CN113525265A - Interactive system and method for automatically driving automobile and people - Google Patents
Interactive system and method for automatically driving automobile and people Download PDFInfo
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- CN113525265A CN113525265A CN202110883924.0A CN202110883924A CN113525265A CN 113525265 A CN113525265 A CN 113525265A CN 202110883924 A CN202110883924 A CN 202110883924A CN 113525265 A CN113525265 A CN 113525265A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
Abstract
The invention relates to an interactive system and a method for automatically driving an automobile and people, wherein the system comprises an intelligent terminal in the form of intelligent communication equipment carried by unspecified passengers and an automatically driving automobile device provided with vehicle-mounted equipment, wherein the passengers reserve the use permission of the automatically driving automobile by utilizing the interaction of the intelligent terminal and the vehicle-mounted equipment, the vehicle-mounted equipment at least comprises a verification module, a permission limiting module and a test terminal, the test terminal and the automatically driving automobile are fixed in the automatically driving automobile in a way of electrically supplying power and data communication in a wired mode and being detachable but not lost in a mechanical mode, so that the test terminal establishes data connection with a CAN bus through an OBD interface and CAN acquire or provide data and commands from the verification module, and the permission limiting module CAN determine each passenger during the use of the automatically driving automobile in a dynamic time-sharing mode through the interaction with the verification module and the images and/or sounds acquired by the test terminal Control authority range of the period.
Description
The invention relates to an application number 201710340406.8, application date 2017, 5, 15, the application name is a system for judging the identity of a passenger by automatically driving an automobile, and the application type is divisional application of an invention patent of the invention.
Technical Field
The invention relates to an automatic driving automobile, in particular to an interactive system and method of the automatic driving automobile and a person.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. The development of automotive technology has been decades old in the 20 th century, and has been approaching the practical trend in the 21 st century, for example, google automotive has acquired the first license for automotive vehicles in the united states in 5 months of 2012 and is expected to enter the market in 2015 to 2017. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
With the widespread use of autonomous vehicles, autonomous vehicles are used in the taxi industry. Automatic driving of a taxi allows passengers to reach their destination at a low cost. However, currently, the automatic driving automobile cannot accurately judge the identity of the passenger, and the door of the automobile is opened for the wrong passenger frequently to carry the passenger. Therefore, a system capable of accurately judging passengers is needed in the automatic driving and leasing industry, and the technical problem of how to accurately judge the identity of the passengers is solved.
At present, an automatic driving automobile system for accurately judging the identity of a passenger does not exist in the market, and only a system for manually driving the passenger through an electronic order is available. For example, chinese patent (CN 104867324) discloses a method for identifying passengers getting on a car in a taxi service, which comprises, at a first client side: after receiving an order of a second client, acquiring an identification mark uploaded by the second client and used for uniquely determining the second client; continuously detecting whether the second client is located in a preset area range or not according to the identification mark of the second client; and when the second client is detected to be located in the preset area range and the boarding confirmation information sent by the second client is received, triggering to enter a charging state. The method is identified by the passenger who gets on the vehicle actively making the confirmation of getting on the vehicle. However, this patent cannot be applied to an autonomous taxi. If the method is applied to the automatic driving taxi, the automatic driving taxi needs to open the door of the taxi firstly, and then the passenger is identified according to the confirmation information of the passenger, so that the automatic driving taxi is easily controlled by the control information of illegal persons, and the passenger cannot modify the journey in the driving process. The fault condition that the passenger got wrong the car on this patent can't be avoided.
Face recognition and physiological feature recognition technologies are mature, and mature face recognition equipment and physiological feature recognition equipment exist in the market. For example, a rituqi (LIFANGQI)130 ten thousand 960P high-definition infrared night vision USB camera module records a low illumination face recognition module 170 degree lens on a vehicle. The physiological characteristic recognition module generally includes a fingerprint recognition device, an iris recognition device, a voice print recognition device, and the like. For example, the fingerprint identification device may be a delphine AS608 optical fingerprint identification module, or may be a western master 300 capacitive fingerprint sensing identification module; the iris recognition equipment can be a customized wide dynamic AR0130 camera module 3.6mm 90-degree lens for recognizing irises by infrared faces of 850 infrared faces of the western refined black and white narrow bands; the voiceprint recognition device may be a science fiction flyer voiceprint recognition.
Paper "forest posture, rest group. driver physiological/psychological analysis and testing during vehicle steering [ J ] automotive engineering, 1998 (2): 71-76 discloses a test scheme for the physical and mental reactions of a driver, and the heart rate and the blood pressure of the driver are measured. A ZE61 electro-cardio telemeter produced by Sanrong corporation of Japan is adopted to continuously measure the electrocardiogram of the driver, so as to obtain the instantaneous heart rate value at each moment; the instantaneous blood pressure value of a driver is measured by an EXCE 1224 h blood pressure recorder produced in England, dynamic characteristic parameters such as the longitudinal speed, the longitudinal acceleration, the yaw angular speed, the steering wheel rotation angle and the like of an automobile are measured by an LC-761 velocimeter produced by a Japanese courtesy detector and a CDY-1A automobile dynamic tester of a department of space, department of ministry 13, and the 8 paths of simulation signals are simultaneously acquired by an LSFX-IV type automobile performance road test data acquisition system developed by a Qinghua university automobile engineering system to carry out single-line-shifting, double-line-shifting and serpentine line-crossing rod experiments.
