CN113895458B - Vehicle driving behavior management method and device, vehicle and storage medium - Google Patents

Abstract

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

Description

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

technical field

Embodiments of the present invention relate to the technical field of automatic driving, and in particular to a method, device, vehicle and storage medium for managing vehicle driving behavior.

Background technique

Self-driving cars have also gradually entered the public's field of vision, which mainly realizes the automatic driving of vehicles through the integrated automatic driving control system.

At present, in the realization of automatic driving, the automatic driving control system mainly combines the environmental information of the vehicle and the driving information of the vehicle itself to make driving decisions in real time or in advance. At the same time, the information display device configured in the vehicle will also present the running status of the automatic driving in the form of a graphical interface.

However, the existing graphical interface can only present the current driving state of automatic driving. When navigating, it can only use static buildings and locations as nodes to remind users of driving operations, such as reminding users of driving operations 50 meters in front of buildings; When the vehicle cannot continue to drive automatically, the user cannot be effectively informed in advance through the interface, so that the user cannot intuitively and correctly judge the automatic driving status of the vehicle, and take over in time when necessary, thus posing hidden dangers to driving safety.

Contents of the invention

Embodiments of the present application provide a method, device, vehicle and storage medium for managing vehicle driving behaviors, which realize effective display of expected driving behaviors of vehicles in an automatic driving state.

The first aspect is applied to a vehicle, and the vehicle includes: a central control display, where a basic driving interface including 3D map navigation is displayed, and the method includes:

In the automatic driving state, according to the expected driving behavior of the vehicle, calculate the key nodes of the driving behavior change in the expected driving behavior;

A node graph representing the key node is displayed, and the node graph is placed at a road surface position where driving behavior changes in the 3D map navigation.

In the method for managing vehicle driving behavior provided in this embodiment, in the automatic driving state, according to the expected driving behavior of the vehicle, the key nodes of the driving behavior change in the expected driving behavior can be calculated; and then the key nodes representing the key nodes can be displayed Node graph. The execution of this method is equivalent to that when the vehicle is driving in the state of automatic driving, it can not only display the driving navigation route of the vehicle, but also realize the visual presentation of the key nodes corresponding to the changed position of the driving behavior change in the expected driving behavior of the vehicle, that is, , the key nodes can be represented by node graphics displayed on the basic driving interface or on the vehicle navigation road. In this way, the personnel in the vehicle can grasp the driving dynamics in advance through the displayed key nodes, and also enable the personnel in the vehicle to intuitively and correctly judge whether the vehicle continues to be suitable for the automatic driving state of the vehicle, and take over in time when necessary, so as to Avoid hidden dangers in driving safety and improve the trust of people in the car in the automatic driving ability of the car.

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

Obtaining the expected driving behavior within a first preset time period of automatic driving of the vehicle, where the first preset time period is a time period backward from the current moment by a first set duration;

Determining a key node at which a change in driving behavior occurs in the expected driving behavior, where the key node is a position node at which the change in driving behavior causes a change in the state of the vehicle.

This option provides the specific implementation of key node calculation, which is equivalent to providing technical support for visual display of key nodes that represent changes in driving behavior on the central control display. The practicability of the method provided in this embodiment is guaranteed.

Further, displaying a node graph representing the key node includes:

Determining the interval between the moment when the expected driving behavior changes and the current moment;

Determine the specific road location where the driving behavior change occurs according to the current driving speed of the vehicle, the interval duration, and the current location in the road driving environment;

Combining with the specific road position, determine the driving behavior change position of the key node in the 3D map navigation;

Use a node graph to mark the driving behavior change location, and display the node graph on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle;

The presentation position of the node graph matches the actual location where the driving behavior change occurs, and is located on the driving route of the vehicle.

Further, using a node graphic to mark the driving behavior change location, and displaying the node graphic on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle, including:

Determining the driving behavior in which the driving behavior change occurs, recording it as the driving behavior to be changed, and determining the node display attributes that match the driving behavior to be changed;

using a node graphic having the node display attribute to mark the driving behavior change position,

The node graph is displayed on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

Both this option and the previous option provide technical support for the visual display of key nodes that represent changes in driving behavior on the central control display, such as the specific implementation of the graphic display of the nodes corresponding to key nodes. This further ensures the practicability of the method provided in this embodiment.

Further, the method also includes:

Receive automatic driving intervention trigger operation;

A driving intervention control area is displayed through the central control display, and the driving intervention control area includes at least one driving control component;

Receive the control and issue an operation instruction. The operation is that the driver selects the target driving control component from the driving intervention control area and drags it to the target point on the basic driving interface. The operation instruction is for the Execute the instruction corresponding to the target driving control component at the target point;

In response to the operation instruction, the driving behavior of the vehicle is controlled.

This optional item is a new functional technical feature in the vehicle driving behavior management method provided in this embodiment. Through this optional feature item, it is equivalent to that when the driver has an operation requirement for the vehicle when the vehicle is in the state of automatic driving, he can pass all The presented driving control components flexibly operate the driving behavior of the vehicle. Compared with the existing switching to the driver mode and then responding to the driver's driving manipulation, this optional new feature does not need to switch the driving mode, thereby avoiding the occurrence of potential driving hazards during the mode switching process, and also avoids The impact of frequent mode switching on the driving performance of the vehicle. In addition, the driver only needs to select and drag the driving control components to automatically respond to the control behavior, without the need to perform actual operations on the vehicle, which better reflects the dominance of automatic driving. status, effectively enhancing the value of vehicle autonomous driving.

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

Extracting the target driving control component and the target point in the operation instruction;

Obtaining the actual environmental position corresponding to the target point in the road driving environment, and the target driving behavior corresponding to the target driving manipulation component;

The vehicle is controlled to perform the target driving behavior at the actual environment location.

Through the above steps of the method, the specific implementation of responding to the control command and controlling the vehicle to change the driving behavior is given, and the timing and specific control position of the driving behavior are clarified, providing the driver with flexible operation of the vehicle in the automatic driving state. technical support.

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

The driving behavior to be controlled includes at least one of the following: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle overtaking, vehicle U-turn, vehicle steering, parking, and taking over control of the vehicle.

This optional feature item gives the specific characteristic attributes of the driving control component, and also clarifies the driving behavior that the driver can control through the driving control component, ensuring that the driver has a wider controllable range in the automatic driving state .

Further, the method also includes:

On the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle, the driving behavior of the vehicle in the second predetermined time period is displayed by using logo graphics, and the second predetermined time period is the current moment to After the second set duration of time period.

On the basis of the method provided in this embodiment having the visualization of the driving behavior change location and the driver's flexible control of the vehicle driving behavior, through this optional feature item, the visual presentation characteristics of the vehicle driving behavior are further enriched, which realizes the vehicle driving behavior. The graphical display of driving behavior on the central control display enables the occupants to understand the driving status of the vehicle more intuitively, and also enables the complete and effective display of the vehicle's driving behavior within a certain period of time in the future when there is a change in the driving behavior of the vehicle. The driving intention improves the user's experience of using the vehicle in an all-round way.

Further, the driving behavior of the vehicle within the second predetermined period of time is displayed using logo graphics, including:

Obtaining the driving behaviors of the vehicle included in the second predetermined time period, and recording them respectively as driving behaviors to be displayed;

According to the execution time sequence of each of the driving behaviors to be displayed, each of the driving behaviors to be displayed is controlled to display the logo graphics in a corresponding logo graphic display form.

This option provides technical support for a complete visual display of vehicle driving behavior on the central control display screen, and also ensures the practicability of the method provided in this embodiment.

Further, the method also includes:

If there is a change in the driving behavior of the vehicle within the second predetermined period of time, the displayed logo graphic is controlled to remind of the change according to the matching dynamic effect.

This option is another new function of the method provided in this embodiment, which mainly realizes the optimization of the above-mentioned graphical display of driving behavior, and further improves the graphical display of driving behavior by presenting the dynamic effect of the driving behavior change time. Visual effect.

