Method, apparatus, storage medium and computer program product for increasing a person's trust in a driving system

Abstract

A method for increasing a person's trust in a driving system includes: acquiring first information, which includes external information of the vehicle and / or driving information of the vehicle (201); acquiring second information, which includes information about a first person (202); and, if it is determined based on the first and second information that the first person does not trust the vehicle's driving system, outputting third information to increase the first person's trust in the vehicle's driving system (203). This method can minimize the first person's intervention in the vehicle's driving system, reduce the number of accidents, and improve driving safety. A communication device, a computer storage medium, and a computer program product are also provided.

Description

Methods, devices, storage media, and computer program products for increasing human trust in driving systems Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a method, apparatus, storage medium, and computer program product for increasing human trust in a driving system. Background Technology

[0002] With societal development, more and more machines in modern life are becoming automated and intelligent, and smart cars are gradually entering people's daily lives. Intelligent driving systems have also become an important component of smart cars, which can be divided into driver assistance systems and autonomous driving systems. In recent years, Advanced Driving Assistant Systems (ADAS) have played a crucial role in smart cars. They utilize various sensors installed on the vehicle to sense the surrounding environment, collect data, identify, detect, and track stationary and moving objects, and combine this data with navigation map data for system calculations and analysis. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety. ADAS lays the foundation for true autonomous driving. The main functions of autonomous driving include perception and prediction, decision-making and planning, and vehicle control. The perception system is the "eyes" of the autonomous vehicle, used to perceive the environment and obstacles. This perception system is fundamental to the safe operation of an autonomous vehicle. For example, the perception system includes various sensors that obtain information about the vehicle's surrounding environment.

[0003] As the capabilities of intelligent driving systems increase, more and more systems are actively developing proactive safety features. When the system perceives external hazards, it will take proactive avoidance actions. Simultaneously, as the capabilities of intelligent driving systems improve, occupants develop trust in the system and gradually withdraw from driving. Therefore, improving vehicle driving safety has become a pressing technical problem that needs to be solved.

[0004] Summary of the Invention

[0005] This application provides a method, apparatus, storage medium, and computer program product for improving human trust in a driving system, thereby enhancing vehicle driving safety.

[0006] As intelligent driving systems become more capable, drivers can be allowed to disengage from driving to a certain extent, allowing the vehicle's driving system to take over. However, during driving, special situations may arise, such as sudden braking or prolonged stops. These situations can reduce the driver's trust in the vehicle's driving system, potentially leading to the driver actively intervening or taking over. Such intervention or takeover can affect the effectiveness of the driving system and may even result in dangerous situations.

[0007] Based on the above, this application provides a method, apparatus, storage medium, and computer program product for improving the level of trust of a person in a driving system. When a first person does not trust the driving system of a vehicle, third information is output to improve the first person's level of trust in the driving system, thereby minimizing interference or access to the driving system by the first person and thus improving the safety of driving the vehicle.

[0008] In a first aspect, embodiments of this application provide a method for increasing a person's trust in a driving system, which can be executed by a first device. The first device can be a unit module, a chip, or a chip system (or circuit). The first device can be deployed in a vehicle and, during vehicle operation, when it is determined that a first person needs reassurance, it reassures the first person to increase the first person's trust in the vehicle's driving system, thereby improving the safety of driving the vehicle.

[0009] In this method, a first device acquires first information, which includes external information of the vehicle and / or driving information of the vehicle. The first device also acquires second information, which includes information about a first person. If, based on the first and second information, the first device determines that the first person does not trust the vehicle's driving system, it outputs third information. The third information is used to increase the first person's trust in the vehicle's driving system.

[0010] Thus, the first device can more accurately determine whether the first person distrusts the vehicle's driving system based on the first and second information. Then, if the first person distrusts the vehicle's driving system, it outputs third information to increase the first person's trust in the vehicle's driving system. This can minimize the first person's intervention in the vehicle's driving system, which may more easily lead to accidents. Therefore, the solution provided by this application embodiment can minimize the number of accidents and improve the safety of vehicle driving.

