Driving assistance method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses a driving assistance method and device, vehicle-mounted equipment and a storage medium, and the method comprises the steps: receiving an interaction control instruction under the condition that a lane keeping control function is started, the interaction control instruction being a control instruction for changing a driving direction, and the interaction control instruction being received through a non-driving part; and sending the interaction control instruction to a driving controller, wherein the interaction control instruction is used for instructing the driving controller to execute a control operation of changing the driving direction. According to the embodiment of the invention, the manual intervention requirement of the user in the driving process is reduced, and the driving convenience and safety are improved.

Description

Technical Field

[0001] This application relates to the field of driving assistance technology, and in particular to a driving assistance method, device, vehicle, and storage medium. Background Technology

[0002] Lane Centering Control (LCC) systems are designed to help drivers keep the vehicle stable within its lane, but they cannot be used in scenarios such as turning. To use driver assistance features while turning, users must enable Navigate on Autopilot (NOA) in addition to navigation. However, NOA only allows driving along a pre-defined navigation path, and LCC can only proceed straight at intersections, unable to flexibly modify the route. When a user needs to temporarily change the vehicle's direction, they must manually disengage Lane Centering Control or intervene in driving, which compromises driving safety. Summary of the Invention

[0003] This application provides a driving assistance method, device, vehicle, and storage medium that can change the driving direction without requiring operation of the lane keeping control function or intervention in driving, thereby improving driving convenience and safety.

[0004] To address the aforementioned problems, in a first aspect, embodiments of this application provide a driving assistance method, including:

[0005] When lane keeping control is enabled, an interactive control command is received, which is a control command to change the driving direction, and the interactive control command is received through a non-driving component;

[0006] The interactive control command is sent to the driving controller, which instructs the driving controller to perform a control operation to change the driving direction.

[0007] Secondly, embodiments of this application provide a driving assistance method, including:

[0008] When lane keeping control is enabled, the system receives interactive control commands sent by the central control system controller. These interactive control commands are control commands to change the driving direction and are received by the central control system controller through non-driving components.

[0009] The lane keeping control function is paused, the vehicle is controlled to perform the control operation indicated by the interactive control command, and the lane keeping control function is resumed when the control operation is completed.

[0010] Thirdly, embodiments of this application provide a driving assistance device, including:

[0011] The first instruction receiving module is used to receive interactive control instructions when the lane keeping control function is enabled. The interactive control instructions are control instructions for changing the driving direction and are received through non-driving components.

[0012] The instruction sending module is used to send the interactive control instruction to the driving controller, the interactive control instruction being used to instruct the driving controller to perform a control operation to change the driving direction.

[0013] Fourthly, embodiments of this application provide a driving assistance device, including:

[0014] The second instruction receiving module is used to receive interactive control instructions sent by the central control system controller when the lane keeping control function is enabled. The interactive control instructions are control instructions for changing the driving direction and are received by the central control system controller through non-driving components.

[0015] The operation execution module is used to pause the lane keeping control function, control the vehicle to execute the control operation indicated by the interactive control command, and resume the lane keeping control function when the control operation is completed.

[0016] Fifthly, embodiments of this application also provide a vehicle, including a central control system controller and a driving controller, wherein the central control system controller is used to execute the driving assistance method as described in the first aspect, and the driving controller is used to execute the driving assistance method as described in the second aspect.

[0017] In a sixth aspect, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the driving assistance method as described in the first or second aspect.

[0018] The driving assistance method, device, vehicle-mounted equipment, and storage medium provided in this application embodiment receive interactive control commands for changing the driving direction through non-driving components when lane keeping control is enabled, and send the interactive control commands to the driving controller. The driving controller then suspends the lane keeping control function, controls the vehicle to execute the control operation indicated by the interactive control commands, and resumes lane keeping control when the control operation is completed. Since interactive control commands can be received through non-driving components when lane keeping control is enabled, and the control operation for changing the driving direction is executed after suspending lane keeping control, the entire process of changing the driving direction does not require user intervention in driving, nor does it require the user to manually exit the lane keeping control function. After the driving direction change is completed, the lane keeping control function continues to be used for driving, reducing the need for manual intervention by the user during driving and improving driving convenience and safety. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a driving assistance method provided in an embodiment of this application;

[0021] Figure 2 This is a flowchart of a driving assistance method provided in an embodiment of this application;

[0022] Figure 3 This is a data flow diagram of the driving assistance method in an embodiment of this application;

[0023] Figure 4 This is one of the interactive flowcharts of the driving assistance method provided in the embodiments of this application;

[0024] Figure 5 This is the second interactive flowchart of the driving assistance method provided in the embodiments of this application;

[0025] Figure 6 This is the third interactive flowchart of the driving assistance method provided in the embodiments of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a driving assistance device provided in an embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the structure of a driving assistance device provided in an embodiment of this application;

[0028] Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] Figure 1 This is a flowchart of a driving assistance method provided in an embodiment of this application. The driving assistance method is applied to a central control system controller, which is the controller corresponding to the in-vehicle central control system (Head Unit, HU). The in-vehicle central control system is the core component of the vehicle's infotainment system, controlling the vehicle's display and interaction, including vehicle information, navigation, air conditioning control, and other multimedia functions.

