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

Abstract

A human-computer interaction method and apparatus, and an electronic device, a product, a storage medium and a vehicle. The method comprises: acquiring real-time perception data obtained by a perception device of a vehicle sensing a surrounding environment of an ego vehicle, wherein the surrounding environment comprises a vehicle and a lane; on the basis of the real-time perception data, generating and displaying touch-control indicators on an intelligent-driving perception interface of the ego vehicle, wherein the touch-control indicators comprise a vehicle touch-control indicator corresponding to the vehicle and a lane touch-control indicator corresponding to the lane, and each touch-control indicator is preset with a corresponding control object and control mode; detecting, in real time, a touch-control operation on any one of the vehicle touch-control indicator and the lane touch-control indicator, and determining a control object and a control mode, which correspond to a touched touch-control indicator, as a target control object and a target control mode; and on the basis of the target control mode, controlling the ego vehicle to travel relative to the target control object.

Description

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

[0001] This application claims priority to Chinese patent applications filed on January 22, 2025, with application number 202510103849.X, 202510105943.9, 202510106303.X, and 202510106381.X, 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 touch-screen human-computer interaction method, device, electronic device, program product, storage medium, and 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 touch-based human-computer interaction method, device, electronic device, program product, storage medium, and vehicle.

[0006] In a first aspect, embodiments of this application provide a touch-based human-computer interaction method, comprising: acquiring real-time perception data obtained by a vehicle's perception device perceiving the vehicle's surrounding environment; wherein the surrounding environment includes vehicles and lanes; generating and displaying touch icons on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the touch icons include a vehicle touch icon corresponding to the vehicle and a lane touch icon corresponding to the lane, each touch icon having a preset corresponding control object and control method; detecting touch operations on either the vehicle touch icon or the lane touch icon in real time, determining the control object and control method corresponding to the touched touch icon as a target control object and a target control method; and controlling the vehicle to drive relative to the target control object according to the target control method.

[0007] In some embodiments of this application, determining the control object and the control method corresponding to the touched touch identifier as the target control object and the target control method includes: when the touched touch identifier is the vehicle touch identifier, determining the target vehicle from the vehicles, and determining the vehicle control method according to the way the vehicle touch identifier is touched; controlling the vehicle to drive relative to the target control object according to the target control method includes: controlling the vehicle to drive relative to the target vehicle according to the vehicle control method.

[0008] In some embodiments of this application, the vehicle control method includes a following mode or an overtaking mode; controlling the vehicle to drive relative to the target vehicle according to the vehicle control method includes: controlling the vehicle to follow or overtake the target vehicle according to the following mode or the overtaking mode.

[0009] In some embodiments of this application, the touch icon further includes a vehicle speed adjustment icon, the control object of the vehicle speed adjustment icon is the vehicle, the control method of the vehicle speed adjustment icon is a vehicle speed adjustment method, and the touch-based human-computer interaction method further includes: real-time detection of touch operations on the vehicle speed adjustment icon, determining the vehicle corresponding to the touched vehicle speed adjustment icon and the vehicle speed adjustment method as the target control object and the target control method; and adjusting the speed of the vehicle according to the vehicle speed adjustment method.

[0010] In some embodiments of this application, determining the control object and the control method corresponding to the touched touch identifier as the target control object and the target control method includes: when the touched touch identifier is the lane touch identifier, determining the target lane from the lanes, and determining the lane control method according to the way the lane touch identifier is touched; controlling the vehicle to drive relative to the target control object according to the target control method includes: controlling the vehicle to drive in the target lane according to the lane control method.

[0011] In some embodiments of this application, the lane control method includes one of a lane changing method, a priority lane method, and a lane locking method; controlling the vehicle to travel in the target lane according to the lane control method includes: controlling the vehicle to travel in one of the following modes according to the lane changing method, the priority lane method, and the lane locking method: changing lanes to the target lane, prioritizing travel in the target lane, and locking travel in the target lane.

[0012] In some embodiments of this application, the touch icon further includes a distance adjustment icon, the control object of the distance adjustment icon is the vehicle, the control mode of the distance adjustment icon is a distance adjustment mode, and the touch-based human-computer interaction method further includes: real-time detection of touch operations on the distance adjustment icon, determining the vehicle corresponding to the touched distance adjustment icon and the distance adjustment mode as the target control object and the target control mode; and adjusting the actual distance of the vehicle relative to the surrounding environment according to the distance adjustment mode.

[0013] In some embodiments of this application, the method further includes: upon detecting a touch operation on the touch identifier, according to at least one layer of security judgment mechanism, when it is determined that the current instruction corresponding to the touch operation is unreasonable, receiving a next instruction adjacent to the current instruction and overwriting the current instruction with the next instruction; the at least one layer of security judgment mechanism is configured to indicate that the vehicle is driven safely after determining that the current instruction is reasonable; and, when it is determined that the current instruction is reasonable, allowing the vehicle to drive according to the current instruction.

[0014] In some embodiments of this application, the surrounding environment further includes a parking location, and the touch icon further includes a parking touch icon corresponding to the parking location; the real-time detection of touch operations on any one of the vehicle touch icon and the lane touch icon, and the determination of the control object and the control method corresponding to the touched touch icon as the target control object and the target control method, includes: real-time detection of touch operations on any one of the parking touch icon, the vehicle touch icon, and the lane touch icon; when the touched touch icon is the parking touch icon, the parking location is determined as the target control object and parking is determined as the target control method; the control of the vehicle relative to the target control object according to the target control method includes: controlling the vehicle to park at the parking location.

[0015] In some embodiments of this application, the vehicle includes the vehicle itself and other vehicles, and the vehicle touch icon includes the vehicle touch icon corresponding to the vehicle itself and the other vehicle touch icon corresponding to the other vehicle; generating and displaying the touch icon on the intelligent driving perception screen of the vehicle itself includes: generating and displaying the lane touch icon corresponding to the lane; determining a first relative position between the vehicle itself and the lane it is currently in, and generating and displaying the vehicle touch icon corresponding to the vehicle itself at the first relative position of the lane touch icon corresponding to the lane itself, according to a preset display ratio; determining a second relative position between the other vehicle and the vehicle itself, and generating and displaying the other vehicle touch icon corresponding to the other vehicle at the second relative position of the vehicle touch icon, according to the display ratio.

[0016] In some embodiments of this application, after generating and displaying the lane touch icon corresponding to the lane, the touch-based human-computer interaction method further includes: generating and displaying at least one lane control mode when the lane touch icon is detected to be touched.

[0017] In some embodiments of this application, generating and displaying at least one lane control mode when the lane touch icon is detected to be touched includes: when the lane touch icon is detected to be touched in a way that selects lane control, generating and displaying at least one lane control touch icon configured to indicate different lane control modes.

[0018] In some embodiments of this application, after generating and displaying the other vehicle touch icon corresponding to the other vehicle, the touch-based human-computer interaction method further includes: generating and displaying at least one vehicle control mode when the other vehicle touch icon is detected to be touched.

[0019] In some embodiments of this application, the step of generating and displaying at least one vehicle control mode when the touch control icon of another vehicle is detected to be touched includes: when the touch control mode of the touch control icon of another vehicle is detected to be a touch control mode for selecting vehicle control, generating and displaying at least one vehicle control touch control icon configured to indicate different vehicle control modes.

[0020] In some embodiments of this application, after generating and displaying the vehicle touch icon corresponding to the vehicle, the touch-based human-computer interaction method further includes: determining whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance; if the distance between the one side of the vehicle and the boundary of the corresponding side of the lane is greater than the preset safety distance, generating and displaying a direction touch icon pointing to the boundary of the corresponding side of the lane on one side of the vehicle touch icon; wherein the direction touch icon is touchable and configured to indicate that the position of the vehicle is allowed to be adjusted in the direction indicated by the direction touch icon; if the distance between the one side of the vehicle and the boundary of the corresponding side of the lane is not greater than the preset safety distance, generating and displaying a direction indicator icon pointing to the boundary of the corresponding side of the lane on one side of the vehicle touch icon; wherein the direction indicator icon is not touchable and configured to indicate that the position of the vehicle is prohibited from being adjusted in the direction indicated by the direction indicator icon.

[0021] In some embodiments of this application, after generating and displaying the vehicle touch icon corresponding to the vehicle, the touch-based human-computer interaction method further includes: generating and displaying a first direction touch icon pointing to the rear of the vehicle touch icon behind the vehicle touch icon; wherein the first direction touch icon is touchable and configured to indicate that the position of the vehicle can be adjusted in the direction indicated by the first direction touch icon; determining whether the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than a preset safe distance; and determining whether the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than the preset safe distance. In the following situations, a second directional touch icon is generated and displayed in front of the vehicle touch icon, pointing towards the front of the vehicle touch icon; wherein the second directional touch icon is touchable and configured to indicate that the vehicle's position can be adjusted in the direction indicated by the second directional touch icon; when the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is not greater than a preset safe distance, a directional indicator icon is generated and displayed in front of the vehicle touch icon, pointing towards the front of the vehicle touch icon; wherein the directional indicator icon is not touchable and configured to indicate that adjusting the vehicle's position in the direction indicated by the directional indicator icon is prohibited.

[0022] In some embodiments of this application, the lane touch indicators corresponding to all the lanes are positioned side by side, and the lane touch indicator corresponding to the vehicle lane is located below the vehicle touch indicator.

[0023] Secondly, embodiments of this application provide a touch-sensitive human-computer interaction device, comprising: an acquisition module configured to acquire real-time perception data obtained by a vehicle's perception device from perceiving the vehicle's surrounding environment; wherein the surrounding environment includes vehicles and lanes; a generation module configured to generate and display touch icons on the vehicle's intelligent driving perception screen based on the real-time perception data; wherein the touch icons include a vehicle touch icon corresponding to the vehicle and a lane touch icon corresponding to the lane, each touch icon having a preset corresponding control object and control method; a touch module configured to detect touch operations on either the vehicle touch icon or the lane touch icon in real time, and determine the control object and control method corresponding to the touched touch icon as a target control object and a target control method; and a control module configured to control the vehicle to drive relative to the target control object according to the target control method.

[0024] Thirdly, embodiments of this application provide an electronic device including one or more processors, the one or more processors being configured to implement the touch-based human-computer interaction method as described in any one of the first aspects.

[0025] 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 touch-based human-computer interaction method as described in any one of the first aspects.

[0026] 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 touch-based human-computer interaction method as described in any one of the first aspects.

[0027] In a sixth aspect, embodiments of this application provide a vehicle comprising: a touch-sensitive human-machine interface device as described in any of the second aspects; an electronic device as described in any of the third aspects; a non-transitory computer-readable storage medium as described in any of the fourth aspects; a computer program product as described in any of the fifth aspects; or at least one processor configured to implement the touch-sensitive human-machine interface method as described in any of the first aspects.

[0028] 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

[0029] 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.

[0030] Figure 1 shows a schematic diagram of the scenarios in which the touch-based human-computer interaction method of this application is applicable.

[0031] Figure 2 is a flowchart illustrating the touch-based human-computer interaction method according to an embodiment of this application.

[0032] Figure 3 is a schematic diagram of an electronic image according to an embodiment of this application.

[0033] Figure 4 is a flowchart illustrating the vehicle distance control method provided in an embodiment of this application.

[0034] Figure 5 shows a schematic diagram of multiple adjustment indicators for the vehicle distance control method shown in Figure 4.

[0035] Figure 6 shows the implementation flowchart of the vehicle distance control method shown in Figure 4 for vehicle distance adjustment.

[0036] Figure 7 shows a flowchart of the specific adjustment implementation of the vehicle distance control method shown in Figure 4.

[0037] Figure 8 shows a flowchart of the vehicle speed control method provided in an embodiment of this application.

[0038] Figure 9 is a schematic diagram of the vehicle speed adjustment indicator for the vehicle speed control method shown in Figure 8.

[0039] Figure 10 is a schematic diagram of the acceleration indicator of the vehicle speed control method shown in Figure 8.

[0040] Figure 11 is a schematic diagram of the deceleration indicator of the vehicle speed control method shown in Figure 8.

[0041] Figure 12 shows a schematic diagram of the acceleration process of the vehicle speed control method shown in Figure 8.

[0042] Figure 13 shows a schematic diagram of the deceleration process of the vehicle speed control method shown in Figure 8.

[0043] Figure 14 is a schematic flowchart of the vehicle safety control method according to an embodiment of this application.

[0044] Figure 15 is a schematic diagram of the safety judgment mechanism of the vehicle safety control method shown in Figure 14.

[0045] Figure 16 shows a schematic diagram of the soft switch of the vehicle safety control method shown in Figure 14.

[0046] Figure 17 shows a schematic diagram of the physical button used to generate a disable command in the vehicle safety control method shown in Figure 14.

[0047] Figure 18 shows a structural block diagram of a touch-screen human-computer interaction device according to an embodiment of this application.

[0048] Figure 19 shows a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0049] 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.

[0050] 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.

[0051] 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.

[0052] To address the technical problem of users being unable to control a vehicle to drive according to their wishes during autonomous driving, this application provides a touch-based human-machine interaction method. This method generates and displays vehicle touch icons, lane touch icons, speed adjustment icons, and distance adjustment icons relative to the surrounding environment on the vehicle's intelligent driving perception screen. It also detects user touch operations in real time, determines the target control object and target control method, and controls the vehicle to drive relative to the target control object according to the target control method. 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 according to their wishes through touch interaction.

[0053] Furthermore, when driving, users need to visually observe the vehicle's surroundings and analyze them based on their driving experience to make accurate driving judgments and control the vehicle as intended. However, in real-world scenarios, the vehicle's surroundings are highly complex, leading to rapidly changing road conditions. Users not only need to observe but also analyze their surroundings. This distraction can easily lead to safety risks.

[0054] To address the technical challenge of requiring users to observe and analyze the vehicle's surroundings to make driving decisions, and to reduce safety risks arising from user distraction, this application provides a touch-based human-computer interaction method. This method displays vehicle and lane touch icons, speed adjustment icons, and distance adjustment icons relative to the vehicle's surroundings on the vehicle's intelligent driving perception screen. This allows users to promptly and accurately grasp information about the vehicle's surroundings by viewing the intelligent driving perception screen, adjust the actual distance between the vehicle and its surroundings by viewing the distance adjustment icons, and adjust the vehicle's speed by viewing the speed adjustment icons. This eliminates the need for users to manually observe and analyze the vehicle's surroundings, thus reducing safety risks caused by user distraction.

[0055] Furthermore, to address the technical issue that vehicle responses to erroneous operations may lead to safety risks, this application also provides a vehicle safety control method. By employing at least one layer of safety judgment mechanism, if it is determined that the current instruction is unreasonable, the method receives the next instruction adjacent to the current instruction and overwrites the current instruction with the next instruction. In this way, the next instruction can overwrite the unreasonable current instruction, preventing a response to it, while simultaneously responding to the next instruction, thus avoiding safety risks and improving the security of instruction response.

[0056] Please refer to Figure 1, which shows a schematic diagram of the applicable scenario for the touch-based human-machine interaction method provided in this application embodiment. The touch-based human-machine interaction method provided in this application embodiment can be applied to a vehicle 10 with an intelligent driving system. The vehicle 10 may include a touch screen 11 and electronic devices connected to the touch screen 11. The electronic devices may be, but are not limited to, controllers or processors. Controllers may include, but are not limited to, body controllers, domain controllers, 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.

