An interactive system and method between an autonomous vehicle and a person

Abstract

The present invention relates to a system and method for interaction between an autonomous vehicle and a person. The system includes an intelligent terminal in the form of an intelligent communication device carried by a non-specific passenger and an autonomous vehicle device equipped with an on-board device. The passenger utilizes the interaction between the intelligent terminal and the on-board device to reserve the right to use the autonomous vehicle. The on-board device includes at least a verification module, a permission restriction module, and a test terminal. The test terminal and the autonomous vehicle are fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically removable but not loseable. The test terminal establishes a data connection with a CAN bus via an OBD interface and is capable of obtaining or providing data and commands from the verification module. The permission restriction module, by interacting with the verification module and relying on images and / or sounds captured by the test terminal, is able to determine the scope of the passenger's control authority in various time periods during use of the autonomous vehicle in a dynamic, time-sharing manner.

Description

[0001] This invention is application number 201710340406.8, application date May 15, 2017, application name is A system for determining passenger identity in an autonomous vehicle, and application type is a divisional application of an invention patent. Technical Field

[0002] The present invention relates to an autonomous vehicle, and in particular to an interaction system and method between an autonomous vehicle and a person. Background Art

[0003] Self-driving cars, also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent vehicles that utilize computer systems to achieve unmanned driving. The development of self-driving car technology dates back decades to the 20th century, and by the early 21st century, it was nearing practical application. For example, Google's self-driving car received the first US autonomous vehicle permit in May 2012 and is expected to enter the market between 2015 and 2017. Self-driving cars rely on a collaborative approach of artificial intelligence, visual computing, radar, monitoring systems, and global positioning systems, enabling computers to safely and autonomously operate motor vehicles without any active human intervention.

[0004] With the widespread use of self-driving cars, they are finding applications in the taxi industry. Self-driving taxis offer affordable transportation to passengers. However, currently, self-driving cars are unable to accurately identify passengers, often opening doors and picking up the wrong passengers. Therefore, the self-driving taxi industry needs a system that can accurately identify passengers and address the technical challenges of accurately determining passenger identities.

[0005] Currently, there are no self-driving car systems on the market that can accurately determine passenger identities. Only systems that manually drive and pick up passengers via electronic orders exist. For example, a Chinese patent (CN 104867324) discloses a method for identifying passengers for boarding a ride in a ride-hailing service. On a first client side, the method comprises: upon receiving an order from a second client, obtaining an identification identifier uploaded by the second client that uniquely identifies the second client; continuously detecting whether the second client is within a preset area based on the identification identifier; and triggering a billing state when the second client is detected to be within the preset area and a boarding confirmation message has been received from the second client. This method relies on the boarding passenger actively confirming the boarding to identify the passenger. However, this patent cannot be applied to self-driving taxis. If applied to self-driving taxis, the self-driving taxi would first need to open the door and then identify the passenger based on the passenger's confirmation information. This makes the self-driving taxi vulnerable to control by illegal elements, and passengers cannot modify their itineraries while driving. This patent cannot prevent passengers from boarding the wrong vehicle.

[0006] Facial recognition and physiological feature recognition technologies are relatively mature, and mature facial recognition and physiological feature recognition devices are already available on the market. For example, the LIFANGQI 1.3 million 960P HD infrared night vision USB camera module is a vehicle-mounted low-light facial recognition module with a 170-degree lens. Physiological feature recognition modules typically include fingerprint recognition devices, iris recognition devices, and voiceprint recognition devices. For example, the fingerprint recognition device can be the Defeilai AS608 optical fingerprint recognition module or the Xiyanxian R300 capacitive fingerprint sensor recognition module; the iris recognition device can be the Xiyanxian black and white narrow-band 850 infrared facial recognition iris recognition customized wide dynamic range AR0130 camera module with a 3.6mm 90-degree lens; and the voiceprint recognition device can be the iFlytek voiceprint recognition device.

[0007] The paper "Lin Yingzi, Yu Qun. Physiological / Psychological Analysis and Testing of Drivers During Vehicle Steering Maneuvers [J]. Automotive Engineering, 1998(2):71-76" discloses a test scheme for the driver's physical and mental reactions, measuring the driver's heart rate and blood pressure. A ZE61 electrocardiogram telemeter produced by Sanei Corporation of Japan was used to continuously measure the driver's electrocardiogram, thereby obtaining the instantaneous heart rate value at each moment; an EXCE12 24-hour blood pressure recorder produced in the UK was used to measure the driver's instantaneous blood pressure value; an LC-761 speedometer produced by Ono Sokki of Japan and a CDY-1A vehicle dynamic tester produced by the 13th Institute of the First Academy of the Ministry of Aerospace were used to measure the vehicle's longitudinal velocity, longitudinal acceleration, yaw angular velocity, steering wheel angle and other dynamic characteristic parameters. The LSFX-IV vehicle performance road test data acquisition system developed by the Department of Automotive Engineering of Tsinghua University was used to simultaneously collect the above eight analog signals, and single lane change, double lane change, and serpentine line penetration tests were conducted.

[0008] The paper "Tian Xinmin, Tian Quan, Tian Yuan. Dynamic Simulation Driving Test of Bus Drivers' Driving Suitability [J]. Journal of Highway and Transportation Research and Development, 2000, 17(5)" discloses a dynamic driving simulation system, sets standards for bus driver selection, dynamic simulation cockpit assessment and training methods and systems, dynamic simulation driving assessment and evaluation methods for test drivers, and bus dynamic driving simulation testing and bus design. The paper also establishes evaluation standards for driver status.