[0031] like Figure 1 As shown, the driving assistance method includes steps 110 to 120.

[0032] Step 110: When lane keeping control is enabled, receive an interactive control command, which is a control command to change the driving direction, and the interactive control command is received through a non-driving component.

[0033] In an exemplary embodiment, when the interactive control function is enabled and available, and lane keeping control is activated, the central control system controller can interact with the user through non-driving components to receive interactive control commands from the user. The interactive control function refers to the function of changing the driving direction based on the interactive control commands given by the user. The interactive control commands may include turning commands, lane change commands, or U-turn commands, etc. Turning commands may include left turn commands or right turn commands, and lane change commands may include left lane change commands or right lane change commands. When the interactive control command is a turning command, the driving direction needs to be changed at an intersection to achieve the turn; when the interactive control command is a lane change command, the driving direction needs to be changed in the current lane to switch to an adjacent lane and continue driving in that adjacent lane; when the interactive control command is a U-turn command, the driving direction needs to be turned approximately 180 degrees at a location where a U-turn is permitted to achieve the U-turn. Non-driving components are components other than driving components (such as a steering wheel), such as a touchscreen, microphone, camera, or other sensors.

[0034] Lane keeping control is a driver assistance system that automatically adjusts the steering wheel to keep the vehicle centered in the lane by sensing the center line of the lane it is in. This system is typically used to help drivers reduce driver fatigue and improve driving safety in single-lane environments such as highways.

[0035] Step 120: Send the interactive control command to the driving controller. The interactive control command is used to instruct the driving controller to perform a control operation to change the driving direction.

[0036] The driving controller is the controller corresponding to a fully self-driving (FSD) system. A fully self-driving system is a comprehensive autonomous driving system capable of completing the entire driving process without human intervention in the vast majority of road and traffic conditions. Fully self-driving systems require highly complex hardware and software, including sensor suites, artificial intelligence algorithms, and high-precision map data.

[0037] In one exemplary embodiment, the central control system controller sends an interactive control command to the driving controller. The driving controller can suspend the lane keeping control function based on the interactive control command and perform a control operation to change the driving direction. When the control operation is completed, the lane keeping control function is enabled again.

[0038] The driving assistance method provided in this application, when lane keeping control is enabled, receives an interactive control command to change the driving direction via a non-driving component and sends the command to the driving controller. The driving controller then executes the control operation to change the driving direction. During this operation, the driving controller pauses the lane keeping control function and controls the vehicle to perform the control operation indicated by the interactive control command. Once the control operation is complete, the lane keeping control function is reactivated. Because the interactive control command can be received via a non-driving component when lane keeping control is enabled, and the control operation to change the driving direction is executed after pausing lane keeping control, the entire process of changing the driving direction does not require user intervention. Furthermore, the user does not need to manually exit the lane keeping control function. After the driving direction change is complete, lane keeping control resumes operation, reducing the need for manual intervention during driving and improving driving convenience and safety.

[0039] Based on the above technical solution, receiving interactive control commands may include:

[0040] Receive the interactive control commands via the touchscreen; or

[0041] The interactive control commands are received through contactless interaction with the user.

[0042] In one alternative implementation, the user can interact with the device via a touchscreen to receive interactive control commands.

[0043] In another alternative implementation, interactive control commands can be received through contactless interaction with the user, such as voice interaction, gesture interaction, eye-tracking interaction, etc.

[0044] Clear interactive control commands can be obtained through touch or non-contact interaction with the user, which helps to improve the efficiency of changing driving direction.

[0045] Based on the above technical solution, receiving the interactive control command through contactless interaction with the user may include at least one of the following:

[0046] Receive control voice and recognize the control voice to obtain the interactive control command;

[0047] Acquire control gestures and recognize the control gestures to obtain the interactive control commands;

[0048] The interactive control commands are obtained based on eye-tracking interaction.

[0049] In one alternative implementation, when interactive control functionality is available, the central control system controller can acquire the user's control voice through a microphone, perform voice recognition on the control voice, and obtain interactive control commands.

[0050] In another optional implementation, when interactive control functionality is available, the central control system controller can acquire control gestures via a camera or similar means, perform gesture recognition on the control gestures, and obtain interactive control commands. For example, the correspondence between different control gestures and interactive control commands can be pre-stored. When a control gesture is recognized, the corresponding interactive control command is retrieved from the correspondence to obtain the corresponding interactive control command.