[0011] In one possible implementation, the first device determines that the vehicle's driving system has not experienced a specified type of malfunction before outputting the third information. Thus, even when the vehicle has no specified type of malfunction, the first device outputs the third information either when it is determined that the third information needs to be output or when it is determined that the first person does not trust the vehicle's driving system, thereby increasing the first person's level of trust in the system.

[0012] If a specified type of malfunction occurs in the vehicle's driving system, the first device will not output any third information, regardless of whether the first event has occurred or whether the first person exhibits the first characteristic. This allows the first person to determine whether it is necessary to access the vehicle's driving system based on the actual situation, thereby improving driving safety. In another possible implementation, the first device may also output information indicating a malfunction in the vehicle's driving system to the first user, alerting the first person and enabling them to perform a series of operations to improve driving safety.

[0013] In one possible implementation, the first device determines that a first event has occurred based on first information, and if it determines that a first person meets the first characteristic based on second information, it determines that the first person does not trust the vehicle's driving system.

[0014] For example, if the first device judges whether a first person trusts the vehicle's driving system based solely on the first piece of information, this approach might trigger a notification to the first person upon the occurrence of a first event. However, the first person might not even notice some of these events, leading to excessive notifications and user disruption. Furthermore, if the first device judges trust based solely on the first person's information, it might make incorrect judgments. For instance, the first person might be watching a video, and the video content might cause them to exhibit behaviors consistent with the first characteristic (surprise). If the first device judges based on these behaviors that the first person does not trust the vehicle's driving system and then outputs third information, this approach leads to incorrect judgments and user disruption. These examples demonstrate that, in one possible solution provided by this application, the first device can combine vehicle information and first person information to comprehensively judge whether the first person trusts the vehicle's driving system, thereby improving the accuracy of the judgment.

[0015] In some cases, the first person may exhibit surprise or other behaviors consistent with the first characteristic, but these behaviors may not be caused by the first event. For example, the surprise might be due to the content being watched. In such cases, the first device can determine that the surprise or other behaviors consistent with the first characteristic are not due to distrust of the vehicle's driving system, and therefore, there is no need to reassure the first person. Based on the above analysis, it can be seen that the first person may exhibit behaviors consistent with the first characteristic even if the first event does not occur, and these behaviors do not require the output of third information. If the first device continuously monitors the state of the first person and continuously acquires second information, it will lead to high power consumption. Based on this, this application provides a solution where the first device can acquire second information only after determining that the first event has occurred based on the first information. If the first person exhibits surprise or other behaviors consistent with the first characteristic after the first event has occurred, it is more likely that the first event caused the behavior. Based on this analysis, acquiring second information after the first event has occurred is reasonable. Moreover, this solution does not require the first device to continuously acquire second information, thereby reducing power consumption.

[0016] For example, external vehicle information includes at least one of the following: information about objects outside the vehicle, distance information between the vehicle and other objects, or traffic information about the vehicle's location. As another example, vehicle travel information includes at least one of the following: vehicle speed information, vehicle acceleration information, or vehicle direction of travel.

[0017] Since the external state and / or driving state of the vehicle during operation may cause the first person to distrust the vehicle's driving system, the first device can more accurately determine whether the first event has occurred based on the vehicle's external information and / or driving information. In turn, it can more accurately determine whether the first person distrusts the vehicle's driving system due to the first event. This solution can improve the accuracy of the first device in determining whether the first person trusts the vehicle's driving system.

[0018] In one possible implementation, the first event includes at least one of the following: the distance between the vehicle and an object outside the vehicle is less than a distance threshold; the absolute value of the vehicle's acceleration is greater than an acceleration threshold; the change in the vehicle's acceleration is greater than an acceleration change threshold; the value of the vehicle's speed is greater than a first speed threshold; the value of the vehicle's speed is less than a second speed threshold; the vehicle's speed is zero within a first duration; or, the change in the vehicle's direction of travel within a second duration is greater than a direction of travel change threshold.

