicle and control the vehicle to travel according to the driving path.

[0046] Step S120, determining whether the current control state of the vehicle is in the automatic driving state or the takeover state. When the current control state of the vehicle is in the automatic driving state, step S130 is executed, and when the current control state of the vehicle is in the takeover state, step S140 is executed.

[0047] Step S130, in response to the vehicle's current control state being in the automatic driving state, an automatic driving state identifier and corresponding demand prompt information are displayed on the vehicle's control page.

[0048] In an optional implementation, the autonomous driving state identifier is used to characterize that the current control state of the vehicle belongs to the autonomous driving state. It can be a pre-set autonomous driving state identifier or an identifier control that switches to the autonomous driving state identifier. The embodiment of the present invention does not limit the display form of the autonomous driving state identifier.

[0049] In an optional implementation, the demand prompt information can be used to prompt the vehicle of the functions that can be provided to the objects in the vehicle (such as passengers or drivers) in the automatic driving state. Further optionally, the demand prompt information can include parking prompt information, destination change prompt information, etc. The embodiment of the present invention is mainly described by taking parking prompt information as an example. It should be understood that this embodiment does not limit the category of demand prompt information, and the corresponding embodiment and operation method of various types of demand prompt information can be similar to the parking prompt information described below.

[0050] In an embodiment of the present invention, when the vehicle is in an automatic driving state, demand prompt information of the driver or passenger can be displayed by controlling the control page of the vehicle, so that the passenger or driver can know that they can independently control the relevant functions of the vehicle based on the demand prompt information. For example, in a scenario where a passenger suddenly wants to park, the pull-over parking function can be triggered by the pull-over parking prompt in the demand prompt information, and the vehicle can be controlled to pull over to meet their own needs.

[0051] Figure 2 is a schematic diagram of a vehicle control page of an embodiment of the present invention. Assuming that a trip has started and the vehicle is currently in an automatic driving state, the corresponding vehicle control page can refer to Figure 2 . In an optional implementation, the vehicle control page of the embodiment of the present invention can be displayed on any display screen in the vehicle. The display screen can be set at the front end of the vehicle, such as in front of the driver's seat, diagonally in front of the driver's seat, in front of the co-pilot, or in front of any passenger seat. If the vehicle is public transportation or a large passenger bus, the display screen can also be set above the aisle. This embodiment does not limit the setting method of the display screen. Further optionally, the vehicle of this embodiment can be a personal car, a public transportation vehicle, or an online car-hailing vehicle. If it is a personal car, the itinerary information can be a personally set route. If it is a public transportation vehicle, the itinerary can be a fixed route. If it is an online car-hailing vehicle, the itinerary can be the itinerary corresponding to the current itinerary service. This embodiment does not display the type of vehicle and the corresponding itinerary type. The corresponding vehicle can support automatic driving.

[0052] like Figure 2As shown, the vehicle control page 2 includes a driving navigation area 21. In the present embodiment, the driving navigation area 21 includes a status control 211. At this time, the status control 211 switches to the automatic driving state, that is, it is displayed as an automatic driving state mark. It should be understood that the automatic driving state mark can also be set independently (that is, only the current control state is displayed), and the present embodiment does not limit this. Furthermore, the status control 211 can automatically switch to display the corresponding control state by detecting the control state switch of the vehicle. For example, if the current environment of the vehicle can support the vehicle to perform automatic driving, after switching from the takeover state to the automatic driving state, the status control 211 is displayed as an automatic driving state mark based on the switching of the control state.

[0053] Further optionally, the state control 211 is also used to trigger the switching of the control state. That is, in response to the state control 211 being triggered (e.g., clicked), this embodiment switches from the current control state (e.g., takeover state) to another control state (e.g., automatic driving state).

[0054] Optionally, in the takeover state, the safety officer in the car can determine whether the current state can be switched to the automatic driving state. If the current driving environment can meet the conditions for automatic driving, the vehicle can be switched to the automatic driving state by initiating an automatic driving command. In another optional implementation method, the vehicle detects whether the driving environment meets the conditions for automatic driving. If so, the automatic driving prompt information that can be switched to the automatic driving state can be displayed on the vehicle control page (or the automatic driving prompt information that can be switched to the automatic driving state can be broadcasted through a voice device), and the safety officer in the car can trigger the automatic driving command based on the prompt information to switch the vehicle to the automatic driving state. Further optionally, a control button for switching to the automatic driving state can be installed in the vehicle, or an independent control for switching to the automatic driving state can be displayed on the vehicle control page, or as Figure 2 The state control 211 shown is used to trigger the automatic driving instruction. This embodiment does not limit the triggering method of the automatic driving instruction. It should be understood that when the automatic driving instruction is triggered by a method other than the state control 211, the state control 211 will also be controlled to display as the automatic driving state indicator after the vehicle switches to the automatic driving state.

[0055] In this embodiment, the driving navigation area 21 includes demand prompt information. Optionally, the demand prompt information may include a demand prompt control and corresponding text prompt information. Figure 2It should be understood that the parking prompt information is used as an example in this embodiment, and the demand prompt information may include one or more demand prompt information, which may be limited in the vehicle control page 2 according to the specific application scenario. For example, the destination modification prompt information may also be displayed in the driving navigation area 21, and the present embodiment does not limit this.