[0051] In another alternative implementation, when interactive control functionality is available, the central control unit can also acquire interactive control commands through eye-tracking interaction. For example, interactive controls can be displayed on the screen, and the user's gaze point can be captured. Once the interactive control where the gaze point is located is determined, the interactive control command corresponding to that control is confirmed to have been received.

[0052] Through voice interaction, gesture interaction, and eye-tracking interaction, no manual operation is required from the user, which can further improve driving safety. Moreover, there is no need to manually exit the lane keeping control function, which helps to improve driving convenience.

[0053] Based on the above technical solution, the method may further include: when the interactive control function is unavailable, if a voice control interactive control command is received, providing a voice prompt that the interactive control function is unavailable, wherein the interactive control function is the function of changing the driving direction based on the interactive control command.

[0054] In one exemplary embodiment, when a user enables the interactive control function through the settings module provided by the central control system controller, the central control system controller sends the setting command to the driving controller. The driving controller determines whether the interactive control function is currently available. For example, if it is determined based on perception information that there is no intersection, it can be determined that the turning interactive control function is unavailable. The driving controller then sends information on the availability of the interactive control function to the central control system controller. If the interactive control function is unavailable, the central control system controller can also receive control voice commands via a microphone and, by performing voice recognition on the voice commands, determine if the voice commands are interactive control instructions. If so, it will then prompt the user via voice that the interactive control function is unavailable.

[0055] When the interactive control function is unavailable, a voice prompt can be given when a voice control command is received indicating that the interactive control function is unavailable. This allows users to be aware of the current availability of the interactive control function and to change their driving strategy when the interactive control function is unavailable.

[0056] Based on the above technical solution, the method may further include: when the interactive control function is turned off, if a voice control interactive control command is received, providing a voice prompt to turn on the interactive control function.

[0057] In one exemplary embodiment, when the route change function is disabled, if the central control system controller receives a voice control interactive command via the voice module, it then plays a voice prompt to enable the route change function, thus enabling the interactive control function to be activated through voice interaction with the user. For example, the voice control interactive command could be "Driver, turn right," and the voice prompt played by the voice module could be "Please enable the interactive control function in the settings first."

[0058] Based on the above technical solution, receiving the interactive control command via the touch screen includes: when the interactive control function is available, displaying interactive controls via the touch screen, and receiving the interactive control command based on the interactive controls.

[0059] In one exemplary embodiment, when a user enables the interactive control function through a settings module, the central control system controller determines whether the interactive control function is currently available. If the interactive control function is available, interactive controls are displayed on the touchscreen. When user interaction with one of the interactive controls is detected, the controller receives the corresponding interactive control instruction. The touchscreen can display one or more interactive controls, which may include at least one of the following: left turn control, right turn control, left lane change control, right lane change control, U-turn control, etc. Different interactive controls can receive different interactive control instructions.

[0060] For example, when a user enables the interactive control function by operating the settings module in the in-vehicle central control system, the in-vehicle central control system sets the interactive control function to the enabled state and sends a function activation command to the fully autonomous driving system. The fully autonomous driving system determines whether the interactive control function is available based on the function activation command. If the interactive control function is available, it sends a notification message to the in-vehicle central control system. After receiving the notification message, the in-vehicle central control system can display the available interactive controls in the Environment Information Display (EID) module on the central control screen. When it detects user operation of the interactive controls, it receives the interactive control command. The Environment Information Display module is a display module on the central control screen that uses driver assistance sensors to perceive objects in the surrounding environment and also displays the status of driver assistance related functions.

[0061] By receiving user interaction control commands through display-based interactive controls, it is convenient for users (drivers) to operate, avoids distracting the user's attention while driving, helps improve driving safety, and eliminates the need to manually exit lane keeping control, thus improving driving convenience.

[0062] Based on the above technical solution, the method may further include: displaying the interactive control in an unavailable state on the touch screen when the interactive control function is unavailable.

[0063] When the central control system controller determines that the interactive control function is unavailable, it can display interactive controls on the touch screen, and the displayed interactive controls will be in an unavailable state, so the user cannot operate the interactive controls.

[0064] For example, when a fully autonomous driving system determines that the interactive control function is unavailable, it will send a notification message to the vehicle's central control system. Upon receiving this notification, the central control system can display interactive controls through the environmental information display module, but these controls will be in an unavailable state, and the user cannot operate them.

[0065] By displaying interactive controls as unavailable when they are not available, users can clearly understand that the current interactive control function is unavailable.

[0066] Based on the above technical solution, after sending the interactive control command to the driving controller, it may further include: receiving the function execution status sent by the driving controller, and displaying the function execution status on a display screen, wherein the function execution status is used to characterize whether the control operation was successfully executed.