Further, the presentation width of the logo graphic is smaller than the lane width of one lane of the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle;

The display length range of the logo graphic is: from the current position of the vehicle, the distance traveled forward for the second predetermined time period;

The logo graph includes key nodes representing the moment when the driving behavior of the vehicle is changed, and the node display attributes of the key nodes match the driving behavior to be changed.

Further, each of the graphic display forms of the driving behavior is a basic path, and the basic path is represented by a coherent curve or straight line with a set width, or represented by a group of unit graphics forming a curve or straight line;

Different driving behaviors correspond to the presentation size and color of different basic paths; or, correspond to the color, shape and size of the unit graphics used in different basic paths;

Wherein, the shape of the unit figure is at least one of circles, dots, triangles, arrows, squares, and three-dimensional figures;

The distance between adjacent unit graphics represents the current speed of the vehicle.

This option and the previous option provide the static feature limitation of the logo graphics provided above, achieving the effect of enriching the attribute characteristics of the logo graphics.

In the second aspect, the embodiment of the present application provides a device for managing vehicle driving behavior, which is configured with the vehicle, and the vehicle includes a central control display, and the central control display shows a basic driving interface including 3D map navigation. The device includes:

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

The key node display module is used to display the node graph representing the key node, and the node graph is placed at the road surface position where the driving behavior changes in the 3D map navigation.

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

central control display;

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 implement the method for managing vehicle driving behavior as described in the first aspect of the above embodiment.

In a fourth aspect, an embodiment of the present application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, implement the method for managing vehicle driving behavior as described in the first aspect of the above-mentioned embodiment .

The method for managing vehicle driving behavior provided by the embodiment of the present application realizes the visual presentation of key nodes corresponding to the changed position of the expected driving behavior of the vehicle in the state of automatic driving; The personnel can grasp the driving dynamics in advance through the key nodes displayed, and can also enable the personnel in the vehicle to intuitively and correctly judge whether the vehicle continues to be suitable for the automatic driving state of the vehicle, so that the driver can take over in time when the driver needs to take over, which better avoids driving safety. Hidden danger. At the same time, this method also enables the driver to flexibly operate the driving behavior of the vehicle through the presented driving control components without switching the driving mode when the vehicle is in the state of automatic driving and has an operation demand for the vehicle, avoiding The occurrence of potential driving hazards during the mode switching process is avoided, and the impact of frequent mode switching on the driving performance of the vehicle is also avoided. In addition, on the basis of visualizing the key nodes of driving behavior changes and realizing the flexible operation of the driver's driving behavior, the method further enriches the visual presentation characteristics of the vehicle's driving behavior, and specifically realizes the display of the vehicle's driving behavior on the central control display. Graphical display; enables the occupants to understand the driving status of the vehicle more intuitively, and also enables the vehicle to fully and effectively display the driving intention of the vehicle within a certain period of time in the future when there is a change in the driving behavior of the vehicle. The above-mentioned method provided in this embodiment effectively improves the value of the automatic driving of the vehicle, and further improves the user's experience of using the vehicle in an all-round way.

Description of drawings

FIG. 1 is a schematic flow diagram of a method for managing vehicle driving behavior provided by an embodiment of the present application;

Fig. 2 has provided the example rendering of node graphic display in the method provided by the present application;

Fig. 3 has provided the flow chart of realizing key node calculation in the method provided in the embodiment of the present application;

Fig. 4 has provided the implementation flowchart of the node graphic display in the method provided in the embodiment of the present application;

FIG. 5 shows an implementation flow chart of responding to the driver's operation in the automatic driving state in the method provided by this embodiment;

FIG. 6 is an example diagram of a scenario in which the driver's driving behavior response is realized in the method for managing vehicle driving behavior provided by the embodiment of the present application;

Fig. 7 shows the implementation flow chart of responding to the driving behavior triggered by the driver in the method provided by the embodiment of the present application;

Fig. 8 shows a display form of a logo graphic matched by a vehicle running at a constant speed in the method for managing vehicle driving behavior provided by this embodiment;

Fig. 9 shows a display form of a logo graphic matched by a vehicle lane change in the management method of vehicle driving behavior provided by this embodiment;

FIG. 10 shows a display form of a logo graphic matched by a vehicle overtaking in the method for managing vehicle driving behavior provided in this embodiment;

Fig. 11 shows a display form of a logo graphic matched by vehicle steering in the management method of vehicle driving behavior provided by this embodiment;

Fig. 12 shows a kind of logo graphic display form matched by the vehicle turning around in the management method of vehicle driving behavior provided by this embodiment;

FIG. 13 shows a display form of a logo graphic matched by the vehicle stop in the management method of vehicle driving behavior provided by this embodiment;

Fig. 14 shows a display form of a logo graphic matched by the end of automatic driving of the vehicle in the management method of vehicle driving behavior provided by this embodiment;

FIG. 15 shows a display form of a logo graphic matched by the vehicle early warning in the management method of vehicle driving behavior provided by this embodiment;

FIG. 16 is a schematic structural diagram of a device for managing vehicle driving behavior provided by an embodiment of the present application;

Fig. 17 is a structural block diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

The following will describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them.

The ordinal numerals such as "first" and "second" mentioned in the embodiment of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, application scenarios, priority or importance of multiple objects degree etc.

Fig. 1 is a schematic flow chart of the management method of vehicle driving behavior provided by the embodiment of the present application. The management device is executed, and the device can be implemented by software and/or hardware, and can be integrated in the vehicle. Among them, the vehicle also includes a central control display, which displays a 3D map navigation basic driving interface.

It should be noted that the application background of the method provided in this embodiment may be that the vehicle is driving along a pre-planned route in an automatic driving state. During the driving process of the vehicle, it can be considered that the basic driving interface of the central control display screen presents a road environment picture, which includes but is not limited to real-time road scene pictures based on cameras, laser radar/millimeter wave radar/ultrasonic radar /Visual recognition and its algorithm render a simulated road environment picture through a 3D model, and a 3D map navigation driven by the vehicle is also displayed in the road environment picture to display the driving path of the vehicle.

Specifically, as shown in FIG. 1, the method for managing vehicle driving behavior in this embodiment includes:

S101. In an automatic driving state, according to the expected driving behavior of the vehicle, calculate a key node of a driving behavior change in the expected driving behavior.

It should be noted that during the process of executing the steps of the method provided in this embodiment, the vehicle can be considered to be in an automatic driving state all the time, so it can be considered that the subject of execution of the method provided in this embodiment is the automatic driving system in the vehicle.

In this embodiment, the automatic driving system in the vehicle can determine the driving decision within a certain period of time in the future by reading relevant information in the road driving environment, and the predicted result can be used as the expected driving behavior. The determination of the vehicle driving decision by the driving system is an existing implementation method, which will not be repeated here.

Generally, the driving behavior of the vehicle may include: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle U-turn, vehicle overtaking, vehicle steering, and vehicle changing the level of automatic driving, etc. Each driving behavior is actually equivalent to a driving change state of the vehicle. In this embodiment, when the expected driving behavior determined relative to the vehicle for a period of time in the future includes at least two kinds of driving behaviors, it can be considered that the vehicle has a tendency to change from one driving behavior to another driving behavior in the future. operate. In this embodiment, the position where one driving behavior is changed to another driving behavior that causes the vehicle state to change is recorded as a key node.

In the implementation of key node calculation, one of the implementation methods can be to determine the moment when the vehicle changes from one driving state to another driving state, and then determine the occurrence of the driving state based on the current vehicle speed and the location of the vehicle. The location of the change, so that the location can be determined as a key node where the driving state changes.

S102. Display a node graph representing the key node, where the node graph is placed at a road surface position where driving behavior changes 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's driving state changes, the visualization operation of the key node can be performed through this step. Specifically, the visualization of key nodes can be represented by a node graph. The displayed node graph can preferably be placed in the 3D navigation map, and specifically can be placed at the road surface position where the driving behavior changes. Among them, the node graphics presented in the 3D navigation map can be displayed in the basic driving interface, and can also be displayed on the navigation road surface outside the vehicle.

