Autonomous driving method and apparatus, and vehicle

Abstract

An autonomous driving method and apparatus, and a vehicle. The method comprises: acquiring a first instruction, the first instruction instructing to enable an intelligent driving function of a vehicle; on the basis of the first instruction, planning a first traveling path from a first parking space where the vehicle is located to a first target location, the first traveling path being a road-level navigation path; and controlling the vehicle to travel along the first traveling path. The solution can be applied to the field of intelligent driving of intelligent vehicles. When a vehicle detects that its own intelligent driving function has been triggered, the vehicle can automatically determine a target location for a current trip, and plan a road-level traveling path toward the target location, thereby controlling the vehicle to travel toward the target location. That is to say, by means of one-step triggering, the vehicle can be controlled to travel toward the target location, so that interaction steps required for triggering the vehicle to travel under the intelligent driving function can be greatly reduced, thereby saving the duration required from the time when a user requests the vehicle starts navigation to the time when the vehicle starts traveling, and helping to improve a vehicle use experience of the user.

Description

Autonomous driving methods, devices and vehicles

[0001] This application claims priority to Chinese Patent Application No. 202510125376.3, filed on January 26, 2025, entitled "Autonomous Driving Method, Apparatus and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent driving, and more specifically, to an autonomous driving method, device, and vehicle. Background Technology

[0003] As vehicles become increasingly intelligent and automated, more and more vehicles are equipped with intelligent driving systems to reduce driving stress and improve driving safety. However, current intelligent driving systems require too many steps from the moment the driver starts navigation to the moment the vehicle begins driving under intelligent driving functions, resulting in a poor user experience.

[0004] Therefore, an autonomous driving solution that simplifies the interactive logic for initiating intelligent driving is urgently needed. Summary of the Invention

[0005] This application provides an autonomous driving method, apparatus, and vehicle that can reduce the user interaction steps required to activate intelligent driving functions to control the vehicle to travel to a destination, greatly saving the time required to trigger intelligent driving functions and drive the vehicle, thus helping to improve the efficiency of the vehicle traveling to the destination and saving user time.

[0006] In one aspect, an autonomous driving method is provided, which can be executed by a vehicle, for example, by the vehicle's computing platform, or by chips or circuits used in the vehicle.

[0007] The method includes: acquiring a first instruction, the first instruction instructing the activation of the vehicle's intelligent driving function; planning a first driving path from the vehicle's current parking space to a first target location based on the first instruction, the first driving path being a road-level navigation path; and controlling the vehicle to drive along the first driving path.

[0008] In some implementations, after obtaining the first instruction, the first target location is determined according to the first instruction, and a first driving path from the first parking space to the first target location is planned, thereby controlling the vehicle to drive along the first driving path.

[0009] In some implementations, the first instruction can be generated based on any of the following methods 1) to 5):

[0010] 1) This is generated when the icon of the application (APP) associated with the intelligent driving function in the vehicle's display device is clicked;

[0011] 2) This is generated by detecting preset operations for physical controls such as levers and buttons used to activate intelligent driving functions. For example, preset operations may include flicking the relevant lever down or pressing and holding the relevant button.

[0012] 3) Generated when voice information for activating intelligent driving functions is detected;

[0013] 4) When the vehicle is powered on, the system generates a notification after detecting that the driver is in place, or after detecting that the driver has the intention to drive, for example, after all doors are closed for a certain period of time (such as one of 3 to 5 seconds, or other durations).

[0014] 5) Generated when other preset operations for activating intelligent driving functions are detected. These preset operations can be user-defined or preset by the vehicle's intelligent driving system.

[0015] In the above technical solution, when the vehicle detects that its intelligent driving function has been triggered, it can automatically determine the target location for the current trip and plan a road-level driving route to that target location, thereby controlling the vehicle to drive towards the target location. In other words, the vehicle can be controlled to drive towards the target location with a single trigger, which can greatly reduce the interaction steps required to trigger the vehicle to drive under intelligent driving function, thereby saving the time required for the user to want the vehicle to start navigation and for the vehicle to start driving, and helping to improve the user's driving experience.

[0016] It should be noted that "the user wants the vehicle to start navigation" can be understood as: enabling the vehicle to determine the destination of the current trip (or the intermediate position along the way to the destination) and plan the road-level driving route from the current location to the destination.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the first target location is any one of the following: a recommended destination determined based on the location corresponding to the first parking space and the current time period; the departure location of the nearest neighbor historical trip of the vehicle's current trip; or the exit location of the first parking area where the first parking space is located.

[0018] In the above technical solutions, when there is little travel data associated with the vehicle, the driving path from the current parking location to the exit of the parking area can be planned first, or the driving path from the current parking location to the starting location of the nearest historical trip can be planned. This controls the vehicle to drive out of the current location as quickly as possible along the planned driving path, thereby improving the efficiency of the vehicle driving to the actual destination. When there is a large amount of travel data associated with the vehicle, a recommended destination can be determined from multiple destinations associated with a large number of trips based on the current location of the vehicle and the current time period. This helps to improve the accuracy of the determined recommended destination and reduce the need for users to change their destinations.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: during the process of the vehicle traveling along the first driving path, a display device controlling the vehicle displays a first card, the first card including at least one element, each element indicating a target location, and the order of the at least one element indicating the degree of recommendation of the target location corresponding to each element.

[0020] In some implementations, the recommendation level involved in this application indicates the likelihood that the target location calculated by the vehicle may be selected as the destination. The higher the recommendation level of the target location, the greater the likelihood that the target location calculated by the vehicle will be selected as the destination.

[0021] In the above technical solution, during vehicle control, the display device shows other possible destinations, allowing users to select their desired destination for the current trip and simplifying the interaction process for selecting or modifying the destination. Specifically, in scenarios where the first parking space is in a parking lot and the vehicle needs to exit the parking lot before heading to the destination, the vehicle is first controlled to travel along the first driving path to quickly approach the parking lot exit. While the vehicle is traveling towards the parking lot exit, other selectable destinations are provided to the user, facilitating destination modification without affecting driving efficiency from the parking lot to the final destination. In other words, in this technical solution, the process of setting the actual destination for the current trip occurs during the vehicle's journey towards the parking lot exit. Therefore, it saves users the time required to set the destination and plan the route before the trip begins, thereby improving the overall efficiency of traveling from the vehicle's parking location to the final destination.

[0022] In conjunction with the first aspect, in some implementations of the first aspect, the first target location is the destination of the vehicle's current trip, at least one element includes a first element indicating a second target location, and the method further includes: in response to an operation in which the first element is selected, switching the destination from the first target location to the second target location; planning a second driving path from the vehicle's current location to the second target location, and controlling the vehicle to drive along the second driving path.

[0023] The second driving route is also a road-level navigation route. The second driving route can be a driving route from the vehicle's current location to a parking space in the second target location, or it can be a driving route from the vehicle's current location to an entrance of the second target location or a location recommended by the navigation.

[0024] In the above technical solution, after detecting that the destination has been modified, a driving route from the vehicle's current location to the modified destination is planned, and the vehicle is controlled to drive based on the driving route so that the vehicle can reach the destination that the user actually wants to reach.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the order of at least one element is determined based on at least one of the following: the number of days between the date associated with the trip corresponding to the target location indicated by each element and the current day; the time difference between the departure time of the trip corresponding to the target location indicated by each element and the current time; the degree of coincidence between the specific date of the trip corresponding to the target location indicated by each element within a week and the current date; or, the distance between the departure location associated with the trip corresponding to the target location indicated by each element and the first parking space.