[0067] In an exemplary embodiment, when the driving controller executes the control operation indicated by the interactive control command, it needs to construct a road based on map information and perception information. If the road cannot be constructed successfully, the path change operation cannot be executed, and the function execution status is determined to be execution failure, with the reason being that the road cannot be constructed. If the road is successfully constructed, but the constructed road does not meet the conditions for executing the control operation, the control operation cannot be executed, and the function execution status is determined to be execution failure, with the reason being that the current road cannot execute the required control operation. For example, when the interactive control command is a turning command, if no intersection is constructed through road construction, the turning operation cannot be executed, and the function execution status is determined to be execution failure. If the road is successfully constructed and the constructed road meets the conditions for executing the control operation, the control operation can be executed, and after executing the control operation, the function execution status is determined to be execution success. After executing the control operation indicated by the interactive control command, the driving controller sends the function execution status of the control operation to the central control system controller, which can display the function execution status on a display screen.

[0068] For example, a fully autonomous driving system executes control operations indicated by interactive control commands. After executing the control operation, it can determine whether the control operation was successfully executed, that is, obtain the function execution status of the control operation, and return the function execution status to the vehicle central control system. The vehicle central control system receives the function execution status returned by the fully autonomous driving system and displays the function execution status.

[0069] After executing the control operation indicated by the interactive control command, the function execution status is displayed on the screen, making it easy for users to intuitively understand whether the control operation has been executed successfully.

[0070] Based on the above technical solution, after sending the interactive control command to the driving controller, it may further include: receiving the function execution status sent by the driving controller, and displaying the function execution result on the display screen, wherein the function execution result is used to characterize whether the control operation is executable.

[0071] After the central control system sends the interactive control command to the driving controller, the driving controller constructs a road network around the vehicle based on map and sensor information. If a road network that meets the conditions for executing the control operation indicated by the interactive control command can be constructed, the function execution result is determined to be executable. If a road network that meets the conditions for executing the control operation cannot be constructed, the function execution result is determined to be inexecutable. After determining the function execution result, the driving controller sends the result to the central control system controller, which displays the result on the screen.

[0072] For example, after the in-vehicle central control system sends the interactive control command to the fully autonomous driving system, the fully autonomous driving system constructs the roads around the vehicle based on the interactive control command, using map information and perception information. If a road that meets the conditions for executing the control operation can be constructed, the function execution result is determined to be that the control operation is executable. If a road that meets the conditions for executing the control operation cannot be constructed, the function execution result is determined to be that the control operation is not executable. The fully autonomous driving system sends the function execution result to the in-vehicle central control system, and the in-vehicle central control system can display the function execution result through the environmental information display module.

[0073] Displaying the results of function execution on a screen allows users to quickly understand whether the control operation indicated by the interactive control command is executable.

[0074] When the interactive control command is a voice-controlled interactive control command, after the in-vehicle central control system receives the function execution result returned by the fully autonomous driving system, it can also play a voice prompt of the function execution result through the voice module.

[0075] Based on the above technical solution, before receiving the interactive control command when the lane keeping control function is enabled, the method further includes: in response to the function activation command received based on the setting control, setting the state of the interactive control function to the enabled state.

[0076] The central control system controller can display setting controls via a touchscreen. Users can operate these controls to enable or disable interactive control functions. When interactive control functions are disabled, if a user commands the controller to enable interactive control functions, the system will set the interactive control function to the enabled state. Conversely, if interactive control functions are enabled, if a user commands the controller to disable interactive control functions, the system will set the interactive control function to the disabled state.

[0077] For example, the in-vehicle central control system can display setting controls for interactive control functions through an environmental information display module. Users can operate these controls to enable or disable the interactive control functions. When the interactive control functions are disabled, upon receiving a user's command to enable the functions via the setting controls, the system sets the interactive control functions to the enabled state and sends the enable command to the fully autonomous driving system. The fully autonomous driving system determines whether the interactive control functions are available based on the enable command and sends a notification message indicating whether the interactive control functions are available to the in-vehicle central control system. When the interactive control functions are enabled, upon receiving a user's command to disable the functions via the setting controls, the system sets the interactive control functions to the disabled state and sends a disable command to the fully autonomous driving system, causing the fully autonomous driving system to disable the interactive control functions.

[0078] By setting controls, users can easily enable or disable interactive control functions.

[0079] Figure 2 This is a flowchart of a driving assistance method provided in an embodiment of this application, which is applied to a driving controller. Figure 2 As shown, the driving assistance method includes steps 210 to 220.

[0080] Step 210: When the lane keeping control function is enabled, receive an interactive control command sent by the central control system controller. The interactive control command is a control command to change the driving direction. The interactive control command is received by the central control system controller through non-driving components.

