Human-computer interaction method and apparatus, electronic device, product, medium, and vehicle

Abstract

The present application provides a human-computer interaction method and apparatus, an electronic device, a product, a medium, and a vehicle. The method comprises: acquiring real-time perception data of the surrounding environment of a vehicle, and on the basis of the real-time perception data, generating and displaying, on an intelligent driving perception screen of an ego vehicle, a surrounding vehicle identifier corresponding to a surrounding vehicle in the surrounding environment, wherein the surrounding vehicle identifier comprises a lock-on following touch identifier for indicating that the ego vehicle locks onto and follows the surrounding vehicle; detecting, in real time, a touch operation received by the lock-on following touch identifier, determining the surrounding vehicle corresponding to the lock-on following touch identifier that receives the touch operation as a target vehicle, and generating a control instruction for enabling the ego vehicle to lock onto and follow the target vehicle; and on the basis of vehicle attributes of the target vehicle and real-time vehicle information, controlling whether the ego vehicle locks onto and follows the target vehicle according to the control instruction.

Description

Human-computer interaction methods, devices, electronic equipment, products, media, and vehicles Cross-references to related applications

[0001] This application claims priority to Chinese patent application No. 202510106363.1, filed on January 22, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of intelligent driving technology, and particularly to a human-machine interaction method, device, electronic device, program product, storage medium, and vehicle for locking and following a vehicle. Background Technology

[0003] In recent years, with the development of intelligent driving technology, more and more vehicles on the market have acquired autonomous driving capabilities. The realization of autonomous driving relies on the vehicle's Advanced Driver Assistance System (ADAS). After the vehicle engages autonomous driving, the ADAS acquires real-time data about the vehicle's environment and can make judgments based on preset intelligent driving strategies, controlling the vehicle to safely travel to its destination along a planned route while adhering to traffic rules. Summary of the Invention

[0004] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0005] This application provides a human-computer interaction method, device, electronic device, program product, storage medium, and vehicle for locking and following a vehicle.

[0006] In a first aspect, embodiments of this application provide a human-machine interaction method for locking and following another vehicle, comprising: acquiring real-time perception data of the vehicle's surrounding environment; generating and displaying, based on the real-time perception data, a vehicle identifier corresponding to another vehicle in the surrounding environment on the vehicle's intelligent driving perception screen; wherein, the vehicle identifier includes a lock-follow touch control identifier, the lock-follow touch control identifier being configured to indicate a real-time vehicle control mode for the vehicle to lock and follow the other vehicle relative to the other vehicle; detecting touch operations received by the lock-follow touch control identifier in real time, identifying the other vehicle corresponding to the lock-follow touch control identifier that received the touch operation as the target vehicle, and generating a control command for the vehicle to lock and follow the target vehicle relative to the target vehicle; and controlling whether the vehicle locks and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment.

[0007] In some embodiments of this application, the other vehicle identifier includes a other vehicle touch identifier, which is configured to indicate the real-time vehicle information; generating and displaying the other vehicle identifier corresponding to the other vehicle in the surrounding environment on the intelligent driving perception screen of the self-vehicle includes: generating and displaying the other vehicle touch identifier corresponding to the other vehicle in the surrounding environment on the intelligent driving perception screen of the self-vehicle, and detecting touch operations received by the other vehicle touch identifier in real time; in response to the touch operation received by the other vehicle touch identifier being a touch operation for selecting a vehicle control mode, displaying vehicle control including the lock-follow touch identifier. The vehicle control identifier is configured to indicate the real-time vehicle control mode of the vehicle relative to the other vehicle; the real-time detection of touch operation received by the lock-follow touch identifier, determining the other vehicle corresponding to the lock-follow touch identifier that received the touch operation as the target vehicle, and generating a control command for the vehicle to lock-follow the target vehicle, includes: determining the other vehicle corresponding to the touch identifier of the other vehicle that received the touch operation as the target vehicle; and generating a control command for the vehicle to lock-follow the target vehicle in response to detecting that the lock-follow touch identifier has been touched.

[0008] In some embodiments of this application, after controlling whether the self-driving vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment, the human-machine interaction method for locking onto and following the vehicle further includes: when the self-driving vehicle is controlled to lock onto and follow the target vehicle, when the intelligent driving perception screen of the self-driving vehicle displays the identifier of another vehicle corresponding to a vehicle that has entered between the self-driving vehicle and the target vehicle, searching for the target vehicle from the other vehicles according to the vehicle attributes of the target vehicle; in response to finding the target vehicle, controlling the self-driving vehicle to continue locking onto and following the target vehicle; in response to not finding the target vehicle, notifying the user that locking onto and following the target vehicle has failed.