[0057] Please refer to Figure 2, which is a flowchart illustrating the touch-based human-computer interaction method provided in this embodiment. The touch-based human-computer interaction method provided in this embodiment includes, but is not limited to, the following steps S101 to S104.

[0058] In step S101, real-time perception data obtained by the vehicle's perception device from perceiving the vehicle's surrounding environment is acquired; wherein, the surrounding environment includes the vehicle and the lane.

[0059] Intelligent driving systems utilize 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 during operation. This real-time perception data is used to identify, detect, and track static and dynamic objects, and combined with navigation map data for system calculations and analysis. This allows the system to proactively alert the user to potential hazards, effectively improving driving comfort and safety. Here, the vehicle's perception devices can be various sensors installed on the vehicle. The intelligent driving system uses this real-time perception data to control the vehicle, ensuring it follows traffic rules and a planned route to its destination safely.

[0060] In this embodiment of the application, the surrounding environment of the vehicle may include lanes and vehicles in the road, the vehicles include the vehicle and other vehicles, and the lanes include the vehicle's own lane and other lanes where the vehicle is not located.

[0061] In step S102, based on the real-time perception data, a touch icon is generated and displayed on the intelligent driving perception screen of the vehicle; wherein, the touch icon includes a vehicle touch icon corresponding to the vehicle and a lane touch icon corresponding to the lane, and each touch icon is preset with a corresponding control object and control method.

[0062] As the "eyes and ears" of an intelligent driving system, the vehicle's sensing devices acquire real-time perception data from these devices, allowing the system to indirectly perceive its surroundings. After acquiring this data, the intelligent driving system generates and displays an electronic image of the vehicle's surroundings on the Advanced Driver Assistance System View (ADV) to provide users with real-time information about their vehicle's environment. This electronic image includes touch icons, each with a pre-defined control object and control method. Users can control the vehicle to move relative to the specified control object using the designated control method by touching these icons.

[0063] 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 surrounding environment of the vehicle, and may include the vehicle identifier corresponding to the vehicle itself and the identifier corresponding to another vehicle, used to indicate real-time vehicle information in the surrounding environment; the lane identifier is the identifier corresponding to a lane in the surrounding environment of the vehicle, and may include the identifier corresponding to the lane in which the vehicle is located and the identifier corresponding to another lane in which the vehicle is not located, used to indicate real-time lane information in the surrounding environment.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] It should also be noted that the touch icons included in the electronic image are not limited to vehicle touch icons and lane touch icons, but may also include other touch icons. For example, touch icons may also include location touch icons, speed adjustment icons, and distance adjustment icons for adjusting the distance of the vehicle relative to the surrounding environment. Users can also control the vehicle to drive to the location corresponding to the location touch icon by touching the location touch icon.

[0071] In step S103, touch operations on either the vehicle touch control sign or the lane touch control sign are detected in real time, and the control object and control method corresponding to the touched touch control sign are determined as the target control object and target control method.

[0072] When a user performs a touch operation on either the vehicle touch icon or the lane touch icon, the vehicle touch icon or lane touch icon will receive the touch operation. After detecting that the vehicle touch icon or lane touch icon has been touched, the intelligent driving system will determine the control object corresponding to the touched vehicle touch icon or lane touch icon as the target control object and the control method corresponding to the touched vehicle touch icon or lane touch icon as the target control method. In the embodiments of this application, the target control object is usually another vehicle or a lane, and the target control method is usually a vehicle control method (such as overtaking, following, or locking the following vehicle) or a lane control method (such as changing lanes, priority lane, or locking the lane).

[0073] In step S104, the vehicle is controlled to move relative to the target controlled object according to the target control method.

[0074] After determining the target control object and the target control method, the intelligent driving system controls the vehicle to drive relative to the target control object according to the target control method, thereby responding to the user's touch operation and controlling the vehicle to drive relative to other vehicles specified by the user according to the vehicle control method specified by the user, or controlling the vehicle to drive in the lane specified by the user according to the lane control method specified by the user.

[0075] In some embodiments, when determining the control object and control method corresponding to the touched touch mark as the target control object and target control method in step S103 above, the specific steps include: if the touched touch mark is the vehicle touch mark, then the target vehicle is determined from the vehicle, and the vehicle control method is determined according to the way the vehicle touch mark is touched; when controlling the vehicle to drive relative to the target control object according to the target control method in step S104 above, the specific steps include: controlling the vehicle to drive relative to the target vehicle according to the vehicle control method.

[0076] In some embodiments, the vehicle control method in the above steps includes a following mode; when controlling the vehicle to drive relative to the target vehicle according to the vehicle control method in the above steps, the specific steps include: controlling the vehicle to follow the target vehicle according to the following mode.

[0077] In some embodiments, the vehicle control method in the above steps includes an overtaking method; when controlling the vehicle to drive relative to the target vehicle according to the vehicle control method in the above steps, the specific steps include: controlling the vehicle to overtake the target vehicle according to the overtaking method.

[0078] In some embodiments, when determining the control object and control method corresponding to the touched touch mark as the target control object and target control method in step S103 above, the specific steps include: if the touched object is the lane touch mark, then determine the target lane from the lane, and determine the lane control method according to the way the lane touch mark is touched; when controlling the vehicle to drive relative to the target control object according to the target control method in step S104 above, the specific steps include: controlling the vehicle to drive in the target lane according to the lane control method.

[0079] In some embodiments, the lane control method in the above steps includes a lane changing method; when controlling the vehicle to travel in the target lane according to the lane control method in the above steps, the specific steps include: controlling the vehicle to change lanes to the target lane according to the lane changing method.

[0080] In some embodiments, the lane control method in the above steps includes a priority lane method; when controlling the vehicle to drive in the target lane according to the lane control method in the above steps, the specific steps include: controlling the vehicle to drive in the target lane first.

[0081] In some embodiments, the lane control method in the above steps includes a lane locking method; when controlling the vehicle to drive in the target lane according to the lane control method in the above steps, the specific steps include: controlling the vehicle to lock and drive in the target lane.

[0082] In some embodiments, the surrounding environment in the above steps also includes the parking location, and the touch mark in the above steps also includes the parking touch mark corresponding to the parking location; when the touch operation of any one of the vehicle touch mark and the lane touch mark is detected in real time in step S103, and the control object and control method corresponding to the touched touch mark are determined as the target control object and the target control method, the specific steps include: detecting the touch operation of any one of the parking touch mark, the vehicle touch mark and the lane touch mark in real time; if the touched mark is the parking touch mark, then the parking location is determined as the target control object and parking is determined as the target control method; when the vehicle is controlled to drive relative to the target control object according to the target control method in step S104, the specific steps include: controlling the vehicle to park at the parking location.

[0083] In some embodiments, the vehicles in the above steps include the vehicle itself and other vehicles, and the vehicle touch icons in the above steps include the vehicle touch icon corresponding to the vehicle itself and the other vehicle touch icon corresponding to other vehicles; when generating and displaying touch icons on the intelligent driving perception screen of the vehicle itself in the above step S102, the following steps are specifically included: generating and displaying the lane touch icon corresponding to the lane; determining the first relative position between the vehicle and the lane where the vehicle is currently located, and generating and displaying the vehicle touch icon corresponding to the vehicle itself at the first relative position of the lane touch icon corresponding to the vehicle itself according to a preset display ratio; determining the second relative position between the other vehicle and the vehicle itself, and generating and displaying the other vehicle touch icon corresponding to the other vehicle at the second relative position of the vehicle touch icon according to the display ratio.

[0084] In some embodiments, the lane touch indicators corresponding to all lanes are positioned side by side, and the lane touch indicator corresponding to the vehicle lane is located below the vehicle touch indicator.

[0085] In some embodiments, after generating and displaying the lane touch icon corresponding to the lane in the above steps, the touch-based human-computer interaction method of this application embodiment further includes the following step: if the lane touch icon is detected to be touched, generate and display at least one lane control mode.

[0086] In some embodiments, if the lane touch icon is detected to be touched in the above steps, and at least one lane control mode is generated and displayed, the steps specifically include the following: when the lane touch icon is detected to be touched in the way of selecting lane control, at least one lane control touch icon for indicating different lane control modes is generated and displayed.

[0087] In some embodiments, after generating and displaying the other vehicle touch icon corresponding to the other vehicle in the above steps, the touch-based human-computer interaction method of this application embodiment further includes the following step: if the other vehicle touch icon is detected to be touched, generate and display at least one vehicle control mode.

[0088] In some embodiments, if the touch control icon of another vehicle is detected to be touched in the above steps, and at least one vehicle control mode is generated and displayed, the steps specifically include the following: when the touch control icon of another vehicle is detected to be touched in the way of selecting vehicle control, at least one vehicle control touch icon is generated and displayed to indicate different vehicle control modes.

[0089] In some embodiments, after generating and displaying the vehicle touch icon corresponding to the vehicle in the above steps, the touch-based human-computer interaction method of this application embodiment further includes the following steps: determining whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance; if the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than the preset safety distance, generating and displaying a direction touch icon pointing to the boundary of the corresponding side of the lane on the side of the vehicle touch icon; wherein the direction touch icon is touchable and is used to indicate that the position of the vehicle is allowed to be adjusted in the direction it points; if the distance between one side of the vehicle and the boundary of the corresponding side of the lane is not greater than the preset safety distance, generating and displaying a direction indicator icon pointing to the boundary of the corresponding side of the lane on the side of the vehicle touch icon; wherein the direction indicator icon is not touchable and is used to indicate that the position of the vehicle is prohibited from being adjusted in the direction it points.

[0090] In some embodiments, after generating and displaying the vehicle touch icon corresponding to the vehicle in the above steps, the touch-based human-computer interaction method of this application embodiment further includes the following steps: generating and displaying a directional touch icon pointing to the rear of the vehicle touch icon behind the vehicle touch icon; wherein the directional touch icon is touchable and is used to indicate that the position of the vehicle is allowed to be adjusted in the direction it points; determining whether the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than a preset safe distance; if the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than the preset safe distance, generating and displaying the directional touch icon pointing to the front of the vehicle touch icon in front of the vehicle touch icon; if the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is not greater than the preset safe distance, generating and displaying a directional indicator icon pointing to the front of the vehicle touch icon in front of the vehicle touch icon; wherein the directional indicator icon is not touchable and is used to indicate that the position of the vehicle is prohibited from being adjusted in the direction it points.

[0091] In this embodiment, the attributes of the directional touch icon and the directional indicator icon are different. For example, the directional touch icon can be set to one color and the directional indicator icon to another color, using the difference in color to represent the difference between the directional touch icon and the directional indicator icon; alternatively, the directional touch icon can be generated with a solid line and the directional indicator icon with a dashed line, using the difference in solid and dashed lines to represent the difference between the directional touch icon and the directional indicator icon; furthermore, a larger directional touch icon and a smaller directional indicator icon can be generated, using the difference in size to represent the difference between the directional touch icon and the directional indicator icon. This embodiment does not limit the specific manifestation of the difference between the directional touch icon and the directional indicator icon, as long as the attributes of the directional touch icon and the directional indicator icon are different.

[0092] The vehicle distance control method according to the embodiments of this application will be described in detail below. Please refer to Figures 4 to 7. Figure 4 is a schematic flowchart of the vehicle distance control method provided in the embodiments of this application. Figure 5 is a schematic diagram of multiple adjustment indicators of the vehicle distance control method shown in Figure 4. Figure 6 is a flowchart of the vehicle distance adjustment implementation of the vehicle distance control method shown in Figure 4. Figure 7 is a flowchart of the specific adjustment implementation of the vehicle distance control method shown in Figure 4.

[0093] As shown in Figure 4, the vehicle distance control method may include, but is not limited to, the following steps 110 to 130.

[0094] In step 110, real-time perception data of the vehicle's surrounding environment is acquired, and electronic images corresponding to the perception data of the vehicle and its surrounding environment are generated and displayed. The electronic images include vehicle identification, surrounding environment identification, and the display of the actual distance between the vehicle and its surrounding environment.

[0095] The above display is used to show basic information, such as the actual distance of the vehicle relative to its surroundings. Correspondingly, the electronic image displays the distance of the vehicle's sign relative to the surrounding environment signs.

[0096] As mentioned above, the electronic image may also include one or more of the vehicle's own identification and the surrounding environment's identification. The surrounding environment's identification may include, but is not limited to, identification of other vehicles and lane markings in the surrounding environment. The vehicle's own identification, other vehicles' identification, and lane markings represent information about road conditions used by the vehicle and the surrounding environment to indicate the actual distribution of the vehicle, other vehicles, and lanes in the actual environment.

[0097] The electronic images described in this article can be displayed on the intelligent driving perception screen (ADV) of the HMI (Human-Machine Interface) to achieve human-machine interaction.

[0098] In step 120, if it is determined that the actual distance meets the conditions for distance adjustment, an adjustment indicator for distance adjustment is displayed on or around the vehicle in the electronic image.

[0099] The adjustment indicator in this article is displayed synchronously with the vehicle's actual relative distance to the surrounding environment (also known as actual distance).

[0100] It should be noted that the condition of "actual distance meeting the distance adjustment condition" in step 120 above indicates that the vehicle is within a safe distance range relative to the current environment and has the possibility of distance adjustment. For example, if the distance between the vehicle and the vehicle in front meets the requirements of a safe distance, the distance between the vehicle and the vehicle in front can be adjusted. Another example is if the distance between the vehicle and one side boundary of the lane meets the requirements of safe driving and traffic laws, then the distance between the vehicle and one side boundary of the lane can be adjusted.

[0101] Next, if the actual distance in step 120 above is determined to meet the conditions for distance adjustment, it means that the distance can be adjusted. If, under safe driving conditions, the actual distance is determined not to have reached the limit distance, then the actual distance has met the conditions for distance adjustment. Conversely, if the actual distance has not met the conditions for distance adjustment, then the distance cannot be adjusted. Please see below for a detailed explanation.

[0102] In step 130, based on the adjustment indicators displayed on the electronic image, the actual distance of the vehicle relative to the surrounding environment and the displayed distance of the vehicle's indicators relative to the surrounding environment indicators are simultaneously adjusted. This displayed distance can be displayed proportionally to the actual distance.

[0103] Step 130 above can be implemented in a variety of optional ways.

[0104] In one alternative implementation, if the adjustment indicator displayed on the aforementioned electronic image is activated, the actual distance of the vehicle relative to the surrounding environment and the display distance of the vehicle's indicator relative to the surrounding environment indicator are adjusted simultaneously.

[0105] In another alternative implementation, after the electronic image displays the adjustment indicator, it indicates that there is room for adjusting the distance. Therefore, when the electronic image displays the adjustment indicator, and the perceived data includes the presence of a large vehicle around the vehicle, the actual distance between the vehicle and the large vehicle, as well as the displayed distance of the vehicle's indicator relative to the large vehicle's indicator, are simultaneously adjusted; the actual distance is used to avoid the large vehicle. In this way, the distance can be automatically adjusted to avoid the large vehicle, conforming to actual driving safety habits.