[0019] The aforementioned events may lead to distrust of the vehicle's driving system by the first person, potentially causing them to intervene in the system and thus resulting in an accident. Therefore, when the first event includes at least one of the aforementioned events, the first person's surprised reaction or other characteristics at the time of the first event are more likely to indicate distrust of the vehicle's driving system. Thus, including at least one of the aforementioned events as the first event can improve the accuracy of the first device in determining whether the first person trusts the vehicle's driving system.

[0020] In one possible implementation, a first device acquires a first model, which is used to identify a first event. The first device uses first information as input to the first model and acquires the output information of the first model, which indicates whether the first event has occurred or not. If the output information of the first model indicates that the first event has occurred, the first device determines that the first event has occurred. This model-based approach to identifying the first event can improve the speed and accuracy of the first device in determining whether the first event has occurred, while also reducing the workload and complexity on the first device's side.

[0021] In one possible implementation, the first model is obtained by learning from first training data, or the first model is set up. The first training data includes: external information and / or driving information of the vehicle associated with the first event, and information of the person associated with the first event. Since the first training data consists of information about the vehicle and the person associated with the first event, for example, the first training data may include information about the vehicle and the person associated with the situation where a first person intervenes in the vehicle's driving system after the first event occurs. The first model trained from this first training data can then more accurately identify first events that are likely to cause a person to distrust the vehicle's driving system and attempt to intervene, thereby improving the accuracy of the first device in identifying a first person's distrust of the vehicle's driving system.

[0022] In one possible implementation, the second information includes at least one of the following: information about the first person's facial expression; information about the first person's physiological characteristics; information about the first person's gaze direction; information about the first person's gaze range; information about the first person's voice; information about the first person's language; information about the first person's behavior; or, information about the first person's posture. When the first person distrusts the vehicle's driving system, several situations may arise from multiple dimensions. When the second information includes at least one of the above, the first device can more accurately identify whether the first person exhibits a first characteristic, and thus more accurately determine whether the first person's distrust of the vehicle's driving system is due to a first event.

[0023] In one possible implementation, the first person meeting the first characteristic includes at least one of the following: the first person's facial expression belongs to a specified type of facial expression; the first person's physiological characteristics belong to a specified type of physiological characteristics; the first person's gaze is directed towards the direction where the first event occurred; the first person's gaze range includes the location where the first event occurred; the first person's voice volume is greater than a volume threshold; the first person's language belongs to a specified type of language; the first person's behavior belongs to a first specified type of behavior; or, the first person's posture belongs to a specified type of posture. When the first person distrusts the vehicle's driving system, several situations may arise from multiple dimensions. When the first person meets at least one of the above-mentioned first characteristics, the first device can more accurately determine whether the first person meets the first characteristic, and thus can more accurately determine whether the first person's distrust of the vehicle's driving system is caused by the first event.

[0024] For example, the specified type of facial expression includes: a surprised expression and / or a fearful expression. Another example is the specified type of physiological characteristic, which includes at least one of the following: facial coloration meeting the requirements for facial coloration, a heart rate greater than a heart rate threshold, brainwaves meeting the requirements for brainwave regularity, a body temperature greater than a body temperature threshold, or a sweating amount greater than a sweating amount threshold. Yet another example is the specified type of language, which includes language used to express surprise and / or fear. Yet another example is the first specified type of behavior, which includes at least one of the following: behavior used to query information from the vehicle's driving system, behavior used to intervene in vehicle driving, or behavior used to express surprise and / or fear. Yet another example is the specified type of posture, which includes postures used to express surprise and / or fear. The above content largely reflects the situation that would arise when a first person distrusts the vehicle's driving system. Therefore, the above content allows the first device to more accurately identify whether the first person exhibits the first characteristic, and thus more accurately determine whether the first person's distrust of the vehicle's driving system is due to the first event.

[0025] In one possible implementation, the first device can determine whether a first person trusts the vehicle's driving system based on whether a first event has occurred and whether a first person exhibits the first characteristic. For example, if the first device determines that the first event has occurred and the first person exhibits the first characteristic, it determines that the first person does not trust the vehicle's driving system. Alternatively, if the first device determines that the first event has not occurred and / or the first person does not exhibit the first characteristic, it determines that the first person trusts the vehicle's driving system.