The thesis "dynamic simulation driving test of driving suitability of driver of passenger train [ J ]. road traffic science and technology, 2000, 17 (5)." discloses a dynamic driving simulation system, which sets a selection standard of driver of passenger train, a dynamic simulation cockpit assessment and training method and system, a dynamic simulation driving assessment and evaluation method of driver to be tested, a dynamic driving simulation test of passenger train and design of passenger train. The paper makes evaluation criteria of the driver's state.
Chinese patent CN 101238985a discloses a psychological and behavioral monitoring system based on a simulated driving platform. The system comprises a driving simulation subsystem, a secondary task experiment subsystem and a driver physiological data acquisition subsystem; the driving simulation subsystem comprises a driving simulation device and a scene simulation and data acquisition platform, and the scene simulation and data acquisition platform further comprises a driving scene simulation module and an experimental data recording module; the secondary task experiment subsystem is used for enabling the driver to complete a secondary task and recording and analyzing performance data of the secondary task of the driver; the driver physiological data acquisition subsystem is used for acquiring physiological data of a driver and comprises an electrocardio data acquisition module, a body movement data acquisition module and a respiration data acquisition module. The invention is beneficial to monitoring the driving state of the driver and provides technical support for the design of the automobile safe driving device. The patent specification details the specific structure, components and arrangements of the various subsystems.
Chinese patent CN202130310U discloses an automobile security terminal with driver identification function, belonging to the technical field of automobile security. The control unit is arranged in the sun shield body, and the operation panel is used for operating the terminal; the control unit comprises a face recognition module for collecting face images to perform user recognition and an authority control module for setting the automobile operation authority of a user according to the recognition result of the face recognition module. This kind of car security protection terminal with driver recognition function, use face identification technique and discern the navigating mate. The user presets at least one legal driver image information according to the needs of the user, when the automobile is started, the camera in the device is used for collecting the head portrait information of the driver on site, and the head portrait information is compared and identified with the preset driver image information to judge the legality of the driver on site.
Chinese patent CN 105847452a provides a vehicle networking security control method, which comprises the following steps: acquiring driver information when entering a cockpit; judging whether the corresponding driver has driving authority or not according to the driver information, and if so, executing the next step; judging whether the driver completes the driving preparation or not, if so, executing the next step; judging whether the driver is in a normal state, if so, executing the next step; and uploading the driver information. By adopting the scheme, the invention obtains the driver information when the driver enters the cockpit, determines the driving authority and the driving preparation, and uploads the driver information, so that only an authorized driver can normally drive the vehicle, thereby improving the anti-theft effect of the vehicle, enhancing the anti-theft safety, and avoiding using a substitute body to undertake responsibility when an accident occurs, thereby effectively preventing drunk driving poison driving, improving the responsibility of the driver, and being beneficial to reducing traffic accidents and determining accident liability persons.
Chinese patent CN 102982316a discloses an apparatus and method for identifying abnormal driving behavior of a driver, the apparatus comprising: the automobile driving detection system comprises a face feature point positioning module, a face gesture detection module, an automobile sensor module, a driving action analysis module and a control module, wherein the output end of the face detection module is connected with the input end of the control module sequentially through the face feature point positioning module and the face gesture detection module, and the output end of the automobile sensor module is connected with the input end of the control module through the driving action analysis module. The method and the device do not need to contact the driver when identifying the abnormal driving behavior of the driver, and have simple realization method and high accuracy. The device and the method for identifying the abnormal driving behavior of the driver, which are provided by the invention, have excellent performance and can be widely applied to the monitoring of safe driving.
Chinese patent CN 102113888B provides a psychological load measuring system based on simulated driving, which includes a simulated scene display module for generating a simulated driving scene, a simulated driving module for executing a simulated driving action, and a psychological condition recording module for detecting a psychological state during the simulated driving; the driving simulation module comprises a data acquisition device for recording the driving behavior of the user; the simulation scene display module displays a simulation driving scene according to a preset driving task, a user carries out driving operation on the simulation driving module according to the simulation driving scene, the data acquisition device acquires and records the simulation driving behavior of the user and feeds data related to the simulation driving behavior back to the simulation scene display module so as to update the driving scene displayed by the simulation scene display module in real time; data relating to the simulated driving behavior is also sent to a mental state logging module, which detects the mental load of the user under different road conditions and task difficulties. This patent discloses a technical solution using NASA-3000 as an evaluation scale of psychological load.
The paper "wangxiang-vehicle driving tendency identification based on motion sensing data [ D ]. 2014" divides driving tendency into three types with the purpose of achieving identification of driving tendency: the aggressive type, the normal type and the conservative type can be further subdivided into: aggressive type, common aggressive type, normal type, conservative type, common conservative type. Discretizing the sample information by adopting a minimum information entropy continuous attribute discretization algorithm based on a rough set theory, reducing corresponding sample attributes by using a heuristic greedy algorithm, and extracting characteristic data of driving tendency; aiming at the three-lane condition and mainly considering the situation factors directly influencing the emotion of the driver in the environmental factors, establishing a driving tendency recognition model adapting to environmental evolution by using a dynamic Bayesian network; in addition, the method is also based on the research angle of vehicle safety other control technology, considers the premise of respecting and protecting the privacy of a driver, and establishes a dynamic identification model of the driving tendency of the automobile based on a support vector machine by using the travel time of an experimental road section captured by a GPS in real time as a characteristic parameter.
