A device adjusting method, device, storage medium and electronic device

Abstract

The application relates to a device adjustment method and device, a storage medium and an electronic device, and relates to the technical field of intelligent control.The application comprises the following steps: in the case that a limited-width area exists in a target driving area of a terminal device, adjusting a passing mode and / or displaying interactive information of the terminal device according to a passable width corresponding to the limited-width area, so that the terminal device passes through or bypasses the limited-width area.Compared with the related art, the application can adjust the passing mode and / or display the interactive information of the terminal device according to the passable width corresponding to the limited-width area in the case that the limited-width area exists in the target driving area of the terminal device, so that the terminal device passes through or bypasses the limited-width area, thereby reducing the risk of collision and scratching of the terminal device when passing through the limited-width area.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, specifically to a device adjustment method, apparatus, storage medium, and electronic device. Background Technology

[0002] In related technologies, when terminal devices pass through width-restricted areas, relying on manual judgment of passage capability is prone to misjudgment, resulting in a high risk of collisions and scrapes when terminal devices pass through width-restricted areas. Summary of the Invention

[0003] In view of this, this application provides a device adjustment method, apparatus, storage medium and electronic device, the main purpose of which is to improve the technical problem in the related art that the terminal device relies on manual judgment of the passage capability in the narrow width area passage scenario, which is prone to misjudgment and leads to a high risk of collision and scratch when the terminal device passes through the narrow width area.

[0004] In a first aspect, this application provides a device adjustment method, comprising:

[0005] If a width-restricted area exists within the target driving area of ​​the terminal device, the passage mode and / or interactive information of the terminal device are adjusted according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area.

[0006] Optionally, the target driving area is a road area along the driving path of the terminal device that can be perceived by the terminal device.

[0007] Optionally, the width-restricted area is an area with limited passage width formed by road width-restriction facilities, wherein the road width-restriction facilities include at least one of width-restriction piers, obstacles, and wall facilities.

[0008] Optionally, the passage mode of the terminal device includes at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode.

[0009] Optionally, adjusting the passage mode and / or displaying interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area, includes: Based on the outline position and relative distance of the road width restriction facilities in the width restriction area, the passable width corresponding to the width restriction area is determined; Based on the passable width and the width of the terminal device, adjust the passage mode of the terminal device and / or display interactive information to enable the terminal device to pass through or bypass the width-restricted area.

[0010] Optionally, based on the user's auxiliary passage actions on the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area. The auxiliary passage actions include at least one of the following: reducing the speed of the terminal device, opening the target screen of the device edge of the terminal device and / or the area edge of the width-restricted area, clicking the auxiliary passage button, and inputting auxiliary passage voice.

[0011] Optionally, the method further includes any one of the following: Based on the width-restricted area passage prompt information pushed by the virtual interactive assistant on the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area; Based on the user's request to pass through the width-restricted area, and according to the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted so that the terminal device can pass through or bypass the width-restricted area.

[0012] Optionally, adjusting the passage mode of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area, includes any one of the following: If the passable width is less than or equal to the width of the terminal device, the terminal device is adjusted to an impassable mode so that the terminal device can bypass the width-restricted area. If the passable width is greater than the width of the terminal device, the terminal device is adjusted to an auxiliary passage mode or an autonomous passage mode to allow the terminal device to pass through the width-restricted area.

[0013] Optionally, when the passable width is greater than the width of the terminal device, adjusting the terminal device to an auxiliary passage mode or an autonomous passage mode to allow the terminal device to pass through the width-restricted area includes any one of the following: When the passable width is greater than the width of the terminal device and the passable width is less than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to an auxiliary passage mode to allow the terminal device to pass through the width-restricted area. If the passable width is greater than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to autonomous passage mode so that the terminal device can pass through the width-restricted area.

[0014] Optionally, the method further includes: When the terminal device is adjusted to the auxiliary passage mode, a target image of the device edge and / or the area edge of the width-limited area from at least one target viewpoint is displayed in the target screen area of ​​the terminal device. The target image is used to guide the user of the terminal device to control the terminal device to pass through the width-limited area.

[0015] Optionally, the method further includes: When the terminal device is adjusted to autonomous passage mode, the target screen area in the terminal device displays the driving trajectory planned by the terminal device and / or controls the terminal device to pass through the width-restricted area according to the driving trajectory.

[0016] Optionally, the method further includes: When the terminal device is adjusted to the assisted passage mode or the autonomous passage mode, based on the takeover operation command of the control user, the terminal device is controlled to exit the assisted passage mode or the autonomous passage mode. The takeover operation command includes at least one of the following: a brake pedal depressing command, an operation command for the direction control device in the terminal device, and a takeover interaction command for the terminal device.

[0017] Optionally, adjusting the passage mode and / or displaying interactive information of the terminal device based on the passable width and the width of the terminal device includes: When the terminal device travels to the width-restricted area, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the driving information of the terminal device, the passable width, and the width of the terminal device.

[0018] Optionally, adjusting the passage mode and / or displaying interactive information of the terminal device based on the driving information of the terminal device, the passable width, and the width of the terminal device includes: When the terminal device is in driving mode and the driving speed is less than or equal to the target driving speed, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device.

[0019] Optionally, the method further includes: If the width-restricted area is detected within the target distance range in front of the terminal device, the passage mode of the terminal device and / or the display of interactive information shall be adjusted according to the passable width and the width of the terminal device. When the terminal device is adjusted to assisted passage mode or autonomous passage mode, it stops responding to the power control commands of the controlling user.

[0020] Optionally, the method further includes: During the process of the terminal device passing through the width-restricted area, prompt information corresponding to the passage mode of the terminal device is displayed and / or broadcast via voice on the target screen area; The prompt information corresponding to the passage mode includes at least one of the following: the passage capability prompt information corresponding to the passage mode, the auxiliary operation prompt information corresponding to the passage mode, and the status prompt information of the terminal device.

[0021] Secondly, this application provides a device adjustment apparatus, comprising: The adjustment module is configured to, when a width-restricted area exists within the target driving area of ​​the terminal device, adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area.

[0022] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the device adjustment method described in the first aspect.

[0023] Fourthly, this application provides an electronic device, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor executes the computer program to implement the device adjustment method described in the first aspect.

[0024] Fifthly, this application provides a vehicle or robot, including the control device described in the second aspect, or the electronic device described in the fourth aspect.

[0025] By employing the above technical solutions, this application provides a device adjustment method, apparatus, storage medium, and electronic device, comprising: when a width-restricted area exists within the target driving area of ​​the terminal device, adjusting the passage mode and / or displaying interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so as to enable the terminal device to pass through or bypass the width-restricted area. Compared with related technologies, this application can adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area when a width-restricted area exists within the target driving area of ​​the terminal device, so as to enable the terminal device to pass through or bypass the width-restricted area. This allows the application to reduce the risk of collisions or scrapes when the terminal device passes through a width-restricted area by adjusting the passage mode and / or displaying interactive information according to the passable width corresponding to the width-restricted area.

[0026] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings: Figure 1 A schematic flowchart of a device adjustment method provided in an embodiment of this disclosure is shown; Figure 2 A flowchart illustrating another device adjustment method provided in an embodiment of this disclosure is shown; Figure 3 A schematic flowchart of another device adjustment method provided in an embodiment of this disclosure is shown; Figure 4 A schematic flowchart of another device adjustment method provided in an embodiment of this disclosure is shown; Figure 5 A schematic diagram of the structure of a device adjustment apparatus provided in an embodiment of this disclosure is shown; Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0028] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] To address the technical issue in related technologies where relying on manual judgment of passage capacity in width-restricted areas can easily lead to misjudgments and a high risk of collisions and scrapes when terminal devices pass through such areas, this embodiment provides a device adjustment method, such as... Figure 1 As shown, the method includes: Step 101: If a width-restricted area exists within the target driving area of ​​the terminal device, adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area.

[0030] It should be noted that the execution subject of the embodiments of this application can be a terminal device, specifically a functional control unit inside the terminal device. The terminal device can be a human-carrying terminal device, such as, including but not limited to, a vehicle, a human-carrying robot, a cloaked robot, etc. In the case of a vehicle, the vehicle can be a vehicle of different drive types, such as an electric vehicle, a fuel vehicle, etc. The vehicle can also be a vehicle of different models, such as a sedan, a commercial vehicle, etc.

[0031] In some examples, the target driving area can be a road area that can be perceived by the terminal device along its driving path. The target driving area may include, but is not limited to, the road area within a preset detection distance in front of the terminal device, the road area ahead on the navigation planning route, and the road area that can be perceived around the current driving trajectory. No specific limitation is made here.

[0032] In some examples, the width-restricted area can be the passage area formed by width-restricted facilities set up on the road. For example, the width-restricted area can be formed by paired width-restricted bollards, width-restricted piles, isolation bollards, etc., or by road construction barriers, temporary roadblocks, etc., and will not be listed one by one here.

[0033] In some examples, the passable width corresponding to the width-restricted area can be the actual physical width between the width-restricted facilities on both sides of the width-restricted area. This width can be obtained by detecting the outline position and relative distance of the width-restricted area through sensing devices on the terminal device. For example, it can be detected by LiDAR or visual sensing devices to obtain the position information of the two sides of the width-restricted area, and then obtain the passable width.

