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

Abstract

A human-machine interaction method for vehicle lane control. The method comprises: acquiring real-time perception data of a surrounding environment of a vehicle, and on the basis of the real-time perception data, generating and displaying, on an intelligent driving perception picture of an ego-vehicle, lane touch-control identifiers corresponding to lanes in the surrounding environment; detecting in real time a touch-control operation received by a lane touch-control identifier, determining as a target lane a lane corresponding to the lane touch-control identifier that receives the touch-control operation, and displaying at least one lane control mode; determining any one of the at least one lane control mode as a target lane control mode; and on the basis of real-time lane information, controlling whether the ego-vehicle travels in the target lane according to the target lane control mode. Further disclosed are a human-machine interaction apparatus (21) for vehicle lane control, and an electronic device (20), a non-transitory computer-readable storage medium (23), a computer program product and a vehicle (10). A touch-control interaction mode between a user and an intelligent driving system is provided, such that the user can perform a touch-control interaction to request the intelligent driving system to control an ego-vehicle to travel in a target lane according to intentions of the user; in addition, real-time lane information indicated by lane touch-control identifiers is also comprehensively taken into consideration, so that the degree of personalization of the intelligent driving system is improved while the driving safety is ensured, thereby improving the user experience of autonomous driving.

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. 202510105940.5, filed on January 22, 2025, and Chinese patent application No. 202510106278.5, 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 vehicle lane control. 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 vehicle lane control.

[0006] In a first aspect, embodiments of this application provide a human-machine interaction method for vehicle lane control, comprising: acquiring real-time perception data of the vehicle's surrounding environment; generating and displaying lane touch indicators corresponding to lanes in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the lane touch indicators are configured to indicate real-time lane information in the surrounding environment; detecting touch operations received by the lane touch indicators in real time; determining the lane corresponding to the lane touch indicator that received the touch operation as the target lane and displaying at least one lane control mode; determining any one of the at least one lane control modes as the target lane control mode; and controlling whether the vehicle drives in the target lane according to the target lane control mode based on the real-time lane information.

[0007] In some embodiments of this application, displaying at least one lane control method includes: in response to the touch operation received by the lane touch icon being a touch operation for selecting a lane control method, displaying at least one lane control icon for indicating a lane control method; determining any one of the at least one lane control methods as the target lane control method includes: determining the lane control method corresponding to the selected lane control icon among the at least one lane control icons as the target lane control method.

[0008] In some embodiments of this application, the at least one lane control sign includes a lane control touch sign, the lane control touch sign being configured to indicate the real-time lane control mode of the vehicle relative to the lane in the surrounding environment; determining the lane control mode corresponding to the selected lane control sign among the at least one lane control signs as the target lane control mode includes: real-time detection of touch operations received by the lane control touch sign, and determining the lane control mode corresponding to the lane control touch sign that received the touch operation as the target lane control mode.

[0009] In some embodiments of this application, the lane control touch icon includes a priority lane touch icon. The step of real-time detection of touch operations received by the lane control touch icon and determining the lane control mode corresponding to the lane control touch icon receiving the touch operation as the target lane control mode includes: in response to detecting that the priority lane touch icon has been touched, determining the priority lane mode corresponding to the priority lane touch icon as the target lane control mode; wherein, the priority lane mode is a real-time lane control mode in which the vehicle prioritizes driving in the target lane; the step of controlling whether the vehicle drives in the target lane according to the target lane control mode based on the real-time lane information includes: controlling the vehicle to maintain driving in the target lane according to the priority lane mode based on the real-time lane information.

[0010] In some embodiments of this application, controlling the vehicle to maintain its position in the target lane according to the priority lane method includes: acquiring obstruction information on the target lane that is hindering the vehicle in real time; generating and displaying an obstruction marker corresponding to the obstruction information on the intelligent driving perception screen of the vehicle; responding to the obstruction marker, controlling the vehicle to change lanes to a lane other than the target lane, until the obstruction marker is no longer displayed on the intelligent driving perception screen of the vehicle, and then controlling the vehicle to change lanes back to the target lane; wherein the obstruction marker is configured to indicate real-time traffic information that is hindering the vehicle from traveling at a preset speed in the target lane.

[0011] In some embodiments of this application, the lane control touch icon includes a lane locking touch icon. The step of real-time detection of touch operations received by the lane control touch icon and determining the lane control mode corresponding to the lane control touch icon receiving the touch operation as the target lane control mode includes: in response to detecting that the lane locking touch icon is touched, determining the lane locking mode corresponding to the lane locking touch icon as the target lane control mode; wherein, the lane locking mode is a real-time lane control mode in which the vehicle is locked in the target lane; and the step of controlling whether the vehicle is traveling in the target lane according to the target lane control mode based on the real-time lane information includes: controlling the vehicle to remain traveling in the target lane according to the lane locking mode based on the real-time lane information.

[0012] In some embodiments of this application, controlling the vehicle to remain in the target lane according to the lane locking method includes: acquiring obstruction information on the target lane that is hindering the vehicle in real time; generating and displaying an obstruction marker corresponding to the obstruction information on the intelligent driving perception screen of the vehicle; and controlling the vehicle to decelerate and remain in the target lane in response to the obstruction marker; wherein the obstruction marker is configured to indicate real-time road condition information that is hindering the vehicle from traveling at a preset speed in the target lane.

[0013] In some embodiments of this application, after controlling the vehicle to decelerate and remain in the target lane, the human-machine interaction method for vehicle lane control further includes: displaying at least one of an unlock touch icon and a maintain lock touch icon; wherein the unlock touch icon is configured to instruct the vehicle to temporarily unlock and remain in the target lane, and the maintain lock touch icon is configured to instruct the vehicle to remain locked and remain in the target lane; in response to detecting that the unlock touch icon is touched, controlling the vehicle to change lanes to a lane other than the target lane until the obstruction icon is no longer displayed on the intelligent driving perception screen of the vehicle, and then controlling the vehicle to change lanes back to the target lane; in response to detecting that the maintain lock touch icon is touched, controlling the vehicle to remain in the target lane at the decelerated speed.

[0014] In some embodiments of this application, displaying at least one lane control mode includes: displaying the at least one lane control mode in response to a touch operation received by the lane touch icon that meets the condition for displaying the at least one lane control mode.

[0015] In some embodiments of this application, the step of displaying the at least one lane control mode in response to the touch operation received by the lane touch icon reaching the condition for displaying the at least one lane control mode includes: displaying the at least one lane control mode in response to the continuous touch duration of the touch operation received by the lane touch icon reaching a preset duration threshold; and / or displaying the at least one lane control mode in response to the continuous touch number of the touch operation received by the lane touch icon reaching a preset number threshold.

