Human-machine interaction system and method for autonomous vehicle

Abstract

The application discloses a human-computer interaction system and method of an automatic driving vehicle, and the human-computer interaction system comprises a first interaction module; the first interaction module comprises a first tactile interaction module, the first tactile interaction module comprises a plurality of independent interaction sub-modules, each interaction sub-module is in corresponding motion according to a motion state or driving environment information of the vehicle; and the state combinations of the plurality of interaction sub-modules are different under different motion states or driving environment information of the vehicle. The first tactile interaction module of the application is provided with a plurality of independent interaction sub-modules, different state combinations of the plurality of interaction sub-modules are used to express different motion states or driving environment information of the vehicle, and the expression of complex vehicle driving scene information is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automatic driving, more particularly, to a human-machine interaction system and method for an automatic driving vehicle. BACKGROUND

[0002] In the automatic driving scenario, the vehicle system can inform the user of the vehicle speed, road conditions, driving route and other information through pictures and voice. However, when the user is watching a video, checking an email, enjoying music or resting with eyes closed, the user may ignore these information, which leads to that the user cannot timely feedback the information that can intervene in the decision-making layer to the system, or the information that needs too much attention of the user leads to the frequent shift of the attention of the user, which will reduce the riding experience of the user to some extent.

[0003] In the automatic driving mode, the cognitive and behavioral patterns of the user have changed a lot, and the attention center of the user will not be in the driving environment all the time, and the information transmitted by the system will only be obtained through a small amount of edge attention. Therefore, how to effectively obtain the vehicle information without interfering with the attention center of the user will become the key of the design of the interaction interface of the automatic driving vehicle.

[0004] Obviously, too much increase of the visual channel and the auditory channel information into the automatic driving interaction mode will conflict with the idea of reducing the interference with the attention center of the user. There is an automatic driving haptic interaction interface in the laboratory, which is a movable module. The tester holds the movable module, the movable module is connected with a servo motor, the vehicle system feeds back the vehicle motion information to the motor in real time, the motor drives the movable module to move, and the user indirectly feels the change of the vehicle motion through the movable module.

[0005] However, the movable module has the following technical problems:

[0006] 1. The movable module is a whole, and its motion mode is limited, so the motion state that can be presented by the movable module is less, and the complex vehicle driving scene information expression cannot be met.

[0007] 2. The motion of the movable module is mainly based on the inclination of each angle, and the user needs to understand the information transmitted by the movable module through the fuzzy angle, and the semantics of each state is not clear, which will reduce the recognition rate of the haptic.

[0008] 3. The information that can be transmitted by the movable module is mainly the information of the motion of the vehicle itself, and the surrounding driving environment information cannot be transmitted to the user.

[0009] 4. The movable module can only transmit the change state of the vehicle motion, and the user cannot feed back the received information through the movable module. SUMMARY

[0010] The application provides a human-machine interaction system and method of an autonomous vehicle, a first tactile interaction module is provided with a plurality of independent interaction sub-modules, different state combinations of the plurality of interaction sub-modules express different vehicle motion states or driving environment information, and complex vehicle driving scene information expression is met.

[0011] The application provides a human-machine interaction system of an autonomous vehicle, comprising a first interaction module.

[0012] The first interaction module comprises a first tactile interaction module, the first tactile interaction module comprises a plurality of independent interaction sub-modules, each interaction sub-module makes corresponding motion according to vehicle motion state or driving environment information; and in different vehicle motion states or driving environment information, state combinations of the plurality of interaction sub-modules are different.

[0013] Preferably, the first interaction module further comprises a first visual interaction module, the first visual interaction module is used for synchronously displaying brief information of the vehicle motion state or the driving environment information with the first tactile interaction module.

[0014] Preferably, the first visual interaction module displays different emergency degrees through different colors.

[0015] Preferably, the first interaction module is fixedly connected with a seat of a main driving position.

[0016] The human-machine interaction system further comprises at least one second interaction module, the second interaction module is fixedly connected with a seat other than the main driving position, and the second interaction module has the same structure and function as the first interaction module.

