Control method, apparatus and vehicle

Abstract

A control method, an apparatus and a vehicle. The method comprises: acquiring environmental space information and positioning information of a vehicle, the environmental space information indicating the position of a boundary of a first drivable area in a first environmental space, the positioning information indicating the current position of the vehicle in the first environmental space, and the first environmental space comprising a space where the vehicle is currently located and a space that the vehicle needs to pass through when driving to a target position (S1010); and, on the basis of the environmental space information and the positioning information, controlling a display apparatus of the vehicle to display a virtual scene interface, the virtual scene interface comprising a first element and a second element that is displayed in an enhanced manner, the first element indicating the position of the vehicle in the first environmental space, and the second element indicating a boundary of a second drivable area within a first range with respect to the vehicle (S1020), wherein the first drivable area comprises the second drivable area. The method can achieve enhanced display of a boundary of a drivable area within a certain range around the position where a vehicle is located, which helps to improve the driver's attention to the boundary of the drivable area, thereby improving driving safety.

Description

Control methods, devices and vehicles Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a control method, device, and vehicle. Background Technology

[0002] As vehicles become increasingly intelligent, more and more vehicles are equipped with intelligent driving systems to reduce driving stress and improve driving safety. During vehicle operation, the vehicle can simulate driving scenarios based on map data of the area it is in and / or information perceived by its own perception system. It then controls the vehicle's display device to show the simulated driving scenario and related driving information, demonstrating to the user the machine's (i.e., the vehicle's) understanding of the driving scenario.

[0003] However, under the current technological context, the simulated driving scenarios displayed by vehicles mainly focus on the location and type of other road users around the vehicle, and show less of the characteristics of the surrounding environment during the vehicle's movement. Summary of the Invention

[0004] This application provides a control method, device, and vehicle that can enhance the display of the boundary of the drivable area within a certain range of the vehicle's location in a virtual scene interface, which helps to improve the driver's attention to the boundary of the drivable area, thereby improving vehicle driving safety.

[0005] Firstly, a control method is provided, which can be executed by a vehicle, or by a chip or circuitry used in the vehicle. Specifically, the method can be executed by the vehicle's computing platform.

[0006] The method includes: acquiring environmental spatial information and vehicle positioning information, wherein the environmental spatial information indicates the location of the boundary of a first drivable area in a first environmental space, and the positioning information indicates the current location of the vehicle in the first environmental space, wherein the first environmental space includes the space where the vehicle is currently located and the space that the vehicle needs to pass through to travel to the target location; and controlling the vehicle's display device to display a virtual scene interface based on the environmental spatial information and the positioning information, wherein the virtual scene interface includes a first element and an enhanced display second element, wherein the first element indicates the location of the vehicle in the first environmental space, and the second element indicates the boundary of a second drivable area within a first range of the vehicle; wherein the first drivable area includes the second drivable area.

[0007] It should be noted that the first drivable area refers to the drivable area formed by natural objects and / or buildings. For example, the first drivable area can be the area between two walls for vehicle travel, or the first drivable area can be the area between a mountain and the curb of a road for vehicle travel.

[0008] It should also be noted that the "enhanced display" involved in this application refers to an enhanced display compared to the boundary of the drivable area outside a certain range of the vehicle's location. For example, the boundary of the drivable area within a certain range of the vehicle's location can be displayed using a style different from the boundary of the drivable area outside the certain range of the vehicle's location. For example, the aforementioned different styles may include different colors, different brightness, different animation effects, etc.

[0009] In some implementations, the virtual scene interface may also include elements indicating other natural objects or buildings in the first environment space, or elements indicating the location and type of other traffic participants in the first environment space.

[0010] The virtual scene interface involved in this application may also be called a surrounding reality (SR) interface, or an environment information display (EID) interface, or other interfaces.

[0011] In the aforementioned technical solution, enhancing the display of the boundaries of the drivable area formed by the surrounding environment during vehicle operation helps increase user awareness of relevant environmental features, thereby reducing the likelihood of the vehicle leaving the drivable area in human-driven scenarios. In intelligent driving scenarios, it can improve the user's understanding of vehicle behavior, or allow the driver to take over the vehicle in a timely manner when the vehicle's position is inappropriate, thus improving driving safety. Furthermore, enhancing the display of the boundaries of the drivable area formed by the surrounding environment also helps improve the user's welcoming experience. In particular, in relatively dimly lit scenes, enhanced display makes the relative position of the vehicle to the boundaries of the drivable area more prominent, helping to increase the user's subjective sense of security.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the virtual scene interface also includes boundary elements, which are semi-transparent elements. The boundary elements include a first part and a second part, which are used to indicate the two side boundaries of the first drivable area; wherein the second element is coupled to the boundary elements.

[0013] The coupling of a second element and a boundary element can include: the second element being placed at the junction of the boundary element and the element indicating the location of the road surface, or the second element being superimposed on the boundary element to enhance the display of the boundary element.

[0014] In the above technical solution, using semi-transparent elements to indicate the two side boundaries of the drivable area within and outside a certain range of the vehicle helps to make environmental information beyond the vehicle's perception range or the driver's field of vision visible, thereby showing the user more features and / or information of the environmental space.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the height of the first part and / or the second part is associated with the properties of the boundary of the second drivable area.

[0016] In the above technical solution, the height of the boundary element indicates the boundary attribute of the drivable area, which helps to make the boundary attribute more intuitive and eye-catching, making it easier for users to understand the characteristics of the environment in which the vehicle is located.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, when the first boundary of the first drivable area is a boundary that the vehicle cannot drive out of, the virtual scene interface also includes a base element, which is an opaque element, and the base element is set at the position where the boundary element associated with the first boundary and the element indicating the road surface meet; wherein, the first boundary is either of the two side boundaries.

[0018] In the above technical solution, the base element can directly indicate the nature of the boundary of the drivable area, such as whether the boundary of the drivable area is a boundary that the vehicle can drive out of or cross, thereby improving the accuracy and comprehensiveness of the user's perception of the environment, which helps to improve driving safety and also helps to increase the user's trust in the vehicle.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the distance between the vehicle and the second boundary of the second drivable area is less than or equal to a first distance threshold, controlling the display device to display a third element in the virtual scene interface, the third element being coupled with the boundary element corresponding to the second boundary, the third element indicating the position of the vehicle's lateral coordinates mapped to the second boundary.

[0020] In the above technical solution, the third element can alert the user that the vehicle is too close to the boundary of the drivable area, so that the user can adjust the vehicle's position in time and reduce the risk of the vehicle running off the road or scraping the road boundary.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: acquiring vehicle status information, the vehicle status information indicating the steering wheel angle and / or wheel angle of the vehicle; determining the predicted driving path of the vehicle within a first time period based on the vehicle status information, the start time of the first time period being the current time; and controlling the display device to display a fourth element in the virtual scene interface, the fourth element indicating the predicted driving path.

[0022] In the above technical solution, elements that indicate the predicted driving path of the vehicle in the future period of time are displayed. In human driving scenarios, this helps the driver determine whether the current steering wheel input is appropriate, so as to adjust the steering wheel angle in time and reduce the risk of the vehicle running off the road or scraping the road boundary.

[0023] In conjunction with the first aspect, in certain implementations of the first aspect, controlling the display device to display a fourth element in a virtual scene interface includes: when the width of the second drivable area is less than or equal to a first width threshold, and / or when the distance between a plane outside the boundary of at least one side of the second drivable area and a plane inside the second drivable area is greater than or equal to a second distance threshold, controlling the display device to display a fourth element in the virtual scene interface.

[0024] In the above technical solution, when the drivable area of ​​the road is relatively narrow, and / or when the difference in elevation between the plane outside the drivable area and the plane where the vehicle is located is large, the element indicating the predicted driving path of the vehicle in the future time period is displayed; in other scenarios, the element indicating the predicted driving path of the vehicle in the future time period is not displayed, which helps to reduce the processing complexity and computational overhead of the vehicle.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when the minimum distance between the predicted driving path and any boundary of the second drivable area is less than or equal to a third distance threshold, a vehicle-controlled prompting device prompts first information, the first information indicating at least one of the following: adjusting the vehicle's posture, the vehicle being at risk of driving out of the boundary of the second drivable area, or the vehicle being at risk of colliding with the boundary of the second drivable area; wherein the prompting device includes a display device.

[0026] In the above technical solution, when the steering wheel input of the vehicle is inappropriate, causing the vehicle to be too close to the boundary according to the current steering wheel parameters, the user is prompted with relevant risks and / or prompted to adjust the vehicle's position. This helps to avoid situations where the driver is not paying attention and fails to see the fourth element, thereby improving the vehicle's driving safety.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, controlling the display device of the vehicle to display a virtual scene interface includes: controlling the display device to display a virtual scene interface when the first environmental space meets the first condition.

[0028] In the above technical solution, the virtual scene interface provided by this application is displayed when the first environmental space meets certain conditions, and the virtual scene interface provided by this application is not displayed when the first environmental space does not meet the aforementioned conditions, which helps to reduce the processing complexity and computational overhead of the vehicle.

