Method and apparatus for controlling automatic driving function of vehicle

Abstract

The invention provides a method for controlling an automatic driving function of a vehicle, and the method comprises the following steps: outputting a prompt signal in the vehicle when the vehicle is in a traffic restriction area with a restriction effect on the vehicle and an activation instruction of the automatic driving function is received, to request a vehicle user to confirm activation of the autonomous driving function; and controlling activation of an automatic driving function of the vehicle based on the monitored response of the vehicle user to the prompt signal, in which the automatic driving function of the vehicle is activated only when a preset confirmation operation of the vehicle user is monitored. The application also proposes an apparatus for controlling an automatic driving function of a vehicle and a computer program product. A user confirmation link is added before the automatic driving function is activated in response to a user instruction, so that the contradiction between system availability and responsibility definition when the automatic driving function is used in a traffic restriction area is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a method for controlling an automatic driving function of a vehicle, and also relates to an apparatus for controlling an automatic driving function of a vehicle and a computer program product. BACKGROUND

[0002] In the field of intelligent driving technology, it is a basic requirement to ensure that the driving behavior of a vehicle complies with the road traffic regulations in various places. Many countries, cities or specific regions will set up various traffic restriction areas (such as tail number restriction areas, low emission areas, and specific vehicle prohibited areas, etc.) based on environmental protection, traffic flow control or other management needs. Unlike typical and explicit traffic violation behaviors such as occupying emergency lanes and running red lights, the driving qualification of a vehicle in a restricted area is closely related to its own attributes (such as license plate number, emission standard), time and regional regulations, and its compliance status is more complex.

[0003] If the automatic driving function is directly disabled in the traffic restriction area, the availability of the automatic driving system may be undesirably limited, especially in the case where the driver is aware and voluntarily assumes responsibility. On the contrary, if the automatic driving function is allowed to be freely enabled in the restricted area, the responsibility between the system and the driver will become ambiguous once a violation occurs, thereby bringing uncertainty in terms of law and safety.

[0004] Therefore, the existing automatic driving function control scheme still has obvious deficiencies. SUMMARY

[0005] The present application aims to provide a method for controlling an automatic driving function of a vehicle, an apparatus for controlling an automatic driving function of a vehicle and a computer program product to at least solve some of the problems in the prior art.

[0006] According to a first aspect of the present application, a method for controlling an automatic driving function of a vehicle is provided, the method comprising the steps of: when the vehicle is in a traffic restriction area that has a binding effect on it, and an activation instruction of the automatic driving function is received, outputting a prompt signal in the vehicle to request a vehicle user to confirm the activation of the automatic driving function; and controlling the activation of the automatic driving function of the vehicle based on the monitored response of the vehicle user to the prompt signal, wherein the automatic driving function of the vehicle is activated only in the case where a preset confirmation operation of the vehicle user is monitored.

[0007] The application particularly includes the following technical concept: by adding a user confirmation link before responding to the user's instruction and formally activating the automatic driving function, the contradiction between system availability and responsibility definition when using the automatic driving function in the traffic restriction area is effectively solved. On the one hand, the confirmation operation provides a clear and reliable basis for the subsequent possible responsibility determination, thereby guaranteeing the availability of the automatic driving system in the traffic restriction area on the premise that the user explicitly attributes the responsibility. On the other hand, this confirmation mechanism also prompts the user to face the risk of violating the rules when continuing to drive in the traffic restriction area, so that the user can make more reasonable driving decisions or route planning decisions. Overall, this interactive design significantly improves the user acceptance of the automatic driving system and optimizes the user experience.

[0008] In an example embodiment, the prompt signal further includes at least one of the following: state information indicating that the vehicle is currently located in the traffic restriction area; a legal risk prompt for driving in the traffic restriction area; and / or a statement that the vehicle user will bear the corresponding legal responsibility if the automatic driving function is insisted on being activated.