[0081] In an exemplary embodiment, when the interactive control function is enabled and available, and lane keeping control is activated, the central control system controller can interact with the user through non-driving components, receive interactive control commands from the user, and send these commands to the driving controller. The interactive control function refers to the function of changing the driving direction based on user-provided interactive control commands. These commands may include turning commands, lane change commands, or U-turn commands. Turning commands may include left-turn or right-turn commands, and lane change commands may include left-change or right-change commands. When the interactive control command is a turning command, the driving direction needs to be changed at an intersection to achieve the turn; when the command is a lane change command, the driving direction needs to be changed within the current lane to switch to an adjacent lane, and then the vehicle continues driving in that adjacent lane; when the command is a U-turn command, the driving direction needs to be turned approximately 180 degrees at a permitted U-turn location in the road to achieve the U-turn. Non-driving components are components other than driving components (such as a steering wheel), and may include, for example, a touchscreen, microphone, camera, or other sensors.

[0082] Step 220: Pause the lane keeping control function, control the vehicle to execute the control operation indicated by the interactive control command, and resume the lane keeping control function when the control operation is completed.

[0083] In one exemplary embodiment, since the interactive control command is a control command to change the driving direction, the driving controller, based on this interactive control command, can pause the lane keeping control function and control the vehicle's power steering system to change the driving direction, thereby executing the control operation indicated by the interactive control command. For example, when controlling the vehicle's power steering system to change the driving direction, the driving controller can acquire map information and vehicle perception information within a certain range, and construct the road around the vehicle (including lane information, whether there are intersections, and road environment information, etc.) based on this map information and perception information. It then controls the vehicle's power steering system to change the driving direction based on the constructed road, thereby executing the control operation indicated by the interactive control command. Upon completion of this control operation, the driving controller resumes the lane keeping control function, continuing to use the lane keeping control function for driving in the lane after the driving direction change.

[0084] For example, after receiving an interactive control command from the user, the in-vehicle central control system sends a path change command to the fully autonomous driving system. The fully autonomous driving system then controls the vehicle's power steering system to execute the control operation to change the driving direction. When executing the control operation to change the driving direction, the fully autonomous driving system can acquire map information and vehicle perception information within a certain range, and construct the road around the vehicle based on this map and perception information. It then executes the control operation to change the driving direction based on the constructed road. The fully autonomous driving system can utilize a navigation-based autonomous driving system to construct the road around the vehicle based on map and perception information. This navigation-based autonomous driving system is an advanced driver assistance system that, based on a preset navigation route, can drive autonomously on highways or urban roads, completing operations such as lane changes, merging into traffic, and exiting highways. This function requires high-precision maps and advanced sensor technology.

[0085] For example, when the interactive control command is a turn command, the fully autonomous driving system can construct an intersection based on map information and perception information within a certain range of the vehicle, and control the vehicle's power steering system to perform a turn operation according to the constructed intersection. When the interactive control command is a lane change command, the fully autonomous driving system can construct each lane of the current road based on map information and perception information within a certain range of the vehicle, and control the vehicle's power steering system to perform a lane change operation according to the constructed lanes. For example, when the lane change command is to change lanes to the left, the system controls the power steering system to change lanes to the left based on the constructed lanes; when the lane change command is to change lanes to the right, the system controls the power steering system to change lanes to the right based on the constructed lanes.

[0086] The driving assistance method provided in this application embodiment receives an interactive control command sent by the central control system controller when the lane keeping control function is enabled. The interactive control command is a control command for changing the driving direction received by the central control system controller through non-driving components. The lane keeping control function is paused, and the vehicle is controlled to execute the control operation indicated by the interactive control command. The lane keeping control function is resumed when the control operation is completed. Since the interactive control command can be received through non-driving components when the lane keeping control function is enabled, and the control operation for changing the driving direction is executed after the lane keeping control function is paused, the entire process of changing the driving direction does not require user intervention in driving, nor does it require the user to manually exit the lane keeping control function. After the driving direction is changed, the lane keeping control function is resumed for driving, reducing the need for manual intervention by the user during driving and improving driving convenience and safety.

[0087] Figure 3 This is a data flow diagram of the driving assistance method in an embodiment of this application, such as... Figure 3As shown, the in-vehicle central control system 10 may include an environmental information display module 11, a voice module 12, an information prompt module 13, and a settings module 14. The environmental information display module 11 displays interactive controls and their availability status. When available, it sends an interactive control command from the user via the interactive controls to the fully autonomous driving system 20. The environmental information display module 11 can also receive interactive control commands from the voice module 12 and send them to the fully autonomous driving system 20. It can also receive and display the function execution results returned by the fully autonomous driving system 20, and simultaneously send these results to the voice module 12. The voice module 12, upon receiving a control voice, performs natural language understanding to obtain the interactive control command, transmits it to the environmental information display module, and can receive the text-based function execution results returned by the environmental information display module and play them aloud to provide a voice response to the user. The information prompt module 13 is used to correctly convey the working status of the interactive control function to the user. The working status may include, for example, an available status, an unavailable status, or a closed status. The setting module 14 is used to provide the user with setting controls so that the user can enable or disable the interactive control function. The fully automated driving system 20 sends the available status or the reason for the unavailability of the interactive control function to the environmental information display module 11 in the vehicle central control system 10. After receiving the interactive control command, it can control the vehicle power steering system 30 to perform a control operation to change the driving direction, and send the function execution status of the control operation to the environmental information display module 11 and the information prompt module 13.