[0009] Chinese patent CN101238985A discloses a psychological and behavioral monitoring system based on a simulated driving platform. It includes a simulated driving subsystem, a secondary task experiment subsystem, and a driver physiological data acquisition subsystem. The simulated driving subsystem includes a simulated driving device and a scenario simulation and data acquisition platform, which also includes a driving scenario simulation module and an experimental data recording module. The secondary task experiment subsystem is used to enable the driver to complete secondary tasks and record and analyze the driver's secondary task performance data. The driver physiological data acquisition subsystem is used to collect the driver's physiological data and includes an electrocardiogram data acquisition module, a body movement data acquisition module, and a respiratory data acquisition module. This invention facilitates monitoring the driver's driving status and provides technical support for the design of automobile safety driving devices. The patent specification details the specific structure, components, and layout of each subsystem.

[0010] Chinese patent CN202130310U discloses a car security terminal with a driver identification function, which belongs to the field of car security technology. It includes a sun visor body, a control unit arranged inside the sun visor body, and an operating panel for operating the terminal; wherein the control unit includes a face recognition module for collecting facial images for user identification, and a permission control module for setting the user's car operation authority through the recognition result of the face recognition module. The car security terminal with a driver identification function described in the utility model applies face recognition technology to identify drivers. The user pre-sets the image information of at least one legal driver according to his or her needs. When the car is started, the camera in the device is used to collect the driver's head portrait information on the scene, and compares and identifies it with the preset driver image information to determine the legitimacy of the driver on the scene.

[0011] Chinese patent CN105847452A provides a vehicle network security management method, which includes the following steps: obtaining driver information when entering the cockpit; determining whether the corresponding driver has driving authority based on the driver information, and if so, executing the next step; determining whether the driver has completed driving preparations, and if so, executing the next step; determining whether the driver is in a normal state, and if so, executing the next step; uploading the driver information. Using the above scheme, the present invention obtains driver information when the driver enters the cockpit, determines driving authority and driving preparations, and uploads the driver information, so that only authorized drivers can drive the vehicle normally, thereby improving the vehicle's anti-theft effect and enhancing anti-theft safety. It also avoids the use of substitutes to assume responsibility in the event of an accident, thereby effectively preventing drunk driving and drug driving, improving drivers' sense of responsibility, and helping to reduce traffic accidents and clarify the person responsible for the accident.

[0012] Chinese patent CN102982316A discloses a device and method for identifying abnormal driving behavior of a driver. The device includes: a facial feature point positioning module, a facial posture detection module, a vehicle sensor module, a driving action analysis module, and a control module. The output end of the facial detection module is connected to the input end of the control module through the facial feature point positioning module and the facial posture detection module, respectively. The output end of the vehicle sensor module is connected to the input end of the control module through the driving action analysis module. When identifying abnormal driving behavior of a driver, the present invention does not require contact with the driver, and the implementation method is simple and highly accurate. As a high-performance device and method for identifying abnormal driving behavior of a driver, the present invention can be widely used in safe driving monitoring.

[0013] Chinese patent CN102113888B provides a psychological workload measurement system based on simulated driving, comprising a simulation scenario display module for generating simulated driving scenarios, a simulation driving module for executing simulated driving actions, and a psychological status recording module for detecting the user's psychological state during the simulated driving process. The simulation driving module includes a data acquisition device that records the user's driving behavior. The simulation scenario display module displays the simulated driving scenario according to a pre-set driving task. The user performs driving operations on the simulation driving module according to the simulated driving scenario. The data acquisition device collects and records the user's simulated driving behavior and feeds data related to the simulated driving behavior back to the simulation scenario display module to update the driving scenario displayed by the simulation scenario display module in real time. Data related to the simulated driving behavior is also sent to the psychological status recording module, which detects the user's psychological workload under different road conditions and task difficulties. This patent discloses a technical solution using the NASA-3000 as a psychological workload assessment scale.

[0014] The paper "Wang Xiaolong. Identification of Automobile Driving Tendency Based on Mobile Sensor Data Inference [D]. 2014," aims to identify driving tendencies and classifies driving tendencies into three types: aggressive, normal, and conservative. These can be further subdivided into aggressive, normal aggressive, normal, conservative, and normal conservative. A minimum information entropy continuous attribute discretization algorithm based on rough set theory is used to discretize sample information. A heuristic greedy algorithm is then used to simplify the corresponding sample attributes and extract characteristic data of driving tendencies. Focusing on three-lane conditions and considering the situational factors that directly influence driver emotions among environmental factors, a dynamic Bayesian network is used to establish a driving tendency recognition model that adapts to environmental evolution. Furthermore, based on the research perspective of vehicle safety control technology, this paper uses travel time on the experimental road section captured in real time by GPS as a feature parameter, while respecting and protecting driver privacy. A dynamic identification model for automobile driving tendencies based on a support vector machine is established.