[0009] In an example embodiment, the prompt signal is triggered in the transition phase between the manual driving mode and the automatic driving mode of the vehicle, and the transfer of vehicle control to the automatic driving system has not yet occurred in the transition phase; in particular, before the transition phase, the start readiness condition check of the automatic driving system of the vehicle has been completed for the operation design domain, the driver state and the vehicle state.

[0010] In an example embodiment, the preset confirmation operation of the vehicle user is determined to be monitored in the following cases: the clicking operation of the vehicle user on the confirmation continue activation control displayed on the display unit of the vehicle is monitored; the voice instruction issued by the vehicle user for continuing to activate the automatic driving function is monitored; and the preset confirmation gesture performed by the vehicle user is monitored.

[0011] In an example embodiment, if the following responses of the vehicle user to the prompt signal are monitored, the activation of the automatic driving function is terminated: the cancel or refuse operation of the vehicle user on the automatic driving function is monitored; the driving intervention behavior performed by the vehicle user is monitored; or, within a preset time period after the prompt signal is output, the preset confirmation operation of the vehicle user is not monitored.

[0012] In an example embodiment, the method further comprises: reporting vehicle basic information to a map service provider cloud platform, the vehicle basic information at least including the real-time position and time of the vehicle; receiving the geographic fence information of the traffic restriction area that has a binding effect on the vehicle issued by the map service provider cloud platform; and determining whether the vehicle is in the traffic restriction area that has a binding effect on it based on the geographic fence information and the real-time position of the vehicle.

[0013] In one example embodiment, the method further comprises triggering a backup response of the autonomous driving system, or controlling the vehicle to safely exit the current autonomous driving function, if the vehicle has been in the autonomous driving mode, when the vehicle is outside the traffic restricted area to which it is subject to and it is determined that the vehicle is affected by the traffic restricted area.

[0014] In one example embodiment, the method further comprises recording and storing the response behavior and related time of the vehicle user to the prompt signal to form an operation log; and providing the operation log for the responsibility determination of the vehicle violation of driving in the traffic restricted area.

[0015] According to a second aspect of the present application, there is provided an apparatus for controlling an autonomous driving function of a vehicle, the apparatus comprising a memory and a processor, the memory storing computer program instructions which, when executed by the processor, enable the processor to perform the method according to the first aspect of the present application.

[0016] According to a third aspect of the present application, there is provided a computer program product comprising computer program instructions which, when executed by a processor, enable the processor to perform the method according to the first aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The principles, features and advantages of the present application can be better understood by the following detailed description of the application, taken in conjunction with the accompanying drawings, in which: Figure 1 a block diagram of an apparatus for controlling an autonomous driving function of a vehicle according to one example embodiment of the present application is shown; Figure 2 a schematic diagram of an interaction process between a vehicle and a map service provider cloud platform according to one example embodiment of the present application is shown; Figure 3 a flowchart of a method for controlling an autonomous driving function of a vehicle according to one example embodiment of the present application is shown; Figure 4 a flowchart of additional steps of the method shown; Figure 3 Figure 5 a schematic diagram of a triggering timing of a prompt signal according to one example embodiment of the present application is shown; and Figures 6A to 6C schematic diagrams of different states of a human-machine interface of a vehicle when an autonomous driving function is activated in a traffic restricted area are shown. DETAILED DESCRIPTION

[0018] ​To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0019] Figure 1 A block diagram of an apparatus for controlling an autonomous driving function of a vehicle according to an exemplary embodiment of this application is shown.

[0020] Vehicle 1 possesses autonomous driving capabilities, meaning it can perform all dynamic driving tasks within a defined operational design domain, such as corresponding to Level 3 and Level 4 driving automation levels. Figure 1 In the illustrated embodiment, vehicle 1 includes device 10, which can be implemented as part of the autonomous driving domain controller of vehicle 1, or in a cross-domain manner, or as a standalone unit.