[0056] In an optional implementation, navigation information is displayed on the driving navigation area 21. The navigation information includes the navigation route of the current trip, traffic light prompts 215, etc. Further optionally, the vehicle control page 2 also includes a navigation floating window 24 for displaying the global navigation route.

[0057] In an optional implementation, the driving navigation area 21 further displays a parking position 214 within a predetermined range. The parking position 214 may be a parking position where a vehicle can be parked reliably during driving, and may be a temporary parking position or a long-term parking position. In an optional implementation, the parking time corresponding to the parking position (e.g., temporary parking for 5 minutes) or the parking time period (e.g., parking before 6 p.m., etc.) may also be displayed around the parking position 214, and this embodiment does not limit this.

[0058] In an optional implementation, a voice control 213 is also displayed in the driving navigation area 21 for receiving voice information of an object in the vehicle, such as receiving a voice command of “pull over”.

[0059] In an optional implementation, the vehicle control page 2 can display the driving navigation area 21 in full screen, that is, the vehicle control page 2 only displays the driving navigation area 21. In an optional implementation, the vehicle control page 2 can also include an application bar area 23, and the application bar area 23 is used to display related applications, such as settings, events, tasks, systems, or other vehicle control applications, which is not limited in this embodiment. Further, the objects in the vehicle can set corresponding requirements through the related applications in the application bar area 23.

[0060] Further optionally, in response to selecting a corresponding application in the application bar area 23, the vehicle control page 2 also includes an application details display area 22. For example, when a task application is selected, the application details display area 22 can display task information of the current task. Further optionally, the application details display area 22 can be expanded, displayed or hidden based on a corresponding expansion control or hiding control.

[0061] Step S140, in response to the current control state of the vehicle being in the takeover state, a takeover state identifier and corresponding safety prompt information are displayed on the control page of the vehicle.

[0062] In an optional implementation, the takeover identifier is used to indicate that the current control state of the vehicle belongs to the takeover state. It can be a pre-set takeover state identifier or an identifier control that switches to the takeover state identifier. The embodiment of the present invention does not limit the display form of the takeover state identifier.

[0063] In an optional implementation, the safety prompt information can be used to prompt the vehicle of safety prompt information corresponding to abnormal situations in the takeover state. For autonomous driving vehicles, they will generally switch to the takeover state in complex driving environments (such as complex road environments, congested environments, environments with high probability of accidents, etc.), and in complex driving environments, the probability of accidents is relatively high. For example, in complex road environments, yaw conditions may occur, and in congestion or environments with high probability of accidents, traffic accidents may occur. Therefore, this embodiment displays corresponding safety prompt information through the vehicle control page in the takeover state to further ensure driving safety.

[0064] Optionally, the safety prompt information may include reporting prompt information, safety operation prompt information, and other prompt information related to ensuring the safety of the driver or passengers. The embodiment of the present invention is mainly described by taking reporting prompt information as an example. It should be understood that this embodiment does not limit the category of safety prompt information, and one or more corresponding prompt information can be set according to specific application scenarios.

[0065] In an embodiment of the present invention, when the vehicle is in a takeover state, safety prompt information can be displayed by controlling the vehicle's control page so that passengers or drivers can know the corresponding operations based on the safety prompt information when a related accident occurs, such as reporting the accident when it occurs, or performing related operations based on the operation prompts to improve safety.

[0066] Figure 3 FIG. 1 is a schematic diagram of another vehicle control page of an embodiment of the present invention. Assuming that a trip has started and the vehicle is currently in a takeover state, the corresponding vehicle control page can refer to Figure 3. In an optional implementation, the vehicle control page of the embodiment of the present invention can be displayed on any display screen in the vehicle. The display screen can be set at the front end of the vehicle, such as in front of the driver's seat, diagonally in front of the driver's seat, in front of the co-pilot, or in front of any passenger seat. If the vehicle is public transportation or a large passenger bus, the display screen can also be set above the aisle. This embodiment does not limit the setting method of the display screen. Further optionally, the vehicle of this embodiment can be a personal car, a public transportation vehicle, or an online car-hailing vehicle. If it is a personal car, the itinerary information can be a personally set route. If it is a public transportation vehicle, the itinerary can be a fixed route. If it is an online car-hailing vehicle, the itinerary can be the itinerary corresponding to the current itinerary service. This embodiment does not display the type of vehicle and the corresponding itinerary type. The corresponding vehicle can support automatic driving.

[0067] like Figure 3 As shown, the vehicle control page 3 includes a driving navigation area 31. In the present embodiment, the driving navigation area 31 includes a status control 311. At this time, the status control 311 switches to the takeover state, that is, it is displayed as a takeover state mark. It should be understood that the takeover state mark can also be set independently (that is, only the current control state is displayed), and the present embodiment does not limit this. Furthermore, the status control 311 can automatically switch to display the corresponding control state by detecting the control state switch of the vehicle. For example, if the current environment of the vehicle may not support the vehicle to perform automatic driving, after switching from the automatic driving state to the takeover state, the status control 311 is displayed as a takeover state mark based on the switching of the control state.

[0068] Further optionally, in this embodiment, in response to the takeover operation, the vehicle switches to the takeover state, and the control state control 311 is displayed as a takeover state indicator. Optionally, the takeover operation can be a brake operation, a steering wheel takeover operation, etc., which is not limited in this embodiment.