[0029] In conjunction with the first aspect, in some implementations of the first aspect, the first condition includes any one of the following: the first environmental space includes a parking lot access road; the first environmental space includes a tunnel access road; or, the first environmental space includes a mountain road.

[0030] In the aforementioned technical solutions, the passageways and tunnels in parking lots are generally dimly lit, and the curvature of mountain roads is generally large, which makes it easy for drivers' vision to be interfered with or obstructed, making it difficult for users to accurately judge the distance between the vehicle and the road boundary. Therefore, in the aforementioned scenarios, the control display device displays the virtual scene interface provided in this application and enhances the display of the boundary of the drivable area of ​​the vehicle within a certain range, making the boundary of the drivable area more prominent and intuitive for users. This not only improves driving safety but also enhances the sense of technology that users perceive, thereby increasing users' trust in the vehicle and improving their driving experience.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, when the first environmental space is an indoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a second width threshold; the road curvature of the second drivable area is greater than or equal to a first curvature threshold; the road slope change rate of the second drivable area is greater than or equal to a first change rate threshold; or, the light intensity of the second drivable area is less than or equal to a first light intensity threshold.

[0032] In conjunction with the first aspect, in some implementations of the first aspect, when the first environmental space is an outdoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a third width threshold; the road curvature of the second drivable area is greater than or equal to a second curvature threshold; the light intensity of the second drivable area is less than or equal to a second light intensity threshold; the road slope change rate of the second drivable area is greater than or equal to a second change rate threshold; or, the weather conditions of the first environmental space meet preset weather conditions.

[0033] In the above technical solution, when the vehicle is in an outdoor space, rain and snow have a significant impact on the driver's visibility. Therefore, in addition to light, road width, curvature, and slope, when the weather conditions meet the preset weather conditions, the virtual scene interface provided by this application is displayed, and the control display device displays the virtual scene interface provided by this application. This helps the user to clearly know the boundary of the drivable area, thereby improving driving safety.

[0034] In conjunction with the first aspect, in some implementations of the first aspect, the style of each element in the virtual scene interface is determined based on one or more of the following factors: the solar term, festival, and weather associated with the date of the vehicle's current trip; whether the first environmental space is indoors or outdoors; whether the first environmental space is in a city or a suburb; or, the vehicle's user identity information.

[0035] In the above technical solution, the style of each element in the virtual scene interface is personalized according to the aforementioned factors, which helps to enhance the user's sense of novelty and enjoyment when using the car.

[0036] Secondly, a control device is provided, comprising an acquisition unit and a processing unit. The acquisition unit is configured to: acquire environmental spatial information and vehicle positioning information, wherein the environmental spatial information indicates the location of the boundary of a first drivable area in a first environmental space, and the positioning information indicates the current position of the vehicle in the first environmental space, the first environmental space including the space where the vehicle is currently located and the space that the vehicle needs to pass through to travel to the target location; the processing unit is configured to: control the vehicle's display device to display a virtual scene interface based on the environmental spatial information and the positioning information, wherein the virtual scene interface includes a first element and an enhanced display second element, the first element indicating the position of the vehicle in the first environmental space, and the second element indicating the boundary of a second drivable area within a first range of the vehicle; wherein the first drivable area includes the second drivable area.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the virtual scene interface also includes boundary elements, which are semi-transparent elements. The boundary elements include a first part and a second part, which are used to indicate the two side boundaries of the first drivable area; wherein the second element is coupled to the boundary elements.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the height of the first and / or second portion is associated with the properties of the boundary of the second drivable area.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, when the first boundary of the first drivable area is a boundary that the vehicle cannot drive out of, the virtual scene interface also includes a base element. The base element is an opaque element, and the base element is set at the position where the boundary element associated with the first boundary and the element indicating the road surface meet; wherein, the first boundary is either of the two side boundaries.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: when the distance between the vehicle and the second boundary of the second drivable area is less than or equal to a first distance threshold, control the display device to display a third element in the virtual scene interface, the third element being coupled with the boundary element corresponding to the second boundary, the third element indicating the position of the vehicle's lateral coordinates mapped to the second boundary.

[0041] In conjunction with the second aspect, in some implementations of the second aspect, the acquisition unit is further configured to: acquire vehicle status information, the vehicle status information indicating the steering wheel angle and / or wheel angle of the vehicle; the processing unit is further configured to: determine the predicted driving path of the vehicle within a first duration based on the vehicle status information, the start time of the first duration being the current time; and control the display device to display a fourth element in the virtual scene interface, the fourth element indicating the predicted driving path.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: control the display device to display the fourth element in the virtual scene interface when the width of the second drivable area is less than or equal to the first width threshold, and / or when the distance between the plane outside the boundary of at least one side of the second drivable area and the plane inside the second drivable area is greater than or equal to the second distance threshold.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is further configured to: when the minimum distance between the predicted driving path and any boundary of the second drivable area is less than or equal to a third distance threshold, control the vehicle's prompting device to prompt first information, the first information being used to prompt at least one of the following: adjusting the vehicle's posture, the vehicle having a risk of driving out of the boundary of the second drivable area, or the vehicle having a risk of colliding with the boundary of the second drivable area; wherein the prompting device includes a display device.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is used to: control the display device to display a virtual scene interface when the first environmental space meets the first condition.

[0045] In conjunction with the second aspect, in some implementations of the second aspect, the first condition includes any one of the following: the first environmental space includes a parking lot access; the first environmental space includes a tunnel access; or, the first environmental space includes a mountain road.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, when the first environmental space is an indoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a second width threshold; the road curvature of the second drivable area is greater than or equal to a first curvature threshold; the road slope change rate of the second drivable area is greater than or equal to a first change rate threshold; or, the light intensity of the second drivable area is less than or equal to a first light intensity threshold.

[0047] In conjunction with the second aspect, in some implementations of the second aspect, when the first environmental space is an outdoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a third width threshold; the road curvature of the second drivable area is greater than or equal to a second curvature threshold; the light intensity of the second drivable area is less than or equal to a second light intensity threshold; the road slope change rate of the second drivable area is greater than or equal to a second change rate threshold; or, the weather conditions of the first environmental space meet preset weather conditions.

[0048] In conjunction with the second aspect, in some implementations of the second aspect, the style of each element in the virtual scene interface is determined based on one or more of the following factors: the solar term, festival, and weather associated with the date of the vehicle's current trip; whether the first environmental space is indoors or outdoors; whether the first environmental space is in a city or a suburb; or, the vehicle's user identity information.

[0049] Thirdly, a control device is provided, comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0050] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0051] Fourthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the first aspect.

[0052] It should be noted that the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.

[0053] Fifthly, a computer-readable storage medium is provided, the computer-readable medium storing instructions that, when executed by a processor, cause the processor to implement the method in any possible implementation of the first aspect.

[0054] In a sixth aspect, a chip is provided that includes circuitry for performing the method in any of the possible implementations of the first aspect described above.

[0055] In a seventh aspect, a vehicle is provided that includes means as in any possible implementation of the second or third aspect, or the vehicle includes a computer-readable storage medium as in any possible implementation of the fifth aspect, or the vehicle includes a chip as in any possible implementation of the sixth aspect, or the vehicle is loaded with a computer program product as in any possible implementation of the fourth aspect.

[0056] In conjunction with the seventh aspect, in some implementations of the seventh aspect, the vehicle is a vehicle in a broad sense, such as a means of transportation (e.g., commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (e.g., forklifts, trailers, tractors, etc.), engineering vehicles (e.g., excavators, bulldozers, cranes, etc.), agricultural equipment (e.g., lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. In practical implementation, the vehicle can also be a road vehicle, a water vehicle, an air vehicle, industrial equipment, agricultural equipment, or other intelligent driving equipment such as entertainment equipment.

[0057] For the beneficial effects not described in detail in aspects two through seven, please refer to the description in aspect one, which will not be repeated here. Attached Figure Description

[0058] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0059] Figure 2 is a schematic block diagram of the control system architecture provided in an embodiment of this application;

[0060] Figure 3 is another schematic block diagram of the control system architecture provided in the embodiments of this application;

[0061] Figure 4 is a schematic flowchart of the control method provided in an embodiment of this application;

[0062] Figure 5 is another schematic flowchart of the control method provided in the embodiments of this application;

[0063] Figure 6 is a schematic diagram of the rendering result of the virtual driving scene involved in the embodiment of this application;

[0064] Figure 7 is another schematic diagram of the rendering result of the virtual driving scene involved in the embodiment of this application;

[0065] Figure 8 is a schematic diagram of the GUI involved in the embodiments of this application;

[0066] Figure 9 is another schematic diagram of the GUI involved in the embodiments of this application;

[0067] Figure 10 is another schematic diagram of the GUI involved in the embodiments of this application;

[0068] Figure 11 is another schematic diagram of the GUI involved in the embodiments of this application;

[0069] Figure 12 is another schematic flowchart of the control method provided in the embodiments of this application;

[0070] Figure 13 is a schematic block diagram of the control device provided in an embodiment of this application;

[0071] Figure 14 is another schematic block diagram of the control device provided in the embodiments of this application. Detailed Implementation

[0072] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0073] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the surrounding environment of the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as GPS, BeiDou, or other positioning systems. Alternatively, the sensing system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0074] Display devices 130 are mainly divided into two categories: the first is in-vehicle displays; the second is projection displays, such as head-up displays (HUDs). In-vehicle displays are physical displays and an important component of in-vehicle infotainment systems. It should be noted that in-vehicle displays can include human-machine interfaces (HMIs). Head-up displays, also known as head-up display systems, are mainly used to display driving information such as speed and navigation on a display device in front of the user (e.g., the windshield), reducing the time the user's gaze needs to shift, avoiding pupil changes caused by gaze shifts, and improving driving safety and comfort.