[0021] Device 10 includes a processor and a memory (not shown for simplicity). The memory stores computer program instructions, which may be stored in a computer-readable storage medium such as a hard disk, RAM, or flash memory card. The processor may be a central processing unit (CPU), microcontroller unit (MCU), graphics processing unit (GPU), neural network processing unit (NPU), digital signal processor (DSP), or other general-purpose processor. When the processor executes the computer program instructions in the memory, it can implement a method for controlling the autonomous driving function of vehicle 1.

[0022] Device 10 can be connected to multiple on-board functional units of vehicle 1 via wired or wireless means through an in-vehicle network (such as CAN bus, FlexRay, MOST, etc.).

[0023] like Figure 1 As shown, device 10 can be connected to environmental sensors 13 of vehicle 1, which include, for example, one or more combinations of cameras, millimeter-wave radar, and lidar, to acquire visual images, radar point clouds, and target detection signals of the environment surrounding vehicle 1. With the help of these environmental sensors 13, device 10 can continuously determine whether the current driving scenario (e.g., road structure, traffic facilities, surrounding targets, weather conditions, etc.) meets the requirements of the operating design domain.

[0024] The device 10 is also connected to the vehicle state sensor 14 to collect data on vehicle motion status, autonomous driving system status, and the operation of other related systems. Based on the acquired vehicle state information, the device 10 can determine whether the current vehicle state meets the activation conditions for the relevant autonomous driving functions.

[0025] In addition, the device 10 is also connected to an occupant status sensor 15, which may include, for example, a visual perception device or a physiological signal detection device for monitoring the status of the driver and passengers. With the help of the occupant status sensor 15, the device 10 can acquire information on the status of the people in the vehicle, thereby enabling the device 10 to determine whether the status of the driver and passengers meets the activation conditions of the relevant autonomous driving functions.

[0026] Device 10 is also connected to communication unit 16, enabling it to interact with other domain controllers within vehicle 1, or with remote units such as map service provider cloud platforms, vehicle back-end servers, traffic management platforms, and roadside infrastructure. Thus, device 10 can, for example, acquire geofence information about traffic restriction zones, or directly obtain status determination results indicating whether vehicle 1 is within a valid traffic restriction zone. Based on the acquired information, device 10 can implement corresponding control over the activation process of autonomous driving functions.

[0027] Device 10 is also connected to navigation and positioning unit 17 to obtain real-time location information of vehicle 1. Based on the real-time location information and geofence information obtained by means of communication unit 16, device 10 can, for example, determine in real time whether vehicle 1 is currently within a traffic restriction zone that restricts its movement.

[0028] Device 10 can also be connected to input / output unit 20, which may include, for example, in-vehicle display units (such as instrument panel displays, central control screens, head-up displays (HUDs), and / or augmented reality head-up displays (AR-HUDs), speakers, and haptic feedback devices (such as steering wheel or seat vibration devices). Device 10 can receive activation commands from vehicle users for autonomous driving functions, and can also acquire additional information such as license plate information and vehicle model information input by the user, and can use this additional information to assess the restrictive effect of traffic restriction zones or to control the activation of autonomous driving functions. In addition, device 10 can also output prompt signals to vehicle users requesting confirmation of activation of autonomous driving functions in an optical, acoustic, and / or haptic manner through input / output unit 20.

[0029] The device 10 can also be connected to the driving actuator 30 of the vehicle 1 to notify it of the instruction to activate or deactivate the autonomous driving function. The driving actuator 30 includes, for example, a power system, a transmission system, a steering system, and a braking system, and can perform corresponding vehicle control actions in response to the control instructions issued by the device 10.

[0030] It should be understood that Figure 1 The number and types of various sensors or actuators connected to device 10 shown are merely examples and are not intended to be limiting. In practical applications, other types or numbers of sensors and actuators may be used in vehicle 1 to meet specific needs and conditions.