[0009] In some embodiments of this application, the vehicle attributes include standard attributes of the vehicle at the time of manufacture; the step of searching for the target vehicle from other vehicles based on the vehicle attributes of the target vehicle includes: obtaining some standard attributes of the target vehicle at the scene; matching and obtaining all standard attributes of the target vehicle from a pre-established database based on the some standard attributes; and searching for the target vehicle from other vehicles based on all standard attributes.

[0010] In some embodiments of this application, the vehicle attributes include non-standard attributes of the vehicle after it leaves the factory; the step of searching for the target vehicle from other vehicles based on the vehicle attributes of the target vehicle includes: obtaining the non-standard attributes of the target vehicle; searching for vehicles with the same non-standard attributes from other vehicles based on the non-standard attributes, and confirming them as the target vehicle.

[0011] In some embodiments of this application, after controlling whether the self-driving vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, the human-machine interaction method for locking onto and following the vehicle further includes: when the self-driving vehicle is locked onto and following the target vehicle, when the intelligent driving perception screen of the self-driving vehicle displays the identifier of the other vehicle corresponding to the vehicle that has entered between the self-driving vehicle and the target vehicle, requesting the target vehicle to share location information; receiving the location information shared by the target vehicle, and controlling the self-driving vehicle to relock onto and follow the target vehicle based on the location information shared by the target vehicle.

[0012] In some embodiments of this application, after controlling whether the vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment, the human-machine interaction method for locking onto and following the vehicle further includes: in response to controlling the vehicle to lock onto and follow the target vehicle, displaying an unlock touch icon and / or a maintain lock touch icon; wherein the unlock touch icon is configured to indicate that the vehicle unlocks and follows the target vehicle, and the maintain lock touch icon is configured to indicate that the vehicle maintains lock onto and follows the target vehicle; in response to detecting that the unlock touch icon is touched, controlling the vehicle to unlock and follow the target vehicle; in response to detecting that the maintain lock touch icon is touched, controlling the vehicle to maintain lock onto and follow the target vehicle.

[0013] In some embodiments of this application, controlling whether the self-driving vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment includes: determining whether the real-time vehicle information conforms to a safe intelligent driving strategy; in response to the real-time vehicle information conforming to the safe intelligent driving strategy, controlling the self-driving vehicle to lock onto and follow the target vehicle according to the control command based on the vehicle attributes of the target vehicle; and in response to the real-time vehicle information not conforming to the safe intelligent driving strategy, controlling the self-driving vehicle to maintain its current driving state.

[0014] Secondly, embodiments of this application provide a human-machine interface device for locking and following another vehicle, comprising: a display module configured to acquire real-time perception data of the vehicle's surrounding environment, and generate and display, on the vehicle's intelligent driving perception screen, an identifier for another vehicle in the surrounding environment; wherein the identifier for another vehicle includes a lock-follow touch control identifier, the lock-follow touch control identifier being configured to indicate a real-time vehicle control mode for the vehicle to lock and follow another vehicle; a touch module configured to detect touch operations received by the lock-follow touch control identifier in real time, identify the other vehicle corresponding to the lock-follow touch control identifier that received the touch operation as the target vehicle, and generate a control command for the vehicle to lock and follow the target vehicle; and a control module configured to control whether the vehicle locks and follows the target vehicle according to the control command, based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment.

[0015] Thirdly, embodiments of this application provide an electronic device including one or more processors, the one or more processors being configured to implement the human-machine interaction method for locking and following a vehicle as described in any one of the first aspects.

[0016] Fourthly, embodiments of this application provide a non-transitory computer-readable storage medium storing computer-executable instructions, which, when executed by at least one processor, implement the human-machine interaction method for locking and following a vehicle as described in any one of the first aspects.

[0017] Fifthly, embodiments of this application provide a computer program product, including a computer program stored on a computer-readable storage medium, wherein when the computer program is executed by at least one processor, it implements the human-machine interaction method for locking and following a vehicle as described in any one of the first aspects.

[0018] In a sixth aspect, embodiments of this application provide a vehicle, comprising: a human-machine interface device for locking and following a vehicle as described in any of the second aspects; or an electronic device as described in any of the third aspects; or a non-transitory computer-readable storage medium as described in any of the fourth aspects; or a computer program product as described in any of the fifth aspects; or at least one processor configured to implement the human-machine interface method for locking and following a vehicle as described in any of the first aspects.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Other aspects will become clear after reading and understanding the accompanying drawings and detailed description. Attached Figure Description

[0020] The accompanying drawings are included to provide a further understanding of the technical solutions of this application, are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application, and are used together with the embodiments to explain the principles of this application, but do not constitute a limitation on the technical solutions of this application.

[0021] Figure 1 shows a schematic diagram of the scenario to which the human-computer interaction method for locking and following a vehicle according to an embodiment of this application is applicable.

[0022] Figure 2 is a flowchart illustrating the human-computer interaction method for locking and following a vehicle according to an embodiment of this application.

