Interaction method and apparatus, and vehicle

Abstract

An interaction method and apparatus, and a vehicle. The method comprises: when a first instruction has been acquired or perception information has been acquired, controlling a projection apparatus of a vehicle to project first projection information, wherein the first projection information comprises a first element, which is associated with a first state of the vehicle, the first instruction is associated with the first state, and feature information of a first person indicated by the perception information is associated with the first state, or the perception information indicates that the distance between an electronic device and / or a key associated with the vehicle and the vehicle is less than or equal to a distance threshold; and then, in response to a first operation performed by the first person on the first element, controlling the vehicle to stay in the first state. The solution can be applied to the field of intelligent driving, and can achieve interaction with a person outside a vehicle by means of projection information, so as to determine clear instructions from the person outside the vehicle, thereby reducing the probability of the vehicle misunderstanding instructions and executing the instructions incorrectly, and thus improving the efficiency of parking a vehicle and / or the efficiency of a user using the vehicle.

Description

Interaction methods, devices and vehicles Technical Field

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

[0002] As vehicles become increasingly intelligent and automated, more and more vehicles are equipped with intelligent driving systems to reduce driving stress and improve driving safety. Currently, various automatic parking (AP) functions have been developed to assist or help users park their vehicles. Automatic parking refers to the vehicle automatically parking itself into a parking space; that is, the intelligent driving system can semi-automatically or fully automatically help the user park the vehicle in a parking space. Automatic parking can include automatic parking assist (APA), remote parking assist (RPA), valet parking driver (VPD), and automatic valet parking (AVP), among others.

[0003] When a vehicle is parked using the automatic parking function without a driver in the vehicle's presence, it may become stuck or even unable to move for an extended period if it encounters complex traffic conditions or environments, potentially causing traffic congestion in the parking lot.

[0004] Therefore, an interactive solution that can improve parking efficiency and / or vehicle usage efficiency is urgently needed to be developed. Summary of the Invention

[0005] This application provides an interaction method, device, and vehicle that can interact with people outside the vehicle through projected information, thereby determining the exact instructions of the people outside the vehicle, reducing the probability of the vehicle misunderstanding and executing incorrect instructions, and thus improving the efficiency of the vehicle parking process and / or the user's vehicle usage efficiency.

[0006] Firstly, an interaction 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.

[0007] The method includes: in response to a vehicle meeting a first condition, controlling a projection device of the vehicle to project first projection information, the first projection information including a first element, the first element being associated with a first state of the vehicle; and in response to a first operation by a first person on the first element, controlling the vehicle to be in the first state.

[0008] In the above technical solution, the vehicle can project light projection elements (such as the first element) for vehicle control. When a specific operation of a person outside the vehicle on the relevant light projection element is detected, the vehicle can be controlled to enter or be in the state associated with that element. This helps to improve the accuracy of recognizing the intentions of people outside the vehicle, thereby improving the accuracy and reliability of vehicle control. During parking, it can improve parking efficiency and the interactive experience of people outside the vehicle. In other scenarios, it can improve the convenience and efficiency of vehicle use for users.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the first state includes at least one of the following: the vehicle's operating state; the projection state of the projection device; or the working state of a first component of the vehicle; wherein the first component includes at least one of the following: a front trunk, a rear trunk, a charging port, in-cabin equipment, a first lighting device, or a first door.

[0010] In the aforementioned technical solution, the interaction between people outside the vehicle and the light projection elements enables control over various states, including the vehicle's operating status. This improves the convenience of vehicle control, allowing users to control the vehicle to perform various actions and / or states without being inside the vehicle. Specifically, when users want to open or close the doors or access the trunk from outside the vehicle, they can control the vehicle directly by interacting with the light projection elements, without needing a mobile phone or key, greatly enhancing the convenience of vehicle use.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the operating state of the vehicle includes a driving state or a parking state, and controlling the vehicle to be in the first state includes: controlling the vehicle to switch from the second state to the first state; wherein, when the second state is a driving state, the first state includes any one of the following: changing the driving direction or deviating, or pausing driving; or, when the second state is a parking state, the first state includes: driving in the first direction.

[0012] In the above technical solution, when the vehicle is in motion, the system can control the vehicle to pause and / or change its direction based on the actions of people outside the vehicle in response to the relevant light projection elements. This improves the convenience of vehicle control. In case of unexpected situations (such as obstacles around the vehicle affecting driving safety), the system can quickly control the vehicle to stop or change its direction, thus improving driving safety. When the vehicle is parked, the system can control the vehicle to enter motion based on the actions of people outside the vehicle in response to the relevant light projection elements. In scenarios where the vehicle is blocking other vehicles, this allows people outside the vehicle to easily control the movement of their own vehicle, improving the efficiency of moving vehicles.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the first state corresponds to the second projection information, and controlling the vehicle to be in the first state includes: controlling the projection device to project the second projection information.

[0014] In the above technical solution, the vehicle's projection device can be controlled to project other projection information in response to user operations on relevant light projection elements. In some scenarios, if there are too many light projection elements for vehicle control in the current scene, making it impossible to project all of them in a single frame, this technical solution can switch the content projected by the projection device. For example, when the intentions of people outside the vehicle cannot be accurately predicted, switching the projection content can also increase the probability of projecting light projection elements that match the intentions of people outside the vehicle.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the first condition includes at least one of the following: obtaining a first instruction, the first instruction being associated with a first state; or obtaining vehicle perception information, the perception information indicating the characteristic information of a first person being associated with the first state; or, the perception information indicating that the distance between the electronic device and / or key associated with the vehicle and the vehicle is less than or equal to a distance threshold.

