A control method, apparatus, device, and storage medium for an autonomous vehicle.

Abstract

According to embodiments of the present disclosure, a control method, device, equipment and storage medium of an autonomous vehicle are provided. The method comprises: during driving of the autonomous vehicle towards a first destination, receiving a destination change request, the destination change request indicating a second destination different from the first destination; determining a risk degree of switching to the second destination based on a current driving state of the autonomous vehicle, the risk degree being determined based on at least one vehicle action required to be performed from the current driving state to a planned route to the second destination; and in response to the risk degree being greater than a threshold, rejecting the destination change request. In this way, embodiments of the present disclosure can effectively improve the safety of the autonomous vehicle.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to a method, apparatus, device, and computer-readable storage medium for controlling an autonomous vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, various autonomous vehicles have been put into operation. Autonomous vehicles can plan routes based on trip-related information and provide travel services to users. Ensuring operational safety during the operation of autonomous vehicles remains a key challenge. Summary of the Invention

[0003] In a first aspect of this disclosure, a control method for an autonomous vehicle is provided. The method includes: receiving a destination change request while the autonomous vehicle is traveling towards a first destination, the destination change request indicating a second destination different from the first destination; determining a risk level for switching to the second destination based on the current driving state of the autonomous vehicle, the risk level being determined based on at least one vehicle action required to switch the planned route from the current driving state to the second destination; and rejecting the destination change request in response to a risk level exceeding a threshold. In this manner, embodiments of this disclosure can effectively improve the safety of autonomous vehicle operation.

[0004] In a second aspect of this disclosure, a control device for an autonomous vehicle is provided. The device includes: a receiving module configured to receive a destination change request while the autonomous vehicle is traveling toward a first destination, the destination change request indicating a second destination different from the first destination; a first determining module configured to determine a risk level for switching to the second destination based on the current driving state of the autonomous vehicle, the risk level being determined based on at least one vehicle action required to switch from the current driving state to the planned route to the second destination; and a first rejecting module configured to reject the destination change request in response to a risk level greater than a threshold.

[0005] In a third aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the device to perform the method of the first aspect.

[0006] In a fourth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the method of the first aspect.

[0007] In a fifth aspect of this disclosure, a computer program product is provided. The computer program product includes computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method of the first aspect.

[0008] It should be understood that the content described in this content section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0009] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0010] Figure 1 A schematic diagram of an example environment in which embodiments of the present disclosure can be implemented is shown;

[0011] Figure 2 A flowchart illustrating the control of an autonomous vehicle according to some embodiments of the present disclosure is shown;

[0012] Figures 3A to 3C Interface diagrams of some embodiments of this disclosure are shown;

[0013] Figure 4 A block diagram of an apparatus for controlling an autonomous vehicle according to some embodiments of the present disclosure is shown;

[0014] Figure 5 A block diagram of an electronic device capable of implementing several embodiments of the present disclosure is shown. Detailed Implementation

[0015] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0016] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0017] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0018] The embodiments of this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with applicable laws, regulations, and relevant provisions. In the embodiments of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, in implementing the embodiments of this disclosure, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained in accordance with relevant laws and regulations through appropriate means. The specific methods of notification and / or authorization may vary depending on the actual situation and application scenario, and the scope of this disclosure is not limited in this respect.

[0019] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0020] As mentioned above, with the rapid development of autonomous driving technology, various autonomous vehicles have been put into operation. Autonomous vehicles can plan routes based on trip-related information (such as origin and destination) and provide travel services to users. Ensuring operational safety during the operation of autonomous vehicles remains a key challenge.

[0021] Therefore, embodiments of this disclosure propose a control method for an autonomous vehicle. According to various embodiments of this disclosure, during the autonomous vehicle's journey toward a first destination, a destination change request is received, the destination change request indicating a second destination different from the first destination; based on the autonomous vehicle's current driving state, a risk level for switching to the second destination is determined, the risk level being determined based on at least one vehicle action required to switch from the current driving state to the planned route to the second destination; and in response to a risk level exceeding a threshold, the destination change request is rejected.

[0022] Upon receiving a destination change request, embodiments of this disclosure can determine the risk level of traveling to the changed destination based on the current driving status of the autonomous vehicle. Furthermore, if the risk level exceeds a threshold, the destination change request is rejected. In this way, embodiments of this disclosure can effectively improve the safety of autonomous vehicles.