[0023] Figure 3 is a schematic diagram of an electronic image according to an embodiment of this application.

[0024] Figure 4 shows a structural block diagram of the human-machine interaction device for locking and following vehicles according to an embodiment of this application.

[0025] Figure 5 shows a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0026] The technical solutions in the embodiments of this application will be clearly and completely described herein with reference to the accompanying drawings. In the following description, when referring to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0027] The embodiments described below are not representative of all embodiments consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims. It should be noted that the steps of the corresponding methods in other embodiments are not necessarily performed in the order shown and described in this specification. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0028] In an alternative embodiment, in a vehicle with autonomous driving capabilities, the advanced driver assistance system typically controls the vehicle to drive according to a preset driving mode, making it impossible for the user to control the vehicle to drive as they wish.

[0029] To address the technical problem that users cannot control their vehicles to drive as they wish during autonomous driving, this application provides a human-machine interaction method for locking and following other vehicles. This method generates and displays lock-follow touch icons corresponding to other vehicles in the vehicle's surrounding environment on the vehicle's intelligent driving perception screen, and detects the user's touch operations in real time. Based on the touch operations, the target vehicle is determined, and the vehicle is controlled to lock and follow the target vehicle. This provides a touch interaction method between the user and the intelligent driving system, allowing the user to request the intelligent driving system to control the vehicle to lock and follow a vehicle specified by them through touch interaction.

[0030] Furthermore, if the driving modes preset by the advanced driver assistance system (ADAS) do not match the user's driving habits, and the user wants to drive the vehicle according to their own preferences, the user needs to take over control of the vehicle from the ADAS, relinquishing control and allowing the user to drive as the driver. In other words, while the vehicle is in motion, it must either be entirely controlled by the ADAS or entirely driven by the user. This results in inflexible control methods for both manual and autonomous driving, and a poor user experience for autonomous driving. For example, when the ADAS is controlling the vehicle, the user may want to lock onto and follow a particular vehicle, but the ADAS may not be able to determine the target vehicle the user intends to follow.

[0031] To address the technical problem of inflexible control methods in both manual and autonomous driving, this application provides a human-machine interaction method for locking onto and following a target vehicle. Before controlling the vehicle to lock onto and follow the target vehicle, the method also comprehensively considers real-time vehicle information indicated by the vehicle's identifier. Through user-executed touch operations and the intelligent driving system's real-time detection of these operations, the user and the intelligent driving system cooperate, making the control methods for both manual and autonomous driving more flexible. Furthermore, it enhances the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of autonomous driving.

[0032] Please refer to Figure 1, which is a schematic diagram of the applicable scenario for the vehicle-mounted locking and following human-machine interaction method according to an embodiment of this application. The vehicle-mounted locking and following human-machine interaction method provided in this embodiment can be applied to a vehicle 10 with an intelligent driving system. The vehicle 10 may include a touch screen 11 and an electronic device connected to the touch screen 11. The electronic device may be, but is not limited to, a controller or a processor. The controller may include, but is not limited to, a body controller, a domain controller, etc., which will not be listed here. It should be noted that the vehicle 10 may also include other components not shown in Figure 1. The description of these other components can be found in relevant descriptions in the automotive field, and will not be repeated here.

[0033] Please refer to Figure 2, which is a flowchart illustrating the human-machine interaction method for locking and following a vehicle according to an embodiment of this application. The human-machine interaction method for locking and following a vehicle provided in this embodiment includes, but is not limited to, the following steps S101 to S103.

[0034] In step S101, real-time perception data of the vehicle's surrounding environment is acquired. Based on the real-time perception data, a vehicle identifier corresponding to another vehicle in the surrounding environment is generated and displayed on the intelligent driving perception screen of the vehicle. The vehicle identifier includes a lock-follow touch icon, which is used to indicate the real-time vehicle control mode of locking and following the vehicle relative to another vehicle.

[0035] Intelligent driving systems can use various sensors installed on the vehicle (such as millimeter-wave radar, lidar, mono / dual-lens cameras, and satellite navigation) to perceive the vehicle's surroundings in real time while the vehicle is in motion. They acquire real-time perception data of this environment and use this data to identify, detect, and track static and dynamic objects. To display the vehicle's surroundings to the user and facilitate real-time awareness of this information, the intelligent driving system can generate and display electronic images of the vehicle's surroundings on the Advanced Driver Assistance System View (ADV).

[0036] The electronic image may include vehicle identifiers and lane identifiers. In this embodiment, the vehicle identifier is the identifier corresponding to a vehicle in the vehicle's surrounding environment, and may include the vehicle identifier corresponding to the vehicle itself and the identifiers corresponding to other vehicles, used to indicate real-time vehicle information in the surrounding environment; the lane identifier is the identifier corresponding to a lane in the vehicle's surrounding environment, and may include the identifier corresponding to the lane the vehicle is in and the identifier corresponding to a lane the vehicle is not in, used to indicate real-time lane information in the surrounding environment. In some embodiments, the electronic image may also include only the vehicle identifier and the identifiers of other vehicles without including lane identifiers. This embodiment does not limit the specific types of sensed objects in the vehicle's surrounding environment included in the electronic image.