[0026] In the above technical solution, determining the order of recommended target locations to users based on the date, time, and location of historical trips helps improve the accuracy of destination recommendations and the degree to which the recommendations match users' travel habits.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, at least one element includes a second element and a third element, the second element indicating a third target location and the third element indicating a fourth target location, and the target location indicated by the element that appears earlier in the first element is more recommended; the positions of the second element and the third element in the first card satisfy at least one of the following: when the date weight of the third target location is greater than the date weight of the fourth target location, the second element is located before the third element, and the larger the date weight, the closer the date associated with the trip corresponding to the target location is to the current day; or, when the time weight of the third target location is greater than the time weight of the fourth target location, the second element is located before the third element, and the larger the time weight, the smaller the time difference between the departure time and the current time of the trip corresponding to the target location.

[0028] In conjunction with the first aspect, in some implementations of the first aspect, the distance between the departure location associated with the trips corresponding to the third and fourth target locations and the first parking space is less than or equal to a first distance threshold; and / or, the specific date of the trips corresponding to the third and fourth target locations within a week coincides with the date of the day.

[0029] In the above technical solution, when there is a large amount of historical trip data, it is possible to effectively filter suitable historical trips, thereby determining the destination recommended to the user, which helps to reduce the amount of computation required to determine the order of at least one element.

[0030] In conjunction with the first aspect, in some implementations of the first aspect, when the recommended destination of a trip corresponding to the same time period within a past period is a target location other than the first target location, in response to the first target location being set as the destination more than or equal to a preset number of times, the destination of the current trip is determined to be the first target location.

[0031] In the above technical solution, when the number of times the recommended destination is modified in the historical trip is greater than or equal to the preset number, the recommended destination in the current trip is determined to be the destination that has been modified in the historical trip, which reduces the probability of incorrect destination recommendation and thus reduces the number of times users need to modify their destination, which helps to improve the user's car use experience.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: obtaining a second instruction, the second instruction being generated in response to an operation on an area other than a control in an interface displayed on the display device, or the second instruction being a voice instruction requesting a change of destination, or the second instruction being generated in response to a touch operation on a first control displayed on the display device, the first control being used to change the destination; controlling the display device to display a first card, including: controlling the display device to display the first card according to the second instruction.

[0033] For example, touch operations may include, but are not limited to, single-click, double-click, swipe, etc.

[0034] The above technical solution provides multiple ways to trigger the vehicle to recommend other destinations, which can simplify the complexity of changing navigation destinations, improve the user's interactive experience, and enhance the safety of the vehicle during driving.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: before or during the control of the vehicle to travel along the first driving path, a prompting device for controlling the vehicle prompts first information, the first information indicating the basis for determining the location of the first target.

[0036] The above technical solution helps users understand the reasons for planning the driving route to the first destination, improves users' trust in the vehicle, and enhances the user's driving experience.

[0037] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: controlling a display device of the vehicle to display a first interface, the first interface including elements indicating a first parking space and elements indicating a parking path for the vehicle to park out of the first parking space; the first interface also includes second information indicating a first target location.

[0038] When a display device shows information about the vehicle's surroundings, it typically cannot show global information about the current trip, such as an overview of the destination and planned route. Therefore, when the display device does not show a complete view of the driving route, the interface displays information indicating the destination to help the user determine if the destination is accurate and thus decide whether to modify the destination for the current trip.

[0039] In conjunction with the first aspect, in some implementations of the first aspect, when the first target location is the exit location of the first parking area where the first parking space is located, the method further includes: when the vehicle is controlled to travel along the first driving path to the first location, a prompting device controlling the vehicle prompts third information, the third information being used to prompt the driver of the vehicle to take over the vehicle; wherein, the first location is a location where the distance between it and the first target location is less than or equal to a second distance threshold.

[0040] In the above technical solution, when the vehicle is driven to the exit of the adjacent parking area and the set destination of the current trip is not detected, the driver is prompted to take over the vehicle to avoid the vehicle blocking traffic for a long time.

[0041] In a second aspect, an autonomous driving device is provided, the device including an acquisition unit and a processing unit, wherein the acquisition unit is configured to: acquire a first instruction, the first instruction instructing the activation of the vehicle's intelligent driving function; the processing unit is configured to: plan a first driving path from the vehicle's current parking space to a first target location according to the first instruction, the first driving path being a road-level navigation path; the processing unit is further configured to: control the vehicle to drive along the first driving path.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the first target location is any one of the following: a recommended destination determined based on the location corresponding to the first parking space and the current time period; the departure location of the nearest neighbor historical trip of the vehicle's current trip; or the exit location of the first parking area where the first parking space is located.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle's display device to display a first card while the vehicle is traveling along the first driving path, the first card including at least one element, each element indicating a target location, and the order of the at least one element indicating the degree of recommendation of the target location corresponding to each element.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the first target location is the destination of the vehicle's current trip, at least one element includes a first element indicating a second target location, and the processing unit is further configured to: in response to the operation of selecting the first element, switch the destination from the first target location to the second target location; plan a second driving path from the vehicle's current location to the second target location, and control the vehicle to drive along the second driving path.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the order of at least one element is determined based on at least one of the following: the number of days between the date associated with the trip corresponding to the target location indicated by each element and the current day; the time difference between the departure time of the trip corresponding to the target location indicated by each element and the current time; the degree of coincidence between the specific date of the trip corresponding to the target location indicated by each element within a week and the current date; or, the distance between the departure location associated with the trip corresponding to the target location indicated by each element and the first parking space.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, at least one element includes a second element and a third element, the second element indicating a third target location and the third element indicating a fourth target location, and the target location indicated by the element that appears earlier in the first card is more recommended; the positions of the second element and the third element in the first card satisfy at least one of the following: when the date weight of the third target location is greater than the date weight of the fourth target location, the second element is located before the third element, and the larger the date weight, the closer the date associated with the trip corresponding to the target location is to the current day; or, when the time weight of the third target location is greater than the time weight of the fourth target location, the second element is located before the third element, and the larger the time weight, the smaller the time difference between the departure time and the current time of the trip corresponding to the target location.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, the distance between the departure location associated with the trip corresponding to the third target location and the fourth target location and the first parking space is less than or equal to the first distance threshold; and / or, the specific date of the trip corresponding to the third target location and the fourth target location within a week coincides with the date of the day.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, when the recommended destination of a trip corresponding to the same time period within a past period is a target location other than the first target location, in response to the first target location being set as the destination more than or equal to a preset number of times, the destination of the current trip is determined to be the first target location.

[0049] In conjunction with the second aspect, in some implementations of the second aspect, the acquiring unit is further configured to: acquire a second instruction, the second instruction being generated in response to an operation on an area other than a control in the interface displayed by the display device, or the second instruction being a voice instruction requesting a change of destination, or the second instruction being generated in response to a touch operation on a first control displayed by the display device, the first control being used to change the destination; the processing unit is configured to: control the display device to display a first card according to the second instruction.

