WO2020210934A1 - Self-driving interactive method, device and system, and readable storage medium - Google Patents

Abstract

A self-driving interactive method, comprising: acquiring driving information of a self-driving vehicle (S501); displaying the driving information of the self-driving vehicle and vehicle control icons on a touch display interface of an interactive device (S401), wherein the vehicle control icons are used to represent a control program that controls the self-driving vehicle to implement preset functions; acquiring a touch operation of a user on the vehicle control icons (S402); according to the touch operation, generating a control instruction which corresponds to the touch operation and controls the self-driving vehicle to execute a control instruction of the control program, and sending the control instruction to the self-driving vehicle in order to control the self-driving vehicle to execute the control program so as to implement the preset functions (S403). In the present application, a touch display interface is provided at a position that facilitates a user operation to control the self-driving vehicle, which makes user operations convenient, and improves the efficiency in controlling the self-driving vehicle so as to increase safety during the operation of the self-driving vehicle. Also comprised are a self-driving device, a self-driving system and a computer-readable storage medium.

Description

Interactive method, equipment, system and readable storage medium for automatic driving Technical field

The present invention relates to the field of automatic driving, in particular to an interactive method, equipment, system and readable storage medium for automatic driving.

Background technique

Self-driving cars are equipped with human machine interface (HMI) for vehicle information (the dashboard realizes vehicle speed, engine speed, fuel level, etc.), as well as navigation and entertainment (small display screen is used for broadcasting music, navigation) and other information Display.

However, the inventor found that although the man-machine display interface contains basic information of vehicle operation information, the user cannot intuitively obtain key information, such as vehicle speed, mileage, emergency situations encountered by the vehicle, etc., and cannot control the interface to control the vehicle. The control is not conducive to the user's efficient and convenient control of the car based on the displayed information.

Summary of the invention

The embodiment of the present invention provides an interactive method, equipment, system and readable storage medium for automatic driving, which can realize the control of the automatic driving vehicle through the display interface, which is convenient for user operation, and improves the control efficiency of the automatic driving vehicle. Improve the safety of autonomous vehicles during operation.

In the first aspect, an embodiment of the present invention provides an interactive method for automatic driving, which is applied to an interactive device, the interactive device is set in an automatic driving vehicle at a position convenient for user operation, and the interactive device is provided with a touch display interface The interactive device is configured to communicate with the autonomous vehicle to obtain driving information of the autonomous vehicle, and the method includes:

Displaying the driving information of the autonomous vehicle and a car control icon on the touch display interface of the interactive device, where the vehicle control icon is used to indicate a control program for controlling the autonomous vehicle to implement preset functions;

Acquiring a user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information;

According to the touch operation, a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program is generated, and the control instruction is sent to the autonomous vehicle to control the autonomous driving The vehicle executes the control program to realize the preset function.

In the second aspect, an embodiment of the present invention provides an interactive device, which is applied to an autonomous driving vehicle, the interactive device is set in a position in the autonomous vehicle that is convenient for user operations, and the interactive device is provided with a touch display interface, so The interactive device is used to communicate with the autonomous driving vehicle to obtain driving information of the autonomous vehicle, and the device includes: one or more processors that work together or individually, and the processor is used to execute The following operations:

Displaying the driving information of the autonomous vehicle and a car control icon on the touch display interface of the interactive device, where the vehicle control icon is used to indicate a control program for controlling the autonomous vehicle to implement preset functions;

Acquiring a user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information;

According to the touch operation, a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program is generated, and the control instruction is sent to the autonomous vehicle to control the autonomous driving The vehicle executes the control program to realize the preset function.

In a third aspect, an embodiment of the present invention provides an interactive system, including: an autonomous driving vehicle and an interactive device, the interactive device is arranged in a position in the autonomous vehicle that is convenient for user operations, and the interactive device is provided with a touch display Interface, where the interactive device is used to communicate with the autonomous vehicle to obtain driving information of the autonomous vehicle;

The interactive device is configured to display the driving information of the autonomous driving vehicle and a car control icon on the touch display interface, wherein the car control icon is used to indicate the control of controlling the autonomous driving vehicle to implement preset functions Program; obtain the user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information; generate the control corresponding to the touch operation according to the touch operation The self-driving vehicle executes the control instructions of the control program, and sends the control instructions to the self-driving vehicle;

The self-driving vehicle is configured to receive the control instruction sent by the interactive device, and control the self-driving vehicle to execute the control program to realize the preset function.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program that, when executed by a processor, implements the method described in the first aspect.

In the embodiment of the present invention, the interactive device can obtain the user's touch operation on the car control icon by displaying the driving information of the autonomous vehicle and the car control icon on the touch display interface, and generate and control the autonomous vehicle according to the touch operation Execute a control instruction of a control program corresponding to the touch operation, and send the control instruction to the autonomous vehicle to control the autonomous vehicle to execute the control program to realize a preset function. Through this embodiment, the touch display interface can be arranged in a position that is convenient for the user to operate. The touch display interface displays the driving information of the autonomous vehicle, and the user can intuitively obtain key information; at the same time, the user can touch the display interface to the autonomous vehicle The control is convenient for operation, and the control efficiency of the automatic driving vehicle is improved, so as to improve the safety during the operation of the automatic driving vehicle.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 is a schematic diagram of an interface of an interactive device provided by an embodiment of the present invention;

2 is a schematic diagram of the structure between an interactive device and a control unit provided by an embodiment of the present invention;

3 is a schematic structural diagram of an interactive system provided by an embodiment of the present invention;

4 is a schematic flowchart of an interactive method for automatic driving according to an embodiment of the present invention;

5 is a schematic flowchart of another automatic driving interaction method provided by an embodiment of the present invention;

6 is a schematic structural diagram of an interactive device provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of another interactive device provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The interactive method for automatic driving provided in the embodiment of the present invention may be executed by an interactive system, and the interactive system may include an automatic driving vehicle and an interactive device. In some embodiments, the interactive device may be provided on the autonomous driving vehicle; in some embodiments, the interactive device may be independent of the autonomous driving vehicle. For example, the interactive device may be set on a terminal such as a mobile phone, a tablet computer, or a smart watch that establishes a communication connection with the autonomous vehicle. In an embodiment, the interactive device may also be set in a cloud processor. In other embodiments, the interactive device may be applied to other devices such as unmanned vehicles, drones, robots, and unmanned ships.

The embodiment of the present invention provides an interactive device including a touch display interface with a small area, and the interactive device is installed at a position above the dashboard. In some embodiments, the dashboard displays vehicle speed and transmitter speed information in a traditional form.

In one embodiment, the interactive device is arranged in a position convenient for user operation in the autonomous driving vehicle, and the position convenient for user operation includes, but is not limited to, above the dashboard in front of the driver. By arranging the interactive device in a position that is convenient for the user to operate in the automatic driving vehicle, the driver or passenger can conveniently view the content information displayed on the touch display interface of the interactive device and control the interactive device.

Specifically, the interactive device can be schematically illustrated in FIG. 1 as an example. FIG. 1 is a schematic diagram of an interface of an interactive device according to an embodiment of the present invention. As shown in FIG. 1, the touch display interface of the interactive device includes a mode display area 11, a mode switching area 12, a key information display area 13, an alarm display area 14, an automatic driving operation area 15, and a manual driving operation area 16.