[0075] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n. A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement related functions. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call the instructions in the memory to implement the corresponding functions.

[0076] The computing platform 150 can control the operation of the intelligent driving system, which may include an advanced driving assistance system (ADAS) and / or an autonomous driving system (ADS). The intelligent driving system utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, cameras, ultrasonic sensors, GPS, and inertial measurement units) to acquire information from the vehicle's surroundings, and analyzes and processes this information to achieve functions such as obstacle perception, target recognition, vehicle localization, path planning, and driver monitoring / alerts, thereby improving the safety, automation, and comfort of driving the vehicle.

[0077] At different levels of autonomous driving (or intelligent driving levels, ranging from L0 to L5, totaling six levels), intelligent driving systems can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. These levels of autonomous driving are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the task of monitoring road conditions and reacting is jointly completed by the driver and the system, requiring the driver to take over dynamic driving tasks. Levels L4 and L5 allow the driver to completely transform into a passenger. Currently, the functions that intelligent driving systems can achieve mainly include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert / braking, rear cross-traffic alert / braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist. It should be understood that the above-mentioned functions can have specific modes at different levels of autonomous driving (L0-L5). The higher the level of autonomous driving, the more intelligent the corresponding mode.

[0078] The roles of the sensing system 120, display device 130, and computing platform 150 in this application are explained in detail below with reference to Figure 2. Figure 2 shows a schematic block diagram of the control system architecture provided in an embodiment of this application. The system includes a sensing module 210, a map data acquisition module 220, a display control module 230, and a display module 240. Exemplarily, the sensing module 210 may include one or more sensors in the sensing system 120 shown in Figure 1; the map data acquisition module 220 and the display control module 230 may each include one or more processors in the computing platform shown in Figure 1; the display module 240 may include one or more devices in the display device 130. The roles of each module are as described in items (a) to (iv) below.

[0079] (i) The perception module 210 is used to collect perception information about the vehicle's surroundings. This perception information can indicate the location and type of traffic participants around the vehicle, the location of static obstacles in the vehicle's environment, and the structural information of the road where the vehicle is located (such as road boundaries, lane lines, etc.). Furthermore, the perception module 210 can also determine the vehicle's location information. The perception module 210 can send the collected perception information and / or the determined location information to the display control module 230. In some implementations, the perception module 210 can also send the determined location information to the map data acquisition module 220.

[0080] (ii) The map data acquisition module 220 is used to acquire map data of the area where the vehicle is located. In one implementation, the map data acquisition module 220 determines the area where the vehicle is located based on the positioning information from the perception module 210 and acquires the map data associated with that area. In another implementation, the map data acquisition module 220 and the perception module 210 do not communicate directly, but the display control module 230 and the perception module 210 can communicate. In this case, the map data acquisition module 220 can determine the area where the vehicle is located based on the positioning information indicated by the display control module 230 and acquire the map data associated with that area.

[0081] In some implementations, map data can indicate the location of natural objects and buildings in a given space. Buildings can be understood as man-made structures, such as tunnels, walls, parking lot pillars, parking space lines, and road lane lines. Natural objects can be understood as objects that originally existed in nature (e.g., formed through long-term evolution and change), such as mountains and rivers. For example, map data can include planning data and location data, or it can also include dynamic data. Planning data can indicate the attributes of one or more elements in the space. For instance, for map data associated with a parking lot, the planning data can indicate the attributes of elements such as roads, parking spaces, and passageways within the parking lot. For example, road attributes can indicate the road sign, direction of travel, and road type; parking space attributes can indicate the parking space sign, the road sign associated with the parking space, the floor level, and whether there is a parking lock; and passageway attributes can indicate the location and slope of each passageway. Location data is used to indicate the spatial location of the aforementioned elements, and dynamic data is used to indicate updates to information about important elements affecting vehicle planning paths.

[0082] For example, the map data involved in this application may be simultaneous localization and mapping (SLAM or concurrent mapping and localization, CML) map data, or it may be other map data used for map building through SLAM or CML technology.

[0083] (III) The display control module 230 is used to construct layer data based on map data and / or perception information, and to perform drawing and rendering based on the layer data, thereby controlling the display module 240 to display the rendered image information. It can be understood that the aforementioned layer data can be the layer data of the virtual scene of the area where the vehicle is located.

[0084] In some implementations, the display control module 230 can determine whether the area where the vehicle is currently located is a Class A or Class B area based on map data and / or perception information, and then render image information based on the area type. Specifically, a Class A area can be an area that poses a certain threat to the vehicle's driving safety or requires a high level of driver concentration, such as an area where the risk of an accident is greater than or equal to a certain threshold; a Class B area can be an area that poses no threat or a low threat to the vehicle's driving safety or requires a low level of driver concentration, such as an area where the risk of an accident is less than a certain threshold. For example, a Class A area may include, but is not limited to, passageways, ramps, tunnels, or mountain roads with a cliff on one side in a parking lot. A Class B area can be any area other than a Class A area.

[0085] In some implementations, the map data carries a label indicating the area the vehicle is currently in. This label can indicate the characteristics of the area, such as whether it is a driveway and / or ramp in a parking lot, or whether it is a mountain road. Therefore, the map data can be used to determine whether the area the vehicle is currently in is a Class A area. In other implementations, perceived information (such as images captured by the vehicle's camera) can be analyzed to determine whether the area the vehicle is in is a Class A area.

[0086] (iv) The display module 240 is used to display a virtual scene interface according to the control of the display control module 230. The virtual scene interface includes the position and features of each element in the virtual scene and the position of the vehicle in the virtual scene.

[0087] Figure 3 shows a schematic block diagram of the software architecture required for implementing the control method provided in this application embodiment. As shown in Figure 3, the layered architecture divides the control software into several layers, each with a clear role and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the control system can be divided into five layers, from top to bottom: application layer, framework layer, system layer, kernel layer, and hardware layer.

[0088] The application layer may include a series of application packages. As shown in Figure 3, an application package may include at least one application (or application program), such as application 1, application 2, application 3, up to application m (m is a positive integer). Among them, the at least one application may include the driving assistance (or navigation assistance) application provided in this application, which is used to display a virtual scene of the real world in which the vehicle is located, and the position of the vehicle in the virtual scene, during vehicle operation.

[0089] The framework layer provides application programming interfaces (APIs) and programming frameworks for applications in the application layer. The framework layer can include predefined functions, as shown in Figure 3, and may also include a rendering module.

[0090] The system library may include multiple functional modules. For example, as shown in Figure 3, the system library may include: a surface flinger.

[0091] For example, after an application (such as a driver assistance application) is triggered to render by the display compositing system, it calls the rendering thread of the rendering module to render the layer data sent from the application layer, and sends the rendered data to the display compositing system for compositing.

[0092] The kernel layer is the layer between hardware and software. The kernel layer contains at least a hardware composer (HWC), which uses hardware to combine and display image data. The HWC receives layers and a target frame rate from the display compositing system, processes the layers according to the target frame rate, and sends them to one or more display devices in the hardware layer for display.

[0093] The display devices 1 to n (n is a positive integer) in the hardware layer may include one or more of the display devices 130 in FIG1, or the display devices 1 to n may also include the display module 240 in FIG2.

[0094] It should be understood that the above modules are merely an example, and in actual applications, these modules may be added or removed as needed. For example, in the system architecture shown in Figure 2, the map data acquisition module 220 and the display control module 230 can be merged into one module. As another example, in the system architecture shown in Figure 3, each layer may also include other functional modules.

[0095] The control system architecture provided in the embodiments of this application has been described above. The following details the process of implementing the control method provided in the embodiments of this application based on the control system shown in Figure 2 or Figure 3.

[0096] Figure 4 shows a schematic flowchart of a control method provided in an embodiment of this application. This method can be applied to the vehicle shown in Figure 1, or it can be executed by the system shown in Figure 2 or Figure 3. More specifically, the method 300 may include:

[0097] S301, Obtain map data corresponding to area A.