[0037] Please refer to Figure 3, which is a schematic diagram of an electronic image according to an embodiment of this application. The electronic image includes a vehicle identifier, other vehicle identifiers, and lane identifiers. The other vehicle identifier may include a graphic of the other vehicle and / or its number, and the lane identifier may include a graphic of the lane and / or its number. The electronic image shown in Figure 3 will be described in detail below.

[0038] Lane markings include lane graphics and lane numbers ①, ②, ③, and ④. A solid line and a dashed line form the lane graphic for the rightmost lane (lane ①) traveling in the same direction as the vehicle. Two dashed lines form the lane graphic for the middle lane (lane ②) traveling in the same direction as the vehicle. A dashed line and a solid line form the lane graphic for the leftmost lane (lane ③) traveling in the same direction as the vehicle. A dashed line and a solid line form the lane graphic for the leftmost lane (lane ④) traveling in the opposite direction to the vehicle.

[0039] The other vehicle identification includes a graphic of the other vehicle and its number, A, B, C, or D. Vehicles A, B, and C are traveling in the same direction as your vehicle, respectively, in lanes ①, ②, and ③. Vehicle D is traveling in the opposite direction to your vehicle, in lane ④.

[0040] Setting a vehicle identifier as a touchable identifier creates a vehicle touchable identifier. A vehicle touchable identifier can include its own vehicle touchable identifier and / or other vehicles' touchable identifiers. Compared to a standard vehicle identifier, a vehicle touchable identifier can not only indicate real-time vehicle information in the vehicle's surroundings but also receive touch input from the user. The user can specify a vehicle by touching the vehicle touchable identifier in the electronic image.

[0041] In some embodiments, the other vehicle identifier is a non-touchable identifier. The intelligent driving system determines, based on real-time vehicle information and a preset intelligent driving strategy, which other vehicles the vehicle can currently lock onto, and displays a lock-to-follow touch icon around the identifiers of those vehicles. For example, in the electronic image shown in Figure 3: if the vehicle cannot currently lock onto vehicle A or D, then no lock-to-follow touch icon is displayed around the other vehicle identifiers corresponding to vehicles A and D; if the vehicle can currently lock onto vehicle B or C, then a lock-to-follow touch icon is displayed around the other vehicle identifiers corresponding to vehicles B and C.

[0042] In other embodiments, the other vehicle identifier is a touchable identifier. The intelligent driving system does not directly display the lock-follow touch identifier around the other vehicle identifier, but instead displays the lock-follow touch identifier around the other vehicle identifier after detecting that the other vehicle identifier has been touched and the touch operation received by the other vehicle identifier meets the conditions for displaying the vehicle control mode.

[0043] It should be noted that the display method of the other vehicle icon and the lock-follow touch icon in the electronic image is not limited to that shown in Figure 3. The lock-follow touch icon does not necessarily appear around or on its corresponding other vehicle icon. It is sufficient to establish a connection between the lock-follow touch icon and its corresponding other vehicle icon and display this connection in the electronic image. For example, different other vehicle icons can be set to different colors, and the lock-follow touch icon can be set to the same color as its corresponding other vehicle icon. The specific display method of the other vehicle icon and the lock-follow touch icon in this application embodiment is not limited.

[0044] It should be noted that in the electronic image shown in Figure 3, the vehicle's graphic is black, the graphics of other vehicles (B and C) are white, the graphics of other vehicles (A and D) are gray, the lane graphics of lanes ①, ②, and ③ are white, and the lane graphic of lane ④ is gray (represented by a diagonally filled line in Figure 3). A white other vehicle graphic indicates that the current vehicle can perform at least one vehicle control mode (such as overtaking or following) relative to the other vehicle represented by that graphic, while a gray other vehicle graphic indicates that the current vehicle cannot perform any vehicle control mode relative to the other vehicle represented by that graphic. Similarly, a white lane graphic indicates that the current vehicle can perform at least one lane control mode (such as changing lanes) relative to the lane represented by that lane graphic, while a gray lane graphic indicates that the current vehicle cannot perform any lane control mode relative to the lane represented by that lane graphic. In specific scenarios, the colors of the other vehicle graphics corresponding to different other vehicles and the lane graphics corresponding to different lanes can be specifically set, and the colors of the other vehicle numbers corresponding to different other vehicles and the lane numbers corresponding to different lanes can also be different accordingly. For example, the vehicle identification mark can be set to the vehicle's actual color, the other vehicle identification mark (which can be controlled by at least one vehicle control method) can be set to green, and the other vehicle identification mark (which cannot be controlled by any vehicle control method) can be set to red. This application embodiment does not limit the specific colors of different lane markings, different other vehicle identification marks, and the vehicle identification mark.

