CN113895458A

CN113895458A - Method and device for managing vehicle driving behavior, vehicle and storage medium

Info

Publication number: CN113895458A
Application number: CN202111248414.2A
Authority: CN
Inventors: 袁泉; 王成武; 吴国策
Original assignee: Jidu Automobile Co ltd
Current assignee: Shanghai Jidu Automobile Co Ltd
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-01-07
Anticipated expiration: 2041-10-26
Also published as: CN113895458B

Abstract

The application provides a method and a device for managing vehicle driving behaviors, a vehicle and a storage medium, which are applied to the vehicle, wherein the vehicle comprises: the method comprises the following steps that a central control display screen displays a basic driving interface comprising 3D map navigation, and the method comprises the following steps: calculating a key node of driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle in an automatic driving state; and displaying a node graph representing the key node, wherein the node graph is placed at the road surface position of the driving behavior change in the 3D map navigation. By the method, the visual presentation of the key nodes corresponding to the changed positions with the changed driving behaviors in the expected driving behaviors of the vehicle is realized, so that the personnel in the vehicle can master the driving dynamics in advance through the displayed key nodes, and the personnel in the vehicle can visually and correctly judge whether the vehicle is suitable for the automatic driving state of the vehicle, thereby avoiding the driving safety hazard and improving the trust of the personnel in the vehicle on the automatic driving capability of the vehicle.

Description

Method and device for managing vehicle driving behavior, vehicle and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a device for managing vehicle driving behaviors, a vehicle and a storage medium.

Background

Autonomous vehicles are also gradually entering the public vision, which mainly achieve autonomous driving of the vehicle by means of an integrated autonomous driving control system.

Currently, in the implementation of automatic driving, an automatic driving control system is mainly used as a driving decision in real time or in advance by combining the environmental information of the vehicle and the running information of the vehicle. Meanwhile, an information display device arranged in the vehicle can present the running condition of automatic driving in the form of a graphical interface.

However, the existing graphical interface can only present the current driving state of automatic driving, and during navigation, the user can only be reminded by taking a static building and a static position as nodes, for example, the driving operation of the user is reminded by 50 meters in front of the building; meanwhile, the user cannot be effectively informed in advance through the interface when the vehicle cannot continue to drive automatically, so that the user cannot judge the automatic driving state of the vehicle intuitively and correctly and take over the automatic driving state in time when needed, and potential safety hazards of driving exist.

Disclosure of Invention

The embodiment of the application provides a management method and device for vehicle driving behaviors, a vehicle and a storage medium, and realizes effective display of expected driving behaviors of the vehicle in an automatic driving state.

In a first aspect, the present invention is applied to a vehicle including: the method comprises the following steps that a central control display screen is displayed, and a basic driving interface comprising 3D map navigation is displayed in the central control display screen, and the method comprises the following steps:

calculating a key node of driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle in an automatic driving state;

displaying a node pattern representing the key nodes, the node pattern being placed at a road surface position where driving behavior changes within the 3D map navigation.

According to the management method for the vehicle driving behaviors, the key node of the change of the driving behaviors in the expected driving behaviors can be calculated according to the expected driving behaviors of the vehicle in the automatic driving state; a node graph representing the key nodes is then displayed. The implementation of the method is equivalent to that when the vehicle runs in an automatic driving state, not only the running navigation route of the vehicle can be displayed, but also the visual presentation of the key nodes corresponding to the changed positions where the driving behavior is changed in the expected driving behavior of the vehicle is realized, namely, the key nodes can be represented by the node graph displayed on the basic running interface or the vehicle navigation road surface. By the method, personnel in the vehicle can master driving dynamics in advance through the displayed key nodes, and can visually and correctly judge whether the vehicle is suitable for the automatic driving state of the vehicle and take over the driving state in time when needed, so that driving potential safety hazards are avoided, and the trust of the personnel in the vehicle on the automatic driving capability of the vehicle is improved.

Further, calculating a key node of a driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle, including:

acquiring expected driving behaviors of the vehicle in a first preset time period of automatic driving, wherein the first preset time period is a time period of a first set time length backwards from the current time;

and determining a key node of the expected driving behavior, wherein the key node is a position node of the vehicle state change caused by the driving behavior change.

The selectable item provides specific implementation of key node calculation, and is equivalent to providing technical support for visually displaying key nodes representing driving behavior change on a central control display screen. The feasibility of the method provided by the embodiment is ensured.

Further, displaying a node graph representing the key nodes, comprising:

determining the interval duration of the time when the expected driving behavior is changed and the current time;

determining a specific road position where the driving behavior is changed according to the current driving speed of the vehicle, the interval duration and the current position in a road driving environment;

determining the driving behavior change position of the key node in the 3D map navigation by combining the specific road position;

marking the driving behavior change position by using a node pattern, and displaying the node pattern on a driving road surface of the basic driving interface and/or a driving road surface outside the vehicle;

the present position of the node pattern matches the actual occurrence position of the driving behavior change, and is located on the travel route of the vehicle.

Further, marking the driving behavior change location with a node pattern, and displaying the node pattern on a driving surface of the basic driving interface and/or a driving surface outside the vehicle, includes:

determining the driving behavior changed by the driving behavior, recording the driving behavior as the driving behavior to be changed, and determining a node display attribute matched with the driving behavior to be changed;

marking the driving behavior change position using a node graphic having the node presentation attribute,

displaying the node pattern on a driving surface of the basic driving interface and/or a driving surface outside the vehicle.

The selectable item and the previous selectable item both provide technical support for visually displaying the key nodes representing the driving behavior change on the central control display screen, for example, specific implementation of graphic display of the nodes corresponding to the key nodes is provided. The feasibility of the method provided by the embodiment is further ensured.

Further, the method further comprises:

receiving an automatic driving intervention triggering operation;

displaying a driving intervention control area through a central control display screen, wherein the driving intervention control area comprises at least one driving control assembly;

receiving an operation command, and issuing an operation command, wherein the operation command is a command for a driver to select a target driving operation component from the driving intervention operation region and drag the target driving operation component to a target point on the basic driving interface, and the operation command is a command for executing the target driving operation component corresponding to the target point;

and responding to the operation instruction, and controlling the driving behavior of the vehicle.

This optional item adds the functional technology characteristic for in the vehicle driving action management method that this embodiment provided, through this optional characteristic item, when being equivalent to the driver possesses the operation demand to the vehicle under the vehicle is in the autopilot state, can carry out the flexibility operation to the driving action of vehicle through the drive control subassembly that presents. Compared with the existing mode of switching to a driver mode and then responding to the driving control of the driver, the selectable newly-added features do not need to switch the driving mode, so that the potential driving danger in the mode switching process is avoided, meanwhile, the influence of frequent mode switching on the driving performance of the vehicle is also avoided, in addition, the driver can automatically respond to the control action only by selecting and dragging the driving control component, the vehicle does not need to be substantially operated, the dominant position of automatic driving is better reflected, and the automatic driving value of the vehicle is effectively improved.

Further, controlling the driving behavior of the vehicle in response to the operation instruction includes:

extracting a target driving control component and a target point in the operation instruction;

acquiring an actual environment position corresponding to the target point in a road driving environment and a target driving behavior corresponding to the target driving control component;

controlling the vehicle to perform the target driving behavior at the actual environmental location.

Through the steps of the method, the concrete implementation of responding to the control instruction and controlling the vehicle to change the driving behavior is provided, the control time, the specific control position and the like of the driving behavior are determined, and the technical support is provided for the driver to flexibly operate the vehicle in the automatic driving state.

Furthermore, each driving control component corresponds to a driving behavior to be controlled of the vehicle;

the driving behavior to be controlled comprises at least one of the following: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle cut-in, vehicle turn around, vehicle steering, parking, and taking over vehicle maneuvers.

The selectable characteristic items give specific characteristic attributes of the driving control assembly, and meanwhile, the driving behavior of the driver which is realized through the specific control of the driving control assembly is also determined, so that the driver is ensured to have a wider controllable range in an automatic driving state.

Further, the method further comprises:

and displaying the driving behavior of the vehicle in a second preset time period by adopting an identification graph on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle, wherein the second preset time period is a time period of a second set time length backwards from the current moment.