[0017] Preferably, the first interaction module further comprises a second visual interaction module, display content of the second visual interaction module at least comprises detailed information of the vehicle motion state or the driving environment information expressed by the first tactile interaction module.

[0018] Preferably, the first tactile interaction module comprises a first interaction sub-module located at the center and a second interaction sub-module, a third interaction sub-module, a fourth interaction sub-module and a fifth interaction sub-module symmetrically arranged around the first interaction sub-module.

[0019] The application provides a human-machine interaction method of an autonomous vehicle, comprising:

[0020] Receiving a decision module to analyze information of a perception module, obtaining vehicle motion state or driving environment information;

[0021] Before the vehicle makes feedback corresponding to the vehicle motion state or the driving environment information, the interaction sub-modules in the first tactile interaction module are controlled to make motion corresponding to the vehicle motion state or the driving environment information according to the vehicle motion state or the driving environment information.

[0022] Preferably, the second haptic interaction module is controlled to move in correspondence with the motion state of the ego vehicle or the driving environment information, and / or the first visual interaction module and / or the second visual interaction module displays information corresponding to the motion state of the ego vehicle or the driving environment information, while the first haptic interaction module is controlled.

[0023] Preferably, the human-machine interaction method further comprises:

[0024] determining whether the motion state of the ego vehicle or the driving environment information is essential information;

[0025] If yes, the third haptic interaction module is controlled to move while the first haptic interaction module is controlled.

[0026] The third haptic interaction module is arranged on at least the seat of the main driving position.

[0027] Preferably, the human-machine interaction method further comprises:

[0028] If the interaction information corresponding to the motion state of the ego vehicle or the driving environment information is received, the analysis result of the interaction information by the decision module is received, and the interaction sub-module in the first haptic interaction module is controlled to move in correspondence with the analysis result.

[0029] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0031] Figure 1 A structural schematic diagram of an autonomous vehicle is provided for the present application;

[0032] Figure 2 A front view of a human-machine interaction system of an autonomous vehicle is provided for the present application;

[0033] Figure 3 A top view of a human-machine interaction system of an autonomous vehicle is provided for the present application;

[0034] Figure 4 A structural schematic diagram of a first haptic interaction module is provided for the present application;

[0035] Figure 5 A front view of a first interaction sub-module is provided for the present application;

[0036] Figure 6 A left view of a first interaction sub-module is provided for the present application;

[0037] Figure 7 A top view of the first interaction sub-module provided for the present application;

[0038] Figure 8 A flow chart of the human-computer interaction method of the autonomous vehicle provided for the present application.

[0039] Figure 9 A state schematic diagram of the first tactile interaction module in the vehicle about to start state provided for the present application;

[0040] Figure 10 A state schematic diagram of the first tactile interaction module in the vehicle about to turn left provided for the present application;

[0041] Figure 11 A state schematic diagram of the first tactile interaction module in the vehicle about to overtake on the left provided for the present application;

[0042] Figure 12 A state schematic diagram of the first tactile interaction module in the front being a bumpy road section provided for the present application;

[0043] Figure 13 A state schematic diagram of the first tactile interaction module in the front being an accident requiring reselection of a route, the power / oil being about to run out, and asking whether to find a nearby charging station / gas station, etc. provided for the present application. DETAILED DESCRIPTION

[0044] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in these embodiments, numerical expressions, and numerical values are not limiting to the scope of the present application unless specifically stated otherwise.

[0045] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application or its application or uses.

[0046] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0047] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0048] The present application provides a human-computer interaction system and method of an autonomous vehicle, a first tactile interaction module is provided with a plurality of independent interaction sub-modules, different state combinations of the plurality of interaction sub-modules express different vehicle motion states or driving environment information, and meet the expression of complex automobile driving scene information.

[0049] It should be noted that this application applies to vehicles where the user can be temporarily or completely freed from the driving environment and not participate in driving tasks, such as L4 advanced autonomous driving level vehicles and L5 fully autonomous driving level vehicles.