[0034] In some examples, the passage mode is a driving control mode that adapts the terminal device to the passage conditions of the width-restricted area when the terminal device passes through the width-restricted area. For example, the passage mode may include at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode. Different passage modes correspond to different terminal device control strategies.

[0035] In some examples, the interactive information may include corresponding passage trajectory guidance screens before the terminal device enters the width-restricted area, when the terminal device is passing through the width-restricted area, and after the terminal device passes through the width-restricted area.

[0036] In some examples, voice prompts corresponding to the interactive information can be output.

[0037] In some examples, the target driving area can be detected by sensing devices on the terminal device and navigation map data, and the presence of road width restriction facilities in the target driving area can be identified, thereby determining whether there is a width restriction area in the target driving area.

[0038] In some examples, after identifying the width-restricted area, the passable width of the width-restricted area can be determined by detecting the position coordinates and relative spacing of the two sides of the width-restricted area.

[0039] In some examples, adjusting the passage mode of the terminal device according to the passable width corresponding to the width-limited area can specifically be achieved by adjusting the control state of the terminal device based on the comparison result between the passable width and the width of the terminal device.

[0040] Compared with related technologies, this embodiment can adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area when there is a width-restricted area in the target driving area of ​​the terminal device, so as to enable the terminal device to pass through or bypass the width-restricted area, thereby reducing the risk of collision or scratch when the terminal device passes through the width-restricted area.

[0041] Optionally, the target driving area is a road area along the driving path of the terminal device that can be perceived by the terminal device.

[0042] In some examples, the driving path of the terminal device can be the actual trajectory route that the terminal device is currently traveling on, or it can be a preset driving route obtained from navigation planning.

[0043] In some examples, the travel path of the terminal device may include at least one of straight road sections, turning road sections, and ramp road sections, without being specifically limited here.

[0044] In some examples, based on the driving path of the terminal device, the road areas that the terminal device may pass through during its subsequent driving can be determined, thereby enabling the identification of width-restricted areas and adjustment of traffic patterns in advance.

[0045] In some examples, the road area perceived by the terminal device can be the road area covered by the detection range of the sensing device on the terminal device. The sensing device may include, but is not limited to, environmental sensing devices such as lidar, visual sensors, millimeter-wave radar, and ultrasonic radar, and is not specifically limited here.

[0046] As an alternative approach, in this embodiment of the application, the target driving area can be a road area on the current driving path of the terminal device, located within a preset detection distance in front of the terminal device and within the effective detection range of the sensing device. For example, it can be a road area within 50 meters of the terminal device, without specific limitations.

[0047] For example, if the terminal device is driving on an urban road, the target driving area of ​​the terminal device can be a straight road segment within 30 meters ahead. If there are paired width-limiting bollards in the road segment, it can be determined that there is a width-limiting area in the target driving area of ​​the terminal device. Examples will not be given here.

[0048] Optionally, the width-restricted area is an area with limited passage width formed by road width-restriction facilities, wherein the road width-restriction facilities include at least one of width-restriction piers, obstacles, and wall facilities.

[0049] In some examples, the width-limiting piers can be pier structures set up on roads to restrict the passage width of terminal devices. For example, when the terminal device is a vehicle, width-limiting piers that meet national standards, such as square concrete piers, cylindrical cement piers, and low irregular-shaped width-limiting piers, are all width-limiting piers in the embodiments of this application. After the width-limiting piers are set up in pairs, a width-limiting area that restricts the passage width can be formed. And so on, without further examples here.

[0050] In some examples, obstacles can be objects that are temporarily or permanently set up in the road, occupying road space and reducing the width of passage. For example, when the terminal device is a vehicle, objects such as construction fences, isolation piles, water-filled barriers, stones, and roadblocks are all obstacles in the embodiments of this application. After the obstacles are arranged on both sides or in the middle of the road, a width-restricted area that limits the width of passage can be formed, and so on. No further examples will be given here.

[0051] In some examples, the wall facilities can be fixed, immovable wall structures along the roadside; for example, when the terminal device is a vehicle, fixed wall structures such as tunnel sidewalls, culvert walls, building walls, and retaining walls are all wall facilities in the embodiments of this application. After the wall facilities are set opposite to obstacles or width-limiting piers on the other side of the road, a width-limiting area that restricts the passage width can be formed, and so on, without further examples here.

[0052] As an alternative approach, the width-restricted area in this embodiment is an area on the road with a width smaller than the conventional road surface width, formed by the aforementioned road width-restriction facilities. The left and right boundaries of the width-restricted area and the passable width can be sensed by the terminal device. The terminal device adjusts its passage mode according to the sensed passable width to safely pass through the width-restricted area.

[0053] Optionally, the passage mode of the terminal device includes at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode.

[0054] In some examples, the impassable mode refers to the passage mode when the terminal device determines that it cannot safely pass through the width-restricted area. For example, when the terminal device is a vehicle, if the passable width of the width-restricted area is less than or equal to the width of the vehicle itself, the terminal device determines that it cannot safely pass through the width-restricted area and switches to the impassable mode. In the impassable mode, the terminal device does not need to perform passage assistance operations, but only outputs a prompt message that it cannot pass, guiding and controlling the user to stop passing or choose an alternative route to avoid the risk of scratches. It should be noted that the width of the vehicle itself can be the maximum lateral outer contour width of the entire vehicle, or it can be the width of the vehicle after the rearview mirrors are folded up.

[0055] In some examples, the assisted passage mode refers to a passage mode in which the terminal device provides auxiliary perception and guidance to the control user, allowing the control user to drive through the width-restricted area. For example, when the terminal device is a vehicle, if the passable width of the width-restricted area is greater than the width of the vehicle but less than the sum of the width of the vehicle and the target safe width, the terminal device switches to assisted passage mode. In assisted passage mode, the terminal device activates perception assistance functions such as vehicle surround view, displays guidance information such as the boundary of the width-restricted area and the vehicle position on the target screen area, and provides voice prompts simultaneously to assist the control user in judging and driving smoothly through the width-restricted area.

[0056] In some examples, autonomous passage mode refers to a passage mode in which the terminal device autonomously plans its passage trajectory and controls its driving status, allowing it to pass through width-restricted areas without manual control from the user. For example, when the terminal device is a vehicle, if the passable width of the width-restricted area is greater than the sum of the vehicle's width and the target safe width, the terminal device switches to autonomous passage mode. In autonomous passage mode, the terminal device automatically plans a passage trajectory adapted to the width-restricted area and autonomously controls its driving speed and steering angle. At this time, the user's throttle input is disabled to ensure that the terminal device can pass through the width-restricted area smoothly and safely. During this process, the user only needs to pay attention.

[0057] As an optional approach, in this embodiment of the application, the passage mode of the terminal device is adjusted according to the passable width corresponding to the width-restricted area. The passage mode of the terminal device includes at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode. This enables the terminal device to flexibly adapt to different width-restricted scenarios, thereby improving the safety of the terminal device when passing through the width-restricted area.

[0058] Optionally, when performing the action of "adjusting the passage mode of the terminal device and / or displaying interactive information according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area", the following methods can be used, but are not limited to these, such as... Figure 2 As shown, the method includes: Step 201: Based on the outline location and relative distance of the road width restriction facilities in the width restriction area, determine the passable width corresponding to the width restriction area; In some examples, the outline location of road width restriction facilities refers to the spatial location, boundary point, and outline orientation of the outer outline edge of the road width restriction facilities in the world coordinate system, image coordinate system, or radar point cloud coordinate system.

[0059] In some examples, the relative distance of road width restriction facilities refers to the lateral distance between the inner edges of the road width restriction facilities.

[0060] In some examples, the terminal device can scan the road width restriction facilities (such as width restriction piers) through the sensing devices such as LiDAR and vision sensors, obtain the outline position information of the width restriction piers, extract and fit the outline edge of the road width restriction facilities, identify the inner edge position of the width restriction facilities on both sides, and determine the width that the terminal device can pass through in the width restriction area based on the lateral distance between the inner edges on both sides, which is the passable width.

[0061] For example, if there are pairs of width-limiting blocks in the width-limiting area, the sensing device identifies the outline boundaries of the two width-limiting blocks, measures the straight-line distance between the two width-limiting blocks, and determines the passable width of the width-limiting area.

[0062] For example, if there are temporary width-restricting facilities such as construction fences in the width-restricted area, the sensing device obtains the outline range of the construction fences, measures the distance between the construction fences, and then determines the passable width of the width-restricted area.

[0063] Step 202: Adjust the passage mode and / or display interactive information of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area.

[0064] In some examples, the width of the terminal device is the minimum horizontal space required for the terminal device to pass through a width-restricted area.

[0065] For example, when the terminal device is a vehicle, the width of the terminal device can be the width of the vehicle body (excluding the rearview mirror or the maximum width including the rearview mirror).