[0088] Figure 4 This is one of the interactive flowcharts of the driving assistance method provided in this application embodiment. This embodiment takes receiving interactive control commands via voice control as an example when the interactive control function is available. Figure 4 As shown, the driving assistance method includes the following steps:

[0089] Step 301: The setting module receives the function activation command from the setting control and sets the interactive control function to the enabled state for the fully automated driving system;

[0090] Step 302: The fully automated driving system returns the availability status of the interactive control functions to the environmental information display module;

[0091] Step 303: The environmental information display module displays interactive controls for the availability status;

[0092] Step 304: The voice module receives control voice and recognizes the control voice to obtain interactive control commands;

[0093] Step 305: The voice module sends the interactive control commands to the environmental information display module;

[0094] Step 306: The environmental information display module sends interactive control commands to the fully automated driving system;

[0095] Step 307: The fully automated driving system returns the function execution result to the environmental information display module;

[0096] Step 308: The environmental information display module sends a response of the function execution result to the voice module;

[0097] Step 309: The voice module plays the voice message indicating the function execution result;

[0098] Step 310: After performing the control operation, the fully automated driving system sends the corresponding function execution status to the information prompt module;

[0099] Step 311: The information prompt module displays the execution status of the function through text.

[0100] In this embodiment, the in-vehicle central control system receives control voice commands when lane keeping control is enabled, and instructs the fully automated driving system to complete the corresponding control operations based on the interactive control commands given by the control voice. This enables the change of driving direction without requiring the user to manually exit the lane keeping control function or intervene in driving, thus improving driving convenience and safety.

[0101] Figure 5 This is the second interactive flowchart of the driving assistance method provided in this application embodiment. This embodiment takes receiving interactive control commands through interactive controls as an example when the interactive control function is available. Figure 5 As shown, the driving assistance method includes the following steps:

[0102] Step 401: The setting module receives the function activation command from the setting control and sets the interactive control function to the enabled state for the fully automated driving system.

[0103] Step 402: The fully automated driving system returns the availability status of the interactive control functions to the environmental information display module;

[0104] Step 403: The environmental information display module displays interactive controls for the available status;

[0105] Step 404: The environmental information display module receives interactive control commands based on the interactive controls;

[0106] Step 405: The environmental information display module sends interactive control commands to the fully automated driving system;

[0107] Step 406: The fully automated driving system returns the function execution result to the environmental information display module;

[0108] Step 407: After performing the control operation, the fully automated driving system sends the corresponding function execution status to the information prompt module.

[0109] Step 408: The information prompt module displays the execution status of the function through text.

[0110] In this embodiment, when the lane keeping control function is enabled, the vehicle central control system receives interactive control commands based on interactive controls and instructs the fully automated driving system to complete the corresponding control operations. This enables the change of driving direction without requiring the user to manually exit the lane keeping control function or intervene in driving, thus improving driving convenience and safety.

[0111] Figure 6 This is the third interactive flowchart of the driving assistance method provided in this application embodiment. This embodiment takes receiving interactive control commands via voice control as an example when the interactive control function is unavailable. Figure 6 As shown, the driving assistance method includes the following steps:

[0112] Step 501: The setting module receives the function activation command from the setting control and sets the interactive control function to the enabled state for the fully automated driving system;

[0113] Step 502: The fully automated driving system returns the interactive control function to the environmental information display module as unavailable.

[0114] Step 503: The voice module receives control voice and recognizes the control voice to obtain interactive control commands;

[0115] Step 504: The voice module sends the interactive control commands to the environmental information display module;

[0116] Step 505: The environmental information display module returns a message to the voice module stating that the interactive control function is unavailable;

[0117] Step 506: The voice module plays a voice prompt indicating that the interactive control function is unavailable.

[0118] In this embodiment, when the lane keeping control function is enabled and the interactive control function is unavailable, the vehicle central control system receives control voice and, based on the recognition of the control voice as an interactive control command, provides a voice prompt that the interactive control function is unavailable, which can facilitate users to change their driving strategy.