[0050] In autonomous driving scenarios, the user's role changes from driver to passenger, altering the cockpit layout. The user's behavior within the cockpit may change in the following ways: ① The user's seat orientation is opposite to the vehicle's direction of travel, allowing the user to face the rear seats and converse with them; ② The user reclines their seat to rest while the vehicle is in motion and desires to avoid noise and light disturbances; ③ The user watches videos or even uses VR devices while the vehicle is in motion, and any sudden appearance of any other visual or auditory element can negatively impact the riding experience. Therefore, users need effective means to obtain vehicle driving information without interfering with their current activities.

[0051] like Figure 1 As shown, the autonomous vehicle includes a perception module 110, a decision-making module 120, an execution module 130, and a human-machine interaction system 140.

[0052] In most cases, the tasks of the perception layer, decision-making layer, and execution layer in vehicle driving tasks are operated by the vehicle's perception module 110, decision-making module 120, and execution module 130, respectively. In special cases, user intervention is required, or the user can intervene in the decision-making layer to make choices made by the decision-making module 120 according to their own preferences.

[0053] The vehicle acquires information about its driving environment, including road conditions and the status of nearby vehicles, through the perception module 110. The decision module 120 analyzes this information and makes a decision. Upon receiving the signal from the decision module 120, the execution module 130 transmits the signal to the human-machine interface of the human-machine interaction system before the vehicle's motion execution module. This allows the user to anticipate the vehicle's upcoming movements or to intervene in the decision-making process by selecting alternative options. When the user interacts with the human-machine interaction system 140 by making a selection or ignoring action, the system transmits the signal to the decision module 120, which then controls the execution module 130 to perform the corresponding action.

[0054] For example, the vehicle's decision module 120 makes a decision to overtake based on the information obtained by the perception module 110, and informs the user before the overtaking action is executed. If the user can choose to agree or not to make a choice within a certain period of time after receiving the information that the vehicle is about to overtake, the vehicle will execute the overtaking action; if the user chooses not to agree, the vehicle will stop and abandon the overtaking action.

[0055] Specifically, the perception module 110 acquires driving environment information and vehicle self-information through millimeter wave radar, laser radar, camera and other sensors. The perception module 110 delivers the acquired information to the decision module 120 for processing. The decision module 120 distributes the information to local host processing or server processing according to its configuration requirements. For vehicle speed information, pedestrian information, road condition information, surrounding vehicles and other information, the information is sent to the host through the in-vehicle CAN bus. The host calculates and analyzes the information according to the algorithm and then transmits the information to the execution module 130. Path planning is transmitted to the T-BOX through the CAN bus by the GPS module and the inertial navigation module. The T-BOX communicates with the server remotely, and then feeds back the information to the T-BOX. The T-BOX then transmits the information to the body control module BCM through the in-vehicle local area network, and the BCM controls the vehicle execution module to perform related operations. The cabin controller in the execution module 130 controls the movement of each motor of the human-machine interaction system according to the CAN signal issued by the decision module 120, so that each module in the tactile interaction interface moves to the specified position, and the display screen of the human-machine interaction system displays the corresponding image screen, and the voice broadcast of the human-machine interaction system broadcasts the corresponding voice information.

[0056] As an example, as shown in Figure 1 The human-machine interaction system 140 includes a first interaction module 1401 and a voice interaction module 1404. The first interaction module 1401 is fixedly connected with the seat of the driver's seat and moves with the movement of the driver's seat. For example, during automatic driving, the user of the driver's seat rotates the driver's seat to face the rear seat for the convenience of talking with the user of the rear seat, and the first interaction module 1401 also rotates accordingly. Therefore, as an example, the first interaction module 1401 can be used as a dedicated interaction module for the driver's seat.

[0057] The voice interaction module 1404 is the existing voice interaction system of the vehicle, which will not be described here.

[0058] As shown in Figures 1-3 The first interaction module 1401 includes a first tactile interaction module 14011. The user obtains tactile interaction information by placing his hand on the first tactile interaction module 14011. The first tactile interaction module 14011 includes a plurality of independent interaction sub-modules. Each interaction sub-module moves according to the motion state of the ego vehicle or the driving environment information. Under different motion states of the ego vehicle or driving environment information, the state combinations of the plurality of interaction sub-modules are different.