Nowadays, each large city has a real-time traffic information updating database, such as real-time traffic conditions of the public security traffic administration of the beijing city public security bureau, and the like, and the traffic information includes information such as road congestion conditions, weather influences such as road construction, fog and road surface icing, natural disasters such as traffic accidents, debris flows and the like, and road closure, and road conditions caused by road construction or natural disasters include poor and uneven road conditions. The driver can acquire the road condition information through the traffic database and effectively feed back the travel change request.
Disclosure of Invention
In view of the shortcomings of the prior art, the invention provides a system for automatically driving a vehicle to judge the identity of a passenger, which comprises an intelligent terminal carried by a non-specific passenger in the form of an intelligent communication device and an automatically driving vehicle device provided with a vehicle-mounted device, wherein the passenger reserves the use authority of the automatically driving vehicle by utilizing the interaction between the intelligent terminal and the vehicle-mounted device, the vehicle-mounted device at least comprises an identification module, a verification module and an authority limit module, the identification module triggered to be accessed and started by the intelligent terminal determines the geographic position of the passenger in a mode of detecting the identification of the intelligent terminal in a specified area, and determines the passenger reserving the journey based on the image information and physiological characteristic information of the passenger sent by the intelligent terminal, the verification module sends a query request to a history record database independent of a third party according to the personal information of the passenger based on the successful starting of the identification module, calculating a first security level of the passenger with the obtained history data as a first security level parameter, the right defining module determining a control right of the passenger according to the first security level of the passenger and unlocking a car lock, and updating the control right of the passenger based on a valid control parameter of the passenger. The invention verifies the personal information of the passenger, calculates the safety level, and verifies the legal identity of the passenger so as to allow the passenger to take. The invention can avoid the wanted illegal molecule from escaping or other illegal activities by riding the automatic driving automobile.
Preferably, the vehicle-mounted device further comprises a test terminal provided with a first authentication module, the test terminal is started when the first safety level parameter reaches a preset level, the first authentication module sets a natural language according to identity information of a passenger, tests the current psychological state of the passenger in a voice and/or video interaction mode by adopting the natural language, sends the current psychological state parameter of the passenger as a second safety level parameter to the permission limiting module, and the permission limiting module evaluates the second safety level of the passenger and determines the control permission of the passenger based on the first safety level parameter and the second safety level parameter. The invention determines the psychological state of the passenger by inquiring the second safety level parameter of the passenger. The invention limits the control authority of the illegal molecules with extreme psychology, and avoids the phenomenon that the illegal molecules with extreme psychology control the automobile at will so as to carry out extreme dangerous driving.
Preferably, the test terminal is fixed in the autonomous vehicle in an electrically wired power and data communication and mechanically detachable but not losable manner with the autonomous vehicle, so that the test terminal establishes a data connection with the CAN bus via an OBD interface and CAN acquire or provide data and commands from the verification module, so that the right limitation module, by interacting with the verification module, CAN determine the control right range of the passenger at various periods during use of the autonomous vehicle in a dynamic time-sharing manner by means of images and/or sounds acquired by the test terminal. The invention prevents passengers from performing illegal activities during the driving of the automatic driving automobile by monitoring the passengers during the riding. If the abnormal behavior or sudden illness of the passenger is determined, the testing terminal can give an alarm at the first time, and the personal safety of the passenger is guaranteed.
Preferably, the test terminal is further provided with a second authentication module which actively acquires the running data of the automatic driving automobile based on the mode that the test terminal establishes data connection with the control unit of the CAN bus through the OBD interface, and displaying a simulated road video for testing driving ability on a touch screen of the test terminal based on a manual driving request of a passenger, wherein the passenger operates the corresponding control unit of the autonomous vehicle according to an operation request in the form of video provided by the test terminal including at least a touch screen and a gravity sensor and thereby generates the driving and/or control-related third safety-level parameter that can be acquired by the second authentication module, the second authentication module sends the third security level parameter to the permission limitation module to determine whether to provide manual driving permission by the permission limitation module. The second authentication module evaluates the driving ability of the passenger by carrying out the simulation driving test on the passenger, thereby avoiding granting the passenger without the driving ability with the manual driving authority, reducing the danger of the manual driving and reducing traffic accidents.
Preferably, the permission limiting module calculates the driving risk level of the passenger based on the first safety level parameter, the second safety level parameter and the third safety level parameter and determines the manual driving permission of the passenger according to the driving risk level, wherein the manual driving permission at least comprises all permission, limited permission and/or high-risk permission. The invention grades the manual driving authority, not only can give corresponding driving authority to passengers requiring manual driving, but also reduces the danger of the manual driving authority, and well solves the technical problem of how to distinguish people without driving capability and with higher danger to take the automatic driving automobile.
Preferably, the permission limitation module displays the first, second and/or third security level parameters on a display screen of the test terminal according to a control mode of a passenger during taking the automatic driving automobile, calculates preferential parameters for using the automatic driving automobile by combining effective control parameters corresponding to the control command, and displays the preferential parameters to the passenger on a touch screen of the test terminal in a digital mode. According to the invention, through feedback of effective control parameters, passengers can control the automatic driving automobile at will based on the superiority of the automatic driving automobile, so that behavior disturbing traffic can be punished, and preferential parameters are reduced. Thus, transparent calculation of effective control parameters is good for passengers to reasonably control an autonomous vehicle, rather than issuing control commands based on mood.