[0026] In another possible implementation, the first device may consider whether the behavior of the first person belongs to a second specified type of behavior. The second specified type of behavior includes at least one of: recreational activities, sleeping, or communicating with others. For example, if the first device determines that the behavior of the first person belongs to the second specified type of behavior based on the second information, regardless of whether the first event occurs or whether the first person meets the first characteristic, the first device can determine that the first person trusts the vehicle's driving system. As can be seen from the above scheme, if the first device determines that the first person is engaging in the second specified type of behavior, even if the first event occurs, the first device can determine that the first person is not paying attention to the first event. Even if the first person meets the first characteristic, the first device believes that the first characteristic is not caused by the first event, but is likely caused by the second specified type of behavior (e.g., recreational activities). Therefore, the first device can determine that the first person does not distrust the vehicle's driving system. In this case, the first device no longer outputs the third information, thereby reducing interference with the first person.

[0027] In one possible implementation, the first device determines that a first event has occurred based on first information, determines that a first person meets the first characteristic based on second information, and determines that the first person's behavior does not belong to the second specified type of behavior based on the second information: then it determines that the first person does not trust the vehicle's driving system. Thus, if the first device determines that the first event has occurred and the first person meets the first characteristic, but the first person has not performed the second specified type of behavior, then it is highly likely that the first person's first characteristic is due to the first event, and consequently, the accuracy of the first device's determination that the first person does not trust the vehicle's driving system is also relatively high.

[0028] In one possible implementation, the first device acquires a second model. The first device uses the second information as input to the second model and acquires the output information of the second model. The output information of the second model indicates whether the first person conforms to or does not conform to a first characteristic. If the output information of the second model indicates that the first person conforms to the first characteristic, the first device determines that the first person conforms to the first characteristic. This model-based approach to identifying the first characteristic can improve the speed and accuracy of the first device in determining whether the first person exhibits the first characteristic, and can also reduce the workload and complexity on the first device side.

[0029] In one possible implementation, the second model is obtained by learning from second training data, or the second model is set up. The second training data includes: external information and / or driving information of the vehicle associated with the first event, and information of the person associated with the first event. Since the second training data consists of information about the vehicle and the person associated with the first event, for example, the second training data may include information about the vehicle and the person associated with the situation where the first person intervenes in the vehicle's driving system after the first event occurs. The second model trained from this second training data can then more accurately identify first characteristics that easily lead to distrust of the vehicle's driving system and attempts to intervene, thereby improving the accuracy of the first device in identifying the first person's distrust of the vehicle's driving system.

[0030] In one possible implementation, the first person includes at least one of the following: the driver sitting in the vehicle, a person remotely controlling the vehicle, or a passenger sitting in the vehicle. These persons may potentially interfere with the vehicle's driving system, thereby posing a danger. Therefore, when the first person is at least one of the above, the first device can more comprehensively and flexibly analyze and judge the person who may interfere with the vehicle's driving system, and provide reassurance when necessary, thereby further improving the safety of vehicle driving.

[0031] In one possible implementation, the first device outputs third information through a display and / or player corresponding to the location of the first person. In this way, the first device can minimize interference with other people when reassuring the first person.

[0032] In one possible implementation, the format of the third information includes at least one of text, images, audio, or video. This increases the flexibility of the solution.

[0033] Secondly, an apparatus is provided, which can be a first apparatus. The apparatus may include a communication unit and a processing unit to perform the first aspect or any possible implementation thereof. The communication unit is used to perform functions related to sending and receiving; for example, the communication unit can interact with other units to receive or send information. The communication unit may be referred to as a transceiver unit. Optionally, the communication unit includes a receiving unit and a sending unit. In one design, the apparatus is a communication chip, the processing unit may be one or more processors or processor cores, and the communication unit may be the input / output circuitry, input / output interface, or antenna port of the communication chip.

[0034] In another design, the communication unit can be a transmitter and a receiver, or the communication unit can be a transmitter and a receiver.

[0035] Optionally, the apparatus may also include various modules that can be used to perform the first aspect or any of the possible implementations of the first aspect.