[0059] As an example, as shown in Figure 4As shown, the first tactile interaction module 14011 includes a first interaction sub-module 410 located at the center and a second interaction sub-module 420, a third interaction sub-module 430, a fourth interaction sub-module 440 and a fifth interaction sub-module 450 symmetrically arranged around the first interaction sub-module 410. Figure 4 The diagram shows the state when all interactive sub-modules of the first tactile interaction module 14011 are in their initial positions.

[0060] The following example illustrates the interaction: the second interaction submodule 420 is located to the left front of the first interaction submodule 410, the third interaction submodule 430 is located to the left rear of the first interaction submodule 410, the fourth interaction submodule 440 is located to the right rear of the first interaction submodule 410, and the fifth interaction submodule 450 is located to the right front of the first interaction submodule 410.

[0061] As an example, such as Figures 5-7 As shown, the main body 4103 of the first interactive submodule 410 is shaped like a rugby ball, and its cross-section is elliptical, as shown in the figure. Figure 5 As shown. When the first interactive submodule 410 is in its initial position, the left end 4101 and right end 4102 of the main body 4103 are provided with protrusions. The size of the protrusions is smaller than the size of the left and right ends of the main body 4103, and the front end 4104 and rear end 4105 of the main body 4103 are arc-shaped. In this way, the two tips of the first interactive submodule 410 make it easy for the user to identify the state of the first interactive submodule 410.

[0062] Preferably, a protective cover such as a fabric or leather case can be provided on the first interactive submodule 410.

[0063] Understandably, the first tactile interaction module 14011 may include more or fewer interaction sub-modules than those in the above embodiments, as well as different structures and shapes, to perform the same function.

[0064] Based on this, preferably, such as Figures 1-3 As shown, the first interaction module 1401 also includes a first visual interaction module 14012. The first visual interaction module 14012 is used to synchronously display brief information about the vehicle's motion status or driving environment with the first tactile interaction module 14011. All information transmitted by the first tactile interaction module 14011 will have corresponding visual information displayed on the first visual interaction module 14012, allowing the user to confirm the information transmitted by the first tactile interaction module 14011 at any time. The first visual interaction module 14012 displays brief information, enabling the user to quickly obtain core and key information visually, preventing interference from other information.

[0065] Preferably, the first visual interaction module 14012 displays different emergency levels by different colors. For information of different emergency levels, the first visual interaction module 14012 can display by different colors, so as to facilitate the user to analyze the processing order of the current information by visual means. For example, the first visual interaction module 14012 can distinguish the importance and urgency of information from low to high by three colors of green, yellow and red.

[0066] On this basis, preferably, as shown in Figures 1-3 The first interaction module 1401 further includes a second visual interaction module 14013, and the display content of the second visual interaction module 14013 at least includes detailed information of the self-vehicle motion state or the driving environment information expressed by the first tactile interaction module 14011, which is used for displaying complex information and can display text, images, videos and the like, so as to facilitate the user to understand the detailed information expressed by the first tactile interaction module 14011 through the second visual interaction module 14013 when needed. For complex information, the first tactile interaction module 14011 mainly plays a reminding role, which is used to inform the user that there is complex information to be acquired through the first visual interaction module 14012, the second visual interaction module 14013 and the voice interaction module 1404.

[0067] It can be understood that the second visual interaction module 14013 can be replaced by a central control screen of the vehicle.

[0068] On this basis, preferably, as shown in Figures 1-3 The first interaction module 1401 includes a switching part 14014, which is used to switch between the input mode and the output mode of the first tactile interaction module 14011.