On the basis that the driving behavior changing place is visual and the driver flexibly controls the driving behavior of the vehicle, the visual presenting characteristic of the driving behavior of the vehicle is further enriched through the optional feature item, the graphical display of the driving behavior of the vehicle on the central control display screen is realized, so that people in the vehicle can know the driving state of the vehicle more visually, the driving intention of the vehicle within a certain time period in the future can be displayed completely and effectively when the driving behavior of the vehicle is changed, and the use experience of the user on the vehicle is improved in all directions.

Further, the displaying of the driving behavior of the vehicle within a second predetermined time period by using the identification graph comprises:

obtaining driving behaviors of the vehicle in the second preset time period, and recording the driving behaviors as driving behaviors to be displayed respectively;

and controlling each driving behavior to be displayed to display the identification graphs in a corresponding identification graph display form according to the execution time sequence of each driving behavior to be displayed.

The selectable item provides technical support for complete visual display of the driving behavior of the vehicle on the central control display screen, and the implementability of the method provided by the embodiment is also guaranteed.

Further, the method further comprises:

and if the vehicle has driving behavior change in a second preset time period, controlling the displayed identification graph to carry out change reminding according to the matched dynamic effect.

The optional item is another new function of the method provided by the embodiment, mainly realizes the function optimization of the driving behavior graphical display, and further improves the visual effect of the driving behavior graphical display by presenting the dynamic effect of the driving behavior change time.

Further, the display width of the identification graph is smaller than the lane width of one lane of the basic driving interface driving road surface and/or the driving road surface outside the vehicle;

the presentation length range of the identification graph is as follows: driving forward for a distance of the second predetermined period of time from the current position of the vehicle;

the identification graph comprises key nodes representing the time when the driving behavior of the vehicle is changed, and the node display attributes of the key nodes are matched with the driving behavior to be changed.

Furthermore, the display form of the identification graph of each driving behavior is a basic path, and the basic path is represented by a continuous curve or straight line with a set width, or represented by a group of unit graphs forming the curve or straight line;

different driving behaviors correspond to different basic paths in presentation size and presentation color; or, the colors, shapes and sizes of the unit graphs adopted by the corresponding different basic paths;

the unit graph is in the shape of at least one of a circle, a round point, a triangle, an arrow, a square and a three-dimensional graph;

the distance between adjacent unit patterns represents the current vehicle speed of the vehicle.

The present option and the previous option provide the static feature definition of the provided identification pattern, and the effect of enriching the attribute features of the identification pattern is achieved.

In a second aspect, an embodiment of the present application provides a device for managing driving behaviors of a vehicle, configured with the vehicle, where the vehicle includes a central control display screen, and the central control display screen displays a basic driving interface including 3D map navigation, and the device includes:

the key node calculation module is used for calculating key nodes of driving behavior change in the expected driving behaviors according to the expected driving behaviors of the vehicle in an automatic driving state;

and the key node display module is used for displaying a node graph representing the key node, and the node graph is placed at the road surface position where the driving behavior is changed in the 3D map navigation.

In a third aspect, an embodiment of the present application provides a vehicle, including:

a central control display screen;

one or more controllers;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more controllers, the one or more controllers are caused to implement the method of managing the driving behavior of the vehicle as described in the first aspect of the embodiment.

In a fourth aspect, embodiments of the present application provide a storage medium containing computer-executable instructions that, when executed by a computer processor, implement a method of managing vehicle driving behavior as described in the first aspect of the embodiments above.

According to the management method for the vehicle driving behaviors, the visual presentation of the key nodes corresponding to the change positions where the driving behaviors are changed in the expected driving behaviors of the vehicle in the automatic driving state is realized; the function realizes that personnel in the vehicle can master driving dynamics in advance through the displayed key nodes, and can judge whether the vehicle is suitable for the automatic driving state of the vehicle directly and correctly by the personnel in the vehicle, so that the vehicle can be taken over in time when the driver is required to take over, and the potential safety hazard of driving is avoided better. Meanwhile, the method also realizes that the driver can flexibly operate the driving behavior of the vehicle through the displayed driving control assembly without switching the driving mode when the vehicle has the operation requirement on the vehicle in the automatic driving state, thereby avoiding the occurrence of potential driving danger in the mode switching process and further avoiding the influence of frequent mode switching on the driving performance of the vehicle. In addition, the method further enriches the visual presentation characteristics of the driving behaviors of the vehicle on the basis of visualizing the key nodes of the driving behavior change and realizing the flexible operation of the driving behaviors of the driver, and particularly realizes the graphical display of the driving behaviors of the vehicle on a central control display screen; the driving state of the vehicle can be more intuitively known by personnel in the vehicle, and the driving intention of the vehicle in a certain future time can be completely and effectively displayed when the driving behavior of the vehicle is changed. The method provided by the embodiment effectively improves the automatic driving value of the vehicle, and further improves the use experience of the user on the vehicle in all directions.

Drawings

FIG. 1 is a schematic flow chart of a method for managing driving behavior of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a diagram illustrating exemplary effects of a node graph display in the method provided by the present application;

FIG. 3 is a flowchart illustrating an implementation of a key node calculation in the method according to the embodiment of the present disclosure;

FIG. 4 is a flow chart illustrating an implementation of node graph display in the method provided by the embodiment of the present application;

FIG. 5 is a flow chart illustrating an implementation of the method according to the present embodiment in response to the operation of the driver in the automatic driving state;

fig. 6 is a diagram illustrating a scenario in which a driver's manipulated driving behavior response is implemented in the management method for vehicle driving behaviors provided in the embodiment of the present application;

FIG. 7 is a flow chart illustrating an implementation of responding to a driving behavior triggered by a driver in a method provided by an embodiment of the present application;

fig. 8 shows a display form of a logo pattern matched with a uniform speed driving of a vehicle in the management method for driving behaviors of a vehicle according to the present embodiment;

fig. 9 shows a display form of a logo pattern matched with a lane change of a vehicle in the management method of driving behaviors of a vehicle according to the embodiment;

FIG. 10 is a diagram illustrating a display form of a logo associated with overtaking of a vehicle in the method for managing driving behavior of a vehicle according to the present embodiment;

fig. 11 shows a display form of a logo pattern matched with the vehicle steering in the management method of the driving behavior of the vehicle according to the embodiment;

fig. 12 shows a display form of an identification pattern matched with a vehicle turning around in the management method for vehicle driving behaviors provided in the present embodiment;

fig. 13 shows a display form of a logo pattern matched with a stop of the vehicle in the management method of driving behavior of the vehicle according to the embodiment;

fig. 14 shows a display form of a logo pattern matched with the end of the automatic driving of the vehicle in the management method of the driving behavior of the vehicle according to the embodiment;

fig. 15 shows a display form of an identification pattern matched with a vehicle warning in the management method of vehicle driving behaviors provided in this embodiment;

fig. 16 is a schematic structural diagram of a vehicle driving behavior management device according to an embodiment of the present application;

fig. 17 is a block diagram of a vehicle according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

In the embodiments of the present application, ordinal numbers such as "first", "second", and the like are used to distinguish a plurality of objects, and are not used to limit the size, content, order, timing, application scenario, priority, or importance of the plurality of objects.

Fig. 1 is a schematic flow chart of a method for managing vehicle driving behaviors, which is provided in an embodiment of the present application, and is applicable to a case where driving behaviors of a vehicle are managed and controlled in an automatic driving state, where the method can be executed by a device for managing vehicle driving behaviors, which is provided in an embodiment of the present application, and the device can be implemented in a software and/or hardware manner and can be integrated in the vehicle. The vehicle further comprises a central control display screen, and a 3D map navigation basic driving interface is displayed on the central control display screen.

It should be noted that the application context of the method provided by the present embodiment may be that the vehicle is in an automatic driving state and travels along a pre-planned route. In the driving process of the vehicle, it can be considered that a road environment picture is presented in a basic driving interface of the central control display screen, the road environment picture includes but is not limited to a real-time road real-scene picture based on a camera, a simulated road environment picture rendered through a 3D model based on a laser radar/millimeter wave radar/ultrasonic radar/visual recognition and an algorithm thereof, and a 3D map navigation driven by the vehicle is also presented in the road environment picture so as to present a driving path of the vehicle.