[0023] Example embodiments of this disclosure are described below with reference to the accompanying drawings.

[0024] Example Environment

[0025] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In environment 100, user 110 (also referred to as the current user) can obtain travel services through terminal device 124.

[0026] like Figure 1 As shown, vehicle 140 can be used to provide mobility services. In some embodiments, vehicle 140 can be any type of vehicle capable of carrying people and / or goods and moving by a power system such as an engine. Examples of vehicle 140 include, but are not limited to, cars, trucks, buses, electric vehicles, motorcycles, motorhomes, trains, etc. In some examples, one or more vehicles 140 in environment 100 can be vehicles with autonomous driving capabilities. Vehicle 140 may also be referred to as autonomous vehicle 140.

[0027] like Figure 1 As shown, the terminal device 124 may have an application 126 installed and provide a user interface 130 to the user so that the user can access the travel services provided by the autonomous vehicle.

[0028] Terminal device 124 may, for example, communicate with cloud device 122 to collaboratively provide travel services to user 110. Terminal device 124 and cloud device 122 may be collectively referred to as service system 120.

[0029] For example, terminal device 124 may include any suitable type of electronic device, examples of which may include, but are not limited to, mobile phones, desktop computers, laptop computers, notebook computers, netbook computers, tablet computers, media computers, multimedia tablets, personal communication system (PCS) devices, etc.

[0030] Environment 100 also includes electronic device 120. Electronic device 120 may be deployed, for example, inside vehicle 140. Electronic device 120 controls vehicle 140. For example, electronic device 120 may control vehicle 140 (e.g., autonomous vehicle 140) to travel towards a first destination. During the travel of vehicle 140, electronic device 120 may receive a destination change request. Upon receiving a destination change request, electronic device 120 may determine the risk level of vehicle 140 traveling to a second destination and, based on the risk level, determine whether to modify the current travel route. When the risk level is greater than a threshold, electronic device 120 will reject the destination change request and control vehicle 140 to continue along the current route.

[0031] It should be understood that the structure and function of environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0032] Example process

[0033] The following will be referenced Figure 2 This describes a control process 200 for an autonomous vehicle according to embodiments of the present disclosure. The control process 200 for the autonomous vehicle may, for example, be derived from... Figure 1 The electronic device 120 shown performs the following actions.

[0034] like Figure 2 As shown in block 210, electronic device 120 receives a destination change request while the autonomous vehicle is traveling toward a first destination. The destination change request indicates a second destination different from the first destination.

[0035] As an example, after a travel order is created, electronic device 120 can control autonomous vehicle 140 to arrive at the starting point indicated in the travel order to pick up the first user. After the first user boards, electronic device 120 can control autonomous vehicle 140 to travel towards the first destination indicated in the travel order. While autonomous vehicle 140 is traveling towards the first destination, electronic device 120 can receive a destination change request triggered by the first user. This destination change request indicates that the first destination of the travel order be changed to a second destination.

[0036] In some scenarios, before a travel order is created, electronic device 120 can control autonomous vehicle 140 to execute a test order. During the execution of the test order by autonomous vehicle 140, electronic device 120 can also receive destination change requests. Here, the test order instructs electronic device 120 to control autonomous vehicle 140 to travel along a preset test route.

[0037] In some embodiments, the autonomous vehicle is associated with a first user's first order, and the destination change request is triggered by the first user through a configuration interface associated with the first order. This configuration interface includes either a first configuration interface provided by a display device deployed on the autonomous vehicle, or a second configuration interface presented by a terminal device associated with the first user.

[0038] As an example, such as Figure 3A As shown, Figure 3A An example interface of an embodiment of this disclosure is shown. Figure 3A The configuration interface 300A can be provided, for example, by a display device deployed on the autonomous vehicle 140. For instance, the configuration interface 300A could be provided by a screen deployed in the rear seats of the autonomous vehicle 140 or a screen deployed on the center console of the autonomous vehicle 140. The configuration interface 300A can also be provided by a terminal device associated with the first user. This terminal device could include, for example, a mobile phone associated with the first user. For ease of description, the following description will assume that the configuration interface 300A is provided by a terminal device associated with the first user.