[0069] In the input mode of the first tactile interaction module 14011, the positions of all the interaction sub-modules are restored and kept static, the user cannot acquire information through the first tactile interaction module 14011, and can acquire information through the first visual interaction module and the second visual interaction module. In the input mode, each interaction sub-module corresponds to an operation function of the second visual interaction module, and the user sends interaction information by operating the interaction sub-module. As an embodiment, the second interaction sub-module 420 and the third interaction sub-module 430 respectively represent confirmation and cancellation, and the fourth interaction sub-module 440 and the fifth interaction sub-module 450 respectively represent the previous item and the next item.

[0070] In the output mode of the first tactile interaction module 14011, the user cannot feed back information through the first tactile interaction module 14011, and can only recognize the current self-vehicle motion state or driving environment information through the first tactile interaction module 14011.

[0071] On this basis, preferably, as shown in Figure 1As shown, the human-machine interaction system 140 further comprises at least one second interaction module 1402, which is fixedly connected with a seat other than the driver seat, and the second interaction module has the same structure and function as the first interaction module. That is, the seat other than the driver seat also has the same interaction module as the driver seat, which facilitates the control of the vehicle by all users during automatic driving.

[0072] Preferably, the human-machine interaction system 140 further comprises one or more third haptic interaction modules 1403. If there is only one third haptic interaction module 1403, it is arranged on the seat of the driver seat. If multiple third haptic interaction modules 1403 are arranged, one of them is arranged on the seat of the driver seat, and the others are arranged on the seats other than the driver seat.

[0073] As an embodiment, the third haptic interaction module 1403 is a vibration module. The user is reminded to pay attention to the information fed back by the vehicle through the vibration of the seat. In continuation of the foregoing, the decision module 120 classifies the signals into necessary information and non-necessary information when transmitting the signals to the human-machine interaction system 140. For the necessary information, the execution module 130 reminds the user to obtain the information through the haptic interaction module and the visual interaction module through the vibration of the seat; for the non-necessary information, the execution module 130 directly transmits the signals to the haptic interaction module and the visual interaction module, without triggering the vibration of the seat.

[0074] Based on the above description of the human-machine interaction system, the present application further provides a human-machine interaction method of an automatic driving vehicle, which is suitable for an execution module. As shown in the accompanying drawings, Figure 8 The human-machine interaction method of the automatic driving vehicle comprises:

[0075] S810: receiving the information analysis result of the perception module by the decision module to obtain the vehicle motion state or the driving environment information.

[0076] S820: before the vehicle makes a feedback corresponding to the vehicle motion state or the driving environment information, controlling the interaction sub-module in the first haptic interaction module to make a motion corresponding to the vehicle motion state or the driving environment information according to the vehicle motion state or the driving environment information.

[0077] Preferably, the second haptic interaction module is controlled to make a motion corresponding to the vehicle motion state or the driving environment information, and / or the first visual interaction module and / or the second visual interaction module displays information corresponding to the vehicle motion state or the driving environment information, while the first haptic interaction module is controlled.

[0078] S830: judging whether the interaction information of the user to the vehicle motion state or the driving environment information is received. If yes, S840 is executed; otherwise, S850 is executed.

[0079] S840: Receives the analysis results of the interaction information from the decision module, and controls the interaction sub-modules in the first tactile interaction module (and the second tactile interaction module) to perform movements corresponding to the analysis results.

[0080] S850: Controls the interaction sub-modules in the first tactile interaction module (and the second tactile interaction module) to perform movements corresponding to the above-mentioned vehicle motion state or driving environment information.

[0081] Based on the above, preferably, between S810 and S820, the following further includes:

[0082] Determine whether the vehicle's motion status or driving environment information is essential information. If so, control the third haptic interaction module while simultaneously controlling the first haptic interaction module. Otherwise, execute S820.

[0083] Based on the above human-computer interaction method, the following uses the first interaction module as an example to illustrate several specific application scenarios.

[0084] 1. When the vehicle is stationary or moving in a straight line, the decision-making module sends a stationary or straight-line movement signal to the execution module, and all interaction sub-modules within the first tactile interaction module remain stationary (e.g., ...). Figure 4 As shown), the first visual interaction module displays a stationary or straight-moving icon (the icon is green), indicating that the vehicle is stationary or moving in a straight line.