[0036] Thirdly, an apparatus is provided, which can be the aforementioned first apparatus. The apparatus may include a processor and a memory to perform the first aspect or any possible implementation thereof. Optionally, it may also include a transceiver, the memory for storing computer programs or instructions, and the processor for retrieving and executing the computer programs or instructions from the memory. When the processor executes the computer programs or instructions in the memory, the apparatus causes it to perform the first aspect or any possible implementation thereof.

[0037] Optionally, there may be one or more processors and one or more memories.

[0038] Optionally, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0039] Optionally, the transceiver may include a transmitter and a receiver.

[0040] Fourthly, an apparatus is provided, which can be the aforementioned first apparatus. The apparatus may include a processor to perform the first aspect or any possible implementation thereof. The processor is coupled to a memory. Optionally, the apparatus further includes a memory. Optionally, the apparatus further includes a communication interface, to which the processor is coupled.

[0041] In one implementation, when the device is the first device, the communication interface can be a transceiver or an input / output interface. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0042] In another implementation, when the device is a chip or chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be manifested as a processing circuit or logic circuit.

[0043] Fifthly, a system is provided, which includes the first device described above.

[0044] In a sixth aspect, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when executed, causes a computer to perform the first aspect or any possible implementation thereof.

[0045] In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the first aspect or any possible implementation thereof.

[0046] Eighthly, a processing apparatus is provided, comprising: an interface circuit and a processing circuit. The interface circuit may include an input circuit and an output circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, thereby implementing the first aspect or any possible embodiment of the first aspect.

[0047] In specific implementation, the aforementioned processing device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, gate circuit, flip-flop, and various logic circuits, etc. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as the input circuit and output circuit at different times. This application does not limit the specific implementation method of the processor and various circuits.

[0048] In one implementation, the interface circuit can be the radio frequency processing chip in the first device, and the processing circuit can be the baseband processing chip in the first device.

[0049] In another implementation, the device can be a component within an equipment, such as an integrated circuit product like a system-on-a-chip (SoC) or a communication chip. The interface circuit can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuitry on the chip or chip system. The processing circuit can be the logic circuitry on the chip. Attached Figure Description

[0050] Figure 1 illustrates a schematic diagram of an application scenario applicable to the embodiments of this application;

[0051] Figure 2 shows a flowchart illustrating a method for improving human trust in a driving system according to an embodiment of this application;

[0052] Figure 3 illustrates an exemplary schematic diagram of a vehicle architecture provided in an embodiment of this application;

[0053] Figure 4 is a possible structural schematic diagram of a device provided in an embodiment of this application;

[0054] Figure 5 is a possible structural schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0055] With the rapid development of intelligent connected vehicle technology, multiple levels of intelligent driving assistance technologies have emerged, including but not limited to: Level 0 (emergency assistance), Level 1 (partial driving assistance), Level 2 (combined driving assistance), Level 3 (conditional automated driving), Level 4 (highly automated driving), and Level 5 (fully automated driving). Levels 1 and 2 are generally referred to as Advanced Driving Assistance Systems (ADAS). These various levels of intelligent driving assistance technologies can be used to assist drivers in intelligent driving, enhancing the driving experience and safety.

[0056] Currently, the intelligent driving assistance systems installed in vehicles by OEMs generally use lower-level technologies. For example, Level 1 driving assistance systems are generally adaptive cruise control (ACC), lane keeping assist (LKA), or automatic emergency braking (AEB); Level 2 driving assistance systems are generally traffic jam assist (TJA), etc.

[0057] The vehicle driving scheme in this application embodiment can be applied to vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V), and vehicle-to-vehicle (V2V) communication technologies. For example, it can be applied to vehicles with driving mobility functions, or other devices within vehicles with driving mobility functions. These other devices include, but are not limited to, on-board terminals, on-board controllers, on-board modules, on-board components, on-board chips, on-board units, on-board radar, or on-board cameras, and other sensors. Vehicles can implement the vehicle driving method provided in this application embodiment through these on-board terminals, controllers, modules, components, chips, units, radar, or cameras. The control scheme in this application embodiment can also be used in other intelligent terminals with mobility control functions besides vehicles, or be installed in other intelligent terminals with mobility control functions besides vehicles, or be installed in components of such intelligent terminals. These intelligent terminals can be intelligent transportation equipment, smart home devices, robots, etc. Examples include, but are not limited to, smart terminals or controllers, chips, radar or cameras, and other sensors and components within smart terminals.