[0098] In some implementations, map data corresponding to all Class A areas in the city where the vehicle is located is obtained; or, map data corresponding to one or more Class A areas that the vehicle frequently visits is obtained; or, when the destination of the vehicle's current trip includes a Class A area or when the vehicle passes through a Class A area on its way to the destination, map data corresponding to that Class A area is obtained; or, based on the vehicle's current location, it is determined whether the vehicle is currently in a Class A area, and when the vehicle is in a Class A area, map data corresponding to that location is obtained.

[0099] It should be noted that the area to which the vehicle is located can include both Class A and Class B areas. The map data corresponding to the aforementioned Class A area can include map data from both Class A and Class B areas.

[0100] S302, construct a virtual scene based on map data.

[0101] For example, map data can be processed based on technologies such as SLAM or CML to construct virtual scenes. In some implementations, perception information collected by the vehicle's perception system can also be obtained and used to construct virtual scenes; alternatively, virtual scenes can be constructed by combining offline map data with perception information acquired by the vehicle in real time.

[0102] S303, determine whether the vehicle is in a Class A area.

[0103] In one example, the vehicle's location information and map data can be used to determine whether the vehicle is in a Class A area; in another example, the vehicle's location and map data can be used to determine whether the vehicle is in a Class A area.

[0104] Furthermore, if the vehicle is in a Class A area, execute S304; otherwise, execute S305.

[0105] In some implementations, S304 is executed when the vehicle is in a Class A area and the environment of the Class A area meets certain conditions; otherwise, S305 is executed.

[0106] Among them, the environmental conditions of Class A areas may include one or more of the following: light intensity is less than or equal to the light intensity threshold, making it impossible for the driver to accurately observe the boundary of the drivable area; road curvature is greater than or equal to the curvature threshold, obstructing the driver's vision and making it impossible to predict the future boundary and direction of the road; road slope change rate is greater than or equal to the change rate threshold, increasing the difficulty of vehicle handling; the width of the drivable area is less than or equal to the width threshold, increasing the risk of vehicle collisions; the height of the drivable area is less than or equal to the height threshold, increasing the risk of vehicle collisions; or, when the vehicle is outdoors, the weather is rainy or snowy, resulting in poor driver visibility.

[0107] S304 enhances the display of the boundary of the drivable area within a certain range of the vehicle's location in the virtual scene interface.

[0108] In one example, the drivable area may include an area accessible to all vehicles, which may include an area for vehicles traveling in the same direction as the vehicle, or an area for vehicles traveling in the opposite direction to the vehicle. In yet another example, the drivable area may include an area accessible to the vehicle itself, that is, an area for vehicles traveling in the same direction as the vehicle.

[0109] It should be noted that the "enhanced display" involved in this application refers to enhanced display compared to the boundary of the drivable area outside a certain range of the vehicle's location. For example, the boundary of the drivable area within a certain range of the vehicle's location can be displayed using a different style than the boundary of the drivable area outside the vehicle's location. For instance, the colors of the two boundaries could be different, with the boundary of the drivable area within the vehicle's location being more prominent; or, the boundary of the drivable area within the vehicle's location could be highlighted, while the boundary of the drivable area outside the vehicle's location could not be highlighted; or, a prominent animation effect could be set for the boundary of the drivable area within the vehicle's location, while no animation effect could be set for the boundary of the drivable area outside the vehicle's location, etc. In other words, in actual implementation, in the virtual scene interface, the boundary of the drivable area within a certain range of the vehicle's location will be more prominent than the boundary of the drivable area outside the aforementioned certain range.

[0110] S305 displays elements indicating environmental spatial characteristics in the virtual scene interface, but does not display enhanced elements.

[0111] A more detailed control method flow for S304 can be shown in Figure 5, including some or all of the steps in S401 to S407 below:

[0112] S401, obtain vehicle location information.

[0113] For example, the vehicle's location information can be determined based on data collected by one or more sensors, including the vehicle's positioning system, IMU, and wheel speed sensors.

[0114] S402, determine if the vehicle's location has changed.

[0115] For example, if the distance between the location indicated by the current frame positioning information and the location indicated by the previous frame positioning information is greater than or equal to a threshold 'a', then it is determined that the vehicle positioning has changed. For example, if the time interval between two adjacent frames of positioning information is 0.025s, the threshold 'a' can be a value between 3 cm and 5 cm. Alternatively, the threshold 'a' can also be other values. For example, the threshold 'a' can increase as the frame rate of the positioning information decreases. If the frame rate of the positioning information is 30 frames per second (fps), then the threshold 'a' can also be a value greater than 5 cm.

[0116] Furthermore, if the vehicle's location changes, S403 is executed; otherwise, the display is not updated, that is, the screen displayed on the vehicle's display device is not updated.

[0117] S403, determine the remaining distance between the vehicle and the exit or entrance of the Class A area.

[0118] For example, if the location of the entrance and exit of a Class A area can be indicated by map data, then the remaining distance between the vehicle and the exit of the Class A area and the entrance of the Class A area can be determined based on the vehicle's location information and the location of the entrance and exit of the Class A area indicated by the map data.

[0119] In some implementations, the Class A area is determined based on the vehicle's perception information, which can then be used to determine the remaining distance between the vehicle and the entrance or exit of the Class A area.

[0120] S404, Determine whether the remaining distance meets the preset conditions.

[0121] In one example, when a vehicle is outside a Class A area and is approaching it, the preset condition can be: the remaining distance between the vehicle and the entrance of the Class A area is less than or equal to a threshold b. In another example, when a vehicle is inside a Class A area, the preset condition can be: the remaining distance between the vehicle and the exit of the Class A area is greater than or equal to a threshold b. For example, the threshold b can be a value between 10 meters and 20 meters, or it can be any other value.

[0122] Furthermore, if the remaining distance meets the preset conditions, execute S405; otherwise, do not perform enhanced display, or stop enhanced display, that is, display elements indicating environmental spatial characteristics in the virtual scene interface, and do not display enhanced elements.

[0123] S405, determine the difference between the plane where the vehicle is located and the plane where the entity corresponding to the currently displayed element is located.

[0124] For example, the entity corresponding to the currently displayed element can be a wall or similar structure in the virtual scene, and the plane on which the entity corresponding to the currently displayed element is located can be the ground in the virtual scene. Taking a parking lot as an example, where the vehicle is located and the parking lot includes multiple parking areas, this step is used to determine whether the plane on which the vehicle is located is the same plane as the plane on which the vehicle will be displayed in the virtual scene interface.

[0125] In some implementations, if the virtual scene is constructed based on vehicle perception information, S405 and S406 can be skipped.

[0126] S406, determine whether the difference ≤ threshold 1 is true.

[0127] Specifically, when the difference is less than or equal to the threshold of 1, it can be determined that the plane where the vehicle is located and the plane where the vehicle will be displayed in the virtual scene interface are the same plane, and then S407 is executed; otherwise, if it is determined that the vehicle position is mismatched, the vehicle positioning can be re-performed.

[0128] S407 displays a vehicle icon in the virtual scene interface, and displays enhanced elements within a certain area of ​​the vehicle icon.

[0129] The enhancement elements may include elements that indicate the boundaries of the drivable area, or elements that indicate the position of the vehicle relative to the boundaries of the drivable area.

[0130] To understand the control method provided in the embodiments of this application, the control method provided in this application will be described in detail below with reference to Figures 6 to 11.

[0131] Figure 6 shows a schematic diagram of the rendering result of an application scenario of the control method provided in this application embodiment. This rendering result can be viewed as a virtual scene constructed for a parking lot passage with a large turning radius and a large slope (e.g., the x-direction indicated by the road arrow is downhill). As shown in Figure 6, the virtual scene includes elements 402, 403, and 404. Elements 402 and 404 respectively indicate the boundary positions of the drivable area in the parking lot passage, and element 403 indicates the position of the parking space lines in the parking lot passage. Furthermore, the virtual scene also includes elements 402-a and 402-b, which respectively indicate the position of the sidewalls of the parking lot passage. Elements 402-a and 402-b are both semi-transparent elements to allow the environmental features behind the passage sidewalls to be displayed. For example, if the passage sidewalls include speed bumps and road directional arrows, the virtual scene may also include element 405 indicating speed bumps and element 406 indicating road directional arrows.

[0132] It is understandable that element 402 can indicate the position where the side wall corresponding to element 402-a meets the plane where the vehicle is located, and element 404 can indicate the position where the side wall corresponding to element 402-b meets the plane where the vehicle is located.

[0133] Furthermore, when a vehicle enters the parking lot lane, elements indicating the vehicle and enhancement elements 401-a and 401-b can be displayed in the virtual scene based on the vehicle's position. Elements 401-a and 401-b are used to enhance the boundary of the drivable area within a certain range of the vehicle. The starting position of this range can be between the rear and front of the vehicle, and the ending position can be in front of the vehicle, at a distance of 5 to 10 meters from the front; alternatively, the range can be of other lengths. Understandably, elements 401-a and 401-b move with the vehicle, enhancing the environmental display, reminding the user to pay attention to the boundary of the drivable area, drive carefully, and simultaneously creating a welcoming effect.