[0069] In this embodiment, the driving navigation area 31 includes safety prompt information. Optionally, the safety prompt information may include a safety prompt control and corresponding text prompt information. Figure 3 The reporting control 312 in the vehicle control page 3 and the text prompt information "One-click reporting" are shown. It should be understood that the present embodiment uses the reporting prompt information as an example, and the safety prompt information may include one or more safety prompt information, which may be limited to the vehicle control page 3 according to the specific application scenario. For example, commonly used safety operation prompt information may also be displayed in the driving navigation area 31, and the present embodiment does not limit this.

[0070] In an optional implementation, navigation information is displayed on the driving navigation area 31. The navigation information includes the navigation route of the current trip, traffic light prompts 315, etc. Further optionally, the vehicle control page 3 also includes a navigation floating window 34 for displaying the global navigation route.

[0071] In an optional implementation, the driving navigation area 31 also displays a parking position 314 within a predetermined range. The parking position 314 may be a parking position where a vehicle can be parked reliably during driving, and may be a temporary parking position or a long-term parking position. In an optional implementation, the parking time corresponding to the parking position (e.g., temporary parking for 5 minutes) or the parking time period (e.g., parking before 6 p.m., etc.) may also be displayed around the parking position 314, and this embodiment does not limit this.

[0072] In an optional implementation, a voice control 313 is also displayed in the driving navigation area 31 for receiving voice information of an object in the vehicle.

[0073] In an optional implementation, the vehicle control page 3 can display the driving navigation area 31 in full screen, that is, the vehicle control page 3 only displays the driving navigation area 31. In an optional implementation, the vehicle control page 3 can also include an application bar area 33, and the application bar area 33 is used to display related applications, such as settings, events, tasks, systems, or other vehicle control applications, which is not limited in this embodiment. Further, the objects in the vehicle can set corresponding requirements through the related applications in the application bar area 33.

[0074] Further optionally, in response to selecting a corresponding application in the application bar area 33, the vehicle control page 3 also includes an application details display area 32. For example, when a task application is selected, the application details display area 32 can display task information of the current task. Further optionally, the application details display area 32 can be expanded, displayed or hidden based on a corresponding expansion control or hiding control.

[0075] In this embodiment, if the vehicle is in the automatic driving state, the vehicle control page is as follows: Figure 2 As shown, if the safety officer in the car brakes or takes over the steering wheel, the vehicle control page switches to Figure 3 If the driving environment is detected to meet the automatic driving conditions again, after receiving the automatic driving command, the vehicle control page will be changed to Figure 3 The page shown switches to Figure 2 The page shown. It should be understood that Figure 2 and Figure 3The vehicle control page 2 and the vehicle control page 3 in the automatic driving state shown are merely exemplary, and this embodiment does not limit the specific page settings.

[0076] The embodiment of the present invention determines the control state of the vehicle, and in response to the control state being in the automatic driving state, displays the automatic driving state identifier and the corresponding demand prompt information on the vehicle control page, and in response to the control state being in the takeover state, displays the takeover state identifier and the corresponding safety prompt information on the vehicle control page. Thus, the embodiment of the present invention can display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving the user experience and driving safety.

[0077] Figure 4 is a flow chart of the parking control method of an embodiment of the present invention. In an optional implementation, the automatic driving control method of the embodiment of the present invention also includes a parking control method in an automatic driving state, such as Figure 4 As shown, the parking control method of this embodiment includes the following steps:

[0078] Step S410: In response to receiving the parking instruction, searching for a target parking position, wherein the target parking position meets the lane change requirement of the vehicle.

[0079] In an optional implementation, the parking instruction of this embodiment can be triggered by a pull-over parking control in the demand prompt information (for example Figure 2 ), and / or by recognizing a received voice message (e.g., by triggering Figure 2 ). Further optionally, the parking instruction can be triggered by clicking or long pressing the pull-over parking control 212, and the voice information can be received by long pressing the voice control 213. In other optional implementations, the present embodiment can also automatically capture the voice signal through the voice device without the triggering of the voice control.

[0080] In other optional implementations, the parking instruction may also be sent through other devices, such as triggering the parking instruction through an application on a user terminal, so that the vehicle pulls over to meet the parking requirement. In addition, when the remote server monitors that a module of the vehicle is abnormal or the vehicle needs to be inspected, the parking instruction is sent to the vehicle. It should be understood that this embodiment does not limit the source and reason of the parking instruction received by the vehicle.

[0081] During the driving process of the vehicle, a certain distance is required for the vehicle to park at the parking station. Therefore, optionally, in this embodiment, the target parking position needs to meet the lane change requirements of the vehicle, that is, an idle parking position that can be safely entered in compliance with traffic regulations based on the current vehicle speed information (such as speed and / or acceleration information). Further optionally, the idle parking position can be a position where the vehicle can park in and out safely, that is, there are no obstacles around the position or the obstacles do not affect the parking in and out of the vehicle.

[0082] In an optional implementation, the present embodiment may search for the target parking position in the pre-determined parking positions within the predetermined range of the vehicle. Optionally, the parking positions of the present embodiment may be pre-marked manually based on field surveys, or may be mined based on the historical driving behaviors of multiple vehicles, and the historical parking positions that meet the conditions (e.g., no tickets or other problems, or high evaluations, etc.) may be determined as parking positions. The present embodiment does not limit the pre-determination method of the parking positions.