[0106] In this embodiment of the application, "large vehicle" refers to a vehicle whose total mass and length are both greater than its own. These large vehicles may include, but are not limited to, one or more of the following: large vehicles with more than 20 passengers, large vehicles with a length of more than 6 meters, and large vehicles with a total weight of more than 4 tons.

[0107] Next, the presence of large vehicles around the vehicle can refer to the presence of large vehicles in front of, behind, to the left of, and to the right of the vehicle. This article adjusts the actual distance between the vehicle and the large vehicle to be greater than the safe distance, the maximum safe distance stipulated by traffic regulations, or the maximum safe distance that the user is accustomed to, in order to more effectively ensure the safety of the vehicle.

[0108] Of course, the two optional implementation methods mentioned above can be executed independently or in combination.

[0109] The implementation details are as follows: If the adjustment indicator displayed on the aforementioned electronic image is activated, and the perceived data includes the presence of large vehicles around the vehicle, then the actual distance of the vehicle relative to its surroundings and the displayed distance of the vehicle's indicator relative to the surrounding environment indicators are adjusted simultaneously. The surrounding environment may include, but is not limited to, large vehicles. Thus, this document includes adjusting the actual distance of the vehicle relative to large vehicles and the displayed distance of the vehicle's indicator relative to the large vehicle indicators, which can both satisfy user habits and ensure user driving safety.

[0110] In this embodiment, the electronic image can intuitively display the vehicle's identification markers, surrounding environment markers, and the actual distance between the vehicle and its surroundings, allowing users to promptly and accurately grasp information about the vehicle's environment. Simultaneously, if the actual distance meets the conditions for distance adjustment, an adjustment marker for distance adjustment is displayed. This indicates that distance adjustment is currently recommended, allowing users to adjust the actual distance between the vehicle and its surroundings, as well as the displayed distance of the vehicle's identification markers relative to the surrounding environment, by viewing the adjustment markers. This simultaneous adjustment of both the actual and displayed distances eliminates the need for analysis and judgment based on driving experience, reducing the safety risks associated with distracted judgment.

[0111] As shown in Figure 4, step 120 may further include: if it is determined that the actual distance meets the conditions for distance adjustment, then displaying an adjustment indicator for distance adjustment in an adjustable distance manner on or around the vehicle in the electronic image.

[0112] The adjustment indicator can also be displayed as follows: if it is determined that the actual distance has not met the conditions for distance adjustment, then an adjustment indicator for distance adjustment is displayed on or around the vehicle in the electronic image in a non-adjustable distance manner.

[0113] In this way, the adjustment indicator is only displayed when the distance can be adjusted. When the distance cannot be adjusted, the adjustment indicator is not displayed, which avoids obstruction or interference from the indicator's transparency.

[0114] Furthermore, the aforementioned adjustment indicators can be categorized into left and right lane boundary spacing adjustment indicators and / or vehicle distance adjustment indicators based on their function. The left and right lane boundary spacing adjustment indicators display that the relative distance between the vehicle and the lane boundary of the current lane is adjustable, allowing the vehicle to meet user preferences and travel at the distance of the specific lane boundary preferred by the user. The vehicle distance adjustment indicators display that the relative distance between the vehicle and the vehicles in front and behind is adjustable, allowing the vehicle to meet user preferences and travel at the distance preferred by the user.

[0115] The following explanation uses the adjustment of the distance between the left and right lane boundaries as an example.

[0116] While the vehicle is in motion, the user may want to fine-tune the distance between the vehicle and the boundaries of the lane on both sides. Therefore, adjustment indicators, such as directional indicator indicators, can be generated on both sides of the vehicle icon to indicate how to fine-tune the distance between the vehicle and the lane boundaries.

[0117] (1) Determine whether the distance between the two sides of the vehicle and the corresponding two sides of the lane is greater than the preset safety distance.

[0118] (2) If the distance between one side of the vehicle and the corresponding boundary of the lane is greater than the safe distance, an adjustment mark will be displayed on the side of the vehicle in an adjustable distance manner.

[0119] (3) If the distance between one side of the vehicle and the corresponding boundary of the lane is not greater than the safe distance, then an adjustment mark is displayed on the side of the vehicle in a non-adjustable manner.

[0120] If the distance between the left side of the vehicle and the left edge of the lane is greater than the safe distance, an adjustable distance indicator will be displayed to the left of the vehicle indicator; if the distance between the left side of the vehicle and the left edge of the lane is not greater than the safe distance, a non-adjustable distance indicator will be displayed to the left of the vehicle indicator.

[0121] If the distance between the right side of the vehicle and the right edge of the lane is greater than the safe distance, an adjustment indicator will be displayed to the right of the vehicle indicator in an adjustable distance manner; if the distance between the right side of the vehicle and the right edge of the lane is not greater than the safe distance, an adjustment indicator will be displayed to the right of the vehicle indicator in a non-adjustable distance manner.

[0122] In this embodiment, the attributes of the adjustment identifier displayed with a non-adjustable distance are different from the attributes of the adjustment identifier displayed with an adjustable distance.

[0123] For example, the two can be distinguished by different colors and / or different indicator transparency. For instance, an adjustment indicator displayed in a non-adjustable distance mode could be a gray transparent or semi-transparent color to display the distance adjustment indicator. Alternatively, an adjustment indicator displayed in an adjustable distance mode could be a non-transparent color to display the distance adjustment indicator. These other colors can be any color other than gray.

[0124] For example, the two can be distinguished by different line types. For instance, adjustment indicators displayed with adjustable distance can use solid lines, while those displayed with non-adjustable distance can use dashed lines. Thus, the difference between adjustment indicators displayed with adjustable distance and those displayed with non-adjustable distance is reflected through the difference between solid and dashed lines.

[0125] For example, the two can be distinguished by different sizes. For instance, the adjustment indicator displayed with an adjustable distance is relatively larger, while the adjustment indicator displayed with a non-adjustable distance is relatively smaller. Thus, the difference in size reflects the distinction between adjustment indicators displayed with and without an adjustable distance.

[0126] In this regard, the embodiments of this application do not limit the specific manifestation of the difference between the adjustment mark displayed in an adjustable distance mode and the adjustment mark displayed in a non-adjustable distance mode, as long as the attributes of the adjustment mark displayed in an adjustable distance mode and the adjustment mark displayed in a non-adjustable distance mode are different.

[0127] In addition, the above-mentioned vehicle distance control method may also include, but is not limited to, if it is determined that the actual distance has not met the distance adjustment conditions, then the adjustment indicator will not be displayed on or around the vehicle in the above-mentioned electronic image.

[0128] Referring to Figure 5, in the electronic image shown in Figure 5, the black vehicle identifier is the vehicle's identifier, and the identifier of the vehicle in front of the vehicle's identifier is the identifier of another vehicle. The gray-filled box indicates the adjustment identifier. Under the road condition information shown in Figure 5, the surrounding environment includes the vehicle in front, and lanes ①, ②, ③, and ④. Lanes ①, ②, and ③ are forward-moving lanes and are other lanes where the vehicle is not located. Lane ④ is a reverse-moving lane, and lane ③ is the vehicle's own lane. The vehicle in front and the vehicle itself are traveling in the same direction. The vehicle can follow or overtake the vehicle in front. The identifier of the vehicle in front can display the first letter G (for following) and the first letter C (for overtaking). The vehicle can adjust its following or overtaking behavior relative to the vehicle in front using the G and / or C vehicle control identifiers.

[0129] To address the issue that the vehicle's inability to automatically adjust its distance when using an intelligent driving system fails to meet user expectations, the vehicle distance control method of this application embodiment may include one or more adjustment indicators. These adjustment indicators can be categorized into display indicators and / or touch indicators based on how they are operated. Accordingly, step a involves obtaining an adjustment command based on the adjustment indicator displayed in the electronic image. Step b involves responding to the adjustment command by simultaneously adjusting both the vehicle's actual distance relative to the surrounding environment and the displayed distance.

[0130] Continuing with Figure 5, the aforementioned distance adjustment methods can be indicated by arrow directions. Specifically, on the Intelligent Driving Perception (ADV) screen of the central control screen in this paper, a gray-filled box represents the adjustment indicator 30, and four adjustment indicators 30 are arranged around the vehicle indicator to achieve fine-tuning of distance in four directions, such as left-right fine-tuning and / or forward-backward fine-tuning (fine-tuning to decrease the distance forward or fine-tuning to increase the distance backward). The four adjustment indicators 30 include vehicle forward adjustment 31, vehicle backward adjustment 32, vehicle right distance adjustment 33, and vehicle left distance adjustment 34. Here, "fine-tuning" means that the adjustment distance is small compared to the driving distance. Thus, the adjusted distance is displayed in real time on the Intelligent Driving Perception (ADV) screen.

[0131] In this embodiment, if the actual distance is determined to meet the conditions for distance adjustment, an adjustment indicator for distance adjustment is displayed to indicate that distance adjustment is recommended. This allows the user to adjust the vehicle's actual distance relative to the surrounding environment and the displayed distance of the vehicle's indicator relative to the surrounding environment's indicators by viewing the adjustment indicator. Simultaneous adjustment of both the actual and displayed distances eliminates the need for analysis and judgment based on driving experience, reducing the safety risks associated with user distraction. Furthermore, by receiving adjustment commands from the adjustment indicator displayed on the electronic image, the system can promptly receive user input commands in real-time, quickly fulfilling user expectations. This reduces the likelihood of user-inputted voice commands failing to execute during autonomous driving, requiring attempts to re-enter other commands. It also conserves vehicle network and power resources, reduces user operation steps, and improves the user experience of autonomous driving.

[0132] Adjustment commands can be obtained using at least one of the following optional methods.

[0133] In one optional acquisition method, touch operations on the touch icon are received in real time to generate adjustment commands. In another optional acquisition method, voice commands input by the user for the display icon are received in real time.

[0134] As shown in Figure 5, in an optional embodiment, the touch identifier includes multiple touch identifiers; each touch identifier corresponds to a distance adjustment mode. Accordingly, firstly, a touch operation is received in real-time for any of the touch identifiers to determine the distance adjustment mode corresponding to the touched touch identifier; secondly, an adjustment command is generated according to the corresponding distance adjustment mode; thirdly, in response to the distance adjustment mode corresponding to the adjustment command, both the actual distance and the display distance are adjusted simultaneously. Each touch identifier can have a pre-set distance adjustment mode. When any touch identifier is touched, it is only necessary to determine which specific touch identifier it is, and then adjust both the actual distance and the display distance simultaneously according to the corresponding adjustment command generated after the specific touch identifier is touched.

[0135] Continuing as shown in Figure 5, when the adjustment indicator is activated, it is determined that the situation involves adjusting the distance between the left and right lane boundaries. For example, if the adjustment indicator is a touch indicator and is touched, it is determined that the situation involves adjusting the distance between the left and right lane boundaries. Touch indicators may include, but are not limited to, click buttons and / or slide buttons, all of which are modular virtual modules.

[0136] Example 1: Adjustment of lane boundary spacing. In this embodiment, the user can click and / or slide the adjustment buttons on the left and right sides of the vehicle indicator (or the user's voice input may contain keywords such as "a little to the left" or "a little to the right," or other generalized voice commands). Each click and / or slide of the adjustment button moves the vehicle slightly closer to the corresponding side according to a preset calibration value. When the intelligent driving system deems it risk-free, the adjustment can be made to be close to crossing the lane line. The timing of automatic reversal after adjustment is shown in Figure 5.

[0137] Example 2: Distance Adjustment. In this embodiment, the user can click and / or slide the adjustment buttons on both sides of the vehicle icon (or the user's voice input may contain keywords such as "a little up / a little down", or other generalized voice). Each click and / or slide of the adjustment button will adjust the following distance to the vehicle in front by a little closer / a little farther (preset calibration value), until the intelligent driving limit safe distance is reached, or the distance increases to the point where the following target is lost.

[0138] In a third optional embodiment, a display icon is used to indicate the distance adjustment mode. The first step involves receiving voice commands input by the user to the display icon in real time. The second step involves determining whether the content of the voice command matches the displayed distance adjustment mode. The third step, if a match is found, involves simultaneously adjusting both the vehicle's actual distance relative to the surrounding environment and the displayed distance according to the matched distance adjustment mode. The matched distance adjustment mode includes a matched distance adjustment direction and a matched adjustment value; the vehicle's actual distance relative to the surrounding environment and the displayed distance are adjusted simultaneously according to the matched distance adjustment direction and the matched adjustment value. The fourth step, if a mismatch is found, involves refusing to respond to the voice command.

[0139] Each display sign can show one distance adjustment method. When users see these display signs, they simply need to use the distance adjustment method shown on the sign to conduct a voice conversation.

[0140] As shown in Figure 5, the distance adjustment method described above can be indicated by arrow directions. Specifically, on the Intelligent Driving Perception (ADV) screen of the central control screen, four adjustment icons are arranged around the vehicle icon, represented by gray-filled squares. These adjustment icons can be clicked as buttons to fine-tune the distance in four directions. The adjusted distance is displayed in real time on the ADV screen. The distance adjustment method can also be described using text.

[0141] The following explanation uses vehicle distance adjustment as an example.

[0142] In the specific implementation embodiment of the vehicle distance adjustment shown in Figure 6, firstly, click on the vehicle distance fine-tuning. For example, fine-tuning the distance between the vehicle and the vehicle in front. Another example is fine-tuning the distance between the vehicle and the vehicle following. Secondly, determine whether the distance adjustment mode is the vehicle adjusting forward or the vehicle adjusting backward. Thirdly, determine whether the limit distance is exceeded: if the vehicle is adjusting forward, determine whether the minimum safe distance is exceeded; or if the vehicle is adjusting backward, determine whether the maximum safe distance is exceeded.

[0143] Fourth, if not, that is, if it is determined that the minimum safe following distance has not been exceeded, then the distance reduction will be displayed on the HMI. Fifth, the distance to the vehicle in front will be reduced according to the preset calibration value.

[0144] Sixth, if not, that is, if it is determined that the maximum safe following distance has not been exceeded, then display the distance increase on the HMI. Seventh, increase the distance to the vehicle in front according to the preset calibration value.

[0145] Eighth, if it is determined that the maximum safe following distance or the minimum safe following distance is exceeded, then the vehicle distance adjustment and the displayed distance will be refused.

[0146] Ninth, the system adjusts the following distance in real time. Tenth, it learns the aforementioned user habits. In this embodiment, the backend learns the user's following habits or their distance habits from the vehicle in front.

[0147] In a third optional embodiment, the system can receive voice commands to determine the specific distance adjustment method and simultaneously adjust both the actual distance and the displayed distance. The voice commands can be received via a microphone. Thus, by receiving voice commands, both the actual distance and the displayed distance can be quickly adjusted simultaneously.

[0148] In a fourth optional embodiment, the aforementioned adjustment command includes the current distance adjustment method; the current distance adjustment method includes the current distance adjustment direction and the current adjustment value. Step 1 involves repeatedly acquiring adjustment commands input to the adjustment indicator in real time. For example, receiving real-time control of the adjustment indicator, the vehicle adjusts the distance according to the controlled content.