[0119] Figure 7This is a schematic diagram of a driving assistance device provided in an embodiment of this application. The driving assistance device is applied to the central control system controller, such as... Figure 7 As shown, the device includes:

[0120] The first instruction receiving module 610 is used to receive an interactive control instruction when the lane keeping control function is enabled. The interactive control instruction is a control instruction to change the driving direction and is received through a non-driving component.

[0121] The instruction sending module 620 is used to send the interactive control instruction to the driving controller, the interactive control instruction being used to instruct the fully automated driving system to perform a control operation to change the driving direction.

[0122] Optionally, the instruction receiving module includes:

[0123] The touch interaction unit is used to receive the interactive control commands via the touch screen; or

[0124] The contactless interaction unit is used to receive the interaction control commands through contactless interaction with the user.

[0125] Optionally, the contactless interaction unit is used to perform at least one of the following:

[0126] Receive control voice and recognize the control voice to obtain the interactive control command;

[0127] Acquire control gestures and recognize the control gestures to obtain the interactive control commands;

[0128] The interactive control commands are obtained based on eye-tracking interaction.

[0129] Optionally, the device further includes:

[0130] The unavailability prompt module is used to provide a voice prompt indicating that the interactive control function is unavailable when a voice control interactive control command is received, wherein the interactive control function is the function of changing the driving direction based on the interactive control command.

[0131] Optionally, the device further includes:

[0132] The function activation prompt module is used to provide a voice prompt to activate the interactive control function when a voice control interactive control command is received, even when the interactive control function is disabled.

[0133] Optionally, the touch interaction unit is specifically used for:

[0134] When interactive control functions are available, interactive controls are displayed via a touchscreen, and interactive control commands are received based on the interactive controls.

[0135] Optionally, the device further includes:

[0136] The control unavailability display module is used to display the interactive control in an unavailable state on the touch screen when the interactive control function is unavailable.

[0137] Optionally, the device further includes:

[0138] The status display module is used to receive the function execution status sent by the driving controller and display the function execution status on the display screen. The function execution status is used to indicate whether the control operation is successfully executed.

[0139] Optionally, the device further includes:

[0140] The function result display module is used to receive the function execution status sent by the driving controller and display the function execution result on the display screen. The function execution result is used to characterize whether the control operation can be executed.

[0141] Optionally, the device further includes:

[0142] The function activation module is used to respond to the function activation command received based on the setting control and set the state of the interactive control function to the activated state.

[0143] The driving assistance device provided in this application embodiment is used to implement the driving assistance method described in this application embodiment. The specific implementation of each module of the device is described in the corresponding steps, and will not be repeated here.

[0144] The driving assistance device provided in this application, when the lane keeping control function is enabled, receives an interactive control command to change the driving direction through a non-driving component and sends the interactive control command to the driving controller. The driving controller then executes the control operation to change the driving direction. While executing this control operation, the driving controller pauses the lane keeping control function and controls the vehicle to execute the control operation indicated by the interactive control command. When the control operation is completed, the lane keeping control function is reactivated. Since the interactive control command can be received through a non-driving component when the lane keeping control function is enabled, and the control operation to change the driving direction is executed after the lane keeping control function is paused, the entire process of changing the driving direction does not require user intervention in driving, nor does it require the user to manually exit the lane keeping control function. After the driving direction change is completed, the lane keeping control function is used to continue driving, reducing the need for manual intervention by the user during driving and improving driving convenience and safety.

[0145] Figure 8 This is a schematic diagram of a driving assistance device provided in an embodiment of this application. The driving assistance device is applied to a driving controller, such as... Figure 8 As shown, the device includes:

[0146] The second instruction receiving module 710 is used to receive interactive control instructions sent by the central control system controller when the lane keeping control function is enabled. The interactive control instructions are control instructions for changing the driving direction and are received by the central control system controller through non-driving components.

[0147] The operation execution module 720 is used to pause the lane keeping control function, control the vehicle to execute the control operation indicated by the interactive control command, and resume the lane keeping control function when the control operation is completed.

[0148] The driving assistance device provided in this application embodiment is used to implement the driving assistance method described in this application embodiment. The specific implementation of each module of the device is described in the corresponding steps, and will not be repeated here.

[0149] The driving assistance device provided in this application embodiment receives interactive control commands sent by the central control system controller when the lane keeping control function is enabled. These interactive control commands are control commands for changing the driving direction received by the central control system controller through non-driving components. The lane keeping control function is then paused, and the vehicle executes the control operation indicated by the interactive control command. The lane keeping control function is then reactivated after the control operation is completed. Since the interactive control commands can be received through non-driving components when the lane keeping control function is enabled, and the control operation for changing the driving direction is executed after the lane keeping control function is paused, the entire process of changing the driving direction does not require user intervention in driving, nor does it require the user to manually exit the lane keeping control function. After the driving direction change is completed, the lane keeping control function is used again for driving, reducing the need for manual intervention by the user during driving and improving driving convenience and safety.