[0083] Further optionally, this embodiment obtains a set of parking positions within a predetermined range of the vehicle and determines a parking position that satisfies the vehicle lane change condition and is closest to the current position of the vehicle as the target parking position.

[0084] In another optional implementation, the vehicle can also identify the surrounding environment through the perception information obtained by various sensor devices on it to search for a parking position. Further optionally, the sensor device can include a sensor such as a camera sensor that can obtain information about the surrounding environment. It should be understood that this embodiment is not limited to camera sensors, and other sensors that can obtain environmental information, such as infrared sensors, can be applied to this embodiment.

[0085] Further optionally, the present embodiment calculates the stopping distance threshold (i.e., the minimum lane change distance) based on the speed information such as the current speed and acceleration of the vehicle, samples the candidate parking position set according to the predetermined step length on the road section extending from the stopping distance threshold to the maximum search distance, judges the candidate parking points in the candidate parking position set one by one, and determines the candidate parking position that is located in the parking area and is free as the target parking position. Further optionally, the candidate parking positions in the candidate parking position set are judged in sequence from near (distance to the vehicle) to far, until a candidate parking position that is located in the parking area and is free is obtained, or until the candidate parking position set is judged, and the current search cycle ends.

[0086] Step S420: controlling the vehicle to perform a parking operation based on the target parking position.

[0087] In an optional implementation, this embodiment determines a pull-over parking path based on the current position of the vehicle and the target parking position, and controls the vehicle to perform a parking operation based on the pull-over parking path. The pull-over parking path includes a lane change operation path and a target parking position. Further, after receiving a parking instruction, this embodiment stores the original route, and after searching for the target parking position, generates a pull-over parking path that guides the vehicle to park in the target parking position based on the position of the target parking position, so as to control the vehicle to park safely in the target parking position. Thus, this embodiment allows the vehicle to continue driving based on the original route.

[0088] Further optionally, during the driving process of the vehicle, if the vehicle wants to park, the vehicle needs to be located in the rightmost lane so as to park by the side of the road, thereby ensuring driving safety. Therefore, before the vehicle performs the parking operation, the vehicle needs to be controlled to be located in the rightmost lane. In this embodiment, the lane change operation of the vehicle can be controlled before the parking position search operation, or after the parking position search operation, or can be performed simultaneously, and this embodiment is not limited thereto.

[0089] In an optional implementation, the parking control method of this embodiment includes the following steps:

[0090] Step S430: In response to the parking operation being completed, a driving prompt message is displayed on the vehicle control page. Optionally, this embodiment can determine whether the parking operation is completed by detecting the speed of the vehicle (for example, by detecting the speed through a speed sensor, position change, etc.). Further optionally, this embodiment determines that the parking operation is completed in response to the time when the vehicle speed is 0 or approximately 0 reaches a predetermined threshold (for example, 10 seconds).

[0091] In an optional implementation, the driving prompt information may include a continue trip control, text prompt information for continuing the trip, and / or remaining parking time information, etc. In other optional implementations, the current control page of the vehicle may also retain other required prompt information, such as destination modification prompt information, etc., which is not limited in this embodiment.

[0092] Figure 5 FIG. 1 is a schematic diagram of another vehicle control page according to an embodiment of the present invention. Figure 2 and Figure 5For example, in the automatic driving state, in response to the pull-over parking control P being triggered, the target parking position is searched, and the vehicle is controlled to drive to the pull-over parking position to park. After the parking operation is completed, the vehicle control page is controlled to display the continue journey control 51 and the text prompt message "Continue the journey". Optionally, the continue journey control 51 can be displayed as a clock logo. Further optionally, the remaining parking time can also be displayed around the continue journey control 51. Among them, the remaining parking time can be determined according to the setting of the object in the car, according to the parking time of the target parking position, and according to the parking time of the vehicle (such as the parking time limit of public transportation at the station, etc.), and this embodiment does not limit this.

[0093] In an optional implementation, when the remaining parking time of the vehicle is less than a preset time threshold, a pop-up window or voice reminder can be used to avoid vehicle violations, further improving driving safety.

[0094] Step S440, in response to receiving the continue travel instruction, controlling the vehicle to continue traveling based on the current driving route. Optionally, the current driving route can be the original route before the pull-over, or can be a newly determined route, which is not limited in this embodiment.

[0095] In an optional implementation, the continue travel instruction can be triggered by clicking or long pressing the continue travel control 51, or by long pressing the voice control 213 to receive the continue travel instruction, or by sending it through a user terminal device or a remote server, which is not limited in this embodiment.

[0096] In an optional implementation, the parking control method of this embodiment further includes: in response to a failure in searching the target parking position, displaying a first prompt message on the vehicle control page. The first prompt message is used to prompt that the parking instruction triggering fails and / or prompts to take over.

[0097] Figure 6 FIG. 1 is a schematic diagram of another vehicle control page according to an embodiment of the present invention. Figure 6 As shown, in an optional implementation, in response to a failure to search for a target parking position or a failure to change lanes and park the vehicle at the target parking position, the embodiment displays a first prompt message 6 on the vehicle control page. The first prompt message 6 is used to prompt that the parking instruction triggering failed. Further optionally, in this case, the embodiment can control the vehicle to continue driving based on the original route or provide a takeover prompt.