[0134] In addition, the background of the virtual scene can include two modes: light mode and dark mode. In light mode, the background of the virtual scene is background 411 (as shown in the left figure in Figure 6), and in dark mode, the background of the virtual scene is background 412 (as shown in the right figure in Figure 6).

[0135] In some implementations, when controlling the display device to display a virtual scene, the background of the virtual scene can be determined to be either a light or dark mode based on the lighting conditions of the vehicle's environment. For example, when the lighting conditions in the vehicle's environment are good, the background of the virtual scene is in a light mode; when the lighting conditions in the vehicle's environment are poor, the background of the virtual scene is in a dark mode. For example, good lighting conditions can be defined as a light intensity greater than or equal to a illuminance threshold, where the illuminance threshold can be a value between 5000 lux and 10000 lux, or it can be any other value.

[0136] In some implementations, when controlling the display device to display a virtual scene, the background of the virtual scene can be determined to be either a light or dark mode based on the current time period. For example, if the current time period is nighttime, the background of the virtual scene is in dark mode; otherwise, the background of the virtual scene is in light mode. For instance, the nighttime period can be determined based on the time of sunset and sunrise, such as the period from sunset to sunrise; or, the nighttime period can be a fixed time period determined based on latitude, longitude, and season.

[0137] Figure 7 shows a schematic diagram of the rendering result of another application scenario of the control method provided in this application embodiment. This rendering result can be viewed as a virtual scene constructed for a mountain road. As shown in Figure 7, taking the example that there is a mountain on one side of the mountain road where the vehicle is located, but no mountain on the other side, the virtual scene includes elements 601, 602-a, 602-b, 603-a, 603-b, 604-a, and 604-b. Among them, element 601 indicates the location of the mountain; elements 603-a and 603-b respectively indicate the boundary position of the drivable area in the mountain road; elements 602-a and 602-b respectively indicate the position of the side wall of the mountain road, which can be a non-physical side wall, mainly used to delineate the range in which the vehicle body can move; elements 604-a and 604-b are used to enhance the display of the boundary of the drivable area within a certain range of the vehicle.

[0138] It should be noted that when the environments or scenes on both sides of a mountain road differ, different boundary heights can be used to indicate different boundary environments. For example, as shown in Figure 7, if one side of the mountain road is close to a mountain and the other side is a flat road or a cliff, then the boundary element on the side closer to the mountain (such as element 602-b) can have a higher height, while the boundary element on the side closer to the flat road or cliff (such as element 602-a) can have a lower height. The height can be a dimension perpendicular to the plane in which the vehicle is located.

[0139] In some implementations, when the distance between the vehicle and the boundary of the drivable area is less than or equal to a distance threshold of 1 during vehicle movement, element 605 can be displayed. This element 605 is coupled to one side boundary of the drivable area that the vehicle is close to, indicating that the vehicle is too close to a certain boundary. The lateral position of element 605 in element 602-a can be determined by mapping the vehicle's lateral coordinates to the position of the boundary indicated by element 602-a. For example, the distance threshold of 1 can be a value between 20 cm and 30 cm, or it can be any other value.

[0140] The lateral direction referred to in this application can be determined relative to the vehicle's driving direction or the vehicle's coordinate system. For example, the lateral direction can be a direction perpendicular to the vehicle's driving direction; or, for another example, the lateral direction can be a direction parallel to the Y-axis of the vehicle's coordinate system. It should be noted that the origin O of the vehicle coordinate system can be located at the projection point of the rear axle center of the vehicle body onto the ground, and the positive directions of the X and Z axes can be the direction of the vehicle's front end and the direction perpendicular to the vehicle's plane, respectively, which are vertically upward.

[0141] In some implementations, the background of the virtual scene shown in Figure 7 may also include dark mode and light mode. The specific background mode displayed can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0142] During actual vehicle operation, the vehicle's display device can be controlled to show the virtual scene shown in Figure 6 or Figure 7, or it can be controlled to show a virtual scene that changes in real time as the vehicle moves. The following explanation uses the central control screen as an example.

[0143] In one example, taking a scenario where a vehicle is driving through a parking lot lane as an example, the lighting conditions in the parking lot lane may be poor or the road curvature may be large, resulting in poor visibility for the user. Therefore, the vehicle's display device can be controlled to display a graphical user interface (GUI) as shown in Figure 8. As shown in the lower left of Figure 8, the interface includes element 701 indicating the vehicle's position in the lane, element 702 indicating the side wall of the lane, element 703 indicating the connection position between the side wall of the lane and the plane where the vehicle is located, elements 704-a and 704-b (the part selected by the dashed ellipse) indicating the boundary of the drivable area within a certain range of the vehicle, and element 705 indicating the navigation path. Among them, element 703 can also be understood as the element indicating the boundary of the drivable area. Element 703 is an opaque prism element. This element 703 indicates that the boundary of the drivable area is a stable and safe building structure, or that the boundary of the drivable area is a natural structure (such as a mountain) or building structure (such as a wall) that is difficult or impossible for the vehicle to break through. For example, the styles of elements 402 and 404 shown in Figure 6 can be consistent with element 703, or the style of element 603-b shown in Figure 7 can also be consistent with element 703. When one or both sides of the drivable area are unstable and unsafe building structures, or natural or building structures that are easily breached by vehicles, the style of the boundary of the drivable area can be different from element 703. For example, when one or both sides of the drivable area are fences, or when there is a cliff outside the boundary, the element indicating the boundary of the drivable area can be only a solid line, or a semi-transparent prism or other element. As the vehicle moves, the interface displayed by the display device can change accordingly. For example, when the vehicle is about to leave the parking lot lane, the interface displayed by the display device can be as shown in the lower right figure of Figure 8. In addition to elements 701 to 705 shown in the lower left figure of Figure 8, this interface also includes elements indicating the buildings and road facilities outside the lane.

[0144] In addition, the interface shown in Figure 8 may also include one or more of the following: information indicating the vehicle's intelligent driving status, prompts, and navigation information. For example, the interface may include dialog box 706 "Valet Parking in Progress" to indicate that the vehicle is in valet parking status; or, as the vehicle is about to exit the lane, the interface may include dialog box 707 "Please observe road conditions" to provide a driving warning. The navigation information may include forward driving directions, remaining mileage for this trip, remaining driving time, and estimated arrival time.

[0145] In another example, taking a vehicle driving on a mountain road at night as an example, due to poor lighting conditions, the user cannot accurately see the boundary of the drivable area in the distance. Therefore, the vehicle's display device can be controlled to display the GUI shown in Figure 9. The background of this interface is in dark mode, and the interface includes elements indicating the vehicle's position on the road and elements indicating the boundary of the drivable area. As shown in Figure 9, when the vehicle is too close to one side of the drivable area boundary, the interface also includes a dialog box 801 and element 802. The dialog box 801 includes the text "Too close to the mountain road boundary, please adjust your position in time," and element 802 indicates the position of the vehicle's lateral coordinates projected onto the boundary. If the distance between the vehicle and the boundary of the drivable area is still very close after displaying element 802 and dialog box 801, element 802 and dialog box 801 continue to be displayed, and element 802 moves with the vehicle.

[0146] In some implementations, if the distance between the vehicle and one side boundary of the drivable area is too close, the interface can be switched to a top-down view of the vehicle to more intuitively and clearly display the distance between the vehicle and the boundary of the drivable area.

[0147] In some implementations, when the drivable area of ​​the road where the vehicle is located is narrow, the vehicle may scrape against the boundary of the drivable area during its journey, or the vehicle body may exceed the boundary of the drivable area, putting the vehicle in a dangerous situation. In the aforementioned scenario, the predicted driving path of the vehicle over a future period of time can be predicted based on the steering wheel angle and the vehicle speed, and elements indicating the predicted driving path can be displayed on the interface of the display device.

[0148] For example, as shown in Figure 10, when the width of the drivable area of ​​the road where the vehicle is located is narrow, elements 902-a and 902-b can be displayed. These elements 902-a and 902-b can indicate the wheel trajectory of the vehicle over a future period of time, or they can indicate the location traversed by the maximum outline of the vehicle body over a future period of time. In addition, the interface can also include element 901 indicating the navigation path. The difference between element 901 and element 705 is that element 901 is lighter in color to reduce the prominence of element 901, making elements 902-a and 902-b more intuitive and eye-catching.

[0149] It should be noted that the width of the aforementioned drivable area can refer to the lateral dimension of the vehicle.

[0150] Figure 10 shows an example of the interface displayed when the distance between the vehicle and the boundary of either side of the drivable area is greater than the distance threshold 1. If the distance between the vehicle's side (such as the left side) and the boundary of the drivable area is less than or equal to the distance threshold 1, the interface may include element 904 as shown in Figure 11 to indicate that the distance between the vehicle and the boundary of the drivable area is too close.