[0045] In step S102, the touch operation received by the lock-follow touch mark is detected in real time, the other vehicle corresponding to the touched lock-follow touch mark is identified as the target vehicle, and a control command for the vehicle to lock and follow the target vehicle is generated.

[0046] When a user performs a touch operation on the lock-follow touch icon, the lock-follow touch icon will receive the touch operation. However, since users typically only specify one other vehicle, only one lock-follow touch icon will receive the touch operation. In this embodiment, the other vehicle corresponding to the lock-follow touch icon that receives the touch operation is the vehicle specified by the user, i.e., the target vehicle.

[0047] After receiving a touch operation from the lock-follow touch icon corresponding to the target vehicle, the intelligent driving system needs to generate a control command for the vehicle to lock and follow the target vehicle relative to the target vehicle in response to the user's touch operation, so as to facilitate subsequent control of the vehicle to lock and follow the target vehicle.

[0048] In step S103, based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, the vehicle is controlled to lock and follow the target vehicle according to the control command.

[0049] Each vehicle has different vehicle attributes, such as brand, model, outline, color, and license plate number. Based on real-time perception data obtained from sensing the vehicle's surrounding environment, the intelligent driving system can obtain the vehicle attributes of other vehicles in the surrounding environment in real time, and locate the target vehicle based on these attributes.

[0050] After locking onto the target vehicle, the intelligent driving system needs to determine whether the real-time road conditions are safe based on real-time vehicle information before deciding whether to control the vehicle to lock and follow the target vehicle according to the control command. If the real-time vehicle information does not allow it, the intelligent driving system will not control the vehicle to lock and follow the target vehicle according to the control command. For example, in the electronic image shown in Figure 3, if the target vehicle is car B, controlling the vehicle to lock and follow car B requires the vehicle to first change lanes to the lane where car B is located. If there is another vehicle parallel to the vehicle in the lane where car B is located, the real-time road conditions are not safe. Therefore, the vehicle cannot change lanes to the lane where car B is located. Instead, it needs to overtake the other vehicle parallel to car B before it can change lanes to the lane behind car B.

[0051] In some embodiments, the other vehicle identifier in the above steps includes a other vehicle touch identifier, which is used to indicate real-time vehicle information in the surrounding environment and to receive touch operations.

[0052] In step S101 above, when generating and displaying the other vehicle identifier corresponding to the other vehicle in the surrounding environment on the intelligent driving perception screen of the self-vehicle, the specific steps include: generating and displaying the other vehicle touch control identifier corresponding to the other vehicle in the surrounding environment on the intelligent driving perception screen of the self-vehicle, and detecting the touch operation received by the other vehicle touch control identifier in real time; if the touch operation received by the other vehicle touch control identifier is a touch operation to select the vehicle control mode, then displaying the vehicle control identifier including the lock-follow touch control identifier; wherein, the vehicle control identifier is used to indicate the real-time vehicle control mode of the self-vehicle relative to the other vehicle.

[0053] In step S102 above, when the touch operation received by the lock-follow touch icon is detected in real time, the other vehicle corresponding to the touched lock-follow touch icon is identified as the target vehicle, and a control command for the vehicle to lock-follow relative to the target vehicle is generated, the specific steps include the following: identifying the other vehicle corresponding to the touched other vehicle touch icon as the target vehicle; if the lock-follow touch icon is detected to be touched, a control command for the vehicle to lock-follow relative to the target vehicle is generated.

[0054] When generating and displaying electronic images of the vehicle's surroundings, the intelligent driving system first generates and displays the vehicle's own identifier and the corresponding touch-sensitive identifiers for other vehicles in the surrounding environment. Then, it detects touch operations received by these other vehicle touch-sensitive identifiers in real time. Finally, when the touch operation received by these other vehicle touch-sensitive identifiers is a selection of vehicle control mode, it generates and displays vehicle control identifiers, including a lock-follow touch-sensitive identifier. In this embodiment, the other vehicle touch-sensitive identifier is used to indicate real-time vehicle information in the surrounding environment and to receive touch operations. The other vehicle corresponding to the other vehicle touch-sensitive identifier that receives a touch operation is the target vehicle. The lock-follow touch-sensitive identifier is used to indicate the vehicle control mode of locking and following the target vehicle and to receive touch operations.

[0055] In some embodiments, when controlling whether the self-driving vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment in step S103, the steps specifically include: determining whether the real-time vehicle information conforms to a safe intelligent driving strategy; in response to the real-time vehicle information conforming to a safe intelligent driving strategy, controlling the self-driving vehicle to lock onto and follow the target vehicle according to the control command based on the vehicle attributes of the target vehicle; in response to the real-time vehicle information not conforming to a safe intelligent driving strategy, controlling the self-driving vehicle to maintain its current driving state.