[0149] Step 2: If the current adjustment value is accumulated on the current state and it is determined that the actual distance after this adjustment has not reached the limit distance, then respond to this adjustment command, adjust the direction according to the current adjustment data and the current distance, and at the same time adjust the actual distance of the vehicle relative to the surrounding environment and the displayed distance.

[0150] The current state represents the vehicle's relationship with its surroundings. The current adjustment values ​​and adjustment values ​​mentioned in this document are set according to user requirements.

[0151] Because vehicles cannot drive too close to one side boundary of their own lane during operation, otherwise they may scrape against vehicles in adjacent lanes and / or roadside greenery. Therefore, a safety distance needs to be preset. This safety distance is the aforementioned limit distance, so that the two sides of the vehicle are kept at a distance from the corresponding side boundaries of the own lane that is not less than the limit distance.

[0152] In addition, because vehicles cannot get too close to the vehicle in front while driving, otherwise a collision may occur, a safe distance needs to be preset. This safe distance is the aforementioned limit distance, so that the distance between the vehicle and the vehicle in front is not less than the limit distance.

[0153] Step 3: If the current adjustment value is added to the current state, and it is determined that the actual distance after this adjustment has reached the limit distance, then the vehicle will not respond to or will refuse to respond to this adjustment command, maintaining the current state. This process continues until the actual distance between the vehicle and its surroundings reaches the limit distance, at which point the current state is maintained. At this point, further distance adjustments will cease, or the vehicle will not respond to this adjustment command or any subsequent adjustment commands.

[0154] In response, based on the aforementioned adjustment of the left and right lane boundary spacing, and / or vehicle distance adjustment, the details are as follows.

[0155] In an optional embodiment of adjusting the distance between the left and right lane boundaries, the actual distance includes a first actual distance between the vehicle and the lane boundary of the current lane in which the vehicle is located; correspondingly, the current distance adjustment direction includes the direction of the vehicle towards either the left or right side; until the actual distance of the vehicle relative to the surrounding environment and the display distance of the vehicle's sign relative to the surrounding environment sign are simultaneously adjusted to the limit distance includes: until the vehicle is controlled to adjust the distance to one of the left or right sides to the first limit distance. If the current adjustment value of this adjustment is accumulated on the current state and it is determined that the actual distance after this adjustment has reached the limit distance, then the adjustment command is not responded to or is refused, and the current state is maintained or the distance is adjusted to the other side of the left or right sides; the first limit distance is used to indicate that the vehicle is approaching the lane boundary but has not yet crossed it.

[0156] In an optional embodiment of distance adjustment, similar to the optional embodiment of left and right lane boundary spacing adjustment described above, compared to the optional embodiment of left and right lane boundary spacing adjustment described above, in this optional embodiment of distance adjustment, the actual distance includes a second actual distance between the vehicle and other vehicles around the vehicle; other vehicles include adjacent vehicles within the vehicle's safe distance, and the vehicle follows these other vehicles. In this case, the distance between the vehicle and the preceding vehicle is also referred to as the distance between the vehicle and the preceding vehicle. Correspondingly, the current distance adjustment direction includes moving towards the front of the vehicle; until both the actual distance between the vehicle and the surrounding environment and the displayed distance of the vehicle's signage relative to the surrounding environment signs are adjusted to the limit distance, the current state is maintained until the minimum safe distance between the vehicle and the preceding vehicle is controlled to the limit distance; the limit distance is used to represent the minimum distance approaching the point where there is a risk of collision between the vehicle and the preceding vehicle.

[0157] The vehicle distance control method described in this paper considers various user preferences during actual driving. Under safe driving conditions, some users prefer to drive close to the lane boundary, while others prefer to drive in the middle of the lane. Some users also prefer a closer distance to the vehicle in front, while others prefer a greater distance. These user preferences can be recorded and learned in the background to determine user distance adjustment habits. These habits can then represent the user's preferred distance adjustment method.

[0158] In this way, users can adjust the distance themselves, while the system intelligently learns and remembers relevant scenarios in the background, recording the user's distance adjustment habits. Subsequently, when the user encounters similar situations, the system will prioritize using the learned user's or the user's historical habits. Detailed explanation follows.

[0159] Continuing as shown in Figure 4, this paper can be implemented through at least one of the following optional embodiments, simultaneously adjusting the actual distance of the vehicle relative to the surrounding environment and the displayed distance: In the first optional embodiment, step A involves determining the current distance adjustment method of the current user's distance adjustment habit from the historical user distance adjustment habits, based on the vehicle's current user identity information. The historical user distance adjustment habits are generated using the following steps: collecting and recording the user's distance adjustment methods during each driving process to generate user distance adjustment habits.

[0160] Considering that in families with private vehicles, two or more family members may share a car, the driver of the same car is likely to be different, and different drivers have different driving habits. Before starting the vehicle, the current user's identity can be obtained through login authentication; after starting the vehicle, the current user's identity information can also be obtained through voice recognition. Of course, other methods can also be used to obtain the current user's identity information before and / or after starting the vehicle, etc.

[0161] Continuing with Figure 4, these historical records are stored in the database. Step A above collects the current user's identity information and compares it with the user identity information already stored in the database to authenticate the current user's identity information. Specifically: the current user's identity information is collected and compared with the user identity information already stored in the vehicle's database; if they match, that is, if the stored user identity information contains the current user's identity information, the authentication of the current user's identity information passes. If they do not match, that is, if the stored user identity information does not contain the current user's identity information, the authentication of the current user's identity information fails.

[0162] The above-mentioned collection of the current user's identity information and comparison with the user identity information already stored in the vehicle's database can be achieved through at least one of the following optional embodiments.

[0163] In one alternative embodiment, the current user's identity is authenticated using biometrics (e.g., fingerprint recognition, facial recognition, or iris scanning). If the current user's biometric authentication is successful, the current user's authentication is successful. If the current user's biometric authentication fails, the current user's authentication fails.

[0164] In another alternative embodiment, an in-vehicle AI (Artificial Intelligence) system or virtual assistant is used for voice or behavioral recognition to verify the current user's identity information via voice commands or dialogue. If the current user's voice or behavioral recognition authentication is successful, the current user's authentication is successful. If the current user's voice or behavioral recognition authentication fails, the current user's authentication fails.

[0165] Intelligent driving systems can record each user's driving habits in advance or in real time while driving. After obtaining the current user's identity, the system can retrieve the current user's driving habits from the pre-recorded user driving habits.

[0166] It's important to note that driving habits are not a single piece of data, but rather a combination of real-time traffic conditions indicated by real-time perception data and the user's current distance adjustment methods under those specific conditions. For insights into recording driving habits, please refer to shadow models in the field of computer algorithms; these will not be elaborated upon here.

[0167] Step B: Adjust the vehicle's actual distance relative to the surrounding environment and the displayed distance according to the current distance adjustment method.

[0168] Regarding the implementation of step B above, in one optional implementation, the actual distance and displayed distance of the vehicle relative to the surrounding environment are adjusted directly according to the current adjustment value and adjustment direction in the current distance adjustment method. In another optional implementation, the difference between the actual distance of the vehicle in the current adjustment direction and the current adjustment value is determined, and the actual distance and displayed distance of the vehicle relative to the surrounding environment are adjusted according to the difference and adjustment direction.

[0169] In different environmental scenarios, the current user may have one preferred distance adjustment method, which can be used as the current distance adjustment method. For example, the current user's preferred distance adjustment method may be to lean towards the right lane divider and / or to maintain the minimum safe distance from the vehicle in front.

[0170] Of course, as shown in Figure 7, in different environmental scenarios, the current user may have multiple distance adjustment habits, and these habits may differ. Therefore, there can be multiple distance adjustment methods for the current user, each corresponding to a different environmental scenario in which the vehicle is located.

[0171] This paper collects and determines the current environmental scene of the vehicle and compares it with the environmental scenes in the user's historical distance adjustment habits. From the environmental scenes in the user's historical distance adjustment habits, the current environmental scene and the current distance adjustment method of the current user are determined. Thus, the current distance adjustment method corresponds to the environmental scene in which the vehicle is located.

[0172] Furthermore, if a match is found, the current environment and the aforementioned current distance adjustment method are determined. If no match is found, the user's frequently used distance adjustment methods are retrieved and used as the current distance adjustment method. Frequently used distance adjustment methods are those that appear most frequently, accumulated through real-time or historical records.

[0173] Related technologies cannot distinguish between different environmental scenarios, and the settings will affect all following scenarios, nor can they set different following distances for different environmental scenarios. In contrast to related technologies, in the embodiments of this application, different adjustment distances can be set for different environmental scenarios. Of course, the same adjustment distance can also be set.

[0174] It should be noted that user habits include those related to adjusting the distance between the left and right lane boundaries, and / or those related to adjusting the following distance. This will be explained in detail below.

[0175] Referring again to Figure 7, when it is determined that the left and right lane boundary spacing is being adjusted, it is determined whether the left and right lane boundaries can be determined. The left and right lane boundaries may include, but are not limited to, cases with clear lane lines and / or cases without clear lane lines. If there are no clear lane lines, the left and right lane boundaries are determined based on the surrounding vehicle scene.

[0176] Collect and determine the current environmental scenario of the vehicle. For example, the different environmental scenarios in which the vehicle is located may include, but are not limited to, different environmental scenarios for adjusting the distance between the left and right lane boundaries (also known as left and right fine-tuning), and / or, different environmental scenarios for adjusting the distance between vehicles.

[0177] For example, when making fine adjustments to the left and right, there may be environmental scenarios where vehicles need to give way to each other, such as one or more of these scenarios, such as a car cutting into the lane in front of the vehicle, a large vehicle in the lane in front of the vehicle, a pedestrian in front of the vehicle, or a motorcycle in front of the vehicle. Accordingly, the above-mentioned distance adjustment method may include restoring the vehicle to center after passing through the environmental scenario.

[0178] Next, when making fine adjustments to the left and right, there are environmental scenarios where the vehicle needs to leave in an emergency, such as when there is a danger zone next to the vehicle or a guardrail next to the vehicle. Accordingly, the above-mentioned distance adjustment method can include maintaining the distance until leaving the environmental scenario.

[0179] Additionally, during left and right fine-tuning, there are scenarios where the vehicle maintains its lane, such as when there are no abnormalities or other emergencies. Accordingly, the aforementioned distance adjustment method can include maintaining this scenario until changing lanes. Continuing, the system judges different scenarios for left and right fine-tuning and records the corresponding distance adjustment methods for each scenario, as user habits.

[0180] In response, the aforementioned distance adjustment methods will be used as user habits in the different environmental scenarios described above, and these user habits will be learned.

[0181] In the embodiments of this application, the two optional embodiments described above can be executed independently or in combination. Thus, through a WYSIWYG approach, effective fine-tuning of following distance and lateral distance, as well as contextual memorization of user habits, can be achieved. Simultaneously, different spacing can be set for different environmental scenarios, and the background automatically identifies and saves this information for subsequent intelligent driving processes.

[0182] As shown in Figures 4 to 7, the above adjustment marks are used to indicate the distance adjustment mode; accordingly, the above step 130 may include, but is not limited to: adjusting the direction and the current adjustment value according to the current distance of the distance adjustment mode, while adjusting the actual distance of the vehicle relative to the surrounding environment and the displayed distance.

[0183] The current adjustment value of this embodiment described above can be implemented using at least one of the following examples.

[0184] In the first example, the aforementioned current adjustment value may include, but is not limited to, a preset calibration value.

[0185] Here, the aforementioned preset calibration value can be a single value or a series of values ​​with a changing trend.

[0186] Next, a preset calibration value is used to indicate the degree of distance adjustment each time. This preset calibration value can be sent from the cloud to the vehicle and can be modified according to user needs, while meeting safe driving requirements. When the preset calibration value is a single value, it means that each adjustment is made according to the same value, with equal distance changes. Related technologies have two adjustment buttons: distance increase and distance decrease, allowing users to set the following distance, typically with 3 to 5 adjustment levels, generally a minimum of 3 levels and a maximum of 5 levels. It is evident that the adjustment levels are fixed, and the distance adjustment granularity is relatively coarse, unable to achieve fine-grained adjustment. Compared to related technologies, in this embodiment, as long as safe driving requirements, such as the maximum distance, are met, near-stepless adjustment of the following distance can be achieved, thus realizing fine-grained distance adjustment.

[0187] Furthermore, the specific trends described above indicate that each adjustment does not necessarily follow the same numerical adjustment of the distance. Instead, the preset calibration value is proportional to the limit distance. That is, as the number of adjustment commands increases, the gap between the vehicle's actual distance and the limit distance gradually decreases, and the preset calibration value for each adjustment also gradually decreases. Thus, the preset calibration value is tiered according to the decreasing distance between the vehicle and the limit distance, with smaller intervals between each tier. In this way, when approaching the limit distance, the distance is adjusted with the smallest possible value. This allows for fine-tuning, reducing potential vehicle hazards while meeting the user's adjustment needs and ensuring their sense of safety.

[0188] In the first example above, adjustments can be made directly according to the preset calibration values, thereby improving the response efficiency of distance adjustment.

[0189] In the second example, the current distance adjustment method corresponds to different environmental scenarios in which the vehicle is located.

[0190] In the third example, the current adjustment value in the current distance adjustment method is obtained as follows: If the historical user distance adjustment habits include the current user's current distance adjustment method, it means that the current distance adjustment method meets the current user's current distance adjustment habits, and the adjustment value of the current distance adjustment method is used as the current adjustment value. If the historical user distance adjustment habits do not include the current user's current distance adjustment method, it means that the current distance adjustment method does not meet the current user's current distance adjustment habits, and the adjustment can be made according to the preset calibration value.

[0191] Furthermore, if the user's distance adjustment habits in the historical records are used to obtain the current user's distance adjustment method, this is used as the current distance adjustment method; the adjustment value of this current distance adjustment method is used as the current adjustment value. In this way, adjustments can continue to be made according to the user's habits. If the current distance adjustment does not meet the user's habits, it can also be adjusted according to a preset calibration value.

[0192] In this embodiment of the application, the following technical effects can also be achieved: 1) Fine-tuning of lateral distance can be performed to meet the user's sense of security; 2) The following distance can be adjusted almost steplessly, providing more flexibility; 3) Different distances can be set for different environmental scenarios, and the background can automatically identify and save them for application in subsequent intelligent driving processes.

[0193] The vehicle speed control method according to the embodiments of this application will be described in detail below. Please refer to Figures 8 to 13. Figure 8 is a flowchart of the vehicle speed control method provided in the embodiment of this application. Figure 9 is a schematic diagram of the vehicle speed adjustment indicator of the vehicle speed control method shown in Figure 8. Figure 10 is a schematic diagram of the acceleration indicator of the vehicle speed control method shown in Figure 8. Figure 11 is a schematic diagram of the deceleration indicator of the vehicle speed control method shown in Figure 8. Figure 12 is a flowchart of the acceleration process of the vehicle speed control method shown in Figure 8. Figure 13 is a flowchart of the deceleration process of the vehicle speed control method shown in Figure 8.

[0194] As shown in Figure 8, the vehicle speed control method may include, but is not limited to, the following steps 210 to 230.