It can be known that the key node may represent the starting position of the driving behavior change corresponding to the driving behavior change moment of the vehicle in the basic driving interface. In order to realize the display of key nodes, it is first necessary to determine the corresponding starting position of the key node in the 3D navigation map. The starting position can be determined according to the corresponding specific change position in the actual road driving environment of the vehicle when the driving behavior changes. , and the specific change location can be determined according to information such as the time point when the driving behavior is changed and the current driving speed of the vehicle.

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

It can be understood that the display information given by the central control display may be the driving road outside the car from the perspective of the driver, or it may be the basic driving interface of the vehicle driving on the road from the perspective of the sky above the road. The information display angle of view in the central control display screen of this embodiment does not affect the display of the node graph, and it can display the node graph on the driving road outside the car when showing the vehicle driving road from the driver's perspective; When displaying the basic driving interface of the vehicle driving on the road from the aerial perspective on the road, the node graph is displayed on the basic driving interface.

Exemplarily, FIG. 2 shows an example effect diagram of node graphic display in the method provided by the present application. As shown in Figure 2, the presented interface is mainly the basic driving interface displayed from the perspective of standing on the road. Vehicle 1 is regarded as the target vehicle and is currently driving in the second lane. The basic driving interface first presents the vehicle's navigation route 01 , assuming that the method of this embodiment predicts that when the expected driving behavior includes vehicle acceleration in a period of time in the future, compared with the current constant speed driving, the expected driving behavior is equivalent to a change in driving behavior, and the node graph 10 shows In the basic driving interface, and specifically displayed on the navigation route 01 of the vehicle, it is presented in the shape of a rectangle, which specifically represents the initial change position of the driving state when the vehicle 1 is driving with the acceleration of the vehicle.

The management method of vehicle driving behavior provided by the embodiment of the present application is equivalent to that when the vehicle is driving under automatic driving state, it can not only display the driving navigation route of the vehicle, but also realize the location where the driving behavior changes in the expected driving behavior of the vehicle. Corresponding to the visual presentation of key nodes, that is, the key nodes can be represented by node graphics displayed on the basic driving interface or on the vehicle navigation road. In this way, the personnel in the vehicle can grasp the driving dynamics in advance through the displayed key nodes, and also enable the personnel in the vehicle to intuitively and correctly judge whether the vehicle continues to be suitable for the automatic driving state of the vehicle, and take over in time when necessary, so as to Avoid hidden dangers in driving safety and improve the trust of people in the car in the automatic driving ability of the car.

As the first optional embodiment of this embodiment, on the basis of the above-mentioned embodiments, this first optional embodiment further calculates the key to change the driving behavior in the expected driving behavior according to the expected driving behavior of the vehicle The node is embodied, and Fig. 3 shows the flow chart of realizing the calculation of key nodes in the method provided by the embodiment of the present application. As shown in Figure 3, this first optional embodiment specifically includes the following steps:

S1011. Obtain the expected driving behavior within a first preset time period of the vehicle's automatic driving, where the first preset time period is a time period backward from the current moment by a first set period of time.

In this embodiment, this step can be used to obtain the driving decision of the automatic driving system for the vehicle within the first predetermined time period, and record it as the expected driving behavior. In this embodiment, it is preferable that the first set duration is selected from 2 seconds to 10 seconds. Since the determination of the vehicle driving decision by the automatic driving system in the vehicle is an existing means of implementation, details will not be repeated here.

S1012. Determine the key node where the expected driving behavior changes, where the key node is a position node where the driving behavior change causes the vehicle state to change.

In this embodiment, through this step, it can be predicted whether there is a change in the state of the vehicle when the vehicle is driving according to the acquired expected driving behavior. Position nodes are denoted as key nodes.

As described above, each driving behavior is actually equivalent to a driving change state of the vehicle. In each driving change state, there is a starting moment of the change. In this embodiment, the starting moment can be recorded as driving behavior The moment when the vehicle state changes due to the change, in order to determine the key node of the driving behavior change, the moment when the vehicle state changes can be determined first.

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

1) The vehicle accelerates from a constant speed, which is equivalent to the continuous increase of the vehicle speed from a constant speed, and the increase of the total speed is controlled to exceed 5km/h. In this embodiment, the moment when the vehicle speed starts to change from a constant speed can be recorded as the time when the vehicle state changes to vehicle acceleration time.

2) The vehicle decelerates from a constant speed, which is equivalent to the vehicle continuously reducing the vehicle speed from a constant speed, and controlling the reduction of the total speed to exceed 5km/h. In this embodiment, the moment when the vehicle speed starts to change can be recorded as the moment when the vehicle state changes to vehicle deceleration.

3) When the vehicle changes lanes from the current lane, it means that the vehicle’s trajectory will leave the center position of the current lane and move to the target adjacent lane until it travels in the center of the target lane. In this embodiment, the moment when the vehicle starts to turn can be recorded as The vehicle state is presented as the moment of lane change.

4) The vehicle turns around from the current state, which is equivalent to the continuous reduction of vehicle speed, accompanied by continuous steering, until the driving direction changes to the opposite direction. In this embodiment, the moment when the vehicle speed starts to change can be recorded as the moment when the vehicle state shows a U-turn.

5) When the vehicle overtakes from the current state, it means that the speed of the vehicle will continue to increase, moving to the front of other vehicles in the adjacent lane along with the driving trajectory, and then maintain or decelerate to a constant speed driving state and remain centered in the lane. In this embodiment, the moment when the vehicle speed starts to change can be recorded as the moment when the vehicle state presents overtaking.

6) The vehicle turns from the current state, which is equivalent to the vehicle starting to turn from a constant speed, and the speed will continue to decrease, accompanied by continuous steering, until the driving direction becomes the target direction. In this embodiment, the moment when the vehicle speed starts to change can be recorded as the moment when the vehicle state turns.

7) The adjustment of the vehicle driving level is equivalent to the vehicle changing the level of automatic driving from a constant speed, and the vehicle will change the automatic driving function, such as downgrading from fully automatic driving to adaptive cruise control. In this embodiment, the moment when the key node is a function switch can be recorded as the moment when the vehicle state presents a driving level adjustment.

No matter what kind of driving behavior changes occur in the vehicle, the corresponding moment when the vehicle state changes can be determined, and the position node can be determined accordingly, as the key node of the driving behavior change.

This first optional embodiment provides a specific implementation of key node calculation, which is equivalent to providing technical support for visually displaying key nodes representing changes in driving behavior on the central control display screen. The practicability of the method provided in this embodiment is guaranteed.

As a second optional embodiment of this embodiment, on the basis of the above-mentioned embodiments, this second optional embodiment further embodies the node graph displaying the key nodes. Figure 4 shows the embodiment of this application A flow chart of the realization of the node graph display in the provided method. As shown in Figure 4, this second optional embodiment specifically includes the following steps:

S1021. Determine the interval between the moment when the expected driving behavior changes and the current moment.

In this embodiment, this step is used to realize the determination of the interval duration, wherein the executive body can obtain the system time in real time, so that the current time information can be obtained, and after the known driving behavior changes, it can be determined the interval between the two.

S1022. Determine a specific road location where the driving behavior change occurs according to the current driving speed of the vehicle, the interval duration, and the current location in the road driving environment.

In this embodiment, it is preferable that the vehicle travels at a constant speed before the driving behavior is changed. The executive body can also obtain the current driving speed of the vehicle. After the interval is known, it can determine the distance the vehicle will travel based on the above information, and Further combine the obtained specific road position of the vehicle in the road driving environment.

S1023. Combining with the specific road position, determine the driving behavior change position of the key node in the 3D map navigation.

In this embodiment, the specific road location may be equivalent to the road location when the driving behavior of the vehicle changes in the actual driving environment. At the same time, the execution subject of this embodiment can also obtain the presentation ratio of the 3D map in the presented 3D map navigation to the actual road driving environment. Thus, after knowing the specific road location and the above-mentioned presentation ratio, the location where the vehicle's driving behavior changes in the 3D map navigation can be determined.

S1024. Use a node graphic to mark the driving behavior change location, and display the node graphic on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

In this step, after the driving behavior change position of the key node in the 3D map navigation is determined through the above steps, the node graphic representing the key node is used to mark the driving behavior change position; meanwhile, considering that the 3D navigation map is displayed on the central control display According to the different perspectives presented above, the node graph can be displayed directly at the corresponding driving behavior change position on the basic driving interface, or the node graph can be displayed at the corresponding driving behavior change position on the vehicle driving road from the driver's perspective.