[0039] During the execution of the first order, the terminal device associated with the first user can provide a configuration interface 300A. The configuration interface 300A can display various information associated with the first order. For example, the terminal device can display the first destination of the first order, the current location of the autonomous vehicle 140, and the route taken by the autonomous vehicle 140 to the first destination in the configuration interface 300A. The terminal device can also provide a destination configuration control 310 to the first user in the configuration interface 300A. The terminal device can obtain a destination change request through the destination configuration control 310 and send the destination change request to the electronic device 120. For example, when the destination configuration control 310 is clicked, the terminal device can present a destination modification component to the first user. The terminal device can obtain text information about the second destination input by the first user through the destination modification component to construct a destination change request.

[0040] For example, when the destination configuration control 310 is clicked, the terminal device can display an indicator element in the map component 320 of the configuration interface 300A. The indicator element is used to indicate the second destination selected by the first user. The terminal device can receive the first user's drag operation via the map component 320 to adjust the position indicated by the indicator element. After the drag operation is completed, the terminal device can determine the current position indicated by the indicator element as the second destination selected by the first user and construct a destination change request.

[0041] In some scenarios, destination modification requests can also be triggered based on received voice commands. For example, a terminal device associated with a first user can receive voice input from the first user. This voice input may include a second destination. The terminal device associated with the first user can determine the second destination based on the voice input, and then trigger the construction of a destination modification request based on the second destination.

[0042] Continue to refer to Figure 2 In box 220, electronic device 120 determines the risk level of switching to a second destination based on the current driving state of the autonomous vehicle. The risk level is determined based on at least one vehicle action required to switch the planned route from the current driving state to the second destination.

[0043] As an example, upon receiving a destination change request, electronic device 120 can determine the current driving state of autonomous vehicle 140. This current driving state may include, for example, a turning state, a straight-ahead state, or a braking state. After the current driving state of autonomous vehicle 140 is determined, electronic device 120 can determine the risk level of switching to the second destination. This risk level can be determined, for example, based on the current driving state of autonomous vehicle 140 and at least one vehicle action required to switch from the current driving state to the planned route to the second destination. For example, autonomous vehicle 140 is currently in a left-turn state. The at least one vehicle action required to switch from the current driving state to the planned route to the second destination is a right-turn action. Electronic device 120 can then determine the risk level based on the left-turn state and the right-turn action. The specific process for determining the risk level will be described later and will not be elaborated upon here.

[0044] In some embodiments, upon receiving a destination change request, the electronic device 120 can plan a route from the autonomous vehicle's current location to a second destination. Further, in response to determining the planned route, the electronic device 120 can determine at least one vehicle action for switching to the planned route. Finally, the electronic device 120 can determine the risk level of switching to the second destination by comparing a first set of driving parameters associated with the current driving state with a second set of driving parameters corresponding to the at least one vehicle action.

[0045] As an example, when a destination change request is received, electronic device 120 can determine a planned route based on the current location of autonomous vehicle 140 and the second destination indicated in the destination change request. Once the planned route is determined, electronic device 120 can determine at least one vehicle action required to switch autonomous vehicle 140 from its current driving state to driving along the planned route. This at least one vehicle action includes steering, braking, acceleration, lane changing, etc. For example, if there is an angle at the intersection of the planned route and the initial route, electronic device 120 can determine that it is necessary to control autonomous vehicle 140 to perform a steering action in order for autonomous vehicle 140 to travel along the planned road.

[0046] After determining at least one vehicle action, the electronic device 120 can determine the risk level of switching to a second destination by comparing a first set of driving parameters associated with the current driving state with a second set of driving parameters corresponding to the at least one vehicle action. For example, the electronic device 120 can invoke an appropriate algorithm (e.g., a risk level determination model) to determine the risk level based on the first and second driving parameters.

[0047] In this way, embodiments of this disclosure are able to more accurately assess the level of risk after modifying the destination.

[0048] In some embodiments, the electronic device 120 can determine the degree of change of the target driving parameters based on a first set of driving parameters and a second set of driving parameters. Further, the electronic device 120 can determine whether the risk level exceeds a threshold based on the degree of change of the target driving parameters. Here, the target driving parameters include the autonomous vehicle's speed and / or its direction of travel.