[0058] Figure 1 illustrates a schematic diagram of an application scenario applicable to the embodiments of this application. In this application scenario, a vehicle 100 and a cloud server 200 may be included, and the vehicle 100 and the cloud server 200 may communicate via a network. In one embodiment, the cloud server 200 may also be implemented using a virtual machine.

[0059] Some or all of the functions of vehicle 100 are controlled by computing platform 150 (or computer system). Computing platform 150 may include at least one processor 151, which can execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152. In some embodiments, computing platform 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a central processing unit (CPU). Alternatively, processor 151 may also include graphics processing unit (GPU), field-programmable gate array (FPGA), system-on-chip (SoC), application-specific integrated circuit (ASIC), or combinations thereof.

[0060] Optionally, the vehicle 100 mentioned above can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, etc., and this application embodiment does not impose any special limitations.

[0061] It should be understood that the structure of the vehicle in Figure 1 should not be construed as a limitation on the embodiments of this application.

[0062] The method provided in this application embodiment can be implemented by a first device, which can be an independent device, a chip or component in the vehicle 100 shown in FIG1, or a software module that can be deployed on relevant vehicle-mounted equipment of the vehicle 100. Optionally, the first device can also be deployed in a cloud server. This application embodiment does not limit the product form and deployment method of the first device. In the following text, for ease of understanding and description.

[0063] As the capabilities of intelligent driving systems improve, drivers can be allowed to disengage from driving tasks to a certain extent. However, during driving, certain situations may arise that reduce the driver's trust in the vehicle's driving system, potentially leading to the driver actively intervening in or taking over the system, resulting in dangerous situations. Therefore, this application provides a solution to increase driver trust in the driving system. When a driver lacks trust in the system, third-party information is output to enhance that trust, thereby minimizing the driver's interference with or access to the system and improving driving safety.

[0064] In another possible implementation, the vehicle driving system can continuously or intermittently display the vehicle's current operating status to the user, or display the vehicle's current operating status or operating parameters, or the special situation encountered, when the vehicle encounters some special circumstances. However, this information is displayed relatively frequently, that is, it is displayed as soon as the vehicle encounters a special situation, or the vehicle's operating parameters and other information are continuously displayed, and the state of the first person is not taken into account when displaying this information. Because this information is displayed so frequently, the user may not pay attention to it or may ignore it. In the solution provided in this application embodiment, when the first device determines that a first event has occurred and the first person shows surprise or other situations that meet the first characteristics, the first device determines that the first person's surprise or other situations that meet the first characteristics are due to the occurrence of the first event, that is, the first person has paid attention to the first event. In this case, the first device can output third information. This third information can be used to reassure the first person or to explain the first event, so that the first person can increase their trust in the vehicle driving system, thereby minimizing the possibility of the first person interfering with or accessing the vehicle driving system. This third information may be different from the information on the vehicle's situation that is continuously or intermittently displayed by the vehicle, and there may be two pieces of information.

[0065] Based on the content provided in Figure 1, Figure 2 exemplarily illustrates a method for improving human trust in a driving system according to an embodiment of this application. The method can be performed by a first device. The first device can be a device or a chip (or chip system, or circuitry) within a device. The first device can be deployed or installed on a vehicle. The vehicle can be equipped with a vehicle driving system, such as an autonomous driving system (ADS) (e.g., at least one of L3, L4, or L5) and / or ADAS (e.g., at least one of L0, L1, or L2).

[0066] The following description is based on Figure 2. As shown in Figure 2, the method includes steps 201, 202, 203, 204, and 205.

[0067] Step 201: The first device acquires the first information.

[0068] The first information includes / is the vehicle's external information and / or the vehicle's driving information. This will be described below using information A1 (vehicle's external information) and information A2 (vehicle's driving information) respectively.