In some embodiments, the mode display area 11 is used to display the current mode of the automatic driving vehicle, and the modes of the automatic driving vehicle include an automatic driving mode and a manual driving mode. In some embodiments, the mode switching area 12 includes a mode switching car control icon, and the mode switching car control icon includes but is not limited to a mode switching button, which is used to switch between the automatic driving mode and the manual driving mode.

In some embodiments, the key information display area 13 is used to display speed information (such as expected speed, actual speed), mileage information (such as mileage driven, autonomous driving mileage), power information (such as remaining Any one or more of driving information from among battery power), fuel level information (e.g. remaining fuel level), and driving time information (e.g. elapsed driving time, driving time).

In some embodiments, the alarm display area 14 is used to display any important error information and/or alarm information. In some embodiments, different mark information can be added to the error information and the warning information to distinguish the error information and the warning information. The mark information includes but is not limited to color information, such as error information marked in red and warning information marked It is yellow and cooperates with the alarm to alarm. As shown in Figure 1, the alarm display area 14 displays "Perception data is abnormal, please switch back to manual mode!!!", then the "sensing data is abnormal, please switch back to manual mode!!!" can be marked in red, and Combined with an alarm to remind the driver to cut out of automatic driving as soon as possible. To improve the safety performance of autonomous vehicles during operation.

In some embodiments, the autonomous driving operation area 15 includes a left lane change control car icon and a right lane change control car icon, and the left lane change control car icon is used to instruct the autonomous vehicle to turn left in the automatic driving mode. Lane change; the right lane change control car icon is used to instruct the autonomous vehicle to change lanes to the right in the automatic driving mode.

In some embodiments, the manual driving operation area 16 is used to display a virtual joystick control car icon, and the virtual joystick control car icon is used for the user to operate in the manual mode to control the movement of the autonomous vehicle. The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.

In an embodiment, the interactive device establishes a communication connection with a car bus through a car control interface, and the car bus includes at least one of the following: Ethernet bus, controller area network CAN bus, and driving information of the autonomous vehicle It is obtained from the electronic control unit ECU of the autonomous vehicle through the Ethernet bus or the CAN bus.

Specifically, FIG. 2 can be used as an example for schematic illustration. FIG. 2 is a schematic structural diagram between an interactive device and a control unit provided in an embodiment of the present invention. As shown in FIG. 2, the interactive device 20 can obtain real-time information of the autonomous vehicle from the electronic control unit (ECU) 25 and the main computing device 24 by connecting to the car bus 23 and issue control instructions. The interactive device 20 includes hardware 21 and software 22. The hardware 21 of the interactive device 20 includes a touch screen 211, an alarm 212, and an interface 213. The interactive device 20 is connected to the car bus 23 through the interface 213. The software 22 of the interactive device 20 includes an LCD display touch driver 221, an operating system and functional logic 222, an interface and bus driver 223. The software 22 can use Linux or other embedded operating systems, and is driven by a peripheral bus to touch The display driver completes the peripheral drive, and writes the business function logic to realize the preset function effect.

In one embodiment, for the control method in manual mode, in addition to using the virtual joystick on the interactive device, it can also be implemented by wirelessly connecting with the remote control, so that the external remote control can switch between automatic and manual modes. In order to increase the use of interactive equipment, it is convenient for users to operate.

In the embodiment of the present invention, the interactive device is set in a position that is convenient for the user to operate, so as to control the automatic driving vehicle through the touch display interface of the interactive device, which is convenient for the user to operate, improves the control efficiency of the automatic driving vehicle, and improves the automatic driving. The safety of driving the vehicle during operation.

In the following, an interactive system composed of an autonomous driving vehicle and an interactive device will be schematically described with reference to FIG. 3.

Please refer to FIG. 3, which is a schematic structural diagram of an interactive system provided by an embodiment of the present invention. The interactive system shown in FIG. 3 includes: an automatic driving vehicle 31 and an interactive device 32. The automatic driving vehicle 31 is provided with The interactive device 32, the autonomous driving vehicle 31 may include a power system 311, and the power system 311 is used to provide power for the autonomous driving vehicle 31 to operate.

In the embodiment of the present invention, the interactive device 32 is arranged at a position convenient for user operation in the autonomous driving vehicle, the interactive device 32 is provided with a touch display interface, and the interactive device 32 is connected to the autonomous driving vehicle 31. The interactive device 32 may display the driving information of the autonomous driving vehicle 31 and a car control icon on the touch display interface of the interactive device 32, where the control icon is used to indicate that the autonomous driving vehicle is controlled to achieve preset Function control program. The interactive device 32 can obtain the user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information, and generate the touch operation according to the touch operation. Operate the corresponding control instruction that controls the automatic driving vehicle 31 to execute the control program, and send the control instruction to the automatic driving vehicle 31 to control the automatic driving vehicle 31 to execute the control program to achieve all The preset function.

Wherein, the preset function includes a function corresponding to the car control icon. In some embodiments, the preset function includes, but is not limited to, a mode switching function, a left lane change function, a right lane change function, and an acceleration function. , Deceleration function, left turn function, right turn function, etc. Taking Fig. 1 as an example, suppose the interactive device acquires the user's touch operation on the mode switching car control button. If the current mode displayed in the mode display area 11 is the automatic driving mode, the preset function is The automatic driving mode is switched to the manual driving mode.

The following is a schematic description of the automatic driving interaction method provided by the embodiments of the present invention with reference to the accompanying drawings.

For details, please refer to FIG. 4, which is a schematic flowchart of an interactive method for automatic driving according to an embodiment of the present invention. The method may be executed by an interactive device that is installed in an automatic driving vehicle that is convenient for user operations. Position, the interactive device is provided with a touch display interface, and the interactive device is used to communicate with the autonomous vehicle to obtain driving information of the autonomous vehicle. The explanation of the interactive device is as described above. Narrated. In some embodiments, the user-friendly position includes above the dashboard of the autonomous vehicle. Specifically, the method of the embodiment of the present invention includes the following steps.

S401: Display the driving information of the autonomous driving vehicle and the car control icon on the touch display interface of the interactive device, where the car control icon is used to indicate a control program for controlling the autonomous driving vehicle to implement a preset function.

In the embodiment of the present invention, the interactive device can display the driving information of the autonomous driving vehicle and the car control icon on the touch display interface of the interactive device, where the control icon is used to indicate the control of the autonomous driving vehicle to achieve preset functions control program. In some embodiments, the car control icon may include, but is not limited to, a mode switching car control icon, a left lane change control car icon, a right lane change control car icon, and the like.

In some embodiments, the driving information includes, but is not limited to, any one or more of driving mode, expected speed, actual speed, driving distance, power, and fuel. It is understandable that the driving information includes key information related to car control during the automatic driving process. In some embodiments, the driving mode includes an automatic driving mode or a manual driving mode.

In an embodiment, the touch display interface of the interactive device may include any one or more of a mode display area, a mode switching area, a key information display area, an alarm display area, an automatic driving operation area, and a manual driving operation area. .