[0016] In some embodiments of this application, displaying at least one lane control method includes: determining at least one lane control method for the current vehicle relative to the target lane based on the real-time lane information and a preset intelligent driving strategy; displaying the at least one lane control method; and / or controlling whether the vehicle drives in the target lane according to the target lane control method based on the real-time lane information includes: determining whether the real-time lane information conforms to a safe intelligent driving strategy; in response to the real-time lane information conforming to the safe intelligent driving strategy, controlling the vehicle to drive in the target lane according to the target lane control method; in response to the real-time lane information not conforming to the safe intelligent driving strategy, controlling the vehicle to maintain its current driving state.

[0017] In some embodiments of this application, the human-machine interaction method for vehicle lane control further includes: when the touch operation received by the lane touch icon meets the touch conditions for lane changing, determining whether the safety conditions for lane changing are met based on the real-time perception data, and controlling whether the vehicle changes lanes to the target lane based on the determination result.

[0018] In some embodiments of this application, when the touch operation received by the lane touch indicator meets the touch conditions for lane changing, determining whether the safety conditions for lane changing are met based on the real-time sensing data, and controlling whether the vehicle changes lanes to the target lane based on the determination result, includes: when the type of the touch operation received by the lane touch indicator is a preset lane change touch type, determining whether the safety conditions for lane changing are met based on the real-time sensing data, and controlling whether the vehicle changes lanes to the target lane based on the determination result; when the type of the touch operation received by the lane touch indicator is not the preset lane change touch type, controlling the vehicle to maintain its current driving state.

[0019] In some embodiments of this application, the lane touch icon includes a lane touch graphic; the lane change touch type includes: the lane touch graphic being long-pressed, the lane touch graphic being clicked once, or the lane touch graphic being clicked multiple times consecutively.

[0020] In some embodiments of this application, the lane touch identifier includes a lane touch number; the lane change touch type includes: the lane touch number being long-pressed, the lane touch number being clicked once, or the lane touch number being clicked multiple times consecutively.

[0021] Secondly, embodiments of this application provide a human-machine interface device for vehicle lane control, comprising: a display module configured to acquire real-time perception data of the vehicle's surrounding environment, and generate and display lane touch indicators corresponding to lanes in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the lane touch indicators are configured to indicate real-time lane information in the surrounding environment; a touch module configured to detect touch operations received by the lane touch indicators in real time, determine the lane corresponding to the lane touch indicator that received the touch operation as the target lane, and display at least one lane control mode; a determination module configured to determine any one of the at least one lane control modes as the target lane control mode; and a control module configured to control whether the vehicle drives in the target lane according to the target lane control mode based on the real-time lane information.

[0022] Thirdly, embodiments of this application provide an electronic device including one or more processors, the one or more processors being configured to implement a human-machine interaction method for vehicle lane control as described in any of the first aspects.

[0023] 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 vehicle lane control as described in any one of the first aspects.

[0024] 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 vehicle lane control as described in any one of the first aspects.

[0025] In a sixth aspect, embodiments of this application provide a vehicle, including: a human-machine interface device for vehicle lane control 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 one or more processors configured to implement the human-machine interface method for vehicle lane control as described in any of the first aspects.

[0026] 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

[0027] 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 specification to explain the principles of this application, but do not constitute a limitation on the technical solutions of this application.

[0028] Figure 1 shows a schematic diagram of the scenario in which the human-computer interaction method for vehicle lane control according to an embodiment of this application is applicable.

[0029] Figure 2 is a flowchart illustrating the human-computer interaction method for vehicle lane control according to an embodiment of this application.

[0030] Figure 3 is a schematic diagram of an electronic image according to an embodiment of this application.

[0031] Figure 4 is a flowchart illustrating the human-computer interaction method for implementing vehicle lane changing according to an embodiment of this application.

[0032] Figure 5 shows a structural block diagram of the human-machine interaction device for vehicle lane control according to an embodiment of this application.

[0033] Figure 6 shows a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] 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.

[0037] To address the technical problem that users cannot control their vehicles to drive according to their wishes during autonomous driving, this application provides a human-machine interaction method for vehicle lane control. This method generates and displays lane touch icons and at least one lane control mode corresponding to the vehicle's surrounding environment on the vehicle's intelligent driving perception screen. It also detects the user's touch operations in real time, determines the target lane and the target lane control mode, and controls the vehicle to drive in the target lane according to the target lane control mode. 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 drive in the target lane according to their wishes through touch interaction.

[0038] 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 the vehicle from the ADAS, with the ADAS relinquishing control and the user acting as the driver. In other words, while the vehicle is in motion, it must either be entirely controlled by the ADAS or entirely 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 prioritize a certain lane, change lanes from the current lane to a slower or faster lane, or lock onto a certain lane. However, the ADAS cannot determine whether the user wants to prioritize a lane or lock onto a lane, the target lane to change to, or the desired lane to prioritize or lock onto.

[0039] To address the technical problem of inflexible control methods in both manual and autonomous driving, this application provides a human-machine interaction method for vehicle lane control. Before controlling the vehicle to travel in the target lane according to the target lane control method, the method also comprehensively considers the real-time lane information indicated by the lane touch sign. 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, while increasing the personalization of the intelligent driving system, it also ensures driving safety, thereby improving the user experience of autonomous driving.

[0040] Please refer to Figure 1, which is a schematic diagram of the applicable scenario for the human-machine interaction method for vehicle lane control according to an embodiment of this application. The human-machine interaction method for vehicle lane control 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.

[0041] Please refer to Figure 2, which is a flowchart illustrating the human-machine interaction method for vehicle lane control according to an embodiment of this application. The human-machine interaction method for vehicle lane control provided in this embodiment includes, but is not limited to, the following steps S101 to S104.

[0042] In step S101, real-time perception data of the vehicle's surrounding environment is acquired, and based on the real-time perception data, lane touch icons corresponding to the lanes in the surrounding environment are generated and displayed on the vehicle's intelligent driving perception screen; wherein, the lane touch icons are used to indicate real-time lane information in the surrounding environment.

[0043] 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).

[0044] 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 lane identifier, without including the identifiers of other vehicles. This embodiment does not limit the specific types of sensed objects in the vehicle's surrounding environment included in the electronic image.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Lane markers are created by making them touch-sensitive, resulting in touch-sensitive lane markers. Touch-sensitive lane markers can include touch-sensitive lane graphics and / or touch-sensitive lane numbers. Compared to lane markers, touch-sensitive lane markers, in addition to indicating real-time lane information in the vehicle's surroundings, also receive touch input from the user. Users can specify a lane by touching the touch-sensitive lane marker in the electronic image. When touch-sensitive lane markers include touch-sensitive lane graphics, to facilitate user interaction, the entire lane graphic can be made touch-sensitive, allowing users to touch any part of the lane graphic without needing to precisely touch a specific point.

