Method, apparatus and computer program product for controlling a vehicle

Abstract

The invention provides a method for controlling a vehicle, and the method comprises the steps: S1, when an intelligent driving function of the vehicle is activated and a driving task is executed, if it is detected that a user initiates a change operation on a vehicle navigation position, outputting a confirmation prompt corresponding to the change operation; s2, after a positive response of the user to the confirmation prompt is received, an intervention request related to the intelligent driving function is triggered so as to prompt the user to take over vehicle control; and S3, before the user successfully takes over vehicle control in response to the intervention request, controlling the intelligent driving function to continue to execute the driving task according to the current vehicle navigation position. The application also proposes an apparatus for controlling a vehicle and a computer program product. After the position change intention is confirmed for the second time, the intervention request is triggered, the taking-over is guided in a more stable mode, the driving safety is fully guaranteed, and the system behavior is more controllable.

Description

TECHNICAL FIELD

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

[0002] During the activation of the intelligent driving function, the driver may trigger an erroneous positioning change operation on the vehicle navigation interface due to distraction, inaccurate judgment of road conditions, or accidental touch, for example, mistakenly switching the main road where the vehicle is actually located to the adjacent auxiliary road. The common processing mechanism at present is generally to completely ignore the user's intervention operation or directly respond to the user's instruction, immediately replanning the route according to the new navigation position and adjusting the intelligent driving control strategy. This may cause the intelligent driving function to perform a series of inappropriate driving operations based on the erroneous positioning information, such as route calculation errors, vehicle speed and road conditions do not match, etc., significantly increasing the driving risk.

[0003] To this end, some existing solutions propose to trigger the intelligent driving system to exit immediately when human intervention is detected, which may cause the user to lose the opportunity to correct the misoperation, thereby reducing the usability of the intelligent driving system. Some other solutions propose to inquire the user's intention through a secondary confirmation process, but there is no good correlation with the exit and response of the intelligent driving system, and there are still safety hazards.

[0004] Therefore, the existing intelligent driving scheme still has obvious deficiencies. SUMMARY

[0005] The purpose of the present application is to provide a method for controlling a vehicle, an apparatus for controlling 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 a vehicle is provided, wherein the method comprises: Step S1, during the activation of the intelligent driving function of the vehicle and the execution of the driving task, if it is detected that the user initiates a change operation on the navigation position of the vehicle, outputting a confirmation prompt corresponding to the change operation; Step S2, after receiving the affirmative response of the user to the confirmation prompt, triggering an intervention request related to the intelligent driving function to prompt the user to take over the control of the vehicle; and Step S3, before the user successfully takes over the control of the vehicle in response to the intervention request, controlling the intelligent driving function to continue to execute the driving task according to the current navigation position of the vehicle.

[0007] The application particularly includes the following technical concept: by introducing a confirmation prompt mechanism, the user is provided with a correction opportunity for misoperation, avoiding direct interference with the normal operation of the intelligent driving system due to momentary carelessness. After confirming the user's operation intention, the system triggers an intervention request to guide the takeover in a more secure manner, which not only fully guarantees driving safety, but also makes the system behavior more controllable, effectively preventing the safety hazards of improper intelligent driving control due to incorrect positioning information. In addition, during the transition period before the user actually completes the takeover, the system always maintains driving tasks based on the original navigation position, ensuring the robustness of the control strategy during this transition period and further improving driving safety.

[0008] In an example embodiment, step S1 includes: displaying a first interactive control for changing the vehicle navigation position on a first interactive interface of the vehicle; when detecting user operation on the first interactive control, displaying a second interactive control for changing the vehicle navigation position on a second interactive interface of the vehicle, which is different from the first interactive interface; in particular, the first interactive interface is a center display of the vehicle, and the second interactive interface is an instrument display of the vehicle.