Wherein, the presentation position of the node graph matches the actual location where the driving behavior change occurs, and is located on the driving route of the vehicle. At the same time, considering that the driving behavior of the vehicle is relatively diverse, in order to better represent different driving behavior changes through the node graph, this embodiment can set different node display attributes for different driving behavior changes, and the node display Attributes can limit the shape, size and color of the node graph. In order to facilitate the occupants of the vehicle to quickly identify what driving behavior changes the vehicle will undergo through the differences in the displayed node graphs.

Further, in this second optional embodiment, the node graphic may be used to mark the driving behavior change location, and the specific details of the node graphic may be displayed on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle. into the following operations:

Determine the driving behavior in which the driving behavior change occurs, record it as the driving behavior to be changed, and determine the node display attribute that matches the driving behavior to be changed; use the node graph that has the node display attribute to mark the driving behavior change Position: displaying the node graph on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

In this embodiment, when predicting the driving behavior change time, it is also possible to predict what kind of driving behavior change will occur, and this step can record the determined driving behavior change as pending driving behavior change The corresponding driving behavior to be changed at any time.

It should be noted that in this embodiment, different node display attributes are set for different driving behaviors. The node display attributes can be understood as attributes that limit the presentation form of corresponding key nodes. The node display attributes may include: The shape, size and fill color of key nodes. In this embodiment, the above steps can be used to search for the node display attributes set in advance for different driving behaviors, so as to determine the node display attributes that match the driving behavior to be changed, and finally can follow the shape set in the node display attributes , size and color, etc. to display key nodes on the logo points of the basic driving interface.

The above-mentioned second optional embodiment of the present application provides technical support for visually displaying key nodes at the moment of driving behavior change on the central control display screen, which further ensures the practicability of the method provided in this embodiment.

In addition, the first optional embodiment and the second optional embodiment of the present application provide the visual presentation of key nodes. On this basis, this embodiment can also preferably describe a newly added functional feature, the new function The feature can be described as giving voice prompts to the driving behavior change event after determining the key nodes that characterize the driving behavior change event.

Exemplarily, the operation steps of the new feature can be described as:

a1. Give the vehicle a voice warning prompt that a driving behavior change is about to occur.

This step can be performed directly after the driving behavior change event of the vehicle is predicted. The voice warning prompts can include the change starting time of the driving behavior change, the actual change location, and what kind of change will occur.

Through this step, the voice warning prompt to the personnel in the vehicle can inform the driver in advance of what changes will occur next, so that the user can have better psychological expectations for the automatic driving state of the vehicle.

b1. When it is detected that the vehicle starts to change the driving behavior, perform a voice announcement prompting that the vehicle starts to change the driving behavior.

In this step, a voice reminder can be given when the driving behavior change is to be performed while the vehicle is moving. The voice reminder time is equivalent to the starting execution time of the driving change behavior. It is mainly used to inform the vehicle that it will appear under the control of the automatic driving system. what kind of driving behavior.

Through the above optional features of the embodiment, after the driving behavior change event is determined, a voice warning reminder can be given to the driving change behavior, and a real-time voice reminder when the driving behavior change time is reached, thus ensuring that the occupants of the car The effective grasp of the driving status of the vehicle can also achieve the effect of avoiding hidden dangers of driving safety and improving the trust of the people in the vehicle in the automatic driving ability of the vehicle.

As the third optional embodiment of this embodiment, on the basis of the above-mentioned embodiments, this third optional embodiment further optimizes and adds a new functional feature, which can be described as realizing driving in the state of automatic driving Flexible control of the driver's vehicle driving behavior.

What needs to be known is that the implementation of the newly added functions of this third optional embodiment is not limited to the execution process of the above-mentioned visual presentation of key nodes, which is equivalent to an independent functional subject, which can Execute all the time.

Specifically, Fig. 5 shows the implementation flow chart of responding to the driver's operation in the automatic driving state in the method provided by this embodiment. The flow chart shown in Fig. 5 can be based on the flow chart shown in Fig. 1 above. It is independent of the execution of the method shown in FIG. 1, as shown in FIG. 5, the operation steps for optimizing and increasing the third optional embodiment can be described as:

It should be noted that in the realization of automatic driving of the vehicle, the driver's assistance or direct takeover of the vehicle is often required to achieve safe driving of the vehicle. When the driver's participation is required during the automatic driving process, it is often necessary to switch from the automatic driving mode to the driver's driving mode first, so that the vehicle can normally receive the driver's control signal to the vehicle and realize the driver's takeover of the vehicle.

However, in the process of the driver taking over the vehicle through the transition from the automatic driving mode to the driver driving mode, it takes time to switch from the automatic driving mode to the driver driving mode, and it may not be possible for the driver to take over in a timely manner. There may also be a danger of automatic driving control failure; in addition, frequent driving mode changes also affect the driving performance of the vehicle. Driving dominance still cannot better reflect the value of vehicle autonomous driving.

Based on this, the driver can flexibly control the driving behavior of the vehicle through the method steps provided in the third alternative embodiment.

S103. Receive an automatic driving intervention trigger operation.

In this embodiment, the driving intervention triggering operation can be triggered in some form when the personnel in the vehicle (especially the driver, preferably the driver in this embodiment) has the need to control the driving behavior of the vehicle. Generated operations. The vehicle (specifically, the automatic driving control system in the vehicle) that is the subject of execution of this embodiment can trigger the operation by receiving the driving intervention, wherein the driver can click a button/area on the central control display Click or click continuously on an option in the task bar to generate the driving intervention trigger operation.

S104. Display a driving intervention control area through the central control display screen, where the driving intervention control area includes at least one driving control component.

In this embodiment, the executive body can respond to the received driving intervention trigger operation, so that through this step, the driving intervention control area is displayed on the central control display screen. The driving intervention control area can be understood as the driver's driving behavior control control item selection area, which can be pre-integrated in the vehicle as a plug-in.

Wherein, the driving intervention control area includes at least one driving control component for the driver to select. Each of the driving manipulation components can be arranged horizontally or vertically in the driving intervention operation area in the form of draggable buttons, and it can be considered that each driving manipulation component corresponds to a driving behavior of the vehicle to be controlled; for example, the vehicle can display The driving behavior to be controlled may include at least one of the following: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle overtaking, vehicle U-turn, vehicle steering, parking, and taking over control of the vehicle.

Wherein, the taking over of the control right of the vehicle can be understood as changing the control object of the vehicle from the automatic driving system to the driver, or at the level of adaptive cruise control.

S105. Receive the manipulation and issue an operation instruction. The manipulation is that the driver selects a target driving manipulation component from the driving intervention manipulation area and drags it to the target point on the basic driving interface. The operation instruction is An instruction corresponding to the target driving manipulation component is executed for the target point.

In this embodiment, the manipulation received in this step may be the driver's trigger operation on the selected driving manipulation component in the driving intervention manipulation area, wherein the driver can select a matching The driving control component of , which can be recorded as the target driving control component.

Specifically, the driver's trigger operation on the target driving manipulation component may specifically be represented as: dragging the target driving manipulation component to a certain position on the basic driving interface. It can be known that the basic driving interface includes a road environment display screen, which can display landmark buildings, roads, forks, viaducts, etc. When the driver expects the vehicle to be at a certain intersection, or a certain building, etc. When the scene can respond to its own control of the vehicle, the target driving control component can be dragged to the location of these scenes. Therefore, in this embodiment, a certain point dragged by the driver can be recorded as the target point where the target driving manipulation component is located 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 dragging, this embodiment can control the target driving control component to be presented in the form of an anchor after the driver selects the target driving control component, and finally It is equivalent to dragging the anchor point corresponding to the target driving control component to the target point.

In this step, after receiving the manipulation triggered by the driver, an operation instruction can be generated and sent to the relevant execution unit of the vehicle to execute the relevant operation. The operation instruction may be an instruction that can be used to inform the control unit of the vehicle to execute the driving behavior corresponding to the target driving manipulation component at the target point selected by the driver.