Preferably, the permission limiting module evaluates a driving parameter and a fourth safety level parameter of the prepared route based on the travel change request and the traffic condition of the smart terminal, and feeds back the travel change request based on the driving parameter and the fourth safety level parameter, wherein the permission limiting module feeds back the travel change request based on a fifth safety level parameter formed by evaluation of the third safety level parameter, the driving parameter and the fourth safety level parameter of the passenger. The invention can well avoid the risk of the stroke. In the event that the passenger's modified itinerary is dangerous or unreachable, the permission restriction module can refuse to modify the itinerary.
Preferably, the test terminal establishes data connection with a CAN bus through an OBD interface and transmits the acquired change data of the ignition control unit, the parking control unit, the brake control unit, the acceleration control unit and/or the steering control unit and the personal information of the passenger to a cloud server managing the autonomous vehicle to update the historical driving data of the passenger, and uses the historical driving data as one of the basic parameters of the third safety class parameter of the passenger. According to the invention, the third safety level of the passenger is evaluated according to the historical record data, so that the passenger cannot randomly send out a control command and change the journey, and the later riding permission is not influenced.
Preferably, the test terminal further comprises a warning module for feeding back warning information to the control command of the passenger, wherein the warning module evaluates implementation safety parameters of the control command based on the driving environment and issues warning information and refuses to execute the control command when the implementation safety parameters are lower than implementation safety parameter threshold values. Under the condition that the control command sent by the passenger is high in danger relative to the driving environment, the warning message can remind the passenger and refuse to execute the control command, the driving danger is reduced, and the safety of the automatic driving automobile and the passenger is guaranteed. Meanwhile, the warning information can enable the passenger to sit rationally, and correct and restrain the passenger's unreasonable behavior.
Preferably, the automatic driving automobile is provided with an automatic cruising module used for judging traffic conditions and directly intervening or taking over driving authority, and the automatic cruising module and the test terminal are mutually associated; test terminal passes through CAN bus and OBD interface and acquires ignition control unit, parking control unit, braking control unit, acceleration control unit and/or steering control unit's change data and when the change appears unusually, pass through test terminal's communication interface will unusual data feedback is to the management the cloud server of autopilot car. The invention well solves the technical problem of protecting the safety of passengers when the automatic driving automobile is abnormal. The invention saves the abnormal data, can be convenient for the automatic driving automobile management company to effectively analyze the reason and the fault of the abnormal automatic driving automobile, and better manages the automatic driving automobile.
The invention provides an interactive system of an automatic driving automobile and a person, which comprises an intelligent terminal in the form of intelligent communication equipment carried by a non-specific passenger and an automatic driving automobile device provided with an on-board device, wherein the passenger utilizes the interaction of the intelligent terminal and the on-board device to reserve the use permission of the automatic driving automobile, the on-board device at least comprises a verification module, a permission limiting module and a test terminal, the test terminal and the automatic driving automobile are fixed in the automatic driving automobile in a way of electrically supplying power and data communication in a wired way and being detachable but not lost in a mechanical way, so that the test terminal establishes data connection with a CAN bus through an OBD interface and CAN acquire or provide data and commands from the verification module, and the permission limiting module interacts with the verification module and CAN dynamically time-share by means of images and/or sounds acquired by the test terminal Determining a range of control authority of the passenger for each period of time during use of the autonomous vehicle.
Preferably, the authentication module transmits a query request to a history database independent of a third party based on successful activation of the identification module and personal information of the passenger, calculates a first security level of the passenger with the obtained history data as a first security level parameter, the authority limit module determines a control authority of the passenger according to the first security level of the passenger and unlocks a car lock, and updates the control authority of the passenger based on a valid control parameter of the passenger.
Preferably, the test terminal comprises a first authentication module, the test terminal is started when the first security level parameter reaches a preset level, and the first authentication module sets a natural language according to the identity information of the passenger, tests the current psychological state of the passenger in a voice and/or video interaction manner by using the natural language, and sends the current psychological state parameter of the passenger as the second security level parameter to the permission restriction module.
Preferably, the test terminal further includes a second authentication module, the second authentication module actively collects operation data of the autonomous driving vehicle based on a mode that the test terminal establishes data connection with a control unit of the CAN bus through an OBD interface, a third security level parameter related to driving and/or control, collected by a passenger when operating a corresponding control unit of the autonomous driving vehicle according to an operation request in a video format provided by the test terminal including at least a touch screen and a gravity sensor, and the second authentication module sends the third security level parameter to the permission restriction module.
Preferably, the permission limitation module displays the first, second and/or third security level parameters on a display screen of the test terminal in a control manner of a passenger during riding of the automated driving vehicle, calculates a benefit parameter for using the automated driving vehicle in combination with an effective control parameter corresponding to a control command, and simultaneously displays the benefit parameter to the passenger on a touch screen of the test terminal in a digital manner.
Preferably, the permission limitation module reduces the benefit rate enjoyed by the passenger in the event that the passenger violates a traffic regulation due to issuance of an erroneous control command by the autonomous vehicle.
Preferably, the test terminal is provided with a simulation program for simulating a traffic driving environment, and the test terminal is started and guides passengers to perform a simulated driving test in a voice, sound and/or vibration mode based on unlocking information of a lock control unit of the automatic driving automobile; when the passenger carries out normal driving operation in the automatic driving automobile according to the simulated driving environment, the test terminal reads data of each control unit of the automatic driving automobile operated in the simulated environment by the passenger, so that the reaction time and the driving operation data of the passenger are obtained, and the driving capacity of the passenger is evaluated.
Preferably, during the simulated driving of the passenger, the permission limiting module sets a driving unit and an ignition device of the automatic driving automobile to enter a protection state, and the automatic driving automobile does not accept a control command sent by manual driving operation; and the second authentication module collects a third safety level parameter related to driving and/or operation and evaluates the driving ability level of the passenger.