Taking FIG. 1 as an example, the touch display interface of the interactive device includes a mode display area 11, a mode switching area 12, a key information display area 13, an alarm display area 14, an automatic driving operation area 15, and a manual driving operation area 16.

In one embodiment, the mode display area is used to display the current driving mode, and the mode switching area is used to display the mode switching car control icon. Taking FIG. 1 as an example, the current driving mode displayed in the mode display area 11 is an automatic driving mode, and the mode switching area 12 displays a mode switching control icon for switching the current automatic driving mode of the automatic driving vehicle To manual driving mode.

In some embodiments, the current driving mode includes an automatic driving mode; the mode switching car control icon is used to switch the automatic driving mode to the manual driving mode. In some embodiments, the current driving mode includes a manual driving mode; the mode switching car control icon is used to switch the manual driving mode to the automatic driving mode.

In one embodiment, the key information display area is used to display any one or more of speed information, mileage information, power information, and driving time information. Taking FIG. 1 as an example, the key information display area 13 displays the expected speed, the current vehicle speed, the driving distance, the remaining power and the driving time. Thus, it is convenient for the user to know the key information related to controlling the car by viewing the key information display area.

In one embodiment, the alarm display area is used to display error information and/or alarm information, the error information carries first identification information, the alarm information carries second identification information, and the first identification information is associated with The second identification information is different. In some embodiments, the first identification information and the second identification information may include, but are not limited to, different color information. Thereby, it has different prompt effects for different abnormal states, which helps the user to quickly judge the abnormal state according to the display result of the alarm display area.

Taking Figure 1 as an example, assuming that the first identification information is red and the second identification information is yellow, if the alarm display area 14 displays red "sensing data abnormal, please switch back to manual mode", you can determine The alarm display area 14 displays error information.

It can be seen that the embodiments of the present invention mark error information and alarm information with different identification information, so that the user can determine whether the display information of the alarm display area 14 is error information or alarm by viewing the marked information of the display information of the alarm display area 14. Information, and determine the urgency of the displayed information according to different mark information, so that the user can process the displayed information in time.

In an embodiment, the interactive device further includes an alarm, and the alarm is used to give an alarm when error information and/or alarm information appears in the alarm display area. In some embodiments, the error information is information that has a significant impact on driving or information that appears when a danger is imminent, such as an obstacle ahead. In some embodiments, the warning information refers to information that does not immediately endanger the state of the autonomous vehicle. In some embodiments, the alarm may include, but is not limited to, buzzer, siren, horn and other alarms.

In one embodiment, when the alarm device alarms when error information and/or alarm information appears in the alarm display area, it may alarm the error information and the alarm information by emitting different alarm sounds. Thus, it is convenient for users to distinguish common types according to different alarm sounds.

In one embodiment, if the current operating state of the automatic driving vehicle is normal automatic driving or normal manual driving, and the alarm display area of the interactive device does not display error information or warning information at this moment, the alarm does not emit an alarm sound. If the alarm display area of the interactive device displays error information, the alarm can be controlled to emit an alarm sound corresponding to the error information. If the alarm display area of the interactive device displays alarm information, the alarm can be controlled to emit an alarm sound corresponding to the alarm information.

In some embodiments, different alarm sounds may include different alarm volume, different alarm tone, different alarm melody, and different length of alarm time.

In one embodiment, the level of the alarm tone can be achieved by the level of voltage. Generally, the higher the voltage value, the higher the tone. The level of the alarm tone in the alarm can be achieved directly by adjusting the duty cycle of the audible alarm signal. Control and generate different representative alarm melodies according to the duration of the duty cycle of the sound alarm signal, so that the driver can easily distinguish the information represented by the current tone.

The embodiment of the present invention determines different error information or warning information of an autonomous vehicle by adjusting the level of the tone, the size of the volume, and the length of time, so as to take corresponding measures according to the different error information or warning information. Resolve the error message or warning message in time to improve the safety performance of the autonomous vehicle during driving.

In one embodiment, the automatic driving operation area includes a left lane change control car icon and a right lane change control car icon. In some embodiments, the left lane change control car icon is used to instruct the autonomous vehicle to change lanes to the left in the automatic driving mode; the right lane change control car icon is used to indicate that the autonomous vehicle is in automatic driving mode Change lanes to the right. In one embodiment, the manual driving operation area is used to display a virtual joystick control car icon. The virtual joystick car control icon is used for the user to operate in the manual mode to control the movement of the autonomous vehicle. In some embodiments, the virtual joystick control car icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon. In some embodiments, the acceleration control icon is used to control the acceleration of the autonomous vehicle; the deceleration control icon is used to control the deceleration of the autonomous vehicle; the left turn direction control icon is used to control the left of the autonomous vehicle Turn; The right turn direction control car icon is used to control the automatic driving vehicle to turn right. The car control function is rich, thereby improving the control efficiency and user experience of the autonomous vehicle.

Specifically, Figure 1 can be taken as an example. The virtual joystick control icon displayed in the manual driving operation area 16 on the touch display interface of the interactive device includes an acceleration control icon, a deceleration control icon, a left turn direction control icon, and a right turn. The direction control car icon, if the user clicks on the acceleration control car icon on the touch display interface, the automatic driving vehicle can be controlled to accelerate. If the user clicks the deceleration control car icon on the touch display interface, the automatic driving vehicle can be controlled to decelerate. If the user clicks the left turn control car icon on the touch display interface, the autonomous driving vehicle can be controlled to turn left. If the user clicks on the right turn control car icon on the touch display interface, the autonomous driving vehicle can be controlled to turn right.

In an embodiment, the acceleration mode of the acceleration car control icon in the virtual joystick car control icon may include but is not limited to determining the acceleration speed according to the length of time the user clicks the acceleration car control icon. In some embodiments, the deceleration mode of the deceleration control car icon may include but is not limited to determining the deceleration speed according to the length of time the user clicks the deceleration control car icon. In some embodiments, the rotation angle of the left-turn car control icon may include, but is not limited to, determining the left-turn angle according to the length of time the user clicks the left-turn car control icon. In some embodiments, the rotation angle of the right-turn car control icon may include but is not limited to determining the right-turn angle according to the length of time the user clicks the right-turn car control icon.

It can be seen that, in the embodiment of the present invention, a virtual joystick control icon is set in the manual driving operation area of the interactive device, so that when there is no remote control device or the remote control has no power, the automatic driving vehicle can be controlled through the virtual remote control icon. At the same time, Users can independently choose to use the remote control or virtual remote control car icon to control the operation of the autonomous vehicle according to the environment or their own needs, thereby improving the control efficiency of the autonomous vehicle.

In one embodiment, the touch display interface of the interactive device may include an information display area and/or an operation area, and the information display area is used to display at least one of the following information: mode display area, key information display area, alarm Display area. The operation area includes at least one of the following: a mode switching area, an automatic driving operation area, and a manual driving operation area.

In one embodiment, the touch display interface of the interactive device includes at least one of the following custom functions: customizing the position of each area in the touch display interface, customizing the size of each area in the touch display interface, and customizing Define the display content of each area in the touch display interface.