S106. Control the driving behavior of the vehicle in response to the operation instruction.

In this embodiment, after the executive body receives the operation instruction through the above steps, it can analyze the operation instruction through this step, so as to know the driver's control requirements for the driving behavior of the vehicle, and pass the operation instruction The response to control the driving behavior of the vehicle can meet the driver's expected control needs.

Specifically, through this step, it is possible to analyze the driver's control requirements contained in the operation instruction. For example, the control requirements can be to control the acceleration of the vehicle, control the deceleration of the vehicle, control the steering of the vehicle, and control the vehicle to change lanes. Afterwards, this step can control the vehicle At the target point where the target driving control component is located, the driver’s desired operation requirements are realized, such as vehicle acceleration at the target point, vehicle deceleration at the target point, and vehicle steering at the target point (target point It can characterize the direction in which the vehicle is going to turn), and realize the vehicle lane change at the target point, etc.

It can be known that the target point can be regarded as the actual execution place of the driver's manipulation demand, so as long as this step can analyze the acceleration/deceleration speed represented by the target point, the direction to be turned, and the road to be changed from the operation command wait.

It should be noted that, in the process of executing the above method steps in this embodiment, it can be considered that the vehicle is always in the automatic driving state, that is, the execution of the above steps by the vehicle is equivalent to being realized by the automatic driving system of the vehicle. Compared with the existing method of switching to the driver's driving mode and then responding to the driver's manipulation, this embodiment does not need to switch the driving mode.

In order to facilitate a better understanding of the driver's flexible operation of the vehicle's driving behavior in the vehicle's automatic driving state, this embodiment provides an illustration by way of example. FIG. 6 is an example diagram of a scenario in which a driver's manipulation of a driving behavior response is achieved in the method for managing vehicle driving behavior provided in an embodiment of the present application. As shown in FIG. 6 , the figure specifically presents the scene where the driver selects the target driving manipulation component in the driving intervention manipulation area 11 and drags it to the target point 121 in the basic driving interface 12 .

It can be seen from FIG. 6 that the driving intervention control area 11 can be presented on the basic driving interface 12 , and can be displayed at a position that does not interfere with the display of the road environment screen. At the same time, the driving control components that can be included in the driving intervention control area 11 include vehicle acceleration (+5km/h), vehicle deceleration (-5km/h), parking, taking over the vehicle, vehicle overtaking, and parking. In the screen shown in FIG. 6, the driver selects the vehicle acceleration (+5km/h) as the target driving manipulation component, and drags the vehicle acceleration driving manipulation component to the target point 121, thereby triggering the manipulation, Then it can receive the issued operation instructions.

In response to the above-mentioned vehicle acceleration operation command, the execution subject of this method will analyze the driver's intention to accelerate the vehicle, and the execution subject will control the vehicle to start 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 complete parking at a certain point in front of the road when the driver places the driving control component for parking at a certain point in front of the road; When a certain point of the lane is reached, the control vehicle realizes the automatic lane change of the vehicle at the point of the adjacent lane.

The method steps provided above in the third alternative embodiment are equivalent to the driver being able to flexibly operate the driving behavior of the vehicle through the presented driving control components when the vehicle is in an automatic driving state when the driver has the operation requirements of the vehicle. Compared with the existing method of switching to the driver mode and then responding to the driver's driving manipulation, the new method in this third alternative embodiment does not need to switch the driving mode, thereby avoiding the occurrence of potential driving hazards during the mode switching process At the same time, it also avoids the impact of frequent mode switching on the driving performance of the vehicle. In addition, the driver only needs to select the driving control component and drag the operation to automatically respond to the control behavior without any actual operation on the vehicle, which better reflects the The dominant position of automatic driving has been effectively improved, and the value of automatic driving of vehicles has been effectively improved.

At the same time, it should be noted that during the execution of the method provided by the third alternative embodiment, through the driver triggering the driving operation component, the execution subject can also consider the vehicle to be The driving behavior of the driver has changed, so the method provided in this application can be used to display the relevant key nodes using 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 above, this fourth optional embodiment further responds to the operation instruction and controls the driving behavior of the vehicle to embody , Fig. 7 shows the implementation flow chart of responding to the driving behavior triggered by the driver in the method provided by the embodiment of the present application, as shown in Fig. 7, specifically including the following steps:

S1061. Extract the target driving manipulation component and the target point in the operation instruction.

In this embodiment, the execution subject of the method provided in this embodiment can analyze the operation instruction through this step after receiving the operation instruction above, and can extract the target driving control component corresponding to the operation instruction and the The location information of the associated target point in the environment screen, etc.

S1062. Obtain the actual environment position corresponding to the target point in the road driving environment, and the target driving behavior corresponding to the target driving manipulation component.

Continuing from the above description, this step can determine the actual environment position corresponding to the target point in the road driving environment based on the position information of the target point, combined with information such as the display ratio of the road environment picture and the actual road driving environment where the vehicle is located. At the same time, this step can also analyze the driver's control requirements corresponding to the target driving control component, that is, obtain the driving behavior that the driver expects the vehicle to exhibit.

S1063. Control the vehicle to execute the target driving behavior at the actual environment location.

After the driver’s expected driving behavior change location, that is, the actual environmental location, and the driver’s desired target driving behavior for the vehicle are determined through the above steps, this step can be used to control the vehicle when driving to the actual environmental location. A target driving behavior exhibiting a target driving maneuver component.

It should be noted that the specific control of the vehicle by the executive body is mainly determined by the target driving behavior corresponding to the target driving control component. Exemplarily, assuming that the target driving behavior is parking, the subject of this execution needs to decelerate the vehicle from the current moment, so that the vehicle just stops at the actual environment position. For another example, when the target driving behavior is overtaking, this execution The subject needs to determine when to start to accelerate the vehicle so that the vehicle can just meet the overtaking condition at the actual environmental position, and thus start to perform the overtaking driving behavior. For another example, when the target driving behavior is to change lanes, the execution subject also controls the speed or direction of the vehicle in advance so that the vehicle can change lanes at the actual environment position.

This fourth optional embodiment provides a specific implementation of responding to the control delivery operation and manipulating the vehicle to change the driving behavior. Provided technical support for the flexible operation of the vehicle.

As the fifth optional embodiment of this embodiment, on the basis of any of the above-mentioned embodiments, this fifth optional embodiment is further optimized to add a new functional feature, which can be described as After a certain period of time, the driving behavior is displayed through logo graphics.

What needs to be known is that the implementation of the newly added functions of this fifth alternative embodiment is also not limited to the execution stage of responding to the target driving behavior corresponding to the driving control component selected by the driver, which is also equivalent to an independent functional subject , can be executed while the vehicle is in an autonomous driving state, or can be executed independently in response to the driver's manipulation of the target driving behavior.

Specifically, the operation steps for optimizing and adding in this fifth alternative embodiment can be described as:

On the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle, the driving behavior of the vehicle in the second predetermined time period is displayed by using logo graphics, and the second predetermined time period is the current moment to After the second set duration of time period.

In this embodiment, the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle can be considered as the information displayed on the central control display screen varies according to the angle of view presented, and the angle of view presented for the content to be presented in this optional embodiment relatively limited. Wherein, the logo graphic can be understood as a graphical representation of the driving intention of the vehicle's driving behavior. The value range of the second predetermined time period may preferably be 5 seconds to 10 seconds. The executive body can also predict the driving behavior of the vehicle within the second predetermined time period, so as to determine which driving behaviors the vehicle will exhibit from the current moment to the end of the second predetermined time period.

It can be known that the driving behavior of the vehicle within the second predetermined time period is also determined based on the driving decision given by the automatic driving system. After it is determined that the driving behavior is included in the second predetermined time period, the display of the logo graphic can be performed according to the matching display form of each driving behavior.