[0049] 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.

[0050] In step S102, the touch operation received by the lane touch sign is detected in real time, the lane corresponding to the touched lane touch sign is determined as the target lane, and at least one lane control mode is displayed.

[0051] When a user performs a touch operation on a lane touch indicator, the lane touch indicator receives the touch operation. However, since users typically only specify one lane, only one lane touch indicator will receive the touch operation. In this embodiment, the lane corresponding to the lane touch indicator that receives the touch operation is the lane specified by the user, i.e., the target lane.

[0052] After receiving a touch operation from the lane touch marker corresponding to the target lane, the intelligent driving system needs to display at least one lane control method to clarify which lane control method is required to control the vehicle's movement in the target lane. The lane control method can be displayed as a text pop-up, announced via audio, or simultaneously displayed as a text pop-up and announced via audio. This application embodiment does not limit the specific display format of the lane control method.

[0053] In step S103, any one of the at least one lane control methods is determined as the target lane control method.

[0054] The intelligent driving system can determine which lane control methods are appropriate for the vehicle to use in the target lane based on real-time lane information and pre-set intelligent driving strategies, and then select one of these methods as the target lane control method. Alternatively, the intelligent driving system can select the lane control method specified by the user from at least one displayed lane control method based on touch or voice input, and then designate the user-specified lane control method as the target lane control method.

[0055] In step S104, based on the real-time lane information, the system controls whether the vehicle travels in the target lane according to the target lane control method.

[0056] After determining the target lane and its control method, the intelligent driving system needs to assess the safety of the real-time road conditions based on real-time lane information before deciding whether to control the vehicle to stay in the target lane according to the control method. If the real-time lane information does not permit this, the intelligent driving system will not control the vehicle to stay in the target lane. For example, in the electronic image shown in Figure 3, if the target lane is lane ③ and the control method is lane locking, it means the user wants to lock the vehicle in lane ③. When the vehicle is about to pass through an intersection, and lane ③ is a left-turn lane, the real-time road conditions are not safe because the vehicle's route is straight. Therefore, the system cannot lock the vehicle in lane ③ and must change lanes to the straight lane and pass through the intersection before it can lock the vehicle in lane ③.

[0057] In some embodiments, when displaying at least one lane control mode in step S102, the steps specifically include: in response to the touch operation received by the lane touch icon being a touch operation for selecting a lane control mode, displaying at least one lane control icon for indicating a lane control mode; when determining any one of the at least one lane control modes as the target lane control mode in step S103, the steps specifically include: determining the lane control mode corresponding to the selected lane control icon among the at least one lane control icons as the target lane control mode.

[0058] If the touch operation received by the lane control icon is not a preset touch operation for selecting a lane control method, the intelligent driving system will not be triggered to display the lane control method. Conversely, if the touch operation received by the lane control icon is a preset touch operation for selecting a lane control method, the intelligent driving system will be triggered to display at least one lane control method. Specifically, the intelligent driving system displays at least one lane control method by displaying at least one lane control icon, where the lane control icon indicates the lane control method, and different lane control icons indicate different lane control methods.

[0059] Users can select a lane control sign from at least one lane control sign displayed by the intelligent driving system by performing a touch operation or sending a voice command, and then choose the corresponding lane control method. The intelligent driving system will then determine the lane control method corresponding to the lane control sign selected by the user as the target lane control method.

[0060] In some embodiments, the lane control sign in the above steps includes a lane control touch sign, which is used to indicate the real-time lane control mode of the vehicle relative to the lane in the surrounding environment and to receive touch operations; when determining the lane control mode corresponding to at least one selected lane control sign as the target lane control mode in the above steps, the specific steps include: real-time detection of touch operations received by the lane control touch sign, and determining the lane control mode corresponding to the touched lane control touch sign as the target lane control mode.

[0061] When a user performs a touch operation on the lane control touch icon, the lane control touch icon will receive the touch operation. However, since users typically only specify one lane control method, only one lane control touch icon will receive the touch operation. In this embodiment, the lane control method corresponding to the lane control touch icon that receives the touch operation is the lane control method specified by the user, i.e., the target lane control method.

[0062] In some other embodiments, the lane control sign in the above steps includes a lane control indicator sign, which is used to indicate the real-time lane control mode of the vehicle relative to the lane in the surrounding environment but is not used to receive touch operations; when determining the lane control mode corresponding to at least one selected lane control sign in the above steps as the target lane control mode, the specific steps include: receiving a voice command sent by the user for the lane control indicator sign in real time, and determining the lane control mode corresponding to the lane control indicator sign selected by the voice command as the target lane control mode.

[0063] In some embodiments, when the above steps involve real-time detection of the touch operation received by the lane control touch icon and determining the lane control mode corresponding to the touched lane control touch icon as the target lane control mode, the specific steps include: in response to detecting that the priority lane touch icon in the lane control touch icon is touched, determining the priority lane mode corresponding to the priority lane touch icon as the target lane control mode; wherein, the priority lane mode is a real-time lane control mode in which the vehicle has priority to travel in the target lane; when the above step S104 involves controlling whether the vehicle travels in the target lane according to the target lane control mode based on the real-time lane information, the specific steps include: based on the real-time lane information, controlling the vehicle to stay in the target lane according to the priority lane mode.

[0064] Lane control touch indicators may include priority lane touch indicators, which are used to indicate the priority lane mode, a real-time lane control mode in which the vehicle has priority to travel in the target lane.

[0065] Prioritizing driving in the target lane means controlling the vehicle to stay in the target lane when there are no factors affecting driving efficiency, and controlling the vehicle to change lanes to other lanes besides the target lane when there are factors affecting driving efficiency, until there are no factors affecting driving efficiency, and then controlling the vehicle to change lanes back to the target lane.

[0066] If the lane control touch icon received by the touch operation is the priority lane touch icon, then the priority lane mode will be determined as the target lane control mode, and the vehicle will be controlled to stay in the target lane in the priority lane mode according to the real-time lane information.