[0009] In an example embodiment, the first interactive control and the second interactive control are presented through different forms of visual icons; the first interactive control and the second interactive control differ at least in the brightness, size and / or contained text content of the visual icons; the first interactive control is a general entry for initiating vehicle navigation position change, and the second interactive control contains information or options related to the target position to be switched to or the specific change mode; at least one of the first interactive control and the second interactive control includes position change options such as switching between main roads and auxiliary roads, switching between bridges and underpasses, switching between different levels of roads of a multi-level interchange, and / or switching between underground roads and ground roads.

[0010] In an example embodiment, the confirmation prompt further includes prompt information informing the user that performing the change operation will trigger an intervention request or cause the intelligent driving function to exit.

[0011] In an example embodiment, the method further includes: if a negative response of the user to the confirmation prompt is received, or no response of the user to the confirmation prompt is received within a predetermined time, the intervention request is not triggered, and the intelligent driving function is controlled to continue performing driving tasks according to the current vehicle navigation position.

[0012] In one example embodiment, in step S3, controlling the intelligent driving function to continue performing the driving task according to the current vehicle navigation position comprises: maintaining speed control based on a speed limit of a road corresponding to the current vehicle navigation position; maintaining travel guidance based on a path plan generated based on the current vehicle navigation position; and / or, maintaining decision making based on a road topology identified based on the current vehicle navigation position.

[0013] In one example embodiment, step S3 comprises: triggering a risk control strategy upon determining that the user does not respond to the intervention request in time, wherein at least one execution parameter of the risk control strategy is determined based on the current vehicle navigation position, the at least one execution parameter comprising: a target parking position; a deceleration or deceleration profile of a deceleration process; whether to perform a lane change and a number of execution times of the lane change; and / or, an upper limit of vehicle speed during execution of the risk control strategy.

[0014] In one example embodiment, the method further comprises: maintaining display of the current vehicle navigation position on a navigation interface of the vehicle before the user responds to the intervention request and successfully takes over control of the vehicle; and, switching the vehicle navigation position displayed in the navigation interface to a target position selected by the user through initiating a change operation after the user successfully takes over control of the vehicle.

[0015] According to a second aspect of the present application, there is provided an apparatus for controlling 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 a vehicle according to one example embodiment of the present application is shown; Figure 2 a flowchart of a method for controlling a vehicle according to one example embodiment of the present application is shown; Figure 3 a flowchart of two method steps of the method shown; Figure 2 Figure 4 ​schematics showing the physical layout of the first and second interaction interfaces of the vehicle during execution of the method according to the present application; and Figure 5A and 5B schematics showing the first and second interaction controls for changing the navigation position of the vehicle according to exemplary embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to make the technical problems to be solved by the present application, the technical solutions and the beneficial technical effects more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the protection scope of the present application.

[0019] Figure 1 a block diagram of an apparatus for controlling a vehicle according to one exemplary embodiment of the present application is shown.

[0020] Figure 1 An implementation scheme in which the apparatus 10 is deployed locally on the vehicle 1 is shown. The vehicle 1 is provided with at least one intelligent driving function, for example, which includes an automatic driving function and a driving assistance function. In this context, the automatic driving function refers to a function that performs all dynamic driving tasks within a certain operating design domain, for example, corresponding to the L3 and L4 levels of driving automation. The driving assistance function refers to a function that assists the driver in performing part of the dynamic driving task under certain operating design conditions, for example, corresponding to the L2 and L2+ levels of driving automation.

[0021] As shown in Figure 1 The apparatus 10 for controlling the vehicle is deployed in the intelligent driving domain 3 in this embodiment, for example, implemented as part of the intelligent driving domain controller of the vehicle 1. The apparatus 10 can be configured as a state machine for controlling the activation and exit of the intelligent driving function, and is responsible for triggering intervention requests and risk control strategies. In other embodiments not shown, the apparatus 10 can also be implemented as an independent control unit, or adopt a cross-domain collaborative control architecture.