[0031] It should also be understood that the deployment of device 10 is not limited to the local location of vehicle 1, but can also be carried out remotely, such as by setting it on the vehicle manufacturer's back-end server or cloud platform.

[0032] Furthermore, without departing from the core concept of this application, the connection relationships and functional divisions between modules can be adaptively adjusted according to the actual system architecture, and such adjustments should also fall within the scope of protection of this application.

[0033] Figure 2 A schematic diagram illustrating the interaction process between a vehicle 1 and a map service provider cloud platform according to an exemplary embodiment of this application is shown.

[0034] Map service providers (such as Gaode, Baidu, Tencent, etc.) use cloud-based deployment architectures for their servers, forming a cloud platform 5. Vehicle 1 establishes a data interaction channel with the map service provider's cloud platform 5 by means of its communication unit (through wireless communication technologies such as 5G, C-V2X, or DSRC), for example, by calling an application programming interface (API).

[0035] For example, vehicle 1 periodically (e.g., every 2 kilometers or every 60 seconds) reports basic vehicle information to the map service provider cloud platform 5. This information includes at least the real-time location and time of vehicle 1, and optionally parameters such as license plate number, vehicle model, emission standard, load, vehicle width and height.

[0036] After receiving the information reported by vehicle 1, the map service provider's cloud platform 5 can query the applicable traffic restriction rules for the area where vehicle 1 is located based on the vehicle's real-time location, time, and vehicle characteristic attributes, and generate geofence information 201 for the traffic restriction zone that restricts vehicle 1. The geofence information 201 can be sent to vehicle 1, for example, via an API response message.

[0037] like Figure 2 As shown in the example, vehicle 1's license plate ends in 5, which matches the license plate number restricted for that day. At time t1 (e.g., 6:59 AM), although the license plate number restricted for that day includes 5, the map service provider's cloud platform 5 returns empty geofence information to the vehicle or remains in a state of no data transmission because the restriction policy has not yet taken effect at that time.

[0038] At time t2 (e.g., 7:01 AM, when the traffic restriction period begins), the map service provider cloud platform 5 confirms that there is a traffic restriction zone in the area where vehicle 1 is located, and then sends geofence information 201 containing the geographical boundary coordinates of the restriction zone to vehicle 1.

[0039] Through the aforementioned vehicle-cloud real-time interaction mechanism, vehicles can continuously obtain the latest dynamic information on traffic restriction zones that are binding on them, providing a basis for decision-making for the rational control of autonomous driving functions.

[0040] It should be noted that the interaction mode between vehicle 1 and map service provider cloud platform 5 is not limited to periodic requests. It can also be triggered by the map service provider cloud platform, in response to specific events, by user-initiated requests, periodically triggered according to preset time periods, or triggered at random intervals.

[0041] Figure 3 A flowchart illustrating a method for controlling an autonomous driving function of a vehicle according to an exemplary embodiment of this application is shown. The method includes steps S1 to S2, where step S1 is exemplarily shown to include sub-steps S11 to S13, and step S2 is exemplarily shown to include sub-steps S21 to S24. This method can be used, for example, in... Figure 1 The device 10 shown is implemented in this case.

[0042] In step S11, it is checked whether an activation command for the autonomous driving function has been received. Before or after step S11, in one or more steps (not shown), the system may have completed a check of the vehicle's autonomous driving system's readiness conditions, such as checks on the operating design domain, driver state, and vehicle state.

[0043] The activation command can be generated in the following ways: pressing a dedicated physical button on the steering wheel or center console, issuing a specific voice command through a voice recognition system, and / or clicking a virtual activation control on a touchscreen interface.

[0044] If it is determined in step S11 that no activation of the autonomous driving function has been received, this check can continue to be performed in this step.

[0045] If it is determined in step S11 that an activation command has been received, then in step S12, it is checked whether the vehicle is within a traffic restriction area that has a binding effect on it.