[0069] Information A1, external information of the vehicle.

[0070] External information of a vehicle may include, for example, environmental information about the vehicle's exterior or information about objects outside the vehicle. For example, external information of a vehicle may include, for example, at least one of the following: information about objects outside the vehicle, distance information between the vehicle and other objects, or traffic information about the vehicle's location.

[0071] For example, objects outside the vehicle can include vehicles, buildings, trees, traffic signs, or obstacles in the external environment. Information about objects outside the vehicle can include at least one of the following: object location information, object shape information, or object size information.

[0072] For example, traffic information about a vehicle's location can include: whether the vehicle is currently waiting to merge into a lane, whether the vehicle is currently waiting to merge into another lane, whether the vehicle is currently merging into a lane while the lane is congested, whether the vehicle is currently cutting into a lane, whether the vehicle is currently cutting out of a lane, whether the vehicle is currently changing lanes, whether the vehicle is currently on an on-ramp, or whether the vehicle is currently on an off-ramp.

[0073] There are several ways for the first device to acquire information about the vehicle's external environment. For example, the first device can acquire this information through sensors deployed on the vehicle. For instance, cameras or radar deployed on the vehicle can capture images of the surrounding environment, and the first device can then analyze these images to obtain the vehicle's external information.

[0074] For example, the first device determines the vehicle's current location through positioning, then determines the surrounding environment information of the vehicle's current location, and then obtains the vehicle's external information based on the surrounding environment information. For instance, if the first device determines through positioning that the vehicle is currently on an exit ramp from the highway, then the first device can determine that the vehicle is currently exiting the ramp.

[0075] In another possible implementation, the first device can receive external information about the vehicle from another device. This other device may be deployed on the vehicle or not, for example, it may be deployed on a server in a control center. This other device can determine the external information about the vehicle (e.g., obtained through the vehicle's location information or through images of the surrounding environment captured by the vehicle's sensors) and send the external information about the vehicle to the first device.

[0076] Information A2: Vehicle driving information.

[0077] Vehicle driving information may include, for example, information about parameters related to vehicle driving, or information about the vehicle itself. For example, vehicle driving information may include / become at least one of the following: vehicle speed information, vehicle acceleration information, or vehicle driving direction information.

[0078] For example, the vehicle's acceleration information includes at least one of the following: acceleration information along the driving direction (which may also be called longitudinal acceleration), acceleration information perpendicular to the driving direction and parallel to the ground (which may also be called lateral acceleration), or acceleration information perpendicular to the ground.

[0079] There are several ways for the first device to acquire vehicle driving information. For example, sensors deployed on the vehicle can collect data on the vehicle's motion, which can be used to determine the vehicle's form information, such as acceleration. For instance, the first device can acquire speed information through the vehicle's internal speed module. Or, for example, the first device can acquire data on changes in the vehicle's speed and then, based on these speed changes, obtain the vehicle's acceleration information along the driving direction.

[0080] In another possible implementation, the first device can receive vehicle driving information from another device. This other device may be deployed on the vehicle or not, for example, it may be deployed on a server in a control center. This other device can determine the vehicle's driving information (e.g., obtained through information sent by the vehicle, or by monitoring the vehicle's speed and / or direction of travel) and send the vehicle's driving information to the first device.

[0081] Since the external state and / or driving state of the vehicle during operation may cause the first person to distrust the vehicle's driving system, the first device can more accurately determine whether the first event has occurred based on the vehicle's external information and / or driving information. In turn, it can more accurately determine whether the first person distrusts the vehicle's driving system due to the first event. This solution can improve the accuracy of the first device in determining whether the first person trusts the vehicle's driving system.

[0082] In one possible implementation, the first device can determine whether a first event has occurred based on first information. The first event can be something that might surprise or cause distrust of the vehicle's driving system. The name of the first event can be changed; for example, it can be called a special event or an event that might surprise or cause distrust. The first event can be obtained through machine learning or can be pre-configured.

[0083] For example, the first event includes at least one of the following:

[0084] The distance between the vehicle and objects outside the vehicle is less than (or not greater than) a distance threshold.