It can be seen that the embodiment of the present invention customizes the position, size, and display content of each area in the touch display interface of the interactive device, so that the user can automatically adjust the layout of the touch display interface according to requirements to meet Different users have different layout requirements for the touch display interface, thereby improving user experience.

S402: Acquire the touch operation of the user on the car control icon.

In the embodiment of the present invention, the interactive device can obtain the user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information.

In some embodiments, the touch operation includes at least one of the following: a click operation, a slide operation, and a drag operation. It is understandable that the touch operation is not limited to this, and is not limited here. Therefore, the flexibility of the user to operate the car control icon is improved.

S403: Generate, according to the touch operation, a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program, and send the control instruction to the autonomous vehicle to control the The autonomous driving vehicle executes the control program to realize the preset function.

In the embodiment of the present invention, the interactive device may generate a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program according to the touch operation, and send the control instruction to the automatic The vehicle is driven to control the autonomous vehicle to execute the control program to realize the preset function.

In one embodiment, when the interactive device generates a control instruction corresponding to the touch operation and that controls the autonomous vehicle to execute the control program according to the touch operation, the interactive device may perform according to the touch operation Determine the driving information of the autonomous vehicle at the next moment, and generate the control instruction for controlling the autonomous vehicle to execute the control program according to the determined driving information of the autonomous vehicle at the next moment. By generating a control command that controls the control program to be executed at the next moment of the autonomous driving vehicle, the driving information to be executed at the next moment of the autonomous driving vehicle can be controlled, thereby realizing the pre-control of the autonomous driving vehicle.

Taking Figure 1 as an example, assuming that the interactive device acquires the user's touch operation on the left lane change control car icon, it can determine that the autonomous vehicle is in the next position according to the touch operation on the left lane change control car icon. The driving information at the moment is a left lane change, and a control instruction for controlling the autonomous vehicle to perform a left lane change is generated according to the determined driving information of the autonomous vehicle at the next time to change lanes to the left.

For another example, suppose that the interactive device acquires the user's touch operation on the left-turn car control icon, and if it detects that the user's left-turn car control icon takes 3 seconds, and according to the preset time and left turn Corresponding relationship of angles, it is determined that the left turn angle corresponding to 3s is 30°, then the interactive device can determine the driving information of the autonomous vehicle at the next moment according to the touch operation on the left turn control car icon Turn left by 30°, and generate a control instruction for controlling the autonomous vehicle to turn left by 30° according to the determined driving information of the autonomous vehicle turning left by 30° at the next moment.

In one embodiment, the interactive device further includes a remote control, which is wirelessly connected to the touch display interface, and the remote control can be used to switch the driving mode of the autonomous vehicle. By using the remote control to switch the driving mode of the self-driving vehicle, the user's operation requirements for the remote control are met.

In the embodiment of the present invention, the interactive device can obtain the user's touch operation on the car control icon by displaying the driving information of the autonomous vehicle and the car control icon on the touch display interface, and generate and control the autonomous vehicle according to the touch operation Execute a control instruction of a control program corresponding to the touch operation, and send the control instruction to the autonomous vehicle to control the autonomous vehicle to execute the control program to realize a preset function. Through this embodiment, the touch display interface can be arranged in a position that is convenient for the user to operate, and the driving information of the autonomous vehicle can be displayed. The user can intuitively obtain key information; at the same time, the user can control the autonomous vehicle through the touch display interface. It is convenient to operate, improves the control efficiency of the autonomous vehicle, and improves the safety of the autonomous vehicle during operation.

Please refer to FIG. 5 for details. FIG. 5 is a schematic flowchart of another automatic driving interactive method provided by an embodiment of the present invention. The method may be executed by an interactive device, and the explanation of the interactive device is as described above. Specifically, the difference between the method of the embodiment of the present invention and the method described in FIG. 4 is that the embodiment of the present invention is a schematic description of how to send a control instruction to an autonomous vehicle, and the method of the embodiment of the present invention includes the following step.

S501: Obtain driving information of the autonomous vehicle.

In the embodiment of the present invention, in the embodiment of the present invention, the interactive device can acquire driving information of the autonomous vehicle. The explanation of the driving information is as described above, and will not be repeated here.

S502: Display the driving information of the self-driving vehicle and a car control icon on the touch display interface of the interactive device, where the car control icon is used to indicate a control program for controlling the self-driving vehicle to implement preset functions.

In the embodiment of the present invention, the interactive device can display the driving information of the autonomous driving vehicle and the car control icon on the touch display interface of the interactive device, where the control icon is used to indicate the control of the autonomous driving vehicle to achieve preset functions control program. The control program for controlling the automatic driving vehicle to realize the preset function is represented by a visualized car control icon, which is beneficial for the user to control the driving of the automatic driving vehicle.

In one embodiment, when the touch display interface of the interactive device displays the driving information of the autonomous vehicle, the driving information of the autonomous vehicle may be displayed in real time. The specific implementation is as described above and will not be repeated here.

S503: Acquire the touch operation of the user on the car control icon.

In the embodiment of the present invention, the interactive device can obtain the user's touch operation on the car control icon. The specific implementation is as described above and will not be repeated here.

S504: Generate, according to the touch operation, a control instruction corresponding to the touch operation and controlling the autonomous vehicle to execute the control program.

In the embodiment of the present invention, the interactive device may generate a control instruction corresponding to the touch operation and control the autonomous vehicle to execute the control program according to the touch operation. The specific implementation is as described above and will not be repeated here.

S505: Send the control instruction to the ECU of the self-driving vehicle through the Ethernet bus or the CAN bus, so that the ECU controls the self-driving vehicle to perform the operation indicated by the control instruction.

In the embodiment of the present invention, the interactive device may send the control instruction to the ECU of the self-driving vehicle through the Ethernet bus or the CAN bus, so that the ECU controls the self-driving vehicle to execute the control instruction. Operation.

In one embodiment, the interactive device establishes a communication connection with the car bus through a car control interface. The automobile bus includes at least one of the following: an Ethernet bus and a controller area network CAN bus. The driving information is obtained from the electronic control unit ECU of the autonomous vehicle through the Ethernet bus or the CAN bus. For example, the human-computer interaction device obtains driving information from the electronic control unit ECU through the Ethernet bus or the CAN bus, and displays it on the HUD of the human-computer interaction device; the HUD sends control instructions to the autonomous driving through the Ethernet or CAN bus The electronic control unit ECU of the system, the electronic control unit ECU sends control commands to the vehicle's direction, accelerator, brake, gear and other corresponding ECUs to achieve control functions, including at least one of the following functions: acceleration, deceleration, lane change, entry or Exit the autopilot mode. In some embodiments, the interactive device does not need to communicate directly with the vehicle, but only needs to communicate with the ECU as the electronic control unit. There is no CAN bus matching problem, so it is adapted to different vehicles.

2 as an example, the interactive device 20 establishes a communication connection with the auto bus 23 (including the Ethernet bus or CAN bus) of the autonomous vehicle through the interface 213, if the interactive device 20 obtains the user's right to change lanes to the left The touch operation of the car control icon can determine that the driving information of the autonomous vehicle at the next moment is a left lane change, and generate a control instruction to control the autonomous vehicle to execute the left lane change, thereby passing the Ethernet bus Or the CAN bus sends the left lane change control instruction to the ECU of the self-driving vehicle, so that the ECU controls the self-driving vehicle to perform the left lane change operation indicated by the control instruction.