[0022] The apparatus 10 includes a processor and a memory (not specifically shown in the figure), wherein the memory can include a hard disk, a memory, a flash memory, etc. computer readable storage medium, and stores computer program instructions. The processor can be a central processing unit (CPU), a micro control unit (MCU), a graphics processing unit (GPU), a neural network processing unit (NPU), a digital signal processor (DSP) or other general purpose or special purpose processor. When the processor executes the computer program instructions in the memory, it can execute the method for controlling the vehicle described in the present application.

[0023] In the domain 3, the device 10 can be connected to a plurality of sensors and actuators through a vehicle network (such as CAN, FlexRay, MOST, etc. wired or wireless communication methods).

[0024] For example, the device 10 can be connected to sensors 11 for detecting the driving state and the surrounding environment of the vehicle. These sensors 11 can include, for example, a GPS sensor, a wheel speed sensor, an acceleration sensor, a gyroscope sensor, a camera, a laser radar sensor, a millimeter wave radar sensor, an infrared sensor, and an ultrasonic sensor.

[0025] The device 10 can also be connected to a communication unit 12 to realize information interaction with external information terminals of the vehicle (such as on-board terminals of other vehicles, mobile terminals of users, remote servers, etc.).

[0026] In addition, the device 10 can also be connected to driving actuators 13, 14, 15 of the vehicle 1, such as including a transmission unit 13, a steering unit 14, and a brake unit 15. These driving actuators 13, 14, 15 can execute corresponding driving actions of the vehicle 1 according to control instructions issued by the device 10 or the domain controller.

[0027] The device 10 can calculate the driving force, braking force, and steering force required for autonomous driving based on the information detected by the sensors 11 and the external information obtained by the communication unit 12, and send corresponding control instructions to the underlying driving actuators 13, 14, 15 to control the vehicle driving.

[0028] Figure 1 The vehicle also includes a cabin domain 5. The cabin domain 5 includes, for example, a cabin domain controller 50 for managing and coordinating various input devices 51, 52 and output devices 53, 54, 55. The input devices 51, 52 are used to receive user instructions, which can be implemented as software controls 51, voice recognition modules 52, physical buttons, and cameras, etc. The output devices 53, 54, 55 are used to present interactive information to the user, such as visual output devices 53 including a center display, an instrument display, a head-up display, etc., as well as acoustic output devices 54 (such as speakers or buzzers) and tactile output devices 55 (such as seat vibration modules). In addition, the cabin domain controller 50 can also be connected to a navigation module 56 of the vehicle 1 to obtain and process navigation-related data, and present navigation information through corresponding output devices 53, 54, 55.

[0029] In the present embodiment, the device 10 located in the intelligent driving domain 3 is further configured to interact with the cabin domain 5, for example, to establish a communication connection with the cabin domain controller 50, or to be directly connected to the input devices 51, 52, the output devices 53, 54, 55, and the navigation module 56 in the cabin domain 5, so as to obtain user operation and navigation position information during the activation of the intelligent driving function, and to output a corresponding confirmation prompt through the output devices 53, 54, 55 when it is determined that the driving intention needs to be confirmed by the user. In addition, the device 10 can also trigger an intervention request and control the state switching of the intelligent driving mode according to the received user operation information.

[0030] It should be understood that Figure 1 The number and type of various sensors or actuators connected to the device 10 shown in the above are only examples, and the present disclosure is not intended to be limited thereto. In actual applications, other types or numbers of sensors and actuators can be used in the vehicle 1 to meet specific needs and conditions.

[0031] It should also be understood that Figure 1 The software architecture shown is only exemplary, and the connection relationship and functional division between the modules can be adaptively adjusted according to the actual system architecture. For example, in actual situations, the device 10 can also be integrated with the cabin domain controller 50. In addition, the deployment of the device 10 is not limited to be local to the vehicle 1, but a remote deployment scheme can also be used, for example, to be set in a back-end server or a cloud platform of a vehicle manufacturer.

[0032] Figure 2 A flowchart of a method for controlling a vehicle according to an example embodiment of the present application is shown. The method comprises steps S1 to S3, wherein step S3 is shown to comprise sub-steps S31 to S35. The method can be performed, for example, by means of the device 10 shown. Figure 1 The device 10 shown performs.