[0066] In some examples, adjusting the passage mode of the terminal device based on the passable width and the width of the terminal device may include: if the passable width is less than the width of the terminal device, adjusting to an impassable mode and outputting a prompt message indicating that passage is not possible to guide the user to adjust the driving route; if the passable width is greater than the width of the terminal device but less than the sum of the width of the terminal device and the target safe width, adjusting to an auxiliary passage mode, enabling auxiliary functions such as surround view, and guiding the user to manually drive through; if the passable width is greater than the sum of the width of the terminal device and the target safe width, adjusting to an autonomous passage mode, where the terminal device autonomously plans the driving trajectory and automatically controls the vehicle's speed and steering without requiring manual control by the user.

[0067] For example, taking a terminal device (such as a vehicle) with a width of 1.8 meters and a target safe width of 0.2 meters as an example, if the passable width determined in step 201 is 2.2 meters, and the passable width (2.2 meters) is greater than the sum of the terminal device's width (1.8 meters) and the target safe width (0.2 meters) (2.0 meters), then the terminal device adjusts to an autonomous passage mode, autonomously plans its passage trajectory, and automatically controls its driving speed to pass through the width-restricted area; if the passable width determined in step 201 is 1.9 meters, and the passable width is greater than the sum of the terminal device's width (1.8 meters) and the target safe width (0.2 meters), then the terminal device adjusts to an autonomous passage mode, autonomously plans its passage trajectory, and automatically controls its driving speed to pass through the width-restricted area; If the width of the terminal device (1.8 meters) is less than the sum of the width of the terminal device and the target safe width (2.0 meters), the terminal device will be adjusted to auxiliary passage mode, and auxiliary functions such as surround view will be enabled to prompt the user to manually drive through. If the passable width determined in step 201 is 1.7 meters, and the passable width (1.7 meters) is less than the width of the terminal device (1.8 meters), the terminal device will be adjusted to non-passable mode, and a prompt message indicating that passage is not possible will be output to prevent the terminal device from forcibly passing through and causing a collision.

[0068] Optionally, this embodiment may also employ the following methods, but not limited to these: Based on the control of the terminal device, the user performs auxiliary passage actions on the terminal device, and adjusts the passage mode and / or displays interactive information of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area. The auxiliary passage actions include at least one of the following: reducing the speed of the terminal device, opening the target screen of the device edge and / or the area edge of the width-restricted area, clicking the auxiliary passage button, and inputting auxiliary passage voice.

[0069] In some examples, assisted passage actions refer to actions initiated actively or passively by the user in width-restricted scenarios to assist the terminal device in passing through, and are used to convey the user's passage intention or safety preparation actions to the terminal device.

[0070] In some examples, reducing the speed of the terminal device can be used to control the user to actively press the brake pedal, reduce the throttle opening, or shift into a low gear. Taking the terminal device as a vehicle as an example, controlling the user to actively reduce the vehicle speed when encountering a width-restricted area allows sufficient reaction time for passage and improves the safety of passage.

[0071] In some examples, opening the target image at the device edge of the terminal device and / or the area edge of the width-limited area can be used to control the user to manually open panoramic images, width-limited scene auxiliary interfaces, etc. Taking a vehicle as an example, the user can be controlled to actively open 360° panoramic images or width-limited auxiliary interfaces to intuitively obtain the relative position information of the vehicle body and the width-limited area.

[0072] In some examples, clicking the assisted passage button allows the user to actively trigger the assisted passage mode through interaction methods such as the touch screen or physical buttons of the terminal device. Taking the vehicle as an example, the user can click the "Width Restriction Assisted Passage" button on the central control screen to send a request command to activate the assisted passage mode.

[0073] In some examples, inputting auxiliary passage voice can be an operation that controls the user to initiate an auxiliary passage request to the terminal device through voice interaction. Taking the terminal device as a vehicle as an example, the user can say voice commands such as "Activate width-restricted auxiliary passage" or "Please help me pass through the width-restricted area". After the voice assistant of the terminal device recognizes the command, it adjusts the passage mode of the terminal device and / or displays interactive information according to the passable width and the width of the terminal device.

[0074] In some examples, based on the user's assisted passage actions, combined with the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted. Specifically, when the user performs any one or more of the following actions: reducing vehicle speed, opening the target screen, clicking the assisted passage button, or inputting assisted passage voice commands, the passage mode of the terminal device is adjusted according to the passable width of the width-restricted area and the width of the terminal device. For example, when the passable width is greater than the width of the terminal device but less than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to assisted passage mode; when the passable width is greater than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to autonomous passage mode. At the same time, corresponding interactive information is displayed according to the scenario, such as displaying the target screen with device edge and area edge markings in assisted passage mode, or outputting voice prompts.

[0075] For example, taking a vehicle as the terminal device, when the user encounters a width-restricted barrier, the system can control the user to actively reduce speed and activate a 360° panoramic view. After detecting the user's assisted passage action, the vehicle system, based on the perceived passable width and the vehicle's width, if the current passable width is greater than the vehicle's width but insufficient, will adjust the terminal device to assisted passage mode, displaying a target image with the vehicle's edge and the barrier's edge marked on the central control screen, and announcing via voice, "The barrier is narrow; assisted view activated. Please proceed slowly." Another example is controlling the user to respond via voice when encountering a width-restricted area. When the assistant says "Activate width restriction assist," the vehicle recognizes the voice command. If the current passable width is greater than the vehicle width and the target safety margin, the terminal device will be adjusted to autonomous driving mode, displaying the planned centered driving trajectory on the central control screen and announcing "Width restriction assist has been activated; you will drive along the planned route." Alternatively, if the user clicks the "Width Restriction Assist" button on the central control screen, and the current passable width is less than the vehicle width, the central control screen will display the text and voice prompt "The width restriction barrier is too narrow; the vehicle may not be able to pass. Please drive with caution." Examples of these scenarios will not be repeated here.

[0076] In some examples, the assisted passage actions can be triggered individually or in combination. Taking a vehicle as an example, the user can simultaneously reduce the vehicle speed and activate the panoramic image, or request the assisted passage function to be activated simply through a voice command. Based on these actions, the terminal device can adjust the passage mode and display interactive information according to the passable width and the vehicle width to adapt to the operating habits of different users.

[0077] Optionally, this embodiment may also employ the following methods, but not limited to these: Based on the width-restricted area passage prompt information pushed by the virtual interactive assistant on the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area; Based on the user's request to pass through the width-restricted area, and according to the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted so that the terminal device can pass through or bypass the width-restricted area.

[0078] In some examples, the virtual interactive assistant is an intelligent entity built into the terminal device, which has voice interaction and intelligent scene reminder functions. It can perceive the road environment ahead and the width-restricted area in real time, and proactively push scene prompts and passage assistance invitations to the user.

[0079] In some examples, the information pushed by the virtual interactive assistant to indicate passage through a restricted area may include at least one of the following: voice broadcast prompts, text prompts in the vehicle screen pop-up, or information in the passage assistance invitation interface, and is not limited to a single presentation format.

[0080] In some examples, the width-restricted area passage prompt information pushed by the virtual interactive assistant is triggered by the virtual interactive assistant actively sensing and initiating scene prompts. The terminal device can switch the passage mode and simultaneously display the corresponding interactive guidance information based on the comparison result between the passable width and the width of the terminal device, to assist vehicles in safely passing through or bypassing the width-restricted area.

[0081] In some examples, controlling a user's request to pass through the width-restricted area refers to controlling a user to proactively initiate an auxiliary passage intervention request to the terminal device or virtual interactive assistant when the user perceives that passing through the width-restricted area ahead is difficult. This can be initiated through any one or more methods such as voice commands, touch buttons, or interface option selection.

[0082] In some examples, passage requests include requests to enable width-restricted assisted passage mode, requests for the system to take over passage control, requests to display width-restricted guidance screens and safety prompts, and other requests related to width-restricted passage.

[0083] In some examples, the two triggering methods mentioned above can be implemented individually or in combination; the access mode adjustment can be triggered by the virtual interactive assistant actively pushing a prompt message, or by the user actively initiating an access request. No specific limitations are made here.

[0084] For example, taking a vehicle as the terminal device, during vehicle operation, the in-vehicle virtual interactive assistant senses a preset distance ahead, such as a width-restricted area formed by a width-restriction barrier within 20 meters, and proactively announces via voice, "The road ahead has a width restriction, let me help you pass," while simultaneously displaying a width-restriction passage prompt pop-up on the central control screen. Based on the prompt information pushed by the virtual interactive assistant, the vehicle switches to assisted passage mode or autonomous passage mode according to the passable width and the width of the vehicle body, and displays a target image on the screen marking the edge of the vehicle body and the edge of the width-restricted area, guiding the vehicle to slowly and safely pass through the width-restricted area.

[0085] For example, when a user observes that the width-restricted area ahead is narrow and is unsure of the difficulty of maneuvering, they can send a voice request to the virtual interactive assistant, "I can't get through, you drive." The voice request is a passage request for the width-restricted area. After the vehicle responds to the passage request, it adjusts the passage mode according to the passable width and the vehicle's width, and simultaneously displays passage guidance interactive information to assist the vehicle in completing the passage through the width-restricted area or planning a route to detour around the width-restricted area. Examples will not be listed here.