Preferably, the permission limiting module acquires the driving parameters and the fourth safety level parameters representing the road condition safety from the traffic database and determines whether to agree with the passenger's journey modification request or not when the passenger sends out the journey modification request through the intelligent terminal; if one of the driving parameter and the fourth safety level parameter is lower than the driving parameter threshold and the fourth safety level parameter threshold, the permission limiting module rejects the passenger's journey change request.
The invention also provides an interaction method of the automatic driving automobile and the human, which comprises the following steps: the passenger utilizes the interaction of the intelligent terminal and the vehicle-mounted device to reserve the use authority of the automatic driving automobile, in the case where the in-vehicle device includes at least a verification module, an authority limit module, and a test terminal, the test terminal is provided in such a manner as to be electrically wired for power supply and data communication with the automated driving vehicle and be mechanically detachable but not losable within the automated driving vehicle, such that the test terminal establishes a data connection with the CAN bus via an OBD interface and is able to acquire or provide data and commands from the verification module, the permission limitation module thus determines the control permission range of the passenger at each time interval during the use of the automatic driving automobile in a dynamic time-sharing manner by interacting with the verification module and by means of the images and/or sounds collected by the test terminal.
The invention has the beneficial technical effects that:
according to the passenger identity authentication method and the passenger identity authentication system, the passenger and the control authority of the passenger can be accurately identified through the passenger identity authentication. The invention can facilitate the change of the journey of the passenger and reduce the riding risk of the passenger by limiting the control authority and the manual driving authority of the passenger. According to the invention, the safety of passengers is evaluated through multiple angles, so that the passengers taking the automatic driving automobile are normal common passengers, and the passengers with dangerousness, extreme psychology or bad riding history are eliminated, so that the automatic driving automobile is healthy and healthy in driving.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Example 1
As shown in fig. 1, a system for judging the identity of a passenger in an autonomous automobile includes a smart terminal 10 in the form of a smart communication device carried by a non-specific passenger and an autonomous automobile apparatus 20 mounted with an in-vehicle device. Wherein, the passenger utilizes the interaction of the intelligent terminal 1O and the vehicle-mounted equipment to reserve the use authority of the automatic driving automobile.
For example, passengers place orders through intelligent terminals to reserve usage rights and trips for an autonomous vehicle. The passenger registers personal information at the intelligent terminal. The vehicle-mounted device receives the travel reservation of the passenger and arrives at the position where the passenger is located to wait for the passenger to get on the vehicle. Preferably, the passenger can select the color, type and/or number of people of the automatic driving car through the intelligent terminal.
The in-vehicle device includes at least an identification module 30, a verification module 40, and a rights restriction module 50. The identification module activated by triggering access via the smart terminal 1O determines the geographical position of the passenger in such a manner that the smart terminal identification is detected in a designated area, and determines the passenger who reserved the trip based on the image information of the passenger and the physiological characteristic information transmitted from the smart terminal 10.
For example, the recognition module includes a face recognition device and a physiological feature recognition device that are provided in an autonomous vehicle. The face recognition device and the physiological characteristic recognition device are hidden in a concealable manner on the body of the automatic driving automobile or are arranged on the body in a waterproof manner in a foldable manner. And after the automatic driving automobile reaches the designated area, determining the specific geographic position of the passenger according to the hardware identifier or the software identifier of the intelligent terminal for sending the reservation information. After arriving near the passenger, the recognition module 30 recognizes the facial features of the passenger through the image information sent by the intelligent terminal, and opens the car lock after the physiological feature recognition device recognizes the physiological features of the passenger. Preferably, the autonomous vehicle body is provided with a key device or a touch screen device into which a verification code can be input. The passenger verifies the passenger identity by entering a verification code.
The verification module 40 sends a query request to a third party independent history database based on the personal information of the passenger based on the successful activation of the identification module 30, to calculate a first security level of the passenger with the obtained history data as a first security level parameter.
For example, the verification module 40 sends the personal information confirmed by the identification module to a history database independent of the third party to send a query request after the identification module 30 successfully identifies the passenger. The verification module 40 calculates a first safety class using the history data relating to the passenger fed back from the history database as a first safety class parameter. If the historical data shows that the passenger is a wanted criminal, the first security level is zero. If the history records show that the credit index of the passenger is lower, the first safety level is one level, and the safety degree is slightly higher than zero level. If the historical record data shows that the traffic historical records of the passengers are seriously violated for a plurality of times, the first safety level is the second level. Preferably, the higher the first security level, the higher the degree of security.
The right defining module 50 determines the control right of the passenger according to the first security level of the passenger and unlocks the car lock, and updates the control right of the passenger based on the effective control parameter of the passenger.
For example, the privilege restriction module 50 denies the ride and unlock for a passenger with a first security level of zero. The permission restriction module 50 unlocks and allows a passenger to take for a passenger with a first security level, but has no control permission. The permission restriction module 50 unlocks and allows passengers of the first security level of two to ride, but only has limited control permissions, the control permissions associated with the passenger's traffic violation history are all restricted.
Preferably, the vehicle-mounted device further comprises a test terminal 60 provided with a first authentication module 61. The test terminal 60 is activated when the first security level reaches a preset level, and the first authentication module 61 sets a natural language according to the identity information of the passenger and tests the current psychological state of the passenger in a voice and/or video interactive manner using the natural language, and transmits the current psychological state parameter of the passenger as a second security level parameter to the right restriction module 50. The right restriction module 50 evaluates a second security level of the passenger based on the first security level parameter and the second security level parameter and determines the control right of the passenger.