On the basis of the method provided in this embodiment, which is presented visually and/or voiced at the moment of driving behavior change, and the driver can flexibly control the driving behavior of the vehicle, the fifth optional embodiment further enriches the driving behavior of the vehicle. The visual presentation feature realizes the graphical display of the vehicle's driving behavior on the central control display, so that the occupants of the vehicle can understand the driving status of the vehicle more intuitively, and also enables complete and effective information when the driving behavior of the vehicle changes It can accurately display the driving intention of the vehicle within a certain period of time in the future, which improves the user's experience of using the vehicle in an all-round way.

As the sixth optional embodiment of this embodiment, on the basis of the above-mentioned fifth optional embodiment, this sixth optional embodiment will further use logo graphics to monitor the driving behavior of the vehicle within the second predetermined time period To display, concretely:

a2. Obtain the driving behaviors of the vehicle included in the second predetermined time period, and record them as driving behaviors to be displayed respectively.

Exemplarily, the driving decisions of the vehicle by the automatic driving system can be used to determine which driving behaviors are included in the second predetermined time period (there may be one or two driving behaviors, or even multiple driving behaviors), and these driving behaviors can be recorded In addition, it can also be determined whether a target driving behavior triggered by the driver is received within the second predetermined time period, and the target driving behavior can also be recorded as the driving behavior to be displayed.

b2. According to the execution time sequence of each of the driving behaviors to be displayed, control each of the driving behaviors to be displayed to display the logo graphics in a corresponding logo graphic display form.

In this embodiment, the driving behaviors to be displayed can be sorted according to their execution time, and the matching logo graphic display form can be determined for each driving behavior to be displayed, and finally the driving behaviors to be displayed can be displayed on the basic driving interface. Logo graphic display of driving behavior.

In this embodiment, the above-mentioned logo graphics are mainly displayed on the driving road surface in the basic driving interface or above the driving road surface outside the vehicle. It can choose different display attachment methods based on the different perspectives of the executive body on the road environment picture presentation. For example, when the executive body chooses the angle of view above the road, the logo graphics can be displayed in the sky above the road.

In this embodiment, the presentation position of the logo graphic can be considered to match the actual location of the driving behavior of the vehicle, and it is presented on the driving route of the vehicle. By matching with the position of the environmental interface, the user The location and time of driving behavior can be intuitively perceived. At the same time, the presentation width of the logo graphic is preferably smaller than the lane width of a lane in the basic driving interface; and the logo graphic is only on the route ahead of the driving direction of the vehicle, such as the direction of the front of the vehicle traveling forward and the vehicle when reversing. tail direction.

In this embodiment, the presentation length range of the logo graphic may preferably be: from the current position of the vehicle, the distance traveled forward for the second predetermined time period; for example, it may be from the vehicle position to the front The distance of 5-10 seconds is variable according to the driving speed, and the minimum actual distance is not less than 20 meters.

In addition, when it is determined that there are at least two driving behaviors within the second preset period of time, it is equivalent to a situation where there is a change in driving behavior. Therefore, in this embodiment, it is further preferred that the displayed logo graphic can include a symbol representing the moment when the driving behavior of the vehicle changes. The key nodes are used to represent the change of driving behavior; and the included key nodes are displayed according to the node display attributes of the driving behavior to be changed. For example, an overtaking node is represented by a square shape on the basic path, and means that the vehicle starts to overtake when it travels to the position indicated by the square.

At the same time, with regard to the displayed logo graphics, it needs to be further explained that the display form of each of the driving behavior logo graphics can preferably be a basic path, and the basic path is represented by a coherent curve or straight line with a set width. Or, graphically represented by a set of units that form a curve or line. Exemplarily, the basic path can represent the far and near distances through size changes. For a coherent curve or straight line, the width of the near side is greater than that of the far side; for the path composed of unit graphics, the size of the near unit graphics is greater than the size of the far unit graphics. The overall size 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, it corresponds to the size and color of different basic paths; when a group of unit graphics that constitute a curve or straight line is used for representation, it corresponds to the different basic paths. The color, shape and size of the unit graphics.

Take the color of the logo graphic as an example. First of all, the color of the logo graphic must be clearly distinguished from the road environment interface in terms of perception to ensure recognition. Second, the underlying paths can be colored in different colors to represent different driving behaviors. For example, a set of different colors can be used to indicate that the vehicle is at different levels of autonomous driving, for example, gray indicates that automatic driving is not activated, blue indicates that it is at an adaptive endurance level, and green indicates fully autonomous driving. A set of color changes can be used to represent the vehicle speed change. For example, the vehicle speed is represented by green, red and the color of the gradual transition between the two. Then a section of the path graph gradually changes from green to red, which means that the vehicle gradually accelerates from the speed represented by green to Speed expressed in red.

What needs to be known is that the distance between adjacent unit graphics can represent the vehicle speed when the vehicle travels to the corresponding position. For example, a part with a large distance indicates a fast driving speed, and a part with a small distance represents a slow driving speed.

In addition, in this embodiment, it can be considered that the logo pattern has certain directivity, and its directivity can preferably be the same as the driving direction of the vehicle. The shape of the unit graphics in this embodiment can be at least one of circles, dots, triangles, arrows, squares, and three-dimensional graphics; The level of automatic driving, for example, if the path consists of dots, it means that automatic driving is not activated; if it is composed of triangles, it means that it is at the level of adaptive battery life control; if it is composed of squares, it means that it is fully automatic driving. The graphic elements are arranged to form a path, and the arrangement interval may not be unique.

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

If there is a change in the driving behavior of the vehicle within the second predetermined period of time, the displayed logo graphic is controlled to remind of the change according to the matching dynamic effect.

This seventh optional embodiment can be regarded as a further optimization of the displayed logo graphics. In addition to allowing the logo graphics to statically represent different driving behaviors of the vehicle, this optional embodiment can also be used to control the logo graphics to achieve dynamic presentation. Specifically, when the driving intention or driving behavior of the vehicle changes within a presented distance, the logo graphics can be controlled to perform dynamic presentation. Exemplarily, the presented motion effects may include: shape change, flip, rotation, enlargement, reduction, cropping, combination, appearance, disappearance, color gradient, etc. of the basic graphic elements.

This seventh optional embodiment provides technical support for a complete visual display of vehicle driving behavior on the central control display screen, and also ensures the practicability of the method provided by this embodiment.

Similarly, on the basis of the above-mentioned fifth optional embodiment, this seventh optional embodiment may further optimize the Disappearance processing of the identification graphics of the road sections traveled by the vehicle.

The newly added functional features of this seventh alternative embodiment can also be regarded as a further optimization of the displayed logo graphics, which mainly realizes the disappearance processing of the logo graphics that have exceeded the display range. The disappearance processing can be performed after the logo graphics are presented. , the logo graphic of the road section that the vehicle has traveled can gradually disappear.

The above-mentioned seventh optional embodiment can be regarded as another newly added function of the method provided in this embodiment, which mainly realizes the optimization of the above-mentioned graphical display of driving behavior, and further improves The visual effect of graphical display of driving behavior.

It should be noted that, with regard to the graphic display of vehicle driving behaviors on the basic driving interface, through the above description of this embodiment, it can be known that different driving behaviors have different graphic display forms, and the matching signs of these driving behaviors Graphical display forms can be realized through flexible pre-configuration.

One of the configuration forms is used to illustrate the display forms of logo graphics corresponding to several common driving behaviors of vehicles.

Specifically, FIG. 8 shows a display form of a logo graphic matched by a vehicle running at a constant speed in the method for managing vehicle driving behavior provided in this embodiment. As shown in FIG. 8 , the driving behavior corresponding to this display mode is that the vehicle drives at a constant speed. It can use the basic path with uniform spacing, single color and certain direction to indicate that the vehicle will travel at a constant speed in the indicated distance. Wherein, the basic path adopted is represented by a group of unit graphics forming straight lines, the color of the unit graphics can be configured as blue, and the shape can be configured as triangles.

Fig. 9 shows a graphic representation form of a vehicle lane change matching in the method for managing vehicle driving behavior provided in this embodiment. As shown in FIG. 9 , the driving behavior corresponding to this display mode is that the vehicle changes lanes, and the lane change also includes the situation that the vehicle enters a ramp or merges into a main road. It can use the basic path with uniform spacing, single color and certain directionality, and cross lanes to indicate that there will be a uniform lane change in the shown path. Wherein, the basic path adopted is represented by a group of unit graphics forming a curve, and the color of the unit graphics can also be configured as blue, and the shape can also be configured as a triangle. The logo graph includes key nodes that represent the moment when the lane change occurs.