[0016] In the above technical solution, the ability to control the vehicle's projection device by displaying light projection elements for vehicle control based on voice commands from people outside the vehicle and / or commands from electronic devices helps improve the convenience of vehicle control. For example, in scenarios where the vehicle owner is not around but the vehicle needs to be moved, when a moving command is detected from someone outside the vehicle, light projection elements for controlling vehicle movement can be projected, allowing the person outside to control the vehicle's movement via the light projection elements, eliminating the need for the owner to go to the vehicle to move it, thus improving the efficiency of moving the vehicle. Another example is in scenarios where the vehicle owner is not around but the vehicle needs to be moved, when the owner receives a message requiring the vehicle to be moved (such as a call from someone outside the vehicle informing them to move the vehicle), the user can control the vehicle by displaying light projection elements for moving the vehicle via a mobile phone or other electronic device, allowing the person outside to control the vehicle's movement based on these light projection elements. This not only allows the vehicle to be moved even when the owner is not around, but also helps ensure safety during vehicle movement, preventing unauthorized personnel from triggering the display of the light projection elements for vehicle control. In certain scenarios, when the vehicle is parked and the owner (such as a person carrying vehicle-linked electronic devices and / or keys) is detected approaching the vehicle, light projection elements for vehicle control can be automatically projected, allowing users to control the vehicle without using car keys or mobile phones, thus improving the convenience of vehicle use.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the first instruction includes at least one of the following: an instruction from an electronic device, or a voice instruction from a first person.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the first operation includes a confirmation action by a first person regarding a first position, where the first position is the position projected by the first element.

[0019] In the above technical solution, when a confirmation action by an outside person is detected on the relevant vehicle control element, the vehicle is then controlled to be in the state associated with the relevant vehicle control element. This can reduce the probability of misidentifying the intention of the outside person and causing the vehicle to enter an incorrect state, and helps to improve the robustness of the vehicle's intelligent driving system.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the first operation includes at least one of the following: the first person moves to the first position; the first person points to the first position; or the first person's line of sight falls on the first position.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: when multiple persons, including a first person, are detected, controlling a display device associated with the vehicle to display elements corresponding to the multiple persons respectively; when a second operation is detected on the element corresponding to the first person, determining the first person as the person to whom the vehicle must follow instructions.

[0022] The above technical solution can respond to the user's operation and determine which or which external personnel are granted vehicle control permissions, which helps to improve vehicle safety.

[0023] In conjunction with the first aspect, in some implementations of the first aspect, the first projection information further includes a second element, which indicates the vehicle's driving direction and / or operating status.

[0024] In conjunction with the first aspect, in some implementations of the first aspect, controlling the projection device of the vehicle to project first projection information includes: when the vehicle is in a first parking function, in response to the vehicle meeting a first condition, controlling the projection device to project the first projection information.

[0025] In a second aspect, an interactive device is provided, the device including a processing unit for: controlling a projection device of the vehicle to project first projection information in response to a vehicle meeting a first condition, the first projection information including a first element, the first element being associated with a first state of the vehicle; and controlling the vehicle to be in the first state in response to a first operation by a first person on the first element.

[0026] In conjunction with the second aspect, in some implementations of the second aspect, the first state includes at least one of the following: the vehicle's operating state; the projection state of the projection device; or the working state of a first component of the vehicle; wherein the first component includes at least one of the following: a front trunk, a rear trunk, a charging port, in-cabin equipment, a first lighting device, or a first door.

[0027] In conjunction with the second aspect, in some implementations of the second aspect, the vehicle's operating state includes a driving state or a parking state, and the processing unit is used to: control the vehicle to switch from the second state to the first state; wherein, when the second state is a driving state, the first state includes any one of the following: changing the driving direction or deviating, or pausing driving; or, when the second state is a parking state, the first state includes: driving in the first direction.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the first state corresponds to the second projection information, and the processing unit is used to: control the projection device to project the second projection information.

[0029] In conjunction with the second aspect, in some implementations of the second aspect, the device further includes an acquisition unit; the first condition includes at least one of the following: the acquisition unit is configured to: acquire a first instruction, the first instruction being associated with a first state; or, the acquisition unit is configured to: acquire vehicle perception information, the perception information indicating the characteristic information of a first person being associated with the first state; or, the perception information indicating that the distance between the electronic device and / or key associated with the vehicle and the vehicle is less than or equal to a distance threshold.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the first instruction includes at least one of the following: an instruction from an electronic device, or a voice instruction from a first person.

[0031] In conjunction with the second aspect, in some implementations of the second aspect, the first operation includes a confirmation action by a first person regarding a first position, where the first position is the position projected by the first element.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the first operation includes at least one of the following: the first person moves to the first position; the first person's line of sight falls on the first position; or, the first person points to the first position.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is configured to: when multiple persons, including a first person, are detected, control a display device associated with the vehicle to display elements corresponding to the multiple persons respectively; and when a second operation is detected on the element corresponding to the first person, determine that the first person is the person to whom the vehicle must follow instructions.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the first projection information further includes a second element that indicates the vehicle's driving direction and / or operating status.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the processing unit is configured to: when the vehicle is in the first parking function, in response to the vehicle meeting the first condition, control the projection device to project first projection information.

[0036] Thirdly, an interactive device is provided, the device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the first aspect described above.

[0037] In conjunction with the third aspect, in some implementations of the third aspect, the device also includes a memory.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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

[0045] Figure 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application;

[0046] Figure 2 is a schematic block diagram of the autonomous driving system architecture provided in an embodiment of this application;

[0047] Figure 3 is a schematic flowchart of the interaction method provided in an embodiment of this application;

[0048] Figure 4 is a schematic diagram of the application scenarios involved in the embodiments of this application;

[0049] Figure 5 is another schematic diagram of the application scenario involved in the embodiments of this application;

[0050] Figure 6 is another schematic diagram of the application scenario involved in the embodiments of this application;

[0051] Figure 7 is another schematic diagram of the application scenario involved in the embodiments of this application;

[0052] Figure 8 is another schematic diagram of the application scenario involved in the embodiments of this application;

[0053] Figure 9 is another schematic diagram of the application scenario involved in the embodiments of this application;

[0054] Figure 10 is a schematic block diagram of the interactive device provided in an embodiment of this application;

[0055] Figure 11 is another schematic block diagram of the interactive device provided in the embodiments of this application. Detailed Implementation

[0056] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0057] Figure 1 is a functional block diagram of a vehicle provided in an embodiment of this application. As shown in Figure 1, the vehicle 100 may include a perception system 120, a human-machine interaction system 130, and a computing platform 150. In some implementations, the vehicle 100 may also include a communication system 140. The perception system 120 may include several sensors for sensing information about the surrounding environment of the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global navigation satellite system (GNSS), such as the global positioning system (GPS), the BeiDou system, etc. As another example, the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device. Furthermore, the perception system 120 may also include one or more pressure sensors, acoustic sensors, etc., for monitoring whether there is a user inside the cabin and the user's location.