It can be seen that the embodiment of the present invention is connected to the car bus through the control car interface, and the car bus is connected to the main computing device and the electronic control unit, which can obtain real-time information of the autonomous vehicle from the ECU and the main control device and issue control instructions; In terms of software implementation, Linux or other embedded operating systems can be used to complete peripheral drive through peripheral bus driver and touch screen driver, and write business function logic to achieve preset functions.

In the embodiment of the present invention, the interactive device can acquire the driving information of the autonomous vehicle, display the driving information of the autonomous vehicle and the car control icon on the touch display interface, and acquire the user's touch operation on the car control icon. The operation generates a control instruction that controls the autonomous vehicle to execute the control program corresponding to the touch operation, and sends the control instruction to the ECU of the autonomous vehicle through the Ethernet bus or the CAN bus, so that the ECU The automatic driving vehicle is controlled to perform the operation indicated by the control instruction. Through this embodiment, the touch display interface can be arranged in a position that is convenient for the user to operate, and the driving information of the autonomous vehicle can be displayed. The user can intuitively obtain key information; at the same time, the user can control the autonomous vehicle through the touch display interface. Convenient operation; connected to the car bus through the control car interface, and the car bus is connected to the main computing device and the electronic control unit, which can realize the real-time information of the self-driving vehicle from the ECU and the main control device and issue control commands, which improves the autonomy The control efficiency of the driving vehicle to improve the safety during the operation of the autonomous vehicle.

Please refer to FIG. 6, which is a schematic structural diagram of an interactive device according to an embodiment of the present invention. The device includes a memory 601, one or more processors 602, and a data interface 603;

The memory 601 may include a volatile memory (volatile memory); the memory 601 may also include a non-volatile memory (non-volatile memory); the memory 601 may also include a combination of the foregoing types of memories. The processor 602 may be a central processing unit (CPU). The processor 602 may further include a hardware chip. The aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The foregoing PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.

The processor 602 is configured to call the program instructions, and when the program instructions are executed, they can be used to perform the interactive method operations of the autonomous driving vehicle provided in the foregoing embodiments.

In the embodiment of the present invention, the interactive device can obtain the user's touch operation on the car control icon by displaying the driving information of the autonomous vehicle and the car control icon on the touch display interface, and generate and control the autonomous vehicle according to the touch operation Execute a control instruction of a control program corresponding to the touch operation, and send the control instruction to the autonomous vehicle to control the autonomous vehicle to execute the control program to realize a preset function. Through this embodiment, the touch display interface can be arranged in a position that is convenient for the user to operate, so that the automatic driving vehicle can be controlled through the touch display interface, which is convenient for the user to operate, improves the control efficiency of the automatic driving vehicle, and improves the automatic driving vehicle Safety during operation.

The embodiment of the present invention also provides another interactive device. Please refer to FIG. 7. FIG. 7 is a schematic structural diagram of an interactive device provided by an embodiment of the present invention. The interactive device includes the touch display interface 71 and the alarm control device 72 described in the foregoing embodiment. In some embodiments, the touch display interface 71 includes at least one of the following: mode display area 711, mode switching area 712, key information display area 713, warning display area 714, automatic driving operation area 715, manual driving operation Area 716. In some embodiments, an alarm is provided in the alarm control device 72. In other embodiments, the alarm control device 72 may also establish a connection with the alarm. The explanation of the alarm is as described above. It will not be repeated here; the alarm control device 72 is used to control the alarm to give an alarm. In some embodiments, the touch display interface 71 and the alarm control device 72 establish a communication connection.

In an embodiment, the interactive device can send the acquired information of each area to the alarm control device 72 through the touch display interface 71, so that the alarm control device 72 can send information according to the touch display interface 71 To determine the current operating state of the autonomous vehicle, and determine whether the autonomous vehicle is in an abnormal state based on the current operating state, and if the autonomous vehicle is in an abnormal state, the abnormal state can be determined And determine the preset alarm working mode corresponding to the type of the abnormal state according to the type of the abnormal state, so as to control the alarm of the autonomous vehicle to emit an alarm sound according to the preset alarm working mode, To alarm.

In some embodiments, the type of the abnormal state includes, but is not limited to, at least one of the following: a request from manual driving mode to switch to automatic driving mode fails, a request from manual driving mode to switch to automatic driving mode succeeds, and a switch from automatic driving mode is successful. When the manual driving mode is successful, the switch from the automatic driving mode to the manual driving mode fails, a warning message appears, and an error message appears.

In some embodiments, the mode display area 711 is used to display the current mode of the automatic driving vehicle, and the modes of the automatic driving vehicle include an automatic driving mode and a manual driving mode. In some embodiments, the mode switching area 712 includes a mode switching car control icon. The mode switching car control icon includes but is not limited to a mode switching button for switching between an automatic driving mode and a manual driving mode.

In one embodiment, if the alarm control device 72 obtains the manual driving mode sent by the mode display area 711 in the touch display interface 71, and obtains the manual driving mode from the manual driving mode to the automatic driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the request to switch to the automatic driving mode from the manual driving mode fails according to the manual driving mode and the switching information from the manual driving mode to the automatic driving mode.

In an embodiment, if the alarm control device 72 obtains the automatic driving mode sent by the mode display area 711 in the touch display interface 71, and obtains the automatic driving mode from the manual driving mode to the automatic driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the request to switch to the automatic driving mode from the manual driving mode is successful according to the automatic driving mode and the switching information from the manual driving mode to the automatic driving mode.

In one embodiment, if the alarm control device 72 obtains the manual driving mode sent by the mode display area 711 in the touch display interface 71, and obtains the manual driving mode from the automatic driving mode to the manual driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the switch from the automatic driving mode to the manual driving mode is successful according to the manual driving mode and the switching information from the automatic driving mode to the manual driving mode.

In one embodiment, if the alarm control device 72 obtains the automatic driving mode sent by the mode display area 711 in the touch display interface 71, and obtains the automatic driving mode switch from the automatic driving mode to the manual driving mode sent by the mode switching area 712 Switching information, the alarm control device 72 can determine that the switch from the automatic driving mode to the manual driving mode has failed according to the automatic driving mode and the switching information from the automatic driving mode to the manual driving mode.

In some embodiments, the key information display area 713 is used to display speed information (such as expected speed, actual speed), mileage information (such as mileage driven, autonomous driving mileage), power information (such as remaining power ), fuel quantity information (such as remaining fuel quantity), driving time information (such as elapsed driving time, driving time), any one or more of driving information. The touch display interface 71 can send the information displayed in the key information display area 713 to the alarm control device 72, so that the alarm control device 72 can determine the self-driving vehicle based on the information sent by the key information display area 713 Whether it is in an abnormal state. For example, when the remaining power is less than a preset power threshold, it is determined that the automatic automatic driving vehicle is in an abnormal state, and the alarm is controlled to emit a corresponding alarm sound according to the type of the abnormal state.