[0067] In some embodiments, when controlling the vehicle to stay in the target lane according to the priority lane method in the above steps, the specific steps include: acquiring obstruction information on the target lane that is obstructing the vehicle in real time, generating and displaying an obstruction sign corresponding to the obstruction information on the vehicle's intelligent driving perception screen; responding to the obstruction sign, controlling the vehicle to change lanes to other lanes besides the target lane, until the obstruction sign is no longer displayed on the vehicle's intelligent driving perception screen, and then controlling the vehicle to change lanes back to the target lane; wherein, the obstruction sign is used to indicate real-time road condition information that is obstructing the vehicle from traveling in the target lane at a preset speed.

[0068] When controlling the vehicle to prioritize travel in the target lane, to ensure driving efficiency, the intelligent driving system presets a speed based on the driving route and controls the vehicle to travel at that preset speed in the target lane. However, in real-world scenarios, as real-time road conditions change, there may be obstacles in the target lane. These obstacles indicate real-time road conditions that prevent the vehicle from traveling at the preset speed in the target lane. The intelligent driving system, based on real-time perception data obtained from sensing the vehicle's surroundings, acquires this obstacle information in the target lane. When generating and displaying an electronic image of the vehicle's surrounding environment on the intelligent driving perception screen, it also includes obstacle markers indicating the obstacles in the electronic image; that is, obstacle markers are generated and displayed on the vehicle's intelligent driving perception screen.

[0069] When obstruction signs are present on the electronic image, to ensure driving efficiency, the intelligent driving system controls the vehicle to change lanes to a lane other than the target lane until the obstruction signs are no longer visible on the electronic image, at which point the vehicle changes lanes back to the target lane. For example, if the vehicle is traveling at a speed of X kilometers per hour in the target lane, and the speed limit for that section of the road ahead is Y kilometers per hour (Y < X) due to a school / hospital, and the electronic image shows an obstruction sign indicating the speed limit for the target lane, the vehicle cannot continue traveling at X kilometers per hour in the target lane, otherwise there is a risk of violation. In this case, the intelligent driving system controls the vehicle to change lanes to another lane until the target lane's speed limit is lifted after passing that section, and the obstruction signs are no longer visible on the electronic image, at which point the vehicle changes lanes back to the target lane.

[0070] In some embodiments, when the above steps involve real-time detection of the touch operation received by the lane control touch icon and determining the lane control mode corresponding to the touched lane control touch icon as the target lane control mode, the specific steps include: in response to detecting that the lane locking touch icon in the lane control touch icon is touched, determining the lane locking mode corresponding to the lane locking touch icon as the target lane control mode; wherein, the lane locking mode is a real-time lane control mode in which the vehicle locks itself to drive in the target lane; when the above steps S104 involve controlling whether the vehicle drives in the target lane according to the target lane control mode based on the real-time lane information, the specific steps include: based on the real-time lane information, controlling the vehicle to maintain its driving in the target lane according to the lane locking mode.

[0071] Lane control touch indicators may include lane lock touch indicators, which are used to indicate the lane lock mode, a real-time lane control mode in which the vehicle locks itself in the target lane.

[0072] Locking onto the target lane means controlling the vehicle to stay in the target lane regardless of factors affecting driving efficiency. Only when there is a safety hazard or violation risk will the vehicle be controlled to change lanes to other lanes, until there is no safety hazard or violation risk, at which point the vehicle will be controlled to change lanes back to the target lane.

[0073] If the lane control touch icon received by the touch operation is the lane lock touch icon, then the lane lock mode will be determined as the target lane control mode, and the vehicle will be controlled to stay in the target lane in the lane lock mode according to the real-time lane information.

[0074] In some embodiments, when controlling the vehicle to stay in the target lane according to the lane locking method in the above steps, the specific steps include: acquiring obstruction information on the target lane that is obstructing the vehicle in real time, generating and displaying an obstruction sign corresponding to the obstruction information on the intelligent driving perception screen of the vehicle; responding to the obstruction sign, controlling the vehicle to decelerate and stay in the target lane; wherein, the obstruction sign is used to indicate real-time road condition information that is obstructing the vehicle from traveling in the target lane at a preset speed.

[0075] When controlling the vehicle to stay in the target lane, the intelligent driving system presets a speed based on the driving route to ensure driving efficiency, and controls the vehicle to travel at the preset speed in the target lane. However, in real-world scenarios, as real-time road conditions change, there may be obstacles in the target lane. These obstacles indicate real-time road conditions that prevent the vehicle from traveling at the preset speed in the target lane. The intelligent driving system uses real-time perception data obtained from sensing the vehicle's surroundings to acquire this obstacle information. When generating and displaying an electronic image of the vehicle's surroundings on the intelligent driving perception screen, the system also includes obstacle markers indicating these obstacles in the electronic image; that is, obstacle markers are generated and displayed on the vehicle's intelligent driving perception screen.

[0076] When an obstruction marker is present on the electronic image, the intelligent driving system, sacrificing driving efficiency, controls the vehicle to decelerate and maintain its position in the target lane. For example, if the vehicle is traveling at X km / h in the target lane, but another vehicle is traveling in the target lane at Y km / h (Y < X) ahead of it, and the electronic image shows an obstruction marker indicating that the vehicle ahead is traveling at a slower speed, the vehicle cannot continue traveling at X km / h in the target lane, otherwise there is a risk of rear-end collision. In this situation, the intelligent driving system controls the vehicle to decelerate and maintain its position in the target lane.

[0077] In some embodiments, after controlling the vehicle to decelerate and remain in the target lane in the above steps, the human-machine interaction method for vehicle lane control 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 remain in the target lane, and the maintain lock touch icon is used to instruct the vehicle to remain locked and remain in the target lane; in response to detecting that the unlock touch icon is touched, controlling the vehicle to change lanes to a lane other than the target lane, until the obstacle icon is no longer displayed on the vehicle's intelligent driving perception screen, and then controlling the vehicle to change lanes back to the target lane; in response to detecting that the maintain lock touch icon is touched, controlling the vehicle to remain in the target lane at the decelerated speed.

[0078] When an obstruction is detected on the electronic image, the intelligent driving system sacrifices driving efficiency to maintain the vehicle's lock in the target lane, slowing down and staying in the target lane. However, users may need to weigh driving efficiency against lane locking. In this case, 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, respectively instructing the vehicle to temporarily unlock and drive in the target lane or maintain lock in the target lane.

[0079] Users can perform touch operations on the unlock or maintain lock touch icons. If the unlock touch icon is touched, it means the user has selected driving efficiency over lane locking. The vehicle will then change lanes to a lane other than the target lane until there are no obstruction icons on the electronic image, at which point it will change lanes back to the target lane. If the maintain lock touch icon is touched, it means the user has selected lane locking over lane locking. The vehicle will then maintain its speed in the target lane after deceleration.