[0195] In step 210, real-time perception data of the vehicle's surrounding environment is acquired.

[0196] The aforementioned electronic image may also include control signs for controlling the vehicle. Control signs may include, but are not limited to, speed control signs for indicating speed adjustment, lane control signs for controlling lane changes, and / or vehicle control signs for controlling following or overtaking, etc.

[0197] In step 220, based on the perception data, a vehicle speed adjustment indicator is generated and displayed on the intelligent driving perception screen of the vehicle; the vehicle speed adjustment indicator corresponds to the vehicle speed adjustment method.

[0198] The speed adjustment indicators described above can be matched one-to-one with the speed adjustment methods. Alternatively, the speed adjustment indicators can also be matched with multiple speed adjustment methods; please see below for details.

[0199] In step 230, the speed of the vehicle is adjusted according to the vehicle speed adjustment method.

[0200] The speed adjustment methods described in this article are used to adjust the actual speed of the vehicle, such as accelerating, decelerating, or maintaining the original speed.

[0201] Therefore, adjusting the vehicle's speed according to the vehicle speed adjustment method means adjusting the vehicle's actual speed while simultaneously adjusting the real-time display position of the vehicle's logo. This real-time display position refers to the location of the vehicle's logo on the intelligent driving perception screen. The real-time display position of the vehicle's logo is displayed proportionally to the vehicle's actual position.

[0202] In this embodiment, the vehicle's speed is adjusted by generating and displaying a speed adjustment indicator. Thus, by directly operating on the speed adjustment indicator, the vehicle's real-time speed can be automatically adjusted; what you see is what you get, which is more intuitive and user-friendly.

[0203] As shown in Figure 8, step 230 can be implemented in a variety of optional ways.

[0204] In one alternative approach, the vehicle's speed and the real-time display position of its indicator are adjusted simultaneously according to the vehicle's speed regulation method. This allows the vehicle to move in tandem with its speed, and the indicator displays this movement accordingly. This synchronized display of real-time environmental changes and vehicle-specific changes allows users to clearly perceive whether the vehicle is accelerating or decelerating.

[0205] In another optional method, the vehicle's speed is adjusted according to the vehicle speed adjustment method, and the vehicle's logo is kept in the default display position.

[0206] In this embodiment of the application, the above-mentioned default display position is used to ensure that the vehicle logo is in a relatively fixed position in the entire intelligent driving perception screen, so as to better display the vehicle to the user, or other vehicles are displayed around the fixed position.

[0207] Optionally, the default display position can include one or more of the following: the center of the intelligent driving perception screen; the area within one-third above the center; the area within one-third below the center; the area within one-third to the left; and the area within one-third to the right. This makes it easier to distinguish the vehicle's logo and also leaves display space for other signs or lanes around the vehicle's logo, thus better displaying the vehicle's surrounding environment.

[0208] Of course, the two optional methods mentioned above can be executed independently or in combination, and no further specific restrictions are imposed here.

[0209] Referring to Figure 8, the generation and display of the vehicle speed adjustment indicator can be achieved by using at least one of the following optional embodiments.

[0210] In a first optional embodiment, based on perception data, a vehicle speed adjustment indicator is generated and displayed in real time on the vehicle's intelligent driving perception screen. This continuous display of the speed adjustment indicator allows the user to directly access it at any time. When the vehicle speed cannot be adjusted, the speed adjustment indicator can be displayed in a non-adjustable manner, such as turning gray or becoming untouchable. When the vehicle speed is adjustable, the speed adjustment indicator can be displayed in an adjustable manner, such as turning blue or red or becoming touchable.

[0211] In the second optional embodiment, a vehicle icon is first generated and displayed on the vehicle's intelligent driving perception screen. However, if it is determined that the vehicle needs to adjust its speed, a speed adjustment icon is generated. Thus, when the vehicle needs to adjust its speed, a speed adjustment icon is generated instead of continuously displaying it, ensuring a clean and concise page while maintaining the effectiveness of the speed adjustment icon.

[0212] The relevant technology adjusts the vehicle speed by adjusting the buttons on the steering wheel to adjust the maximum set speed of intelligent driving, and by pressing the accelerator pedal to increase the real-time speed.

[0213] Therefore, when intelligent driving controls a vehicle, how to accelerate and decelerate according to the user's wishes and maintain the speed expected by the user has become an urgent technical problem to be solved. A detailed explanation follows.

[0214] As shown in Figures 8 and 9, the first optional method in the above step "If it is determined that the vehicle needs to adjust its speed, then generate a speed adjustment indicator" can include the following steps 1) and 2). In step 1), if it is determined that the vehicle needs to adjust its speed, then a speed adjustment indicator 31 is generated and displayed on or around the vehicle indicator itself. Thus, displaying the speed adjustment indicator 31 around the vehicle indicator separates it from the vehicle indicator, making the display more intuitive and preventing accidental touches when clicking the vehicle indicator. Furthermore, displaying the speed adjustment indicator 31 on the vehicle indicator also makes the entire intelligent driving perception screen simpler and clearer, improving the user's visual experience.

[0215] In step 2), if the vehicle speed adjustment indicator 31 receives a touch operation, which is a touch operation for selecting the vehicle speed adjustment mode, then the deceleration indicator corresponding to the deceleration mode and the acceleration indicator corresponding to the acceleration mode are displayed.

[0216] The speed adjustment indicator 31 serves as a selectable indicator. Once displayed and shared, it allows for the selection of a speed adjustment method. When the speed adjustment indicator 31 is touched, the corresponding indicator for the specific speed adjustment method will be displayed. By selecting any of these indicators, the specific speed adjustment method can be chosen. Touch operations can include, but are not limited to, single clicks or multiple consecutive clicks; examples are not provided here.

[0217] Accordingly, step 230 above may include, but is not limited to, step 3): if either the deceleration sign or the acceleration sign is selected, the speed of the vehicle is adjusted according to the speed adjustment method corresponding to the selected sign.

[0218] In this embodiment, the user selects either a deceleration indicator or an acceleration indicator to accelerate or decelerate according to the user's wishes, maintaining the desired speed.

[0219] As shown in Figures 10 and 11, in one embodiment of step 3) above, the deceleration indicator 52 is a deceleration touch indicator and the acceleration indicator 51 is an acceleration touch indicator; accordingly, when a touch operation is received for either the deceleration touch indicator or the acceleration touch indicator, the vehicle speed is adjusted according to the vehicle speed adjustment method corresponding to the touched touch indicator.

[0220] The touch-sensitive icons in this article enable touch-based operations. The indicator icons display the vehicle speed adjustment method. Furthermore, both the touch-sensitive icons and indicator icons can display acceleration or deceleration using text, symbols, or other visual aids. For example, the words "accelerate" or "decelerate." Another example is an upright triangle indicating acceleration and an inverted triangle indicating deceleration. Similarly, an upward arrow indicates acceleration and a downward arrow indicates deceleration, and so on. These examples will not be listed here.

[0221] In another embodiment of step 3) above, deceleration indicator 52 is a deceleration indicator and acceleration indicator 51 is an acceleration indicator; accordingly, when a voice command for selecting either the deceleration indicator or the acceleration indicator is received, the vehicle speed is adjusted according to the vehicle speed adjustment method corresponding to the indicator selected by the voice command.

[0222] In a third alternative embodiment, if it is determined that the vehicle needs to adjust its speed, the vehicle identifier is configured as a speed adjustment identifier.

[0223] In this embodiment, the vehicle identification sign is shared with the speed adjustment sign, which not only improves the cleanliness and simplicity of the intelligent driving perception screen, but also makes it easier for users to record and use information with fewer signs. Thus, operating directly on the vehicle identification sign allows for vehicle control, providing a WYSIWYG experience that aligns more with human intuition and offers a more user-friendly interface.

[0224] Based on this, in the third optional embodiment described above, if it is determined that the vehicle needs to adjust its speed, configuring the vehicle identifier as a speed adjustment identifier further includes: if there is no obstructing target in front of the lane in which the vehicle is located, and the current speed of the vehicle is lower than the maximum speed limit or meets the user's acceleration adjustment habits, then the vehicle identifier is configured as an acceleration adjustment identifier. Accordingly, in step 230 above, if the speed adjustment identifier is subjected to a preset touch control method for acceleration, then the vehicle's acceleration is controlled simultaneously, and the real-time display position of the vehicle identifier is adjusted; the preset touch control method for acceleration is executed in front of the lane identifier corresponding to the lane in which the vehicle identifier is located.

[0225] In this system, acceleration or deceleration is achieved through a defined touch control method, which can be referred to as a preset touch control method. This preset touch control method may include, but is not limited to, preset touch control methods for acceleration and / or preset touch control methods for deceleration. For example, preset touch control methods include dragging and / or swiping the vehicle icon.

[0226] Next, the speed at which the preset touch controls are executed corresponds to the magnitude of the vehicle's acceleration adjustment. In this way, the speed at which the preset touch controls are executed can be used to express the magnitude of acceleration.

[0227] For example, the vehicle sign is dragged or slid (e.g., slid upwards) towards the lane sign corresponding to the lane where the vehicle sign is located, to simultaneously control the vehicle's acceleration and adjust the real-time display position of the vehicle sign. Furthermore, the faster the sliding, the faster the acceleration.

[0228] Next, the speed at which the vehicle icon is dragged or slid towards the lane icon corresponding to the lane it is in corresponds to the magnitude of the vehicle's acceleration adjustment. Thus, the magnitude of acceleration can be expressed through the speed of the gesture's swiping and / or dragging.

[0229] The acceleration adjustment indicator in this article is used to simulate increasing vehicle speed by pressing the accelerator pedal.

[0230] In this embodiment, the acceleration scenario is more efficient. The acceleration scenario described herein is similar to pressing the accelerator pedal, directly accelerating the real-time speed.

[0231] Based on this, in the third optional embodiment described above, if it is determined that the vehicle needs to adjust its speed, the vehicle identifier is configured as a speed adjustment identifier. This includes: if there is no following target behind the vehicle in its lane, and the vehicle's current speed is higher than the minimum speed limit or meets the user's deceleration adjustment habits, then the vehicle identifier is configured as a deceleration adjustment identifier. Accordingly, in step 230 above, if the speed adjustment identifier is subjected to a preset deceleration touch control, the vehicle decelerates and the real-time display position of the vehicle identifier is adjusted simultaneously; the preset deceleration touch control is executed backwards from the lane identifier corresponding to the lane where the vehicle identifier is located.

[0232] For example, the vehicle sign is dragged or slid backward (e.g., slid downward) toward the lane sign corresponding to the lane where the vehicle sign is located, to simultaneously control the vehicle's deceleration and adjust the real-time display position of the vehicle sign. Furthermore, the faster the sliding, the faster the deceleration.

[0233] The deceleration adjustment indicator in this article is used to simulate reducing vehicle speed by releasing the accelerator or pressing the brake pedal.

[0234] In this embodiment, the deceleration scenario is more efficient. The deceleration scenario described herein is similar to pressing the brake pedal, directly reducing the real-time speed.

[0235] As shown in Figure 12, the acceleration process of the vehicle speed control method includes: sliding the vehicle icon upwards (step 1); determining whether the intelligent driving environment supports acceleration; if the intelligent driving environment supports acceleration, determining whether there is forward acceleration (step 2); if there is no forward acceleration, accelerating is performed (step 5 below); if there is forward acceleration, the acceleration is increased; determining whether the current set limit is exceeded (step 3); if the current set limit is not exceeded, the acceleration can continue to increase; if the current set limit is exceeded, step 4 below is performed; determining whether the permissible speed is exceeded (step 4); if the permissible speed is exceeded, the speed limit is refused to be increased; if the permissible speed is not exceeded, the speed limit is increased; accelerating is performed (step 5); determining whether there are any dangerous factors (step 6); if there are no dangerous factors, acceleration continues; if there are dangerous factors, the process is interrupted.

[0236] In this article, "currently set limits" refers to the safe speed limits set by the user, the background system, and / or the intelligent driving system.

[0237] The aforementioned risk factors are used to describe factors that affect acceleration. For example, a vehicle or obstacle suddenly appearing in front of the vehicle in the surrounding environment.

[0238] As shown in Figure 13, the deceleration process of the vehicle speed control method includes: sliding down the vehicle icon (step 1); determining whether the intelligent driving environment supports deceleration, where the intelligent driving environment includes the surrounding environment of the vehicle. If deceleration is not supported, deceleration is refused; if deceleration is supported, the following step 4 (step 2) is executed; fourth, determining whether deceleration is already underway (step 4). If deceleration is already underway, the acceleration is increased (step 5); if deceleration is not underway, deceleration is executed and the speed limit is reduced simultaneously (step 6); determining whether the speed limit has reached the intelligent driving limit (step 7). If the speed limit has not been reached, deceleration can continue; if the speed limit has been reached, deceleration is only performed without reducing the speed limit; determining whether the vehicle speed is 0 (step 8). If the vehicle speed is not 0, deceleration continues; if the vehicle speed is 0, determining whether to release the controller; if not released, user control continues; if released, intelligent driving takes over.

[0239] In the fourth optional embodiment, steps A to C are as follows: in step A, if it is determined that the vehicle needs to adjust its speed, then it is determined whether the current perception data of the vehicle's surrounding environment conforms to a safe intelligent driving strategy.

[0240] In this application embodiment, the safe intelligent driving strategy includes acceleration not exceeding the intelligent driving limit, maximum speed not exceeding the road speed limit, maximum speed not exceeding the intelligent driving speed limit, minimum speed not lower than the road minimum speed limit, and minimum speed not lower than the intelligent driving speed limit.

[0241] Once gesture-based deceleration is activated, the set intelligent driving speed limit will automatically synchronize with the current actual vehicle speed until the lower limit of the intelligent driving speed limit is reached. Once gesture-based acceleration is activated, the maximum speed must not exceed the road speed limit or the intelligent driving speed limit.

[0242] In step B, if the current perception data of the vehicle's surrounding environment does not conform to the safe intelligent driving strategy, the vehicle is controlled to maintain its current driving state.

[0243] In step C, if the current perception data of the vehicle's surrounding environment conforms to a safe intelligent driving strategy, a vehicle speed adjustment indicator is generated.

[0244] If the real-time lane information conforms to the safe intelligent driving strategy, it means that the current vehicle situation is safe, and you can directly control the vehicle to accelerate or decelerate.

[0245] If the real-time lane information does not conform to the safe intelligent driving strategy, it means that the current vehicle situation is unsafe, and the vehicle needs to be controlled to maintain the current state of driving, rather than controlling the vehicle to accelerate or decelerate.

[0246] In the embodiments of this application, the safety of vehicle acceleration or deceleration can be improved.

[0247] The intelligent driving speed limit in this technology can be lowered by repeatedly pressing steering wheel buttons. When the real-time speed is already lower than the intelligent driving speed limit, you need to keep pressing the buttons until the speed limit drops to the real-time speed before continuing to press the buttons to actually reduce the real-time speed. Furthermore, the intelligent driving speed limit can only be adjusted using built-in acceleration; the user cannot manually intervene in the speed limit settings.