[0058] For example, the aforementioned camera device may include one or more of a front-view camera, a rear-view camera, a surround-view camera, and a side-view camera. The front-view camera may be mounted on the windshield. The rear-view camera may be mounted in the trunk. The side-view camera may be mounted below the rearview mirror. The surround-view camera includes four cameras mounted around the vehicle; the images acquired by the four cameras are stitched together to obtain a panoramic image of the vehicle's surroundings. In some implementations, the surround-view camera may overlap with the front-view, rear-view, and side-view cameras. For example, the camera positioned on the side of the vehicle in the surround-view camera may be a side-view camera, the camera positioned in front of the vehicle may be a front-view camera, and the camera positioned behind the vehicle may be a rear-view camera. Alternatively, the surround-view camera may be different from all three cameras: the front-view camera, the rear-view camera, and the side-view camera.

[0059] The human-computer interaction system 130 includes a device for receiving instructions from relevant personnel and a device for providing prompts to relevant personnel. The device for receiving instructions may include at least one of the following: a sound receiving device for receiving voice instructions from relevant personnel, such as a microphone, transceiver, etc.; or a device for receiving instructions input by the user through a screen, such as a human-computer interface (HMI); or a camera device for receiving instructions such as the human body posture of relevant personnel, such as an in-cabin camera. The prompting device may include at least one of the following: a sound emitting device, a display device, a lighting device, or a projection device.

[0060] More specifically, sound-generating devices can include speakers, audio radiators, and other devices that play audio. Display devices 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 are an important component of in-vehicle infotainment systems. It should be noted that in-vehicle displays can include HMIs (Head-Up Displays). 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 user's eye-shifting time, avoiding pupil changes caused by eye-shifting, and improving driving safety and comfort. Lighting devices can include one or more pixel-based headlights. Pixel-based headlights can include, but are not limited to, lighting devices based on digital light processing (DLP) technology, lighting devices based on micro light-emitting diode (Micro-LED) technology, or lighting devices based on liquid crystal displays (LCDs). More specifically, the aforementioned pixel-level vehicle lights may include front projection lights for projecting specific patterns onto the road surface or other buildings in front of the vehicle to alert other road users; or, the aforementioned pixel-level vehicle lights may also include side projection lights for projecting specific patterns onto the road surface or other buildings to the sides of the vehicle, and the side projection lights may be respectively located on the left and / or right sides of the vehicle. In some implementations, the lighting device may also include taillights of the vehicle 100, which may be matrix taillights composed of LED beads, through which a series of patterns and / or text may be displayed to alert other road users to the vehicle's intentions. In still other implementations, the lighting device 130 may also include projection lights located at the rear of the vehicle 100, which can project specific patterns onto the road surface or other buildings to the rear of the vehicle.

[0061] The projection device may include a device capable of projecting light information, such as the aforementioned pixel-level vehicle lights or other projection lights; or, the projection device may also include other devices capable of projecting prompt information out of the vehicle.

[0062] The communication system 140 may integrate one or more devices, including at least one communication module. The communication system 140 can transmit and receive electromagnetic waves via an antenna, enabling the vehicle 100 to communicate with servers, other vehicles, roadside equipment, etc., based on a vehicle-to-everything (V2X) network, such as vehicle-to-vehicle (V2V) communication networks, vehicle-to-infrastructure (V2I) communication networks, and vehicle-to-network (V2N) communication networks. Wireless communication technologies may also include short-range wireless communication technologies, such as Bluetooth (BT), radio frequency identification (RFID), and NearLink. For example, the communication system 140 may include an onboard telematics box (T-box), or it may include other communication modules. In practice, vehicle 100 can communicate with cloud servers, roadside equipment, etc. via T-box, and vehicle 100 can communicate with other devices with the same wireless short-range communication module via other wireless short-range communication modules.

[0063] 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.

[0064] 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, global navigation satellite systems, 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 vehicle driving.

[0065] 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 various functions mentioned above can have specific modes at different levels of autonomous driving (L0-L5), with higher levels of autonomous driving corresponding to more intelligent modes. For example, automatic parking can include APA, RPA, VPD, and AVP. With APA, the driver does not need to operate the steering wheel, but still needs to control the accelerator and brake from outside the vehicle; with RPA, the driver can remotely park the vehicle from outside using a terminal (e.g., a mobile phone); with AVP and VPD, the vehicle can complete parking without a driver. In terms of corresponding autonomous driving levels, APA is approximately at level L1-L2, RPA is approximately at level L2-L3, and AVP and VPD are approximately at level L4.

[0066] The roles of the perception system 120, human-machine interaction system 130, communication system 140, 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 autonomous driving system architecture provided in an embodiment of this application. The system includes a gesture recognition module 210, a human-machine interaction module 220, a control module 230, and an actuator 250. In some implementations, the system also includes a communication module 240. Exemplarily, the gesture recognition module 210 may include one or more sensors in the perception system 120 shown in Figure 1; the human-machine interaction module 220 may include one or more projection devices in the human-machine interaction system 130, and one or more sensors in the perception system 120; the control module 230 may include one or more processors in the computing platform 150 shown in Figure 1; the communication module 240 may include one or more modules in the communication system 140 shown in Figure 1; and the actuator 250 may include a steering and braking control system in the vehicle 100. In some implementations, the gesture recognition module 210 may also include one or more processors to process relevant information and recognize the meaning of gestures; the human-computer interaction module 220 may also include one or more processors to process relevant information, determine the projection information to be projected, and the projection elements selected by a specific person. The functions of each module can be described as follows (I) to (V).

[0067] (i) The gesture recognition module 210 is used to collect perception information around the vehicle, which can indicate whether a specific human posture exists around the vehicle. When a specific human posture is detected around the vehicle, the gesture recognition module 210 sends the collected perception information or the processing result of the perception information to the human-computer interaction module 220.

[0068] (ii) The human-machine interaction module 220 is used to project projection information onto the outside of the vehicle. The projection information may include at least one projection element, and each of the at least one projection element is associated with a state of the vehicle. The human-machine interaction module 220 is used to determine the projection element selected by a specific person and send the vehicle state (such as state a) or vehicle control command corresponding to the projection element to the control module 230. The vehicle control command is used to request that the vehicle be controlled to be in state a.