[0098] Figure 7 FIG. 1 is a flow chart of a method for switching a vehicle control state according to an embodiment of the present invention. Figure 7 As shown, the control state switching method of this embodiment includes the following steps:

[0099] Step S710, when the vehicle is in a takeover state, an automatic driving instruction is received and the vehicle is controlled to switch to an automatic driving state.

[0100] Step S720, in response to detecting a predetermined operation of the in-vehicle safety officer, controlling the vehicle to switch to a takeover state, wherein the predetermined operation may be a brake operation and / or a steering wheel takeover operation.

[0101] Step S730, detect whether the current driving environment meets the conditions for autonomous driving. The driving environment may include information about the current road, such as whether it is a complex road environment, whether it is a congested environment, whether it is an environment with a high probability of accidents, etc. When the road information on which the vehicle is currently located meets the conditions for autonomous driving, for example, the road on which the vehicle is currently located is not a complex road environment or a congested environment, and the probability of an accident is less than a predetermined probability threshold, it is determined that the current driving environment meets the conditions for autonomous driving. Further optionally, when determining whether the conditions for autonomous driving are met, the working status of the sensors in the vehicle sensor system may also be detected at the same time. If the working status is normal, the driving environment may be switched to the autonomous driving topic when the driving environment meets the conditions for autonomous driving.

[0102] Step S740: When the driving environment meets the conditions for automatic driving, display or broadcast the automatic driving prompt information. The automatic driving prompt information is used to remind the safety officer in the vehicle that the current driving environment can be used for automatic driving. Optionally, the automatic driving prompt information can be displayed in a pop-up window on the vehicle control page, or the automatic driving prompt information can be broadcasted through a voice device, which is not limited in the present embodiment.

[0103] Furthermore, after receiving the automatic driving instruction from the safety officer in the vehicle, the vehicle is controlled to switch to the automatic driving state.

[0104] It should be understood that the present embodiment takes the example of a vehicle detecting whether the driving environment meets the conditions for autonomous driving and providing a prompt. In other optional implementations, the safety officer in the vehicle can also determine through experience whether the current driving environment meets the conditions for autonomous driving, and actively trigger the autonomous driving command if it does. The present embodiment does not limit this.

[0105] In this embodiment, in response to a parking instruction, a parking position is searched, and in response to a target parking position that meets the lane change requirement, the vehicle is controlled to perform a parking operation based on the target parking position, wherein the target parking position is searched based on a marked parking position and / or based on map information and vehicle perception information. Thus, in this embodiment, a reasonable parking position can be determined through map information and the vehicle's understanding of the environment, thereby improving the flexibility of parking position selection and the efficiency of vehicle decision-making. At the same time, corresponding prompts are given on the vehicle control page based on corresponding scenarios, further improving the user experience.

[0106] Figure 8 is a flow chart of the information reporting control method of an embodiment of the present invention. In an optional implementation, the automatic driving control method of the embodiment of the present invention further includes an information reporting control method in a takeover state, such as Figure 8 As shown, the information reporting control method of this embodiment includes the following steps:

[0107] Step S810: In response to receiving the reporting instruction, an information confirmation prompt is displayed on the vehicle control page, wherein the information confirmation prompt includes reporting content and a reporting confirmation control.

[0108] In an embodiment of the present invention, when a vehicle encounters a breakdown, accident or other event, the objects inside the vehicle can report information by triggering a reporting instruction and obtain safety operation prompts for the corresponding event, so as to avoid the situation where the objects inside the vehicle forget how to handle the relevant event due to panic and other reasons when the event occurs, thereby delaying the handling of the event. At the same time, the accident information (such as the relevant conditions, location, vehicle information, and information about the objects inside the vehicle) is reported to the remote end so that the remote end can carry out an emergency accident plan, thereby improving the efficiency of accident handling and driving safety.

[0109] In an optional implementation, the reporting instruction is triggered by a reporting control in the security prompt information and / or by recognizing the received voice information. Further optionally, the reporting instruction of this embodiment can be triggered by clicking or long pressing the Figure 3 The reporting control 312 shown is triggered, and the reporting instruction can also be received by long pressing the voice control 313, and the reporting instruction can also be triggered by the user terminal, which is not limited in this embodiment.

[0110] Fig. 9 FIG. 1 is a schematic diagram of another vehicle control page according to an embodiment of the present invention. Fig. 9As shown, in response to receiving a reporting instruction, this embodiment controls the corresponding application (such as an assisted driving application) to expand the corresponding accident reporting details area 91. Among them, the accident reporting details area 91 includes reporting content and reporting confirmation controls 911. Further, the reporting content includes driving mode, whether injured, parties involved in the accident, responsibility determination and other contents. Specifically, the driving mode includes automatic driving mode and takeover mode. Optionally, the driving mode can be manually selected by the user or automatically selected by the current control state. This embodiment does not limit this. Whether injured includes a confirmation control "yes" and a denial control "no", so that the user selects the corresponding control to determine the injury of the current accident. The party responsible for the accident includes a "single party" selection control and a "multi-party" selection control, so that the user selects the corresponding party responsible for the accident. Responsibility determination includes a "full" selection control, a "partial" selection control and a "no responsibility" selection control, so that the user selects the corresponding control to preliminarily confirm that the responsibility to be borne is full responsibility, partial responsibility or no responsibility.