For example, the test terminal 60 is activated when the first security level reaches level two. The first authentication module 61 displays a plurality of psychological test questions and/or lie-testing questions on the touch screen. Psychological test questions and/or lie-detecting questions can be displayed on the touch screen in a question-and-answer manner, a dictation manner and/or a game manner to interact with passengers. The first authentication module 61 evaluates the psychological state parameter and the honest parameter of the passenger based on the feedback answer of the passenger. The first authentication module 61 sends control rejection information to the passengers with integrity parameters lower than the integrity threshold and/or the passengers with psychological state parameters in the abnormal threshold range on the touch screen in a voice and/or text information manner, and sends the control rejection information to the permission limiting module 50.
Preferably, the test terminal 60 is fixed in the autonomous vehicle in an electrically wired and data-communicating and mechanically detachable but not losable manner with the autonomous vehicle, so that the test terminal establishes a data connection with the CAN bus via the OBD interface and CAN acquire or provide data and commands from the verification module, so that the right limitation module, by interacting with the verification module, CAN determine the control right range of the passenger at various periods during the use of the autonomous vehicle in a dynamic time-sharing manner by means of images and/or sounds acquired by the test terminal.
Preferably, the test terminal 60 is a smart device having a display screen. The test terminal 60 includes a computer, a laptop, a tablet, a smart phone, and/or smart glasses. The test terminal 60 is connected with a non-specific automated driving car in a wired manner, preventing the test terminal 60 from being stolen or lost by a lawbreaker. Also, the line of the test terminal 60 connected to the automatic driving car may be a data line having an elastic structure or formed of an elastic material capable of transmitting current and data. The data line can ensure power supply of the test terminal 60 and data interaction with the autonomous vehicle while preventing separation of the test terminal 60 from the autonomous vehicle 80, so that the test terminal 60 can monitor operation of the autonomous vehicle.
For example, the test terminal 60 collects the driving action and speaking voice of the passenger in the autonomous vehicle. When the passenger holds the steering wheel with one hand and answers the call with the other hand, the test terminal 60 collects an image of the call answered by the passenger and transmits the image to the authority limit module 50. The permission limiting module 50 judges that the driving risk of the passenger for answering the call is increased according to the image sent by the test terminal 60, and the maximum driving speed limit of the passenger is changed from 80km/h to 60 km/h. The permission limiting module 50 judges the driving behavior of the passenger for recovering the double-hand-held steering wheel according to the image sent by the test terminal 60, and recovers the maximum driving speed limit of the passenger from 60km/h to 80 km/h.
Preferably, the test terminal 60 is further provided with a second authentication module 62. The second authentication module 62 actively collects the operation data of the autonomous vehicle in a manner that the test terminal 60 establishes data connection with the OBD interface and the control unit of the CAN bus, and displays a simulated road video for testing the driving ability on the touch screen of the test terminal 60 based on a manual driving request of a passenger.
Preferably, the test terminal 60 establishes a data connection with the CAN bus and the OBD interface of the autonomous vehicle, so that relevant data, instructions and operating states of the individual control units of the autonomous vehicle CAN be acquired.
For example, the test terminal 60 is provided with a simulation program that simulates a traffic driving environment. The test terminal starts and guides passengers to carry out the simulation driving test in a voice, sound and/or vibration mode based on unlocking information of a lock control unit of the automatic driving automobile. The passenger performs normal driving operations in the autonomous vehicle according to the simulated driving environment. The test terminal 60 reads the respective control unit data of the autonomous vehicle operated by the passenger in the simulated environment to obtain the reaction time and driving operation data of the passenger, thereby evaluating the driving ability of the passenger. And if the driving ability of the passenger is poor and the reaction is slow, rejecting the manual driving request of the passenger. The permission limitation module 50 grants a manual driving permission to the passenger if the passenger's driving ability and reaction time meet driving criteria.
Preferably, the passenger operates the corresponding operating unit of the autonomous vehicle according to an operation request in the form of video provided by the test terminal comprising at least a touch screen and a gravity sensor and thus generates a third safety-level parameter related to driving and/or operation that can be acquired by the second authentication module 62. The second authentication module 62 sends the third security level parameter to the permission limitation module to determine whether to provide the manual driving permission by the permission limitation module.
For example, the passenger performs corresponding simulated driving operation through the simulated driving test of the test terminal. During the simulated driving of passengers, the permission limiting module sets a driving unit and an ignition device of the automatic driving automobile to enter a protection state, and the automatic driving automobile does not accept a control command sent by manual driving operation. The second authentication module collects a third safety level parameter related to driving and/or handling and evaluates the driving ability level of the passenger. And for passengers with high driving capability level, the passengers are granted the authority of manual driving. And refusing to grant manual driving permission to passengers with lower driving capability.
Preferably, the permission limiting module calculates a driving risk level of the passenger based on the first safety level parameter, the second safety level parameter and the third safety level parameter and determines a manual driving permission of the passenger according to the driving risk level, wherein the manual driving permission at least comprises all permissions, limited permission and/or high-risk permission.
For example, a first level of safety parameter assesses a passenger's basic personal safety level, a second level of safety parameter assesses a passenger's mental state safety level, and a third level of safety parameter assesses a passenger's manual driving safety level. Assuming that the driving risk level of the passenger is evaluated in addition, the lower the safety level of the three is, the higher the driving risk is, and the more the limit of the manual driving authority is.