[0069] (iii) The control module 230 is used to control the vehicle to a target state (such as state a) based on the information from the human-machine interaction module 220.

[0070] (iv) The actuator 250 is used to receive and execute control quantities, and when the aforementioned control quantities are executed, it can control the vehicle to be in a target state. The control quantities can be calculated by the control module 230 based on the vehicle's current state and the target state. For example, the current state and the target state can respectively include the vehicle's operating state, the projection state of the projection device, and the working state of the vehicle's components.

[0071] (v) The communication module 240 is used to send information indicating the parking status or driving status to the electronic device. In some implementations, the communication module 240 can also receive information from the electronic device for controlling the vehicle. The communication module 240 sends relevant information to the human-machine interaction module 220 based on the information received from the electronic device, so that the human-machine interaction module 220 can determine the specific projection information according to the instructions from the communication module 240.

[0072] It should be understood that the above modules are merely examples, and in actual applications, these modules may be added or removed as needed. For example, in the system architecture shown in Figure 2, the gesture recognition module 210 and the human-computer interaction module 220 can be merged into one module. As another example, the human-computer interaction module 220 and the control module 230 can be merged into one module. Furthermore, the human-computer interaction module 220 may include more detailed modules, such as a projection device determination module, a projection information generation module, a projection control module, and a projection element determination module. Wherein:

[0073] The lighting device determination module is used to determine one or more projection devices for displaying projection information based on the position of a person assuming a specific human posture. For example, the projection device for displaying projection information is determined based on the position of the person assuming the specific human posture relative to the vehicle. Exemplarily, when the person assuming the specific human posture is in front of the vehicle, it is determined that the front projection light will be used to project the projection information; when the person assuming the specific human posture is to the side of the vehicle, it is determined that the side projection light will be used to project the projection information; and when the person assuming the specific human posture is to the rear of the vehicle, it is determined that the taillights will be used to display the projection information.

[0074] The projection information generation module is used to determine the specific content of the projection information and generate the projection information based on information from the gesture recognition module 210 and / or the communication module 250. For example, when the gesture recognition module 210 recognizes a human posture used to instruct the vehicle to change its driving direction and sends it to the human-machine interaction module 220, the projection information may include at least one projection element for adjusting the vehicle's driving direction. As another example, when receiving a projection element from the communication module 250 to adjust the vehicle's driving direction, the projection information may include at least one projection element for adjusting the vehicle's driving direction.

[0075] The projection control module controls one or more projection devices determined by the projection device determination module to display the specific content of the projection information generated by the projection information generation module. Furthermore, the lighting control module can control the specific position of the projection information displayed by the lighting device based on the distance between a specific person and the vehicle. This specific person can be the person assuming the aforementioned specific human posture, or it can be an authorized user of the vehicle. Authorized users of the vehicle can include the legal owner of the vehicle (e.g., the vehicle owner), or other users or persons authorized by the legal owner of the vehicle (e.g., a person carrying the vehicle key or electronic devices associated with the vehicle). When referring to authorized users of the vehicle or vehicle owners below, it can be considered as the legal owner of the vehicle and / or other persons carrying the vehicle key or electronic devices associated with the vehicle.

[0076] For example, electronic devices may include various handheld devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication capabilities, as well as various forms of terminals, mobile stations, user equipment, etc. Examples include mobile phones, watches, and tablets. The association between an electronic device and a vehicle may include: the electronic device and the vehicle using the same account; or, although the accounts used to log in to the electronic device and the vehicle are different, both are accounts belonging to an authorized user of the vehicle; or, the electronic device is authorized by an authorized user of the vehicle, thereby establishing an association between the vehicle and the electronic device.

[0077] The projection element determination module is used to determine the projection element selected by a specific person. For example, the projection element determination module determines the projection element selected by a specific person based on at least one of the specific person's position, line of sight, or finger pointing.

[0078] It should be noted that in actual implementation, within a certain time period, the projection control module can control one projection device to display projection information; or, within a certain time period, the projection control module can also control multiple projection devices to display projection information. The projection information displayed by the multiple projection devices can be the same or different.

[0079] The above describes the autonomous driving system provided in this application. The following details the interaction methods implemented based on this system.

[0080] Figure 3 shows a schematic flowchart of an interaction method provided in an embodiment of this application. This method can be executed by the vehicle 100 shown in Figure 1, or by the autonomous driving system of the vehicle 100, or by the control module 220 shown in Figure 2. The method 300 includes:

[0081] S310, in response to the vehicle meeting a first condition, the vehicle's projection device is controlled to project first projection information, the first projection information including a first element, the first element being associated with a first state of the vehicle.

[0082] For example, the projection device may include devices such as pixel-type vehicle lights in the foregoing embodiments that can project projection information outwards from the vehicle. The first projection information may include information such as patterns and / or text composed of light, or the first projection information may also include other types of projection elements. The association of the first element with the first state of the vehicle can be understood as: the first element is used to control the vehicle to be in the first state.

[0083] S320, in response to a first operation by a first person on a first element, controls the vehicle to be in a first state.

[0084] For example, controlling the vehicle to be in a first state may include: controlling the vehicle to switch from another state to the first state.

[0085] In some implementations, the first state includes at least one of the following: the vehicle's operating state; the projection state of the projection device; or the working state of a first component of the vehicle; wherein the first component includes at least one of the following: a front trunk, a rear trunk, a charging port, in-cabin equipment, a first lighting device, or a first door.

[0086] For example, the cabin equipment may include, but is not limited to, vehicle seats, air conditioning, display devices, and audio systems; the first lighting device may include the aforementioned projection device, or may also include headlights, taillights, and other lighting devices; the first door may be any door of the vehicle. More specifically, the operating state of the first component may include: an open state, a closed state, a gear position, etc. For example, if the first component is a seat, the operating state of the first component may include, but is not limited to: seat heating state, seat heating gear, cabin ventilation state, seat ventilation gear. Correspondingly, controlling the vehicle to be in the first state may be: controlling the seat to be in the heating state, controlling the seat to be in the second heating state, controlling the seat to be in the ventilation state, or controlling the seat to be in the first ventilation state. As another example, if the first component is the front trunk, the operating state of the first component may include: the front trunk open state, the front trunk closed state. Correspondingly, controlling the vehicle to be in the first state may be: controlling the front trunk to be in the open state, or controlling the front trunk to be in the closed state.