[0049] As an example, upon receiving a destination change request, electronic device 120 can determine a first set of driving parameters based on the current driving state of autonomous vehicle 140. For example, electronic device 120 can determine the current first driving speed and / or first driving direction of autonomous vehicle 140. The current driving direction here may be determined by electronic device 120 based on the current steering wheel angle of autonomous vehicle 140. After the planned route is determined, electronic device 120 can determine a second set of driving parameters, including at least one vehicle action required to control autonomous vehicle 140 to drive along the planned route. The second set of driving parameters includes a second driving speed and / or a second driving direction. Based on the first and second sets of driving parameters, electronic device 120 can determine the degree of change of a target driving parameter. The degree of change of the target driving parameter may, for example, indicate the change value required to switch autonomous vehicle 140 to perform at least one vehicle action.

[0050] For example, electronic device 120 can determine a first change value based on a first driving speed and a second driving speed, where the first change value indicates the difference between the first driving speed and the second driving speed. Further, electronic device 120 can determine a first driving direction and a second driving direction, and determine a second change value. This second change value can, for example, indicate the angle between the first driving direction and the second driving direction. After the first and second change values ​​are determined, electronic device 120 can determine whether the first and second change values ​​exceed preset values. When it is determined that they exceed the preset values, electronic device 120 can determine that the risk level is greater than a threshold. For example, when the first change value exceeds the first preset value, it can be determined that the autonomous vehicle 140 needs to brake urgently. In this scenario, electronic device 120 can determine that the risk level exceeds the threshold and reject the destination change request. As another example, when the second change value exceeds the second preset value, electronic device 120 can determine that the autonomous vehicle 140 needs to make an emergency turn. In this scenario, electronic device 120 can also determine that the risk level exceeds the threshold and reject the destination change request.

[0051] In this way, the embodiments of this disclosure can more accurately determine the degree of risk, thereby more effectively ensuring the safety of autonomous vehicle operation.

[0052] Continue to refer to Figure 2 In box 230, electronic device 120 rejects a destination change request in response to a risk level exceeding a threshold. As an example, when electronic device 120 determines, based on a first set of driving parameters and a second set of driving parameters, that the risk level of changing the destination exceeds a threshold, it can reject the destination change request. After rejecting the destination change request, electronic device 120 can control the autonomous vehicle 140 to continue traveling along the original route.

[0053] In some scenarios, when the risk level is no greater than the threshold, the electronic device 120 can accept the destination change request and control the autonomous vehicle 140 to travel along the planned route determined based on the current location of the autonomous vehicle 140 and the second destination.

[0054] In some embodiments, the electronic device 120 may also reject a destination change request in response to a failure of route planning to the second destination or a candidate planned route to the second destination not meeting preset constraints.

[0055] As an example, upon receiving a destination change request, electronic device 120 and / or remote device 120 can plan a route based on the second destination indicated in the destination change request and the current location of autonomous vehicle 140. If the route planning time exceeds a preset period, electronic device 120 can determine that the route planning to the second destination has failed. For example, if electronic device 120 fails to plan a route from the current location of autonomous vehicle 140 to the second destination within 30 seconds after receiving the destination change request, it can determine that the route planning has failed and thus reject the destination change request. Electronic device 120 can then control autonomous vehicle 140 to travel along the original route.

[0056] In some scenarios, after the electronic device 120 plans a candidate route from the current location of the autonomous vehicle 140 to the second destination, it can also determine whether the route meets preset constraints. For example, if the difference between the first time and the second time exceeds a preset value, the electronic device 120 can determine that the candidate route does not meet the preset constraints. Here, the first time indicates the time required for the autonomous vehicle 140 to travel from its current location to the first destination, and the second time indicates the time required for the autonomous vehicle 140 to travel from its current location to the second destination. When it is determined that the planned candidate route does not meet the preset constraints, the electronic device 120 can also reject the destination change request and control the autonomous vehicle 140 to travel along the original route.

[0057] In this way, embodiments of the present disclosure can also determine whether to reject a destination change request based on route planning results, thereby effectively improving the efficiency of autonomous vehicle operation.