Specifically, as shown in fig. 1, the method for managing driving behavior of a vehicle according to the present embodiment includes:

s101, in an automatic driving state, calculating a key node of driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle.

It should be noted that, in the process of executing the steps of the method provided by the present embodiment, the vehicle may be considered to be always in the automatic driving state, and thus, the execution subject of the method provided by the present embodiment may be considered to be an automatic driving system in the vehicle.

In this embodiment, the automatic driving system in the vehicle may determine a driving decision within a certain time in the future by reading the relevant information in the road driving environment, and the result of the prediction may be used as an expected driving behavior.

In general, the driving behavior of the vehicle may include: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle turn around, vehicle overtaking, vehicle steering, and vehicle change autopilot rating, among others. Each driving behavior actually corresponds to a driving change state of the vehicle. In the present embodiment, when at least two driving behaviors are included in the expected driving behaviors determined with respect to the vehicle for a future period of time, it is considered that the vehicle has an operation of changing from one driving behavior to another driving behavior for the future period of time. The present embodiment may mark a position where a vehicle state changes by changing one driving behavior into another driving behavior as a key node.

In the implementation of the calculation of the key node, one implementation manner may be to determine a change time when the vehicle changes from one driving state to another driving state, and then determine a position where the driving state changes by combining the vehicle speed at the current time, the position where the vehicle is located, and the like, so that the position may be determined as the key node where the driving state changes.

And S102, displaying a node graph representing the key nodes, wherein the node graph is placed at the road surface position where the driving behavior is changed in the 3D map navigation.

In this embodiment, after the expected driving behavior is obtained through the above steps, if it is determined that the expected driving behavior includes a key node where the vehicle driving state changes, the visualization operation of the key node may be performed through this step. In particular, the visualization of key nodes may be characterized by a node graph. The displayed node pattern may preferably be placed within the 3D navigation map, and in particular may be placed at a road surface position where the driving behavior is changed. The node graph presented in the 3D navigation map can be displayed in the basic driving interface and can also be displayed on a navigation road surface outside the vehicle.

It is noted that the key node may represent a starting position of a corresponding driving behavior change in the basic driving interface at the time of the driving behavior change of the vehicle. In order to realize the display of the key node, firstly, an initial position corresponding to the key node in the 3D navigation map needs to be determined, the initial position may be determined according to a specific change position corresponding to an actual road running environment of the vehicle when the driving behavior is changed, and the specific change position may be determined according to information such as a time point when the driving behavior is changed, a current running speed of the vehicle, and the like.

In this step, the driving behavior change position corresponding to the 3D navigation map may be obtained based on the determined specific change position conversion, and the key node may be displayed in a node pattern at the driving behavior change position. The node graph displayed can be a certain given size or a certain given shape (such as a rectangle with a certain size or a circle with a certain radius).

It can be understood that the display information given by the central control display screen may be the driving road surface outside the vehicle from the view angle of the driver, and may also be the basic driving interface for the vehicle driving on the road from the view angle above the road surface. The information display visual angle in the control display screen does not influence the display of the node graph in the embodiment, and the node graph can be displayed on the driving road surface outside the vehicle when the driving road surface of the vehicle with the driver visual angle is displayed; when the basic driving interface of the vehicle driving on the road is displayed in the view angle above the road surface, the node pattern can be displayed on the basic driving interface.

Illustratively, fig. 2 shows an exemplary effect diagram of a node graph display in the method provided by the present application. As shown in fig. 2, the presented interface is mainly a basic driving interface displayed by standing on the road surface from an overhead perspective, the vehicle 1 is regarded as a target vehicle, and the target vehicle is currently driving in a second lane, the navigation route 01 of the vehicle is presented in the basic driving interface first, and if it is predicted by the method of the present embodiment that the expected driving behavior in a future period of time includes vehicle acceleration, the expected driving behavior corresponds to the presence of a driving behavior change relative to the current uniform speed driving, and the node pattern 10 is displayed in the basic driving interface, and is specifically displayed on the navigation route 01 of the vehicle, and is presented in a rectangular form, and specifically represents the initial change position of the driving state when the vehicle 1 is driving with the driving behavior of vehicle acceleration.

The management method for the vehicle driving behavior provided by the embodiment of the application is equivalent to that when a vehicle runs in an automatic driving state, not only can a driving navigation route of the vehicle be displayed, but also the visual presentation of the key nodes corresponding to the changed positions where the driving behavior is changed in the expected driving behavior of the vehicle is realized, namely, the key nodes can be represented by the node graphs displayed on a basic driving interface or a vehicle navigation road surface. By the method, personnel in the vehicle can master driving dynamics in advance through the displayed key nodes, and can visually and correctly judge whether the vehicle is suitable for the automatic driving state of the vehicle and take over the driving state in time when needed, so that driving potential safety hazards are avoided, and the trust of the personnel in the vehicle on the automatic driving capability of the vehicle is improved.

As a first optional embodiment of this embodiment, on the basis of the above embodiment, this first optional embodiment further embodies the calculation of the key node of the driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle, and fig. 3 provides an implementation flowchart of the calculation of the key node in the method provided in this embodiment of the present application. As shown in fig. 3, the first alternative embodiment specifically includes the following steps:

s1011, obtaining the expected driving behavior of the vehicle in a first preset time period of automatic driving, wherein the first preset time period is a time period of a first set time period backwards from the current time.

In this embodiment, the driving decision of the vehicle by the automatic driving system in the first predetermined time period can be obtained through this step, and is recorded as the expected driving behavior. The present embodiment may preferably select the first set time period from 2 seconds to 10 seconds. Since the decision of the automatic driving system in the vehicle on the vehicle driving decision is the existing implementation means, the detailed description is omitted here.

And S1012, determining a key node of the expected driving behavior change, wherein the key node is a position node of the vehicle state change caused by the driving behavior change.

In this embodiment, it can be determined in advance whether there is a change in the vehicle state when the vehicle travels according to the acquired expected driving behavior through this step, and if there is a change in the driving behavior, it can be considered that there is a change in the driving behavior of the vehicle, and the position node where the change in the driving behavior occurs can be regarded as a key node.

As described above, each driving behavior actually corresponds to one driving change state of the vehicle, and in each driving change state, there is a starting time of the change, and this embodiment may mark the starting time as the time when the driving behavior change causes the vehicle state to change.

For example, for each driving behavior change of the vehicle, such as:

1) when the vehicle is accelerated from the constant speed, the vehicle speed is increased from the constant speed continuously, and the total speed is controlled to increase by more than 5 km/h.

2) The deceleration of the vehicle from the constant speed is equivalent to that the vehicle continuously reduces the speed from the constant speed, and the total speed is controlled to be reduced by more than 5 km/h.

3) When the vehicle changes lane from the current lane, it is equivalent to that the running track of the vehicle will depart from the central position of the current lane and move to the target adjacent lane until the vehicle runs centrally in the target lane.

4) Turning around from the current state of the vehicle is equivalent to that the vehicle speed is continuously reduced, and the vehicle is continuously turned to the opposite direction along with the turning. The present embodiment may record the time when the vehicle speed starts to change as the time when the vehicle state exhibits a u-turn.

5) When the vehicle overtakes from the current state, the vehicle speed is increased continuously, the vehicle moves to the front of other vehicles in the adjacent lane along with the driving track, and then the vehicle keeps or decelerates to a constant-speed driving state and keeps centered in the lane. The present embodiment may set the time when the vehicle speed starts to change as the time when the vehicle state exhibits passing.

6) The steering of the vehicle from the current state is equivalent to the steering of the vehicle from a constant speed, and the vehicle speed is continuously reduced along with the continuous steering until the driving direction is changed into the target direction. The present embodiment may set the time at which the vehicle speed starts to change as the time at which the vehicle state exhibits steering.

7) The adjustment of the driving level of the vehicle corresponds to the change of the automatic driving level of the vehicle from a constant speed, and the vehicle changes the automatic driving function, such as the degradation from full automatic driving to adaptive cruise control. The embodiment may record the time when the key node is the function switch as the time when the vehicle state is presented as the driving level adjustment.