[0015] Major cities now maintain real-time traffic information databases, such as the Beijing Municipal Public Security Bureau's Traffic Management Bureau. This information includes information on traffic congestion, road construction, weather conditions such as fog and icy roads, traffic accidents, natural disasters such as mudslides, and road closures. This includes information on poor road conditions and uneven roads caused by road construction or natural disasters. Drivers can access this information through these traffic databases and effectively respond to requests for itinerary changes. Summary of the Invention

[0016] To address the shortcomings of the prior art, the present invention provides a system for determining the identity of passengers in an autonomous vehicle. The system comprises a smart terminal in the form of an intelligent communication device carried by a non-specific passenger and an autonomous vehicle apparatus equipped with an onboard device. Passengers reserve access to the autonomous vehicle by interacting with the smart terminal and the onboard device. The onboard device comprises at least an identification module, a verification module, and a permission restriction module. The identification module, activated upon access triggered by the smart terminal, determines the passenger's geographic location by detecting the smart terminal's identifier in a designated area and identifies the passenger who has made the reservation based on the passenger's image and physiological characteristics transmitted by the smart terminal. Upon successful activation of the identification module, the verification module sends a query request based on the passenger's personal information to a third-party independent historical record database, using the obtained historical data as a first security level parameter to calculate the passenger's first security level. The permission restriction module determines the passenger's control authority based on the passenger's first security level and unlocks the vehicle. Furthermore, the permission restriction module updates the passenger's control authority based on the passenger's valid control parameters. The present invention verifies the passenger's personal information, calculates the security level, and verifies the passenger's legal identity, thereby allowing the passenger to board. The present invention can prevent wanted criminals from using autonomous vehicles to escape or engage in other illegal activities.

[0017] Preferably, the vehicle-mounted device also includes a test terminal provided with a first authentication module, the test terminal is activated 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 and uses the natural language to test the current psychological state of the passenger in a voice and / or video interactive manner, and sends the passenger's current psychological state parameter as a second security level parameter to the authority restriction module, and the authority restriction module evaluates the passenger's second security level based on the first security level parameter and the second security level parameter and determines the passenger's control authority. The present invention determines the passenger's psychological state by querying the passenger's second security level parameter. The present invention restricts the control authority of psychologically extreme illegal elements, preventing psychologically extreme illegal elements from arbitrarily controlling the car and engaging in extremely dangerous driving.

[0018] Preferably, the test terminal and the autonomous vehicle are fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically detachable but not loseable, so that the test terminal establishes a data connection with the CAN bus via the OBD interface and can obtain or provide data and commands from the verification module, so that the authority restriction module can determine the control authority range of the passenger in each period of time during the use of the autonomous vehicle in a dynamic time-sharing manner by interacting with the verification module based on the images and / or sounds collected by the test terminal. The present invention monitors passengers during the ride to prevent passengers from engaging in illegal activities while the autonomous vehicle is driving. If it is determined that the passenger's behavior is abnormal or a sudden illness occurs, the test terminal can issue an alarm in the first time to ensure the passenger's personal safety.

[0019] Preferably, the test terminal is further provided with a second authentication module, which actively collects the operating data of the autonomous vehicle based on the test terminal establishing a data connection with the control unit of the CAN bus via the OBD interface, and displays a simulated road video for testing driving ability on the touch screen of the test terminal based on the passenger's manual driving request, wherein the passenger operates the corresponding control unit of the autonomous vehicle according to the operation request in the form of a video provided by the test terminal, which includes at least a touch screen and a gravity sensor, and thereby generates the third safety level parameter related to driving and / or control that can be collected by the second authentication module. The second authentication module sends the third safety level parameter to the authority restriction module so that the authority restriction module determines whether to provide manual driving authority. The second authentication module of the present invention evaluates the passenger's driving ability by conducting a simulated driving test on the passenger, thereby avoiding granting manual driving authority to passengers who do not have driving ability, reducing the danger of manual driving, and reducing traffic accidents.

[0020] Preferably, the permission restriction module calculates the passenger's driving risk level based on the first, second, and third safety level parameters and determines the passenger's manual driving permission based on the driving risk level, wherein the manual driving permission includes at least full permission, restricted permission, and / or high-risk permission. The present invention classifies manual driving permissions, thereby granting appropriate driving permissions to passengers who request manual driving while reducing the risk of manual driving permissions. This effectively solves the technical problem of how to distinguish between people who lack driving ability and are highly dangerous and allowed to ride in autonomous vehicles.

[0021] Preferably, the authority restriction module displays the first, second, and / or third security level parameters on the display screen of the test terminal according to the control method used by the passenger while riding the autonomous vehicle, and calculates preferential parameters for the use of the autonomous vehicle in combination with the effective control parameters corresponding to the control command, and simultaneously displays the preferential parameters to the passenger in digital form on the touch screen of the test terminal. The present invention uses feedback on effective control parameters so that passengers who arbitrarily control the autonomous vehicle based on its superiority and thus disrupt traffic will be punished and have their preferential parameters reduced. Therefore, the transparent calculation of effective control parameters can effectively enable passengers to reasonably control the autonomous vehicle, rather than issuing control commands based on their emotions.

[0022] Preferably, the authority restriction module evaluates the travel parameters and fourth safety level parameters of the alternate route based on the smart terminal's itinerary change request and traffic conditions, and provides feedback on the itinerary change request based on the travel parameters and fourth safety level parameters. Furthermore, the authority restriction module provides feedback on the itinerary change request based on a fifth safety level parameter formed by evaluating the passenger's third safety level parameter, travel parameters, and fourth safety level parameter. This invention effectively mitigates itinerary risks. If a passenger's itinerary change is dangerous or unreachable, the authority restriction module can refuse to modify the itinerary.