[0151] Furthermore, Figure 10 shows an example of the interface displayed when both sides of the drivable area are solid walls or objects that vehicles cannot easily or will not be able to break through. If the boundary of the drivable area on one side of the vehicle (e.g., the left) is an unstable object or an object that a vehicle can easily break through, a base element as shown in Figure 11 can be displayed. The base on the right boundary is an opaque prism, indicating that the right boundary is a solid wall or an object that a vehicle cannot easily or will not be able to break through; the left boundary has no base, indicating that the left boundary is a boundary that a vehicle can break through or drive out of.

[0152] In some implementations, when both sides of the drivable area are solid walls or objects that the vehicle cannot easily or will not break through, a collision warning can be issued when the distance between the vehicle's predicted driving path and any boundary of the drivable area is less than or equal to a distance threshold of 2. For example, if the predicted driving path indicates that the left side of the vehicle may be too close to the boundary of the drivable area, a dialog box 903 as shown in Figure 10 can be displayed: "There is a risk of collision between the vehicle and the left wall. Please adjust the vehicle's position in time!" to issue a collision warning.

[0153] In some other implementations, when one or both boundaries of the drivable area are boundaries that a vehicle can break through or drive out of, a road runaway warning can be issued when the distance between the vehicle's predicted driving path and the boundary that the vehicle can break through or drive out of is less than or equal to a distance threshold of 2. For example, for the scenario shown in Figure 11, the dialog box 905 shown in Figure 11, "The vehicle is at risk of running out of the road. Please adjust the vehicle's position in time!", can be displayed to issue a road runaway warning.

[0154] For example, the aforementioned distance threshold 2 can be a value between 10 cm and 20 cm, or the distance threshold 2 can be other values.

[0155] It should be noted that the terms "left side" and "right side" in this application can refer to the left side of the vehicle and the right side of the vehicle. The left side and right side of the vehicle can be relative. For example, the left side and right side of the vehicle can be defined based on the vehicle coordinate system. The side of the vehicle located in the positive direction of the Y-axis can be regarded as the left side of the vehicle, and the side of the vehicle located in the negative direction of the Y-axis can be regarded as the right side of the vehicle.

[0156] It should also be noted that the styles of the elements shown in Figures 6 to 11 are merely illustrative examples, and in actual implementation, the elements can also be other different styles. For example, the elements used to enhance the boundary of a certain range of drivable area of ​​the vehicle can be represented not only by the light strip in the aforementioned embodiments, but also by color strips or other forms of elements. A color strip refers to a strip-shaped element whose color differs from the virtual wall elements (i.e., elements 402-a, 402-b, 602-a, 602-b, and 702), and which moves along the virtual wall elements as the vehicle travels. The height of this strip-shaped element can be the same as the height of the virtual wall element, or it can be smaller than the height of the virtual wall element. For another example, elements 605 and 802 used to indicate the lateral position of the vehicle can also be elements of other colors or shapes. Furthermore, the aforementioned virtual wall elements can also be mesh-like or fence-like elements. For example, when the aforementioned base element indicates that the boundary of the drivable area is a boundary that a vehicle can break through or drive out of, the shape of the base element can be the same as the base element indicating that the boundary of the drivable area is a boundary that a vehicle cannot easily or cannot break through. The difference is that the base element indicating that the boundary of the drivable area is a boundary that a vehicle can break through or drive out of is semi-transparent. In addition, the GUI of the aforementioned embodiments can also display more or fewer elements. For example, when there are other road traffic participants around the vehicle, the GUI can also include elements indicating the location and type of other road users.

[0157] Figure 12 shows a schematic flowchart of the control method provided in an embodiment of this application. This method can be applied to the vehicle shown in Figure 1, or it can be executed by the system shown in Figure 2 or Figure 3. More specifically, the method 1000 may include:

[0158] S1010, acquire environmental space information and vehicle positioning information. The environmental space information indicates the location of the boundary of the first drivable area in the first environmental space, and the positioning information indicates the current position of the vehicle in the first environmental space. The first environmental space includes the space where the vehicle is currently located and the space that the vehicle needs to pass through to travel to the target location.

[0159] For example, the environmental spatial information may include map data associated with the first environmental space and / or perceived information of the first environmental space perceived by the vehicle. The environmental spatial information may indicate the attributes, location, and other information of one or more natural objects or buildings in the first environmental space.

[0160] S1020, based on the environmental space information and positioning information, the vehicle's display device is controlled to display a virtual scene interface. The virtual scene interface includes a first element and an enhanced display second element. The first element indicates the vehicle's position in the first environmental space, and the second element indicates the boundary of the second drivable area within the vehicle's first range. The first drivable area includes the second drivable area.

[0161] The virtual scene interface may include a virtual scene, which may be constructed based on environmental spatial information. For more specific construction methods, please refer to the description in method 300, which will not be repeated here.

[0162] For example, the first range can be a "certain range" as described in the foregoing embodiments. For instance, the starting position of the first range in the longitudinal direction can be a position between the rear and front of the vehicle, and the ending position of the first range in the longitudinal direction can be a position in front of the vehicle, at a distance of 5 to 10 meters from the front of the vehicle. The longitudinal direction can be determined relative to the vehicle's driving direction or the vehicle's coordinate system. For example, the longitudinal direction can be a direction parallel to the vehicle's driving direction; or, for example, the longitudinal direction can be a direction parallel to the X-axis of the vehicle's coordinate system.

[0163] It should be understood that the second element can be one of the enhancement elements involved in the aforementioned method 300.

[0164] In one example, using the virtual scene interface shown in Figure 8 as an example, element 701 can be considered as an example of the first element, and the element pair consisting of elements 704-a and 704-b can be considered as an example of the second element. In another example, as shown in Figure 6, the content displayed in the virtual scene interface can be considered as an example of the second element. In yet another example, as shown in Figure 7, the content displayed in the virtual scene interface can be considered as an example of the second element.

[0165] In some implementations, the virtual scene interface also includes boundary elements, which are semi-transparent elements. The boundary elements include a first part and a second part, which are used to indicate the two side boundaries of the first drivable area; wherein the second element is coupled to the boundary elements.

[0166] For example, the boundary elements may include the virtual wall elements in the aforementioned embodiments, such as elements 402-a and 402-b shown in Figure 6, or elements 602-a and 602-b shown in Figure 7. Elements 402-a and 402-b can be considered as examples of the first part and the second part, respectively, and elements 602-a and 602-b can also be considered as examples of the first part and the second part, respectively. In actual implementation, the boundary elements may also be elements of other styles.

[0167] In some implementations, the height of the first and / or second portion is associated with the properties of the boundary of the second drivable area.

[0168] For example, the properties of the boundary of the drivable area can be understood as: the properties of the objects constituting the boundary of the drivable area, or the properties of the neighboring environment of the boundary of the drivable area.

[0169] In some implementations, the properties of the drivable area boundary can indicate the degree of danger of the drivable area boundary. Furthermore, the lower the height of the boundary element portion, the higher the degree of danger indicated by the drivable area boundary.

[0170] In some implementations, when the properties of the boundaries on both sides of the drivable area are the same, the heights of the first and second parts can be the same; when the properties of the boundaries on both sides of the drivable area are different, the heights of the first and second parts can be different. In one example, if one side of the drivable area is a mountain and the other side is adjacent to a cliff, then the height of the boundary element corresponding to the former is greater than the height of the boundary element corresponding to the latter. In another example, when both sides of the drivable area are walls, then the two parts of the boundary element have the same height.

[0171] In some implementations, when the first boundary of the first drivable area is a boundary from which vehicles cannot leave, the virtual scene interface also includes a base element. The base element is an opaque element and is positioned where it connects to the boundary element associated with the first boundary and the element indicating the road surface. Here, the first boundary can be either of the two side boundaries. For example, element 703 shown in Figure 8 can be considered as an example of a base element in this implementation.

[0172] In some implementations, the method further includes: when the distance between the vehicle and the second boundary of the second drivable area is less than or equal to a first distance threshold, controlling the display device to display a third element in the virtual scene interface, the third element being coupled with the boundary element corresponding to the second boundary, the third element indicating the position of the vehicle's lateral coordinates mapped to the second boundary.

[0173] The third element is coupled to the boundary element corresponding to the second boundary, which may include: the third element is superimposed on the boundary element corresponding to the second boundary.

[0174] For example, the first distance threshold can be the aforementioned distance threshold 1, or the first distance threshold can be other values. In the foregoing embodiments, elements 605 and 802 can be some examples of third elements.

[0175] In practice, when displaying the third element, the second element is not displayed to make the third element more prominent; or, when displaying the third element, the second element can be displayed simultaneously, and the third element and the second element can be elements of different colors or with different lighting effects.

[0176] In some implementations, the method further includes: acquiring vehicle status information, which indicates the steering wheel angle and / or wheel angle of the vehicle; determining the predicted driving path of the vehicle within a first time period based on the vehicle status information, where the start time of the first time period is the current time; and controlling the display device to display a fourth element in the virtual scene interface, which indicates the predicted driving path.