[0033] In step S1, during the activation of the intelligent driving function of the vehicle and the execution of the driving task, if it is detected that the user initiates a change operation on the navigation position of the vehicle, a confirmation prompt corresponding to the change operation is output.

[0034] The "activation of the intelligent driving function and execution of the driving task" for example means that the vehicle is in an intelligent driving mode, and the intelligent driving system assumes all or part of the dynamic driving task. During this period, the specific driving automation level determines the supervisory responsibilities of the driver, for example, under the L3 level of automation, the driver does not need to continuously manipulate the steering wheel or look at the road, while under the L2 level of automation, the driver must always hold the steering wheel and look at the road, in preparation for taking over at any time.

[0035] If the navigation function is enabled during the activation of the intelligent driving function (i.e., in the intelligent driving mode with a preset destination), the system usually presents an electronic map containing a real-time guide route on the display device of the vehicle, and marks the real-time position of the vehicle as the navigation position on the map. If the navigation function is not enabled during the activation of the intelligent driving function (i.e., in the intelligent driving mode without a preset destination), the guide route can not be displayed on the display device of the vehicle, and only the current vehicle navigation position is presented.

[0036] The vehicle navigation position can be obtained by fusing GPS sensor positioning data and high-precision electronic map matching, for example, and is updated in real time and displayed in the navigation interface. In addition, data from various environment perception sensors such as vehicle-mounted cameras, laser radars, and millimeter wave radars can be further fused to improve the accuracy and robustness of positioning.

[0037] Due to limited positioning accuracy or environmental signal interference, the vehicle navigation position can deviate from the actual physical position, and when the deviation is large, the system can incorrectly identify the lane or road where the vehicle is located in the display. Therefore, the system usually provides a function for manually correcting the vehicle navigation position in the vehicle display interface, for example, in the form of virtual controls, such as "main road / auxiliary road switching" and "bridge / underbridge switching" options. When the user operates such controls, it is considered that a change operation on the vehicle navigation position is initiated.

[0038] In addition, in the vehicle, for example, it can also be supported to initiate position correction through a preset voice instruction, for example, when the user says "correct navigation position" or "I am on the auxiliary road" and the like, it can be considered that a change operation is detected.

[0039] In addition, in the vehicle, for example, it can also be supported to initiate position correction through a hand gesture, for example, when the user makes a specific gesture, the corresponding change operation is triggered.

[0040] In one embodiment, the confirmation prompt can include a visual update of the interactive control for changing the vehicle navigation position, for example, by highlighting, flashing, color changing, or icon replacing, and the like to adjust the visual state of the control.

[0041] In another embodiment, the confirmation prompt can also include a prompt box popped up in the display device of the vehicle, which explicitly informs the user that continuing to perform the operation will trigger an intervention request or cause the intelligent driving function to exit. Such a prompt can make the user clearly aware of the consequences of the operation, which helps him to make careful decisions or correct possible mis-touches in time.

[0042] In another embodiment, the confirmation prompt can also include an auditory prompt (such as voice broadcast or warning sound) and / or a tactile prompt (such as steering wheel or seat vibration) to further strengthen the prompt effect through multi-modal interaction.

[0043] In step S2, upon receiving a positive response of the user to the confirmation prompt, an intervention request related to the intelligent driving function is triggered to prompt the user to take over the vehicle control.

[0044] In one embodiment, if the following operation is detected within a predetermined time after outputting the confirmation prompt, it is determined that a positive response of the user is detected: a re-operation of the user on an interactive control for changing the navigation position of the vehicle is detected, for example, a repeated click on the same virtual button within 3 seconds; a voice instruction or a gesture action of the user in accordance with a preset rule is detected, for example, saying “confirm change” or making a specific confirmation gesture; and / or a selection operation of the user on a confirmation option provided in the confirmation prompt is detected, for example, clicking the “confirm” or “OK” button in the prompt box.