[0080] In some embodiments, when displaying at least one lane control mode in step S102, the following steps are specifically included: in response to the touch operation received by the lane touch icon reaching the condition for displaying the lane control mode, at least one lane control mode is displayed.

[0081] If the touch operation received by the lane touch icon does not meet the conditions for displaying the lane control mode, the intelligent driving system will not be triggered to display the lane control mode. Conversely, if the touch operation received by the lane touch icon meets the conditions for displaying the lane control mode, the intelligent driving system will be triggered to display at least one lane control mode. In this embodiment, the condition for displaying the lane control mode can be the type of touch operation received by the lane touch icon, such as long press, single click, multiple clicks, or drag.

[0082] In some embodiments, when the touch operation received by the lane touch icon meets the conditions for displaying a lane control mode, displaying at least one lane control mode specifically includes the following steps: displaying at least one lane control mode in response to the continuous touch duration of the touch operation received by the lane touch icon reaching a preset duration threshold; and / or displaying at least one lane control mode in response to the continuous touch count of the touch operation received by the lane touch icon reaching a preset count threshold.

[0083] If the condition for displaying the lane control mode is set to the type of touch operation received by the lane touch icon, then the continuous touch duration and number of continuous touches received by the lane touch icon can be used as the criteria to determine whether the touch operation received by the lane touch icon meets the conditions for displaying the lane control mode.

[0084] If the condition for displaying the lane control mode is that the type of touch operation received by the lane touch icon is a long press, then when the continuous touch duration of the touch operation received by the lane touch icon reaches a preset duration threshold, at least one lane control mode will be displayed.

[0085] If the condition for displaying a lane control mode is that the touch operation received by the lane touch icon is a multi-tap, then when the number of consecutive touches received by the lane touch icon reaches a preset threshold, at least one lane control mode will be displayed. If the preset threshold is 2, it means that a double tap of the lane touch icon is required to display the lane control mode; if the preset threshold is 3, it means that a triple tap of the lane touch icon is required to display the lane control mode. It should be noted that the preset threshold is not limited to 2 and 3, and can also be other values. This application embodiment does not limit the specific number of taps on the lane touch icon.

[0086] It should also be noted that the conditions for displaying the lane control mode are not limited to the two mentioned above, and can also include other conditions. For example, the intelligent driving system can be set to display the lane control mode simply by clicking the lane touch icon. This application embodiment does not limit the specific conditions for displaying the lane control mode.

[0087] The intelligent driving system can display at least one lane control method in text form on the vehicle's intelligent driving perception screen, or announce at least one lane control method in voice form inside the vehicle. Alternatively, it can display at least one lane control method in text form on the vehicle's intelligent driving perception screen and simultaneously announce at least one lane control method in voice form inside the vehicle, or display at least one lane control method to the user in other forms. This application embodiment does not limit the specific presentation method of the operation guidance.

[0088] In some embodiments, when displaying at least one lane control mode in step S102, the steps specifically include: determining at least one lane control mode of the current vehicle relative to the target lane based on the real-time lane information and the preset intelligent driving strategy; and displaying the at least one lane control mode.

[0089] Based on real-time lane information and pre-set intelligent driving strategies, the intelligent driving system determines which lane control methods it can use to drive in the target lane, that is, it determines at least one lane control method for the current vehicle relative to the target lane and displays at least one lane control method.

[0090] In some embodiments, when controlling whether the vehicle is driving in the target lane according to the target lane control method based on the real-time lane information in step S104 above, the steps specifically include: determining whether the real-time lane information conforms to a safe intelligent driving strategy; in response to the real-time lane information conforming to a safe intelligent driving strategy, controlling the vehicle to drive in the target lane according to the target lane control method; in response to the real-time lane information not conforming to a safe intelligent driving strategy, controlling the vehicle to maintain the current driving state.

[0091] If the real-time lane information conforms to the safe intelligent driving strategy, it means that the real-time road conditions are safe, and you can directly control the vehicle to drive in the target lane according to the target lane control method.

[0092] If the real-time lane information does not conform to the safe intelligent driving strategy, it means that the real-time road conditions are unsafe. The vehicle needs to be controlled to maintain its current state of travel, rather than being controlled to travel in the target lane according to the target lane control method.

[0093] In some embodiments, the intelligent driving system may wait until real-time traffic conditions are safe before controlling the vehicle to drive in the target lane according to the target lane control method. In other embodiments, the intelligent driving system may also discard the currently received instruction and wait until the user re-executes the touch operation before determining a new target lane and target lane control method.

[0094] Furthermore, some embodiments of this application also provide a human-machine interaction method for vehicle lane control to realize vehicle lane changing, i.e., a human-machine interaction method for vehicle lane changing. Referring to Figure 4, Figure 4 shows a flowchart of the human-machine interaction method for vehicle lane changing according to an embodiment of this application. The human-machine interaction method for vehicle lane changing provided in the embodiments of this application includes, but is not limited to, the following steps S201 to S203.

[0095] In step S201, real-time perception data of the vehicle's surrounding environment is acquired, and based on the real-time perception data, lane touch icons corresponding to the lanes in the surrounding environment are generated and displayed on the vehicle's intelligent driving perception screen; wherein, the lane touch icons are used to indicate the real-time lane information about the lanes in the real-time perception data.

[0096] In step S202, the touch operation received by the lane touch sign is detected in real time, and the lane corresponding to the touched lane touch sign is determined as the target lane.

[0097] In step S203, when the touch operation received by the lane touch icon meets the touch conditions for lane changing, the system determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result.

[0098] When the touch operation received by the lane marker corresponding to the target lane meets the conditions for lane changing, the intelligent driving system confirms that the user wants to control the vehicle to change lanes to the target lane. However, the intelligent driving system also needs to determine whether the real-time road conditions are safe based on real-time lane information before deciding whether to control the vehicle to change lanes to the target lane. If the real-time lane information does not allow it, the intelligent driving system will not control the vehicle to change lanes to the target lane. For example, in the electronic image shown in Figure 3, if the vehicle is currently traveling in lane ② and the target lane is lane ③, it means that the user wants to control the vehicle to change lanes to lane ③. At this time, the vehicle will pass through an intersection. Lane ③ is a left-turn lane, while the vehicle's travel route is straight. Therefore, the real-time road conditions are not safe, and the vehicle cannot be controlled to change lanes to lane ③. The vehicle must pass through the intersection before it can be controlled to change lanes to lane ③.