[0111] Further optionally, after receiving the reporting instruction, the navigation information message in the driving navigation area 92 in the vehicle control page is controlled, and the accident mark 921 is displayed in the display area around the vehicle.

[0112] Further optionally, after receiving the reporting instruction, the navigation pop-up window 93 in the vehicle control page is controlled to display the current location of the accident.

[0113] Step S820: In response to the reporting confirmation control being triggered, the current status of the vehicle is reported. Fig. 9 As shown, in response to the report confirmation control 911 being triggered, this embodiment generates the current status of the vehicle according to the various report contents selected by the user, the accident location, the vehicle information (license plate, vehicle model, etc.), the information of the occupants, etc., and reports it to the server or to the terminal of the relevant contact. The terminal of the relevant contact may be a bound operation and maintenance terminal, a terminal of a relevant department, or a bound other third-party terminal, which is not limited in this embodiment.

[0114] Step S830, determining whether the report is successful. In an optional implementation, the accident report may fail because the accident may cause damage to the communication equipment on the vehicle, or the accident may cause network problems. This embodiment can determine whether the report is successful by whether the information is sent successfully or whether a reply is received from the corresponding server or terminal. Further, in response to a successful report, this embodiment executes step S840, and in response to a failed report, executes step S850.

[0115] Step S840: In response to the successful reporting, a first operation prompt message is displayed on the vehicle control page, wherein the first operation prompt message includes a successful reporting prompt and an operation prompt corresponding to the current status.

[0116] Figure 10-12 1 is a schematic diagram of a successful reporting page of an embodiment of the present invention. Since the safety operations corresponding to different accidents and different accident responsible parties are different, in this embodiment, different first operation prompts are provided when the report is successful based on different accident conditions.

[0117] like Fig.10 As shown, when the current accident is caused by a single party, the first operation prompt information 10 includes a successful reporting prompt and an operation prompt corresponding to the current state, for example, step 1: placing a tripod, step 2: taking a photo. Further, the first operation prompt information 10 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user operation. It should be understood that in this embodiment, in response to the operation confirmation control being triggered, it is determined that the user is aware of the safety operation prompt.

[0118] like Fig.11 As described, when there are multiple parties responsible for the current accident, the first operation prompt information 11 includes a successful reporting prompt and an operation prompt corresponding to the current state, for example, the first step: turn on the recording to record the accident communication process at the scene, the second step: put down the tripod, the third step: take pictures, and the fourth step: sign an agreement to ensure that the final accident communication process is confirmed to be recognized by all parties. Furthermore, the first operation prompt information 11 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user's operation. It should be understood that this embodiment determines that the user is aware of the safety operation prompt in response to the operation confirmation control being triggered.

[0119] like Fig.12 As described, if the current accident is a predetermined accident (e.g., a fire), the corresponding responsible party terminal can be contacted. The first operation prompt information 12 includes a successful reporting prompt and an operation prompt corresponding to the current state, for example, the first step: please contact xxx. Furthermore, the first operation prompt information 12 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user operation. It should be understood that this embodiment determines that the user is aware of the safety operation prompt in response to the operation confirmation control being triggered.

[0120] Therefore, when the accident is successfully reported, this embodiment displays the corresponding safety operation prompts on the vehicle control page according to the current situation of the accident to avoid the situation where the objects in the vehicle forget how to handle the relevant events due to panic, etc. when the incident occurs, thereby delaying the event handling. At the same time, the accident information is reported to the remote end so that the remote end can carry out emergency accident plans, thereby improving the efficiency of accident handling and driving safety.

[0121] Step S850: In response to the reporting failure, a second operation prompt message is displayed on the vehicle control page, wherein the second operation prompt message includes a reporting failure prompt, a communication prompt, and an operation prompt corresponding to the current status.

[0122] Figure 13-Figure 15 1 is a schematic diagram of a report failure page according to an embodiment of the present invention. Since the safety operations corresponding to different accidents and different accident responsible parties are different, in this embodiment, different second operation prompts are provided when the report fails based on different accident conditions.

[0123] like Fig.13 As shown, when the current accident is caused by a single party, the second operation prompt information 13 includes a reporting failure prompt and an operation prompt corresponding to the current state, for example, the first step: please contact xxx by yourself, so that you can contact the relevant responsible party terminal by yourself when the report fails, the second step: put down the tripod, and the third step: take a photo. Further, the second operation prompt information 13 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user operation. It should be understood that this embodiment determines that the user is aware of the safety operation prompt in response to the operation confirmation control being triggered.

[0124] like Fig.14 As described, when the current accident is caused by multiple parties, the second operation prompt information 14 includes a reporting failure prompt and an operation prompt corresponding to the current status, for example, the first step: please contact xxx by yourself, so that you can contact the relevant responsible party terminal by yourself when the report fails, the second step: turn on the recording to record the accident communication process at the scene, the third step: put down the tripod, the fourth step: take pictures, the fifth step: sign an agreement to ensure that the final accident communication process is confirmed to be recognized by all parties. Furthermore, the second operation prompt information 14 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user's operation. It should be understood that this embodiment determines that the user is aware of the safety operation prompt in response to the operation confirmation control being triggered.