No matter what kind of driving behavior changes happen to the vehicle, the corresponding moment when the vehicle state changes can be determined, and correspondingly, the position node can be determined to serve as a key node of the driving behavior changes.

The first optional embodiment provides a specific implementation of the key node calculation, which is equivalent to providing a technical support for visually displaying the key node representing the driving behavior change on the central control display screen. The feasibility of the method provided by the embodiment is ensured.

As a second optional embodiment of this embodiment, on the basis of the above embodiment, this second optional embodiment further embodies a node graph showing the key nodes, and fig. 4 shows an implementation flowchart of node graph display in the method provided in this embodiment of the present application. As shown in fig. 4, the second alternative embodiment specifically includes the following steps:

and S1021, determining the interval duration of the time when the driving behavior of the expected driving behavior is changed and the current time.

In this embodiment, this step is used to determine the interval duration, where the execution subject may obtain the system time in real time, so as to obtain the current time information, and after the time of the change of the driving behavior is known, the interval duration between the two times can be determined.

And S1022, determining the specific road position where the driving behavior is changed according to the current running speed of the vehicle, the interval duration and the current position in the road running environment.

The embodiment may preferably be configured such that the vehicle travels at a constant speed before the driving behavior is changed, the execution subject may also obtain a current traveling speed of the vehicle, and after the interval duration is known, may determine a distance to be traveled by the vehicle based on the information, and further may combine the obtained specific road position of the vehicle in the road traveling environment.

And S1023, determining the driving behavior change position of the key node in the 3D map navigation by combining the specific road position.

In the present embodiment, the specific road position may correspond to a road position where a change in driving behavior of the vehicle occurs in an actual driving environment. Meanwhile, the execution main body of the embodiment can also acquire the presentation proportion of the 3D map and the actual road driving environment in the presented 3D map navigation. Thus, when the specific road position and the presentation scale are known, the driving behavior change position of the vehicle in the 3D map navigation can be determined.

And S1024, marking the driving behavior change position by using a node pattern, and displaying the node pattern on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

In the step, after the driving behavior change position of the key node in the 3D map navigation is determined through the steps, the driving behavior change position is marked by adopting a node graph representing the key node; meanwhile, the node graph can be directly displayed at the driving behavior change position corresponding to the basic driving interface in consideration of different visual angles of the 3D navigation map displayed on the central control display screen, and the node graph can also be displayed at the driving behavior change position corresponding to the driving road surface of the vehicle at the visual angle of the driver.

Wherein the present position of the node pattern matches the actual occurrence position of the driving behavior change, and is located on the traveling route of the vehicle. Meanwhile, considering that the driving behaviors of the vehicle are more diverse, in order to better represent different driving behavior changes through the node patterns, different node display attributes can be set for the different driving behavior changes, and the node display attributes can limit the shapes, sizes, colors and the like of the node patterns. So that the personnel in the vehicle can quickly identify what driving behavior change is going to be carried out by the vehicle through the difference of the displayed node patterns.

Further, in this second alternative embodiment, marking the driving behavior modification position by using a node pattern, and displaying the node pattern on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle may be embodied as the following operations:

determining the driving behavior changed by the driving behavior, recording the driving behavior as the driving behavior to be changed, and determining a node display attribute matched with the driving behavior to be changed; marking the driving behavior change position by using a node graph with the node display attribute; displaying the node pattern on a driving surface of the basic driving interface and/or a driving surface outside the vehicle.

In this embodiment, when the driving behavior change time is predicted, it may also be predicted what driving behavior change will occur, and this step may record the determined driving behavior change to be generated as the driving behavior to be changed corresponding to the driving behavior change time.

It should be noted that, in this embodiment, different node display attributes are set for different driving behaviors, where the node display attribute may be an attribute that defines a presentation form when a corresponding key node is presented, and the node display attribute may include: the shape, size, and fill color of the key nodes. In this embodiment, the node display attributes preset for different driving behaviors may be searched through the above steps, so as to determine the node display attribute matched with the driving behavior to be changed, and finally, the key node may be displayed at the identification point of the basic driving interface according to the shape, size, color and the like set in the node display attribute.

The second optional embodiment of the present application provides a technical support for visually displaying the key node at the time of changing the driving behavior on the central control display screen, and further ensures the implementability of the method provided by this embodiment.

In addition, the first optional embodiment and the second optional embodiment of the present application provide visual presentation of key nodes, on this basis, this embodiment may also preferably describe a new functional feature, and the new functional feature may be described as performing voice prompt on a driving behavior change event after determining the key node representing the driving behavior change event.

For example, the operation steps of the newly added functional feature can be described as follows:

a1, carrying out voice early warning prompt of the vehicle about to change the driving behavior.

This step may be performed directly after the driving behavior change event of the vehicle is judged in advance. The voice warning prompt can include the change starting time of the driving behavior change, the actual change position, the change to be generated, and the like.

The voice early warning prompt is carried out on the personnel in the vehicle through the step, and the driver can be informed of what kind of change will happen next in advance, so that the user can have better psychological expectation on the automatic driving state of the vehicle.

b1, when the vehicle starts to execute the driving behavior change, carrying out voice broadcast prompt of the vehicle starting to execute the driving behavior change.

The step can be used for carrying out voice reminding when the driving behavior change is to be carried out in the vehicle running process, wherein the voice reminding time is equivalent to the initial execution time of the driving change behavior and is mainly used for informing the vehicle of what driving behavior is to be presented under the control of the automatic driving system.

Through the optional characteristics of the embodiment, after the driving behavior change event is determined, voice early warning reminding can be performed on the driving behavior, and voice real-time reminding can be performed when the driving behavior change moment is reached, so that effective mastering of a vehicle driving state by a person in the vehicle can be ensured, and the effects of avoiding driving safety hazards and improving the vehicle automatic driving capability trust degree of the person in the vehicle can be achieved.

As a third alternative embodiment of the present embodiment, on the basis of the above embodiment, the third alternative embodiment further optimizes and adds a functional feature that can be described as achieving flexible handling of the driving behavior of the driver's vehicle in the automatic driving state.

It should be noted that, the function implementation added in the third alternative embodiment is not limited to the process of performing the visual presentation of the key node, and is equivalent to an independent function body, and can be performed at any time when the vehicle is in the automatic driving state.

Specifically, fig. 5 shows a flowchart for implementing a response to the operation of the driver in the automatic driving state in the method provided in this embodiment, the flowchart shown in fig. 5 may be executed independently of the method shown in fig. 1 on the basis of the flowchart shown in fig. 1, and as shown in fig. 5, the operation steps of the optimization addition in this third alternative embodiment may be described as follows:

in the implementation of automatic driving of a vehicle, it is often necessary to assist the driver or directly take over the vehicle, so as to implement safe driving of the vehicle. When a driver is required to participate in the automatic driving process, the operation of switching the automatic driving mode to the driving mode of the driver is often required to be performed first, so that the vehicle can normally receive a control signal of the driver to the vehicle, and the driver can take over the vehicle.

However, in the process of taking over the vehicle by the driver by switching from the automatic driving mode to the driver driving mode, the switching from the automatic driving mode to the driver driving mode takes time, the driver may not take over in time, and there may be a risk of failure of the automatic driving control in this time period; in addition, the driving performance of the vehicle is also affected by frequent driving mode changes, meanwhile, in the driving mode of the driver, the driver needs to perform substantial operation and control on the vehicle, the whole process still takes people as the driving leader, and the value of automatic driving of the vehicle cannot be better reflected.

Based on this, flexible handling of the driving behavior of the vehicle by the driver can be achieved by the method steps provided by the third alternative embodiment.

And S103, receiving an automatic driving intervention triggering operation.

In this embodiment, the driving intervention triggering operation may specifically be an operation generated by some form of triggering when a person in the vehicle (particularly a driver, preferably the driver in this embodiment) has a demand for manipulating the driving behavior of the vehicle. The vehicle (specifically, the automatic driving control system in the vehicle) as the execution subject of the present embodiment may receive the driving intervention trigger operation, wherein the driver may generate the driving intervention trigger operation by clicking or continuously clicking on an option in a certain button/a certain area/a certain taskbar on the central control display.