[0086] Optionally, when performing the action of "adjusting the passage mode of the terminal device according to the passable width and the width of the terminal device so that the terminal device can pass through or bypass the width-restricted area", the following methods can be used, but are not limited to these, such as... Figure 3 As shown, the method includes: Step 301: When the passable width is less than or equal to the width of the terminal device, adjust the terminal device to the impassable mode so that the terminal device can bypass the width-restricted area. In some examples, if the passable width is less than or equal to the width of the terminal device, it indicates that the width-restricted area is too narrow and the terminal device cannot pass through. Therefore, it is necessary to adjust the terminal device to an impassable mode to avoid safety issues such as scraping when the terminal device passes through the width-restricted area.

[0087] In some examples, when the terminal device is set to an impassable mode, a corresponding prompt message will be output to guide the user to adjust the driving route and avoid forcibly passing through, which could damage the terminal device or road facilities.

[0088] As an optional approach, if the terminal device is a car and its width is 1.8 meters while the passable width of the width-restricted area is 1.7 meters, the passable width is less than the width of the terminal device. The terminal device will automatically adjust to a non-passable mode and display a warning message on the target screen area stating that the width-restricted area is too narrow and vehicles may not be able to pass. The warning message can also be broadcast simultaneously via voice to prevent vehicles from continuing to move forward and avoid causing scratches to the vehicle body if forced to pass.

[0089] As an alternative, if the terminal device is a freight vehicle and its width is 2.0 meters, and the passable width of the width-restricted area is also 2.0 meters, then the passable width is equal to the width of the terminal device, with no safe width. The terminal device will then be set to an impassable mode, outputting a prompt message to guide the user to choose an alternative route and avoid collisions caused by slight deviations during the journey.

[0090] Step 302: If the passable width is greater than the width of the terminal device, adjust the terminal device to auxiliary passage mode or autonomous passage mode so that the terminal device can pass through the width-restricted area.

[0091] In some examples, when the passable width is greater than the width of the terminal device, it means that the terminal device can pass through the width-restricted area. However, due to differences in the user's proficiency and the complexity of the road conditions, different passing modes can be selected to pass through the width-restricted area, namely, assisted passing mode or autonomous passing mode.

[0092] In some examples, the mode can be adjusted to either assisted passage mode or autonomous passage mode based on the difference between the passable width and the width of the terminal device, the preset safe width, etc.

[0093] As an alternative, if the terminal device is a car (1.8 meters wide), and the passable width of the width-restricted area is 2.0 meters, which is greater than the width of the terminal device but has a small margin, the terminal device is adjusted to auxiliary passage mode, the vehicle surround view screen is activated, and information such as the boundary of the width-restricted area and the vehicle position guide line is displayed on the target screen area. At the same time, the voice prompts the user to drive slowly and pay attention to the distance on both sides, and the user controls the terminal device to pass through the width-restricted area.

[0094] As an optional approach, if the terminal device is a car (1.8 meters wide), and the passable width of the width-restricted area is 2.5 meters, which is significantly larger than the width of the terminal device and provides ample safety width, then the terminal device can switch to autonomous driving mode. The terminal device will autonomously plan its driving trajectory to fit the width-restricted area, automatically controlling its speed and steering angle. No manual operation from the user is required; the user only needs to remain attentive. It should be noted that whether the width margin is sufficient is determined by the difference between the passable width and the terminal device's width, and the preset safety width. For example, if the preset safety width is 0.5 meters, a difference of less than 0.5 meters indicates a small width margin; a difference equal to or greater than 0.5 meters indicates sufficient width margin.

[0095] Optionally, when executing the action of "adjusting the terminal device to an auxiliary passage mode or an autonomous passage mode when the passable width is greater than the width of the terminal device, so that the terminal device can pass through the width-restricted area," the following methods can be used, but are not limited to these, such as... Figure 4 As shown, the method includes: Step 401: When the passable width is greater than the width of the terminal device and less than the sum of the width of the terminal device and the target safe width, adjust the terminal device to the auxiliary passage mode so that the terminal device can pass through the width-restricted area. In some examples, the target safety width is a preset safety redundancy width, which is used to indicate the safety distance that the terminal device needs to reserve when passing through the width-restricted area. The target safety width can be set according to at least one of the following: the vehicle size of the terminal device, driving conditions, and road environment.

[0096] In some examples, the target safety width can be the safety width reserved to ensure that the terminal device can pass through the width-restricted area without scratches; for example, the target safety width can be set to a fixed value, or the corresponding width value can be adaptively configured according to different vehicle models and different driving scenarios.

[0097] For example, when the terminal device is a passenger car, the target safety width can be preset to a fixed margin value; when the terminal device is a large commercial vehicle, a larger target safety width can be configured to adapt to the vehicle size for traffic mode determination.

[0098] In some examples, when the passable width is greater than the width of the terminal device and the passable width is less than the sum of the width of the terminal device and the target safe width, it indicates that although the passable width of the width-restricted area can accommodate the terminal device, the remaining safe width on both sides is small, the reserved safety margin is insufficient, and the risk of the terminal device scraping or bumping into the road width-restricted facilities is high.

[0099] For example, if the width of the terminal device is 1.8 meters and the target safe width is 0.4 meters, the sum of the width of the terminal device and the target safe width is 2.2 meters. When the passable width of the width-restricted area is 2.0 meters, the passable width is greater than the width of the terminal device (1.8 meters) but less than 2.2 meters. In this case, the terminal device is adjusted to the auxiliary passage mode. The target screen area can display a surround view image and wheel hub perspective, and voice prompts can be given simultaneously to guide the user to manually operate the terminal device to pass through the width-restricted area. And so on, without further examples.

[0100] Step 402: If the passable width is greater than the sum of the width of the terminal device and the target safe width, adjust the terminal device to autonomous passage mode so that the terminal device can pass through the width-restricted area.

[0101] In some examples, when the passable width is greater than the sum of the width of the terminal device and the target safe width, it indicates that the passable width of the width-restricted area can not only accommodate the width of the terminal device, but also reserve sufficient lateral safety margin. The remaining space on both sides is ample, the passage fault tolerance rate is high, and the risk of the terminal device scraping or bumping into the road width restriction facility is low.

[0102] For example, taking the aforementioned terminal device width of 1.8 meters, target safety width of 0.4 meters, and the sum of the terminal device width and target safety width of 2.2 meters as an example, when the passable width of the width-restricted area is 2.5 meters, the passable width is greater than 2.2 meters. The terminal device is then adjusted to autonomous passage mode, where it autonomously plans its driving trajectory and automatically controls its driving speed and steering angle. It can pass through the width-restricted area without the need for manual control by the user. And so on, without further examples here.

[0103] Optionally, this embodiment may also employ the following methods, but not limited to these: When the terminal device is adjusted to the auxiliary passage mode, a target image of the device edge and / or the area edge of the width-limited area from at least one target viewpoint is displayed in the target screen area of ​​the terminal device. The target image is used to guide the user of the terminal device to control the terminal device to pass through the width-limited area.

[0104] In some examples, the target screen area can be the central control screen or dashboard display of the terminal device, or other areas that can be used to display visual information. Taking a vehicle as an example, the target screen area is the in-vehicle display screen area configured on the vehicle, used to display the perceived panoramic image, the device edge of the terminal device, the area edge of the width-limited area, and traffic prompt information, etc.

[0105] In some examples, the target viewpoint can be a viewpoint that can fully cover the area around the terminal device and the width-restricted area, including but not limited to the vehicle surround view, wheel hub view, front view, oblique blind spot view, and rear view. One or more target views can be selected and stitched together to form the target image according to the specific location of the width-restricted area (such as the width restriction in front).

[0106] In some examples, the device edge can be the outermost outline of the terminal device, and the region edge can be the boundary outline of the width-limited region. These can be marked on the target screen by highlighting, thickening, etc., to facilitate quick identification by the user.

[0107] In some examples, the target image can be displayed in full screen or in split screen (simultaneously displaying the target image and a single target viewpoint image), without any specific limitations.

[0108] In some examples, when the terminal device is adjusted to assisted passage mode, the target screen area can be used to display the target image, presenting the device edge of the terminal device and the edge of the width-restricted area to the control user, making it easier for the control user to grasp the position of the terminal device in the width-restricted area.

[0109] For example, taking a vehicle as the terminal device, when the vehicle is adjusted to the auxiliary passage mode, the target screen area (central control screen) can display the target image. The image simultaneously shows the vehicle body edge and the area edge of the width restriction zone. The user can observe the lateral distance between the vehicle and the width restriction zone in real time through the image, and then accurately control the vehicle to slowly pass through the width restriction zone. The vehicle body edge can include the front, rear, and side edges of the vehicle body, and the area edge of the width restriction zone can include the outline edge of the width restriction block, the boundary line of the wall, etc., which will not be listed here.

[0110] In some examples, based on the passage of the terminal device in the width-restricted area, i.e., the front half of the terminal device enters the width-restricted area, the terminal device is completely in the width-restricted area, and the rear half of the terminal device is in the width-restricted area, at least one target viewpoint corresponding to different passage conditions is determined, the images under the target viewpoint are stitched together to form the target image, and the device edge of the terminal device and / or the area edge of the width-restricted area are simultaneously marked before being displayed in the target screen area.