[0050] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: before or during the control of the vehicle to travel along the first driving path, the vehicle control device prompts the first information, the first information indicating the basis for determining the first target location.

[0051] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the vehicle's display device to display a first interface, the first interface including elements indicating a first parking space and elements indicating a parking path for the vehicle to exit the first parking space; the first interface also includes second information indicating a first target location.

[0052] In conjunction with the second aspect, in some implementations of the second aspect, when the first target location is the exit location of the first parking area where the first parking space is located, the processing unit is further configured to: when controlling the vehicle to travel along the first driving path to the first location, control the vehicle's prompting device to prompt the third information, the third information being used to prompt the vehicle's driver to take over the vehicle; wherein, the first location is a location where the distance between it and the first target location is less than or equal to a second distance threshold.

[0053] Thirdly, an autonomous driving device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0054] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0055] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0056] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0057] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0058] In a sixth aspect, a chip is provided that includes circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0059] In a seventh aspect, a vehicle is provided that includes means as in any possible implementation of the second or third aspect, or the vehicle includes a computer-readable storage medium as in any possible implementation of the fifth aspect, or the vehicle includes a chip as in any possible implementation of the sixth aspect, or the vehicle is loaded with a computer program product as in any possible implementation of the fourth aspect.

[0060] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0061] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0062] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0063] Figure 2 is a schematic block diagram of the autonomous driving system architecture provided in an embodiment of this application;

[0064] Figure 3 is a schematic flowchart of the autonomous driving method provided in an embodiment of this application;

[0065] Figure 4 is another schematic flowchart of the autonomous driving method provided in the embodiments of this application;

[0066] Figure 5 is a schematic diagram of the GUI involved in the embodiments of this application;

[0067] Figure 6 is another schematic diagram of the GUI involved in the embodiments of this application;

[0068] Figure 7 is another schematic diagram of the GUI involved in the embodiments of this application;

[0069] Figure 8 is another schematic diagram of the GUI involved in the embodiments of this application;

[0070] Figure 9 is another schematic diagram of the GUI involved in the embodiments of this application;

[0071] Figure 10 is another schematic diagram of the GUI involved in the embodiments of this application;

[0072] Figure 11 is another schematic diagram of the GUI involved in the embodiments of this application;

[0073] Figure 12 is another schematic flowchart of the autonomous driving method provided in the embodiments of this application;

[0074] Figure 13 is a schematic block diagram of an autonomous driving device provided in an embodiment of this application;

[0075] Figure 14 is another schematic block diagram of the autonomous driving device provided in the embodiments of this application. Detailed Implementation

[0076] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0077] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a perception system 120, a prompting device 130, and a computing platform 150. The perception system 120 may include several sensors for sensing information about the surrounding environment of the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS), the BeiDou system, etc. Alternatively, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device. Furthermore, the perception system 120 may also include one or more pressure sensors, acoustic sensors, etc., for monitoring whether there is a user inside the cabin and the user's location.

[0078] The prompting device 130 may include any of the following: a display device, a sound device, and a lighting device. The display device is mainly divided into two categories: the first is an in-vehicle display screen; the second is a projection display screen, such as a head-up display (HUD). An in-vehicle display screen is a physical display screen and an important component of the in-vehicle infotainment system. Multiple displays can be installed in the cabin, such as digital instrument cluster displays and central control screens. In some possible implementations, one or more of the aforementioned in-vehicle displays can be human-machine interfaces (HMIs), for example, the central control screen can be an HMI. A head-up display, also known as a head-up display system, is mainly used to display driving information such as speed and navigation on a display device (e.g., the windshield) in front of the driver. This reduces the driver's eye-shifting time, avoids pupil changes caused by eye-shifting, and improves driving safety and comfort. HUDs include, for example, combiner-HUD (C-HUD) systems, windshield-HUD (W-HUD) systems, and augmented reality HUD (AR-HUD) systems. Sound-generating devices can include in-vehicle speakers, in-vehicle audio systems, and other in-vehicle sound-generating devices. Lighting devices are used for displaying lights, and these lighting devices can include ambient lighting and other lighting devices within the vehicle's cabin.

[0079] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0080] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: LiDAR, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyzes and processes this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0081] At different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, totaling six levels), intelligent driving systems can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels of autonomous driving are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. Currently, the functions that intelligent driving systems can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the above-mentioned functions can have specific modes at different levels of autonomous driving (L0-L5). The higher the level of autonomous driving, the more intelligent the corresponding mode.

[0082] The roles of the perception system 120, the prompting device 130, and the computing platform 150 in this application are explained in detail below with reference to Figure 2. Figure 2 shows a schematic block diagram of the autonomous driving system architecture provided in an embodiment of this application. The system includes a perception module 210, a control module 220, a prompting module 230, and an actuator 240. Exemplarily, the perception module 210 may include one or more sensors in the perception system 120 shown in Figure 1; the information acquisition module 210' and the control module 220 may each include one or more processors in the computing platform shown in Figure 1; the prompting module 230 may include one or more devices in the prompting device 130; and the actuator 240 may include the steering and braking control system in the vehicle 100. The roles of each module are as described in items (I) to (V) below.

[0083] (i) The perception module 210 is used to collect perception information about the vehicle's surroundings. This perception information can indicate whether there are obstacles obstructing the vehicle's movement or the structural information of the road where the vehicle is located (such as road boundaries, lane lines, etc.). The perception module 210 can send the collected perception information to the control module 220. In addition, the perception module 210 can also send the collected perception information to the information acquisition module 210'.

[0084] (II) The information acquisition module 210' is used to determine the vehicle's location based on the sensing information from the sensing module 210. For example, when the positioning system signal is weak, the vehicle's location information can be determined based on the location where the positioning system signal is greater than or equal to a certain strength, as well as the vehicle's IMU signal, speed information, etc. In addition, the information acquisition module 210' can also acquire standard (SD) map data, which can be map data of the area where the vehicle is currently located. It is understood that the accuracy is generally at the meter level, and the richness is relatively low. It generally mainly includes road information, point of interest (POI) information, etc. POIs are point-type data in electronic maps, and at least include four attributes: name, address, coordinates, and category.

[0085] The information acquisition module 210' can store the information of the vehicle's most recent location, and when the vehicle is powered off and then restarted, it sends the information of the vehicle's most recent location and SD map data to the control module 220.

[0086] (iii) The control module 220 is used to determine the destination of the vehicle's current trip based on the vehicle's current location, and to plan the road-level driving route from the vehicle's current location to the destination based on the SD map data.

[0087] In some implementations, the control module 220 can also determine multiple target locations based on the current location of the vehicle, and determine the recommendation level of the multiple target locations based on the current location of the vehicle, the time period of the current trip, and the date, and control the prompt module to display the multiple target locations in descending order of recommendation level.

[0088] Furthermore, when an operation is detected where one of multiple target locations is selected as the destination, the control module 220 replans the road-level driving route based on the new destination.

[0089] When the vehicle is traveling along the planned driving path, the control module 220 can perform lane-level navigation and obstacle avoidance based on the perception information from the perception module 210.

[0090] It should be noted that the road-level driving path or road-level navigation path involved in this application refers to: the driving path or navigation information indicating which roads a vehicle needs to pass through during its journey to its destination. The lane-level path or lane-level navigation path involved in this application refers to: the driving path or navigation information indicating which lanes a vehicle needs to pass through during its journey to its destination.