And S104, displaying a driving intervention control area through a central control display screen, wherein the driving intervention control area comprises at least one driving control component.

In this embodiment, the executive agent may respond to the received driving intervention triggering operation, so as to display a driving intervention control area on the central control display screen through this step, where the driving intervention control area may be understood as a control item selection area for the driver to perform driving behavior control, and may be pre-integrated in the vehicle as an insert.

Wherein, the driving intervention control area comprises at least one driving control component selected by the driver. Each driving control component can be transversely or longitudinally arranged in a driving intervention operation area in the form of a draggable button, and each driving control component can be considered to correspond to a driving behavior to be controlled of the vehicle; for example, the to-be-steered driving behavior that the vehicle may exhibit may include at least one of: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle cut-in, vehicle turn around, vehicle steering, parking, and taking over vehicle maneuvers.

The control right of the vehicle can be understood as that the control object of the vehicle is changed to the driver by an automatic driving system or is in an adaptive cruise control level.

And S105, receiving an operation and issuing an operation instruction, wherein the operation is that a driver selects a target driving operation component from the driving intervention operation region and drags the target driving operation component to a target point on the basic driving interface, and the operation instruction is an instruction corresponding to the target driving operation component executed aiming at the target point.

In this embodiment, the received maneuver in this step may be a trigger operation of the driver on a driving maneuver component selected in the driving intervention maneuver region, where the driver may select a matching driving maneuver component according to the personal maneuvering requirement for the driving behavior of the vehicle, and the driving maneuver component may be recorded as the target driving maneuver component.

Specifically, the triggering operation of the target driving control component by the driver may be represented as: and dragging the target driving control component to a certain position point of the basic driving interface. It can be known that the basic driving interface includes a road environment display picture, and scenes such as landmark buildings, roads, forks, viaducts and the like can be displayed in the picture, and when a driver expects that a vehicle can respond to the vehicle control by the driver at a certain intersection or by scenes such as a certain building and the like, the target driving control component can be dragged to the position point of the scenes. Therefore, the embodiment can mark a certain position point dragged by the driver as a target point of the target driving control component on the basic driving interface.

It should be noted that, considering that the driving control component is presented in the driving control area in the form of a button, in order to facilitate the dragging, in this embodiment, after the driver selects the target driving control component, the target driving control component is controlled to be presented in the form of an anchor point, which is finally equivalent to dragging the anchor point corresponding to the target driving control component to the target point.

After receiving the control formed by the trigger of the driver, the step can generate an operation instruction and issue the operation instruction to a relevant execution unit of the vehicle to execute relevant operation. The operation command may be a command that can be used to inform a control unit of the vehicle to perform a driving behavior corresponding to the target driving manipulation member at the target point selected by the driver.

And S106, responding to the operation instruction, and controlling the driving behavior of the vehicle.

In this embodiment, after the execution main body receives the operation instruction through the above steps, the execution main body can analyze the operation instruction through the step, so as to obtain the operation demand of the driver on the driving behavior of the vehicle, and control the driving behavior of the vehicle through the response to the operation instruction, so as to meet the operation demand expected by the driver.

Specifically, the operation demand of the driver included in the operation command can be analyzed through the step, for example, the operation demand can be control of vehicle acceleration, control of vehicle deceleration, control of vehicle steering, control of vehicle lane change and the like, and then the step can control the vehicle to achieve the operation demand desired by the driver at a target point where the target driving operation component is located, for example, achieve vehicle acceleration at the target point, achieve vehicle deceleration at the target point, achieve vehicle steering at the target point (the target point can represent the direction in which the vehicle is to be steered), and achieve vehicle lane change at the target point and the like.

It will be appreciated that the target point may be considered as the actual execution of the driver's steering demand, so long as this step can resolve the post-acceleration/deceleration speed, the direction to be steered, the road to be changed, etc. represented by the target point from the operating instructions.

It should be noted that, in the process of executing the steps of the method in the present embodiment, the vehicle may be considered to be always in an automatic driving state, that is, the vehicle executes the steps equivalently by an automatic driving system of the vehicle. Compared with the conventional method of switching to the driving mode of the driver and responding to the operation of the driver, the driving mode does not need to be switched.

In order to better understand the flexible operation of the driving behavior of the vehicle by the driver in the automatic driving state of the vehicle, the present embodiment gives an explanation by way of example. Fig. 6 is a diagram illustrating a scenario in which a driver's manipulated driving behavior response is implemented in the management method for vehicle driving behaviors provided in the embodiment of the present application. As shown in fig. 6, a situation that the driver selects a target driving manipulation component in the driving intervention manipulation zone 11 and drags the target driving manipulation component to the target point 121 in the basic driving interface 12 is specifically presented.

As can be seen from fig. 6, the driving intervention manipulation area 11 can be presented on the basic driving interface 12, and can be specifically displayed at a position that does not interfere with the display of the road environment picture. Meanwhile, the driving intervention operation area 11 may include driving operation components such as vehicle acceleration (+5km/h), vehicle deceleration (-5km/h), parking, vehicle taking over, vehicle overtaking, parking and the like. In the screen shown in fig. 6, the driver selects the vehicle acceleration (+5km/h) as the target driving control component, and drags the driving control component with the vehicle acceleration to the target point 121, so as to trigger the control, and further, the issued operation instruction can be received.

In response to the operation command of vehicle acceleration, the executing entity of the method analyzes the intention of the driver to perform vehicle acceleration, and controls the vehicle to start performing the operation of vehicle acceleration when the vehicle travels to the target point 121.

In addition, the executive body can also control the vehicle to finish parking at a certain position point when the driver places the driving control assembly for parking at the position point in front of the road; the vehicle can also be controlled to realize automatic lane changing of the vehicle at a position point of the adjacent lane when the driver places the driving control component for overtaking at the position point of the adjacent lane.

The third alternative embodiment provides the method steps, which are equivalent to that when the driver has the operation requirement of the vehicle, the driver can flexibly operate the driving behavior of the vehicle through the presented driving control assembly when the vehicle is in the automatic driving state. Compared with the existing mode of switching to the driver mode and then responding to the driving control of the driver, the newly added method of the third optional embodiment does not need to switch the driving mode, so that the potential driving danger in the mode switching process is avoided, meanwhile, the influence of frequent mode switching on the driving performance of the vehicle is also avoided, in addition, the driver can automatically respond to the control behavior only by selecting and dragging the driving control component, the vehicle does not need to be substantially operated, the dominant position of automatic driving is better reflected, and the automatic driving value of the vehicle is effectively improved.

Meanwhile, in the process of executing the method provided by the third optional embodiment, through the trigger of the driver on the driving operation component, the executing body may also consider that the driving behavior of the vehicle is changed when responding to the driving behavior corresponding to the driving operation component, and therefore, the method provided by the present application may be adopted to display the relevant key node by adopting the node graph corresponding to the changed driving behavior.

Further, as a fourth optional embodiment of this embodiment, on the basis of the third optional embodiment, the fourth optional embodiment further responds to the operation instruction, and controls the driving behavior of the vehicle to embody, and fig. 7 provides an implementation flowchart of responding to the driving behavior triggered by the driver in the method provided in the embodiment of this application, and as shown in fig. 7, the method specifically includes the following steps:

and S1061, extracting a target driving control component and a target point in the operation instruction.

In this embodiment, after receiving the operation instruction, the executing entity of the method provided in this embodiment may analyze the operation instruction through this step, and may extract the target driving control component corresponding to the operation instruction and the position information of the target point associated in the road environment picture.

And S1062, acquiring an actual environment position corresponding to the target point in the road driving environment and a target driving behavior corresponding to the target driving control component.

As described above, in this step, the actual environment position corresponding to the target point in the road driving environment may be determined based on the position information of the target point, and in combination with information such as the display ratio of the road environment picture and the road driving environment where the vehicle is actually located. Meanwhile, the driving control requirements of the driver corresponding to the target driving control assembly can be analyzed, namely the driving behaviors which the driver expects the vehicle to present are obtained.

And S1063, controlling the vehicle to execute the target driving behavior at the actual environment position.

