HMI is used to refer to human-vehicle interaction design from the perspective of taking car as a machine. However, with the quick increase of demand for smart cockpit, it would put strong constraints to the design of intelligent interactions and connected services if we still design from the perspective of control-oriented interface with a machine. By switching the concept from Human Machine Interaction (HMI) to Human Robot Interaction (HRI) can instead greatly open up the space of innovation for the development of natural interactions with the car as an intelligent system. This also make it possible to further focus on topics such as adaptive learning of the system through smart interaction. Designing from the perspective of human robot interaction is even more important for autonomous vehicles, which can provide to users a more consistent intelligent experience from driving control to in-vehicle functions and connected services. we introduce in this paper our approach in designing human-vehicle interaction from the HRI perspective, which is further composed of three parts: the intelligent sensing, predicting, and decision-making module, the adaptive user interface module, and the intelligent voice module.