[0111] For example, taking a vehicle as the terminal device, when the vehicle is adjusted to assist traffic flow mode, after the front half of the vehicle, such as the front of the vehicle and the two front wheels, enters the width-restricted area, at least one target view can be the front-facing main view, the wheel hub view, and the oblique blind spot view. This means acquiring the images corresponding to the front-facing main view, the left front wheel, the right front wheel, and the oblique blind spot view, and then stitching these images together to form the target image. Similarly, when the vehicle is adjusted to assist traffic flow mode, and the front half of the vehicle leaves the width-restricted area but the rear half remains within it (e.g., the rear side of the vehicle and the two rear wheels are still within the width-restricted area), at least one target view... It can be a rear-view perspective and a wheel hub perspective, which means obtaining the images corresponding to the rear-view perspective, the left rear wheel perspective, and the right rear wheel perspective, and then stitching these images together to form the target image; or, for example, when the vehicle is adjusted to auxiliary traffic mode, when the vehicle is fully inside the driving width restriction area, at least one target view can be the front-view perspective, the oblique blind spot perspective, the wheel hub perspective, the rear-view perspective, and the vehicle surround panoramic perspective, which means obtaining the images corresponding to the front-view perspective, the left front wheel perspective, the right front wheel perspective, the oblique blind spot perspective, the rear-view perspective, the left rear wheel perspective, the right rear wheel perspective, and the vehicle surround panoramic perspective, and then stitching them together to form the target image.

[0112] In some examples, the distance between the edge of the terminal device and the edge of the width-restricted area can also be displayed on the target screen area of ​​the terminal device. Taking a vehicle as an example, when the vehicle passes through the width-restricted area, the distance between the left edge of the vehicle and the left edge of the width-restricted area, and the distance between the right edge of the vehicle and the right edge of the width-restricted area can be displayed on the vehicle's central control screen. For example, the distance between the left edge of the vehicle and the left edge of the width-restricted area is 20 centimeters, and the distance between the right edge of the vehicle and the right edge of the width-restricted area is 14 centimeters.

[0113] By displaying the distance between the left edge of the vehicle and the left edge of the width restriction area, and the distance between the right edge of the vehicle and the right edge of the width restriction area on the vehicle's central control screen, the remaining clearance between the two sides of the vehicle and the edge of the width restriction area can be presented to the user in real time. This allows the user to understand the size of the lateral clearance and control the driving trajectory, pass through the width restriction area in the center, and avoid the risk of scraping or collisions.

[0114] Taking a vehicle as an example, when the width-restricted area is a road area formed by pairs of width-restriction barriers in front, the images from the vehicle's surround view and wheel hub view can be captured and stitched together to form the target image, which is then displayed in full screen on the central control screen. The edges of the vehicle body on both sides are highlighted in red, and the edges of the two width-restriction barriers are highlighted in blue. The user can observe the real-time distance between the vehicle body and the width-restriction barriers through the image, and accurately control the steering wheel and vehicle speed to guide the vehicle to pass safely. As another example, when the width-restricted area is a side wall, the images from the side view and the surround view can be captured and stitched together to mark the side edges of the vehicle body and the edges of the wall, assisting the user in judging the lateral distance and avoiding scratches. Examples of these scenarios will not be listed here.

[0115] Optionally, this embodiment may also employ the following methods, but not limited to these: When the terminal device is adjusted to autonomous passage mode, the target screen area in the terminal device displays the driving trajectory planned by the terminal device and / or controls the terminal device to pass through the width-restricted area according to the driving trajectory.

[0116] In some examples, the driving trajectory planned by the terminal device can be a passageway that fits the middle of the width-restricted area and maintains a uniform safe distance from the edges of the two sides. The driving trajectory can include driving parameters such as driving route, driving speed, and steering angle.

[0117] Taking a vehicle as an example, if there are pairs of width-limiting barriers on the road ahead, after the vehicle is adjusted to autonomous driving mode, a straight driving trajectory is planned in the center and marked with a solid green line in the surround view of the central control screen, so that the user can clearly see the path the vehicle is about to travel without having to manually control the direction and speed.

[0118] In some examples, when the terminal device switches to autonomous passage mode, it can plan a driving trajectory that adapts to the passage conditions of the width-restricted area. At the same time, the planned driving trajectory can be visualized in the target screen area, so that the user can know the passage route and driving status in real time. It can also drive automatically according to the planned driving trajectory and autonomously complete the passage process of the width-restricted area. No specific limitations are made here.

[0119] In some examples, a suitable driving trajectory is planned based on the edge of the width-limited area, the device width of the terminal device, and the preset safety distance, and the driving trajectory is displayed as a visual line in the target screen area.

[0120] In some examples, the terminal device is controlled to smoothly pass through the width-restricted area according to the planned driving trajectory, driving speed, and steering angle.

[0121] In some examples, the terminal device can automatically adjust the steering angle according to the path corresponding to the planned driving trajectory, and at the same time match the appropriate driving speed, autonomously maintaining driving within the trajectory path without the need for user intervention; if no abnormality is detected in the surrounding environment during driving, it will continue to drive along the trajectory until it leaves the width-restricted area.

[0122] Optionally, this embodiment may also employ the following methods, but not limited to these: When the terminal device is adjusted to the assisted passage mode or the autonomous passage mode, based on the takeover operation command of the control user, the terminal device is controlled to exit the assisted passage mode or the autonomous passage mode. The takeover operation command includes at least one of the following: a brake pedal depressing command, an operation command for the direction control device in the terminal device, and a takeover interaction command for the terminal device.

[0123] In some examples, when the terminal device is in assisted passage mode or autonomous passage mode, it can provide passage assistance or autonomous control services to the control user. However, in order to ensure the safety of passage, a channel for manual takeover by the control user needs to be reserved. When the control user finds that there is an abnormality in the passage scenario (such as a sudden obstacle in the width-restricted area) or needs to operate manually, he / she can trigger the takeover operation command to exit the current passage mode and switch to the control user manual control mode, so as to ensure that the control user can keep abreast of the driving status of the terminal device.

[0124] In some examples, when the terminal device is set to assisted passage mode, if the user notices a pedestrian suddenly appearing next to the width restriction barrier, they can exit assisted passage mode by pressing the brake pedal and manually control the brakes and steering to avoid a safety accident. When the terminal device is set to autonomous passage mode, if the user needs to manually adjust the driving route, they can exit autonomous passage mode by operating the directional control device and switch to manual driving.

[0125] In some examples, the terminal device detects the user's actions in real time. When it detects that the user has triggered any takeover command, it immediately terminates the current driving mode, releases driving control, and switches to manual control mode. At the same time, it can display a prompt message on the target screen area that the assisted driving mode / autonomous driving mode has been exited and manual takeover is requested. It can also simultaneously broadcast a voice message to inform the user that the communication mode adjustment has been completed.

[0126] In some examples, the brake pedal press command refers to the command triggered by the user pressing the brake pedal of the terminal device.

[0127] For example, taking a vehicle as the terminal device, when the vehicle is in autonomous driving mode and passes through a width-restricted area, if it detects that a stone has fallen in the width-restricted area, it will control the user to step on the brake pedal, and the vehicle will immediately exit the autonomous driving mode. The user will then manually control the brakes and adjust the route to avoid scratches or collisions. Examples will not be listed here.

[0128] In some examples, the operation instructions of the direction control device in the terminal device refer to the instructions triggered by the direction control device that controls the user's operation of the terminal device.

[0129] In some examples, the steering control device may include, but is not limited to, a steering wheel, steering lever, steering control buttons, and an in-vehicle steering interaction device that can receive user input for steering control.

[0130] For example, taking a vehicle as the terminal device, when the vehicle is in assisted passage mode and passes through a width-restricted area, the user controls the vehicle and finds that the planned guidance route does not match the actual needs. The user turns the steering wheel to adjust the driving direction. At this time, the terminal device detects the steering wheel operation command and immediately exits the assisted passage mode. The user then manually controls the steering and vehicle speed. Examples will not be repeated here.

[0131] In some examples, a takeover interaction command on a terminal device refers to a command initiated by the user through the interactive components of the terminal device to trigger a takeover.

[0132] For example, taking a vehicle as the terminal device, the takeover interaction command can include touch commands on the target screen area (such as clicking the "Manual Takeover" button), voice commands (such as "Manual Takeover" or "Exit Assist Mode"), etc. When the vehicle is in assisted driving mode, the user can click the "Manual Takeover" icon on the central control screen, and the vehicle will exit assisted driving mode and switch to manual driving. As another example, when the vehicle is in autonomous driving mode, the user can say "Manual Takeover" in voice. After the terminal device recognizes the voice command, it will immediately exit autonomous driving mode and release driving control. Examples will not be listed here.

[0133] It should be noted that the triggering conditions for takeover operation commands can be preset according to the actual scenario. For example, the brake pedal pressing command must meet the preset pressing force to avoid accidental triggering, and the operation command of the steering control device must meet the preset steering angle to avoid slight adjustments being mistakenly judged as takeover, thus ensuring the accuracy of the takeover operation and avoiding accidental triggering that could lead to incorrect switching of communication modes.