[0058] In some embodiments, the electronic device 120 can determine the traffic information corresponding to the candidate planned route. Further, the electronic device 120 can determine whether the candidate planned route meets preset constraints based on the traffic information.

[0059] As an example, after a candidate route is determined, the electronic device 120 can determine the road condition information of the candidate route using a high-precision map. Furthermore, the electronic device 120 can determine whether the candidate route meets preset constraints based on the road condition information. For example, after acquiring the road condition information, the electronic device 120 can determine whether the candidate route can enable the autonomous vehicle 140 to reach the second destination. For instance, if the acquired road condition information indicates that some sections of the candidate route are under road repair, thus preventing the autonomous vehicle 140 from reaching the second destination along the candidate route, then it can be determined that the candidate route does not meet the preset constraints.

[0060] In some scenarios, traffic information can also indicate whether there is traffic congestion on certain sections of the candidate planned route. For example, traffic congestion can indicate that the time required for the autonomous vehicle 140 to pass through that section exceeds a preset value. When it is determined that there is traffic congestion on certain sections of the candidate planned route, the electronic device 120 can determine that the candidate planned route does not meet the preset constraints.

[0061] In this way, embodiments of the present disclosure can determine whether candidate planned routes meet preset constraints based on traffic information, thereby more accurately determining whether a destination change request should be rejected.

[0062] In some embodiments, the electronic device 120 can also reject a destination change request in response to the autonomous vehicle currently being parked. As an example, after receiving a destination change request, the electronic device 120 can also determine whether the autonomous vehicle 140 is currently being parked. If it is determined that the autonomous vehicle 140 is currently being parked, the electronic device 120 can reject the destination change request and control the autonomous vehicle 140 to continue along the original route. For example, after the autonomous vehicle 140 reaches its first destination, the electronic device 120 can control the autonomous vehicle 140 to park. If the electronic device 120 receives a destination change request while the autonomous vehicle 140 is parking, it can reject the destination change request.

[0063] In some embodiments, the electronic device 120 may trigger a first message indicating the rejection of the destination change request to be presented to a first user via a configuration interface in response to the rejection of the destination change request. As an example, such as Figure 3A As shown, when a destination change request is rejected, the electronic device 120 can send a rejection message to the order service module via the route planning module. Upon receiving the rejection message, the order service module can forward it to the cloud order service. The cloud order service can then send the rejection message to the terminal device associated with the first user or the display device deployed in the autonomous vehicle 140, thus presenting a first prompt message 330 to the first user. This first prompt message 330 can, for example, be presented in a message notification component, which can be a bubble or any other suitable style. The first message 330 includes a description indicating that the destination change request was rejected. Such a description could be, for example, "Sorry, the road conditions to the new destination are complex; please try again later."

[0064] In some scenarios, after a destination change request is accepted, the electronic device 120 can trigger a message to be displayed to the first user via a configuration interface, indicating that the destination change request has been accepted. The electronic device 120 can also trigger a message to be displayed to the first user via a configuration interface, showing the planned route determined based on the current location of the autonomous vehicle 140 and the location of the second destination.

[0065] In this way, embodiments of the present disclosure can promptly provide users with a first notification message indicating that the destination change request has been rejected after the destination change request is rejected, thereby improving the efficiency of users obtaining information.

[0066] In some embodiments, the first prompt message indicates at least one of descriptive information and suggested information. The descriptive information indicates the reason why the destination change request was rejected. The suggested information is used to guide the user to re-initiate the change request after the autonomous vehicle has passed through a preset area. The preset area here includes an intersection area.

[0067] As an example, such as Figure 3B As shown, when a destination change request is rejected, the electronic device 120 can trigger the presentation of a first prompt message 330 to the user. The first prompt message 330 includes descriptive information and suggestion information. The descriptive information may, for example, indicate the reason why the destination change request was rejected. For example, when the destination change request is rejected because an emergency turn is required, the descriptive information may be "Due to the need for a sharp turn, the destination cannot be changed."