[0023] Preferably, the test terminal establishes a data connection with the CAN bus via an OBD interface and transmits acquired data on changes in the ignition control unit, parking control unit, braking control unit, acceleration control unit, and / or steering control unit, along with the passenger's personal information, to a cloud server managing the autonomous vehicle to update the passenger's historical driving data. This historical driving data is then used as one of the foundational parameters for the passenger's third safety level parameter. By assessing a passenger's third safety level based on historical data, the present invention prevents passengers from arbitrarily issuing control commands or changing their itinerary, thereby preventing them from jeopardizing their future ride privileges.

[0024] Preferably, the test terminal also includes a warning module for providing feedback warning information regarding the passenger's control command. The warning module evaluates the implementation safety parameters of the control command based on the driving environment and issues a warning message and refuses to execute the control command when the implementation safety parameters fall below a threshold. If the control command issued by the passenger presents a high risk relative to the driving environment, the warning message will alert the passenger and refuse to execute the control command, thereby reducing the risk of driving and ensuring the safety of the autonomous vehicle and its passengers. At the same time, the warning message can encourage passengers to ride rationally and correct and restrain their irrational behavior.

[0025] Preferably, the autonomous vehicle has an automatic cruise module for judging traffic conditions and directly intervening in or taking over driving authority, and the automatic cruise module is associated with the test terminal; the test terminal obtains change data of the ignition control unit, parking control unit, braking control unit, acceleration control unit and / or steering control unit through the CAN bus and OBD interface, and when the change is abnormal, the abnormal data is fed back to the cloud server that manages the autonomous vehicle through the communication interface of the test terminal. The present invention has well solved the technical problem of how to protect the safety of passengers when an abnormality occurs in an autonomous vehicle. The present invention saves abnormal data, which can facilitate the autonomous vehicle management company to effectively analyze the causes and faults of the autonomous vehicle abnormality and better manage the autonomous vehicle.

[0026] The present invention provides an interaction system between an autonomous vehicle and a person, comprising an intelligent terminal in the form of an intelligent communication device carried by a non-specific passenger and an autonomous vehicle apparatus equipped with an on-board device, wherein the passenger utilizes the interaction between the intelligent terminal and the on-board device to reserve the right to use the autonomous vehicle, and the on-board device includes at least a verification module, a permission restriction module, and a test terminal, wherein the test terminal is fixed within the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically removable but not loseable, such that the test terminal establishes a data connection with a CAN bus via an OBD interface and is capable of obtaining or providing data and commands from the verification module, thereby enabling the permission restriction module to determine the control authority scope of the passenger at various time periods during the use of the autonomous vehicle in a dynamic, time-sharing manner by interacting with the verification module and relying on images and / or sounds captured by the test terminal.

[0027] Preferably, the verification module sends a query request to a historical record database independent of a third party based on the successful startup of the identification module and the passenger's personal information, and uses the obtained historical data as a first security level parameter to calculate the passenger's first security level. The authority restriction module determines the passenger's control authority and unlocks the vehicle according to the passenger's first security level, and updates the passenger's control authority based on the passenger's effective control parameters.

[0028] Preferably, the test terminal includes a first authentication module, which is started when the first security level parameter reaches a preset level, and the first authentication module sets a natural language according to the passenger's identity information and uses the natural language to test the passenger's current psychological state in a voice and / or video interactive manner, and sends the passenger's current psychological state parameter as a second security level parameter to the authority restriction module.

[0029] Preferably, the test terminal also includes a second authentication module, which actively collects the operating data of the autonomous vehicle based on the test terminal establishing a data connection with the control unit of the CAN bus through the OBD interface, and collects the third security level parameters related to driving and / or control when the passenger operates the corresponding control unit of the autonomous vehicle according to the operation request in the form of a video provided by the test terminal including at least a touch screen and a gravity sensor. The second authentication module sends the third security level parameters to the authority restriction module.

[0030] Preferably, the authority restriction module displays the first, second and / or third security level parameters on the display screen of the test terminal according to the control method of the passenger while riding the autonomous driving car, and calculates the preferential parameters for using the autonomous driving car in combination with the effective control parameters corresponding to the control command, and at the same time displays the preferential parameters to the passenger in digital form on the touch screen of the test terminal.

[0031] Preferably, in the event that a passenger causes the autonomous driving vehicle to violate traffic regulations due to issuing erroneous control commands, the authority restriction module reduces the preferential rate enjoyed by the passenger.

[0032] Preferably, the test terminal is provided with a simulation program simulating a traffic driving environment. The test terminal starts and guides the passenger to perform a simulated driving test in the form of voice, sound and / or vibration based on the unlocking information of the vehicle lock control unit of the autonomous vehicle; when the passenger performs normal driving operations in the autonomous vehicle according to the simulated driving environment, the test terminal reads the data of each control unit of the autonomous vehicle operated by the passenger in the simulated environment, thereby obtaining the passenger's reaction time and driving operation data, and thus evaluating the passenger's driving ability.

[0033] Preferably, during the passenger's simulated driving, the authority restriction module sets the driving unit and ignition device of the autonomous driving vehicle to a protection state, and the autonomous driving vehicle does not accept control commands issued by manual driving operations; and the second authentication module collects third safety level parameters related to driving and / or control to evaluate the passenger's driving ability level.