After the driving behavior change place expected by the driver, namely the actual environment position, and the target driving behavior expected by the vehicle are determined through the steps, the target driving behavior of the target driving control component can be presented when the vehicle is controlled to run to the actual environment position through the steps.

It should be noted that the specific control of the vehicle by the execution subject is mainly determined by the target driving behavior corresponding to the target driving control component. For example, assuming that the target driving behavior is parking, the executing entity needs to perform deceleration control on the vehicle from the current time so that the vehicle just stops at the actual environmental position, and for example, when the target driving behavior is overtaking, the executing entity needs to determine when to perform acceleration control on the vehicle so that the vehicle just can reach the overtaking condition at the actual environmental position, thereby starting to perform the overtaking driving behavior. As another example, when the target driving behavior is lane change, the present executing body also controls the speed or direction of the vehicle in advance so that the lane change of the vehicle can occur at the actual environmental position.

The fourth optional embodiment provides a specific implementation of responding to the control issuing operation and controlling the vehicle to change the driving behavior, so that the control time, the specific control position and the like of the driving behavior are determined, and technical support is provided for the driver to flexibly operate the vehicle in the automatic driving state.

As a fifth alternative embodiment of the present embodiment, on the basis of any one of the above embodiments, the fifth alternative embodiment further optimizes and adds a functional feature, which can be described as showing the driving behavior of the vehicle in a certain time period from the current backward direction through the identification graph.

It should be noted that the additional function implementation of the fifth alternative embodiment is not limited to the execution stage of the target driving behavior corresponding to the driving control component selected by the driver, and it also corresponds to an independent function body, and may be executed when the vehicle is in an automatic driving state, or may be executed independently in the process of responding to the target driving behavior controlled by the driver.

Specifically, the operation steps of the fifth alternative embodiment for optimizing addition can be described as follows:

In this embodiment, the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle may be regarded as a relative limitation of the viewing angle of the content to be presented in this alternative embodiment, which is different from the presented viewing angle when the information of the central control display screen is displayed. The identification pattern is understood to be a representation of the pattern shape of the driving intention of the driving behavior of the vehicle. The second predetermined period of time may preferably range from 5 seconds to 10 seconds. The executing body can also prejudge the driving behavior of the vehicle in the second predetermined time period, so as to determine which driving behaviors are to be presented by the vehicle from the current time to the end time of the second predetermined time period.

It will be appreciated that the driving behaviour of the vehicle presented during this second predetermined period of time is also determined based on the driving decision given by the autonomous driving system. After the driving behaviors are determined to be included in the second preset time period, the display of the identification graph can be carried out according to the display forms matched with the driving behaviors.

The method provided by the embodiment is used for visually and/or phonetically presenting the driving behavior at the moment when the driving behavior is changed and on the basis of flexible control of the driving behavior of the vehicle by a driver, the visual presentation characteristic of the driving behavior of the vehicle is further enriched through the fifth optional embodiment, the graphical display of the driving behavior of the vehicle on the central control display screen is realized, so that personnel in the vehicle can more intuitively know the driving state of the vehicle, the driving intention of the vehicle within a certain time period in the future can be completely and effectively displayed when the driving behavior of the vehicle is changed, and the use experience of the user on the vehicle is comprehensively improved.

As a sixth optional embodiment of this embodiment, on the basis of the fifth optional embodiment, in the sixth optional embodiment, the displaying, by using the identification pattern, the driving behavior of the vehicle in the second predetermined time period is further embodied as:

and a2, obtaining the driving behaviors included in the vehicle in the second preset time period, and respectively recording the driving behaviors as the driving behaviors to be shown.

For example, it may be determined by the driving decision of the vehicle by the automatic driving system which driving behaviors are included in the second predetermined time period (there may be one or two driving behaviors, or even a plurality of driving behaviors), which may be marked as driving behaviors to be exhibited; in addition, whether a target driving behavior triggered by the driver is received within a second predetermined time period can also be determined, and the target driving behavior can also be marked as a driving behavior to be shown.

b2, controlling each driving behavior to be displayed to carry out identification graphic display in a corresponding identification graphic display form according to the execution time sequence of each driving behavior to be displayed.

In this embodiment, the driving behaviors to be displayed can be sorted according to the execution time of the driving behaviors, the display forms of the identification graphs matched with the driving behaviors to be displayed are respectively determined relative to the driving behaviors to be displayed, and finally the display of the identification graphs of the driving behaviors to be displayed can be performed on the basic driving interface.

In this embodiment, the above mentioned identification pattern is mainly displayed attached to the upper space of the driving road surface in the basic driving interface or the driving road surface outside the vehicle. The different display attachment modes can be selected through the difference of the display visual angles of the execution main body to the road environment picture. If the execution main body selects the view angle above the road surface, the execution main body can display the identification graph attached to the road surface.

In this embodiment, the display position of the identification pattern may be considered to be matched with an actual occurrence position of the driving behavior of the vehicle, and is displayed on the driving route of the vehicle, and the user may intuitively perceive the occurrence position and time of the driving behavior by matching with the position of the environment interface. Meanwhile, the display width of the identification graph is preferably smaller than the lane width of one lane in the basic driving interface; and the identification pattern is only positioned on a route in front of the driving direction of the vehicle, such as the direction of the head of the vehicle driving in the forward direction and the direction of the tail of the vehicle when the vehicle is reversed.

In this embodiment, the presentation length range of the identification graphic may preferably be: driving forward for a distance of the second predetermined period of time from the current position of the vehicle; for example, it may be a distance of 5-10 seconds from the vehicle position to the front, variable according to the running vehicle speed, with a minimum of no less than 20 meters of actual distance.

In addition, when it is determined that at least two driving behaviors exist within the second preset time period, which is equivalent to the case of changing the driving behaviors, therefore, it is further preferable that the displayed identification graph of the embodiment may include a key node representing the time when the driving behaviors of the vehicle are changed, so as to represent the change of the driving behaviors; and the included key nodes are displayed according to the node display attribute of the driving behavior to be changed. For example, the passing node is represented by a square shape on the base route, and means that the vehicle starts passing when traveling to the position shown by the square.

Meanwhile, regarding the displayed identification pattern, it should be further noted that each of the display forms of the identification pattern of the driving behavior may be preferably a basic path, and the basic path is represented by a consecutive curve or straight line with a set width, or by a group of unit patterns constituting the curve or straight line. Illustratively, the base path may represent distance by a change in size. For a coherent curve or line, the width at near is greater than the width at far; for the element pattern composition path, the size of the near element pattern is larger than the size of the far element pattern. The overall dimensional change conforms to the perspective relationship of the overall road environment interface.

In addition, when a coherent curve or straight line with a set width is used for representation, the representation sizes and the representation colors of different basic paths are corresponded; when a group of unit graphs forming curves or straight lines are used for representation, the colors, the shapes and the sizes of the unit graphs used corresponding to different basic paths are different.

Taking the color of the identification pattern as an example, firstly, the color of the identification pattern must obviously distinguish the interface with the road environment in view and feel to ensure the recognition degree. Second, the base path may take different colors to characterize different driving behaviors. For example, the vehicle may be indicated in different levels of autonomous driving by a set of different colors, e.g., gray for non-activated autonomous driving, blue for adaptive cruise level, and green for fully autonomous driving. The vehicle speed change may be represented by a set of color changes, for example, green, red, and a color of a gradual transition therebetween, and the path graph gradually changes from green to red, i.e., the vehicle speed gradually increases from the vehicle speed represented by green to the vehicle speed represented by red.

It should be noted that the distance between adjacent unit patterns may represent the vehicle speed when the vehicle travels to the corresponding position, for example, a portion with a large distance represents a high traveling speed, and a portion with a small distance represents a low traveling speed.

In addition, in the present embodiment, it is considered that the logo pattern has a certain directivity, and the directivity thereof may be preferably the same as the traveling direction of the vehicle. In this embodiment, the unit graph may be at least one of a circle, a dot, a triangle, an arrow, a square, and a solid graph; for example, the present embodiment may indicate that the vehicle is at different automatic driving levels through different unit graphs, for example, a path is composed of a circular dot to indicate that automatic driving is not started, a triangle to indicate that the vehicle is at an adaptive cruise control level, and a square to indicate full automatic driving. The graphic elements form a path through arrangement, and the arrangement distance can be not unique.