In some embodiments, the alarm display area 714 is used to display any important error information and/or alarm information. In some embodiments, different mark information can be added to the error information and the warning information to distinguish the error information and the warning information. The mark information includes but is not limited to color information, such as error information marked in red and warning information marked It is yellow and cooperates with the alarm to alarm. As shown in Figure 1, the alarm display area 714 displays "Perception data is abnormal, please switch back to manual mode!!!", then the "sensing data is abnormal, please switch back to manual mode!!!" can be marked in red, and Combined with an alarm to remind the driver to cut out of automatic driving as soon as possible To improve the safety performance of autonomous vehicles during operation.

In one embodiment, if the alarm control device 72 receives the information sent by the alarm display area 714, the alarm control device 72 may control the alarm according to the tag information and/or information content of the obtained information An alarm sound corresponding to the mark information and/or information content is emitted.

In some embodiments, the autonomous driving operation area 715 includes a left lane change control car icon and a right lane change control car icon, and the left lane change control car icon is used to instruct the autonomous vehicle to change to the left in the automatic driving mode. Lane; The right lane change control car icon is used to instruct the autonomous vehicle to change lanes to the right in the automatic driving mode.

In one embodiment, if the automatic hypothesis operation area 715 sends the current road information and the left lane change instruction to the alarm control device 72, if the alarm control device 72 detects that the current road information is the leftmost road, and the left change instruction is acquired According to an instruction, the alarm control device 72 can control the alarm to emit a corresponding alarm sound.

In some embodiments, the manual driving operation area 716 is used to display a virtual joystick control car icon, and the virtual joystick control car icon is used for a user to operate in a manual mode to control the movement of the autonomous vehicle. The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.

In one embodiment, if the acceleration information sent by the manual driving operation area 716 acquired by the alarm control device 72 exceeds the preset acceleration threshold, the deceleration information is less than the preset deceleration threshold, the left turn direction exceeds the preset angle, the right turn direction If any one or more of the preset angles is exceeded, the alarm control device 72 can control the alarm to emit a corresponding alarm sound.

In the embodiment of the present invention, the interactive device sends the information of each area of the touch display interface to the alarm control device, so that the alarm control device can determine the current operating state of the autonomous vehicle, and determine the current operating state according to the current operating state. Whether the automatic driving vehicle is in an abnormal state, if the automatic driving vehicle is in an abnormal state, according to the type of the abnormal state, the preset alarm operation mode corresponding to the type of the abnormal state can be determined to control the automatic The alarm of the driving vehicle emits an alarm sound according to the preset alarm working mode to give an alarm. Through this embodiment, different sound alarms can be used to indicate different operating states and alarm information of the autonomous driving vehicle, thereby improving the safety performance of the autonomous driving vehicle during operation.

An embodiment of the present invention also provides an interactive system, including: an automatic driving vehicle and an interactive device, the interactive device is arranged in a position of the automatic driving vehicle that is convenient for user operation, the interactive device is provided with a touch display interface, so The interactive device is used to communicate with the autonomous vehicle to obtain driving information of the autonomous vehicle;

The processor is configured to perform the automatic driving interactive method operations provided in the foregoing embodiments.

In the embodiment of the present invention, the interactive system can display the driving information of the autonomous vehicle and the car control icon on the touch display interface through the interactive device, obtain the user's touch operation on the car control icon, and generate the control station based on the touch operation. The self-driving vehicle executes the control instructions of the control program corresponding to the touch operation, and sends the control instructions to the self-driving vehicle, so that the self-driving vehicle can control the self-driving vehicle to perform the control Program to achieve preset functions. Through this embodiment, the touch display interface can be arranged in a position that is convenient for the user to operate, so that the automatic driving vehicle can be controlled through the touch display interface, which is convenient for the user to operate, improves the control efficiency of the automatic driving vehicle, and improves the automatic driving vehicle Safety during operation.

The embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and the present invention can also be implemented. The device in the corresponding embodiment of the invention will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device. The computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a Smart Media Card (SMC), or a Secure Digital (SD) card , Flash Card, etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

It should be noted that certain words are used in the description and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in terms as a way to distinguish components, but use differences in functions of components as a criterion for distinguishing. If "include" or "include" mentioned in the entire specification and claims is an open term, it should be interpreted as "include but not limited to". The following description of the specification is a preferred embodiment for implementing the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the present invention. The protection scope of the present invention shall be subject to those defined by the appended claims.

It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or a central component may also exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or there may be a centered component at the same time. When an element is considered to be "electrically connected" to another element, it can be a contact connection, for example, a wire connection or a non-contact connection, for example, a non-contact coupling, or some Interface, indirect coupling or communication connection of devices or units. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

In the several embodiments provided by the present invention, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.

The above-disclosed are only some embodiments of the present invention, which of course cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims (93)

1. An interactive method for automatic driving, characterized in that it is applied to an interactive device, the interactive device is arranged in an autonomous vehicle at a position convenient for user operation, the interactive device is provided with a touch display interface, and the interactive device uses For communicating and connecting with the autonomous driving vehicle to obtain driving information of the autonomous driving vehicle, the method includes:

   Displaying the driving information of the autonomous vehicle and a car control icon on the touch display interface of the interactive device, where the vehicle control icon is used to indicate a control program for controlling the autonomous vehicle to implement preset functions;

   Acquiring a user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information;

   According to the touch operation, a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program is generated, and the control instruction is sent to the autonomous vehicle to control the autonomous driving The vehicle executes the control program to realize the preset function.
2. The method according to claim 1, wherein said generating a control instruction corresponding to said touch operation and controlling said autonomous vehicle to execute said control program according to said touch operation comprises:

   Determining the driving information of the autonomous vehicle at the next moment according to the touch operation;

   According to the determined driving information of the autonomous vehicle at the next moment, the control instruction for controlling the autonomous vehicle to execute the control program is generated.
3. The method according to claim 1, wherein:

   The driving information includes any one or more of driving mode, expected speed, actual speed, driving distance, power, and fuel.
4. The method according to claim 3, wherein the driving mode comprises an automatic driving mode or a manual driving mode.
5. The method according to claim 1, wherein:

   The touch display interface includes any one or more of a mode display area, a mode switching area, a key information display area, an alarm display area, an automatic driving operation area, and a manual driving operation area.
6. The method according to claim 1, wherein:

   The touch operation includes at least one of the following: a click operation, a slide operation, and a drag operation.
7. The method of claim 5, wherein:

   The mode display area is used to display the current driving mode, and the mode switching area is used to display the mode switching car control icon.
8. The method according to claim 7, wherein:

   The current driving mode includes an automatic driving mode; the mode switching car control icon is used to switch the automatic driving mode to the manual driving mode.
9. The method according to claim 7, wherein:

   The current driving mode includes a manual driving mode; the mode switching car control icon is used to switch the manual driving mode to the automatic driving mode.
10. The method of claim 5, wherein:

    The key information display area is used to display any one or more of speed information, mileage information, power information, and driving time information.
11. The method of claim 5, wherein:

    The alarm display area is used to display error information and/or alarm information, the error information carries first identification information, and the alarm information carries second identification information.
12. The method according to claim 11, wherein the first identification information is different from the second identification information.
13. The method according to claim 11, wherein:

    The interactive device also includes an alarm, which is used to give an alarm when error information and/or alarm information appears in the alarm display area.
14. The method according to claim 5, wherein the automatic driving operation area includes a left lane change control car icon and a right lane change control car icon.
15. The method of claim 14, wherein:

    The left lane change control car icon is used to instruct the autonomous vehicle to change lanes to the left in the automatic driving mode;

    The right lane change control car icon is used to instruct the automatic driving vehicle to change lanes to the right in the automatic driving mode.
16. The method of claim 5, wherein:

    The manual driving operation area is used to display a virtual joystick control car icon.
17. The method of claim 16, wherein:

    The virtual joystick car control icon is used for the user to operate in the manual mode to control the movement of the autonomous vehicle.
18. The method of claim 17, wherein:

    The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.
19. The method of claim 18, wherein:

    The acceleration control car icon is used to control the acceleration of the autonomous driving vehicle; or,

    The deceleration control car icon is used to control the deceleration of the autonomous vehicle; or,

    The left turn direction control car icon is used to control the autonomous vehicle to turn left; or,

    The right turn direction control car icon is used to control the automatic driving vehicle to turn right.
20. The method according to claim 1, wherein the touch display interface comprises an information display area and/or an operation area.
21. The method according to claim 20, wherein the information display area is used to display at least one of the following information: a mode display area, a key information display area, and an alarm display area.
22. The method according to claim 20, wherein the operation area includes at least one of the following: a mode switching area, an automatic driving operation area, and a manual driving operation area.
23. The method according to claim 1, wherein:

    The interactive device establishes a communication connection with the car bus through the car control interface.
24. The method of claim 23, wherein:

    The automobile bus includes at least one of the following: an Ethernet bus and a controller area network CAN bus.
25. The method of claim 24, wherein:

    The driving information is obtained from the electronic control unit ECU of the autonomous vehicle through the Ethernet bus or the CAN bus.
26. The method according to claim 24, wherein the sending the control instruction to the self-driving vehicle comprises:

    The control instruction is sent to the ECU of the self-driving vehicle through the Ethernet bus or the CAN bus, so that the ECU controls the self-driving vehicle to perform the operation indicated by the control instruction.
27. The method according to claim 1, wherein:

    The touch display interface includes at least one of the following custom functions: customizing the position of each area in the touch display interface, customizing the size of each area in the touch display interface, and customizing each area in the touch display interface Display content.
28. The method according to claim 1, wherein the position that is convenient for a user to operate includes above an instrument panel of the autonomous vehicle.
29. The method according to claim 1, wherein before the touch display interface of the interactive device displays driving information of the autonomous vehicle, the method further comprises:

    Acquire driving information of the autonomous vehicle.
30. The method according to claim 1, wherein the displaying the driving information of the autonomous vehicle on the touch display interface of the interactive device comprises:

    Display the driving information of the autonomous vehicle in real time.
31. An interactive device, characterized in that it is applied to an automatic driving vehicle, the interactive device is set in a position in the automatic driving vehicle that is convenient for user operation, the interactive device is provided with a touch display interface, and the interactive device is used to communicate with The autonomous driving vehicle is communicatively connected to obtain driving information of the autonomous driving vehicle, and the device includes: one or more processors that work together or individually, and the processors are configured to perform the following operations:

    Displaying the driving information of the autonomous vehicle and a car control icon on the touch display interface of the interactive device, where the vehicle control icon is used to indicate a control program for controlling the autonomous vehicle to implement preset functions;

    Acquiring a user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information;

    According to the touch operation, a control instruction corresponding to the touch operation that controls the autonomous vehicle to execute the control program is generated, and the control instruction is sent to the autonomous vehicle to control the autonomous driving The vehicle executes the control program to realize the preset function.
32. The device according to claim 31, wherein when the processor generates a control instruction corresponding to the touch operation and controls the autonomous vehicle to execute the control program according to the touch operation, specifically Used for:

    Determining the driving information of the autonomous vehicle at the next moment according to the touch operation;

    According to the determined driving information of the autonomous vehicle at the next moment, the control instruction for controlling the autonomous vehicle to execute the control program is generated.
33. The device according to claim 31, wherein:

    The driving information includes any one or more of driving mode, expected speed, actual speed, driving distance, power, and fuel.
34. The device according to claim 33, wherein the driving mode comprises an automatic driving mode or a manual driving mode.
35. The device according to claim 31, wherein:

    The touch display interface includes any one or more of a mode display area, a mode switching area, a key information display area, an alarm display area, an automatic driving operation area, and a manual driving operation area.
36. The device according to claim 31, wherein:

    The touch operation includes at least one of the following: a click operation, a slide operation, and a drag operation.
37. The device according to claim 35, wherein:

    The mode display area is used to display the current driving mode, and the mode switching area is used to display the mode switching car control icon.
38. The device of claim 37, wherein:

    The current driving mode includes an automatic driving mode; the mode switching car control icon is used to switch the automatic driving mode to the manual driving mode.
39. The device of claim 37, wherein:

    The current driving mode includes a manual driving mode; the mode switching car control icon is used to switch the manual driving mode to the automatic driving mode.
40. The device according to claim 35, wherein:

    The key information display area is used to display any one or more of speed information, mileage information, power information, and driving time information.
41. The device according to claim 35, wherein:

    The alarm display area is used to display error information and/or alarm information, the error information carries first identification information, and the alarm information carries second identification information.
42. The device according to claim 41, wherein the first identification information is different from the second identification information.
43. The device according to claim 41, wherein:

    The interactive device also includes an alarm, which is used to give an alarm when error information and/or alarm information appears in the alarm display area.
44. The device according to claim 35, wherein the automatic driving operation area comprises a left lane change control car icon and a right lane change control car icon.
45. The device according to claim 44, wherein:

    The left lane change control car icon is used to instruct the autonomous vehicle to change lanes to the left in the automatic driving mode;

    The right lane change control car icon is used to instruct the automatic driving vehicle to change lanes to the right in the automatic driving mode.
46. The device according to claim 35, wherein:

    The manual driving operation area is used to display a virtual joystick control car icon.
47. The device according to claim 46, wherein:

    The virtual joystick car control icon is used for the user to operate in the manual mode to control the movement of the autonomous vehicle.
48. The device according to claim 47, wherein:

    The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.
49. The device according to claim 48, wherein:

    The acceleration control car icon is used to control the acceleration of the autonomous driving vehicle; or,

    The deceleration control car icon is used to control the deceleration of the autonomous vehicle; or,

    The left turn direction control car icon is used to control the autonomous vehicle to turn left; or,

    The right turn direction control car icon is used to control the automatic driving vehicle to turn right.
50. The device according to claim 31, wherein the touch display interface comprises an information display area and/or an operation area.
51. The device according to claim 50, wherein the information display area is used to display at least one of the following information: a mode display area, a key information display area, and an alarm display area.
52. The device according to claim 50, wherein the operation area includes at least one of the following: a mode switching area, an automatic driving operation area, and a manual driving operation area.
53. The device according to claim 31, wherein:

    The interactive device establishes a communication connection with the car bus through the car control interface.
54. The device of claim 53, wherein:

    The automobile bus includes at least one of the following: an Ethernet bus and a controller area network CAN bus.
55. The device according to claim 54, characterized in that:

    The driving information is obtained from the electronic control unit ECU of the autonomous vehicle through the Ethernet bus or the CAN bus.
56. The device according to claim 54, wherein when the processor sends the control instruction to the self-driving vehicle, it is specifically configured to:

    The control instruction is sent to the ECU of the self-driving vehicle through the Ethernet bus or the CAN bus, so that the ECU controls the self-driving vehicle to perform the operation indicated by the control instruction.
57. The device according to claim 31, wherein:

    The touch display interface includes at least one of the following custom functions: customizing the position of each area in the touch display interface, customizing the size of each area in the touch display interface, and customizing each area in the touch display interface Display content.
58. The device according to claim 31, wherein:

    The user-friendly position includes the upper part of the dashboard of the autonomous vehicle.
59. The device according to claim 31, wherein the processor is further configured to: before displaying the driving information of the autonomous vehicle on the touch display interface of the interactive device:

    Acquire driving information of the autonomous vehicle.
60. The device according to claim 31, wherein the processor is specifically configured to: when the touch display interface of the interactive device displays the driving information of the autonomous vehicle:

    Display the driving information of the autonomous vehicle in real time.
61. The device according to claim 32, further comprising a remote control, which is wirelessly connected to the touch display interface and is used to switch the driving mode.
62. An interactive system, characterized by comprising: an automatic driving vehicle and an interactive device, the interactive device is arranged in a position in the automatic driving vehicle that is convenient for user operations, the interactive device is provided with a touch display interface, and the interactive device Used to communicate with the autonomous vehicle to obtain driving information of the autonomous vehicle;

    The interactive device is configured to display the driving information of the autonomous driving vehicle and a car control icon on the touch display interface, wherein the car control icon is used to indicate the control of controlling the autonomous driving vehicle to implement preset functions Program; obtain the user's touch operation on the car control icon, wherein the user can input the touch operation according to the driving information; generate the control corresponding to the touch operation according to the touch operation The self-driving vehicle executes the control instructions of the control program, and sends the control instructions to the self-driving vehicle;

    The self-driving vehicle is configured to receive the control instruction sent by the interactive device, and control the self-driving vehicle to execute the control program to realize the preset function.
63. The system according to claim 62, wherein when the interactive device generates a control instruction corresponding to the touch operation and controls the autonomous vehicle to execute the control program according to the touch operation, specifically Used for:

    Determining the driving information of the autonomous vehicle at the next moment according to the touch operation;

    According to the determined driving information of the autonomous vehicle at the next moment, the control instruction for controlling the autonomous vehicle to execute the control program is generated.
64. The system according to claim 62, wherein the driving information includes any one or more of driving mode, desired speed, actual speed, driving distance, power, and fuel.
65. The system according to claim 64, wherein the driving mode comprises an automatic driving mode or a manual driving mode.
66. The system of claim 62, wherein:

    The touch display interface includes any one or more of a mode display area, a mode switching area, a key information display area, an alarm display area, an automatic driving operation area, and a manual driving operation area.
67. The system of claim 62, wherein:

    The touch operation includes at least one of the following: a click operation, a slide operation, and a drag operation.
68. The system of claim 66, wherein:

    The mode display area is used to display the current driving mode, and the mode switching area is used to display the mode switching car control icon.
69. The system of claim 68, wherein:

    The current driving mode includes an automatic driving mode; the mode switching car control icon is used to switch the automatic driving mode to the manual driving mode.
70. The system of claim 68, wherein:

    The current driving mode includes a manual driving mode; the mode switching car control icon is used to switch the manual driving mode to the automatic driving mode.
71. The system of claim 66, wherein:

    The key information display area is used to display any one or more of speed information, mileage information, power information, and driving time information.
72. The system of claim 66, wherein:

    The alarm display area is used to display error information and/or alarm information, the error information carries first identification information, and the alarm information carries second identification information.
73. The system according to claim 72, wherein the first identification information is different from the second identification information.
74. The system of claim 72, wherein:

    The interactive device also includes an alarm, which is used to give an alarm when error information and/or alarm information appears in the alarm display area.
75. The system according to claim 66, wherein the automatic driving operation area includes a left lane change control car icon and a right lane change control car icon.
76. The system of claim 75, wherein:

    The left lane change control car icon is used to instruct the autonomous vehicle to change lanes to the left in the automatic driving mode;

    The right lane change control car icon is used to instruct the automatic driving vehicle to change lanes to the right in the automatic driving mode.
77. The system of claim 66, wherein:

    The manual driving operation area is used to display a virtual joystick control car icon.
78. The system of claim 77, wherein:

    The virtual joystick car control icon is used for the user to operate in the manual mode to control the movement of the autonomous vehicle.
79. The system of claim 78, wherein:

    The virtual joystick car control icon includes any one or more of an acceleration control car icon, a deceleration control car icon, a left turn direction control car icon, and a right turn direction control car icon.
80. The system of claim 79, wherein:

    The acceleration control car icon is used to control the acceleration of the autonomous driving vehicle; or,

    The deceleration control car icon is used to control the deceleration of the autonomous vehicle; or,

    The left turn direction control car icon is used to control the autonomous vehicle to turn left; or,

    The right turn direction control car icon is used to control the automatic driving vehicle to turn right.
81. The system according to claim 62, wherein the touch display interface comprises an information display area and/or an operation area.
82. The system according to claim 81, wherein the information display area is used to display at least one of the following information: a mode display area, a key information display area, and an alarm display area.
83. The system according to claim 81, wherein the operation area includes at least one of the following: a mode switching area, an automatic driving operation area, and a manual driving operation area.
84. The system of claim 62, wherein:

    The interactive device establishes a communication connection with the car bus through the car control interface.
85. The system of claim 84, wherein:

    The automobile bus includes at least one of the following: an Ethernet bus and a controller area network CAN bus.
86. The system of claim 85, wherein:

    The driving information is obtained from the electronic control unit ECU of the autonomous vehicle through the Ethernet bus or the CAN bus.
87. The system according to claim 85, wherein when the interactive device sends the control instruction to the self-driving vehicle, it is specifically used for:

    The control instruction is sent to the ECU of the self-driving vehicle through the Ethernet bus or the CAN bus, so that the ECU controls the self-driving vehicle to perform the operation indicated by the control instruction.
88. The system of claim 62, wherein:

    The touch display interface includes at least one of the following custom functions: customizing the position of each area in the touch display interface, customizing the size of each area in the touch display interface, and customizing each area in the touch display interface Display content.
89. The system of claim 62, wherein:

    The user-friendly position includes the upper part of the dashboard of the autonomous vehicle.
90. The system according to claim 62, wherein the interactive device is further configured to: before displaying the driving information of the autonomous vehicle on the touch display interface of the interactive device:

    Acquire driving information of the autonomous vehicle.
91. The system according to claim 62, wherein the interactive device is specifically configured to: when displaying the driving information of the autonomous vehicle on the touch display interface of the interactive device:

    Display the driving information of the autonomous vehicle in real time.
92. The system according to claim 63, further comprising a remote control, which is wirelessly connected to the touch display interface for switching the driving mode.
93. A computer readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method according to any one of claims 1 to 30.

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