[0034] Preferably, when a passenger issues a trip change request through a smart terminal, the authority restriction module obtains driving parameters and a fourth safety level parameter indicating road safety from a traffic database and decides whether to approve the passenger's trip modification request; if one of the driving parameters and the fourth safety level parameter is lower than a driving parameter threshold and a fourth safety level parameter threshold, the authority restriction module rejects the passenger's trip change request.

[0035] The present invention also provides a method for interaction between an autonomous vehicle and a person, comprising: a passenger utilizes the intelligent terminal to interact with the on-board equipment to reserve the right to use the autonomous vehicle; when the on-board equipment includes at least a verification module, a permission restriction module and a test terminal, the test terminal is fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication with the autonomous vehicle and is mechanically detachable but cannot be lost, so that the test terminal establishes a data connection with the CAN bus via the OBD interface and can obtain or provide data and commands from the verification module, so that the permission restriction module can determine the control authority range of the passenger in each time period during the use of the autonomous vehicle in a dynamic time-sharing manner by interacting with the verification module and relying on the images and / or sounds collected by the test terminal.

[0036] Beneficial technical effects of the present invention:

[0037] By verifying a passenger's identity, the present invention accurately identifies the passenger and their control rights. By limiting passenger control rights and manual driving permissions, the present invention facilitates itinerary changes and reduces passenger risks. By assessing passenger safety from multiple perspectives, the present invention ensures that passengers in self-driving vehicles are normal, ordinary passengers, excluding those with dangerous or extreme psychological characteristics or a history of poor driving, ensuring robust and healthy operation of self-driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the module structure of the present invention. DETAILED DESCRIPTION

[0039] The following is a detailed description with reference to the accompanying drawings.

[0040] Example 1

[0041] like Figure 1 As shown, a system for determining the identity of a passenger in an autonomous vehicle includes a smart terminal 10 in the form of a smart communication device carried by a non-specific passenger and an autonomous vehicle device 20 equipped with an onboard device. The passenger uses the smart terminal 10 to interact with the onboard device to reserve permission to use the autonomous vehicle.

[0042] For example, a passenger places an order through a smart terminal to reserve access to a self-driving car and a trip. The passenger registers their personal information on the smart terminal. The onboard device accepts the passenger's trip request and arrives at the passenger's location to wait for the passenger to board. Preferably, the passenger can select the color, type, and / or number of passengers of the self-driving car through the smart terminal.

[0043] The onboard device includes at least an identification module 30, a verification module 40, and an authorization restriction module 50. The identification module, activated by triggering access via the smart terminal 10, determines the passenger's geographic location by detecting the smart terminal's identifier in a designated area. It also identifies the passenger with a scheduled trip based on the passenger's image and physiological characteristics transmitted by the smart terminal 10.

[0044] For example, the recognition module includes a facial recognition device and a physiological feature recognition device installed in the autonomous vehicle. The facial recognition device and the physiological feature recognition device are hidden in the body of the autonomous vehicle in a concealable manner or are foldably installed on the body in a waterproof manner. After the autonomous vehicle arrives at the designated area, the specific geographic location of the passenger is determined based on the hardware identifier or software identifier of the smart terminal that sent the reservation information. After arriving near the passenger, the recognition module 30 recognizes the passenger's facial features through the image information sent by the smart terminal, and unlocks the vehicle after the physiological feature recognition device recognizes the passenger's physiological features. Preferably, the body of the autonomous vehicle is provided with a button device or a touch screen device for entering a verification code. The passenger verifies his or her identity by entering the verification code.

[0045] The verification module 40 sends a query request to a history record database independent of a third party based on the successful startup of the identification module 30 according to the passenger's personal information, and uses the obtained history data as a first security level parameter to calculate the passenger's first security level.

[0046] For example, after the identification module 30 successfully identifies the passenger, the verification module 40 sends the personal information confirmed by the identification module to a history database independent of a third party to send a query request. The verification module 40 uses the historical record data related to the passenger fed back by the history database as a first security level parameter to calculate the first security level. If the historical record data shows that the passenger is a wanted criminal, the first security level is zero. If the historical record shows that the passenger's credit index is low, the first security level is level one, which is slightly safer than level zero. If the historical record data shows that the passenger has a traffic history record of multiple major violations, the first security level is level two. Preferably, the higher the first security level, the higher the security level.

[0047] The authority restriction module 50 determines the control authority of the passenger according to the first security level of the passenger and unlocks the vehicle, and updates the control authority of the passenger based on the effective control parameters of the passenger.

[0048] For example, the authority restriction module 50 denies boarding and unlocking to passengers with a first security level of zero. The authority restriction module 50 unlocks and allows boarding to passengers with a first security level of one, but does not grant control authority. The authority restriction module 50 unlocks and allows boarding to passengers with a first security level of two, but grants limited control authority, including any control authority related to the passenger's traffic violation history.

[0049] Preferably, the in-vehicle device further includes a test terminal 60 equipped with a first authentication module 61. The test terminal 60 is activated when the first security level reaches a preset level. The first authentication module 61 sets a natural language based on the passenger's identity information and uses the natural language to test the passenger's current psychological state through voice and / or video interaction. The first authentication module 61 then sends the passenger's current psychological state parameter as a second security level parameter to the authority restriction module 50. The authority restriction module 50 evaluates the passenger's second security level based on the first and second security level parameters and determines the passenger's control authority.