[0068] The suggested information in the first prompt message 330 could be based on a preset area where the autonomous vehicle 140 is currently located. This preset area could include, for example, an intersection area or a road area with multiple lanes. This preset area can also be referred to as the traffic scenario where the autonomous vehicle 140 is currently located. For example, if the autonomous vehicle 140 is currently in an intersection area, the suggested information could be "Traffic conditions at the intersection are complex; please try again after the intersection." As another example, if the autonomous vehicle 140 is currently in a road area with multiple lanes, the suggested information could be "There are many lanes currently, and the traffic conditions are complex; please try again later."

[0069] In this way, embodiments of the present disclosure can provide users with reasons for destination change rejection and corresponding suggestions, thereby improving the efficiency of users obtaining information and enhancing the user's interactive experience.

[0070] In some embodiments, the electronic device 120 may also receive a destination change request when the autonomous vehicle 140 executes a test order. Specifically, the autonomous vehicle is associated with a test order corresponding to a first destination. The destination change request is triggered based on a second order assigned to the autonomous vehicle. The second order corresponds to a second user.

[0071] As an example, before the second order is assigned to the autonomous vehicle 140, the electronic device 120 can control the autonomous vehicle 140 to execute a test order. This test order instructs the electronic device 120 to control the autonomous vehicle 140 to travel along a preset test route, the endpoint of which may be, for example, a first destination. After the second order is assigned to the autonomous vehicle 140, the electronic device 120 can, based on the second order, determine and obtain a destination change request. This destination change request instructs the first destination indicated by the test order to be changed to a second destination. This second destination may, for example, be the pick-up point of the second user determined by the electronic device 120 based on the second order.

[0072] Furthermore, the electronic device 120 can determine the current driving status of the autonomous vehicle 140. After the current driving status is determined, the electronic device 120 can determine the risk level of switching to the second destination to determine whether to reject the destination change request. The process of determining the risk level here is similar to the risk level determination process described above, and will not be elaborated further in this disclosure. When the risk level is determined to be greater than a threshold, the electronic device 120 can reject the destination change request to cancel the second order.

[0073] In this way, the embodiments of this disclosure can reject destination changes in different operating scenarios of autonomous vehicles, thereby effectively improving the safety of autonomous vehicle operation.

[0074] In some embodiments, the electronic device 120 may trigger the presentation of a second prompt message to the second user in response to a destination change request being rejected. The second prompt message indicates that the second order has been cancelled or a service vehicle has been reassigned to the second user.

[0075] As an example, when the autonomous vehicle 140 is executing a test order, the electronic device 120 can also receive destination change requests. In this scenario, if the destination change request is rejected, the electronic device 120 can trigger the presentation of a second prompt message to the second user. Figure 3C As shown, when a destination change request is rejected, the terminal device associated with the second user or the display device deployed in the autonomous vehicle 140 can present an interface 300C. The interface 300C displays a second prompt message 340. The second prompt message 340 can indicate that the second order has been cancelled. In some scenarios, when the second order is cancelled, the cloud device 122 can re-initiate a request to create an order for the second user. In this case, the second prompt message 340 may also include descriptive text indicating that a service vehicle will be reassigned to the second user. In this way, embodiments of this disclosure can promptly provide users with a notification message indicating that an order has been cancelled after a destination change request is rejected, thereby effectively improving the user's interactive experience and increasing the operational efficiency of the autonomous vehicle.

[0076] In other scenarios, once the destination change request is accepted, the electronic device 120 can trigger the presentation of multiple pieces of information associated with the second order to the second user. These multiple pieces of information may include, for example, the current location of the autonomous vehicle 140, the vehicle model information of the autonomous vehicle 140, the route taken by the autonomous vehicle 140 from the current location to the second destination (i.e., the second user's pick-up point), and the time required for the autonomous vehicle 140 to travel from the current location to the second destination.

[0077] Upon receiving a destination change request, embodiments of this disclosure can determine the risk level of traveling to the changed destination based on the current driving status of the autonomous vehicle. Furthermore, if the risk level exceeds a threshold, the destination change request is rejected. In this way, embodiments of this disclosure can effectively improve the safety of autonomous vehicles.

[0078] Example devices and equipment

[0079] Embodiments of this disclosure also provide corresponding apparatus for implementing the above methods or processes. Figure 4 A schematic structural block diagram of a charging reminder device 400 according to certain embodiments of the present disclosure is shown. The device 400 may be implemented as or included in an electronic device 120. The various modules / components in the device 100 may be implemented by hardware, software, firmware, or any combination thereof.