[0046] Traffic restriction zones include at least one of the following types: license plate number restriction zones, emission standard restriction zones, vehicle type restriction zones, school zones, construction zones, toll station zones, and traffic control zones. In addition to geographical boundaries, traffic restriction zones are usually accompanied by time-based restrictions (such as morning and evening rush hours, specific dates, or specific days within a week).

[0047] "Traffic restriction zones that have a binding effect on vehicles" refer to areas where a vehicle's inherent attributes do not meet the conditions for passage; entering such a zone constitutes a traffic violation. Conversely, if a vehicle's inherent attributes meet the conditions for passage within the zone, then the traffic restriction zone has no binding effect on the vehicle. For example, if a vehicle's license plate ends in 5, and the current time period's restricted zone only allows license plate numbers ending in 8, then the restricted zone for that license plate number has no binding effect on the vehicle.

[0048] Specifically, as mentioned above... Figure 2 The aforementioned method can periodically obtain geofence information of traffic restriction zones from the map service provider's cloud platform via vehicle-to-cloud interaction. Based on the obtained geofence information and the vehicle's real-time location information, real-time analysis can be performed using methods such as geospatial relationship analysis (e.g., point-fence comparison) to determine whether the vehicle's current location is within the traffic restriction zone.

[0049] If it is determined in step S12 that the vehicle is not currently in a traffic restriction zone that restricts it, in a specific embodiment, the vehicle's autonomous driving function can be activated directly in step S23 in response to the vehicle user's activation command.

[0050] If it is determined in step S12 that the vehicle is currently in a traffic restriction zone that has a binding effect on it, then in step S13, a prompt signal is output in the vehicle to request the vehicle user to confirm the activation of the autonomous driving function.

[0051] In one embodiment, the output warning signal may be output in at least one of the following ways: displaying visual warning information on an in-vehicle display unit (such as a vehicle instrument panel display, central control screen, head-up display, etc.), playing audio warning information through an in-vehicle speaker, and / or generating a tactile alarm through a tactile feedback device (such as a steering wheel vibration device or a seat vibration device).

[0052] Taking visual signals as an example, the prompt signal may contain content in the form of text, graphics, or symbols, and at least includes an interactive control for requesting user confirmation to activate the autonomous driving function, such as presented as an "OK" virtual button, requiring the user to complete the confirmation through physical touch operation. However, this confirmation request contained in the prompt signal may also exist in the form of an interactive command issued through a voice interface, such as issuing a question or requesting the execution of a specific air gesture.

[0053] In addition, the warning signal may include at least one of the following: Information indicating that the vehicle is currently located within a traffic restriction zone, including the effective time and geographical scope of the traffic restriction zone where the vehicle is located; Legal risks associated with driving in restricted traffic areas, including potential penalties such as points deductions and fines; A statement regarding the legal responsibility that vehicle users will bear if they insist on activating the autonomous driving function; and / or Recommended routes to leave the current traffic restriction zone, etc.

[0054] After outputting the relevant prompt signal, the system can continuously monitor the vehicle user's response to the prompt signal in step S21. Optionally, the system can also record and store the user's response to the prompt signal (e.g., confirming continued activation or deactivation) and related time information in step S21 to form an operation log. This operation log can be configured, for example, to serve as a basis for determining the division of responsibility between the driver and the autonomous driving system when a vehicle violates traffic restrictions, and can be encrypted and stored in a protected storage area on the vehicle's local machine or a remote server, so that it can be retrieved by authorized systems or used in judicial evidence preservation processes.

[0055] Subsequently, in step S22, it is checked whether a preset confirmation operation by the vehicle user has been detected.

[0056] In one embodiment, a preset confirmation action by the vehicle user is determined to be detected under the following circumstances: The system detects when a vehicle user clicks on the confirmation button displayed on the vehicle's display unit, such as when a vehicle user clicks on the "Confirm" or "OK" virtual button in a dialog box that pops up on the dashboard display. The system detects voice commands from vehicle users to continue activating the autonomous driving function, such as those containing "confirm," "continue activation," or "confirm activation"; and / or The system detected that the vehicle user had performed a preset confirmation gesture, which could include air gestures or triggering a physical confirmation button.