As a seventh optional embodiment of this embodiment, on the basis of the fifth optional embodiment, the seventh optional embodiment further includes:

This seventh alternative embodiment may be seen as a further optimization of the displayed identification graphic, which may, in addition to allowing the identification graphic to statically present different driving behaviors of the vehicle, also control the identification graphic to achieve a dynamic presentation by means of this alternative embodiment. In particular, the identification graphic may be controlled to be effectively presented when a change occurs in the driving intention or driving behavior of the vehicle over a distance presented. Illustratively, the dynamic effects presented may include: the basic graphic elements change shape, flip, rotate, zoom in, zoom out, crop, combine, appear, disappear, change in color, etc.

The seventh optional embodiment provides technical support for complete visual display of the driving behavior of the vehicle on the central control display screen, and also guarantees the feasibility of the method provided by the embodiment.

Similarly, on the basis of the fifth optional embodiment, after the driving behavior of the vehicle in the second predetermined time period is shown by using the identification graph, the seventh optional embodiment may further optimize the disappearance process including the identification graph of the road section that the vehicle has traveled.

The newly added functional features of the seventh alternative embodiment may also be regarded as further optimization of the displayed identification graphic, which mainly realizes the disappearance processing of the identification graphic that has exceeded the display range, and the disappearance processing may be that after the presentation of the identification graphic, the identification graphic of the road section on which the vehicle has traveled may gradually disappear.

The seventh optional embodiment may be regarded as another new function of the method provided by this embodiment, and mainly implements the function optimization of the graphical display of the driving behavior, and further enhances the visual effect of the graphical display of the driving behavior by presenting the dynamic effect of the time of changing the driving behavior.

It should be noted that, regarding the display of the identification pattern of the driving behavior of the vehicle on the basic driving interface, through the above description of the embodiment, it can be known that the display forms of the identification pattern of different driving behaviors are different, and the display forms of the identification pattern matched with the driving behaviors can be realized through flexible pre-configuration.

The display forms of the identification graphs corresponding to the common driving behaviors of the vehicles are illustrated in one configuration form.

Specifically, fig. 8 shows a display form of the identification pattern matched with the uniform-speed driving of the vehicle in the management method for the driving behavior of the vehicle according to the embodiment. As shown in fig. 8, the driving behavior corresponding to the display form is that the vehicle travels at a constant speed. It can be shown that the vehicle will travel at a constant speed in the distance shown by the base path with uniform spacing and a certain directivity of a single color. The adopted basic path is characterized by a group of unit graphs forming straight lines, the color of each unit graph can be configured to be blue, and the shape of each unit graph can be configured to be triangular.

Fig. 9 shows a display form of a logo pattern matched with a lane change of a vehicle in the management method of driving behaviors of a vehicle according to the embodiment. As shown in fig. 9, the driving behavior corresponding to the demonstration mode is a lane change of the vehicle, and the lane change also includes a situation that the vehicle enters a ramp or merges into a main road. It can be shown that a uniform lane change will occur in the illustrated path by a base path with uniform spacing, a single color with a certain directivity and crossing lanes. The adopted basic path is characterized by a group of unit graphs forming a curve, the color of the unit graph can be configured to be blue, and the shape of the unit graph can be configured to be triangular. The identification graph comprises key nodes representing the lane change occurrence time.

Fig. 10 shows a display form of a logo pattern matched with a vehicle overtaking in the management method of the driving behavior of the vehicle according to the embodiment. As shown in fig. 10, the driving behavior corresponding to the display form is that the vehicle overtakes. The overtaking vehicle can be indicated at the position to be overtaken through the change of the distance, the change of the color has certain directivity and the basic path crossing the lane, and the acceleration and deceleration change is generated at the position of the change of the distance color. The adopted basic path is represented by a group of unit graphs forming a curve, the color of the unit graphs can configure the constant-speed driving part as blue, and configure the part with acceleration and deceleration change as gradual change of orange, red and yellow. The shape can also be configured to be a triangle, and meanwhile, the identification graph comprises key nodes representing the occurrence time of the overtaking of the vehicle.

Fig. 11 shows a display form of an identification pattern matched with the steering of the vehicle in the management method of the driving behavior of the vehicle according to the embodiment. As shown in fig. 11, the driving behavior corresponding to the display form is the vehicle steering. The vehicle can be shown to turn according to the path through the change of the distance and the basic path with certain directivity of color change, and the acceleration and deceleration change exists at the position of the change of the distance color. The adopted basic path is represented by a group of unit graphs forming a curve, the color of the unit graphs can configure the constant-speed driving part into dark blue, and the part with acceleration and deceleration change is configured into gradual change of light blue and green. The shape can also be configured as a triangle, and key nodes representing the occurrence time of the vehicle turning are included in the identification graph.

Fig. 12 shows a display form of an identification pattern matched with a vehicle turning around in the management method of the driving behavior of the vehicle according to the embodiment. As shown in fig. 12, the driving behavior corresponding to the display form makes the vehicle turn around. The vehicle can be shown to turn according to the shown path through the curve path graph of the distance change, the color change with certain directivity and the lane crossing, and the acceleration and deceleration change can be generated at the position of the distance color change. The adopted basic path is represented by a group of unit graphs forming a curve, the color of the unit graphs can configure the constant-speed driving part into dark blue, and the part with acceleration and deceleration change is configured into gradual change of light blue and green. The shape can also be configured to be a triangle, and meanwhile, the identification graph comprises key nodes representing the moment when the vehicle turns around.

Fig. 13 shows a display form of an identification pattern matched with a stop of the vehicle in the management method of the driving behavior of the vehicle according to the embodiment. As shown in fig. 13, the driving behavior corresponding to the display form is that the vehicle is stopped. It may represent the vehicle stopping position by some graphic on the path, such as a lateral line segment, that is distinct from the unit graphic. The corresponding deceleration behavior before stopping is indicated by the color and the cell pitch, and there is no path pattern behind the stop position. The shape of the unit graph representing the driving part can be configured as a triangle, the shape representing the stop can be configured as a transverse line segment, the color of the unit graph of the driving part can be configured as dark blue, and the part with acceleration and deceleration change is configured as gradual change of light blue and green. Meanwhile, the identification graph comprises key nodes representing the occurrence time of the vehicle stop.

Fig. 14 shows a display form of a logo pattern matched with the end of the automatic driving of the vehicle in the management method of the driving behavior of the vehicle according to the embodiment. As shown in fig. 14, the driving behavior corresponding to the display form ends the automatic driving of the vehicle. It may represent the vehicle ending autopilot location by some graphic on the path that is distinct from the unit graphic, such as a delinking symbol. The corresponding deceleration behavior before stopping is represented by color and cell pitch, and the pattern of the path behind the end position is changed to a pattern in which the automatic driving is not started. The shape of the unit graph representing the driving part can be configured to be a triangle, the shape representing the position for finishing automatic driving can be configured to be a broken chain symbol, the color of the unit graph representing the driving part can be configured to be dark blue, and the color of the unit graph representing the position for finishing automatic driving can be configured to be light blue. Meanwhile, the identification graph comprises key nodes representing the moment when the vehicle finishes automatic driving.

Therefore, it can be seen that the implementation of the representation of the identification graph or the key node in the method provided by the embodiment is not limited to be used in the automatic driving state of the vehicle, and can also be applied to the driving state of the driver or the adaptive cruise driving state.

Fig. 15 shows a display form of an identification pattern matched with a vehicle warning in the management method of vehicle driving behaviors provided by the present embodiment. As shown in fig. 15, the driving behavior corresponding to the display form is a vehicle warning. It may indicate that there is a road safety risk, such as lane narrowing, at the location by some graphic on the path that is distinct from the unit graphic. The shape of the unit graph representing the driving part can be configured to be a triangle, the shape of the part representing the risk early warning can be configured to be a vehicle narrowing symbol, the color of the unit graph representing the driving part can be configured to be dark blue, the color of the unit graph after the early warning is started can also be configured to be dark blue, and the displayed size is relatively reduced. Meanwhile, the identification graph comprises key nodes representing the early warning occurrence time of the vehicle.