[0085] 2. When the vehicle is stationary and about to start, the decision module sends a start signal to the execution module. The execution module controls the first interaction submodule 410 to rotate and maintain its position around its horizontal central axis L1, the second interaction submodule 420 and the fifth interaction submodule 450 to rotate and maintain their positions around their horizontal central axis L2 by an angle α, and the third and fourth interaction submodules remain stationary. Figure 9 As shown. The first visual interaction module displays a vehicle start icon / animation (the normal start icon is green), indicating that the vehicle is about to start. Simultaneously, the execution module can provide voice prompts based on user settings. After the start is complete, the positions of the first interaction submodule 410, the second interaction submodule 420, and the fifth interaction submodule 450 are restored.

[0086] 3. When the vehicle is about to turn left, the decision module sends a left-turn signal to the execution module. The execution module controls the first interaction submodule 410 to rotate counterclockwise by an angle θ on the horizontal plane and rotate around its horizontal central axis L1 by a certain angle and hold it. At the same time, the second interaction submodule 420 rotates around its outer axis L3 (far from the fifth interaction submodule 450) by an angle β and holds it. The third interaction submodule 430, the fourth interaction submodule 440, and the fifth interaction submodule 450 do not move. Meanwhile, the first visual interaction module displays a left-turn icon / animation, indicating that the vehicle is about to turn left and that a left turn is in progress.Figure 10 At the same time, the execution module can make voice broadcast according to user settings. After the left turn is completed, the first interaction submodule 410 and the second interaction submodule 420 return to the original positions.

[0087] 4. When the vehicle is about to overtake on the left side, the decision module sends a left side overtaking signal to the execution module, the execution module controls the seat to vibrate, controls the first interaction submodule 410 to rotate counterclockwise by an angle γ in the horizontal plane, and controls the first interaction submodule 410 to flip around the horizontal center axis L1 by a certain angle and keep it, while the second interaction submodule 420 and the third interaction submodule 430 flip around the axis L3 on the outer side by an angle β and keep it, as shown in Figure 11 At the same time, the execution module controls the first visual interaction module to display a left side overtaking icon / animation (the icon is yellow), indicating that the vehicle is about to overtake on the left side or is overtaking on the left side. At the same time, the execution module can make voice broadcast according to user settings.

[0088] The user can choose to ignore this information, and after a preset waiting time, the vehicle will automatically start to overtake on the left side. The user can also click the switch part to switch the first tactile interaction module to the input mode, and select to overtake immediately or cancel the overtaking behavior according to the content of the second visual interaction module or voice broadcast. After the overtaking is completed or the overtaking is canceled, all interaction submodules return to the original positions.

[0089] 5. When the front of the vehicle is a bumpy road section, the perception module obtains the bumpy information of the front road section and transmits it to the decision module, the decision module sends a bumpy signal of the front road section to the execution module, the execution module controls the first interaction submodule 410, the second interaction submodule 420, the third interaction submodule 430, the fourth interaction submodule 440 and the fifth interaction submodule 450 to start vertical up-down reciprocating motion at the same time, and the second interaction submodule 420 and the fifth interaction submodule 450 move upward first and then downward, and the third interaction submodule 430 and the fourth interaction submodule 440 move downward first and then upward, that is, the front end interaction submodule and the rear end interaction submodule of the first interaction submodule move upward alternately and move downward alternately, simulating the bumpy state, as shown in Figure 12 At the same time, the execution module controls the first visual interaction module to display a bumpy road section icon / animation (the icon is yellow), indicating that the vehicle is about to pass through the bumpy road section or is passing through the bumpy road section. At the same time, the execution module can make voice broadcast according to user settings. After passing through the bumpy road section, all interaction submodules return to the original positions.