[0080] like Figure 4 As shown, the device 400 includes a receiving module 410 configured to receive a destination change request during the autonomous vehicle's journey toward a first destination, the destination change request indicating a second destination different from the first destination; a first determining module 420 configured to determine the risk level of switching to the second destination based on the autonomous vehicle's current driving state, the risk level being determined based on at least one vehicle action required to switch from the current driving state to the planned route to the second destination; and a first rejecting module 430 configured to reject the destination change request in response to a risk level greater than a threshold.

[0081] In some embodiments, the autonomous vehicle is associated with a first user’s first order, wherein the destination change request is triggered by the first user through a configuration interface associated with the first order.

[0082] In some embodiments, the configuration interface includes: a first configuration interface provided by a display device deployed on the autonomous vehicle; or a second configuration interface presented by a terminal device associated with a first user.

[0083] In some embodiments, the device 400 further includes a first triggering module configured to trigger a first prompt message indicating that the destination change request is rejected, presented to a first user via a configuration interface, in response to the rejection of the destination change request.

[0084] In some embodiments, the first prompt message indicates at least one of the following: descriptive information indicating the reason why the destination change request was rejected; and suggestion information to guide the first user to re-initiate the change request after the autonomous vehicle passes through the preset area.

[0085] In some embodiments, the preset area includes an intersection area.

[0086] In some embodiments, the autonomous vehicle is associated with a test order corresponding to a first destination, and the destination change request is triggered based on a second order assigned to the autonomous vehicle, which corresponds to a second user.

[0087] In some embodiments, the device 400 further includes a second triggering module configured to trigger the presentation of a second prompt message to a second user in response to a destination change request being rejected. The second prompt message indicates that the second order has been cancelled or a service vehicle has been reassigned to the second user.

[0088] In some embodiments, the first determining module 420 is further configured to: plan a route from the current location of the autonomous vehicle to a second destination; determine at least one vehicle action for switching to the planned route in response to determining the planned route; and determine the risk level of switching to the second destination by comparing a first set of driving parameters associated with the current driving state and a second set of driving parameters corresponding to the at least one vehicle action.

[0089] In some embodiments, the device 400 further includes a second determining module, configured to determine the degree of change of a target driving parameter based on a first set of driving parameters and a second set of driving parameters; and to determine whether the risk level is greater than a threshold based on the degree of change of the target driving parameter.

[0090] In some embodiments, the target driving parameters include at least one of the following: the driving speed of the autonomous vehicle; and / or the driving direction of the autonomous vehicle.

[0091] In some embodiments, the device 400 further includes a second rejection module configured to reject a destination change request in response to a failure of route planning to the second destination or a candidate planned route to the second destination not meeting preset constraints.

[0092] In some embodiments, the device 400 further includes a third determining module, configured to determine the traffic information corresponding to the candidate planned route; and based on the traffic information, determine whether the candidate planned route meets preset constraints.

[0093] In some embodiments, the device 400 further includes a third rejection module configured to reject a destination change request in response to the autonomous vehicle being in the parking process.

[0094] The units included in device 400 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units may be implemented using software and / or firmware, such as machine-executable instructions stored on a storage medium. In addition to or as an alternative to machine-executable instructions, some or all of the units in device 400 may be implemented at least partially by one or more hardware logic components. By way of example and not limitation, exemplary types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chips (SoCs), complex programmable logic devices (CPLDs), and so on.

[0095] Figure 5 A block diagram of an electronic device 500 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that... Figure 5 The electronic device 500 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 5 The electronic device 500 shown can be used to achieve Figure 1 120 electronic devices.

[0096] like Figure 5 As shown, electronic device 500 is in the form of a general-purpose electronic device. Components of electronic device 500 may include, but are not limited to, one or more processors or processing units 510, memory 520, storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. Processing unit 510 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 520. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of electronic device 500.

[0097] Electronic device 500 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to electronic device 500, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 520 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 530 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data and can be accessed within electronic device 500.