[0087] In one example, the vehicle's operating state includes a driving state or a parked state. Controlling the vehicle to be in a first state includes: controlling the vehicle to switch from a second state to the first state; wherein, when the second state is a driving state, the first state includes any of the following: changing the driving direction or veerging, or pausing driving; or, when the second state is a parked state, the first state includes: driving in a first direction. The driving veergence indicates whether the vehicle is driving closer to the left side of the road, closer to the right side of the road, or in the center of the road.

[0088] For example, the first direction can be the direction of the front of the vehicle, or the direction of the rear of the vehicle, or other directions.

[0089] In another example, the first state corresponds to the second projection information, and controlling the vehicle to be in the first state includes controlling the projection device to project the second projection information. It is understood that the second projection information may include other elements for vehicle control that are different from the first element.

[0090] In another example, during the process of a vehicle parking in a parking space, the target parking space can be indicated to a person outside the vehicle via the first projection information, along with elements for controlling the vehicle to pause parking and / or elements for controlling the vehicle to change the target parking space (such as elements for reselecting the target parking space). Further, when a confirmation action from a person outside the vehicle is detected regarding the element for controlling the vehicle to pause parking, the vehicle is controlled to pause parking; when a confirmation action from a person outside the vehicle is detected regarding the element for controlling the vehicle to change the target parking space, the vehicle is controlled to park in the new target parking space.

[0091] In some implementations, the first condition includes at least one of the following: obtaining a first instruction, which is associated with a first state; or obtaining vehicle perception information, where the perception information indicates that the characteristic information of a first person is associated with the first state; or, the perception information indicates that the distance between the electronic device and / or key associated with the vehicle and the vehicle is less than or equal to a distance threshold. The first instruction includes at least one of the following: an instruction from an electronic device, or a voice instruction from a first person.

[0092] In one example, the feature information may include human posture, and the feature information of the first person associated with the first state may include: a human posture used to control the vehicle to be in the first state; or, a human posture used to control the vehicle to be in one of multiple states, including the first state.

[0093] In another example, the feature information may also include the clothing characteristics of the first person. For example, if the first person is wearing a fixed style of clothing, it can be determined that the first person is a staff member in the parking lot who is specifically directing vehicles. In this case, the first state can be: a state determined based on the feature information of the first person and the operating state of the vehicle. For example, when the vehicle is in motion, the first state can be a parked state and / or a state of changing the direction of travel; or, for example, when the vehicle is parked, the first state can be a moving state (such as a state of traveling in a certain direction).

[0094] In some implementations, the first operation includes a confirmation action by a first person regarding a first position, where the first position is the location projected by the first element. For example, the first operation includes at least one of the following: the first person moves to the first position; the first person points to the first position; or the first person's line of sight falls on the first position.

[0095] In some implementations, the first projection information also includes a second element that indicates the vehicle's direction of travel and / or operating status.

[0096] In some implementations, controlling the projection device of the vehicle to project first projection information includes: when the vehicle is in a first parking function, in response to the vehicle meeting a first condition, controlling the projection device to project the first projection information.

[0097] For example, the first parking function may include, but is not limited to, parking functions such as AVP and VDP.

[0098] To facilitate understanding of the interaction method provided in this application, the following describes in detail the specific applications of the interaction method in different scenarios, in conjunction with the scenarios shown in Figures 4 to 9.

[0099] In some scenarios, when the vehicle is traveling at a speed less than or equal to a speed threshold (such as one of 5 km / h to 10 km / h, or other values), or when the vehicle is operating under automatic parking function, upon detecting a specific human posture or voice command from an outside person, or upon detecting an authorized user of the vehicle, the vehicle's projection device can be controlled to project projection elements containing information for controlling the vehicle to stop driving and / or change its direction of travel. Specific examples may include the following:

[0100] Example 1: If the vehicle is in motion and a human posture or voice command for controlling the vehicle to stop is detected by the person 401 shown in Figure 4, the projection device is controlled to project elements 402 and 403, wherein element 402 indicates the current operating status of the vehicle and the direction of travel is forward; element 403 is associated with the parking status of the vehicle.

[0101] Example 2: If the vehicle is in motion, and the person 401 shown in Figure 4 is an authorized user of the vehicle, then when the distance between the person 401 and the vehicle is less than or equal to a distance threshold (such as a value between 20 meters and 30 meters, or other values), the projection device is controlled to project elements 402 and 403. The distance between the person 401 and the vehicle can be determined based on signals emitted by electronic devices and / or keys carried by the person and associated with the vehicle (such as Bluetooth signals or ultra-wideband signals, etc., short-range wireless communication signals); or it can be estimated after image processing of image information collected by the vehicle.

[0102] Furthermore, the vehicle is controlled to change from a driving state to a stopped state when at least one of the following is detected: the person 401 moves to the position projected by element 403; the person 401 points to the position projected by element 403; or the person 401's line of sight falls on the position projected by element 403. It is understood that, from the perspective of the person 401, the styles of elements 402 and 403 are as shown in dashed boxes 404 and 405, respectively.

[0103] It should be noted that in actual implementation, for the scenarios in the two examples mentioned above, the vehicle's projection device can be controlled to project only element 403, and when the confirmation action of person 401 on element 403 is detected, the vehicle can be controlled to enter a stopped state.

[0104] Example 3: If, while the vehicle is moving in the forward direction, a human posture or voice command from person 411 (as shown in Figure 5) to change the vehicle's direction is detected, the projection device is controlled to project element group 412. This element group 412 includes elements associated with the vehicle turning left, elements associated with the vehicle moving rearward (i.e., reversing), and elements associated with the vehicle turning right. Furthermore, when a confirmation action by person 411 is detected for any element in element group 412, the vehicle is controlled to enter the state corresponding to that element. For example, when person 411 moves to the position projected by the element associated with the vehicle turning right, the vehicle is controlled to turn right directly, or the vehicle is controlled to turn right at the nearest intersection ahead. It is understood that, from person 411's perspective, the element group 412 appears as shown in dashed box 413.

[0105] It should be noted that the terms "left" and "right" in this application can refer to the left side and right side of the vehicle, respectively. The left and right sides of the vehicle can be relative; for example, they can be defined based on a vehicle coordinate system. The side of the vehicle located in the positive direction of the Y-axis can be considered the left side, and the side located in the negative direction of the Y-axis can be considered the right side. The origin O of the vehicle coordinate system can be located at the projection point of the rear axle center of the vehicle onto the ground. 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.