[0177] For example, the first duration can be one of 1 second to 3 seconds, or it can be any other duration. The element pair consisting of elements 902-a and 902-b in the foregoing embodiments can be regarded as an example of a fourth element.

[0178] In some implementations, controlling the display device to display a fourth element in a virtual scene interface includes: when the width of the second drivable area is less than or equal to a first width threshold, and / or when the distance between a plane outside the boundary of at least one side of the second drivable area and a plane inside the second drivable area is greater than or equal to a second distance threshold, controlling the display device to display a fourth element in the virtual scene interface.

[0179] For example, the first width threshold can be determined based on the vehicle's width, such as a value 0.5 meters to 1 meter wider than the vehicle's width, or it can be another value, such as a fixed value, like 2.5 meters to 3 meters. The second distance threshold can be a value between 30 centimeters and 50 centimeters, or it can be another value. More specifically, when the distance between the plane outside the boundary of at least one side of the second drivable area and the plane inside the second drivable area is greater than or equal to the second distance threshold, and the plane outside the boundary of at least one side of the second drivable area is lower than the plane inside the second drivable area, the control display device displays the fourth element in the virtual scene interface.

[0180] In some implementations, the method further includes: when the minimum distance between the predicted driving path and any boundary of the second drivable area is less than or equal to a third distance threshold, a vehicle control device provides a first message, the first message indicating at least one of the following: adjusting the vehicle's posture, the vehicle is at risk of driving out of the boundary of the second drivable area, or the vehicle is at risk of colliding with the boundary of the second drivable area; wherein the warning device includes a display device.

[0181] For example, the third distance threshold can be the aforementioned distance threshold 2, or the third distance threshold can be other values. The first information can include the information shown in dialog box 903 in the aforementioned embodiment, or it can also include the information shown in dialog box 905 in the aforementioned embodiment. The total amount and the first information can also include other forms of information. For example, when the prompting device includes a speaker, sound device, or other sound-emitting device, the first information can include relevant audio information; as another example, when the prompting device includes a lighting device, the first information can include relevant lighting information.

[0182] In some implementations, the display device controlling the vehicle displays a virtual scene interface, including: when the first environmental space meets a first condition, the display device controlling the display device displays the virtual scene interface.

[0183] In one example, the first condition includes any of the following: the first environmental space includes a parking lot access road; the first environmental space includes a tunnel access road; or, the first environmental space includes a mountain road.

[0184] In another example, when the first environmental space is an indoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a second width threshold; the road curvature of the second drivable area is greater than or equal to a first curvature threshold; the road slope change rate of the second drivable area is greater than or equal to a first change rate threshold; or, the light intensity of the second drivable area is less than or equal to a first light intensity threshold.

[0185] For example, the second width threshold can be a value between 2.5 meters and 3 meters, or it can be other values, such as a value determined based on the width of the vehicle; the first curvature threshold can be 2 cm. -1 Up to 2.5cm -1 The first curvature threshold can be one of the following values, or the first curvature threshold can be other values; the first rate of change threshold can be one of the following values, from 5% / m (i.e., the slope change is 5% per meter) to 10% / m, or the first rate of change threshold can be other values; the first light intensity threshold can be one of the following values, from 5000 lux to 10000 lux, or the first light intensity threshold can be other values.

[0186] In another example, when the first environmental space is an outdoor space, the first condition includes at least one of the following: the width of the second drivable area is less than or equal to a third width threshold; the road curvature of the second drivable area is greater than or equal to a second curvature threshold; the light intensity of the second drivable area is less than or equal to a second light intensity threshold; the road slope change rate of the second drivable area is greater than or equal to a second change rate threshold; or, the weather conditions of the first environmental space meet preset weather conditions.

[0187] For example, the third width threshold and the aforementioned second width threshold can be the same threshold or different thresholds; the second curvature threshold and the aforementioned first curvature threshold can be the same threshold or different thresholds; the second rate of change threshold and the aforementioned first rate of change threshold can be the same threshold or different thresholds; the second light intensity threshold and the aforementioned first light intensity threshold can be the same threshold or different thresholds. For example, the weather condition satisfying the preset weather conditions can be: the weather is rainy, and the rainfall is greater than or equal to the rainfall threshold; or, the weather is foggy or hazy, and the visibility is less than or equal to the visibility threshold; or, the weather is snowy, and the snowfall is greater than or equal to the snowfall threshold.

[0188] In some implementations, the style of each element in the virtual scene interface is determined based on one or more of the following factors: the solar term, holiday, and weather associated with the date of the vehicle's current trip; whether the first environment is indoors or outdoors; whether the first environment is in a city or suburbs; or, the vehicle's user identity information.

[0189] In one example, if the date of the trip is Qixi Festival or Valentine's Day, the second element can become a floating string of roses, emitting a soft pink glow; if the date of the trip is Mid-Autumn Festival, the second element can emit a moonlight color or a light gold color, and the base element can also be changed to a dark gold color; if the date of the trip is Arbor Day, the second element can be a floating string of green leaves, emitting a light green glow; if the date of the trip is Chinese New Year, the second element can be a string of red "Fu" characters, emitting a red glow.

[0190] In another example, when the solar term is Heavy Snow, the second element can be a floating snowflake element, and a snowflake pattern can also be added to the base element.

[0191] In another example, the style of the aforementioned element can be set by the user according to their personal preferences. After the user sets it, the relevant information is saved. When the user boards the bus again, the style of the element corresponding to that user is determined based on the saved historical information.

[0192] In another example, when music is playing inside a car, the style of the elements can be determined based on the current music playback status. For instance, the second element could be a series of floating musical notes and musical staves. Alternatively, the style of the elements can be controlled based on the type of music being played in the car.

[0193] Parking lot passages and tunnel passages are generally dimly lit, and mountain roads typically have significant curvature, which can easily interfere with the driver's vision and make it difficult for the user to accurately judge the distance between the vehicle and the road boundary. Therefore, in the aforementioned scenarios, the control method provided in this application embodiment controls the display device to display the virtual scene interface provided in this application and enhances the display of the boundary of the drivable area of ​​the vehicle within a certain range. This makes the boundary of the drivable area more prominent and intuitive for the user, which not only improves driving safety but also enhances the user's sense of technology, thereby increasing the user's trust in the vehicle and the user's driving experience.

[0194] The control method provided by the embodiments of this application has been described in detail above with reference to Figures 1 to 12. The apparatus provided by the embodiments of this application will now be described in detail with reference to Figures 13 and 14. It should be understood that the description of the apparatus embodiments corresponds to the description of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0195] Figure 13 shows a schematic block diagram of a control device 2000 provided in an embodiment of this application. The device 2000 may include units for executing the embodiments described in the foregoing method. Furthermore, each unit in the device 2000 implements a corresponding process of the above-described method embodiments. The device 2000 includes an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions. The device 2000 also includes a processing unit 2020, which can be used to implement corresponding processing functions.

[0196] Optionally, the device 2000 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 2020 can read the instructions and / or data in the storage unit so that the device can perform the relevant actions in the aforementioned method embodiments.

[0197] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0198] It should also be understood that the device 2000 described herein is embodied in the form of a functional unit. The terms “module” or “unit” may refer to application-specific ASICs, electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0199] The apparatuses described above are capable of implementing the corresponding steps performed by the computing platform 150 in the methods described above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above; for example, the acquisition unit 2010 can be replaced by a transceiver, and other units, such as processing units, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0200] Exemplarily, the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the display control module 230. Exemplarily, the operations performed by the acquisition unit 2010 and processing unit 2020 can be performed by a single processor, or they can be performed by different processors. In specific implementation, the one or more processors can be processors disposed in the vehicle 100 shown in FIG. 1; or, the device 2000 can be a chip disposed in the vehicle 100.

[0201] In the specific implementation process, the units in the above device can be fully or partially integrated together, or they can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0202] Figure 14 is another schematic block diagram of the control device provided in an embodiment of this application. The device 2100 shown in Figure 14 may include a processor 2110, a transceiver 2120, and a memory 2130. The processor 2110, transceiver 2120, and memory 2130 are connected via internal connection paths. The memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the methods in the above embodiments. Optionally, the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.

[0203] It should be noted that the transceiver 2120 mentioned above may include, but is not limited to, transceiver devices such as input / output interfaces, to realize communication between device 2100 and other devices or communication networks.

[0204] Memory 2130 can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0205] Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks to receive / send data / information for implementing the methods in the above embodiments.

[0206] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0207] This application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.

[0208] This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.

[0209] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0210] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0211] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0212] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0213] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0214] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between the various embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0215] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0216] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0217] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method, characterized in that, include: The system acquires environmental spatial information and vehicle positioning information. The environmental spatial information indicates the location of the boundary of the first drivable area in the first environmental space, and the positioning information indicates the current position of the vehicle in the first environmental space. The first environmental space includes the space where the vehicle is currently located and the space that the vehicle needs to pass through to travel to the target location. Based on the environmental space information and the positioning information, the vehicle's display device is controlled to display a virtual scene interface. The virtual scene interface includes a first element and an enhanced display second element. The first element indicates the vehicle's position in the first environmental space, and the second element indicates the boundary of the second drivable area within the first range of the vehicle. The first drivable area includes the second drivable area.