[0098] Electronic device 500 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 5 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 520 may include computer program product 525 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0099] The communication unit 540 enables communication with other terminal devices via a communication medium. Additionally, the functionality of the components of the electronic device 500 can be implemented using a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 500 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0100] Input device 550 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 560 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 500 can also communicate with one or more external devices (not shown) via communication unit 540 as needed. These external devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 500, or with any device (e.g., network card, modem, etc.) that enables electronic device 500 to communicate with one or more other terminal devices. Such communication can be performed via input / output (I / O) interface (not shown).

[0101] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0102] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0103] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0104] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0105] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0106] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A method for controlling an autonomous vehicle, comprising: receiving, during a travel of the autonomous vehicle towards a first destination, a destination change request indicating a second destination different from the first destination; determining, based on a current travel state of the autonomous vehicle, a risk level for switching to the second destination, the risk level being determined based on at least one vehicle action required to be performed for switching from the current travel state to a planned route to the second destination; and in response to the risk level being greater than a threshold value, rejecting the destination change request. 2.The method of claim 1, wherein the autonomous vehicle is associated with a first order of a first user, and wherein the destination change request is triggered by the first user via a configuration interface associated with the first order. 3.The method of claim 2, wherein the configuration interface comprises: a first configuration interface provided by a display device deployed on the autonomous vehicle; or a second configuration interface presented by a terminal device associated with the first user. 4.The method of claim 2, further comprising: in response to the destination change request being rejected, triggering a first prompt message indicating rejection of the destination change request to be presented to the first user via the configuration interface. 5.The method of claim 4, wherein the first prompt message indicates at least one of: description information indicating a reason for the destination change request being rejected; and suggestion information for guiding the first user to re-initiate a change request after the autonomous vehicle passes through a preset area. 6.The method of claim 5, wherein the preset area comprises an intersection area. 7.The method of claim 1, wherein the autonomous vehicle is associated with a test order corresponding to the first destination, and the destination change request is triggered based on a second order assigned to the autonomous vehicle, the second order corresponding to a second user. 8.The method of claim 7, further comprising: in response to the destination change request being rejected, triggering a second prompt message to be presented to the second user, the second prompt message indicating that the second order is cancelled or a service vehicle is re-assigned to the second user. 9.The method of claim 1, wherein determining, based on the current travel state of the autonomous vehicle, the risk level for switching to the second destination comprises: planning a route from a current location of the autonomous vehicle to the second destination; in response to determining the planned route, determining the at least one vehicle action for switching to the planned route; and determining the risk level for switching to the second destination by comparing a first set of travel parameters associated with the current travel state and a second set of travel parameters corresponding to the at least one vehicle action. 10.The method of claim 9, further comprising: determining, based on the first set of travel parameters and the second set of travel parameters, a variation degree of a target travel parameter; and determining whether the risk level is greater than the threshold value based on the variation degree of the target travel parameter. ​ ​ ​ ​ 11. The method of claim 10, wherein the target driving parameter comprises at least one of: a driving speed of the autonomous vehicle; and / or a driving direction of the autonomous vehicle.

12. The method of claim 9, further comprising: rejecting the destination change request in response to a route planning to the second destination failing or a candidate planned route to the second destination not satisfying a preset constraint.

13. The method of claim 12, further comprising: determining road condition information corresponding to the candidate planned route; and determining whether the candidate planned route satisfies the preset constraint based on the road condition information.

14. The method of claim 1, further comprising: rejecting the destination change request in response to the autonomous vehicle currently being in a parking process.

15. An apparatus for control of an autonomous vehicle, comprising: a receiving module configured to receive, during driving of an autonomous vehicle towards a first destination, a destination change request indicating a second destination different from the first destination; a first determining module configured to determine, based on a current driving state of the autonomous vehicle, a risk level of switching to the second destination, the risk level being determined based on at least one vehicle action required to be performed from the current driving state to a planned route to the second destination; and a first rejecting module configured to reject the destination change request in response to the risk level being greater than a threshold.

16. An electronic device, comprising: at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions when executed by the at least one processing unit cause the electronic device to perform the method of any one of claims 1-14.

17. A computer-readable storage medium having stored thereon a computer program, the computer program executable by a processor to implement the method of any one of claims 1-14.

18. A computer program product comprising computer-executable instructions, wherein the computer-executable instructions implement the method of any one of claims 1-14 when executed by a processor. ​ ​ ​

Images