[0050] For example, the test terminal 60 is activated when the first security level reaches level 2. The first authentication module 61 displays a number of psychological test questions and / or lie detection questions on the touch screen. The psychological test questions and / or lie detection questions can be displayed on the touch screen in the form of questions and answers, oral instructions, and / or games to interact with the passengers. The first authentication module 61 evaluates the passenger's psychological state parameters and integrity parameters based on the passenger's feedback answers. For passengers whose integrity parameters are lower than the integrity threshold and / or passengers whose psychological state parameters are within the abnormal threshold range, the first authentication module 61 sends a control rejection message on the touch screen in the form of voice and / or text messages, and at the same time sends the control rejection message to the authority restriction module 50.

[0051] Preferably, the test terminal 60 and the autonomous vehicle are fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically detachable but not loseable, so that the test terminal establishes a data connection with the CAN bus via the OBD interface and can obtain or provide data and commands from the verification module, so that the authority restriction module can determine the control authority scope of the passenger in each period during the use of the autonomous vehicle in a dynamic time-sharing manner by interacting with the verification module based on the images and / or sounds collected by the test terminal.

[0052] Preferably, the test terminal 60 is a smart device with a display screen. The test terminal 60 includes a computer, a laptop, a tablet computer, a smart phone and / or smart glasses. The test terminal 60 is connected to a non-specific self-driving car in a wired manner to prevent the test terminal 60 from being stolen or lost by criminals. In addition, the wire connecting the test terminal 60 to the self-driving car can be a data cable with an elastic structure or made of elastic material that can transmit current and data. While preventing the test terminal 60 from being separated from the self-driving car 80, the data cable can ensure the power supply of the test terminal 60 and the data interaction between the test terminal 60 and the self-driving car, so that the test terminal 60 can monitor the operation of the self-driving car.

[0053] For example, the test terminal 60 captures the driving movements and voices of passengers in the autonomous vehicle. If a passenger holds the steering wheel with one hand and answers a phone call with the other, the test terminal 60 captures an image of the passenger answering the phone and sends it to the authority restriction module 50. Based on the image sent by the test terminal 60, the authority restriction module 50 determines that the passenger's driving risk from answering the phone has increased, and changes the passenger's maximum speed limit from 80 km / h to 60 km / h. Based on the image sent by the test terminal 60, the authority restriction module 50 determines that the passenger has resumed driving with both hands on the steering wheel, and restores the passenger's maximum speed limit from 60 km / h to 80 km / h.

[0054] Preferably, the test terminal 60 is further provided with a second authentication module 62. The second authentication module 62 actively collects the operating data of the autonomous vehicle by establishing a data connection between the test terminal 60 and the control unit of the OBD interface and the CAN bus, and displays a simulated road video for testing driving ability on the touch screen of the test terminal 60 based on the passenger's manual driving request.

[0055] Preferably, the test terminal 60 establishes a data connection with the CAN bus and OBD interface of the autonomous driving vehicle, thereby being able to obtain relevant data, instructions and operating status of each control unit of the autonomous driving vehicle.

[0056] For example, the test terminal 60 is equipped with a simulation program that simulates a traffic driving environment. Based on the unlocking information from the lock control unit of the autonomous vehicle, the test terminal activates and guides the passenger to perform a simulated driving test using voice, sound, and / or vibration. The passenger performs normal driving operations in the autonomous vehicle according to the simulated driving environment. The test terminal 60 reads the data from each control unit of the autonomous vehicle operated by the passenger in the simulated environment, thereby obtaining the passenger's reaction time and driving operation data, thereby evaluating the passenger's driving ability. If the passenger's driving ability is poor and the reaction is slow, the passenger's request for manual driving is rejected. If the passenger's driving ability and reaction time meet the driving standards, the authority restriction module 50 grants the passenger manual driving authority.

[0057] Preferably, the passenger operates the corresponding control unit of the autonomous vehicle according to the operation request in the form of a video provided by a test terminal including at least a touch screen and a gravity sensor, thereby generating a third safety level parameter related to driving and / or control that can be collected by the second authentication module 62. The second authentication module 62 sends the third safety level parameter to the permission restriction module, which determines whether to provide manual driving permission.

[0058] For example, a passenger performs a simulated driving test on a test terminal. During this simulated driving, the permission restriction module sets the autonomous vehicle's drive unit and ignition system to a protected state, preventing the autonomous vehicle from accepting control commands from manual driving. The second authentication module collects third-level safety parameters related to driving and / or control and assesses the passenger's driving ability. Passengers with high driving ability levels are granted manual driving permission. Passengers with low driving ability are denied manual driving permission.

[0059] Preferably, the authority restriction module calculates the passenger's driving risk level based on the first security level parameter, the second security level parameter and the third security level parameter and determines the passenger's manual driving authority according to the driving risk level. The manual driving authority includes at least all authorities, restricted level authorities and / or high-risk authorities.

[0060] For example, the first safety level parameter assesses a passenger's basic personal safety level, the second safety level parameter assesses the passenger's psychological safety level, and the third level parameter assesses the passenger's manual driving safety level. Assuming the passenger's driving risk level is assessed additively, the lower the safety level of all three, the higher the driving risk and the more restrictions on manual driving permissions.

[0061] Preferably, the driving risk level of the passenger is calculated by a weighted method according to the first safety level parameter, the second safety level parameter and the third safety level parameter, which has the same driving risk level classification effect.