Fig. 10 shows a display form of a logo graphic matched by a vehicle overtaking in the method for managing vehicle driving behavior provided in this embodiment. As shown in FIG. 10 , the driving behavior corresponding to this display form is a vehicle overtaking. It can change the spacing, the color change has a certain direction and the basic path across the lanes indicates that overtaking will be performed at the shown position, and there will be acceleration and deceleration changes at the position where the spacing color changes. Among them, the adopted basic path is represented by a group of unit graphics that constitute a curve. The color of the unit graphics can be configured as blue for the constant speed driving part, and orange, red and yellow gradients for the part with acceleration and deceleration changes. The shape can also be configured as a triangle, and at the same time, the logo graphic includes key nodes that represent the moment when the vehicle overtakes.

Fig. 11 shows a graphic representation form of the vehicle steering matching in the method for managing vehicle driving behavior provided in this embodiment. As shown in Figure 11, the driving behavior corresponding to this display form is the vehicle turning. It can change the pitch and change the color of the basic path with a certain direction to indicate that the vehicle will turn according to the path shown, and there will be acceleration and deceleration changes at the position where the pitch color changes. Among them, the basic path adopted is represented by a group of unit graphics that constitute a curve. The color of the unit graphics can be configured as dark blue for the constant speed driving part, and a light blue and green gradient for the part with acceleration and deceleration changes. The shape can also be configured as a triangle, and at the same time, the logo graphic includes key nodes that represent the moment when the vehicle turns.

Fig. 12 shows a display form of a logo graphic matched by a vehicle turning around in the method for managing vehicle driving behavior provided by this embodiment. As shown in Figure 12, the driving behavior corresponding to this display form is a U-turn. It can change the distance, the color change has a certain direction and the curve path graph across the lane indicates that the vehicle will turn according to the path shown, and there will be acceleration and deceleration changes at the position where the distance color changes. Among them, the basic path adopted is represented by a group of unit graphics that constitute a curve. The color of the unit graphics can be configured as dark blue for the constant speed driving part, and a light blue and green gradient for the part with acceleration and deceleration changes. The shape can also be configured as a triangle, and at the same time, the logo graphic includes key nodes that represent the moment when the vehicle turns around.

Fig. 13 shows a display form of a logo graphic matched when the vehicle stops in the method for managing vehicle driving behavior provided by this embodiment. As shown in FIG. 13 , the driving behavior corresponding to this display mode is that the vehicle stops. It can represent the stop position of the vehicle through some kind of graph on the path that is different from the unit graph, such as a horizontal line segment. The corresponding deceleration behavior before stopping is indicated by color and cell spacing, and there is no longer a path graphic after the stop position. Among them, 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 horizontal 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 changes can be configured as light blue and green gradient. At the same time, the logo graph includes key nodes representing the moment when the vehicle stops.

Fig. 14 shows a display form of a logo graphic matching when the vehicle finishes automatic driving in the method for managing vehicle driving behavior provided in this embodiment. As shown in FIG. 14 , the driving behavior corresponding to this presentation mode is that the vehicle ends its automatic driving. It can indicate the end of the automatic driving position of the vehicle through some kind of graphic on the path that is different from the unit graphic, such as a broken chain symbol. The corresponding deceleration behavior before stopping is represented by color and unit spacing, and the path graph behind the end position becomes a style where automatic driving is not turned on. Among them, the shape of the unit graphic representing the driving part can be configured as a triangle, the shape representing the end of automatic driving position can be configured as a broken chain symbol, the color of the unit graphic of the driving part can be configured as dark blue, and the color of the unit graphic after the end of automatic driving can be configured It is light blue. At the same time, the logo graph includes key nodes that represent the moment when the vehicle ends automatic driving.

It can also be seen from this that the implementation of the logo graphics or key node presentation in the method provided by this embodiment is not limited to the use in the automatic driving state of the vehicle, but can also be applied in the driving state of the driver or the adaptive cruise driving state middle.

Fig. 15 shows a display form of a logo graphic matched by the vehicle early warning in the method for managing vehicle driving behavior provided in this embodiment. As shown in Figure 15, the driving behavior vehicle warning corresponding to this display form. It can indicate that there is a road safety risk at the location through some kind of graphics on the path that is different from the unit graphics, such as lane narrowing. Among them, the shape of the unit graphic representing the driving part can be configured as a triangle, the shape of the part representing the risk warning can be configured as a vehicle narrowing symbol, the color of the unit graphic of the driving part can be configured as dark blue, and the color of the unit graphic after the early warning can also be configured. Configured in dark blue, but shown at a relatively reduced size. At the same time, the logo graph includes key nodes that represent the moment when the vehicle warning occurs.

Figure 16 is a schematic structural diagram of a device for managing vehicle driving behavior provided by an embodiment of the present application. This device is suitable for controlling the driving behavior of a vehicle in an automatic driving state. The device can be implemented by means of software and/or hardware. Realized and can be integrated in the vehicle. Wherein, the vehicle also includes a central control display, which displays a basic driving interface including 3D map navigation, specifically, as shown in FIG. 16 , a key node calculation module 21 and a key node display module 22 .

Wherein, the key node calculation module 21 is used to calculate the key node of the driving behavior change in the expected driving behavior according to the expected driving behavior of the vehicle in the automatic driving state;

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

The device for managing vehicle driving behavior provided by this embodiment is equivalent to that when the vehicle is driving in an automatic driving state, it can not only display the driving navigation route of the vehicle, but also realize the change location of the driving behavior change in the expected driving behavior of the vehicle. The visual representation of the key nodes corresponding to the location, that is, the key nodes can be represented by the node graphics displayed on the basic driving interface or on the vehicle navigation road. Through this device, the personnel in the vehicle can grasp the driving dynamics in advance through the displayed key nodes, and can also enable the personnel in the vehicle to intuitively and correctly judge whether the vehicle continues to be suitable for the automatic driving state of the vehicle, and take over in time when necessary, so as to Avoid hidden dangers in driving safety and improve the trust of people in the car in the automatic driving ability of the car.

Further, the key node calculation module 21 can specifically be used to acquire the expected driving behavior within the first preset time period of the vehicle's automatic driving, and the first preset time period is a time period after the current moment for a first set time period ; Determine the key node where the expected driving behavior changes, the key node is the position node where the driving behavior change causes the vehicle state to change.

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

A duration determining unit, configured to determine the interval between the moment when the expected driving behavior changes and the current moment;

A location determining unit, configured to determine a specific road location where the driving behavior change occurs according to the current driving speed of the vehicle, the interval duration, and the current location in the road driving environment;

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

A node display unit, configured to use a node graphic to mark the driving behavior change location, and display the node graphic on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle;

The presentation position of the node graph matches the actual location where the driving behavior change occurs, and is located on the driving route of the vehicle.

Further, the node presentation unit can specifically be used to determine the driving behavior in which the driving behavior is changed, record it as the driving behavior to be changed, and determine the node display attributes that match the driving behavior to be changed; The node graph of the attribute marks the driving behavior change position; the node graph is displayed on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

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

Wherein, the first receiving module is configured to receive an automatic driving intervention trigger operation;

An information display module, configured to display a driving intervention control area through the central control display, and the driving intervention control area includes at least one driving control component;

The second receiving module is used to receive manipulation and issue an operation instruction. The manipulation is that the driver selects a target driving manipulation component from the driving intervention manipulation area and drags it to a target point on the basic driving interface, The operation instruction is to execute an instruction corresponding to the target driving control component for the target point;

A driving control module, configured to control the driving behavior of the vehicle in response to the operation instruction.

Further, the driving control module can be specifically used for:

Extracting the target driving control component and the target point in the operation instruction;

Obtaining the actual environmental position corresponding to the target point in the road driving environment, and the target driving behavior corresponding to the target driving manipulation component;

The vehicle is controlled to perform the target driving behavior at the actual environment location.