[0045] The predetermined time can be a preset fixed duration (for example, 3 to 5 seconds), or can be dynamically adjusted by the system according to the current driving scene or user historical preference.

[0046] In one embodiment, the intervention request can be triggered by at least one of the following ways: presenting visual prompt information on the display device of the vehicle, for example, displaying warning text or icons such as “please prepare to take over” or “please take over the vehicle in time” on the instrument display, central display, instrument display or head-up display; optical prompt through the steering wheel or instrument area, for example, flashing, changing color or lighting a specific light strip on the control steering wheel indicator light; outputting voice reminders or warning sounds through acoustic devices, for example, playing “please take over the control immediately” or emitting continuous prompt sounds; generating tactile prompts through tactile feedback devices, for example, vibrating the steering wheel, driver's seat or safety belt.

[0047] In addition, the intervention request can also be conveyed to the user progressively over time through the above-mentioned multiple different sensory dimensions, for example, increasing the prompt sound intensity or light flashing frequency over time to enhance the prompt level.

[0048] In step S31, it is checked whether the user successfully takes over the vehicle control in response to the intervention request. “Successfully taking over the vehicle control” includes, for example, the system detecting that the user has effectively manipulated at least one of the steering wheel, brake pedal, accelerator pedal or turn signal. Alternatively, it is detected that the user explicitly sends a take-over confirmation signal through physical keys, voice instructions or gestures.

[0049] If it is determined that the takeover has not been successful, the intelligent driving function can be controlled to continue performing the driving task according to the current vehicle navigation position. Specifically, it can be further determined in sub-step S32 whether a preset time threshold has been reached since the intervention request was triggered.

[0050] If the time threshold has not been reached, it indicates that the current is in a transition period from the intervention request being issued to the risk control strategy being triggered. The risk control strategy, for example, includes a minimal risk strategy and / or a risk mitigation function. Specifically, for an intelligent driving function of L3 level, the risk control strategy, for example, corresponds to a minimal risk maneuver (MRM), and for an intelligent driving function of L2 level, the risk control strategy, for example, corresponds to a risk mitigation function (RMF). During this period, step S33 is performed to maintain vehicle speed control based on the speed limit of the road corresponding to the current vehicle navigation position; maintain travel guidance based on the path planning generated based on the current vehicle navigation position; and / or maintain decision-making based on the road topology identified based on the current vehicle navigation position. Then, step S31 is returned to continue monitoring the takeover state of the user.

[0051] Illustratively, if the current vehicle navigation position is on a main road of a highway, a relatively high upper limit of vehicle speed can be set based on the relatively high legal speed limit of the road section (e.g., 120 km / h). If the current vehicle navigation position is on a secondary road of a city, a corresponding upper limit of vehicle speed can be set based on the relatively low legal speed limit of the road section (e.g., 40 km / h).

[0052] If it is determined in sub-step S32 that the time threshold has been reached, it indicates that the user has not responded to the intervention request in a timely manner. At this time, the risk control strategy is triggered in step S34 to control the vehicle to gradually enter a minimal risk state.

[0053] After the risk control strategy is triggered, at least one execution parameter of the risk control strategy can be determined based on the current vehicle navigation position during the period until the minimal risk state (MCM) is reached, and the risk control strategy is executed according to the execution parameter. The at least one execution parameter, for example, includes: a target parking position; a deceleration or deceleration change curve of a deceleration process; whether to perform a lane change and the number of times of performing a lane change; and / or an upper limit of vehicle speed during execution of the risk control strategy. By dynamically determining the above parameters in combination with the current navigation position, the system can adapt the risk control strategy to the actual road type and traffic conditions in which the vehicle is located, thereby realizing a controllable and smooth transition of the system state under the premise of ensuring safety.

[0054] Exemplarily, if the current vehicle navigation position is located on a main road of a highway, the risk control strategy can include controlling the vehicle to travel along an emergency lane and eventually stop at the emergency lane. If the current vehicle navigation position is located on a secondary road of a city, the risk control strategy can include controlling the vehicle to travel along a right-side lane and eventually stop at a non-motor vehicle lane or a safety area on the roadside.