[0056] If the real-time vehicle information conforms to the safe intelligent driving strategy, it means that the current road conditions are safe. The driver can then directly control the vehicle to lock onto and follow the target vehicle according to the vehicle attributes of the target vehicle.

[0057] If the real-time vehicle information does not conform to the safe intelligent driving strategy, it means that the current road conditions are unsafe. The vehicle needs to be controlled to maintain the current state of driving, rather than being controlled to lock and follow the target vehicle according to the control command.

[0058] In some embodiments, after controlling whether the self-vehicle locks onto and follows the target vehicle according to the control command in step S103 based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, the human-machine interaction method for locking onto and following a vehicle in this application embodiment further includes the following steps: when the self-vehicle is controlled to lock onto and follow the target vehicle, when the intelligent driving perception screen of the self-vehicle displays the identification of another vehicle corresponding to the vehicle that has entered between the self-vehicle and the target vehicle, the self-vehicle searches for the target vehicle from the other vehicles according to the vehicle attributes of the target vehicle; in response to the target vehicle being found, the self-vehicle is controlled to continue locking onto and following the target vehicle; in response to the target vehicle not being found, the user is notified that locking onto and following the target vehicle has failed.

[0059] When controlling your vehicle to lock onto and follow a target vehicle, if the intelligent driving screen displays an icon for another vehicle that has entered between your vehicle and the target vehicle, it indicates that another vehicle has cut in front of you. To avoid losing track of the target vehicle, you need to search for it among the surrounding vehicles based on its attributes. If the target vehicle is found within a preset time, you will continue to lock onto and follow it; otherwise, you will be notified that the attempt to lock onto and follow the target vehicle has failed.

[0060] In some embodiments, vehicle attributes include standard attributes of the vehicle at the time of manufacture, such as brand, model, outline, and color. When searching for the target vehicle from other vehicles based on the vehicle attributes mentioned above, the specific steps include: obtaining some vehicle attributes of the target vehicle at the scene; matching and obtaining all vehicle attributes of the target vehicle from a pre-established database based on the partial vehicle attributes; and searching for the target vehicle from other vehicles based on all vehicle attributes.

[0061] A brand may offer multiple vehicle models, and different models within the same brand may have different outlines and colors. Therefore, a database can be pre-built based on the vehicle attribute data published by each brand. This database stores the correspondence between all vehicle attributes, including brand, logo, model, color, partial outline, and overall vehicle outline, and is stored in the cloud. After the intelligent driving system identifies and locks onto the target vehicle, it uploads some of the target vehicle's on-site attributes (such as color and rear outline) to the database. After matching all the target vehicle's attributes, it receives other vehicle attributes (such as brand, logo, and overall vehicle outline) from the database. This facilitates more accurate locking onto and following of the target vehicle, and allows for more comprehensive searching of the target vehicle from surrounding vehicles after other vehicles cut in.

[0062] In some embodiments, vehicle attributes include non-standard attributes of the vehicle after it leaves the factory, such as license plate number, decorations, personalized slogans, etc.; when searching for the target vehicle from other vehicles based on the vehicle attributes in the above steps, the specific steps include: obtaining the non-standard attribute of the target vehicle; and searching for the target vehicle with the same non-standard attribute from other vehicles based on the non-standard attribute.

[0063] While vehicles of the same brand and model share the same standard attributes upon leaving the factory, their non-standard attributes vary significantly. Besides unique license plate numbers, some users adorn their vehicles with decorations or special slogans representing characters from their favorite works of art. For example, some users cover their entire car with stickers of their favorite anime characters, others attach cartoon 3D decorations to the roof or rear, and still others display personalized slogans such as "Pregnant woman / child inside," "New driver / trainee," or "Experienced driver / skilled driver." These non-standard attributes are highly noticeable and difficult to replicate, making it easier to locate the target vehicle when searching among other cars, thus increasing the success rate and accuracy of locating the target vehicle and further enhancing the user experience.

[0064] In some embodiments, after controlling whether the self-vehicle locks onto and follows the target vehicle according to the control command in step S103 based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, the human-machine interaction method for locking onto and following a vehicle in this application embodiment further includes the following steps: when the self-vehicle is locked onto and following the target vehicle, when the intelligent driving perception screen of the self-vehicle displays the identification of another vehicle corresponding to the vehicle that has entered between the self-vehicle and the target vehicle, the self-vehicle requests the target vehicle to share location information; receives the location information shared by the target vehicle, and controls the self-vehicle to relock onto and follow the target vehicle based on the location information shared by the target vehicle.