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

The driving behavior to be controlled includes at least one of the following: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle overtaking, vehicle U-turn, vehicle steering, parking, and taking over control of the vehicle.

Further, the device may also include:

A logo graphic display module, configured to display the driving behavior of the vehicle within a second predetermined time period by using logo graphics on the driving road surface of the basic driving interface and/or the driving road outside the vehicle, the second The predetermined time period is a time period that is a second set duration after the current time.

Further, the logo graphic display module can be specifically used for:

Obtaining the driving behaviors of the vehicle included in the second predetermined time period, and recording them respectively as driving behaviors to be displayed;

According to the execution time sequence of each of the driving behaviors to be displayed, each of the driving behaviors to be displayed is controlled to display the logo graphics in a corresponding logo graphic display form.

Further, the device may also include:

The dynamic effect display module is used to control the displayed logo graphic to remind the change according to the matching dynamic effect if the driving behavior of the vehicle changes within the second predetermined time period.

Further, the presentation width of the logo graphic is smaller than the lane width of one lane of the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle;

The display length range of the logo graphic is: from the current position of the vehicle, the distance traveled forward for the second predetermined time period;

The logo graph includes key nodes representing the moment when the driving behavior of the vehicle is changed, and the node display attributes of the key nodes match the driving behavior to be changed.

Further, each of the graphic display forms of the driving behavior is a basic path, and the basic path is represented by a coherent curve or straight line with a set width, or represented by a group of unit graphics forming a curve or straight line;

Different driving behaviors correspond to the presentation size and color of different basic paths; or, correspond to the color, shape and size of the unit graphics used in different basic paths;

Wherein, the shape of the unit figure is at least one of circles, dots, triangles, arrows, squares, and three-dimensional figures;

The distance between adjacent unit graphics represents the current speed of the vehicle.

The device for managing vehicle driving behavior provided in this embodiment can execute the method for managing vehicle driving behavior provided in the above method embodiments, and has corresponding functional modules and beneficial effects for executing the method. The implementation principles and technical effects of this embodiment are similar to those of the above method embodiments, and will not be repeated here.

Fig. 17 is a structural block diagram of a vehicle provided by the embodiment of the present application. As shown in Fig. 17, the vehicle may include a central control display 31, a controller 32, a storage device 33, an input device 34 and an output device 35; The number of controllers 32 can be one or more, and one controller 32 is taken as an example in FIG. Or connect in other ways. In Figure 17, the bus connection is taken as an example.

The central control display screen 31 is used to present the basic driving interface during the driving of the vehicle.

The storage device 33, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as program instructions/modules corresponding to the method for managing vehicle driving behavior in the embodiment of the present invention (for example, key node Calculation module 21 and key node display module 22). The controller 32 executes various functional applications and data processing of the vehicle by running the software programs, instructions and modules stored in the storage device 33 , that is, realizes the above-mentioned method for managing the driving behavior of the vehicle.

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

The input device 34 can be used to receive input of numerical or character information, and generate key signal input related to user settings and function control of the vehicle. The output device 35 may include a display device such as a display screen.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a computer processor, it is used to implement a method for managing vehicle driving behavior. The method includes:

In the automatic driving state, according to the expected driving behavior of the vehicle, calculate the key nodes of the driving behavior change in the expected driving behavior; display the node graph representing the key node, and the node graph is placed on the 3D map navigation The position on the road surface where the driving behavior changes within the vehicle.

Of course, the computer-readable storage medium provided in the embodiment of the present application, the computer program thereof is not limited to the operation of the method described above, and can also execute the relevant steps in the method for managing vehicle driving behavior provided in any embodiment of the present application. operate.

Through the above description about the implementation, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general-purpose hardware, and of course it can also be realized by hardware, but in many cases the former is a better implementation . Based on this understanding, the essence of the technical solution of this application or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer, A server, or a grid device, etc.) executes the methods described in various embodiments of the present application.

It is worth noting that, in the embodiments of the above-mentioned device for managing vehicle driving behavior, each unit and module included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application.

Note that the above are only preferred embodiments and technical principles used in this application. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present application, and the present application The scope is determined by the scope of the appended claims.

Claims (14)

1. A method of managing driving behavior of a vehicle, characterized by being applied to a vehicle, the vehicle comprising: the central control display screen is provided with a basic driving interface comprising 3D map navigation, and the method comprises the following steps:

Calculating key nodes of the driving behavior change of the vehicle in the expected driving behavior of the vehicle according to the expected driving behavior of the vehicle in an automatic driving state; the key node represents a starting position of the driving behavior change of the vehicle corresponding to the driving behavior change moment of the vehicle in the basic driving interface;

displaying a node graph representing the key nodes, wherein the node graph is placed at a road surface position of the driving behavior change in the 3D map navigation;

wherein the method further comprises:

receiving 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 control and issuing an operation instruction, wherein the control is that a driver selects a target driving control component from the driving intervention control area and drags the target driving control component to a target point on the basic driving interface, and the operation instruction is an instruction corresponding to the target point execution target driving control component;

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

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

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

and determining a key node of the expected driving behavior, wherein the key node is a position node of the driving behavior, and the position node is used for changing the state of the vehicle.

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

determining the interval duration of the moment when the expected driving behavior changes from the current moment;

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

determining a 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 graph, and displaying the node graph on a driving road surface of the basic driving interface and/or a driving road surface outside a vehicle;

and the presentation position of the node graph is matched with the actual occurrence position of the driving behavior change and is positioned on the driving route of the vehicle.

4. A method according to claim 3, wherein marking the driving behavior modification position using a node pattern and displaying the node pattern on a road surface of the basic driving interface and/or an off-vehicle road surface, comprises:

determining the driving behavior of which the driving behavior is changed, marking the driving behavior as driving behavior to be changed, and determining node display attributes matched with the driving behavior to be changed;

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

and displaying the node graph on the driving road surface of the basic driving interface and/or the driving road surface outside the vehicle.

5. The method of claim 1, wherein controlling the driving behavior of the vehicle in response to the operating instruction comprises:

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

obtaining an actual environment position corresponding to the target point in a road running 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 position.

6. The method of claim 2, wherein each steering assembly corresponds to a steering behavior of the vehicle to be steered;

The driving behavior to be controlled comprises at least one of the following: vehicle acceleration, vehicle deceleration, vehicle lane change, vehicle overtaking, vehicle turning around, vehicle steering, parking, and take over vehicle maneuvers.

7. The method of any one of claims 1-6, further comprising:

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 from the current moment to the rear.

8. The method of claim 7, wherein presenting the driving behavior of the vehicle for a second predetermined period of time using an identification graphic comprises:

obtaining driving behaviors included by the vehicle in the second preset time period, and respectively marking the driving behaviors as driving behaviors to be displayed;

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

9. The method as recited in claim 7, further comprising:

and if the driving behavior of the vehicle is changed in the second preset time period, controlling the displayed identification graph to change and remind according to the matched dynamic effect.

10. The method according to claim 8 or 9, wherein,

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

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

11. The method according to claim 8 or 9, wherein,

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 is represented by a group of unit graphs forming the curve or straight line;

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

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

The spacing of adjacent cell patterns represents the current speed of the vehicle.

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

the key node calculation module is used for calculating key nodes of the driving behavior change of the vehicle in the expected driving behavior of the vehicle according to the expected driving behavior of the vehicle in an automatic driving state; the key node represents a starting position of the driving behavior change of the vehicle corresponding to the driving behavior change moment of the vehicle in the basic driving interface;

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

wherein the apparatus further comprises: the 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 automatic driving intervention triggering operation;

the information display module is used for displaying a driving intervention control area through the 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 control and issuing an operation instruction, the control is that a driver selects a target driving control component from the driving intervention control area and drags the target driving control component to a target point on the basic driving interface, and the operation instruction is an instruction corresponding to the target driving control component 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.

13. A vehicle, characterized by comprising:

a central control display screen;

one or more controllers;

a 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 vehicle driving behavior as recited in any one of claims 1-11.

14. A storage medium containing computer executable instructions which, when executed by a computer processor, implement the method of managing vehicle driving behaviour according to any one of claims 1 to 11.

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