[0055] In one embodiment, before the user responds to the intervention request and successfully takes over the vehicle control, the current vehicle navigation position can also be maintained to be displayed on the navigation interface of the vehicle, i.e., the displayed navigation position is not immediately switched in response to the change operation of the user. In this way, the continuity and consistency of the navigation information display can be maintained during the transition stage before the user confirms the takeover, and confusion or misjudgment caused by interface jumping can be avoided.

[0056] If it is determined in step S32 that the user has successfully taken over the vehicle control, in step S35, the vehicle navigation position displayed in the navigation interface is switched to the target position selected by the user through the initiation of the change operation. And the navigation guidance route is replanned and displayed according to the target position, so as to ensure that the navigation information is consistent with the actual driving intention of the user after the vehicle control right is transferred.

[0057] Figure 3 A flowchart of two method steps of the method is shown. In Figure 2 In the embodiment shown, a flowchart of steps S1 and S2 of the method is shown, wherein step S1 is shown as including sub-steps S11 to S14. Figure 3 Figure 2 In sub-step S11, a first interactive control for changing the vehicle navigation position is displayed on a first interactive interface of the vehicle.

[0058] In sub-step S12, when detecting the operation of the user on the first interactive control, a second interactive control for changing the vehicle navigation position is displayed on a second interactive interface of the vehicle, which is different from the first interactive interface. For example, the second interactive interface is physically separated from the first interactive interface, for example, belonging to different in-vehicle display devices, or both can be located in different regions of the same in-vehicle display device.

[0059] In one embodiment, the first interactive interface is a center display of the vehicle, and the second interactive interface is an instrument display of the vehicle.

[0060]

[0061] ​​In another embodiment, the first interactive interface may be an electronic display of the vehicle, such as a central control display or an instrument display, and the second interactive interface may be a physical operating area set on the steering wheel or other control panel, with the second interactive control being a preset physical button set therein. In this case, displaying the second interactive control may manifest as controlling the backlight of the physical button to light up, flash, or change color.

[0062] In one embodiment, the second interactive control is initially hidden and is only displayed on the second interactive interface after a user click operation on the first interactive control is detected.

[0063] In one embodiment, after the second interactive control is displayed, the first interactive control is hidden, meaning that only one interactive control for changing the vehicle navigation location is displayed at any given time. In another embodiment, the first interactive control can be displayed while the second interactive control is being shown.

[0064] In one embodiment, the first interactive control and the second interactive control are presented through visual icons of different forms, such as virtual buttons, toggle symbols, or text icons. They are distinguished by the brightness, size, and / or text content of their visual icons.

[0065] In another embodiment, in sub-step S12, in addition to displaying the second interactive control, a prompt box can also be displayed synchronously on the second interactive interface to clearly inform the user that continuing to perform the change operation will trigger an intervention request or cause the intelligent driving function to exit, so as to provide clearer secondary confirmation information.

[0066] In sub-step S13, it is checked whether an affirmative response from the user to the confirmation prompt has been received.

[0067] In this embodiment, the affirmative response may be manifested, for example, by the user clicking on a second interactive control displayed on the second interactive interface. Additionally, the affirmative response may further include: the duration of the user's gesture hovering over the second interactive control reaching a preset threshold, or the system simultaneously detecting a voice confirmation command conforming to preset rules during the operation.

[0068] If it is determined in sub-step S13 that a positive response from the user to the confirmation prompt has been received, then step S2 can be executed to trigger an intervention request regarding the intelligent driving function.

[0069] If, in sub-step S13, it is determined that a negative response from the user to the confirmation prompt is received, or if no response from the user to the confirmation prompt is received within a predetermined time, then in step S14, the intervention request may not be triggered, and the intelligent driving function may continue to perform the driving task according to the current lane navigation position. Furthermore, in sub-step S14, the second interactive control displayed on the second interactive interface may be hidden, and then the process may return to step S11, displaying the first interactive control on the first interactive interface.