[0248] To address the aforementioned technical issue of users being unable to intervene in the intelligent driving speed limit, in some embodiments, the vehicle speed control method further includes receiving an updated maximum set speed. For example, receiving a maximum set speed from the vehicle's backend as the updated maximum set speed. Alternatively, receiving a maximum set speed input by the user as the updated maximum set speed. This allows the user to adjust both the intelligent driving maximum set speed and the current real-time speed.

[0249] As an example, the above-mentioned vehicle speed control method further includes: if the vehicle is following the vehicle in front in its lane and the current speed of the vehicle meets the speed limit requirement, then the vehicle is controlled to accelerate or decelerate with the vehicle in front, and a corresponding vehicle speed adjustment indicator is generated.

[0250] As an example, step 230 of the above-described vehicle speed control method includes steps a to d. In step a, the lane of the current vehicle's environment is compared with the environment from the user's historical speed adjustment habits. In different environment scenarios, the current user may have one speed adjustment habit. In different environment scenarios, the current user may have multiple speed adjustment habits, which may differ.

[0251] In step b, the current environmental scenario and the current user's speed adjustment habits are determined from the environmental scenarios in the user's historical speed adjustment habits.

[0252] There are many environmental scenarios mentioned above. For example, environmental scenarios in which vehicles need to give way to each other include one or more of the following: a car cutting into the lane ahead, a large vehicle in the lane ahead, a pedestrian in front of the vehicle, and a motorcycle in front of the vehicle.

[0253] Next, consider the environmental scenarios where the vehicle needs to be evacuated urgently, such as when there is a danger zone or a safety barrier next to the vehicle.

[0254] Additionally, consider the following scenarios where the vehicle maintains its lane: For example, in the absence of any abnormalities or unexpected situations. Continue by making judgments based on different environmental scenarios and recording the corresponding speed adjustment methods for each scenario, as described above, as user habits.

[0255] In step c, adjust the vehicle speed according to your usual speed adjustment habits.

[0256] In step d, if the vehicle speed adjustment indicator is dragged or slid in front of the vehicle in the lane where the vehicle is located, the vehicle's acceleration is controlled and the real-time display position of the vehicle indicator is adjusted simultaneously.

[0257] This application also provides a vehicle safety control method to provide a mechanism for making safety judgments based on user-issued commands. Please refer to Figures 14 to 17. Figure 14 is a flowchart illustrating the vehicle safety control method of this application embodiment; Figure 15 is a schematic diagram of the safety judgment mechanism of the vehicle safety control method shown in Figure 14; Figure 16 is a schematic diagram of the soft switch in the vehicle safety control method shown in Figure 14; and Figure 17 is a schematic diagram of the physical button used to generate a disable command in the vehicle safety control method shown in Figure 14.

[0258] As shown in Figure 14, the vehicle safety control method may include, but is not limited to, steps 310 to 340.

[0259] In step 310, electronic images of the intelligent driving perception screen are acquired in real time.

[0260] In this embodiment, the electronic image is used to display vehicle identification information and surrounding environment identification information. The electronic image may include one or more of the vehicle identification and surrounding environment identification information. For example, the electronic image may display information about the actual distance of the vehicle relative to the surrounding environment; correspondingly, the display distance of the vehicle identification relative to the surrounding environment identification is displayed on the electronic image. Surrounding environment identification may include, but is not limited to, other vehicle identification and lane markings in the surrounding environment. Vehicle identification, other vehicle identification, and lane markings represent information indicating road conditions for the vehicle and the surrounding environment, respectively representing the actual distribution of the vehicle, other vehicles, and lanes in the actual environment. Thus, this identification information is used to describe the distribution of the actual environment, thereby reflecting the real-world situation.

[0261] The following description uses a control identifier as an example to illustrate the method for generating the corresponding identifier. Specifically, the control identifier can be generated using steps A through C.

[0262] In step A, a vehicle identifier is generated.

[0263] Because the vehicle's surroundings are constantly changing while it is in motion, and the sensing devices are mounted on the vehicle body, the location of objects in the surrounding environment can only be determined by using the vehicle itself as a reference. Therefore, it is necessary to first generate a vehicle identifier corresponding to the vehicle that is "stationary" relative to the sensing devices.

[0264] In step B, the relative position of the sensing object and the vehicle is determined based on real-time sensing data.

[0265] By collecting real-time sensing data from sensing devices, the position of objects in the surrounding environment relative to the vehicle can be determined; that is, the relative position of the objects to the vehicle. Within the sensing range of the sensing devices, there may be multiple objects in the surrounding environment, and each object has a relative position to the vehicle. For example, when the first object is in the vehicle's lane, the first object is directly below the vehicle; when the second object is a vehicle in front of the vehicle in the left or right adjacent lane, the second object is located to the left or right front of the vehicle.

[0266] In step C, with the vehicle identifier as a reference, an identifier for the perceived object is generated at the relative position of the vehicle identifier, and a control identifier is generated.

[0267] The vehicle sign is considered as the origin of the reference coordinate system. Using the vehicle sign as a reference, the sign of the perceived object is generated at the corresponding position relative to the vehicle sign, based on the relative position of the perceived object and the vehicle. For example, when the first perceived object (e.g., the vehicle lane) is directly below the vehicle, the sign of the first perceived object (the vehicle lane) is generated directly below the vehicle sign; when the third perceived object (e.g., a vehicle ahead in the vehicle lane) is directly in front of the vehicle, the sign of the second perceived object (the vehicle ahead in the vehicle lane) is generated directly in front of the vehicle sign.

[0268] In step 320, the current instructions input by the user for the electronic image (e.g., the vehicle's identification information and the identification information of the surrounding environment in the electronic image) are received in real time.

[0269] In step 330, based on at least one layer of security judgment mechanism, if it is determined that the current instruction is unreasonable, the next instruction adjacent to the current instruction is received and the next instruction overwrites the current instruction.

[0270] In the embodiments of this application, the next instruction in "overwrite the current instruction with the next instruction" can be a reasonable instruction, or it can be the instruction that is finally determined to be reasonable after a series of unreasonable instructions.

[0271] The at least one layer of security judgment mechanism in the embodiments of this application is used to prioritize security and ensure that all instructions are ultimately reasonable, thereby improving security.

[0272] The safety judgment mechanism in this paper is used to indicate whether the current instruction is reasonable, thus enabling safe intelligent driving of the vehicle.

[0273] "Unreasonable current instruction" indicates that the current instruction will affect driving safety. This unreasonable current instruction can include, but is not limited to, instructions for dangerous or malicious driving. An example of an unreasonable current instruction is one that is frequently issued within a short period. Another example is when the surrounding environment is surrounded by seawater on both sides without roads, but the current instruction is to turn left or right.

[0274] Next, the input method for the aforementioned current command can be via touch input or via voice input, and this application does not impose any restrictions on this.

[0275] In step 340, if the current instruction is determined to be reasonable, then the vehicle is allowed to drive according to the current instruction. This enables intelligent driving by controlling the vehicle to follow the current instruction.

[0276] This article not only supports the driver (referred to as the primary driver) in judging whether the instruction is reasonable, but also supports the co-driver in judging whether the current instruction is reasonable. Please see below for details.

[0277] Continuing with Figures 14 and 15, the safety judgment mechanism of the vehicle safety control method may include, but is not limited to, one or more of the following: user safety judgment mechanism, driver safety judgment mechanism, intelligent driving system safety judgment mechanism, and background safety monitoring mechanism. In practical use, one or more of the above-mentioned safety judgment mechanisms can be used. When using all safety judgment mechanisms, the user safety judgment mechanism, driver safety judgment mechanism, intelligent driving system safety judgment mechanism, and background safety monitoring mechanism can be performed sequentially, which will not be elaborated further here.

[0278] In this regard, for step 330 above, at least one optional embodiment can be used to implement the next instruction overwriting the current instruction.

[0279] In a first optional embodiment, based on the user security judgment mechanism within the security judgment mechanism, if it is determined that the current instruction is unreasonable, the next instruction re-entered by the user is received and overwritten. In this embodiment, the user security judgment mechanism is used to indicate an instruction that has been corrected as unreasonable by the user.

[0280] The next instruction mentioned above may include, but is not limited to, deceleration and / or braking instructions. This can create a relatively safe operating environment for the vehicle.

[0281] The user security assessment mechanism is as follows.

[0282] 1. After a user issues a command, if the intelligent driving system agrees to execute it, the user can cancel the execution of the command at any time during the process using the cancel button on the screen or a voice cancellation command. The user here can include the driver and other people besides the driver. For example, a front passenger issues a command. Another example is a rear-seat user issuing a command.

[0283] 2. After issuing a command, if the user finds the command unreasonable, they can override the previous command with another command, allowing the intelligent driving system to perform a more reasonable operation.

[0284] 3. If a risk is detected after the user issues a command, the user can use a deceleration command to immediately slow down the vehicle to avoid the risk.

[0285] 4. If a risk is detected after the user issues a command, the risk can be avoided by using the braking command.

[0286] In this embodiment, if a user finds that they have entered an incorrect current command, they can re-enter the next command to overwrite the unreasonable or incorrect command, thereby correcting the error command in a timely manner and improving the security and accuracy of the command.

[0287] In this embodiment, the driver and the intelligent driving system need to have the power, authority, and means to effectively disable this function. See below for details.

[0288] In an optional embodiment, in the human-machine co-driving mode, when a user controls the vehicle via screen touch or voice, there may be situations where the operation is not performed by the driver. Such situations, without the driver's consent, may pose safety risks. The vehicle safety control method provided in this application eliminates the risks associated with non-driver human-machine co-driving by allowing the driver to override non-driver operations through the screen and voice.

[0289] Referring again to Figures 14 and 15, in the second optional embodiment, based on the driver safety judgment mechanism in the safety judgment mechanism, if it is determined that the current instruction is unreasonable, the driver will receive the next instruction re-entered by the driver to overwrite the current instruction; wherein, the driver safety judgment mechanism is used to indicate that the driver is assisting the user in correcting the unreasonable instruction.

[0290] It should be noted that the driver has the highest authority and can take over or disable touchscreen and voice control at any time. Therefore, even if the intelligent driving system errs in its perception, misses or misjudges the risk of a command, the driver can cancel, terminate, or take over.

[0291] The above-mentioned driver safety judgment mechanism is as follows.

[0292] 1. After the user issues a command, the driver can cancel or terminate the execution of the command by using the cancel command on the screen or by using the voice cancel command.

[0293] 2. After the user issues the command, the driver can directly take over the vehicle to terminate the co-driving command.

[0294] 3. The driver can disable touchscreen and voice control with a single button press using the steering wheel combination. Once disabled, the system can only be unlocked via the steering wheel buttons; the soft switch is ineffective to prevent unauthorized access after unlocking via the soft switch. The driver-vehicle co-driving button has lower priority than the two buttons that disable touchscreen and voice control.

[0295] In an optional embodiment, when using the touch screen or voice-activated human-machine interaction to control intelligent driving functions during autonomous driving, the passenger in the front seat or other people in the vehicle cabin may maliciously interfere (e.g., children, pets). In this embodiment, the risk of malicious interference is eliminated through various methods such as gesture intent inference, central control shortcut key locking, cloud-based identification of malicious interference in the cabin, and driver manual takeover.

[0296] In this embodiment of the application, the driver can assist the user in correcting unreasonable commands, thereby improving the safety and rationality of command input.

[0297] Continuing as shown in Figures 14 and 16, if the current instruction is determined to be unreasonable, the next instruction re-entered by the driver is received and overridden. This includes: if the abnormal frequency of the current instruction is determined to be greater than a first frequency threshold, a disabling instruction re-entered by the driver is received and overridden. The disabling instruction is used to disable the soft switch, and it is input via a physical button. The disabling instruction also indicates that all software input control permissions are disabled during this power-on cycle.

[0298] It should be noted that the intelligent driving system will analyze the rationality of touch screen and voice control. If multiple or high-frequency unreasonable operations are detected, touch screen and voice control will be temporarily disabled until the owner confirms that they can be released and passes the retest.

[0299] The aforementioned first frequency threshold indicates the permissible range of erroneous commands allowed by the vehicle. This first frequency threshold is set based on user requirements. The higher the first frequency threshold, the more frequently erroneous commands are tolerated.

[0300] The abnormal frequency of the current command exceeding a first frequency threshold indicates that a malicious input command has been received, such as touch or voice input without a clear instruction. In this embodiment, such malicious input commands must be rejected. To avoid further losses caused by malicious input commands, a disable command is input to disable the soft switch function, rendering it ineffective. Thus, even if malicious input commands continue to exist, they are considered invalid, reducing the losses caused by malicious input commands.

[0301] As shown in Figure 16, the soft switch function will be activated using any of the following methods: 1) The human-vehicle co-driving touch interaction method is not disabled; 2) NOA (Navigation On Autopilot) is activated, ADV (Advanced Driver Assistance System) map is opened, and this function will automatically take effect.

[0302] The soft switch function will be deactivated by any of the following methods: (1) The touch interaction mode of human-vehicle co-driving is disabled; (2) ADV map is deactivated; (3) NOA is deactivated; (4) Manual takeover is initiated.

[0303] In this embodiment, the system can fully withstand user misoperation and erratic operation, while also preventing such operations, thereby improving vehicle control safety. Furthermore, the system can reject intentions that may pose risks to the outside world, intentions that may pose risks to the user's own vehicle, and intentions that violate laws or regulations. The intelligent driving system has the final decision-making power; if the user misoperates or operates erratically, the intelligent driving system will reject the operation if it deems it unreasonable, unsafe, or impossible in the current environment.

[0304] As shown in Figure 17, the physical buttons include physical buttons located on both sides of the vehicle's steering wheel, and when the physical buttons on both sides are pressed simultaneously, a disable command is generated.

[0305] As shown in Figure 17, the above vehicle safety control method may also include, but is not limited to, the following two steps: 1. Receiving a disable command from the vehicle's physical buttons (which may be referred to as buttons), the physical buttons being used to disable the soft switch function; 2. The disable command overwrites the current command and responds to the disable command, controlling the disable of the soft switch function on the touch screen, and / or controlling the disable of the touch screen's touch function.

[0306] In addition, after disabling the command that overrides the current command, the above methods can also include, but are not limited to, exiting the function of the aforementioned soft switch, disabling the touch function of the aforementioned touch screen, and switching the touch screen to other screens. Other screens are commonly used screens convenient for the driver. Other screens may include navigation screens, or entertainment / music screens.

[0307] In this embodiment of the application, physical buttons are manually operated to forcibly disable them, thereby reducing interference from other users to the driver and improving the safety of the driver.

[0308] Because vehicles have numerous physical buttons in various locations—for example, buttons on the steering wheel or on the center console—the number of such buttons can be one or more, and there is no limitation on this. A detailed explanation follows.

[0309] Continuing with the physical buttons shown in the box in Figure 17, the physical buttons in this article include the physical buttons located on both sides of the vehicle's steering wheel, and when the physical buttons on both sides are pressed simultaneously, a disable command is generated.

[0310] The physical buttons arranged on opposite sides of the steering wheel can be two or more (excluding two). For example, symmetrical arrangement of two physical buttons is not only aesthetically pleasing, but also makes it faster and more convenient for the driver to operate the steering wheel with both hands on it.