[0099] In some embodiments, when determining whether the safety conditions for lane changing are met based on the real-time perception data in step S203 above, and controlling whether the vehicle changes lanes to the target lane based on the determination result, the specific steps include: determining whether the real-time road conditions meet the safety conditions for lane changing based on the real-time lane information, and controlling whether the vehicle changes lanes to the target lane based on the determination result.

[0100] In some embodiments, when the touch operation received by the lane touch icon reaches the touch condition for lane changing, step S203 above specifically includes: if the type of touch operation received by the lane touch icon is a preset lane changing touch type, then based on the real-time perception data, it is determined whether the safety conditions for lane changing are met, and based on the determination result, the vehicle is controlled to change lanes to the target lane; if the type of touch operation received by the lane touch icon is not a preset lane changing touch type, then the vehicle is controlled to maintain its current driving state.

[0101] The intelligent driving system can preset one or more lane change touch control types. When a user performs a lane change touch control operation on a lane touch control sign, it can be assumed that the user wants to control the vehicle to change lanes to the lane corresponding to that lane touch control sign. In the embodiments of this application, the lane change touch control type can be a common touch control type, such as long press, single click, multi-click, or drag.

[0102] If the touch operation received by the lane touch icon corresponding to the target lane is a lane change touch operation, it means that the user has performed a lane change touch operation on the lane touch icon corresponding to the target lane. This means that the user wants to control the vehicle to change lanes to the target lane. Based on the real-time perception data, it is determined whether the safety conditions for changing lanes are met, and based on the determination result, the vehicle is controlled to change lanes to the target lane.

[0103] If the touch operation received by the lane touch icon corresponding to the target lane is not a lane change touch operation, it means that although the user performed a touch operation on the lane touch icon corresponding to the target lane, he did not perform a lane change touch operation. This means that the user did not want to control the vehicle to change lanes to the target lane, or that the user wanted to control the vehicle to change lanes to the target lane but did not perform the correct touch operation. In this case, the vehicle will maintain its current driving state.

[0104] In some embodiments, the lane touch icon in step S201 includes a lane touch graphic, and the lane change touch type in the above steps includes: the lane touch graphic being long-pressed, the lane touch graphic being clicked once, or the lane touch graphic being clicked multiple times consecutively.

[0105] In some embodiments, the lane touch identifier in step S201 includes a lane touch number, and the lane change touch type in the above steps includes: the lane touch number being long-pressed, the lane touch number being clicked once, or the lane touch graphic being clicked multiple times consecutively.

[0106] As shown in Figure 3, the lane touch control identifier includes a lane touch control number and a lane touch control graphic. In this embodiment of the present disclosure, the lane change touch control type can be a long press, a single click, or multiple clicks on the lane touch control number, and the lane change touch control type can also be a long press, a single click, or multiple clicks on the lane touch control graphic.

[0107] In some embodiments, the vehicle can only change lanes to the lane corresponding to the touched lane touch graphic by touching the lane touch graphic. For example, a user can only request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch graphic by long-pressing, single-clicking, or multi-clicking the lane touch graphic.

[0108] In some embodiments, the vehicle can be controlled to change lanes to the lane corresponding to the touched lane touch number or lane touch graphic by touching either lane touch number or lane touch graphic. For example, a user can request the intelligent driving system to control the vehicle to change lanes to the lane corresponding to the touched lane touch number by clicking or double-clicking the lane touch number, or by double-clicking or triple-clicking the lane touch graphic.

[0109] It should be noted that when changing lanes by touching either the lane control number or the lane control graphic, the lane change touch type is not limited to a single or double click on the lane control number, or a double or triple click on the lane control graphic; other methods are also possible. For example, a user can request the intelligent driving system to control the vehicle to change lanes by clicking the lane control number or long-pressing the lane control graphic. This application does not limit the specific form of the lane change touch type.

[0110] In some embodiments, when determining whether the safety conditions for lane changing are met based on the real-time perception data in step S203 above, and controlling whether the vehicle changes lanes to the target lane based on the determination result, the specific steps include: determining whether the target lane is the lane the vehicle is currently in based on the real-time lane information; if yes, controlling the vehicle to maintain its current state of travel; if no, controlling the vehicle to change lanes to the target lane when the real-time perception data meets the safety conditions for lane changing.

[0111] If the target lane is not the lane the vehicle is currently in, it means the vehicle is not currently traveling in the target lane. In this case, the vehicle needs to change lanes to the target lane when the real-time perception data meets the safety conditions for lane changing, in response to the user's touch operation on the lane indicator corresponding to the target lane. If the target lane is the lane the vehicle is currently in, it means the vehicle is already traveling in the target lane. In this case, it is only necessary to maintain the current driving state, and it is not necessary to control the vehicle to change lanes to the target lane.

[0112] In some embodiments, step S203 above, which determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, specifically includes the following steps: determining whether the target lane is adjacent to the lane currently occupied by the vehicle based on the real-time lane information; if yes, then when the real-time perception data meets the safety conditions for lane changing, controlling the vehicle to directly change lanes to the target lane; if no, then when the real-time perception data meets the safety conditions for lane changing, controlling the vehicle to change lanes from the lane currently occupied by the vehicle to the target lane multiple times.

[0113] If the target lane is adjacent to the vehicle's current lane, the vehicle can directly change lanes to the target lane. If the target lane is not adjacent to the vehicle's current lane, the vehicle needs to change lanes multiple times from its current lane to adjacent lanes until it reaches the target lane.

[0114] In some embodiments, when determining whether the safety conditions for lane changing are met based on the real-time perception data in step S203 above, and controlling whether the vehicle changes lanes to the target lane based on the determination result, the specific steps include: determining the lane changing direction of the vehicle based on the real-time lane information; turning on the turn signal on the vehicle corresponding to the lane changing direction; and controlling the vehicle to change lanes to the target lane when the real-time perception data meets the safety conditions for lane changing.

[0115] Intelligent driving systems can determine the relative position of the target lane and the vehicle's current lane based on real-time lane information, thereby determining the vehicle's lane-changing direction.

[0116] If the target lane is to the left of the vehicle's current lane, it means that the target lane is located to the left of the vehicle's current lane. In this case, the vehicle needs to change lanes to the left once or multiple times. After turning on the vehicle's left turn signal, when the real-time perception data meets the safety conditions for changing lanes, the vehicle will be controlled to change lanes to the left and drive into the target lane.

[0117] If the target lane is to the right of the vehicle's current lane, it means that the target lane is located to the right of the vehicle's current lane. In this case, the vehicle needs to change lanes to the right once or multiple times. After activating the vehicle's right turn signal, when the real-time perception data meets the safety conditions for changing lanes, the vehicle will be controlled to change lanes to the right and drive into the target lane.