Fig. 16 is a schematic structural diagram of a device for managing driving behaviors of a vehicle according to an embodiment of the present application, where the device is suitable for controlling driving behaviors of the vehicle in an autonomous driving state, and the device may be implemented by software and/or hardware and may be integrated in the vehicle. The vehicle further includes a central control display screen, a basic driving interface including 3D map navigation is displayed on the central control display screen, and specifically, as shown in fig. 16, the key node calculation module 21 and the key node display module 22 are provided.

The key node calculation module 21 is configured to calculate, in an automatic driving state, a key node of a change in driving behavior in expected driving behavior according to the expected driving behavior of the vehicle;

and a key node display module 22, configured to display a node graph representing the key node, where the node graph is placed at a road surface position where the driving behavior is changed in the 3D map navigation.

The management device for the driving behavior of the vehicle according to the present embodiment is equivalent to that when the vehicle is running in the automatic driving state, not only the driving navigation route of the vehicle can be displayed, but also the key nodes corresponding to the changed positions where the driving behavior is changed in the expected driving behavior of the vehicle can be visually presented, that is, the key nodes can be represented by the node graph displayed on the basic driving interface or the vehicle navigation road surface. Through the device, personnel in the vehicle can master driving dynamics in advance through the displayed key nodes, and the personnel in the vehicle can visually and correctly judge whether the vehicle is suitable for the automatic driving state of the vehicle and take over the driving state in time when needed, so that driving potential safety hazards are avoided, and the trust of the personnel in the vehicle on the automatic driving capability of the vehicle is improved.

Further, the key node calculation module 21 may be specifically configured to acquire an expected driving behavior of the vehicle in an automatic driving first preset time period, where the first preset time period is a time period of a first set time period after the current time; and determining a key node of the expected driving behavior, wherein the key node is a position node of the vehicle state change caused by the driving behavior change.

Further, the key node display module 22 may specifically include:

the duration determining unit is used for determining the interval duration of the time when the expected driving behavior is changed and the current time;

the position determining unit is used for determining the specific road position where the driving behavior is changed according to the current running speed of the vehicle, the interval duration and the current position in the road running environment;

a change position determination unit, configured to determine a driving behavior change position of the key node in the 3D map navigation in combination with the specific road position;

a node display unit for marking the driving behavior change position with a node pattern and displaying the node pattern on a driving road surface of the basic driving interface and/or a driving road surface outside the vehicle;

Further, the node display unit may be specifically configured to determine a driving behavior in which the driving behavior is changed, record the driving behavior as a driving behavior to be changed, and determine a node display attribute matched with the driving behavior to be changed; marking the driving behavior change position by using a node graph with the node display attribute; displaying the node pattern on a driving surface of the basic driving interface and/or a driving surface outside the vehicle.

Further, the apparatus may further include: the driving control system comprises a first receiving module, an information display module, a second receiving module and a driving control module.

The first receiving module is used for receiving the automatic driving intervention triggering operation;

the information display module is used for displaying a driving intervention control area through a central control display screen, and the driving intervention control area comprises at least one driving control assembly;

the second receiving module is used for receiving operation and issuing an operation instruction, wherein the operation instruction is that a driver selects a target driving operation component from the driving intervention operation region and drags the target driving operation component to a target point on the basic driving interface, and the operation instruction is an instruction corresponding to the target driving operation component executed aiming at the target point;

and the driving control module is used for responding to the operation instruction and controlling the driving behavior of the vehicle.

Further, the driving control module may be specifically configured to:

Further, the apparatus may further include:

and the identification pattern display module is used for displaying the driving behavior of the vehicle in a second preset time period by adopting an identification pattern on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle, wherein the second preset time period is a time period of a second set time length backwards from the current time.

Further, the identification graphic display module may be specifically configured to:

Further, the apparatus may further include:

and the dynamic effect display module is used for controlling the displayed identification graph to carry out change reminding according to the matched dynamic effect if the vehicle has driving behavior change in a second preset time period.

The management device for the vehicle driving behaviors, provided by the embodiment, can execute the management method for the vehicle driving behaviors, provided by the embodiment of the method, and has corresponding functional modules and beneficial effects of the execution method. The implementation principle and technical effect of this embodiment are similar to those of the above method embodiments, and are not described in detail here.

Fig. 17 is a block diagram of a vehicle according to an embodiment of the present disclosure, and as shown in fig. 17, the vehicle may include a central control display screen 31, a controller 32, a storage device 33, an input device 34, and an output device 35; the number of the controllers 32 may be one or more, and one controller 32 is illustrated in fig. 17; the central control display 31, the controller 32, the storage device 33, the input device 34, and the output device 35 in the vehicle may be connected by a bus or other means, and the bus connection is exemplified in fig. 17.

And the central control display screen 31 is used for presenting a basic driving interface in the driving process of the vehicle.

The storage device 33, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules (e.g., the key node calculation module 21 and the key node display module 22) corresponding to the management method of vehicle driving behavior in the embodiment of the present invention. The controller 32 executes various functional applications and data processing of the vehicle, that is, implements the above-described management method of the driving behavior of the vehicle, by executing software programs, instructions, and modules stored in the storage device 33.

The storage device 33 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the storage device 33 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage device 33 may further include memory remotely located from the controller 32, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 34 may be used to receive input numeric or character information and generate key signal inputs relating to user settings and function controls of the vehicle. The output device 35 may include a display device such as a display screen.

Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program for performing, when executed by a computer processor, a method of managing driving behavior of a vehicle, the method comprising:

calculating a key node of driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle in an automatic driving state; displaying a node pattern representing the key nodes, the node pattern being placed at a road surface position where driving behavior changes within the 3D map navigation.

Of course, the computer program of the computer-readable storage medium provided in the embodiments of the present application is not limited to the method operations described above, and may also perform related operations in the method for managing vehicle driving behavior provided in any embodiment of the present application.

From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a read-only memory (ROM), a Random Access Memory (RAM), a FLASH memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a grid device) to execute the methods described in the embodiments of the present application.

It should be noted that, in the embodiment of the management device for vehicle driving behaviors, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for managing driving behavior of a vehicle, applied to a vehicle comprising: the method comprises the following steps that a central control display screen is displayed, wherein a basic driving interface comprising 3D map navigation is displayed in the central control display screen, and the method comprises the following steps:

2. The method of claim 1, wherein calculating key nodes of driving behavior modification in the expected driving behavior based on the expected driving behavior of the vehicle comprises:

3. The method of claim 1, wherein displaying a node graph representing the key node comprises:

4. The method according to claim 3, wherein marking the driving behavior modification location with a node pattern and displaying the node pattern on a driving surface of the basic driving interface and/or a driving surface outside the vehicle comprises:

marking the driving behavior change position by using a node graph with the node display attribute;

5. The method of claim 1, further comprising:

receiving an automatic driving intervention triggering operation;

6. The method of claim 5, wherein controlling the driving behavior of the vehicle in response to the operating command comprises:

7. The method of claim 2, wherein each driving maneuver component corresponds to a driving behavior of the vehicle to be maneuvered;

8. The method of any one of claims 1-7, further comprising:

9. The method of claim 8, wherein presenting the driving behavior of the vehicle over a second predetermined time period using an identification graphic comprises:

10. The method of claim 8, further comprising:

11. The method according to claim 9 or 10,

the display width of the identification graph is smaller than the lane width of one lane of the basic driving interface driving road surface and/or the driving road surface outside the vehicle;

12. The method according to claim 9 or 10,

the display form of the identification graph of each driving behavior is a basic path, and the basic path is represented by a coherent curve or straight line with a set width or a group of unit graphs forming the curve or straight line;

13. A device for managing the driving behavior of a vehicle, the device being configured with the vehicle, the vehicle comprising a central control display screen displaying a basic driving interface including a 3D map navigation, the device comprising:

14. A vehicle, characterized by comprising:

a central control display screen;

one or more controllers;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more controllers, cause the one or more controllers to implement the method of managing vehicle driving behavior of any of claims 1-12.

15. A storage medium containing computer-executable instructions, which when executed by a computer processor implement a method of managing vehicle driving behavior according to any one of claims 1-12.