[0125] like Fig.15 As described, if the current accident is a predetermined accident (such as a fire), the corresponding responsible party terminal can be contacted. The second operation prompt information 15 includes a reporting failure prompt and an operation prompt corresponding to the current state, for example, the first step: please contact Axxx by yourself, so that you can contact the relevant responsible party terminal by yourself when the report fails, the second step: please contact Bxxx. Furthermore, the second operation prompt information 15 also includes an operation confirmation control to confirm whether the user is aware of the safety operation prompt based on the user operation. It should be understood that this embodiment determines that the user is aware of the safety operation prompt in response to the operation confirmation control being triggered.

[0126] Therefore, when the accident reporting fails, this embodiment can prompt the user to contact the relevant responsible party terminal to report the accident so that the remote emergency accident plan can be implemented, thereby improving the efficiency of accident handling. At the same time, the corresponding safety operation prompts are displayed on the vehicle control page according to the current situation of the accident to avoid the objects in the vehicle forgetting how to handle related events due to panic and other reasons when the incident occurs, thereby delaying the event handling. This further improves driving safety.

[0127] In other optional implementations, the first operation prompt information and the second operation prompt information may also be announced by voice to avoid the situation where the user checks the accident but does not pay attention to the display screen, thereby further improving safety.

[0128] Fig.16 Schematic diagram of an automatic driving control device according to an embodiment of the present invention. Fig.16 As shown, the automatic driving control device 16 of this embodiment includes a state determination unit 161, a first display unit 162 and a second display unit 163.

[0129] The state determination unit 161 is configured to determine the control state of the vehicle, which includes the automatic driving state and the takeover state. The first display unit 162 is configured to display the automatic driving state identifier and the corresponding demand prompt information on the control page of the vehicle in response to the control state being in the automatic driving state. The second display unit 163 is configured to display the takeover state identifier and the corresponding safety prompt information on the control page of the vehicle in response to the control state being in the takeover state.

[0130] In an optional implementation, the vehicle control page also displays navigation information and parking locations within a predetermined range.

[0131] In an optional implementation, the automatic driving control device 16 also includes a position search unit and a parking control unit.

[0132] The position search unit is configured to search for a target parking position in response to receiving a parking instruction, the target parking position satisfying a lane change requirement of the vehicle. The parking control unit is configured to control the vehicle to perform a parking operation based on the target parking position.

[0133] In an optional implementation, the parking control unit is configured to be further configured to determine a pull-over parking path based on the current position of the vehicle and the target parking position, and control the vehicle to perform a parking operation based on the pull-over parking path.

[0134] In an optional implementation, the parking instruction is triggered by a pull-over parking control in the demand prompt information and / or by recognizing received voice information.

[0135] In an optional implementation, the automatic driving control device 16 also includes a third display unit and a driving control unit.

[0136] The third display unit is configured to display driving prompt information on the control page of the vehicle in response to the completion of the parking operation. The driving control unit is configured to control the vehicle to continue driving based on the current driving route in response to receiving a continue travel instruction.

[0137] In an optional implementation, the automatic driving control device 16 also includes a fourth display unit, which is configured to display a first prompt message on the control page of the vehicle in response to a failure in searching the target parking position, wherein the first prompt message is used to prompt that the parking instruction trigger has failed and / or prompt takeover.

[0138] In an optional implementation, the automatic driving control device 16 further includes a fifth display unit and a reporting unit. The fifth display unit is configured to display an information confirmation prompt on the control page of the vehicle in response to receiving a reporting instruction, wherein the information confirmation prompt includes a reporting content and a reporting confirmation control. The reporting unit is configured to report the current status of the vehicle in response to the reporting confirmation control being triggered. Optionally, the reporting instruction is triggered by a reporting control in the safety prompt information and / or by recognizing received voice information.

[0139] In an optional implementation, the automatic driving control device 16 also includes a sixth display unit and a seventh display unit.

[0140] The sixth display unit is configured to display first operation prompt information on the control page of the vehicle in response to a successful report, wherein the first operation prompt information includes a successful report prompt and an operation prompt corresponding to the current status. The seventh display unit is configured to display second operation prompt information on the control page of the vehicle in response to a failed report, wherein the second operation prompt information includes a failed report prompt, a communication prompt, and an operation prompt corresponding to the current status.

[0141] In an optional implementation, the automatic driving control device 16 also includes a first control unit and a second control unit.

[0142] The first control unit is configured to control the vehicle to switch to a takeover state in response to detecting a predetermined operation. The second control unit is configured to control the vehicle to switch to an automatic driving state in response to receiving an automatic driving instruction.

[0143] In an optional implementation, the automatic driving control device 16 further includes an environment monitoring unit and a seventh display unit. The environment detection unit is configured to detect the driving environment. The seventh display unit is configured to display automatic driving prompt information on the control page of the vehicle in response to the driving environment satisfying the automatic driving condition.

[0144] The embodiment of the present invention determines the control state of the vehicle, and in response to the control state being in the automatic driving state, displays the automatic driving state identifier and the corresponding demand prompt information on the vehicle control page, and in response to the control state being in the takeover state, displays the takeover state identifier and the corresponding safety prompt information on the vehicle control page. Thus, the embodiment of the present invention can display different prompt information when the vehicle is in different control states, so that the user can perform related operations based on the corresponding prompt information, thereby improving the user experience and driving safety.