[0118] In some embodiments, after determining whether the safety conditions for lane changing are met based on the real-time perception data in step S203 above, and controlling whether the vehicle changes lanes to the target lane based on the determination result, the human-machine interaction method for lane changing in this embodiment of the application further includes the following steps: if the determination result is that the real-time perception data meets the safety conditions for lane changing, then displaying a cancel lane change touch control icon and / or a continue lane change touch control icon, wherein the cancel lane change touch control icon is used to indicate canceling the lane change to the target lane, and the continue lane change touch control icon is used to indicate continuing the lane change to the target lane; if the cancel lane change touch control icon is detected to be touched, then controlling the vehicle to change lanes back to the original lane or stay in the current lane; if the continue lane change touch control icon is detected to be touched, then controlling the vehicle to continue changing lanes to the target lane.

[0119] During the process of controlling the vehicle to change lanes to the target lane, the user may change their mind and no longer wish to change lanes to the target lane. At this time, the intelligent driving system can display a cancel lane change touch icon and / or a continue lane change touch icon on the vehicle's intelligent driving perception screen, to indicate whether to cancel the lane change to the target lane or continue the lane change to the target lane, respectively.

[0120] Users can perform touch operations on the "Cancel Lane Change" or "Continue Lane Change" touch indicators. If the "Cancel Lane Change" indicator is detected, it means the user no longer wants to change lanes to the target lane, and the vehicle will either change back to its original lane or remain in the current lane. If the "Continue Lane Change" indicator is detected, it means the user wants to continue changing lanes to the target lane, and the vehicle will continue changing lanes to the target lane.

[0121] This application also provides a human-machine interface device for vehicle lane control. Please refer to Figure 5, which is a structural block diagram of the human-machine interface device for vehicle lane control according to an embodiment of this application. The human-machine interface device 21 for vehicle lane control provided in this application embodiment may include a display module 211, a touch module 212, a determination module 213, and a control module 214.

[0122] The display module 211 is configured to acquire real-time perception data of the vehicle's surrounding environment, and based on the real-time perception data, generate and display lane touch icons corresponding to the lanes in the surrounding environment on the vehicle's intelligent driving perception screen; the lane touch icons are used to indicate real-time lane information in the surrounding environment and to receive touch operations.

[0123] The touch module 212 is configured to detect the touch operation received by the lane touch sign in real time, determine the lane corresponding to the touched lane touch sign as the target lane, and display at least one lane control mode.

[0124] The determination module 213 is configured to determine any one of the at least one lane control methods as the target lane control method.

[0125] The control module 214 is configured to control whether the vehicle travels in the target lane according to the target lane control method based on the real-time lane information.

[0126] 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.

[0127] In some embodiments, when the touch module 212 displays at least one lane control method, it is specifically configured to: in response to a touch operation received by the lane touch icon that is a touch operation for selecting a lane control method, display at least one lane control icon for indicating a lane control method; when the determining module 213 determines any one of the at least one lane control methods as the target lane control method, it is specifically configured to: determine the lane control method corresponding to the selected lane control icon among the at least one lane control icons as the target lane control method.

[0128] In some embodiments, the lane control sign mentioned above includes a lane control touch sign, which is used to indicate the real-time lane control mode of the vehicle relative to the lane in the surrounding environment and to receive touch operations; when the determining module 213 determines the lane control mode corresponding to at least one selected lane control sign as the target lane control mode, it is specifically configured to: detect the touch operation received by the lane control touch sign in real time, and determine the lane control mode corresponding to the touched lane control touch sign as the target lane control mode.

[0129] In other embodiments, the lane control sign mentioned above includes a lane control indicator sign, which is used to indicate the real-time lane control mode of the vehicle relative to the lane in the surrounding environment but is not used to receive touch operations; when the determining module 213 determines the lane control mode corresponding to at least one selected lane control sign as the target lane control mode, it is specifically configured to: receive voice commands sent by the user for the lane control indicator sign in real time, and determine the lane control mode corresponding to the lane control indicator sign selected by the voice command as the target lane control mode.

[0130] In some embodiments, when the determining module 213 detects the touch operation received by the lane control touch icon in real time and determines the lane control mode corresponding to the touched lane control touch icon as the target lane control mode, it is specifically configured to: in response to detecting that the priority lane touch icon in the lane control touch icon is touched, determine the priority lane mode corresponding to the priority lane touch icon as the target lane control mode; wherein, the priority lane mode is a real-time lane control mode in which the vehicle has priority to travel in the target lane; when the control module 214 controls whether the vehicle travels in the target lane according to the target lane control mode based on the real-time lane information, it is specifically configured to: control the vehicle to stay in the target lane according to the priority lane mode based on the real-time lane information.

[0131] In some embodiments, when the control module 214 controls the vehicle to stay in the target lane according to the priority lane method, it is specifically configured to: acquire obstruction information on the target lane that is obstructing the vehicle in real time, generate and display the obstruction mark corresponding to the obstruction information on the intelligent driving perception screen of the vehicle; respond to the obstruction mark, control the vehicle to change lanes to other lanes besides the target lane, until the obstruction mark is no longer displayed on the intelligent driving perception screen of the vehicle, and then control the vehicle to change lanes back to the target lane; wherein, the obstruction mark is used to indicate real-time road condition information that is obstructing the vehicle from traveling in the target lane at a preset speed.

[0132] In some embodiments, when the determining module 213 detects the touch operation received by the lane control touch icon in real time and determines the lane control mode corresponding to the touched lane control touch icon as the target lane control mode, it is specifically configured to: in response to detecting that the lane locking touch icon in the lane control touch icon is touched, determine the lane locking mode corresponding to the lane locking touch icon as the target lane control mode; wherein, the lane locking mode is a real-time lane control mode in which the vehicle locks itself to drive in the target lane; when the control module 214 controls whether the vehicle drives in the target lane according to the target lane control mode based on the real-time lane information, it is specifically configured to: control the vehicle to maintain driving in the target lane according to the lane locking mode based on the real-time lane information.

[0133] In some embodiments, when the control module 214 controls the vehicle to stay in the target lane in accordance with the lane locking method, it is specifically configured to: acquire obstruction information on the target lane that is obstructing the vehicle in real time, generate and display the obstruction mark corresponding to the obstruction information on the intelligent driving perception screen of the vehicle; and, in response to the obstruction mark, control the vehicle to decelerate and stay in the target lane; wherein the obstruction mark is used to indicate real-time road condition information that is obstructing the vehicle from traveling in the target lane at a preset speed.