[0134] Optionally, when performing the action of "adjusting the passage mode of the terminal device according to the passable width and the width of the terminal device", the following method may be used, but is not limited to this: When the terminal device travels to the width-restricted area, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the driving information of the terminal device, the passable width, and the width of the terminal device.

[0135] In some examples, the driving information of the terminal device refers to the real-time operating status data collected by the terminal device during driving, which may include, but is not limited to, the terminal device's driving speed, driving gear, control mode, driving direction, and the distance between the terminal device and road width restriction facilities.

[0136] In some examples, when the terminal device travels to the width-restricted area, if the terminal device's speed is too high, even if the passable width meets the autonomous passage conditions, it should be prioritized to switch to auxiliary passage mode to avoid the terminal device scraping due to excessive speed. If the terminal device's speed is at a low and stable state and there is sufficient width margin, it can be switched to autonomous passage mode. Examples will not be listed here.

[0137] Optionally, when performing the action of "adjusting the passage mode of the terminal device based on the driving information of the terminal device, the passable width, and the width of the terminal device", the following method may be used, but is not limited to this: When the terminal device is in driving mode and the driving speed is less than or equal to the target driving speed, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device.

[0138] In some examples, the terminal device's gear position is "driving gear," meaning the terminal device is in a driving state and can move into the width-restricted area.

[0139] In some examples, the target driving speed is the safe driving speed of the terminal device when passing through a width-restricted area. The target driving speed can be set according to the actual situation of the width-restricted area (such as the distribution of width-restriction facilities and the smoothness of the road). For example, in the width-restricted area of ​​urban roads (such as construction sections or width-restricted entrances to residential areas), the target driving speed is set to 10 kilometers per hour to ensure that the operator has enough time to observe the surrounding environment and adjust the operation. If it is in the width-restricted area of ​​an open road, the target driving speed can be appropriately increased, but it is necessary to ensure that the terminal device will not cause operational errors due to excessive speed when passing through the width-restricted area, thereby ensuring traffic safety.

[0140] For example, the terminal device is a car with a width of 1.8 meters, the passable width of the width-restricted area is 2.0 meters, and the target driving speed is set to 15 kilometers per hour. When the terminal device is in drive mode (forward gear) and the driving speed is stable at 12 kilometers per hour (less than or equal to the target driving speed), the terminal device determines that it can safely pass through the width-restricted area based on the passable width (2.0 meters) and the width of the car (1.8 meters), and then adjusts to auxiliary passage mode or autonomous passage mode. If the terminal device's driving speed reaches 25 kilometers per hour (greater than the target driving speed), it will first reduce the speed to the target range and then adjust the passage mode to avoid the terminal device being scratched due to excessive speed. Examples will not be given here.

[0141] As an alternative approach, when the terminal device is in user control mode, in driving mode, and at a speed less than or equal to the target speed, the passage mode of the terminal device and / or the display of interactive information can be adjusted based on the passable width and the width of the terminal device.

[0142] As an optional approach, when the terminal device's control mode is user control mode, the distance between the terminal device and the road width restriction facility is less than or equal to the target distance, the terminal device is in driving mode and its speed is less than or equal to the target speed, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device. The target distance can be preset, and different terminal devices may correspond to different target distances; for example, the target distance for a small car may be 20 meters, and the target distance for a large truck may be 30 meters.

[0143] It should be noted that before adjusting the passage mode and / or displaying interactive information of the terminal device based on the passable width and the width of the terminal device, it is necessary to confirm that the terminal device and its associated functional systems are fault-free and operating normally to ensure the accuracy of passage mode adjustment and interactive information display.

[0144] Optionally, this embodiment may also employ the following methods, but not limited to these: If the width-restricted area is detected within the target distance range in front of the terminal device, the passage mode of the terminal device and / or the display of interactive information shall be adjusted according to the passable width and the width of the terminal device. When the terminal device is adjusted to assisted passage mode or autonomous passage mode, it stops responding to the power control commands of the controlling user.

[0145] In some examples, the target distance range ahead is a preset recognition distance that the terminal device sets in advance based on its own driving status and perception capabilities. This is used to perceive the road conditions ahead in advance and avoid the problem of operation lag caused by triggering processing only when approaching a width-restricted area.

[0146] In some examples, after identifying a width-restricted area within the target distance range, the terminal device obtains the passable width corresponding to the width-restricted area, compares the passable width with the width of the terminal device itself, adjusts the corresponding passage mode, and / or displays the corresponding interactive guidance information in the target screen area.

[0147] In some examples, power control commands are operational instructions issued by the user to the terminal device to change the vehicle's power output, including but not limited to pressing the accelerator pedal, triggering the acceleration touch button, issuing voice acceleration commands, and other control input behaviors used to drive the terminal device to accelerate.

[0148] In some examples, stopping the response to the power control commands of the controlling user means that after the terminal device enters the assisted passage mode or autonomous passage mode, it blocks and ignores the acceleration-related operation inputs issued by the controlling user, and no longer adjusts the power output according to the power control commands of the controlling user, so as to avoid sudden acceleration caused by user misoperation, which may lead to the risk of scraping, collision and other passage risks.

[0149] For example, taking a vehicle as the terminal device, the target distance range is set to 20 meters in front of the vehicle. During driving, the vehicle uses surround view perception and radar perception to detect the road conditions ahead in real time. When a width-restricted area composed of paired width-restriction blocks is identified within 20 meters ahead, the vehicle compares the passable width of the width-restricted area with the width of the vehicle body. Based on the comparison result, it switches to assisted passage mode or autonomous passage mode. At the same time, the target image with the vehicle body edge and the width-restricted area edge marked is displayed on the central control screen. When the vehicle enters assisted passage mode or autonomous passage mode, it no longer responds to the power control command of the user pressing the accelerator pedal. Even if the user presses the accelerator pedal, the vehicle will not increase power or suddenly accelerate, preventing scrapes caused by accidental acceleration in narrow width-restricted areas and ensuring that the vehicle passes through the width-restricted area smoothly and slowly. If the user needs to take over the driving of the vehicle, he can exit the current passage mode at any time through the braking operation and restore the normal response to the power control command. Examples will not be listed here.

[0150] In some examples, the range of distance to the target ahead can be adjusted according to the vehicle speed and road type of the terminal device. The higher the speed, the larger the range of distance to the target ahead is set, so as to identify the width-restricted area earlier and reserve sufficient time for mode switching and interactive prompts.

[0151] Optionally, this embodiment may also employ the following methods, but not limited to these: During the process of the terminal device passing through the width-restricted area, prompt information corresponding to the passage mode of the terminal device is displayed and / or broadcast via voice on the target screen area; The prompt information corresponding to the passage mode includes at least one of the following: the passage capability prompt information corresponding to the passage mode, the auxiliary operation prompt information corresponding to the passage mode, and the status prompt information of the terminal device.

[0152] In some examples, accessibility information is used to inform the user of the current passability status of the restricted area, such as "It is safe to pass through at present, please observe the surrounding environment."

[0153] In some examples, the assistance operation prompts are for assisted driving mode, reminding the control user of operational details that need attention, such as "Please drive slowly and pay attention to the distance on both sides", guiding the control user to operate in a standardized manner and avoid scratches.

[0154] In some examples, device status prompts are used to provide real-time feedback on the terminal device's operating status, such as "Currently in autonomous passage mode, passing smoothly," so that the user can understand the device's operating status and complete the passage.

[0155] For example, if the terminal device is a car, during the process of the terminal device passing through the width-restricted area, the target screen area can simultaneously display the prompt message "Currently in autonomous passage mode, safe to pass" and make a voice broadcast; if the terminal device is a freight vehicle, when passing through the width-restricted area of ​​the construction section, the screen can display the prompt message "Currently sufficient passage width, autonomously passing" and make a voice broadcast.

[0156] In some examples, the target screen area can adjust the display format of prompts based on the different passage modes. For example, in assisted passage mode, the focus is on displaying the spacing between the sides to guide the user to operate manually; in autonomous passage mode, the focus is on displaying the autonomous control status so that the user understands the device's operating status. Simultaneously, the voice announcements can also be adjusted according to the passage scenario. For instance, when passing through a width-restricted area, the announcement will say, "We are about to pass through the width-restricted area; please observe carefully," ensuring the user is aware of the passage progress.

[0157] In some examples, embodiments of this application may include, but are not limited to, the following: Example 1: A device adjustment method, comprising: when a width-restricted area exists within the target driving area of ​​a terminal device, adjusting the passage mode and / or displaying interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so that the terminal device passes through or bypasses the width-restricted area.

[0158] Example 2: The target driving area is the road area on the driving path of the terminal device that can be perceived by the terminal device.

[0159] Example 3: The width-restricted area is an area with limited passage width formed by road width-restriction facilities, wherein the road width-restriction facilities include at least one of width-restriction piers, obstacles, and wall facilities.

[0160] Example 4: The passage mode of the terminal device includes at least one of the following: non-passage mode, assisted passage mode, and autonomous passage mode.