[0090] 6、Current side accident needs to reselect route, power / oil is about to ask whether to find nearby charging station / gas station and so on complex situation when power / oil is about to be depleted, decision layer issues signal to execution module, execution module controls seat vibration, second interactive submodule 420, third interactive submodule 430, fourth interactive submodule 440 and fifth interactive submodule 450 all move vertically upward a certain height and remain unchanged, first interactive submodule 410 does not move, as shown in Figure 13 Meanwhile, the execution module controls the first visual interaction module to display the corresponding situation icon / animation (emergency situation icon is usually red), and controls the second visual interaction module to display the specific details of the current situation and the options given by the system, as shown in Figure 13 Meanwhile, the execution module can make voice broadcast according to user settings.

[0091] The user can ignore this information, and the decision layer makes a decision according to the user's preset options (for example, the fastest arrival at the destination or the selection of the shortest route / immediate travel to the nearest charging station / gas station or judgment of whether the current power / oil can reach the destination for recharging, etc.); The user can also click the switching part to switch the first tactile interaction module to input mode and manually select the route / charging station / gas station location. After the execution module receives the decision signal, the positions of all interactive submodules are restored.

[0092] On the basis of the above, it can be understood that the tactile interaction module, the visual interaction module and the voice interaction module can display other more information content, or the user can customize the display content and function of the second visual interaction module.

[0093] As an embodiment, according to the characteristics of touch and tactile information, the tactile interaction module needs to follow the following four principles when transmitting information:

[0094] ①“natural”, easy to identify: tactile information should try to fit the user's intuitive association to reduce the learning cost, and the tactile information should be semantically clear, and the difference between different tactile information should be obvious.

[0095] ②The intensity of tactile information can be adjusted. Different parts have different sensitivities to tactile information, users are in different use situations, the degree of concentration is different, and the information acquisition ability is different, so the intensity of tactile information needs to be changed appropriately according to different tactile information, such as the size of the motion amplitude of the interactive submodule, the motion frequency, the intensity of the seat vibration, to reduce the difficulty of the user to acquire and identify information.

[0096] ③Low information load: due to the ambiguity of tactile information and the inefficiency of the human brain in acquiring and identifying complex tactile information, when the information load exceeds a certain amount, its transmission effect will actually decrease; appropriate amount of tactile information transmission can reduce the user's cognitive time and avoid cutting off other tasks the user is currently performing.

[0097] ④ Auxiliary: The amount of information of tactile interaction is limited, so the accuracy of tactile information is low; for more complex information, tactile interaction and other interaction methods need to be combined to deliver information; tactile interaction can be used as information feedforward of other interaction methods. Based on this, in some scenarios, the interaction function of tactile information in the cockpit is mainly auxiliary.

[0098] Based on the above description, it can be understood that in the mature stage of automatic driving technology, the human-computer interaction method of the present application can be used as human-computer interaction for special groups such as visually impaired people, which is mainly realized by the cooperation of tactile interaction and voice interaction. In the mature stage of automatic driving technology, tactile interaction can also be used in cooperation with vehicle-mounted VR devices.

[0099] The beneficial effects of the present application are as follows:

[0100] 1. The present application improves the convenience of obtaining driving task information for users when they are engaged in entertainment activities in automatic driving mode. For simple driving task information, users can obtain it only through tactile interaction.

[0101] 2. The state combination of multiple interaction sub-modules in the tactile interaction module of the present application can deliver more types of information, and the semantics are more explicit. The speed and tilt angle of the movement of the interaction sub-modules can be used to adjust the strength of the information to adapt to different user needs or represent different emergency levels.

[0102] 3. The present application designs a visual interaction module matched with the tactile interaction module, and combines it with the voice interaction module to form an automatic driving interaction mode, which can provide users with more information (such as the surrounding driving environment) acquisition channels. At the same time, the multi-channel combination method can improve the information volume and enhance the information strength to a certain extent, and adapt to the interaction needs of more automatic driving scenarios.

[0103] 4. The present application designs a switching function for input and output of driving tasks through a tactile interaction interface.