[0150] Figure 9 This is a structural schematic diagram of a vehicle provided in an embodiment of this application, such as... Figure 9 As shown, the vehicle includes a central control system controller 810 and a driving controller 820. The central control system controller is used to execute a driving assistance method applied to the central control system controller, and the driving controller is used to execute a driving assistance method applied to the driving controller.

[0151] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the driving assistance method as described in this application.

[0152] This application also provides a computer program product that, when executed by a processor, implements the steps of the driving assistance method as described in this application.

[0153] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus embodiments, since they are fundamentally similar to the method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0154] The above provides a detailed description of a driving assistance method, device, vehicle, and storage medium provided by the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0155] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

Claims

1. A driving assistance method characterized by, Comprising: In the case of enabling the lane keeping control function, receiving an interactive control instruction, the interactive control instruction is a control instruction for changing the driving direction, the interactive control instruction is received through a non-driving component; Send the interactive control instruction to the driving controller, the interactive control instruction is used to instruct the driving controller to perform a control operation for changing the driving direction.

2. The method of claim 1, wherein, Said receiving an interactive control instruction, comprising: Receiving the interactive control instruction through the touch screen; Or Receive the interactive control instruction through non-contact interaction with the user.

3. The method of claim 2, wherein, Said through non-contact interaction with the user, receiving the interactive control instruction, comprising at least one of the following: Receive the control voice and identify the control voice to obtain the interactive control instruction; Obtain the control gesture and identify the control gesture to obtain the interactive control instruction; Based on eye movement interaction, obtain the interactive control instruction.

4. The method of claim 3, wherein, Also including: In the case where the interactive control function is not available, if a voice-controlled interactive control instruction is received, a voice prompt that the interactive control function is not available is given, the interactive control function is a function of changing the driving direction based on the interactive control instruction.

5. The method of claim 3, wherein, Also including: In the case where the interactive control function is closed, if a voice-controlled interactive control instruction is received, a voice prompt that the interactive control function is turned on is given.

6. The method of claim 2, wherein, Said through the touch screen to receive the interactive control instruction, comprising: In the case where the interactive control function is available, display interactive controls on the touch screen and receive the interactive control instruction based on the interactive controls.

7. The method of claim 2, wherein, Also including: In the case where the interactive control function is not available, display the interactive controls in the touch screen in an unavailable state.

8. The method according to any one of claims 1 to 7, characterized in that, After said sending the interactive control instruction to the driving controller, further comprising: Receive the function execution state sent by the driving controller and display the function execution state on the display screen, the function execution state is used to represent whether the control operation is executed successfully.

9. The method according to any one of claims 1 to 7, characterized in that, After said sending the interactive control instruction to the driving controller, further comprising: Receive the function execution state sent by the driving controller and display the function execution result on the display screen, the function execution result is used to represent whether the control operation is executable.

10. The method according to any one of claims 1 to 7, characterized in that, Before said in the case of enabling the lane keeping control function, receiving an interactive control instruction, further comprising: In response to the function opening instruction received based on the setting control, set the state of the interactive control function to the opening state.

11. A driving assistance method characterized by, Comprising: In the case of enabling the lane keeping control function, receiving an interactive control instruction sent by the central control system controller, the interactive control instruction is a control instruction for changing the driving direction, the interactive control instruction is received by the central control system controller through a non-driving component; Suspend the lane keeping control function, control the vehicle to perform the control operation indicated by the interactive control instruction, and continue to enable the lane keeping control function when the control operation is completed.

12. A driving assist apparatus characterized by comprising: Comprising: The first instruction receiving module is configured to receive an interactive control instruction in a case where the lane keeping control function is enabled, the interactive control instruction being a control instruction for changing a driving direction, the interactive control instruction being received through a non-driving component; The instruction sending module is configured to send the interactive control instruction to the driving controller, the interactive control instruction being used to instruct the fully automatic driving system to perform a control operation for changing the driving direction.

13. A driving assist apparatus characterized by comprising: The method comprises: The second instruction receiving module is configured to receive an interactive control instruction sent by the central control system controller in a case where the lane keeping control function is enabled, the interactive control instruction being a control instruction for changing a driving direction, the interactive control instruction being received by the central control system controller through a non-driving component; The operation performing module is configured to suspend the lane keeping control function, control the vehicle to perform a control operation indicated by the interactive control instruction, and continue to enable the lane keeping control function when the control operation is completed.

14. A vehicle comprising a central control system controller and a drive controller, characterized in that The central control system controller is configured to perform the driving assistance method according to any one of claims 1 to 10, and the driving controller is configured to perform the driving assistance method according to claim 11.

15. A computer readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by a processor, implements the steps of the driving assistance method according to any one of claims 1 to 10 or the steps of the driving assistance method according to claim 11.

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