[0091] (iv) The prompting module 230 is used to control the relevant devices to provide information prompts according to the instructions of the control module 220.

[0092] (v) The actuator 240 is used to receive and execute control quantities. When the aforementioned control quantities are executed, it can control the vehicle to travel along the planned path to the target parking space or target location. The control quantities can be calculated by the control module 220 based on the planned path.

[0093] It should be understood that the above modules are only an example, and in actual applications, these modules may be added or removed according to actual needs. For example, in the system architecture shown in Figure 2, the control module 220 and the information acquisition module 210' can be merged into one module. As another example, the control module 220 can be further subdivided into a driving control module and a prompt control module, wherein the driving control module is used to plan a route for the vehicle and control the vehicle to travel along the planned route; the prompt control module is used to control the prompt module 230 to provide or stop providing information prompts.

[0094] Figure 3 shows a schematic flowchart of an autonomous driving method provided in an embodiment of this application. This method can be executed by the vehicle 100 shown in Figure 1, or by the autonomous driving system of the vehicle 100, or by the control module 220 shown in Figure 2. The method 300 includes:

[0095] S310, obtain the first instruction, which is used to activate the intelligent driving function.

[0096] For example, the intelligent driving function activated by the first command can be: a function that controls the vehicle to avoid obstacles and drive towards the destination indicated by the navigation path based on the navigation path and the vehicle's perception information.

[0097] In some implementations, the first instruction may include an instruction generated in any of the following ways: generated upon detecting a click on the icon of the app associated with the intelligent driving function on the vehicle's display device; generated upon detecting a preset operation 1 for physical controls such as levers or buttons used to activate the intelligent driving function; generated upon detecting voice information used to activate the intelligent driving function; generated when the vehicle is powered on, after detecting the driver's presence, or after detecting the driver's intention to drive, for example, after a certain period of time after the driver is present and all doors are closed; or generated upon detecting other preset operations 2 used to activate the intelligent driving function. For example, the aforementioned preset operation 1 may be an operation such as flicking down a lever or pressing and holding a button; the aforementioned preset operation 2 may be a user-defined operation or a preset operation of the vehicle's intelligent driving system; the aforementioned certain period of time may be one from 3 seconds to 5 seconds, or may be other values.

[0098] S320: According to the first instruction, obtain the current location of the vehicle and map information, and determine at least one target location based on the current location.

[0099] For example, the current location can be the real-time location determined by the vehicle's positioning system; or, the current location can be the location information saved when the vehicle was last powered off. More specific implementations for obtaining the current location can be found in the descriptions of the foregoing embodiments, and will not be repeated here. Furthermore, the map information can include information from an SD map, or it can be other information that indicates the topological relationships between roads.

[0100] In some implementations, the current location can be the location of the parking space where the vehicle is located; or, if the vehicle is automatically brought to the user's pick-up location via the automatic parking summoning function before the user activates the intelligent driving function, the current location can also be the pick-up location.

[0101] In some implementations, determining at least one target location based on the current location may include: determining at least one target location based on the current location and historical trip data. More specifically, based on the current location and historical trip data, at least one target location matching the current trip is filtered from the historical trip data. The historical trip data may include information such as the trip's associated date, start time, departure point, and destination. In some implementations, the historical trip data may also include a manual intervention marker indicating that the trip's destination has been modified in response to user actions.

[0102] S330, based on the date, time and start location of the trip corresponding to each of the at least one target locations, determine the target location with the highest recommendation among the at least one target locations.

[0103] S340, based on map information, plans a driving path 1 from the current location to the target location with the highest recommendation level, and controls the vehicle to drive along the driving path 1.

[0104] Specifically, based on the topological relationship between roads indicated by map information, at least one road-level driving path is planned from the current location to the target location with the highest recommendation level (hereinafter referred to as the recommended destination). Then, based on one of the at least one road-level driving paths (such as driving path 1) and the environmental information perceived by the vehicle in real time, the vehicle is controlled to drive towards the recommended destination.

[0105] In the aforementioned technical solution, when the vehicle detects that its intelligent driving function has been triggered, it can automatically determine the target location for the current trip and plan a road-level driving path to that target location, thereby controlling the vehicle to drive towards the target location. In other words, a single trigger is all it takes to control the vehicle to the target location, significantly reducing the interaction steps required to activate the intelligent driving function. This saves users the time it takes for navigation to start and for the vehicle to begin driving, thus improving the user experience. For example, in a user's travel scenario, when a user arrives at the vehicle's parking area, the above technical solution allows the vehicle to immediately activate intelligent driving upon the user getting in (if the vehicle meets the driving conditions), automatically driving out of the current parking location based on a first command (e.g., the driver or passenger is present), and driving towards the target location determined by the vehicle. This eliminates the need for the driver or passenger to first determine the target location before triggering the intelligent driving function, shortening the vehicle's start-up time, improving start-up efficiency, and providing users with a "get in and go" driving experience.

[0106] To facilitate understanding of the method for determining a recommended destination provided in this application, the implementation of S330 will be described in detail below with reference to the flowchart shown in Figure 4, introducing the specific implementation of determining the recommended destination. Specifically, S330 may include some or all of the following steps:

[0107] S331 filters user-defined destinations based on current location, current time period, and historical travel data.

[0108] For example, the destination set by the user may include "home", "company", etc.

[0109] S332, Determine if a recommended destination exists.

[0110] For example, if the current time period is within the working hours (e.g., 6:00 AM to 5:00 PM), and the distance between the current location and the company is greater than or equal to a preset distance, then the company is determined as the recommended destination; if the current time period is within the off-get off work hours (e.g., 5:00 PM to 6:00 AM the next day), and the distance between the current location and home is greater than or equal to a preset distance, then home is determined as the recommended destination; if the recommended destination cannot be determined based on the aforementioned method, then it is determined that there is currently no recommended destination.

[0111] For example, the aforementioned preset distance can be one of 200 meters to 500 meters, or the aforementioned preset distance can be other distances.

[0112] More specifically, if a recommended destination exists, execute S339; otherwise, execute S333.

[0113] S333, origin search.

[0114] In some implementations, at least one historical itinerary is selected from historical itinerary data whose date matches the current date and whose distance between the departure point and the current location is less than or equal to a preset distance. Each of the selected historical itineraries has a destination as a candidate destination. Time weights are applied to rank the candidate destinations by their recommendation level, and the candidate destination with the highest recommendation level is determined as the recommended destination. The time weight indicates the time difference between the departure time of the selected historical itinerary and the current time; the smaller the time difference, the greater the time weight. It should be noted that "the itinerary date matches the current date" can be understood as: the itinerary date and the current date both falling within the same week, both falling on the same weekend, or the itinerary date's cycle number matching the current date's cycle number (e.g., both being Mondays).

[0115] In some implementations, at least one historical trip is selected from historical trip data where the distance between the departure point and the current location is less than or equal to a preset distance. Then, date and time weights are applied to rank the candidate destinations associated with this historical trip based on their recommendation level. The candidate destination with the highest recommendation level is then determined as the recommended destination. The date weight indicates the difference in days between the date associated with the selected trip and the current day; the smaller the difference, the greater the date weight.