[0070] Figure 4 A schematic diagram of the physical layout of the first and second interactive interfaces of the vehicle during the execution of the method according to this application is shown.

[0071] like Figure 4 As shown, the first interactive interface 531 is a central control display, located in the central area of ​​the front row of the cockpit, between the driver's seat and the passenger seat, making it convenient for the driver and passenger to operate and view.

[0072] The second interactive interface 532 is the instrument display, located directly in front of the driver and behind the steering wheel. It is usually embedded in the dashboard and uses an LCD or digital display screen. From the driver's perspective, the instrument display is located behind the open area of ​​the steering wheel and generally displays key driving information such as vehicle speed, engine speed, remaining range, and warnings.

[0073] Figure 4 The diagram also illustrates other alternative display devices that can serve as the first or second interactive interface 532, such as a head-up display (HUD) 534 located in the windshield area, and an auxiliary display 535 integrated in the door, side window or rearview mirror area.

[0074] By placing the first interactive interface 531 and the second interactive interface 532 in two physically separate locations and requiring the user to interact with them separately in two separate operations, spatial operational isolation is established. This forces the user to consciously move and logically confirm when performing a secondary confirmation operation to change the navigation location. This gives the user more opportunities to correct erroneous operations and improves the security of the interaction.

[0075] Figure 5A and 5B A schematic diagram of a first interactive control and a second interactive control for changing the vehicle navigation location according to an exemplary embodiment of this application is shown.

[0076] exist Figure 5A On the interface of the central control display 531 shown on the right, the approximate area of ​​the first interactive control 61 used to change the vehicle's navigation location is marked. When the user clicks on the first interactive control 61, it is considered that the user has initiated an operation to change the vehicle's navigation location.

[0077] In response to the detection of this operation, Figure 5A The second interactive control 62 is displayed on the interface of the instrument display 532 shown on the left. This second interactive control 62 is located in a more prominent position for the driver and is presented with a different visual icon than the first interactive control 61.

[0078] Specifically, the first interactive control 61 shown on the right has a relatively low overall brightness. As a general entry point for initiating a change of vehicle navigation location, it graphically highlights the location on the bridge to be switched to, while the location under the bridge in the lower layer is displayed in a darker manner. The control is labeled with the text "Switch Location".

[0079] In contrast, the second interactive control 62 shown on the left is brighter and contains explicit information or options related to the target location or specific change method. This control also graphically highlights the location on the bridge and darkens the location under the bridge, with "Switch to Bridge" labeled below the control to further clarify the switching intention.

[0080] In other embodiments not shown, the first interactive control 61 may not present a specific location graphic, but only indicate that the location change interface can be accessed through general symbols (such as arrows, toggle icons) or concise text (such as "location change"), without pre-indicating the switching target.

[0081] exist Figure 5B In the illustrated embodiment, in addition to displaying the second interactive control 62 for changing the vehicle navigation location on the second interactive interface 532, a prompt box 63 is also displayed simultaneously, containing text prompts such as "After confirming the location change, please take over the system promptly." This prompt box 63 further clarifies the consequences of the navigation location change operation to the user, enhances the effect of secondary confirmation, and helps the user to more clearly understand subsequent system status changes, thereby improving the security and clarity of the interaction.

[0082] It should be noted that, except Figure 5A and Figure 5B In addition to the position change option shown for switching between on and under the bridge, as an alternative or supplementary solution, at least one of the first and second interactive controls may also include the following position change options: Switching between the main road and the auxiliary road; Switch between the main road and the ramps; Switching between different levels of roads in a multi-level interchange (e.g., the second and third levels, or even higher levels); Switching between underground roads and surface roads (such as roads inside and above tunnels); Switching between different levels of roads within a building; Switching between an internal road of a parking lot and a municipal road; Switching between a tunnel entrance and a tunnel exit; Switching between different exits of a ring road (e.g. roundabout); Switching between multiple parallel roads / lanes; and / or Switching between a bus lane and a regular lane.