Preferably, the driving risk level of the passenger is calculated by a weighting method according to the first safety level parameter, the second safety level parameter and the third safety level parameter, and the same driving risk level division effect is achieved.
Preferably, the permission limitation module 50 determines the manual driving permission based on the driving risk level of the passenger. The manual driving authority includes at least a class a authority of full authority, a class B authority of limited partial authority based on psychological deficiency and traffic history information, and a class C authority having a high risk of driving.
Preferably, the right restriction module 50 displays the first, second and/or third security level parameters on a display screen of the test terminal in a control manner of the passenger during riding of the automated driving vehicle, and calculates the benefit parameters for using the automated driving vehicle in combination with the effective control parameters corresponding to the control command, while digitally displaying the benefit parameters to the passenger on a touch screen of the test terminal.
For example, when the passenger issues a wrong control command to cause the automatic driving vehicle to violate the traffic rules, the preferential rate enjoyed by the passenger is reduced from 50% to 20% in addition to the measure of deducting the traffic fine. The passenger can grasp his/her violation behavior through the effective control parameters, and reasonably issue a control command for improving the benefit rate in the following riding.
Preferably, the right restriction module 50 evaluates the driving parameter and the fourth safety level parameter of the prepared route based on the travel change request and the traffic condition of the smart terminal 10, and feeds back the travel change request based on the driving parameter and the fourth safety level parameter.
For example, the passenger intelligent terminal requests to change the journey, the permission limiting module evaluates the prepared route to be blocked according to the traffic condition fed back by the relevant traffic database, the prepared route is difficult to reach, and the road condition is poor and uneven. The permission limiting module acquires the driving parameters and a fourth safety level parameter representing the road condition safety from the traffic database and determines whether to approve the passenger's journey modification request. If one of the driving parameter and the fourth safety level parameter is lower than the driving parameter threshold and the fourth safety level parameter threshold, the permission limiting module rejects the passenger's journey change request.
Preferably, the right limitation module 50 feeds back the trip change request based on a fifth safety level evaluated by the passenger's third safety level parameter, the driving parameter and the fourth safety level parameter.
For example, in a state in which the passenger performs manual driving, the right restriction module evaluates the fifth safety level in a weighted manner according to the manual driving level, the driving parameter, and the fourth safety level parameter of the passenger, and in a case in which the fifth safety level is higher than a preset fifth safety level, the passenger's trip change request is granted. And under the condition that the fifth safety level is lower than the preset fifth safety level, refusing the passenger's journey change request so as to ensure the driving safety of the passenger and reduce the driving risk of the passenger.
Preferably, the test terminal 60 updates the historical driving data of the passenger by establishing a data connection with the CAN bus through the OBD interface and transmitting the acquired change data of the ignition control unit, the parking control unit, the brake control unit, the acceleration control unit, and/or the steering control unit and the personal information of the passenger to the cloud server managing the auto-driven vehicle, and uses the historical driving data as one of the basic parameters for evaluating the third safety class parameter of the passenger.
The historical driving data of the passenger can sufficiently reflect the control habit of the passenger for controlling the automatic driving automobile and the driving habit of manually driving the automatic driving automobile. The historical driving data is used as one of the basic parameters for evaluating the third safety level of the passenger, and when the passenger uses the automatic driving automobile again, the driving ability of the passenger can be re-evaluated according to the reference historical driving data, and the third safety level of the passenger can be determined. Thus, it is easier for passengers with high driving ability to obtain manual driving authority when making a manual driving request again.
Preferably, the test terminal 60 further includes a warning module for feeding back warning information to the control command of the passenger. The warning module evaluates an implementation safety parameter of the control command based on the driving environment and issues a warning message and rejects execution of the control command when the implementation safety parameter is below an implementation safety parameter threshold.
For example, the passenger issues a certain control command. The warning module evaluates an implementation safety parameter of the control command based on a current driving environment parameter. If the implementation safety parameter is lower than the implementation safety parameter threshold value, the identification control command is not suitable for the current driving environment, the safety risk is high, and the safety level is low. Therefore, the warning module issues warning information to the passenger when the control command of the passenger is not suitable for the current driving environment. The warning information may be issued by the in-vehicle apparatus in the form of voice travel and/or images. The warning module sends warning information to the permission limiting module. And the permission limiting module refuses to execute the control command sent by the passenger according to the warning information. Therefore, the invention well ensures the safety of passengers and the automatic driving automobile and reduces the danger.
Preferably, the autonomous vehicle has an automatic cruise module for determining traffic conditions and for directly intervening or taking over driving rights. The auto-cruise module and the test terminal 60 are associated with each other so that the test terminal can replace the driving system of the auto-driving car or reject the control command of the passenger based on the traffic condition sent by the auto-cruise module. The test terminal 60 acquires the change data of the ignition control unit, the parking control unit, the braking control unit, the acceleration control unit and/or the steering control unit through the CAN bus and the OBD interface, and feeds the abnormal data back to the cloud server for managing the automatic driving automobile through the communication interface of the test terminal 60 when the change is abnormal.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (10)
1. An autonomous vehicle-human interaction system includes an intelligent terminal (10) in the form of an intelligent communication device carried by a non-specific passenger and an autonomous vehicle apparatus (20) mounted with a vehicle-mounted device, wherein the passenger reserves the use right of the autonomous vehicle by the interaction of the intelligent terminal (10) with the vehicle-mounted device,
it is characterized in that the preparation method is characterized in that,
the vehicle-mounted device at least comprises a verification module (40), a permission definition module (50) and a test terminal (60),
the test terminal (60) is fixed in the autonomous vehicle in an electrically wired power and data communication and mechanically detachable but not losable manner with the autonomous vehicle, so that the test terminal establishes a data connection with the CAN bus via an OBD interface and CAN acquire or provide data and commands from the verification module, so that the right limitation module, by interacting with the verification module and by means of images and/or sounds acquired by means of the test terminal, CAN determine the control right range of the passenger at various periods during the use of the autonomous vehicle in a dynamic time-sharing manner.