[0116] For example, the distance between the aforementioned departure point and the current location can be determined based on the location information of the departure point and the location information of the current location. For instance, the location information can be latitude and longitude data.

[0117] For example, the time weight can vary with the hourly difference between the current time and the departure time corresponding to the historical trip, as shown in Table 1 below.

[0118] Table 1

[0119] For example, the date weighting varies with the difference in the number of days between the current day and the dates associated with the historical itinerary, as shown in Table 2 below.

[0120] Table 2

[0121] Understandably, historical itineraries with higher time weighting, higher date weighting, and smaller distances between the departure point and the current location will receive a higher recommendation level for their destinations.

[0122] S334, Determine if a recommended destination exists.

[0123] More specifically, if a recommended destination exists, execute S339; otherwise, execute S335.

[0124] S335, Destination Search.

[0125] In some implementations, at least one historical trip is selected from historical trip data whose date matches the current day and whose distance between the destination and the current location is greater than a preset distance. Time weights are then added to rank the candidate destinations associated with at least one historical trip in terms of recommendation level, and the candidate destination with the highest recommendation level is determined as the recommended destination.

[0126] In some other implementations, at least one historical trip is selected from historical trip data where the distance between the destination and the current location is greater than a preset distance. Then, date and time weights are added to rank the candidate destinations associated with at least one historical trip in terms of recommendation level, and the candidate destination with the highest recommendation level is determined as the recommended destination.

[0127] For example, the distance between the aforementioned destination and the current location can be determined based on the location information of the destination and the location information of the current location. Furthermore, the methods for determining the date weight and time weight can be found in the description in S333, and will not be repeated here.

[0128] S336, Determine if a recommended destination exists.

[0129] More specifically, if a recommended destination exists, execute S339; otherwise, execute S337.

[0130] S337, determine if there is a nearest neighbor historical route.

[0131] The nearest neighbor historical journey can be understood as: between the end time of this journey and the current time, the vehicle has no other journeys.

[0132] Specifically, if a nearest neighbor historical route exists, then S338 is executed; otherwise, if no recommended destination is found, then a driving route from the current location to the exit of the parking area where the vehicle is currently located is planned.

[0133] S338 identifies the nearest neighboring historical travel origin as the recommended destination.

[0134] S339, output recommended destination.

[0135] Understandably, after outputting the recommended destination, the system plans the driving route from the current location to the recommended destination and controls the vehicle to drive along that route.

[0136] In some implementations, if, after the system determines a recommended destination, it detects that the number of times a user changes the destination of the current trip to another destination of the same type is less than or equal to n-1, this does not affect the recommendation level of each candidate destination when the system subsequently determines recommended destinations. However, if, after the system determines a recommended destination, it detects that the number of times a user changes the recommended destination to another destination of the same type is greater than n-1, the recommendation level of the previously manually modified destination is increased when determining recommended destinations in subsequent iterations. For example, the manually modified destination can be determined as a recommended destination. For instance, n can be an integer greater than or equal to 2.

[0137] To more intuitively understand the method for determining recommended destinations provided in this application, the following, in conjunction with Tables 3 to 5, illustrates the results of the determined recommended destinations and navigation results under different scenarios. In the tables, "departure point" refers to the starting location of each vehicle trip, and "expected destination" refers to the destination the user hopes to reach. Furthermore, Method 1 in the tables can be the method described in the aforementioned embodiments that filters historical trips based on the number of cycles (e.g., whether the date of a historical trip matches the current day) and the distance between the departure point of the historical trip and the current location, and determines the recommended destination based on time weights; Method 2 can be the method described in the aforementioned embodiments that filters historical trips based on the distance between the departure point of the historical trip and the current location, and determines the recommended destination based on date weights and time weights; Method 3 can be the method described in the aforementioned embodiments that filters historical trips based on the number of cycles (e.g., whether the date of a historical trip matches the current day) and the distance between the destination of the historical trip and the current location, and determines the recommended destination based on time weights; Method 4 can be the method described in the aforementioned embodiments that filters historical trips based on the distance between the destination of the historical trip and the current location, and determines the recommended destination based on date weights and time weights.

[0138] Table 3

[0139] Table 4

[0140] Table 5

[0141] It should be noted that when the corresponding table cells under each method in Tables 3 to 5 are omitted, it indicates that the relevant method was not used or is unnecessary to determine the recommended destination. The bolded content in the tables indicates the final recommended destination. The percentages in the tables represent the proportion of the relevant destination in the total recommendation level of all destinations. For example, if the total recommendation level of multiple candidate destinations is 100%, D2(70%) means that the recommendation level of D2 is 70%, and the sum of the recommendation levels of the remaining candidate destinations is 30%. As can be seen from Tables 3 to 5, determining recommended destinations based on various segmented scenarios and travel habits helps to improve the accuracy of the determined recommended destinations and reduce the likelihood of users changing their destinations. Using date weights and time weights helps to improve the accuracy of ranking the recommendation levels among multiple candidate destinations and reduces the probability of misrecommendations or unreasonable recommendation order.

[0142] In some implementations, after planning driving route 1, the vehicle's display device can be controlled to display the relevant route. For example, taking a central control screen as the display device, before or during driving along the planned driving route 1, the central control screen can be controlled to display the graphical user interface (GUI) shown in Figure 5. Taking the planned driving route as the path from the vehicle's current location to the recommended destination as an example, as shown in Figure 5, the interface can include an element 401 indicating the vehicle's current location, an element 402 indicating the recommended destination, and elements 403 and 404 respectively indicating two driving routes from the current location to the recommended destination. Elements 403 and 404 have different styles (e.g., colors). Element 403 can be considered an example of the aforementioned driving route 1, indicating that the vehicle is about to or is currently being controlled to drive along the driving route indicated by element 403. If element 404 is clicked, the control of driving along the driving route indicated by element 403 is switched to control driving along the driving route indicated by element 404. Optionally, when there are multiple driving routes between the vehicle's current location and the recommended destination, while controlling the vehicle to follow one of the driving routes (hereinafter referred to as the selected route), dialog boxes can be overlaid on elements indicating other routes to indicate the differences between the other driving routes and the selected route. For example, dialog box 404' "Slow 1 minute" can be overlaid on element 404 to indicate the difference between the driving route indicated by element 404 and the route indicated by element 403.

[0143] In some implementations, the interface shown in Figure 5 may also include card 405, dialog box 406, and functional component 407. More specifically, card 405 is a navigation information-related card, which includes a navigation command indicating the nearest neighbor to the current time while the vehicle is traveling along the planned route, as well as information such as the remaining mileage, remaining travel time, and arrival time of the planned route. Dialog box 406 includes information indicating the basis for determining the recommended destination, such as "Recommended destination based on current location and time period". Functional component 407 includes an exit control, a broadcast control, a change control, more function controls, and a settings control, which are used to: control the vehicle to exit the intelligent driving function, control the voice device to broadcast navigation-related information, trigger the interface to provide a destination change, display more controls, and set relevant parameters of the intelligent driving function, respectively.

[0144] Understandably, if the recommended destination is determined by other means, dialog box 406 may also display other content. For example, if the recommended destination is determined based on the departure point of the nearest historical trip, dialog box 406 may display the following text: "Recommended destination based on your last trip".