[0057] If a preset confirmation operation by the vehicle user is detected in step S22, the vehicle's autonomous driving function is activated in step S23. In one embodiment, the vehicle's output unit may also be controlled to notify the vehicle user of this successful activation. Conversely, if a preset confirmation operation by the vehicle user is not detected in step S22, i.e., especially if the vehicle user's response to a prompt signal is detected as follows, the activation of the autonomous driving function is terminated in step S24: The system detects when a vehicle user cancels or refuses the autonomous driving function. For example, it detects when a user presses the physical button originally used to activate the autonomous driving function again. It also detects when a user clicks the virtual "Cancel" or "Discontinue Activation" controls displayed on the vehicle's infotainment system. The system detected that the vehicle user performed a driving intervention action, which may include, for example, manipulation of the brake pedal, accelerator pedal, or steering wheel; or Within a preset time period (e.g., 10 seconds) after the prompt signal is output, no preset confirmation operation by the vehicle user is detected.

[0058] It should be understood that, although Figure 3Step S11 is shown to be executed before step S12, but this order is not restrictive. In practice, steps S11 and S12 may also be executed in parallel, alternately, or in a different order.

[0059] Figure 4 It shows Figure 3 A flowchart illustrating the additional steps of the method shown. In this embodiment, Figure 3 The method shown further includes steps S25 and S26, and the remaining steps are the same as those in the previous steps. Figure 3 The above is consistent with the previous one. For the sake of brevity, only step S23 is shown. For a detailed description, please refer to [reference needed]. Figure 3 The corresponding parts will not be elaborated here.

[0060] In this embodiment, it is assumed that... Figure 3 In step S11 of the method shown, the activation command for the autonomous driving function has been received, and in step S12, it is determined that the vehicle is not currently in a traffic restriction zone that has a binding effect on it. Therefore, the autonomous driving function has been activated directly in response to this activation command in step S23.

[0061] After step S23, additional step S25 is performed to further determine whether the vehicle is affected by the traffic restriction zone.

[0062] In one embodiment, this assessment can be performed by determining whether the vehicle's destination falls within a restricted area; if the destination does, the vehicle is considered to be affected by the traffic restriction zone. The vehicle's route may include, for example, a navigation-planned route, or, if navigation is not enabled, the system-inferred most probable route. Additionally or alternatively, if the distance between the vehicle's current location and the outer boundary of the restricted area's geofence is less than a preset threshold (e.g., 2 kilometers), the vehicle may also be considered to be affected by the traffic restriction zone.

[0063] If it is determined in step S25 that the vehicle is not affected by the traffic restriction zone, the automatic driving function can remain activated and this check can continue in step S25.

[0064] If it is determined in step S25 that the vehicle is affected by the restricted area, then step S26 is executed. In this step, a backup response from the autonomous driving system can be triggered, or the vehicle can be safely deactivated from the current autonomous driving function. The backup response from the autonomous driving system may include, for example, initiating an intervention request by the autonomous driving system, and / or, if necessary (e.g., if the driver does not respond in time), implementing a minimum risk strategy.

[0065] Figure 5 A schematic diagram illustrating the triggering timing of a prompt signal according to an exemplary embodiment of this application is shown.

[0066] exist Figure 5The arrows shown schematically indicate the time progression of the autonomous driving function activation process, with left to right representing the time sequence and the transfer of driving mode and vehicle control.