2. The method according to claim 1, characterized in that, The virtual scene interface also includes boundary elements, which are semi-transparent elements. The boundary elements include a first part and a second part, which are used to indicate the two side boundaries of the first drivable area. The second element is coupled to the boundary element.

3. The method according to claim 2, characterized in that, The height of the first portion and / or the second portion is associated with the properties of the boundary of the second drivable area.

4. The method according to claim 2 or 3, characterized in that, When the first boundary of the first drivable area is a boundary that vehicles cannot drive out of, the virtual scene interface also includes a base element, which is an opaque element, and the base element is set at the position where the boundary element associated with the first boundary meets the element indicating the road surface. Wherein, the first boundary is either of the two side boundaries.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: When the distance between the vehicle and the second boundary of the second drivable area is less than or equal to a first distance threshold, the display device is controlled to display a third element in the virtual scene interface. The third element is coupled to the boundary element corresponding to the second boundary, and the third element indicates the position of the vehicle's lateral coordinates mapped to the second boundary.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Obtain vehicle status information, which indicates the steering wheel angle and / or wheel angle of the vehicle; Based on the vehicle status information, the predicted driving path of the vehicle within a first time period is determined, where the start time of the first time period is the current time. The display device is controlled to display a fourth element in the virtual scene interface, the fourth element indicating the predicted driving path.

7. The method according to claim 6, characterized in that, The control of the display device to display the fourth element in the virtual scene interface includes: When the width of the second drivable area is less than or equal to a first width threshold, and / or when the distance between a plane outside the boundary of at least one side of the second drivable area and a plane inside the second drivable area is greater than or equal to a second distance threshold, the display device is controlled to display the fourth element in the virtual scene interface.

8. The method according to claim 6 or 7, characterized in that, The method further includes: When the minimum distance between the predicted driving path and any boundary of the second drivable area is less than or equal to a third distance threshold, the vehicle control device provides a first message, which indicates at least one of the following: the vehicle's position is adjusted, the vehicle is at risk of driving out of the boundary of the second drivable area, or the vehicle is at risk of colliding with the boundary of the second drivable area. The prompting device includes the display device.

9. The method according to any one of claims 1 to 8, characterized in that, The display device controlling the vehicle displays a virtual scene interface, including: When the first environmental space meets the first condition, the display device is controlled to display the virtual scene interface.

10. The method according to claim 9, characterized in that, The first condition includes any one of the following: The first environmental space includes the access road to the parking lot; The first environmental space includes the tunnel passage; or, The first environmental space includes mountain roads.

11. The method according to claim 9 or 10, characterized in that, When the first environmental space is an indoor space, the first condition includes at least one of the following: The width of the second drivable area is less than or equal to the second width threshold; The road curvature of the second drivable area is greater than or equal to the first curvature threshold; The rate of change of road gradient in the second drivable area is greater than or equal to the first rate of change threshold; or, The light intensity of the second drivable area is less than or equal to the first light intensity threshold.

12. The method according to claim 9 or 10, characterized in that, When the first environmental space is an outdoor space, the first condition includes at least one of the following: The width of the second drivable area is less than or equal to the third width threshold; The road curvature of the second drivable area is greater than or equal to the second curvature threshold; The light intensity in the second drivable area is less than or equal to the second light intensity threshold; The rate of change of road gradient in the second drivable area is greater than or equal to the second rate of change threshold; or, The weather conditions in the first environmental space meet the preset weather conditions.

13. The method according to any one of claims 1 to 12, characterized in that, The style of each element in the virtual scene interface is determined based on one or more of the following factors: The date of the vehicle's current trip is associated with one or more of the following: solar term, festival, and weather. Is the first environmental space indoors or outdoors? The first environmental space is located in an urban or suburban area; or, The user identity information of the vehicle.

14. A control device, characterized in that, include: The acquisition unit is used to acquire environmental space information and vehicle positioning information. The environmental space information indicates the location of the boundary of the first drivable area in the first environmental space, and the positioning information indicates the current position of the vehicle in the first environmental space. The first environmental space includes the space where the vehicle is currently located and the space that the vehicle needs to pass through to travel to the target location. The processing unit is configured to control the vehicle's display device to display a virtual scene interface based on the environmental space information and the positioning information. The virtual scene interface includes a first element and an enhanced display second element. The first element indicates the vehicle's position in the first environmental space, and the second element indicates the boundary of a second drivable area within a first range of the vehicle. The first drivable area includes the second drivable area.

15. The apparatus according to claim 14, characterized in that, The virtual scene interface also includes boundary elements, which are semi-transparent elements. The boundary elements include a first part and a second part, which are used to indicate the two side boundaries of the first drivable area. The second element is coupled to the boundary element.

16. The apparatus according to claim 15, characterized in that, The height of the first portion and / or the second portion is associated with the properties of the boundary of the second drivable area.

17. The apparatus according to claim 15 or 16, characterized in that, When the first boundary of the first drivable area is a boundary that vehicles cannot drive out of, the virtual scene interface also includes a base element, which is an opaque element, and the base element is set at the position where the boundary element associated with the first boundary meets the element indicating the road surface. Wherein, the first boundary is either of the two side boundaries.

18. The apparatus according to any one of claims 14 to 17, characterized in that, The processing unit is also used for: When the distance between the vehicle and the second boundary of the second drivable area is less than or equal to a first distance threshold, the display device is controlled to display a third element in the virtual scene interface. The third element is coupled to the boundary element corresponding to the second boundary, and the third element indicates the position of the vehicle's lateral coordinates mapped to the second boundary.

19. The apparatus according to any one of claims 14 to 18, characterized in that, The acquisition unit is also used for: Obtain vehicle status information, which indicates the steering wheel angle and / or wheel angle of the vehicle; The processing unit is further configured to: determine the predicted driving path of the vehicle within a first duration based on the vehicle status information, wherein the start time of the first duration is the current time; The display device is controlled to display a fourth element in the virtual scene interface, the fourth element indicating the predicted driving path.

20. The apparatus according to claim 19, characterized in that, The processing unit is also used for: When the width of the second drivable area is less than or equal to a first width threshold, and / or when the distance between a plane outside the boundary of at least one side of the second drivable area and a plane inside the second drivable area is greater than or equal to a second distance threshold, the display device is controlled to display the fourth element in the virtual scene interface.

21. The apparatus according to claim 19 or 20, characterized in that, The processing unit is also used for: When the minimum distance between the predicted driving path and any boundary of the second drivable area is less than or equal to a third distance threshold, the vehicle control device provides a first message, which indicates at least one of the following: the vehicle's position is adjusted, the vehicle is at risk of driving out of the boundary of the second drivable area, or the vehicle is at risk of colliding with the boundary of the second drivable area. The prompting device includes the display device.

22. The apparatus according to any one of claims 14 to 21, characterized in that, The processing unit is used for: When the first environmental space meets the first condition, the display device is controlled to display the virtual scene interface.

23. The apparatus according to claim 22, characterized in that, The first condition includes any one of the following: The first environmental space includes the access road to the parking lot; The first environmental space includes the tunnel passage; or, The first environmental space includes mountain roads.

24. The apparatus according to claim 22 or 23, characterized in that, When the first environmental space is an indoor space, the first condition includes at least one of the following: The width of the second drivable area is less than or equal to the second width threshold; The road curvature of the second drivable area is greater than or equal to the first curvature threshold; The rate of change of road gradient in the second drivable area is greater than or equal to the first rate of change threshold; or, The light intensity of the second drivable area is less than or equal to the first light intensity threshold.

25. The apparatus according to claim 22 or 23, characterized in that, When the first environmental space is an outdoor space, the first condition includes at least one of the following: The width of the second drivable area is less than or equal to the third width threshold; The road curvature of the second drivable area is greater than or equal to the second curvature threshold; The light intensity in the second drivable area is less than or equal to the second light intensity threshold; The rate of change of road gradient in the second drivable area is greater than or equal to the second rate of change threshold; or, The weather conditions in the first environmental space meet the preset weather conditions.

26. The apparatus according to any one of claims 14 to 25, characterized in that, The style of each element in the virtual scene interface is determined based on one or more of the following factors: The date of the vehicle's current trip is associated with one or more of the following: solar term, festival, and weather. Is the first environmental space indoors or outdoors? The first environmental space is located in an urban or suburban area; or, The user identity information of the vehicle.

27. A control device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 13.

28. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 13.

29. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 13.

30. A computer program product, characterized in that, The computer program product includes: computer program code, which, when executed by a processor, implements the method as described in any one of claims 1 to 13.

31. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 14 to 27, or the computer-readable storage medium as described in claim 28, or the chip as described in claim 29, or the vehicle is equipped with the computer program product as described in claim 30.

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