[0145] In some implementations, before controlling the vehicle to travel along the planned driving route, the display device can be controlled to display the interface shown in Figure 6. In addition to functional components and navigation information cards, this interface can also display element 411 indicating the vehicle's current parking space, element 412 indicating the path for the vehicle to exit the parking space, and environmental information surrounding the vehicle's current parking space. Furthermore, the interface includes a dialog box 413 "Automatic navigation to destination A" to indicate the destination of the trip to the user even without a panoramic view of the driving route.

[0146] Furthermore, when a click is detected on control 414, or when a click is detected on another area of ​​the interface shown in Figure 6 other than the control, or when a voice command for changing the destination is detected, the control display device displays the interface shown in Figure 7 or Figure 8.

[0147] In one example, if there are no other recommended destinations in the system, the display device can be controlled to display card 421 as shown in Figure 7. When the user reselects a destination through card 421, a route to the new destination is planned, and the vehicle is controlled to travel along the newly planned route to the updated destination.

[0148] In another example, if other recommended destinations exist in the system, the display device can be controlled to display card 422 as shown in Figure 8. Card 422 includes multiple candidate destinations, such as "A Community", "B Company", and "C School". The order of the multiple candidate destinations in card 422 can be related to the recommendation level of the destinations. The higher the recommendation level of a destination, the higher its order in card 422. That is, the recommendation level of "A Community" is higher than that of "B Company". The method for filtering multiple candidate destinations and the method for determining the recommendation level of multiple candidate destinations can be referred to the description in S333 and / or S335 above, and will not be repeated here. Optionally, when the number of candidate destinations is large, making it impossible for card 422 to display all candidate destinations, card 422 can also include a slider control 423. When the slider control 423 is detected to be slid, card 422 can be controlled to display other candidate destinations. Furthermore, when a candidate destination is detected to be selected in card 422, a route to the selected candidate destination is planned, and the vehicle is controlled to travel along the newly planned route to the reselected destination.

[0149] In some implementations, when a click is detected in the change control in functional component 407, or when a voice command for changing the destination is detected while the display device displays the interface shown in FIG5, the interface shown in FIG5 can also be controlled to display card 421 and / or card 422 to facilitate the user to change the destination.

[0150] It should be noted that when the display device displays the interface shown in Figure 7 or Figure 8, if the overall control (control a shown in Figure 7) in the functional component is clicked, the display device can be controlled to switch to displaying the remaining untraveled path, for example, to switch to displaying the interface shown in Figure 5.

[0151] In some implementations, when the vehicle leaves the parking space and travels along the planned route, the display device can be controlled to show the interface shown in Figure 9. This interface includes a virtual environment constructed based on the vehicle's perception information, an element 401 indicating the vehicle's location, and an element 424 indicating the vehicle's travel route. Furthermore, the interface includes a dialog box 425 "Intelligent Driving in Progress" to indicate that the vehicle is currently in intelligent driving mode. Further, when the vehicle travels along the planned route to the exit of the parking area, the display device can be controlled to show the interface shown in Figure 10. This interface may include a dialog box 432 "About to Leave Parking Area" indicating the vehicle's status, signifying that the area where the vehicle is located is about to change from a parking area to a road. Additionally, the navigation information card can be changed to card 431, displaying information about the road the vehicle is about to enter.

[0152] It should be noted that during the process of the vehicle driving towards the exit of the parking area, the destination can be changed at any time in response to the user's operation. For example, when the change control shown in Figure 9 or Figure 10 is detected to be clicked, the display device can be controlled to display display card 421 and / or card 422 so that the user can change the destination.

[0153] Figures 5 to 10 above illustrate the planned driving path as a route from the vehicle's current location to the recommended destination. In actual implementation, there may be scenarios where the recommended destination cannot be determined. For example, if historical travel data is limited, and / or the recommended destination cannot be determined based on historical travel data, a driving path 2 can be planned from the current location to the exit of the parking area where the vehicle is currently located, and the vehicle can be controlled to travel along this driving path 2 to the exit of the parking area where the vehicle is currently located. When there are multiple exits in the parking area where the vehicle is currently located, driving path 2 can be a path from the current location to the exit closest to the current location. When the vehicle is controlled to travel to a position where the distance to the exit of the parking area is less than or equal to a distance threshold, the display device can be controlled to display the interface shown in Figure 11. As shown in Figure 11, this interface includes an element 434 indicating the gate at the exit, and a dialog box 433 "! Please take over the vehicle" to prompt the user to take over the vehicle. Alternatively, when the vehicle is driven to a position where the distance to the exit of the parking area is less than or equal to a distance threshold, a prompting device can be used to prompt the user to enter new destination information.

[0154] It should be noted that the processing actions (such as control, detection, etc.) or steps involved in Figures 5 to 11 can be executed by the computing platform 150 shown in Figure 1, or by the control module 220 in the autonomous driving system shown in Figure 2.

[0155] It should also be noted that the aforementioned differences in style may include, but are not limited to, different colors or different line types. The information displayed on the central control screen in Figures 5 to 11 is merely illustrative. In actual implementation, the aforementioned information can also be displayed through other display devices (such as instrument panels); or, relevant audio can be played through a sound device for prompting; or, relevant lights can be displayed through a lighting device for prompting. For example, when the driver needs to take over the vehicle, the ambient lights in the cabin can be controlled to flash red. Furthermore, the elements, controls, and components in each interface in Figures 5 to 11 are merely illustrative. In actual implementation, each element, control, or component may be presented in a different form than in the aforementioned embodiments, or the actual interface may include more or fewer elements, components, and controls compared to the interfaces shown in Figures 5 to 11.

[0156] Figure 12 shows another schematic flowchart of the autonomous driving method provided in this application embodiment. The method can be executed by the vehicle 100 shown in Figure 1, or the method can also be executed by the control module 220 shown in Figure 2. The method 1000 includes:

[0157] S1010, Obtain the first instruction, which instructs the activation of the vehicle's intelligent driving function.

[0158] For example, the first instruction may include the first instruction in method 300, or it may also include other instructions for activating intelligent driving functions of the vehicle.

[0159] S1020, according to the first instruction, plan a first driving route from the first parking space where the vehicle is located to the first target location. The first driving route is a road-level navigation route.

[0160] In some implementations, the first target location is any of the following: a recommended destination determined based on the location corresponding to the first parking space and the current time period; the departure location of the nearest neighbor historical trip of the vehicle's current trip; or the exit location of the first parking area where the first parking space is located. When the first target location is a recommended destination, a more specific method for determining the recommended destination can be found in the description of the corresponding part of S330, and will not be repeated here.

[0161] For example, when the first target location is the recommended destination or the starting location of the nearest historical trip, the first driving route can be driving route 1 in the aforementioned embodiments; when the first target location is the exit of the first parking area, the first driving route can be driving route 2 in the aforementioned embodiments.

[0162] S1030, control the vehicle to travel along the first driving path.

[0163] In some implementations, the method further includes: during the vehicle's travel along a first driving path, a display device controlling the vehicle displays a first card, the first card including at least one element, each element indicating a target location, and the order of the at least one element indicating the recommendation level of the target location corresponding to each element. For example, the first card may be card 422 as shown in FIG8, and the at least one element may include elements in card 422 indicating multiple candidate destinations.