[0067] Phase 501, starting to the left of the arrow, is the autonomous driving system readiness phase, indicating that the readiness checks for the operational design domain, driver status, and vehicle status have been completed. For example, it has been confirmed that current road lane width, curvature, and weather conditions meet the requirements for autonomous driving operation. It has been detected that the driver has both hands on the steering wheel, is focused on the road, and is in a takeover-ready state. The braking system, steering system, and sensor array have been confirmed to be functioning normally, with no fault codes affecting autonomous driving functions. Optionally, it can also be checked whether the vehicle user has pre-registered the license plate number, or whether the license plate number matches the information recorded in the account linked to the pre-registered vehicle user. Only when the license plate number has been registered and matches the account information is the autonomous driving system considered ready. In this initial phase 501, the vehicle is still in manual driving mode, and vehicle control is entirely held by the driver (or the dynamic driving task support user).

[0068] like Figure 5 As shown, if an activation command for the autonomous driving function is received from the driver during the autonomous driving readiness phase 501 (exemplarily represented by a switch icon in the figure), the system immediately enters the "transition phase" marked 502. In this phase, vehicle control has not yet been fully transferred to the autonomous driving system; this phase can be considered a critical state between manual driving mode and autonomous driving mode. A series of safety checks can be performed in transition phase 502. If the safety checks are successful, the autonomous driving function is activated; if the safety checks fail, the autonomous driving function is not activated. Specifically, in transition phase 502, the system performs checks on elements that are not within the traditional operational design domain but require special attention, such as traffic restriction zones. If it is confirmed that the vehicle is within a traffic restriction zone that imposes constraints, a prompt signal is output to the vehicle user in transition phase 502, requesting the vehicle user to confirm the activation of the autonomous driving function.

[0069] In transition phase 502, in addition to outputting the aforementioned prompt signal and monitoring the vehicle user's response behavior, vehicle operating parameters are adjusted to match the current driving scenario and the control requirements of the autonomous driving system. For example, vehicle speed and distance can be pre-adjusted to the system's applicable range based on environmental perception results. Furthermore, in this phase 502, the vehicle's human-machine interface can be adjusted, for example, by using light color / flashing status, text / symbol prompts, or audio prompts to indicate to the user that the autonomous driving function is about to be activated.

[0070] If the vehicle user confirms the activation of the autonomous driving function during the transition phase and the vehicle operating parameters are adjusted, the system enters autonomous driving function activation phase 503, at which point vehicle control is transferred from the driver to the autonomous driving system. If no preset confirmation operation from the vehicle user is detected, the system does not enter phase 503 but returns to manual driving mode.

[0071] Figures 6A to 6C The diagram illustrates the different states of the vehicle's human-machine interface when the autonomous driving function is activated in a traffic-restricted area.

[0072] exist Figure 6A An exemplary physical layout for the autonomous driving function switch is shown, configured as a physical button 61 on the inside of the steering wheel. The system is in an autonomous driving ready state, and an indicator light for button 61 is displayed, for example, in white. In this scenario, the driver presses button 61 with their finger to activate the autonomous driving function.

[0073] Figure 6B This shows the interface state when the system enters the transition phase. The indicator light for physical button 61 flashes blue, and a dialog box 62 pops up on the instrument panel display, displaying a message such as: "The vehicle is currently in a traffic restriction zone / time period. If activation is confirmed, the system will not be liable for traffic restriction penalties, and related operations will be recorded. Confirm activation?" The dialog box may also include a virtual "OK" button 620; pressing this virtual button 620 indicates that the vehicle user has confirmed the activation of the autonomous driving function. This phase corresponds to... Figure 5 During the aforementioned transition phase, vehicle control has not yet been transferred from the driver to the vehicle.

[0074] Figure 6C This shows the status after the autonomous driving function has been successfully activated. At this time, the indicator light for the physical button 61 on the steering wheel turns solid blue, indicating that the user is engaged. Figure 6B Clicking the virtual button 620 in the dialog box indicates that the system has completed the transfer of control and the vehicle has officially entered autonomous driving mode.