[0311] In this embodiment, physical buttons are manually operated to forcibly disable them, reducing interference from the passenger to the driver. Furthermore, simultaneous operation of multiple physical buttons achieves forced disabling, not only making it convenient for the driver to disable other users' operations but also preventing accidental operation by the driver.

[0312] In some practical application scenarios, after the current driving session ends and the vehicle is powered on again, the process returns to steps 310 to 340 to continue executing the judgment on whether the current instruction is reasonable, etc.

[0313] For the driver, the next instruction mentioned above includes one or more of the following: cancel the current instruction, terminate co-pilot instruction for physical takeover of the driver, and disable instruction for controlling soft switches to be ineffective; the terminate co-pilot instruction has the highest authority.

[0314] In this embodiment of the application, physical takeover may include, but is not limited to, forcibly disengaging from co-driving by having the user operate one or more of the following: the steering wheel, the accelerator pedal, and the brake pedal.

[0315] Referring again to Figures 14 and 15, in the third optional embodiment, the safety judgment mechanism further includes an intelligent driving system safety judgment mechanism. Accordingly, in step 1, the rationality and risk of the current instruction are analyzed according to the intelligent driving system safety judgment mechanism to determine whether the current instruction is reasonable. In step 2, if the current instruction is determined to be unreasonable and exceeds the scope that the intelligent driving system can handle, a request instruction for manual takeover by the driver is generated to override the current instruction. In step 3, if the current instruction is determined to be unreasonable but within the scope that the intelligent driving system can handle, control of the intelligent driving system is implemented. In step 4, if the current instruction is determined to be reasonable, step 340 above is executed.

[0316] In this embodiment of the application, the intelligent driving system safety judgment mechanism is used to indicate the rationality and risk of the intelligent driving system's judgment instruction.

[0317] It's important to note that while the intelligent driving system is granted high-level privileges, touchscreen or voice commands are merely weak requests. Whether and how these commands are executed is determined by the intelligent driving system. The system incorporates commands into its safety assessment, rejecting those that are risky or beyond its capabilities (similar to lane changing via a lever; the system will execute promptly, delay execution, or refuse execution depending on the situation). Therefore, even if someone maliciously manipulates the system and issues dangerous commands, the vehicle will not execute them.

[0318] The safety judgment mechanism of the above-mentioned intelligent driving system is as follows.

[0319] 1. Upon receiving a command from the user, the intelligent driving system analyzes the rationality and risk of the command based on its own safety rules. Commands that pose a risk will be refused or delayed.

[0320] 2. During the execution of user commands, if the intelligent driving system finds that the dynamic environment is no longer suitable for continued execution, it will pause or terminate the execution of the commands and automatically adopt the most appropriate strategy to deal with the situation (i.e., machine management).

[0321] 3. During the execution of user instructions, if the intelligent driving system finds that the dynamic environment is no longer suitable for continued execution, and the emergency situation exceeds the scope of the intelligent driving system's capabilities, the system will promptly request the user to take over.

[0322] 4. After receiving commands from the user, the system will analyze each command. If malicious operations are detected, a warning will be issued. If the situation does not improve, all touchscreen and voice control permissions will be disabled for the remainder of the current power cycle. For example, receiving multiple obviously unreasonable commands in a short period of time, or frequent, irregular multi-finger gestures appearing on the screen in a short period of time.

[0323] Referring again to Figures 14 and 15, in the fourth optional embodiment, the method further includes receiving a deactivation command from the background if the background security monitoring mechanism in the security judgment mechanism detects that the frequency of disabling is greater than a second frequency threshold, and overwriting the current command with the deactivation command, so that the vehicle owner account can apply for relearning and then enable it; wherein, the deactivation command is used to indicate the termination of the intelligent driving function. In this way, the deactivation command can be used to overwrite the current command. In this embodiment, the frequency of disabling refers to the number of times a disabling command is generated within a certain period. As can be seen from the above description, the disabling command can be a disabling command generated in the driver safety judgment mechanism (e.g., a disabling command input by the driver through a physical button based on subjective judgment), or a disabling command generated in other safety judgment mechanisms (e.g., a disabling command generated by the intelligent driving system when malicious operation is detected in the intelligent driving system safety judgment mechanism), and the disabling command is used to disable all touch screen operations (e.g., soft switches on the touch screen, etc.) and voice operations during the vehicle power-on cycle.

[0324] For example, if the intelligent driving system's safety judgment mechanism temporarily disables functions multiple times within a certain period, the backend will deactivate the vehicle's touchscreen and voice controls. This involves receiving a deactivation command from the backend so that the vehicle owner's account can apply for relearning and reactivation. Only after passing the learning and testing process can the functions be restored to normal use.

[0325] As one embodiment, the method further includes: Step 1, after allowing the vehicle to drive according to the current instruction, displaying an interruption icon for interrupting the execution of the current instruction and a continuation icon for continuing the execution of the current instruction in the electronic image, wherein the interruption icon is used to interrupt the execution of the current instruction and the continuation icon is used to continue the execution of the current instruction; Step 2, if an operation is received for the interruption icon, then the intelligent driving of the vehicle according to the current instruction is interrupted; Step 3, if an operation is received for the continuation icon, then the vehicle is controlled to continue intelligent driving according to the current instruction.

[0326] In one example, step A involves displaying an interruption touch icon and / or a continue execution touch icon within the electronic image; the interruption touch icon is used to interrupt the execution of the first instruction; the continue execution touch icon is used to continue the execution of the first instruction. Step B involves interrupting the control of the vehicle to drive intelligently according to the first instruction if the interruption touch icon is touched. Step C involves controlling the vehicle to continue driving intelligently according to the first instruction if the continue execution touch icon is touched.

[0327] In another example, step a involves displaying an interruption indicator and / or a continue execution indicator within an electronic image; the interruption indicator is used to interrupt the execution of the first instruction; the continue execution indicator is used to continue the execution of the first instruction. Step b involves, if a voice command is received for the interruption indicator, the control of the vehicle to intelligently drive according to the first instruction is interrupted. Step c involves, if a voice command is received for the continue execution indicator, the control of the vehicle to continue intelligently driving according to the first instruction is resumed.

[0328] In this embodiment, the execution of instructions can be interrupted in a timely manner, facilitating timely human-computer interaction with the user.

[0329] In this article, the authority of the human-vehicle co-driving command is lower than the authority of the intelligent driving system's judgment, and the authority of the intelligent driving system's judgment is lower than the authority of physical takeover. The driving command sent by the user is merely a wish (a desire for the vehicle to fulfill their wish), not an order or control, and certainly not driving itself; it is simply communication with the intelligent driving system. Human-vehicle co-driving establishes a channel for transmitting the user's intentions to the system, and each intention is ensured to undergo feasibility and risk assessment by the system. Both the system and the driver can reject or cancel the intention midway. How to realize the intention is entirely decided by the system, and the decision-making process is unaffected by the sender.

[0330] Next, it supports reasonable operations by the front passenger (through touch swipes) or other occupants. The front passenger simply sends their intentions without directly operating the vehicle. Previously, the front passenger relayed their intentions to the driver; in the shared driving framework, this is achieved through the intelligent driving system. Both the driver and the intelligent driving system are licensed drivers and fully comply with the existing architecture of "intelligent driving + driver supervision."

[0331] Finally, current intelligent driving systems are a black hole for users. While the systems focus on functionality, they lack interaction with users during use, resulting in issues such as excessive control, lack of personalization, lack of confidence, and lack of security. Co-driving introduces an abstract intermediary layer between driving control and the driver, encapsulating driving behavior and decoupling driving control from the driver, making the vehicle oriented towards the driver's intentions rather than their control. Conversely, co-driving also encapsulates the system's perception and decisions into a reasonable form and presents them to the user through an HMI, thereby building a two-way interaction channel between people and the vehicle, giving users a fully controlled intelligent driving experience.

[0332] This application also provides a touch-screen human-computer interaction device. Please refer to FIG18, which is a structural block diagram of the touch-screen human-computer interaction device provided in this application embodiment. The touch-screen human-computer interaction device 21 provided in this application embodiment may include an acquisition module 211, a generation module 212, a touch module 213, and a control module 214.

[0333] The acquisition module 211 is configured to acquire real-time perception data obtained by the vehicle's perception devices from perceiving the vehicle's surrounding environment; wherein the surrounding environment includes vehicles and lanes.

[0334] The generation module 212 is configured to generate and display touch icons on the intelligent driving perception screen of the vehicle based on the real-time perception data; wherein, the touch icons include vehicle touch icons corresponding to the vehicle and lane touch icons corresponding to the lane, and each touch icon is preset with a corresponding control object and control method.

[0335] The touch module 213 is configured to detect touch operations on either the vehicle touch sign or the lane touch sign in real time, and determine the control object and control method corresponding to the touched touch sign as the target control object and target control method.

[0336] The control module 214 is configured to control the vehicle to move relative to the target controlled object according to the target control method.

[0337] 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.

[0338] In some embodiments, when the touch module 213 determines the control object and control method corresponding to the touch icon to be touched as the target control object and target control method, the specific configuration is as follows: if the touched object is the vehicle touch icon, then the target vehicle is determined from the vehicles, and the vehicle control method is determined according to the way the vehicle touch icon is touched; when the control module 214 controls the vehicle to drive relative to the target control object according to the target control method, the specific configuration is as follows: control the vehicle to drive relative to the target vehicle according to the vehicle control method.

[0339] In some embodiments, the vehicle control method described above includes a following mode; when the control module 214 controls the vehicle to drive relative to the target vehicle in accordance with the vehicle control method, it is specifically configured to: control the vehicle to follow the target vehicle in accordance with the following mode.

[0340] In some embodiments, the vehicle control method described above includes an overtaking method; when the control module 214 controls the vehicle to drive relative to the target vehicle in accordance with the vehicle control method, it is specifically configured to: control the vehicle to overtake the target vehicle in accordance with the overtaking method.

[0341] In some embodiments, when the touch module 213 determines the control object and control method corresponding to the touch mark to be touched as the target control object and target control method, it is specifically configured as follows: if the touched object is the lane touch mark, the target lane is determined from the lane, and the lane control method is determined according to the way the lane touch mark is touched; when the control module 214 controls the vehicle to drive relative to the target control object according to the target control method, it is specifically configured as follows: control the vehicle to drive in the target lane according to the lane control method.

[0342] In some embodiments, the lane control method described above includes a lane-changing method; when the control module 214 controls the vehicle to travel in the target lane according to the lane control method, it is specifically configured to: control the vehicle to change lanes to the target lane according to the lane-changing method.

[0343] In some embodiments, the lane control method described above includes a priority lane method; when the control module 214 controls the vehicle to drive in the target lane according to the lane control method, it is specifically configured to control the vehicle to drive in the target lane first.

[0344] In some embodiments, the lane control method described above includes a lane locking method; when the control module 214 controls the vehicle to drive in the target lane according to the lane control method, it is specifically configured to control the vehicle to lock and drive in the target lane.

[0345] In some embodiments, the surrounding environment further includes a parking location, and the touch marker further includes a parking touch marker corresponding to the parking location; when the touch module 213 detects touch operations on either the vehicle touch marker or the lane touch marker in real time, and determines the control object and control method corresponding to the touched touch marker as the target control object and target control method, the specific configuration is as follows: when detecting touch operations on either the parking touch marker, the vehicle touch marker, or the lane touch marker in real time, if the touched touch marker is the parking touch marker, then the parking location is determined as the target control object and parking is determined as the target control method; when the control module 214 controls the vehicle to drive relative to the target control object according to the target control method, the specific configuration is as follows: controlling the vehicle to park at the parking location.

[0346] In some embodiments, the vehicles mentioned above include the vehicle itself and other vehicles, and the vehicle touch icons mentioned above include the vehicle touch icon corresponding to the vehicle itself and the other vehicle touch icon corresponding to other vehicles. When the generation module 212 generates and displays touch icons on the intelligent driving perception screen of the vehicle itself, it is specifically configured to: generate and display the lane touch icon corresponding to the lane; determine the first relative position between the vehicle itself and the lane where the vehicle itself is currently located, and generate and display the vehicle touch icon corresponding to the vehicle itself at the first relative position of the lane touch icon corresponding to the vehicle itself according to a preset display ratio; determine the second relative position between the other vehicle and the vehicle itself, and generate and display the other vehicle touch icon corresponding to the other vehicle at the second relative position of the vehicle touch icon according to the display ratio.

[0347] In some embodiments, after generating and displaying the lane touch icon corresponding to the lane, the generation module 212 is further configured to: if the lane touch icon is detected to be touched, generate and display at least one lane control method.

[0348] In some embodiments, when the generation module 212 detects that the lane touch icon has been touched, and generates and displays at least one lane control mode, it is specifically configured to generate and display at least one lane control touch icon for indicating different lane control modes when the lane touch icon has been touched in a way that selects lane control.

[0349] In some embodiments, after generating and displaying the vehicle touch icon corresponding to the vehicle, the generation module 212 is further configured to: determine whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance; if the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than the preset safety distance, generate and display a direction touch icon pointing to the boundary of the corresponding side of the lane on the side of the vehicle touch icon; wherein the direction touch icon is touchable and is used to indicate that the position of the vehicle is allowed to be adjusted in the direction it points; if the distance between one side of the vehicle and the boundary of the corresponding side of the lane is not greater than the preset safety distance, generate and display a direction indicator icon pointing to the boundary of the corresponding side of the lane on the side of the vehicle touch icon; wherein the direction indicator icon is not touchable and is used to indicate that the position of the vehicle is prohibited from being adjusted in the direction it points.

[0350] In some embodiments, after generating and displaying the other vehicle touch icon corresponding to the other vehicle, the generation module 212 is further configured to: if the other vehicle touch icon is detected to be touched, generate and display at least one vehicle control mode.

[0351] In some embodiments, when the generation module 212 detects that the touch icon of another vehicle is touched, and generates and displays at least one vehicle control mode, it is specifically configured to generate and display at least one vehicle control touch icon for indicating different vehicle control modes when the touch icon of another vehicle is detected to be touched in the way of selecting vehicle control.

[0352] In some embodiments, after generating and displaying the other vehicle touch icon corresponding to the other vehicle, the generation module 212 is further configured to: generate and display a directional touch icon pointing to the rear of the own vehicle touch icon behind the own vehicle touch icon; wherein the directional touch icon is touchable and is used to indicate that the position of the own vehicle is allowed to be adjusted in the direction it points; determine whether the distance between the front of the own vehicle and the rear of the other vehicle in front of the own vehicle is greater than a preset safe distance; if the distance between the front of the own vehicle and the rear of the other vehicle in front of the own vehicle is greater than the preset safe distance, generate and display the directional touch icon pointing to the front of the own vehicle touch icon in front of the own vehicle touch icon; if the distance between the front of the own vehicle and the rear of the other vehicle in front of the own vehicle is not greater than the preset safe distance, generate and display a directional indicator icon pointing to the front of the own vehicle touch icon in front of the own vehicle touch icon; wherein the directional indicator icon is not touchable and is used to indicate that the position of the own vehicle is prohibited from being adjusted in the direction it points.