[0145] Fig.17 Schematic diagram of a vehicle according to an embodiment of the present invention. Fig.17 As shown, the vehicle 17 of this embodiment includes a sensor system 171, a control system 172 and a display device 173. Among them, the sensor system 171 may include various sensors for the vehicle to perceive environmental information and vehicle status information, such as camera sensors, radar sensors, temperature and humidity sensors, attitude sensors (such as gyroscopes, magnetometers, etc.), speed sensors, acceleration sensors, etc. The control system 172 is used to plan the vehicle's driving path and control the vehicle to travel along the driving path according to the environmental information and vehicle status information perceived by the vehicle, and is used to implement any one or more steps of the above-mentioned automatic driving control method or deploy the above-mentioned automatic driving control device. The display device 173 is used to be controlled by the processor to display the control page of the vehicle.

[0146] Further, the control system 172 includes a processor 1721 and a memory 1722. The memory 1722 is suitable for storing instructions or programs executable by the processor 1721. The processor 1721 can be an independent microprocessor or a collection of one or more microprocessors. Thus, the processor 1721 executes the instructions stored in the memory 1722, thereby executing the method flow of the embodiment of the present invention as described above to realize the processing of data and the control of other devices.

[0147] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices (equipment) or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] The present application is described with reference to flowcharts of methods, apparatuses (devices) and computer program products according to embodiments of the present application. It should be understood that each process in the flowchart can be implemented by computer program instructions.

[0149] These computer program instructions may be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the process Figure 1 A function specified in a process or multiple processes.

[0150] These computer program instructions may also be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce the instructions for implementing the process Figure 1 A device that specifies functions in a process or multiple processes.

[0151] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program, wherein the computer-readable program is used for a computer to execute part or all of the above method embodiments.

[0152] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by specifying relevant hardware through a program, and the program is stored in a storage medium, including several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0153] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic driving control method, characterized in that: The method comprises: Determining a control state of the vehicle, the control state including an automatic driving state and a takeover state; In response to the control state being in the automatic driving state, displaying an automatic driving state identifier and corresponding demand prompt information on the control page of the vehicle; In response to the control state being in the takeover state, a takeover state identifier and corresponding safety prompt information are displayed on the control page of the vehicle.

2. The method according to claim 1, characterized in that The control page of the vehicle also displays navigation information and parking locations within a predetermined range.

3. The method according to claim 2, characterized in that The method further comprises: In response to receiving a parking instruction, searching for a target parking position, the target parking position meeting a lane change requirement of the vehicle; The vehicle is controlled to perform a parking operation based on the target parking position.

4. The method according to claim 3, characterized in that The controlling the vehicle to perform a parking operation based on the target parking position includes: Determining a pull-over parking path based on the current position of the vehicle and the target parking position; The vehicle is controlled to perform a parking operation based on the pull-over parking path.

5. The method according to claim 3, characterized in that: The parking instruction is triggered by a pull-over parking control in the demand prompt information and / or by recognizing received voice information.

6. The method according to claim 1 or 3, characterized in that: The method further comprises: In response to the parking operation being completed, displaying driving prompt information on the control page of the vehicle; In response to receiving the continue travel instruction, the vehicle is controlled to continue traveling based on the current driving route.

7. The method according to claim 3, characterized in that The method further comprises: In response to the failure of searching the target parking position, a first prompt message is displayed on the control page of the vehicle, wherein the first prompt message is used to prompt the failure of triggering the parking instruction and / or to prompt takeover.

8. The method according to claim 1, characterized in that The method further comprises: In response to receiving the reporting instruction, displaying an information confirmation prompt on the control page of the vehicle, the information confirmation prompt including reporting content and a reporting confirmation control; In response to the reporting confirmation control being triggered, the current status of the vehicle is reported.

9. The method according to claim 8, characterized in that The method further comprises: In response to the reporting being successful, displaying first operation prompt information on the control page of the vehicle, the first operation prompt information including a reporting success prompt and an operation prompt corresponding to the current status; In response to a reporting failure, a second operation prompt message is displayed on the control page of the vehicle, wherein the second operation prompt message includes a reporting failure prompt, a communication prompt, and an operation prompt corresponding to the current status.

10. The method according to claim 8, characterized in that The reporting instruction is triggered by a reporting control in the security prompt information and / or by identifying received voice information.

11. The method according to claim 1, characterized in that: The method further comprises: In response to detecting a predetermined operation, controlling the vehicle to switch to a takeover state; In response to receiving an automatic driving instruction, the vehicle is controlled to switch to an automatic driving state.

12. The method according to claim 11, characterized in that The method further comprises: Detect driving environment; In response to the driving environment satisfying the autonomous driving conditions, autonomous driving prompt information is displayed on the control page of the vehicle.

13. An automatic driving control device, characterized in that: The device comprises: a state determination unit configured to determine a control state of the vehicle, wherein the control state includes an automatic driving state and a takeover state; a first display unit, configured to display an automatic driving state identifier and corresponding demand prompt information on the control page of the vehicle in response to the control state being in the automatic driving state; The second display unit is configured to display a takeover status identifier and corresponding safety prompt information on the control page of the vehicle in response to the control status being in a takeover status.

14. A vehicle, characterized in that: The vehicle comprises: processor; A display device, used to be controlled by the processor to display a control page of the vehicle; A memory for storing one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 12 is implemented.

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