[0075] It should be understood that the output method of the prompt signal, the specific configuration of the vehicle human-machine interface, and its state performance during the activation of the autonomous driving function are not limited to the illustrated embodiment. In actual applications, they can be adaptively adjusted according to specific needs.

[0076] Although specific embodiments of this application are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of this application. Various substitutions, modifications, and alterations can be conceived without departing from the spirit and scope of this application.

Claims

1. A method for controlling an autonomous driving function of a vehicle (1), wherein, The method includes the following steps: When the vehicle (1) is within a traffic restriction zone that restricts its movement, and receives an activation command for the autonomous driving function, a prompt signal (62) is output in the vehicle (1) to request the vehicle user to confirm the activation of the autonomous driving function; and The activation of the autonomous driving function of the vehicle (1) is controlled based on the detected response of the vehicle user to the prompt signal (62), wherein the autonomous driving function of the vehicle (1) is activated only when a preset confirmation operation of the vehicle user is detected.

2. The method according to claim 1, wherein, The prompt signal (62) also includes at least one of the following: Indicates the vehicle's (1) current status information as being within a traffic restriction zone; Legal risks associated with driving in restricted traffic areas; and / or A statement regarding the legal responsibility that vehicle users must bear if they insist on activating the autonomous driving function.

3. The method according to claim 1 or 2, wherein, The prompt signal (62) is triggered during the transition phase (502) between the manual driving mode and the automatic driving mode of the vehicle (1), during which the transfer of vehicle control to the automatic driving system has not yet occurred. Specifically, prior to the transition phase (502), a check of the startup readiness conditions of the autonomous driving system of the vehicle (1) has been completed for the operating design domain, driver status and vehicle (1) status.

4. The method according to any one of claims 1 to 3, wherein, The following situations will be considered as triggering a preset confirmation action by the vehicle user: The system detected the user's click on the confirmation button displayed on the display unit of the vehicle (1); The system detected voice commands from the vehicle user to continue activating the autonomous driving function; and / or The system detected that the vehicle user performed a preset confirmation gesture.

5. The method according to any one of claims 1 to 4, wherein, If the following response from the vehicle user to the prompt signal (62) is detected, the activation of the autonomous driving function will be terminated: The system detected that the vehicle user canceled or refused to operate the autonomous driving function. The system detected that the vehicle user had performed a driving intervention action; or Within a preset time period after the prompt signal (62) is output, no preset confirmation operation by the vehicle user is detected.

6. The method according to any one of claims 1 to 5, wherein, The method further includes: Report the basic information of vehicle (1) to the cloud platform (5) of the map service provider. The basic information of vehicle (1) includes at least the real-time location and time of vehicle (1). Receive geofence information (201) of traffic restriction zones that restrict vehicles (1) issued by the map service provider's cloud platform (5); and Based on the geofence information (201) and the real-time location of the vehicle (1), it is determined whether the vehicle (1) is in a traffic restriction zone that has a binding effect on it.

7. The method according to any one of claims 1 to 6, wherein, The method further includes: If the vehicle (1) is already in autonomous driving mode, when the vehicle (1) is outside the traffic restriction zone that has a constraint on it and it is determined that the vehicle (1) is affected by the traffic restriction zone, the backup response of the autonomous driving system is triggered, or the vehicle (1) is controlled to safely exit the current autonomous driving function.

8. The method according to any one of claims 1 to 7, wherein, The method further includes: Record and store the vehicle user's response to the prompt signal (62) and the relevant time to form an operation log; and The operation log will be used to determine liability for vehicle (1) driving in violation of traffic restrictions.

9. An apparatus (10) for controlling an autonomous driving function of a vehicle (1), the apparatus (10) comprising a memory and a processor, the memory storing computer program instructions, wherein when the computer program instructions are executed by the processor, the processor is capable of performing the method according to any one of claims 1 to 8.

10. A computer program product comprising computer program instructions, wherein, When executed by a processor, the computer program instructions enable the processor to perform the method according to any one of claims 1 to 8.

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