[0134] In some embodiments, after controlling the vehicle to decelerate and maintain its position in the target lane, the control module 214 is further configured to: display 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 maintain its position in the target lane, and the maintain lock touch icon is used to instruct the vehicle to maintain its position in the target lane; in response to detecting that the unlock touch icon is touched, the control module 214 controls the vehicle to change lanes to a lane other than the target lane until the obstacle icon is no longer displayed on the vehicle's intelligent driving perception screen, and then controls the vehicle to change lanes back to the target lane; in response to detecting that the maintain lock touch icon is touched, the control module 214 controls the vehicle to maintain its position in the target lane at the decelerated speed.

[0135] In some embodiments, when the touch module 212 displays at least one lane control mode, it is specifically configured to display at least one lane control mode when the touch operation received by the lane touch icon meets the conditions for displaying the lane control mode.

[0136] In some embodiments, when the touch module 212 displays at least one lane control mode when the touch operation received by the lane touch icon meets the conditions for displaying the lane control mode, the specific configuration is as follows: in response to the continuous touch duration of the touch operation received by the lane touch icon reaching a preset duration threshold, at least one lane control mode is displayed; and / or in response to the continuous touch number of the touch operation received by the lane touch icon reaching a preset number threshold, at least one lane control mode is displayed.

[0137] In some embodiments, when the touch module 212 displays at least one lane control mode, it is specifically configured to: determine at least one lane control mode of the current vehicle relative to the target lane based on the real-time lane information and the preset intelligent driving strategy; and display the at least one lane control mode.

[0138] In some embodiments, when the control module 214 controls whether the vehicle is driving in the target lane according to the target lane control method based on the real-time lane information, it is specifically configured to: determine whether the real-time lane information conforms to a safe intelligent driving strategy; in response to the real-time lane information conforming to a safe intelligent driving strategy, control the vehicle to drive in the target lane according to the target lane control method; in response to the real-time lane information not conforming to a safe intelligent driving strategy, control the vehicle to maintain its current driving state.

[0139] Furthermore, based on the same inventive concept as the vehicle lane changing human-machine interaction method described above with reference to FIG4, the vehicle lane control human-machine interaction device of the present application embodiment can also be further used to implement the above vehicle lane changing human-machine interaction method.

[0140] Specifically, as described above, the display module 211 is configured to acquire real-time perception data of the vehicle's surrounding environment, and generate and display lane touch icons corresponding to the lanes in the surrounding environment on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein, the lane touch icons are used to indicate the real-time lane information about the lanes in the real-time perception data.

[0141] The touch module 212 is configured to detect the touch operation received by the lane touch sign in real time, and determine the lane corresponding to the touched lane touch sign as the target lane.

[0142] The control module 214 is configured to determine whether the safety conditions for lane changing are met based on the real-time perception data when the touch operation received by the lane touch sign meets the touch conditions for lane changing, and control whether the vehicle changes lanes to the target lane based on the judgment result.

[0143] 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.

[0144] In some embodiments, when the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, the specific configuration is as follows: based on the real-time lane information, determine whether the real-time road conditions meet the safety conditions for lane changing, and control whether the vehicle changes lanes to the target lane based on the determination result.

[0145] In some embodiments, when the touch operation received by the lane touch indicator meets the touch conditions for lane changing, the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result. Specifically, if the type of touch operation received by the lane touch indicator is a lane change touch type, then the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result; if the type of touch operation received by the lane touch indicator is not a lane change touch type, then the control module 214 controls the vehicle to maintain its current driving state.

[0146] In some embodiments, when the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, the specific configuration is as follows: based on the real-time lane information, determine whether the target lane is the lane where the vehicle is currently located; if yes, control the vehicle to maintain its current driving state; if no, control the vehicle to change lanes to the target lane when the real-time perception data meets the safety conditions for lane changing.

[0147] In some embodiments, when the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, the specific configuration is as follows: based on the real-time lane information, determine whether the target lane is adjacent to the lane where the vehicle is currently located; if yes, then when the real-time perception data meets the safety conditions for lane changing, control the vehicle to directly change lanes to the target lane; if no, then when the real-time perception data meets the safety conditions for lane changing, control the vehicle to change lanes from the lane where the vehicle is currently located to the target lane multiple times.

[0148] In some embodiments, when the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, the specific configuration is as follows: determine the lane changing direction of the vehicle based on the real-time lane information; turn on the turn signal on the vehicle corresponding to the lane changing direction; and control the vehicle to change lanes to the target lane when the real-time perception data meets the safety conditions for lane changing.

[0149] In some embodiments, the display module 211 is further configured to: after the control module 214 determines whether the safety conditions for lane changing are met based on the real-time perception data, and controls whether the vehicle changes lanes to the target lane based on the determination result, if the determination result is yes, then display a cancel lane change touch control icon and / or a continue lane change touch control icon; wherein, the cancel lane change touch control icon is used to indicate canceling the lane change to the target lane, and the continue lane change touch control icon is used to indicate continuing the lane change to the target lane. The control module 214 is further configured to: after the display module 211 displays the cancel lane change touch control icon and / or the continue lane change touch control icon, if the cancel lane change touch control icon is detected to be touched, then control the vehicle to change lanes back to the original lane or stay in the current lane; if the continue lane change touch control icon is detected to be touched, then control the vehicle to continue changing lanes to the target lane.

[0150] This application also provides an electronic device that may include the human-machine interface device 21 for vehicle lane control described above. Please refer to FIG6, 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, which are configured to implement the human-machine interface method for vehicle lane control described above.

[0151] 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.

[0152] 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 vehicle lane control.

[0153] 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.

[0154] 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 vehicle lane control described in the above embodiments.

[0155] This application also provides a vehicle, including a human-machine interface device for vehicle lane control 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.

[0156] The human-machine interaction method, device, electronic device, program product, storage medium, and vehicle for vehicle lane control provided in this application generate and display lane touch-sensitive icons and at least one lane control mode corresponding to the lane in the vehicle's surrounding environment on the vehicle's intelligent driving perception screen. It also detects the user's touch operations in real time, determines the target lane and the target lane control mode, and controls the vehicle to drive in the target lane according to the target lane control mode. This provides a touch-based interaction method between the user and the intelligent driving system, allowing the user to request the intelligent driving system to control the vehicle to drive in the target lane according to their desired direction through touch interaction. Furthermore, before controlling the vehicle to drive in the target lane according to the target lane control mode, it also comprehensively considers the real-time lane information indicated by the lane touch-sensitive icons, improving the personalization of the intelligent driving system while ensuring driving safety, thereby improving the user experience of autonomous driving.

[0157] 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.

[0158] 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.

[0159] 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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