[0161] Example 5: Based on the outline position and relative distance of the road width restriction facilities in the width restriction area, determine the passable width corresponding to the width restriction area; Based on the passable width and the width of the terminal device, adjust the passage mode of the terminal device and / or display interactive information to enable the terminal device to pass through or bypass the width-restricted area.

[0162] Example 6: Based on the control of the terminal device, the user performs auxiliary passage actions on the terminal device. According to the passable width and the width of the terminal device, the passage mode of the terminal device is adjusted and / or interactive information is displayed to enable the terminal device to pass through or bypass the width-restricted area. The auxiliary passage actions include at least one of the following: reducing the speed of the terminal device, opening the target screen of the device edge and / or the area edge of the width-restricted area, clicking the auxiliary passage button, and inputting auxiliary passage voice.

[0163] Example 7: Based on the width-restricted area passage prompt information pushed by the virtual interactive assistant on the terminal device, adjust the passage mode and / or display interactive information of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area; Based on the user's request to pass through the width-restricted area, and according to the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted so that the terminal device can pass through or bypass the width-restricted area.

[0164] Example 8: When the passable width is less than or equal to the width of the terminal device, the terminal device is adjusted to an impassable mode so that the terminal device can bypass the width-restricted area; If the passable width is greater than the width of the terminal device, the terminal device is adjusted to an auxiliary passage mode or an autonomous passage mode to allow the terminal device to pass through the width-restricted area.

[0165] Example 9: When the passable width is greater than the width of the terminal device and the passable width is less than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to an auxiliary passage mode so that the terminal device can pass through the width-restricted area; If the passable width is greater than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to autonomous passage mode so that the terminal device can pass through the width-restricted area.

[0166] Example 10: When the terminal device is adjusted to the auxiliary passage mode, a target image of the device edge and / or the area edge of the width-limited area of ​​the terminal device from at least one target viewpoint is displayed in the target screen area of ​​the terminal device. The target image is used to guide the user of the terminal device to control the terminal device to pass through the width-limited area.

[0167] Example 11: When the terminal device is adjusted to autonomous passage mode, the target screen area in the terminal device displays the driving trajectory planned by the terminal device and / or controls the terminal device to pass through the width-restricted area according to the driving trajectory.

[0168] Example 12: When the terminal device is adjusted to the assisted passage mode or the autonomous passage mode, based on the takeover operation command of the control user, the terminal device is controlled to exit the assisted passage mode or the autonomous passage mode; The takeover operation command includes at least one of the following: a brake pedal depressing command, an operation command for the direction control device in the terminal device, and a takeover interaction command for the terminal device.

[0169] Example 13: When the terminal device travels to the width-restricted area, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the driving information of the terminal device, the passable width, and the width of the terminal device.

[0170] Example 14: When the terminal device is in driving mode and the driving speed is less than or equal to the target driving speed, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device.

[0171] Example 15: When the width-restricted area is detected within the target distance range in front of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device; When the terminal device is adjusted to assisted passage mode or autonomous passage mode, it stops responding to the power control commands of the controlling user.

[0172] Example 16: During the process of the terminal device passing through the width-restricted area, the prompt information corresponding to the passage mode of the terminal device is displayed and / or broadcast through voice on the target screen area; The prompt information corresponding to the passage mode includes at least one of the following: the passage capability prompt information corresponding to the passage mode, the auxiliary operation prompt information corresponding to the passage mode, and the status prompt information of the terminal device.

[0173] It should be noted that the device adjustment method involved in the above embodiments may include at least one of Embodiments 1 to 16. For example, Embodiment 1 may be implemented as an independent embodiment, Embodiment 1+2 may be implemented as an independent embodiment, Embodiment 1+3 may be implemented as an independent embodiment, Embodiment 1+2+3 may be implemented as an independent embodiment, Embodiment 1+4 may be implemented as an independent embodiment, Embodiment 1+2+4 may be implemented as an independent embodiment, Embodiment 1+3+4 may be implemented as an independent embodiment, Embodiment 1+2+3+4 may be implemented as an independent embodiment, Embodiment 1+5 may be implemented as an independent embodiment, Embodiment 1+2+5 may be implemented as an independent embodiment, Embodiment 1+3+5 may be implemented as an independent embodiment, Embodiment 1+2+3+5 may be implemented as an independent embodiment, and Embodiment 1+3+4+5 may be implemented as an independent embodiment. Examples of implementations are as follows: Examples 1+2+3+4+5 can be implemented as independent embodiments; Examples 1+6 can be implemented as independent embodiments; Examples 1+2+6 can be implemented as independent embodiments; Examples 1+3+6 can be implemented as independent embodiments; Examples 1+3+4+6 can be implemented as independent embodiments; Examples 1+2+3+4+6 can be implemented as independent embodiments; Examples 1+2+4+5+6 can be implemented as independent embodiments; Examples 1+3+4+5+6 can be implemented as independent embodiments; Examples 1+2+3+4+5+6 can be implemented as independent embodiments; and so on. These examples are not exhaustive and will not be listed here.

[0174] Compared with related technologies, this embodiment can adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area when there is a width-restricted area in the target driving area of ​​the terminal device, so as to enable the terminal device to pass through or bypass the width-restricted area, thereby reducing the risk of collision or scratch when the terminal device passes through the width-restricted area.

[0175] Furthermore, as Figure 1 , Figure 2 , Figure 3 and Figure 4 To specifically implement the method shown, this embodiment provides a device adjustment apparatus, such as... Figure 5 As shown, the device includes: adjustment module 51.

[0176] The adjustment module 51 is configured to adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area when there is a width-restricted area in the target driving area of ​​the terminal device, so that the terminal device can pass through or bypass the width-restricted area.

[0177] In some examples of this embodiment, the target driving area is a road area on the driving path of the terminal device that can be perceived by the terminal device.

[0178] In some examples of this embodiment, the width-restricted area is an area with limited passage width formed by road width-restricted facilities, wherein the road width-restricted facilities include at least one of width-restricted bollards, obstacles, and wall facilities.

[0179] In some examples of this embodiment, the passage mode of the terminal device includes at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode.

[0180] In some examples of this embodiment, the adjustment module 51 is specifically configured to determine the passable width of the width-restricted area based on the outline position and relative distance of the road width-restriction facilities in the width-restricted area. Based on the passable width and the width of the terminal device, adjust the passage mode of the terminal device and / or display interactive information to enable the terminal device to pass through or bypass the width-restricted area.

[0181] In some examples of this embodiment, the adjustment module 51 is specifically configured to control the user's auxiliary passage actions on the terminal device based on the terminal device, and adjust the passage mode and / or display interactive information of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-limited area. The auxiliary passage actions include at least one of reducing the speed of the terminal device, opening the target screen of the device edge of the terminal device and / or the area edge of the width-limited area, clicking the auxiliary passage button, and inputting auxiliary passage voice.

[0182] In some examples of this embodiment, the adjustment module 51 is specifically configured as any of the following: Based on the width-restricted area passage prompt information pushed by the virtual interactive assistant on the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area; Based on the user's request to pass through the width-restricted area, and according to the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted so that the terminal device can pass through or bypass the width-restricted area.

[0183] In some examples of this embodiment, the adjustment module 51 is specifically configured as any of the following: If the passable width is less than or equal to the width of the terminal device, the terminal device is adjusted to an impassable mode so that the terminal device can bypass the width-restricted area. If the passable width is greater than the width of the terminal device, the terminal device is adjusted to an auxiliary passage mode or an autonomous passage mode to allow the terminal device to pass through the width-restricted area.

[0184] In some examples of this embodiment, the adjustment module 51 is specifically configured as any of the following: When the passable width is greater than the width of the terminal device and the passable width is less than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to an auxiliary passage mode to allow the terminal device to pass through the width-restricted area. If the passable width is greater than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to autonomous passage mode so that the terminal device can pass through the width-restricted area.

[0185] In some examples of this embodiment, the adjustment module 51 is further configured to display a target image of the device edge of the terminal device and / or the area edge of the width-limited area from at least one target viewpoint in the target screen area of ​​the terminal device when the terminal device is adjusted to the assisted passage mode. The target image is used to guide the user of the terminal device to control the terminal device to pass through the width-limited area.

[0186] In some examples of this embodiment, the adjustment module 51 is further configured to, when the terminal device is adjusted to autonomous passage mode, display the planned driving trajectory of the terminal device in the target screen area of ​​the terminal device and / or control the terminal device to pass through the width-restricted area according to the driving trajectory.

[0187] In some examples of this embodiment, the adjustment module 51 is further configured to, when the terminal device is adjusted to the assisted passage mode or the autonomous passage mode, control the terminal device to exit the assisted passage mode or the autonomous passage mode based on the takeover operation command of the control user. The takeover operation command includes at least one of the following: a brake pedal depressing command, an operation command for the direction control device in the terminal device, and a takeover interaction command for the terminal device.

[0188] In some examples of this embodiment, the adjustment module 51 is specifically configured to adjust the passage mode of the terminal device based on the driving information of the terminal device, the passable width, and the width of the terminal device when the terminal device travels to the width-restricted area.

[0189] In some examples of this embodiment, the adjustment module 51 is specifically configured to adjust the passage mode of the terminal device according to the passable width and the width of the terminal device when the terminal device is in driving mode and the driving speed is less than or equal to the target driving speed.