[0164] In some implementations, the first target location is the destination of the vehicle's current trip, and at least one element includes a first element indicating a second target location. The method further includes: in response to the first element being selected, switching the destination from the first target location to the second target location; planning a second driving path from the vehicle's current location to the second target location, and controlling the vehicle to travel along the second driving path.

[0165] For example, if the first element is the element indicating cell A in card 422, and the second target location is cell A, then when the destination is switched to cell A, a second driving route from the vehicle's location to cell A is planned.

[0166] It should be noted that the vehicle's location can be either the first parking space the vehicle travels along the first driving path or the first target location.

[0167] In some implementations, the order of at least one element is determined based on at least one of the following: the number of days between the date associated with the trip corresponding to the target location indicated by each element and the current day; the time difference between the departure time of the trip corresponding to the target location indicated by each element and the current time; the degree of coincidence between the specific date of the trip corresponding to the target location indicated by each element within a week and the current date; or, the distance between the departure location associated with the trip corresponding to the target location indicated by each element and the first parking space.

[0168] In some implementations, at least one element includes a second element and a third element, where the second element indicates a third target location and the third element indicates a fourth target location, and the target location indicated by the element that appears earlier in the sequence of at least one element is more recommended. The positions of the second and third elements in the first card satisfy at least one of the following: when the date weight of the third target location is greater than the date weight of the fourth target location, the second element is placed before the third element, and the larger the date weight, the closer the date associated with the trip corresponding to the target location is to the current day; or, when the time weight of the third target location is greater than the time weight of the fourth target location, the second element is placed before the third element, and the larger the time weight, the smaller the time difference between the departure time and the current time of the trip corresponding to the target location.

[0169] For example, if the second element and the third element are elements in card 422 that indicate Company B and School C respectively, then the time weight of the trip associated with Company B is greater than the time weight of the trip associated with School C, and / or the date weight of the trip associated with Company B is greater than the date weight of the trip associated with School C.

[0170] In some implementations, the distance between the departure location associated with the trips corresponding to the third and fourth target locations and the first parking space is less than or equal to a first distance threshold; and / or, the specific date of the trips corresponding to the third and fourth target locations within a week matches the date of the current day.

[0171] For example, the first distance threshold can be a value between 200 meters and 500 meters, or it can be other values.

[0172] A more specific method for determining the order of at least one element in the first card (i.e., the degree of recommendation of the target position associated with at least one element) can be found in the description in S330, and will not be repeated here.

[0173] In some implementations, when the recommended destination for a trip within the same time period over a past period is a destination other than the first target location, the destination for the current trip is determined to be the first target location in response to the first target location being set as the destination more than or equal to a preset number of times.

[0174] For example, the past period can be the past week starting from the current moment, or it can be any other period; the preset number of times can be 2, or it can be any other number of times. For example, in the scenario shown in Table 3 where a change of workplace causes the destination to change from D1 to D3, after the user manually changes the destination to D3 twice, the recommended destination determined from the third time onwards will be D3.

[0175] In some implementations, the method further includes: obtaining a second instruction, which is generated in response to an operation on an area other than a control in the interface displayed on the display device; or, the second instruction is a voice instruction requesting a change of destination; or, the second instruction is generated in response to a touch operation on a first control displayed on the display device, the first control being used to change the destination; and controlling the display device to display a first card, including: controlling the display device to display the first card according to the second instruction.

[0176] For example, the first control can be the change control in the foregoing embodiments.

[0177] In some implementations, the method further includes: before or during the control of the vehicle to travel along the first driving path, a prompting device for controlling the vehicle prompts first information, the first information indicating the basis for determining the location of the first target.

[0178] For example, the prompting device may include the display device, sound device, etc. in the foregoing embodiments, and the first information may include the text information displayed in the dialog box 406, or the first information may be audio information indicating the basis for determining the location of the first target, or the first information may be other forms of prompting information.

[0179] In some implementations, the method further includes: controlling a display device of the vehicle to display a first interface, the first interface including elements indicating a first parking space and elements indicating a parking path for the vehicle to park out of the first parking space; the first interface also includes second information indicating a first target location.

[0180] For example, the first interface may include a parking-related interface, which does not include an overview of the first driving route. For instance, the first interface may be the interface shown in Figure 6, and the second information may be the information shown in dialog box 413.

[0181] In some implementations, when the first target location is the exit location of the first parking area where the first parking space is located, the method further includes: when the vehicle is controlled to travel along the first driving path to the first location, the vehicle's prompting device prompts a third message, the third message being used to prompt the driver of the vehicle to take over the vehicle; wherein, the first location is a location where the distance between it and the first target location is less than or equal to a second distance threshold.

[0182] For example, the second distance threshold can be a value between 20 meters and 50 meters, or the second distance threshold can be other values.

[0183] In the autonomous driving method provided in this application embodiment, the vehicle can automatically complete navigation planning and enter intelligent driving state by having the user activate the intelligent driving function with a single click. This eliminates the need for the user to pre-configure or input the destination for the current trip, effectively saving the time required from the user wanting the vehicle to start navigation to the vehicle beginning to drive. When there is a discrepancy between the vehicle's recommended destination and the user's expected destination, a convenient way to modify the destination is provided, which helps reduce the complexity of the interaction during the destination modification process and improves driving safety.

[0184] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0185] The control method provided by the embodiments of this application has been described in detail above with reference to Figures 1 to 12. The apparatus provided by the embodiments of this application will now be described in detail with reference to Figures 13 and 14. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0186] Figure 13 shows a schematic block diagram of an autonomous driving device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the embodiments described in the foregoing method. Furthermore, each unit in the device 2000 implements a corresponding process of the above-described method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0187] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0188] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0189] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0190] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0191] Exemplarily, the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the control module 220. Exemplarily, the operations performed by the acquisition unit 2010 and processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.

[0192] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0193] Figure 14 is another schematic block diagram of the autonomous driving device provided in an embodiment of this application. The device 2100 shown in Figure 14 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal interconnection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0194] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0195] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0196] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0197] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0198] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0199] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0200] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0201] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0202] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0203] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0204] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0205] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0206] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0207] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0208] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An autonomous driving method, characterized in that, include: Obtain a first instruction, which instructs the activation of the vehicle's intelligent driving function; According to the first instruction, a first driving route is planned from the first parking space where the vehicle is located to the first target location, and the first driving route is a road-level navigation route; Control the vehicle to travel along the first driving path.

2. The method according to claim 1, characterized in that, The first target location is any one of the following: Recommended destination determined based on the location of the first parking space and the current time period; The departure location of the nearest neighbor historical trip of the vehicle in the current trip; or... The exit location of the first parking area where the first parking space is located.

3. The method according to claim 1 or 2, characterized in that, The method further includes: While the vehicle is traveling along the first driving path, the display device controlling the vehicle displays a first card. The first card includes at least one element, each of which indicates a target location, and the order of the at least one element indicates the degree of recommendation of the target location corresponding to each element.

4. The method according to claim 3, characterized in that, The first target location is the destination of the vehicle's current trip, and the at least one element includes a first element indicating a second target location. The method further includes: In response to the operation of selecting the first element, the destination is switched from the first target location to the second target location; Plan a second driving path from the current location of the vehicle to the second target location, and control the vehicle to drive along the second driving path.