[0062] Preferably, the authority restriction module 50 determines manual driving authority based on the passenger's driving risk level. Manual driving authority includes at least Class A authority with full authority, Class B authority with limited authority based on psychological defects and traffic history information, and Class C authority with high driving risk.

[0063] Preferably, the authority restriction module 50 displays the first, second and / or third security level parameters on the display screen of the test terminal according to the control method of the passenger during the ride in the autonomous driving car, and calculates the preferential parameters for using the autonomous driving car in combination with the effective control parameters corresponding to the control command, and at the same time displays the preferential parameters to the passenger in digital form on the touch screen of the test terminal.

[0064] For example, if a passenger issues an incorrect control command, causing the autonomous vehicle to violate traffic regulations, in addition to the traffic fine, the passenger's preferential rate will be reduced from 50% to 20%. Passengers will learn about their violations through effective control parameters and issue reasonable control commands in future rides to increase their preferential rates.

[0065] Preferably, the authority restriction module 50 evaluates the driving parameters and the fourth safety level parameters of the prepared route based on the itinerary change request of the smart terminal 10 and traffic conditions, and provides feedback to the itinerary change request based on the driving parameters and the fourth safety level parameters.

[0066] For example, a passenger's smart terminal requests a change of itinerary. The permission restriction module, based on traffic conditions reported by the relevant traffic database, assesses that the alternative route is congested, difficult to reach, and has poor, uneven road conditions. The permission restriction module then retrieves driving parameters and a fourth safety level parameter, indicating road safety, from the traffic database to determine whether to approve the passenger's itinerary change request. If either the driving parameter or the fourth safety level parameter falls below a driving parameter threshold or a fourth safety level parameter threshold, the permission restriction module denies the passenger's itinerary change request.

[0067] Preferably, the authority restriction module 50 responds to the itinerary change request based on a fifth security level formed by evaluating the third security level parameter of the passenger, the driving parameter, and the fourth security level parameter.

[0068] For example, if a passenger is manually driving, the authority restriction module uses a weighted approach to assess the fifth safety level based on the passenger's manual driving level, driving parameters, and fourth safety level parameters. If the fifth safety level is higher than the preset fifth safety level, the passenger's itinerary change request is approved. If the fifth safety level is lower than the preset fifth safety level, the passenger's itinerary change request is rejected to ensure the passenger's driving safety and reduce driving risks.

[0069] Preferably, the test terminal 60 establishes a data connection with the CAN bus through the OBD interface and sends the acquired change data of the ignition control unit, parking control unit, braking control unit, acceleration control unit and / or steering control unit and the passenger's personal information to the cloud server that manages the autonomous driving car to update the passenger's historical driving data, and uses the historical driving data as one of the basic parameters for evaluating the passenger's third safety level parameters.

[0070] A passenger's historical driving data can fully reflect their control habits in autonomous vehicles and their driving habits in manually operated vehicles. Using this historical driving data as one of the basic parameters for assessing a passenger's third safety level allows for a reassessment of their driving ability based on this historical driving data when they use an autonomous vehicle again, determining their third safety level. This makes it easier for passengers with high driving skills to obtain manual driving permission the next time they request it.

[0071] Preferably, the test terminal 60 further includes a warning module for feeding back warning information to the passenger's control command. The warning module evaluates the implementation safety parameter of the control command based on the driving environment and issues a warning message and refuses to execute the control command when the implementation safety parameter is lower than the implementation safety parameter threshold.

[0072] For example, a passenger issues a certain control command. The warning module evaluates the implementation safety parameters of the control command based on the current driving environment parameters. If the implementation safety parameters are lower than the implementation safety parameter threshold, it indicates that the control command is not suitable for the current driving environment, the safety risk is greater, and the safety level is lower. Therefore, when the passenger's control command is not suitable for the current driving environment, the warning module sends a warning message to the passenger. The warning message can be issued by the on-board equipment in the form of voice and / or image. The warning module sends the warning message to the authority restriction module. The authority restriction module refuses to execute the control command issued by the passenger based on the warning message. In this way, the present invention well protects the safety of passengers and self-driving cars and reduces danger.

[0073] Preferably, the autonomous vehicle has an automatic cruise control module for determining traffic conditions and directly intervening in or taking over driving authority. The automatic cruise control module is associated with the test terminal 60, enabling the test terminal to change the autonomous vehicle's driving system based on traffic conditions transmitted by the automatic cruise control module, or to reject passenger control commands. The test terminal 60 obtains change data of the ignition control unit, parking control unit, braking control unit, acceleration control unit, and / or steering control unit via the CAN bus and OBD interface. If an abnormal change occurs, the abnormal data is fed back to the cloud server managing the autonomous vehicle via the communication interface of the test terminal 60.

[0074] It should be noted that the above-described specific embodiments are illustrative only. Those skilled in the art may devise various solutions based on the disclosure of the present invention, and such solutions fall within the scope of the present invention and are intended to be protected by the present invention. Those skilled in the art should understand that the present description and its accompanying drawings are intended to be illustrative only and are not intended to limit the scope of the claims. The scope of protection of the present invention is defined by the claims and their equivalents.