[0106] For example, the aforementioned human postures for controlling vehicle parking may include, but are not limited to: a hand posture formed by placing the index finger of one hand against the palm of the other; a hand posture formed by spreading the palm of one hand; a hand posture formed by interlacing the index fingers of both hands; or a human posture formed by crossing the forearms. In actual implementation, the human posture for controlling vehicle parking may also be an action of patting or tapping the vehicle body, etc. The voice commands for controlling vehicle parking may include, but are not limited to, voice commands including the following words: stop, stop, or brake. The aforementioned human postures for changing the vehicle's driving direction may include, but are not limited to: a posture of waving one or two arms in a certain driving direction. The certain driving direction may be a target driving direction or other directions. The voice commands for changing the vehicle's driving direction may include, but are not limited to, voice commands including the following words: turn left, turn right, reverse, drive left, drive right, or drive forward, etc.

[0107] Understandably, in the scenarios described in the three examples above, when the vehicle is in a state of autonomous parking without human intervention, the ability to control the vehicle to pause and / or change its direction based on the actions of people outside the vehicle on the relevant projected elements helps improve the convenience of vehicle control. In the event of an accident (such as obstacles around the vehicle affecting driving safety), the ability to quickly control the vehicle to stop or change its direction helps improve driving safety.

[0108] It should be noted that the elements projected onto the ground in Figures 4 and 5 can be considered as examples of the first projection information; element 403 in Figure 4 and any element in element group 412 in Figure 5 can be considered as examples of the first element in method 300; element 402 in Figure 4 can be considered as an example of the second element in method 300. Furthermore, personnel 401 and personnel 411 can be considered as some examples of the aforementioned first personnel.

[0109] In some implementations, when the vehicle is in motion and the owner is not inside, the vehicle can capture images of its surroundings and send these images to the owner's electronic device (such as a mobile phone). Furthermore, the owner can view the vehicle's surroundings on their electronic device, and when the owner deems it necessary to project relevant information, they can control one or more projection devices on the vehicle to project the projection elements described in the aforementioned embodiments via the electronic device.

[0110] In other scenarios, when the vehicle is parked, upon detecting a specific human posture or voice command from a person outside the vehicle, the vehicle's projection device can be controlled to project projection elements containing the elements used to control the vehicle to enter a driving state; or, when the vehicle owner receives a call to move the vehicle, relevant signals can be sent to the vehicle through electronic devices associated with the vehicle, so that the vehicle's projection device projects projection elements containing the elements used to control the vehicle to enter a driving state.

[0111] For example, when the vehicle is parked, if a human posture or voice command for controlling the vehicle's movement is detected from the person 421 shown in Figure 6, the projection device is controlled to project element group 422. This element group 422 includes elements associated with the vehicle's forward-moving state and elements associated with the vehicle's rearward-moving state. Further, when a confirmation action by the person 421 is detected for any element in element group 422, the vehicle is controlled to enter the state corresponding to that element. For example, when the person 421 moves to the position where the element associated with the vehicle's rearward-moving state is projected, the vehicle is controlled to change from a parked state to rearward-moving. It is understood that, from the perspective of the person 421, the element group 422 appears as shown in dashed box 423.

[0112] For example, the aforementioned human postures for controlling vehicle movement may include, but are not limited to: both palms facing the person and both arms waving towards the body, or both palms facing away from the person and both arms waving away from the body. Voice commands for controlling vehicle movement may include, but are not limited to: move the car, get out of the car, or, your car is blocking my car.

[0113] Understandably, in this scenario, if one's own car is blocking another's car and the car owner is too far away to move the vehicle quickly, personnel 421 can conveniently control the vehicle to move or relocate, which helps improve the efficiency of moving the car.

[0114] It should be noted that any element in element group 422 can be considered as an example of the first element in method 300. Person 421 can be considered as some examples of the aforementioned first person.

[0115] In practical implementation, when projecting the aforementioned first projection information, the projection position of the first projection information can be controlled according to the position of the relevant personnel (such as personnel 401, 411, and 421) relative to the vehicle. For example, as shown in Figures 4 to 6, when the relevant personnel are located in front of the vehicle, the first projection information can be projected in front of the vehicle, and the confirmation action of the relevant personnel can be captured by the vehicle's forward-facing camera; as another example, when the relevant personnel are located behind the vehicle, the first projection information can be projected behind the vehicle, and the confirmation action of the relevant personnel can be captured by the vehicle's rear-facing camera; as yet another example, when the relevant personnel are located to the side of the vehicle, the first projection information can be projected to the side of the vehicle, and the confirmation action of the relevant personnel can be captured by the vehicle's side-facing camera.

[0116] The above example illustrates how a person triggers a vehicle projection, and the vehicle is controlled to a certain state based on that person's confirmation action. In actual implementation, if the vehicle owner is near the vehicle when a person (not the vehicle owner) triggers the vehicle projection, the vehicle can also be controlled to be in the state associated with that element when the vehicle owner's confirmation action on a certain element is detected. In other words, the person who triggers the vehicle projection and the person who selects the element associated with the vehicle's state in the projection can be different people.

[0117] In practical implementation, there may be multiple people around the vehicle. In such scenarios, the vehicle can determine the person who can control the vehicle based on the clothing, posture, and other characteristics of these individuals. In some implementations, when multiple people, including the first person, are detected, the display device associated with the vehicle displays elements corresponding to each person. When a second operation is detected on the element corresponding to the first person, the first person is determined to be the person whose instructions the vehicle must follow.

[0118] For example, the vehicle-associated display device may include an in-vehicle display, such as a central control screen, or other HMI; or, the vehicle-associated display device may include the display screen of an electronic device associated with the vehicle.

[0119] For example, taking a vehicle-associated display device as an in-vehicle display screen, and detecting persons A and B while the vehicle owner is still inside the vehicle, the in-vehicle display screen can be controlled to display the interface shown in the middle diagram of Figure 7. This interface includes a virtual environment indicating the surrounding environment of the vehicle. Specifically, the interface includes a dialog box 501, elements indicating persons A and B respectively, and dashed boxes 502 and 503 respectively enclosing the element indicating person A and the element indicating person B. The dialog box 501 includes the prompt message "Two people detected in front of the car, please select the person who can direct the vehicle." For example, when the element enclosed by dashed box 503 is clicked, the display device is controlled to switch to the interface shown in the bottom diagram of Figure 7. This interface includes an element indicating person B enclosed by a frame 505, and a dialog box 504 "Target selected, you can leave the car."