[0083] It should also be understood that the output mode of the prompt signal, the specific configuration of the vehicle human-machine interface, and the way it displays the confirmation prompt and the corresponding control are not limited to the illustrated embodiments, and can be adaptively adjusted according to specific needs in actual applications.

[0084] Although specific implementations of the present application are described in detail herein, they are given by way of example only and are not intended to limit the scope of the present application. Various alternatives, modifications and equivalents can be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for controlling a vehicle (1), wherein The method comprises: Step S1, during activation and execution of the intelligent driving function of the vehicle (1) to perform a driving task, if a user initiates a change operation on the vehicle navigation position, output a confirmation prompt corresponding to the change operation; Step S2, after receiving a positive response of the user to the confirmation prompt, trigger an intervention request related to the intelligent driving function to prompt the user to take over the control of the vehicle (1); and Step S3, before the user successfully takes over the control of the vehicle (1) in response to the intervention request, control the intelligent driving function to continue to perform the driving task according to the current vehicle navigation position.

2. The method of claim 1, wherein, Step S1 comprises: Displaying a first interactive control (61) for changing the vehicle navigation position on a first interactive interface (531) of the vehicle (1); When detecting the operation of the user on the first interactive control (61), displaying a second interactive control (62) for changing the vehicle navigation position on a second interactive interface (532) of the vehicle (1), the second interactive interface (532) being different from the first interactive interface (531); In particular, the first interactive interface (531) is a center display of the vehicle (1), and the second interactive interface (532) is an instrument display of the vehicle (1).

3. The method of claim 2, wherein, The first interactive control (61) and the second interactive control (62) are presented through different forms of visual icons; The first interactive control (61) and the second interactive control (62) are different at least in brightness, size and / or contained text content of the visual icons; The first interactive control (61) is a general entry for initiating the change of the vehicle navigation position, and the second interactive control (62) contains information or options related to the target position to be switched to or the specific change mode; At least one of the first interactive control (61) and the second interactive control (62) includes a position change option of switching between a main road and a secondary road, switching between a bridge and an underpass, switching between different levels of roads of a multi-level interchange, and / or switching between an underground road and a ground road.

4. The method of any one of claims 1 to 3, wherein, The confirmation prompt further comprises prompt information informing the user that the execution of the change operation will trigger the intervention request or cause the intelligent driving function to exit.

5. The method of any one of claims 1 to 4, wherein, The method further comprises: If a negative response of the user to the confirmation prompt is received, or no response of the user to the confirmation prompt is received within a predetermined time, the intervention request is not triggered, and the intelligent driving function is controlled to continue to perform the driving task according to the current vehicle navigation position.

6. The method of any one of claims 1 to 5, wherein, In step S3, controlling the intelligent driving function to continue to perform the driving task according to the current vehicle navigation position comprises: Maintaining speed control based on the road speed limit corresponding to the current vehicle navigation position; Maintaining travel guidance based on the path planning generated based on the current vehicle navigation position; and / or Maintaining decision-making based on the road topology identified based on the current vehicle navigation position.

7. The method of any one of claims 1 to 6, wherein, Step S3 comprises: triggering a risk control strategy upon determining that the user does not respond to the intervention request in time, wherein at least one execution parameter of the risk control strategy is determined based on the current vehicle navigation position, the at least one execution parameter comprising: a target parking position; a deceleration or deceleration profile of a deceleration process; whether to perform a lane change and a number of execution times of a lane change; and / or a speed upper limit during execution of the risk control strategy.

8. The method according to any one of claims 1 to 7, further comprising: maintaining display of the current vehicle navigation position on a navigation interface of the vehicle (1) before the user responds to the intervention request and successfully takes over control of the vehicle (1); and switching the vehicle navigation position displayed in the navigation interface to a target position selected by the user by initiating a change operation after the user successfully takes over control of the vehicle (1).

9. An apparatus (10) for controlling a vehicle (1), the apparatus (10) 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 any one of claims 1 to 8.

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

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