[0065] The vehicle and the target vehicle it is locking onto may be traveling in the same direction. Therefore, when other vehicles cut in front of the target vehicle, the vehicle can request to share its location information with the target vehicle. After receiving the shared location information from the target vehicle, the vehicle can re-lock onto the target vehicle based on that location information.

[0066] In some embodiments, after controlling whether the vehicle locks and follows the target vehicle according to the control command in step S103 based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, the human-machine interaction method for locking and following the vehicle in this application embodiment further includes the following steps: displaying an unlock touch icon and / or a maintain lock touch icon; wherein, the unlock touch icon is used to instruct the vehicle to temporarily unlock and follow the target vehicle, and the maintain lock touch icon is used to instruct the vehicle to maintain lock and follow the target vehicle; if the unlock touch icon is detected to be touched, the vehicle is controlled to unlock and follow the target vehicle; if the maintain lock touch icon is detected to be touched, the vehicle is controlled to maintain lock and follow the target vehicle.

[0067] During the process of controlling the vehicle to lock and follow a target vehicle, the user may decide to stop locking and following the target vehicle midway. At this time, the intelligent driving system can display an unlock touch icon and / or a maintain lock touch icon on the vehicle's intelligent driving perception screen, to instruct the vehicle to temporarily unlock and follow the target vehicle and to maintain the lock and follow the target vehicle, respectively.

[0068] Users can perform touch operations on the unlock or maintain lock touch icons. If the unlock touch icon is detected, it means the user no longer wants to continue locking and following the target vehicle, and the user will control the vehicle to unlock and follow the target vehicle. If the maintain lock touch icon is detected, it means the user wants to continue locking and following the target vehicle, and the user will control the vehicle to continue locking and following the target vehicle.

[0069] This application also provides a human-machine interface device for locking and following a vehicle. Please refer to Figure 4, which is a structural block diagram of the human-machine interface device for locking and following a vehicle according to an embodiment of this application. The human-machine interface device 21 for locking and following a vehicle provided in this application embodiment may include a display module 211, a touch module 212, and a control module 213.

[0070] The display module 211 is configured to acquire real-time perception data of the vehicle's surrounding environment, and generate and display the corresponding vehicle identifiers of other vehicles in the surrounding environment on the intelligent driving perception screen of the vehicle based on the real-time perception data; wherein, the vehicle identifiers include a lock-follow touch control identifier, which is used to indicate the real-time vehicle control mode of locking and following the vehicle relative to the other vehicle.

[0071] The touch module 212 is configured to detect the touch operation received by the lock-follow touch mark in real time, identify the other vehicle corresponding to the touched lock-follow touch mark as the target vehicle, and generate a control command for the vehicle to lock and follow the target vehicle.

[0072] The control module 213 is configured to control whether the vehicle locks and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment.

[0073] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, which can achieve the same technical effect, and will not be repeated here.

[0074] In some embodiments, the aforementioned other vehicle identifier also includes a other vehicle touch identifier, which is used to indicate real-time vehicle information in the surrounding environment.

[0075] When the display module 211 generates and displays the corresponding vehicle identifiers for other vehicles in the surrounding environment on the intelligent driving perception screen of the vehicle itself, the specific configuration is as follows: it generates and displays the corresponding vehicle touch identifiers for other vehicles in the surrounding environment on the intelligent driving perception screen of the vehicle itself, and detects the touch operations received by the vehicle touch identifiers in real time; in response to the touch operation received by the vehicle touch identifiers being a touch operation to select a vehicle control mode, it displays vehicle control identifiers including the lock-follow touch identifier; wherein, the vehicle control identifiers are used to indicate the real-time vehicle control mode of the vehicle relative to other vehicles.

[0076] When the touch module 212 detects the touch operation received by the lock-follow touch mark in real time, determines the other vehicle corresponding to the touched lock-follow touch mark as the target vehicle, and generates a control command for the vehicle to lock-follow relative to the target vehicle, the specific configuration is as follows: determine the other vehicle corresponding to the touched other vehicle touch mark as the target vehicle; if the lock-follow touch mark is detected to be touched, generate a control command for the vehicle to lock-follow relative to the target vehicle.

[0077] In some embodiments, when the control module 213 controls whether the vehicle locks onto and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment, the specific configuration is as follows: determining whether the real-time vehicle information conforms to a safe intelligent driving strategy; in response to the real-time vehicle information conforming to a safe intelligent driving strategy, controlling the vehicle to lock onto and follow the target vehicle according to the control command based on the vehicle attributes of the target vehicle; in response to the real-time vehicle information not conforming to a safe intelligent driving strategy, controlling the vehicle to maintain its current driving state.

[0078] In some embodiments, after the control module 213 controls whether the self-vehicle locks onto and follows the target vehicle according to the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment, it is further configured to: when the self-vehicle is locked onto and follows the target vehicle, when the intelligent driving perception screen of the self-vehicle displays the identification of another vehicle corresponding to the vehicle that has entered between the self-vehicle and the target vehicle, search for the target vehicle from the other vehicles according to the vehicle attributes; if the target vehicle is found, control the self-vehicle to continue locking onto and following the target vehicle; if the target vehicle is not found, notify the user that locking onto and following the target vehicle has failed.