[0120] Understandably, when an element indicating a person is clicked, the touchscreen sensor on the display screen can determine the click location. The processor can then determine the image pixels corresponding to the click location and, based on the coordinates in the world coordinate system associated with those pixels, identify the selected person. After the person is selected, a multi-target tracking algorithm can be used to track the selected person across frames based on the image information captured by the camera device, extracting their features in different images to capture the selected person's confirmation action. This multi-target tracking algorithm can be a simple online and real-time tracking (SORT) algorithm, a DeepSORT algorithm, etc. Furthermore, clicking an element indicating a person can be considered an example of the aforementioned second operation. In actual implementation, the second operation can also be other operations; for example, it could be selecting a specific person via voice command.

[0121] In some scenarios, when the vehicle is parked, if the distance between the vehicle owner and the vehicle is detected to be less than or equal to a distance threshold, the vehicle's projection device can be controlled to project projection elements of components used to control the vehicle. For example, the distance threshold can be a value between 20 meters and 30 meters, or it can be any other value. The method for determining the distance between the vehicle owner and the vehicle can be referred to the description in the foregoing embodiments, and will not be repeated here.

[0122] For example, as shown in Figure 8, when the distance between the vehicle owner 431 and the vehicle is detected to be less than or equal to a distance threshold, the vehicle's projection device can be controlled to project element group 432. From the perspective of the vehicle owner 431, the style of element group 432 is shown in dashed box 433. This element group includes elements associated with the open state of the vehicle's front trunk, elements associated with the open state of the vehicle's rear trunk, and element a used to switch projection information. It can be understood that when the vehicle owner 431 confirms an action related to the open state of the vehicle's front trunk, the vehicle's front trunk is controlled to open; when the vehicle owner 431 confirms an action related to the open state of the vehicle's rear trunk, the vehicle's rear trunk is controlled to open; and when the vehicle owner 431 confirms an action related to element a, the projection device is controlled to project other projection information. For example, when a confirmation action by the vehicle owner 431 regarding element a is detected, the projection device can be controlled to project element group 434. From the perspective of the vehicle owner 431, the style of element group 434 is shown in the dashed box 435. This element group includes elements associated with the vehicle's charging port being open, and element b used to switch the projection information. It can be understood that when a confirmation action by the vehicle owner 431 regarding an element associated with the vehicle's charging port being open is detected, the vehicle's charging port is opened; when a confirmation action by the vehicle owner 431 regarding element b is detected, the projection device is controlled to switch back to displaying element group 432.

[0123] In this scenario, when the car owner wants to open or close the car doors or access the front and rear trunks from outside the vehicle, they can control the car directly by interacting with the projected elements without needing to use a mobile phone or key, which greatly improves the convenience of using the car.

[0124] It is understood that when element group 432 is an example of the first projection information in the aforementioned embodiments, and element a is an example of the first element in the aforementioned embodiments, element group 434 can be regarded as an example of the second projection information in the aforementioned embodiments. Furthermore, other elements besides elements a and b shown in FIG8 can also be regarded as some examples of the first element.

[0125] It should be understood that the elements shown in Figure 8 are merely illustrative. In actual implementation, the projection device can project other elements based on the vehicle's status, environment, etc. For example, when the vehicle's status indicates that the trunk is open, the elements projected by the projection device may include elements associated with the trunk being closed. Alternatively, when the vehicle is parked, the specific elements projected for vehicle control when the distance between the vehicle owner and the vehicle is less than or equal to a distance threshold can be user-defined.

[0126] It is understandable that, for the scenarios shown in Figures 4 to 6, elements used for switching projection information can also be projected when projecting projection information. In particular, when the intention of the person outside the vehicle cannot be accurately obtained, when projecting some projection elements used for vehicle control, elements used for switching projection information can be projected. If the projected projection element does not match the intention of the person outside the vehicle, the person outside the vehicle can switch the projection element by issuing a confirmation action for the element used to switch projection information, thereby obtaining other projection elements used for vehicle control.

[0127] It should be noted that the processing actions (such as control, detection, etc.) or steps involved in Figures 4 to 8 can be executed by the computing platform 150 shown in Figure 1, or by the control module 230 in the autonomous driving system shown in Figure 2. Furthermore, the forms of the projection information in each interface in Figures 4 to 8 are merely illustrative; in actual implementation, the projection elements in the projection information may be presented in a different form than in the aforementioned embodiments. For example, projection elements used for vehicle control and / or projection elements indicating the vehicle's operating status can be purely graphic information or purely textual information. For example, the projection elements used for vehicle control can also be element group 442 as shown in Figure 9. From the perspective of an outsider, element group 442 is styled as shown by dashed box 443. In this case, when a confirmation action of the outsider on the text element "Yes" is detected, the vehicle is controlled to be in a paused parking state. That is to say, element group 442 can be considered as an example of the aforementioned first projection information, and the text element "Yes" can be considered as an example of the aforementioned first element.

[0128] When controlling a vehicle based solely on the gestures or other body postures of people outside the vehicle, there may be errors in recognizing or understanding these gestures or body postures. The interaction method provided in this application embodiment can interact with people outside the vehicle through projection information, thereby determining the exact instructions of the people outside the vehicle, reducing the probability of the vehicle misunderstanding and executing incorrect instructions, and helping to improve the efficiency of the vehicle parking process and / or the user's vehicle usage efficiency.

[0129] 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.

[0130] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 1 to 9. The apparatus provided by the embodiments of this application will now be described in detail with reference to Figures 10 and 11. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions 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.

[0131] Figure 10 shows a schematic block diagram of an interactive 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 a processing unit 2020, which can be used to implement corresponding processing functions. In some implementations, the device 2000 may further include an acquisition unit 2010, which can be used to implement corresponding data acquisition or transmission / reception functions.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] The apparatuses described above have the function of implementing the corresponding steps 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 the processing unit, can be replaced by a processor, used to execute the relevant processing operations in each method embodiment.