[0104] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A human-machine interaction system for an autonomous vehicle, the system comprising: The first interaction module comprises a first tactile interaction module, and the first tactile interaction module comprises a plurality of independent interaction sub-modules, each of which moves according to the motion state of the vehicle or the driving environment information; the state combinations of the plurality of interaction sub-modules are different under different motion states of the vehicle or driving environment information. The first tactile interaction module comprises a first interaction sub-module located at the center and a second interaction sub-module, a third interaction sub-module, a fourth interaction sub-module and a fifth interaction sub-module symmetrically arranged around the first interaction sub-module. When the vehicle is stationary and about to start, the first interaction sub-module is flipped around its horizontal center axis L1 and remains, the second interaction sub-module and the fifth interaction sub-module are flipped by an angle α around their horizontal center axis L2 and remain, and the third interaction sub-module and the fourth interaction sub-module do not move. When the vehicle is about to turn left, the first interaction sub-module rotates counterclockwise by an angle θ in the horizontal plane, and flips by an angle and remains around its horizontal center axis L1, while the second interaction sub-module flips by an angle β around its axis L3 away from the fifth interaction sub-module and remains, and the third interaction sub-module, the fourth interaction sub-module and the fifth interaction sub-module do not move. When the road ahead of the vehicle is bumpy, the first interaction sub-module, the second interaction sub-module, the third interaction sub-module, the fourth interaction sub-module and the fifth interaction sub-module all start vertical up-down reciprocating motion at the same time, and the second interaction sub-module and the fifth interaction sub-module move upward first and then downward, and the third interaction sub-module and the fourth interaction sub-module move downward first and then upward, to simulate the bumpy state. When the vehicle is about to overtake on the left side, the first interaction submodule rotates counterclockwise by an angle , and flips around its horizontal center axis L1 by an angle and remains, while the second interaction submodule and the third interaction submodule flip by an angle β around the axis L3 of the outer side thereof and remain; The first interaction module further comprises a first visual interaction module for synchronously displaying the brief information of the motion state of the vehicle or the driving environment information with the first tactile interaction module.

2. The human-machine interaction system of an autonomous vehicle according to claim 1, wherein, The first visual interaction module displays different emergency levels by different colors.

3. The human-machine interaction system of an autonomous vehicle according to claim 2, wherein, The first interaction module is fixedly connected with the seat of the main driving position.

4. The human-machine interaction system of an autonomous vehicle according to claim 2, wherein, The human-computer interaction system further comprises at least one second interaction module, which is fixedly connected with the seat other than the main driving position, and the structure and function of the second interaction module are the same as those of the first interaction module. The first interaction module further comprises a second visual interaction module, and the display content of the second visual interaction module at least includes the detailed information of the motion state of the vehicle or the driving environment information expressed by the first tactile interaction module.

5. The human-machine interaction system of an autonomous vehicle according to claim 3 or 4, characterized in that, The receiving decision module receives the information analysis result of the perception module to obtain the motion state of the vehicle or the driving environment information; 6. A human-machine interaction method for an autonomous driving vehicle based on the human-machine interaction system of claim 1, characterized in that, Before the vehicle makes feedback corresponding to the motion state of the vehicle or the driving environment information, the interaction sub-modules in the first tactile interaction module are controlled to move corresponding to the motion state of the vehicle or the driving environment information according to the motion state of the vehicle or the driving environment information. ​ ​ 7. The human-machine interaction method for an autonomous vehicle of claim 6, wherein, controlling the second haptic interaction module to make a movement corresponding to the motion state of the ego vehicle or the driving environment information, and / or controlling the first visual interaction module and / or the second visual interaction module to display information corresponding to the motion state of the ego vehicle or the driving environment information.

8. The human-machine interaction method for an autonomous vehicle of claim 6, wherein, Further comprising: determining whether the motion state of the ego vehicle or the driving environment information is necessary information; if yes, controlling the third haptic interaction module to make a movement while controlling the first haptic interaction module; wherein the third haptic interaction module is arranged on at least a seat of a main driving position.

9. The human-machine interaction method for an autonomous vehicle according to any one of claims 6-8, characterized in that, Further comprising: if receiving interaction information on the motion state of the ego vehicle or the driving environment information, receiving an analysis result of the interaction information by a decision module, and controlling an interaction sub-module in the first haptic interaction module to make a movement corresponding to the analysis result.

Images