2. The automated automobile and human interaction system according to claim 1, wherein the verification module (40) sends a query request to a history database independent of a third party based on successful activation of the identification module (30) and personal information of the passenger, calculates a first safety level of the passenger with the obtained history data as a first safety level parameter,
the right defining module (50) determines the control right of the passenger according to the first safety level of the passenger and opens the vehicle lock, and updates the control right of the passenger based on the effective control parameter of the passenger.
3. The automated automobile and human interaction system of claim 2, wherein the test terminal (60) comprises a first authentication module (61),
the testing terminal (60) is started when the first safety level parameter reaches a preset level, the first authentication module (61) sets a natural language according to the identity information of the passenger, tests the current psychological state of the passenger in a voice and/or video interaction mode by adopting the natural language, and sends the current psychological state parameter of the passenger to the permission limiting module (50) as a second safety level parameter.
4. The automated automobile and human interaction system of claim 2, wherein the test terminal (60) further comprises a second authentication module (62),
the second authentication module (62) actively collects operation data of the automatic driving automobile based on a mode that the test terminal (60) establishes data connection with a control unit of the CAN bus through an OBD interface, third safety level parameters which are collected when a passenger operates a corresponding control unit of the automatic driving automobile according to an operation request in a video form provided by the test terminal at least comprising a touch screen and a gravity sensor and are related to driving and/or control are collected, and the second authentication module (62) sends the third safety level parameters to the authority limit module.
5. The automated automobile and human interaction system according to any one of claims 1 to 4, wherein the right restriction module (50) displays the first, second and/or third security level parameters on a display screen of a test terminal in a control manner of a passenger during riding of the automated automobile, and calculates a benefit parameter for using the automated automobile in combination with an effective control parameter corresponding to a control command while digitally presenting the benefit parameter to the passenger on a touch screen of the test terminal.
6. The autonomous automobile and human interaction system according to any of claims 1 to 4, characterized in that the right restriction module (50) reduces the benefit rate enjoyed by the passenger in case the passenger violates the traffic regulations due to the issuance of a wrong control order in the autonomous automobile.
7. The automated automobile and human interaction system according to claim 6, wherein the test terminal (60) is provided with a simulation program simulating a traffic driving environment,
the test terminal is started in a voice, sound and/or vibration mode based on unlocking information of a lock control unit of the automatic driving automobile and guides passengers to carry out a simulation driving test;
when a passenger performs a normal driving operation in the autonomous vehicle according to a simulated driving environment, the test terminal (60) reads data of each control unit of the autonomous vehicle operated by the passenger in the simulated environment, thereby obtaining a reaction time and driving operation data of the passenger, and evaluating a driving ability of the passenger.
8. The automated automobile and human interaction system according to claim 7, wherein the permission restriction module (50) sets a driving unit and an ignition of the automated automobile into a protection state during the simulated driving of the passenger, the automated automobile not receiving a control command from a manual driving operation; and the second authentication module collects a third safety level parameter related to driving and/or operation and evaluates the driving ability level of the passenger.
9. The automated automobile and human interaction system of claim 5, wherein, in case that the passenger sends a journey change request through the intelligent terminal, the right restriction module obtains the driving parameters and the fourth safety class parameters representing the road condition safety from the traffic database and decides whether to approve the passenger's journey modification request;
if one of the driving parameter and the fourth safety level parameter is lower than the driving parameter threshold and the fourth safety level parameter threshold, the permission limiting module rejects the passenger's journey change request.
10. An automated car-to-person interaction method, comprising: the passenger uses the interaction of the intelligent terminal (10) and the vehicle-mounted device to reserve the use authority of the automatic driving automobile,
the method further comprises the following steps:
in the case where the in-vehicle apparatus includes at least a verification module (40), a right restriction module (50), and a test terminal (60),
-arranging the test terminal (60) in such a way that it is electrically wired for power and data communication with the autonomous vehicle and is mechanically detachable but not losable in the autonomous vehicle, so that the test terminal establishes a data connection with the CAN bus via an OBD interface and is able to acquire or provide data and commands from the verification module,
the permission limitation module thus determines the control permission range of the passenger at each time interval during the use of the automatic driving automobile in a dynamic time-sharing manner by interacting with the verification module and by means of the images and/or sounds collected by the test terminal.
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| CN201710340406.8A CN107139868B (en) | 2017-05-15 | 2017-05-15 | System for automatically driving automobile to judge identity of passenger |
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| CN202110883924.0A Pending CN113525265A (en) | 2017-05-15 | 2017-05-15 | Interactive system and method for automatically driving automobile and people |
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Also Published As
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| CN110154954A (en) | 2019-08-23 |
| CN113401076B (en) | 2023-05-30 |
| CN113401076A (en) | 2021-09-17 |
| CN110154954B (en) | 2023-06-02 |
| CN107139868A (en) | 2017-09-08 |
| CN107139868B (en) | 2021-10-22 |
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