Claims

1. An interactive system between an autonomous vehicle and a person, comprising an intelligent terminal (10) in the form of an intelligent communication device carried by a non-specific passenger and an autonomous vehicle device (20) equipped with an onboard device, wherein: The passenger uses the interaction between the smart terminal (10) and the vehicle-mounted device to reserve the right to use the self-driving car. It is characterized by: The vehicle-mounted device at least includes a verification module (40), an authority restriction module (50) and a test terminal (60). The test terminal (60) and the autonomous vehicle are fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically detachable but not loseable, so that the test terminal (60) establishes a data connection with the CAN bus via the OBD interface and is able to obtain or provide data and commands from the verification module (40), so that the authority restriction module (50) can interact with the verification module (40) and judge the driving risk by relying on the image and / or sound of the passenger in the autonomous vehicle collected by the test terminal (60), thereby determining the control authority range of the passenger in each period during the use of the autonomous vehicle in a dynamic time-sharing manner.

2. The autonomous vehicle-human interaction system according to claim 1, wherein: After the identification module (30) successfully identifies the passenger, the verification module (40) sends a query request to a historical record database independent of a third party based on the personal information confirmed by the identification module (30), and uses the obtained historical data as a first security level parameter to calculate the first security level of the passenger. The authority restriction module (50) determines the passenger's control authority and unlocks the vehicle according to the passenger's first security level, and updates the passenger's control authority based on the passenger's effective control parameters.

3. The autonomous vehicle-human interaction system according to claim 2, wherein: The test terminal (60) comprises a first authentication module (61), The test terminal (60) is activated when the first security level parameter reaches a preset level, and the first authentication module (61) sets a natural language according to the identity information of the passenger and uses the natural language to test the current psychological state of the passenger in a voice and / or video interactive manner, and sends the passenger's current psychological state parameter as a second security level parameter to the authority restriction module (50).

4. The autonomous vehicle-human interaction system according to claim 3, wherein: The test terminal (60) further includes a second authentication module (62), The second authentication module (62) actively collects the operating data of the autonomous vehicle based on the test terminal (60) establishing a data connection with the control unit of the CAN bus through the OBD interface. The passenger operates the corresponding control unit of the autonomous vehicle according to the operation request in the form of a video provided by the test terminal (60) which at least includes a touch screen and a gravity sensor, thereby generating a third security level parameter related to driving and / or control that can be collected by the second authentication module (62). The second authentication module (62) sends the third security level parameter to the authority restriction module (50).

5. The interactive system between an autonomous vehicle and a person according to claim 4, wherein: The authority restriction module (50) displays the first security level parameter, the second security level parameter and / or the third security level parameter on the display screen of the test terminal (60) according to the control method of the passenger during the ride in the autonomous vehicle, and calculates the preferential parameters for using the autonomous vehicle in combination with the effective control parameters corresponding to the control command, and at the same time displays the preferential parameters to the passenger in digital form on the touch screen of the test terminal (60).

6. The autonomous vehicle and human interaction system according to claim 5, wherein: In the event that the passenger causes the autonomous vehicle to violate traffic regulations due to issuing an erroneous control command, the authority restriction module (50) reduces the preferential rate enjoyed by the passenger.

7. The autonomous vehicle and human interaction system according to claim 6, wherein: The test terminal (60) is provided with a simulation program for simulating a traffic driving environment, The test terminal (60) starts and guides the passenger to perform a simulated driving test in a sound and / or vibration manner based on the unlocking information of the vehicle lock control unit of the autonomous vehicle; When the passenger performs normal driving operations in the autonomous vehicle according to the simulated driving environment, the test terminal (60) reads data from various control units of the autonomous vehicle operated by the passenger in the simulated environment, thereby obtaining the passenger's reaction time and driving operation data, and thus evaluating the passenger's driving ability.

8. The autonomous vehicle-human interaction system according to claim 7, wherein: During the simulated driving of the passenger, the authority restriction module (50) sets the driving unit and ignition device of the autonomous vehicle to a protection state, and the autonomous vehicle does not accept control commands issued by manual driving operations; and the second authentication module (62) collects third safety level parameters related to driving and / or manipulation to evaluate the passenger's driving ability level.

9. The interactive system between an autonomous vehicle and a person according to claim 5, wherein: When a passenger issues a request for itinerary modification through the intelligent terminal (10), the authority restriction module (50) obtains driving parameters and a fourth safety level parameter indicating road safety from a traffic database and decides whether to approve the passenger's itinerary modification request; If one of the driving parameter and the fourth security level parameter is lower than the driving parameter threshold and the fourth security level parameter threshold, the authority restriction module (50) rejects the passenger's itinerary change request.

10. A method for interaction between an autonomous vehicle and a person, comprising: The passenger uses the smart terminal (10) to interact with the vehicle-mounted equipment to reserve the right to use the self-driving car, which is characterized in that: The method further comprises: In the case where the vehicle-mounted device comprises at least a verification module (40), an authority restriction module (50) and a test terminal (60), The test terminal (60) is fixed in the autonomous vehicle in a manner that is electrically wired for power supply and data communication and mechanically detachable but not loseable, so that the test terminal (60) establishes a data connection with the CAN bus via the OBD interface and is capable of obtaining or providing data and commands from the verification module (40). Thus, the authority restriction module (50) interacts with the verification module (40) and can determine the driving risk by relying on the image and / or sound of the passenger in the autonomous vehicle collected by the test terminal (60), thereby determining the control authority range of the passenger in each period during the use of the autonomous vehicle in a dynamic time-sharing manner.

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