5. The method according to claim 3 or 4, characterized in that, The order of the at least one element is determined according to at least one of the following: The number of days between the date and the current day for the trip corresponding to the target location indicated by each element; The time difference between the departure time and the current time for the journey corresponding to the target location indicated by each element; The degree of coincidence between the specific dates within a week and the current date for the trip corresponding to the target location indicated by each element; or, The distance between the departure position and the first parking space associated with the trip corresponding to the target position indicated by each element.

6. The method according to claim 5, characterized in that, The at least one element includes a second element and a third element, the second element indicating a third target location, the third element indicating a fourth target location, and the target location indicated by the element that is earlier in the at least one element is more recommended. The positions of the second element and the third element in the first card satisfy at least one of the following: When the date weight of the third target location is greater than the date weight of the fourth target location, the second element is located before the third element. A larger date weight indicates that the date associated with the trip corresponding to the target location is closer to the current day; or... When the time weight of the third target location is greater than the time weight of the fourth target location, the second element is located before the third element. The larger the time weight, the smaller the time difference between the departure time of the journey corresponding to the target location and the current time.

7. The method according to claim 6, characterized in that, The distance between the departure location associated with the trip corresponding to the third target location and the fourth target location and the first parking space is less than or equal to a first distance threshold; and / or, the specific date of the trip corresponding to the third target location and the fourth target location within a week matches the date of the trip.

8. The method according to any one of claims 1 to 7, characterized in that, If the recommended destination for a trip within the same time period in the past is a destination other than the first target location, then in response to the first target location being set as the destination a number of times greater than or equal to a preset number, the destination for the current trip is determined to be the first target location.

9. The method according to any one of claims 3 to 7, characterized in that, The method further includes: Obtain a second instruction, which is generated in response to an operation on an area other than a control in the interface displayed on the display device; or, the second instruction is a voice instruction requesting a change of destination; or, the second instruction is generated in response to a touch operation on a first control displayed on the display device, the first control being used to change the destination. The control of the display device to display the first card includes: According to the second instruction, the display device is controlled to display the first card.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Before or during the control of the vehicle to travel along the first driving path, the vehicle control prompting device provides first information, which indicates the basis for determining the first target location.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: The display device controlling the vehicle displays a first interface, the first interface including elements indicating the first parking space and elements indicating the parking path of the vehicle out of the first parking space. The first interface also includes second information, which indicates the location of the first target.

12. The method according to any one of claims 1 to 11, characterized in that, When the first target location is the exit location of the first parking area where the first parking space is located, the method further includes: When the vehicle is controlled to travel along the first driving path to the first position, the vehicle's prompting device displays third information, which is used to prompt the driver of the vehicle to take over the vehicle. Wherein, the first position is the position whose distance from the first target position is less than or equal to the second distance threshold.

13. An automatic driving device, characterized in that, include: An acquisition unit is used to acquire a first instruction, wherein the first instruction indicates that the intelligent driving function of the vehicle be activated; The processing unit is configured to plan a first driving path from the first parking space where the vehicle is located to the first target location according to the first instruction, wherein the first driving path is a road-level navigation path; The processing unit is also used to: control the vehicle to travel along the first driving path.

14. The apparatus according to claim 13, characterized in that, The first target location is any one of the following: Recommended destination determined based on the location of the first parking space and the current time period; The departure location of the nearest neighbor historical trip of the vehicle in the current trip; or... The exit location of the first parking area where the first parking space is located.

15. The apparatus according to claim 13 or 14, characterized in that, The processing unit is also used for: While the vehicle is traveling along the first driving path, the display device controlling the vehicle displays a first card. The first card includes at least one element, each of which indicates a target location, and the order of the at least one element indicates the degree of recommendation of the target location corresponding to each element.

16. The apparatus according to claim 15, characterized in that, The first target location is the destination of the vehicle's current trip, and the at least one element includes a first element indicating a second target location. The processing unit is further configured to: In response to the operation of selecting the first element, the destination is switched from the first target location to the second target location; Plan a second driving path from the current location of the vehicle to the second target location, and control the vehicle to drive along the second driving path.

17. The apparatus according to claim 15 or 16, characterized in that, The order of the at least one element is determined according to at least one of the following: The number of days between the date and the current day for the trip corresponding to the target location indicated by each element; The time difference between the departure time and the current time for the journey corresponding to the target location indicated by each element; The degree of coincidence between the specific dates within a week and the current date for the trip corresponding to the target location indicated by each element; or, The distance between the departure position and the first parking space associated with the trip corresponding to the target position indicated by each element.

18. The apparatus according to claim 17, characterized in that, The at least one element includes a second element and a third element, the second element indicating a third target location, the third element indicating a fourth target location, and the target location indicated by the element that is earlier in the at least one element is more recommended. The positions of the second element and the third element in the first card satisfy at least one of the following: When the date weight of the third target location is greater than the date weight of the fourth target location, the second element is located before the third element. A larger date weight indicates that the date associated with the trip corresponding to the target location is closer to the current day; or... When the time weight of the third target location is greater than the time weight of the fourth target location, the second element is located before the third element. The larger the time weight, the smaller the time difference between the departure time of the journey corresponding to the target location and the current time.

19. The apparatus according to claim 18, characterized in that, The distance between the departure location associated with the trip corresponding to the third target location and the fourth target location and the first parking space is less than or equal to a first distance threshold; and / or, the specific date of the trip corresponding to the third target location and the fourth target location within a week matches the date of the trip.

20. The apparatus according to any one of claims 13 to 19, characterized in that, If the recommended destination for a trip within the same time period in the past is a destination other than the first target location, then in response to the first target location being set as the destination a number of times greater than or equal to a preset number, the destination for the current trip is determined to be the first target location.

21. The apparatus according to any one of claims 15 to 19, characterized in that, The acquisition unit is also used for: Obtain a second instruction, which is generated in response to an operation on an area other than a control in the interface displayed on the display device; or, the second instruction is a voice instruction requesting a change of destination; or, the second instruction is generated in response to a touch operation on a first control displayed on the display device, the first control being used to change the destination. The processing unit is used for: According to the second instruction, the display device is controlled to display the first card.

22. The apparatus according to any one of claims 13 to 21, characterized in that, The processing unit is also used for: Before or during the control of the vehicle to travel along the first driving path, the vehicle control prompting device provides first information, which indicates the basis for determining the first target location.

23. The apparatus according to any one of claims 13 to 22, characterized in that, The processing unit is also used for: The display device controlling the vehicle displays a first interface, the first interface including elements indicating the first parking space and elements indicating the parking path of the vehicle out of the first parking space. The first interface also includes second information, which indicates the location of the first target.

24. The apparatus according to any one of claims 13 to 23, characterized in that, When the first target location is the exit location of the first parking area where the first parking space is located, the processing unit is further configured to: When the vehicle is controlled to travel along the first driving path to the first position, the vehicle's prompting device displays third information, which is used to prompt the driver of the vehicle to take over the vehicle. Wherein, the first position is the position whose distance from the first target position is less than or equal to the second distance threshold.

25. An automatic driving device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 12.

26. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 12.

27. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 12.

28. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 12.

29. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 13 to 25, or the computer-readable storage medium as described in claim 26, or the chip as described in claim 27, or the vehicle is equipped with the computer program product as described in claim 28.

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