[0190] In some examples of this embodiment, the adjustment module 51 is specifically configured to, when the width-limited area is identified within the target distance range in front of the terminal device, adjust the passage mode of the terminal device and / or display interactive information according to the passable width and the width of the terminal device; When the terminal device is adjusted to assisted passage mode or autonomous passage mode, it stops responding to the power control commands of the controlling user.

[0191] In some examples of this embodiment, the adjustment module 51 is further configured to display and / or voice-broadcast prompt information corresponding to the passage mode of the terminal device through the target screen area during the process of the terminal device passing through the width-limited area; The prompt information corresponding to the passage mode includes at least one of the following: the passage capability prompt information corresponding to the passage mode, the auxiliary operation prompt information corresponding to the passage mode, and the status prompt information of the terminal device.

[0192] It should be noted that other corresponding descriptions of the functional units involved in the equipment adjustment device provided in this embodiment can be found in [reference]. Figure 1 , Figure 2 , Figure 3 and Figure 4 The corresponding description in [the document] will not be repeated here.

[0193] Based on the above, Figure 1 , Figure 2 , Figure 3 and Figure 4 Accordingly, this embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. Figure 1 , Figure 2 , Figure 3 and Figure 4 The method shown.

[0194] Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive) and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods of various implementation scenarios of this application.

[0195] like Figure 6 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising: At least one processor 601; and, Memory 602 is communicatively connected to at least one processor 601; wherein, The memory 602 stores instructions that can be executed by at least one processor to enable the at least one processor to perform the device adjustment method as described above.

[0196] Figure 6 Take the 601 processor as an example.

[0197] The electronic device may also include an input device 603 and a display device 604.

[0198] The processor 601, memory 602, input device 603, and display device 604 can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0199] The memory 602, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the device adjustment method in the embodiments of this application, for example, Figure 1 and Figure 2 The method flow is shown. The processor 601 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 602, thereby implementing the device adjustment method in the above embodiments.

[0200] Memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the device adjustment method, etc. Furthermore, memory 602 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 602 may optionally include memory remotely located relative to processor 601, and these remote memories may be connected via a network to the means of performing the device adjustment method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0201] The input device 603 can receive user clicks and generate signal inputs related to user settings and function control of the device adjustment method. The display device 604 may include a display screen or other display device.

[0202] One or more modules are stored in memory 602, and when run by one or more processors 601, they execute the device adjustment method in any of the above method embodiments.

[0203] Optionally, the aforementioned physical devices may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0204] Those skilled in the art will understand that the physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0205] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the aforementioned physical device, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0206] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented using software plus necessary general-purpose hardware platforms, or it can be implemented using hardware. By applying the solution of this embodiment, compared with related technologies, this embodiment can control the state adjustment of the device in the target area and / or target location based on the user's interactive actions in the target area and / or target location of the terminal device, thereby adjusting the target device to the target state. This embodiment can achieve state control of the target device corresponding to the target area and / or target location through the user's interactive actions in the target area and / or target location, without relying on a central control device for adjustment, thus meeting the usage needs in different scenarios.

[0207] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0208] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for adjusting equipment, characterized in that, include: If a width-restricted area exists within the target driving area of ​​the terminal device, the passage mode and / or interactive information of the terminal device are adjusted according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area.

2. The method according to claim 1, characterized in that, The target driving area is the road area along the driving path of the terminal device that can be perceived by the terminal device.

3. The method according to claim 1 or 2, characterized in that, The width-restricted area is an area with limited passage width formed by road width-restriction facilities, wherein the road width-restriction facilities include at least one of width-restriction piers, obstacles, and wall facilities.

4. The method according to any one of claims 1-3, characterized in that, The passage mode of the terminal device includes at least one of the following: impassable mode, assisted passage mode, and autonomous passage mode.

5. The method according to any one of claims 1-4, characterized in that, The step of adjusting the passage mode and / or displaying interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so as to enable the terminal device to pass through or bypass the width-restricted area, includes: Based on the outline position and relative distance of the road width restriction facilities in the width restriction area, the passable width corresponding to the width restriction area is determined; Based on the passable width and the width of the terminal device, adjust the passage mode of the terminal device and / or display interactive information to enable the terminal device to pass through or bypass the width-restricted area.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: Based on the control of the terminal device, the user performs auxiliary passage actions on the terminal device, and adjusts the passage mode and / or displays interactive information of the terminal device according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area. The auxiliary passage actions include at least one of the following: reducing the speed of the terminal device, opening the target screen of the device edge and / or the area edge of the width-restricted area, clicking the auxiliary passage button, and inputting auxiliary passage voice.

7. The method according to any one of claims 1-6, characterized in that, The method further includes any one of the following: Based on the width-restricted area passage prompt information pushed by the virtual interactive assistant on the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device, so that the terminal device can pass through or bypass the width-restricted area; Based on the user's request to pass through the width-restricted area, and according to the passable width and the width of the terminal device, the passage mode of the terminal device and / or the display of interactive information are adjusted so that the terminal device can pass through or bypass the width-restricted area.

8. The method according to any one of claims 1-7, characterized in that, The step of adjusting the passage mode of the terminal device according to the passable width and the width of the terminal device, so as to enable the terminal device to pass through or bypass the width-restricted area, includes any one of the following: If the passable width is less than or equal to the width of the terminal device, the terminal device is adjusted to an impassable mode so that the terminal device can bypass the width-restricted area. If the passable width is greater than the width of the terminal device, the terminal device is adjusted to an auxiliary passage mode or an autonomous passage mode to allow the terminal device to pass through the width-restricted area.

9. The method according to claim 8, characterized in that, When the passable width is greater than the width of the terminal device, adjusting the terminal device to an auxiliary passage mode or an autonomous passage mode to enable the terminal device to pass through the width-restricted area includes any one of the following: When the passable width is greater than the width of the terminal device and the passable width is less than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to an auxiliary passage mode to allow the terminal device to pass through the width-restricted area. If the passable width is greater than the sum of the width of the terminal device and the target safe width, the terminal device is adjusted to autonomous passage mode so that the terminal device can pass through the width-restricted area.

10. The method according to claim 8 or 9, characterized in that, The method further includes: When the terminal device is adjusted to the auxiliary passage mode, a target image of the device edge and / or the area edge of the width-limited area from at least one target viewpoint is displayed in the target screen area of ​​the terminal device. The target image is used to guide the user of the terminal device to control the terminal device to pass through the width-limited area.

11. The method according to claim 8 or 9, characterized in that, The method further includes: When the terminal device is adjusted to autonomous passage mode, the target screen area in the terminal device displays the driving trajectory planned by the terminal device and / or controls the terminal device to pass through the width-restricted area according to the driving trajectory.

12. The method according to any one of claims 8-11, characterized in that, The method further includes: When the terminal device is adjusted to the assisted passage mode or the autonomous passage mode, based on the takeover operation command of the control user, the terminal device is controlled to exit the assisted passage mode or the autonomous passage mode. The takeover operation command includes at least one of the following: a brake pedal depressing command, an operation command for the direction control device in the terminal device, and a takeover interaction command for the terminal device.

13. The method according to claim 6 or 7, characterized in that, The step of adjusting the passage mode and / or displaying interactive information of the terminal device based on the passable width and the width of the terminal device includes: When the terminal device travels to the width-restricted area, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the driving information of the terminal device, the passable width, and the width of the terminal device.

14. The method according to claim 13, characterized in that, The step of adjusting the passage mode and / or displaying interactive information of the terminal device based on the driving information of the terminal device, the passable width, and the width of the terminal device includes: When the terminal device is in driving mode and the driving speed is less than or equal to the target driving speed, the passage mode of the terminal device and / or the display of interactive information are adjusted according to the passable width and the width of the terminal device.

15. The method according to claim 14, characterized in that, The method further includes: If the width-restricted area is detected within the target distance range in front of the terminal device, the passage mode of the terminal device and / or the display of interactive information shall be adjusted according to the passable width and the width of the terminal device. When the terminal device is adjusted to assisted passage mode or autonomous passage mode, it stops responding to the power control commands of the controlling user.

16. The method according to any one of claims 1-15, characterized in that, The method further includes: During the process of the terminal device passing through the width-restricted area, prompt information corresponding to the passage mode of the terminal device is displayed and / or broadcast via voice on the target screen area; The prompt information corresponding to the passage mode includes at least one of the following: the passage capability prompt information corresponding to the passage mode, the auxiliary operation prompt information corresponding to the passage mode, and the status prompt information of the terminal device.

17. A device for adjusting equipment, characterized in that, include: The adjustment module is configured to, when a width-restricted area exists within the target driving area of ​​the terminal device, adjust the passage mode and / or display interactive information of the terminal device according to the passable width corresponding to the width-restricted area, so that the terminal device can pass through or bypass the width-restricted area.

18. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 16.

19. An electronic device, characterized in that, The invention includes a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that the processor, when executing the computer program, implements the method of any one of claims 1 to 16.

20. A vehicle or robot, characterized in that, include: The apparatus of claim 17, or the electronic device of claim 19.

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