[0079] In some embodiments, when the control module 213 searches for the target vehicle from other vehicles based on the vehicle attributes, it is specifically configured to: obtain some vehicle attributes of the target vehicle at the scene; match and obtain all vehicle attributes of the target vehicle from a pre-established database based on the partial vehicle attributes; and search for the target vehicle from other vehicles based on all vehicle attributes.

[0080] In some embodiments, after the control module 213 controls whether the self-vehicle locks onto and follows the target vehicle according to the vehicle attributes of the target vehicle and the real-time vehicle information in the surrounding environment, it is further configured to: when the self-vehicle locks onto and follows the target vehicle, if the intelligent driving perception screen of the self-vehicle displays the identification of another vehicle corresponding to the vehicle that has entered between the self-vehicle and the target vehicle, request the target vehicle to share location information; receive the location information shared by the target vehicle, and control the self-vehicle to relock onto and follow the target vehicle according to the location information shared by the target vehicle.

[0081] In some embodiments, after the control module 213 controls whether the vehicle locks and follows the target vehicle according to the control command based on the vehicle attributes of the target vehicle and real-time vehicle information in the surrounding environment, it is further configured to: if the vehicle locks and follows the target vehicle, display an unlock touch icon and / or a maintain lock touch icon; wherein the unlock touch icon is used to indicate that the vehicle temporarily unlocks and follows the target vehicle, and the maintain lock touch icon is used to indicate that the vehicle maintains and follows the target vehicle; if the unlock touch icon is detected to be touched, the vehicle unlocks and follows the target vehicle; if the maintain lock touch icon is detected to be touched, the vehicle maintains and follows the target vehicle.

[0082] This application also provides an electronic device that may include the aforementioned human-machine interface device 21 for locking and following a vehicle. Please refer to FIG5, which is a structural block diagram of the electronic device according to an embodiment of this application. The electronic device 20 may include one or more processors 22, configured to implement the aforementioned human-machine interface method for locking and following a vehicle.

[0083] In some embodiments, the electronic device 20 may further include one or more computer-readable storage media 23, which may store a program that can be invoked by the processor 22, and may include non-volatile storage media. In other embodiments, the electronic device 20 may further include memory 24 and an interface 25. In still other embodiments, the electronic device 20 may also include other hardware depending on the specific application.

[0084] The computer-readable storage medium 23 provided in this application embodiment stores a program thereon, which, when executed by the processor 22, is used to implement the above-described human-machine interaction method for locking and following vehicles.

[0085] This application may take the form of a computer program product implemented on one or more computer-readable storage media 23 (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. The computer-readable storage media 23 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented using any method or technology. This information may be computer-readable instructions, data structures, program modules, or other data. The computer-readable storage media 23 includes, but is not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transfer medium, which can be used to store information accessible by a computing device.

[0086] This application also provides a computer program product, which includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by at least one processor, it can perform the human-machine interaction method for locking and following vehicles described in the above embodiments.

[0087] This application also provides a vehicle, including a human-machine interface device for locking and following vehicles as described in the above embodiments, or an electronic device as described in the above embodiments, or a computer-readable storage medium as described in the above embodiments, or a computer program product as described in the above embodiments.

[0088] The human-machine interaction method, device, electronic device, program product, storage medium, and vehicle provided in this application for locking and following other vehicles generate and display lock-following touch icons corresponding to other vehicles in the vehicle's surrounding environment on the vehicle's intelligent driving perception screen, and detect the user's touch operation in real time. Based on the touch operation, the target vehicle is determined, and the vehicle is controlled to lock and follow the target vehicle. This provides a touch interaction method between the user and the intelligent driving system, allowing the user to request the intelligent driving system to control the vehicle to lock and follow a vehicle specified by the user through touch interaction. In addition, before controlling the vehicle to lock and follow the target vehicle, the real-time vehicle information indicated by the other vehicle icons is also comprehensively considered, which improves the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of autonomous driving.

[0089] Those skilled in the art will understand that all or part of the steps in the above methods can be implemented by a program instructing related hardware (e.g., a processor), and the program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk. Optionally, all or part of the steps in the above embodiments can also be implemented using one or more integrated circuits. Accordingly, each module / unit in the above embodiments can be implemented in hardware, such as by using an integrated circuit to implement its corresponding function, or it can be implemented in the form of a software functional module, such as by a processor executing a program / instruction stored in memory to implement its corresponding function. This application is not limited to any particular combination of hardware and software.

[0090] The above description is merely an exemplary embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

[0091] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Without further limitation, an element qualified by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

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