[0136] Exemplarily, the acquisition unit 2010 and processing unit 2020 can be disposed in the vehicle 100 shown in FIG. 1, or they can also be disposed in the system shown in FIG. 2. More specifically, the acquisition unit 2010 and processing unit 2020 can be disposed in the control module 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.

[0137] 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).

[0138] Figure 11 is another schematic block diagram of the interactive device provided in an embodiment of this application. The device 2100 shown in Figure 11 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.

[0139] 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.

[0140] 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).

[0141] 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.

[0142] This application also provides an intelligent driving device, which includes the device 2000 or device 2100 in the above embodiments.

[0143] 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.

[0144] 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.

[0145] This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An interaction method, characterized in that, include: In response to the vehicle meeting a first condition, the vehicle's projection device is controlled to project first projection information, the first projection information including a first element, the first element being associated with a first state of the vehicle; In response to a first operation by a first person on the first element, the vehicle is controlled to be in a first state.

2. The method according to claim 1, characterized in that, The first state includes at least one of the following: The operating status of the vehicle; The projection state of the projection device; or... The working state of the first component of the vehicle; The first component includes at least one of the following: a front trunk, a rear trunk, a charging port, in-cabin equipment, a first lighting device, or a first door.

3. The method according to claim 2, characterized in that, The vehicle's operating state includes a driving state or a parked state, and controlling the vehicle to be in a first state includes: Control the vehicle to switch from the second state to the first state; Wherein, when the second state is a driving state, the first state includes any of the following: changing the driving direction or veering, or pausing driving; or, When the second state is a parking state, the first state includes: moving in the first direction.

4. The method according to claim 2, characterized in that, The first state corresponds to the second projection information, and controlling the vehicle to be in the first state includes: Control the projection device to project the second projection information.

5. The method according to any one of claims 1 to 4, characterized in that, The first condition includes at least one of the following: A first instruction is obtained, and the first instruction is associated with the first state; or, The perception information of the vehicle is obtained, wherein the characteristic information of the first person indicated by the perception information is associated with the first state, or the perception information indicates that the distance between the electronic device and / or key associated with the vehicle and the vehicle is less than or equal to a distance threshold.

6. The method according to claim 5, characterized in that, The first instruction includes at least one of the following: an instruction from the electronic device, or a voice instruction from the first person.

7. The method according to any one of claims 1 to 6, characterized in that, The first operation includes the first person's confirmation action regarding the first position, which is the position where the first element is projected.

8. The method according to claim 7, characterized in that, The first operation includes at least one of the following: The first person moves to the first position; The first person points to the first location; or, The first person's line of sight is focused on the first position.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: When multiple persons, including the first person, are detected, the display device associated with the vehicle is controlled to display elements corresponding to each of the multiple persons. Upon detecting a second operation targeting the element corresponding to the first person, the first person is determined to be the person to whom the vehicle must follow its instructions.

10. The method according to any one of claims 1 to 9, characterized in that, The first projection information also includes a second element, which indicates the vehicle's driving direction and / or operating status.

11. The method according to any one of claims 1 to 10, characterized in that, The projection device controlling the vehicle projects first projection information, including: When the vehicle is in the first parking function, in response to the vehicle meeting the first condition, the projection device is controlled to project the first projection information.

12. An interactive device, characterized in that, Includes a processing unit for: In response to the vehicle meeting a first condition, the vehicle's projection device is controlled to project first projection information, the first projection information including a first element, the first element being associated with a first state of the vehicle; In response to a first operation by a first person on the first element, the vehicle is controlled to be in a first state.

13. The apparatus according to claim 12, characterized in that, The first state includes at least one of the following: The operating status of the vehicle; The projection state of the projection device; or... The working state of the first component of the vehicle; The first component includes at least one of the following: a front trunk, a rear trunk, a charging port, in-cabin equipment, a first lighting device, or a first door.

14. The apparatus according to claim 13, characterized in that, The vehicle's operating state includes either a driving state or a parked state, and the processing unit is used for: Control the vehicle to switch from the second state to the first state; Wherein, when the second state is a driving state, the first state includes any of the following: changing the driving direction or veering, or pausing driving; or, When the second state is a parking state, the first state includes: moving in the first direction.

15. The apparatus according to claim 13, characterized in that, The first state corresponds to the second projection information, and the processing unit is used for: Control the projection device to project the second projection information.

16. The apparatus according to any one of claims 12 to 15, characterized in that, The device further includes an acquisition unit; The first condition includes at least one of the following: The acquisition unit is configured to: acquire a first instruction, the first instruction being associated with the first state; or... The acquisition unit is configured to: acquire the perception information of the vehicle, wherein the characteristic information of the first person indicated by the perception information is associated with the first state, or wherein the perception information indicates that the distance between the electronic device and / or key associated with the vehicle and the vehicle is less than or equal to a distance threshold.

17. The apparatus according to claim 16, characterized in that, The first instruction includes at least one of the following: an instruction from the electronic device, or a voice instruction from the first person.

18. The apparatus according to any one of claims 12 to 17, characterized in that, The first operation includes the first person's confirmation action regarding the first position, which is the position where the first element is projected.

19. The apparatus according to claim 18, characterized in that, The first operation includes at least one of the following: The first person moves to the first position; The first person points to the first location; or, The first person's line of sight is focused on the first position.

20. The apparatus according to any one of claims 12 to 19, characterized in that, The processing unit is used for: When multiple persons, including the first person, are detected, the display device associated with the vehicle is controlled to display elements corresponding to each of the multiple persons. Upon detecting a second operation targeting the element corresponding to the first person, the first person is determined to be the person to whom the vehicle must follow its instructions.

21. The apparatus according to any one of claims 12 to 20, characterized in that, The first projection information also includes a second element, which indicates the vehicle's driving direction and / or operating status.

22. The apparatus according to any one of claims 12 to 21, characterized in that, The processing unit is used for: When the vehicle is in the first parking function, in response to the vehicle meeting the first condition, the projection device is controlled to project the first projection information.

23. An interactive 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 11.

24. 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 11.

25. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 11.

26. 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 11.

27. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 12 to 23, or the computer-readable storage medium as described in claim 24, or the chip as described in claim 25, or the vehicle is equipped with the computer program product as described in claim 26.

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