[0353] In some embodiments, the generation module 212 is further configured to generate and display electronic images corresponding to the perception data of the vehicle and the surrounding environment based on the real-time perception data; the electronic images include a representation of the vehicle, a representation of the surrounding environment, and a display of the actual distance between the vehicle and the surrounding environment.

[0354] In some embodiments, the touch-screen human-machine interface device 21 further includes an adjustment indicator display module configured to display an adjustment indicator for distance adjustment on or around the vehicle in the electronic image if it is determined that the actual distance meets the conditions for distance adjustment.

[0355] In some embodiments, the touch-screen human-machine interface device 21 further includes an adjustment module configured to adjust the actual distance of the vehicle relative to the surrounding environment and the display distance of the vehicle sign relative to the surrounding environment sign based on the adjustment mark displayed in the electronic image.

[0356] As an example, the touch-screen human-computer interaction device 21 may further include an adjustment indicator display module, configured to display an adjustment indicator for distance adjustment in the electronic image of the vehicle itself or its surroundings at a non-adjustable distance if it is determined that the actual distance has not met the conditions for distance adjustment.

[0357] In some embodiments, the generation module 212 is further configured to generate and display a vehicle speed adjustment indicator on the intelligent driving perception screen of the vehicle based on the perception data; the vehicle speed adjustment indicator corresponds to the vehicle speed adjustment method.

[0358] In some embodiments, the touch-screen human-computer interaction device 21 may further include an adjustment module configured to adjust the speed of the vehicle according to the vehicle speed adjustment method.

[0359] In some embodiments, the touch-screen human-computer interaction device 21 may further include a receiving module configured to receive current instructions from the user for inputting the electronic image in real time.

[0360] In some embodiments, the touch-screen human-machine interface device 21 may further include an instruction update module, which is configured to receive the next instruction adjacent to the current instruction and overwrite the current instruction if the current instruction is determined to be unreasonable according to at least one layer of safety judgment mechanism; the safety judgment mechanism is used to indicate that the vehicle is driving safely after determining that the current instruction is reasonable.

[0361] In some embodiments, the control module 214 may also be configured to allow the vehicle to drive according to the current instruction if it is determined that the current instruction is reasonable.

[0362] As one embodiment, the control device for the vehicle described above may further include: an icon display module, configured to display, within an electronic image, an interruption icon (for interrupting the execution of the current instruction) and a continuation icon (for continuing the execution of the current instruction) after allowing the vehicle to drive according to the current instruction; the interruption icon (for interrupting the execution of the current instruction) and the continuation icon (for continuing the execution of the current instruction); and an interruption control module, configured to interrupt intelligent driving of the vehicle according to the current instruction if an operation is received for the interruption icon (for the current instruction). Furthermore, the control module 214 is also configured to control the vehicle to continue intelligent driving according to the current instruction if an operation is received for the continuation icon (for the current instruction).

[0363] 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.

[0364] This application also provides an electronic device that may include the touch-screen human-computer interaction device 21 described above. Please refer to FIG19, which is a structural block diagram of the electronic device provided in this application embodiment. The electronic device 20 may include one or more processors 22, which are configured to implement the touch-screen human-computer interaction method described above.

[0365] 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.

[0366] 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 touch-based human-computer interaction method.

[0367] 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.

[0368] Of course, in some embodiments of this application, the electronic device may be one or more of a server device and a PC (Personal Computer) device. The server device and the PC device may include, but are not limited to, a server, a desktop computer, a tablet computer, or a laptop computer.

[0369] In some embodiments, this electronic device may include, but is not limited to, an in-vehicle terminal connected to the vehicle and a mobile terminal independent of the vehicle. The in-vehicle terminal connected to the vehicle may be, but is not limited to, a body processor, controller, center console, or vehicle HUD (Head-Up Display). The mobile terminal independent of the vehicle may include, but is not limited to, a smartphone, smartwatch, tablet, or laptop.

[0370] 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 touch-based human-computer interaction method described in the above embodiments.

[0371] This application also provides a vehicle, including a touch-screen human-machine interface device 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.

[0372] For example, the vehicle may be one or more of heavy trucks, light commercial vehicles, and passenger cars. Thus, the method of this application embodiment can be applied to various application scenarios such as heavy trucks, light commercial vehicles, and passenger cars, thereby improving the versatility of the method.

[0373] The touch-based human-computer interaction method, device, electronic device, program product, storage medium, and vehicle provided in this application generate and display vehicle touch icons corresponding to vehicles and lane touch icons corresponding to lanes in the vehicle's surrounding environment on the vehicle's intelligent driving perception screen. The system also detects user touch operations in real time, determines the target control object and target control method, and controls the vehicle to drive relative to the target control object according to the target control method. 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 according to their wishes through touch interaction. Furthermore, since the vehicle touch icons and lane touch icons correspond to vehicles and lanes in the surrounding environment respectively, users can promptly and accurately grasp information about their surrounding environment by viewing the vehicle's intelligent driving perception screen, without needing to observe and analyze the surrounding environment themselves, thus reducing the safety risks caused by user distraction.

[0374] 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.

[0375] 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.

[0376] 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.

Claims

1. A touch-based human-computer interaction method, comprising: The vehicle acquires real-time perception data obtained by its perception devices from sensing the vehicle's surrounding environment; wherein the surrounding environment includes vehicles and lanes. Based on the real-time perception data, a touch icon is generated and displayed on the intelligent driving perception screen of the vehicle; wherein, the touch icon includes a vehicle touch icon corresponding to the vehicle and a lane touch icon corresponding to the lane, and each touch icon is preset with a corresponding control object and control method; Real-time detection of touch operations on either the vehicle touch icon or the lane touch icon; the control object and the control method corresponding to the touched touch icon are determined as the target control object and the target control method. According to the target control method, the vehicle is controlled to move relative to the target control object.

2. The touch-based human-computer interaction method according to claim 1, wherein, The determination of the control object and the control method corresponding to the touch identifier to be touched as the target control object and target control method includes: If the touched identifier is the vehicle touch identifier, the target vehicle is identified from the vehicles, and the vehicle control method is determined based on how the vehicle touch identifier is touched. The step of controlling the vehicle to move relative to the target control object according to the target control method includes: The vehicle is controlled to move relative to the target vehicle according to the vehicle control method.

3. The touch-based human-computer interaction method according to claim 2, wherein, The vehicle control methods include following or overtaking; The control of the vehicle to drive relative to the target vehicle according to the vehicle control method includes: According to the following method or the overtaking method, the vehicle is controlled to follow or overtake the target vehicle.

4. The touch-based human-computer interaction method according to claim 1, wherein, The touch-sensitive icon also includes a vehicle speed adjustment icon, the control object of the vehicle speed adjustment icon is the vehicle, the control method of the vehicle speed adjustment icon is a vehicle speed adjustment method, and the touch-sensitive human-computer interaction method further includes: Real-time detection of touch operations on the vehicle speed adjustment indicator; the vehicle and the vehicle speed adjustment mode corresponding to the touched vehicle speed adjustment indicator are identified as the target control object and the target control mode. Adjust the speed of the vehicle according to the speed adjustment method described above.

5. The touch-based human-computer interaction method according to any one of claims 1 to 4, wherein, The determination of the control object and the control method corresponding to the touch identifier to be touched as the target control object and target control method includes: If the touched icon is the lane touch icon, the target lane is determined from the lanes, and the lane control method is determined according to how the lane touch icon is touched. The step of controlling the vehicle to move relative to the target controlled object according to the target control method includes: The vehicle is controlled to travel in the target lane according to the lane control method.

6. The touch-based human-computer interaction method according to claim 5, wherein, The lane control method includes one of the following: lane changing method, priority lane method, and lane locking method; Controlling the vehicle to travel in the target lane according to the lane control method includes: According to one of the lane-changing method, the priority lane method, and the lane-locking method, the vehicle is controlled to drive in one of the following modes: changing lanes to the target lane, prioritizing driving in the target lane, and locking driving in the target lane.

7. The touch-based human-computer interaction method according to claim 1, wherein the touch identifier further includes a distance adjustment identifier, the control object of the distance adjustment identifier is the vehicle, the control mode of the distance adjustment identifier is a distance adjustment mode, and the touch-based human-computer interaction method further includes: Real-time detection of touch operations on the distance adjustment icon; the vehicle and the distance adjustment mode corresponding to the touched distance adjustment icon are identified as the target control object and the target control mode. Adjust the actual distance of the vehicle relative to the surrounding environment according to the distance adjustment method.

8. The touch-based human-computer interaction method according to claim 1 further includes: Upon detecting a touch operation on the touch identifier, based on at least one layer of safety judgment mechanism, if it is determined that the current instruction corresponding to the touch operation is unreasonable, the next instruction adjacent to the current instruction is received, and the next instruction overwrites the current instruction. The at least one layer of safety judgment mechanism is configured to indicate that the vehicle is safely driven after determining that the current instruction is reasonable; and... When it is determined that the current instruction is reasonable, the vehicle may be controlled to drive in accordance with the current instruction.

9. The touch-based human-computer interaction method according to any one of claims 1 to 8, wherein, The surrounding environment also includes the parking location, and the touch icon also includes the parking touch icon corresponding to the parking location; The real-time detection of touch operations on either the vehicle touch icon or the lane touch icon, and the determination of the control object and the control method corresponding to the touched touch icon as the target control object and target control method, includes: Real-time detection of touch operations on any of the parking touch icon, the vehicle touch icon, and the lane touch icon; when the touched icon is the parking touch icon, the parking position is determined as the target control object and parking is determined as the target control method. The step of controlling the vehicle to move relative to the target controlled object according to the target control method includes: Control the vehicle to park at the parking position.

10. The touch-based human-computer interaction method according to any one of claims 1 to 9, wherein, The vehicles include the vehicle itself and other vehicles, and the vehicle touch icons include the vehicle touch icons corresponding to the vehicle itself and the other vehicle touch icons corresponding to other vehicles. The step of generating and displaying a touch icon on the intelligent driving perception screen of the vehicle includes: Generate and display the lane touch icon corresponding to the lane; Determine the first relative position between the autonomous vehicle and the autonomous lane in which the autonomous vehicle is currently located, and generate and display the autonomous vehicle touch mark corresponding to the autonomous vehicle at the first relative position of the lane touch mark corresponding to the autonomous lane according to a preset display ratio; Determine the second relative position between the other vehicle and the own vehicle, and generate and display the other vehicle touch icon corresponding to the other vehicle at the second relative position of the own vehicle touch icon according to the display ratio.

11. The touch-based human-computer interaction method according to claim 10, wherein, After generating and displaying the lane touch icon corresponding to the lane, the touch-based human-computer interaction method further includes: Upon detecting that the lane touch icon has been touched, at least one lane control mode is generated and displayed.

12. The touch-based human-computer interaction method according to claim 11, wherein, The step of generating and displaying at least one lane control method upon detecting that the lane touch icon has been touched includes: When it is detected that the lane touch icon is touched in the way of selecting lane control, at least one lane control touch icon configured to indicate different lane control methods is generated and displayed.

13. The touch-based human-computer interaction method according to claim 10, wherein, After generating and displaying the touch icon corresponding to the other vehicle, the touch-based human-computer interaction method further includes: Upon detecting that the other vehicle's touch icon has been touched, at least one vehicle control mode is generated and displayed.

14. The touch-based human-computer interaction method according to claim 13, wherein, The step of generating and displaying at least one vehicle control method upon detecting that the touch icon of another vehicle has been touched includes: When it is detected that the touch control icon of another vehicle is touched in the way of selecting vehicle control, at least one vehicle control touch control icon configured to indicate different vehicle control modes is generated and displayed.

15. The touch-based human-computer interaction method according to any one of claims 10 to 14, wherein, After generating and displaying the vehicle touch icon corresponding to the vehicle, the touch-based human-computer interaction method further includes: Determine whether the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance; When the distance between one side of the vehicle and the boundary of the corresponding side of the lane is greater than a preset safety distance, a directional touch mark pointing to the boundary of the corresponding side of the lane is generated and displayed on one side of the vehicle touch mark; wherein the directional touch mark is touchable and configured to indicate that the position of the vehicle can be adjusted in the direction indicated by the directional touch mark. When the distance between one side of the vehicle and the boundary of the corresponding side of the lane is not greater than a preset safety distance, a direction indicator pointing to the boundary of the corresponding side of the lane is generated and displayed on one side of the vehicle touch indicator; wherein the direction indicator is non-touchable and configured to indicate that the position of the vehicle is prohibited from being adjusted in the direction indicated by the direction indicator.

16. The touch-based human-computer interaction method according to any one of claims 10 to 15, wherein, After generating and displaying the vehicle touch icon corresponding to the vehicle, the touch-based human-computer interaction method further includes: A first directional touch icon is generated and displayed behind the vehicle touch icon, pointing to the rear of the vehicle touch icon; wherein the first directional touch icon is touchable and configured to indicate that the position of the vehicle can be adjusted in the direction indicated by the first directional touch icon; Determine whether the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than a preset safe distance. When the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is greater than a preset safe distance, a second directional touch mark is generated and displayed in front of the vehicle touch mark, pointing in front of the vehicle touch mark; wherein, the second directional touch mark is touchable and configured to indicate that the position of the vehicle can be adjusted in the direction indicated by the second directional touch mark. When the distance between the front of the vehicle and the rear of another vehicle in front of the vehicle is not greater than a preset safe distance, a directional indicator pointing to the front of the vehicle touch indicator is generated and displayed in front of the vehicle touch indicator; wherein the directional indicator is non-touchable and is configured to indicate that the position of the vehicle is prohibited from being adjusted in the direction indicated by the directional indicator.

17. The touch-based human-computer interaction method according to any one of claims 10 to 16, wherein, The lane touch indicators corresponding to all lanes are positioned side by side, and the lane touch indicator corresponding to the vehicle lane is located below the vehicle touch indicator.

18. A touch-screen human-computer interaction device, comprising: The acquisition module is configured to acquire real-time perception data obtained by the vehicle's perception devices from perceiving the vehicle's surrounding environment; wherein, the surrounding environment includes vehicles and lanes. The generation module is configured to generate and display touch icons on the intelligent driving perception screen of the vehicle based on the real-time perception data; wherein, the touch icons include vehicle touch icons corresponding to the vehicle and lane touch icons corresponding to the lane, and each touch icon is preset with a corresponding control object and control method; The touch module is configured to detect touch operations on either the vehicle touch icon or the lane touch icon in real time, and determine the control object and the control method corresponding to the touched touch icon as the target control object and the target control method. The control module is configured to control the vehicle to move relative to the target controlled object according to the target control method.

19. An electronic device comprising one or more processors configured to implement the touch-based human-computer interaction method as claimed in any one of claims 1 to 17.

20. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by at least one processor, implement the touch-based human-computer interaction method as described in any one of claims 1 to 17.

21. A computer program product comprising a computer program stored on a computer-readable storage medium, wherein when executed by at least one processor, the computer program implements the touch-based human-computer interaction method as described in any one of claims 1 to 17.

22. A vehicle comprising: The touch-screen human-computer interaction device as described in claim 18, or The electronic device as described in claim 19, or The non-transitory computer-readable storage medium as described in claim 20, or The computer program product as described in claim 21, or One or more processors configured to implement the touch-based human-computer interaction method as described in any one of claims 1 to 17.

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