[0085] The absolute value of the vehicle's acceleration is greater than (or not less than) the acceleration threshold;

[0086] The change in vehicle acceleration (e.g., the change in acceleration over a period of time) is greater than (or not less than) the acceleration change threshold.

[0087] The vehicle's speed is greater than (or not less than) the first speed threshold;

[0088] The vehicle's speed is less than (or not greater than) the second speed threshold;

[0089] The vehicle's speed is zero during the first duration; or,

[0090] The change in the vehicle's direction of travel during the second time period is greater than (or not less than) the threshold for the change in direction of travel.

[0091] The aforementioned events may lead to distrust of the vehicle's driving system by the first person, potentially causing them to intervene in the system and thus resulting in an accident. Therefore, when the first event includes at least one of the aforementioned events, the first person's surprised reaction or other characteristics at the time of the first event are more likely to indicate distrust of the vehicle's driving system. Thus, including at least one of the aforementioned events as the first event can improve the accuracy of the first device in determining whether the first person trusts the vehicle's driving system.

[0092] In this application embodiment, "not greater than" can be replaced with "less than or equal to", or "less than or equal to", or "less than and equal to". In this application embodiment, "not less than" can be replaced with "greater than or equal to", or "greater than or equal to", or "greater than and equal to".

[0093] In the aforementioned first event, when comparing each parameter with a threshold, the case where a parameter equals the threshold may or may not be considered a first event. For example, the distance between the vehicle and an object outside the vehicle being less than or equal to a distance threshold may or may not be considered a first event. As another example, at least one of the following events may or may not be considered a first event: the absolute value of the vehicle's acceleration equals an acceleration threshold; the change in the vehicle's acceleration equals an acceleration change threshold; the vehicle's speed equals a first speed threshold; the vehicle's speed equals a second speed threshold; or, the change in the vehicle's direction of travel within a second time period equals a direction change threshold.

[0094] In this embodiment of the application, the acceleration of the vehicle is positive when it accelerates and negative when it decelerates.

[0095] Since a vehicle may have multiple accelerations, there can also be multiple acceleration thresholds, and multiple acceleration change thresholds. For example, the change in acceleration information along the driving direction can be associated with a first acceleration change threshold and / or a first acceleration threshold. The change in acceleration along the driving direction can be compared with the first acceleration threshold; if it is greater than the first acceleration, then a first event can be determined to have occurred. Alternatively, if the change in acceleration is greater than the first acceleration change threshold, then a first event can be determined to have occurred. Similarly, for example, the vehicle's acceleration information perpendicular to the driving direction and parallel to the ground can be associated with a second acceleration change threshold and / or a second acceleration threshold. For example, the vehicle's acceleration information perpendicular to the ground can be associated with a third acceleration change threshold and / or a third acceleration threshold. Related schemes are described above in the description of the vehicle's acceleration information along the driving direction, and will not be repeated here. Any two of the first, second, and third acceleration change thresholds can be equal or unequal. Any two of the first acceleration threshold, the second acceleration threshold, and the third acceleration threshold can be equal or unequal.

[0096] The thresholds involved in the embodiments of this application (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold) and various parameters involved in the first event (e.g., first duration and / or second duration, etc.) may be pre-configured, determined based on historical events, sent to the first device by other devices, recommended by the system and set after user confirmation, or set by the user.

[0097] The thresholds involved in this application embodiment (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold) and various parameters involved in the first event (e.g., first duration and / or second duration, etc.) can also be associated with personnel. For example, a first person can be associated with a set of parameters (including thresholds (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold) and various parameters involved in the first event (e.g., first duration and / or second duration, etc.)), and a second person can be associated with another set of parameters (including thresholds (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold) and various parameters involved in the first event (e.g., first duration and / or second duration, etc.)). The parameter values ​​corresponding to the same parameter item in the two sets of parameters may be the same or different, and can be flexibly set according to the actual tolerance of the personnel. For example, the distance threshold for associating the first person is 50 centimeters, and the distance threshold for associating the second person is 40 centimeters.

[0098] For ease of understanding, the embodiments of this application name each threshold (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold). In practical applications, the names of each threshold can be changed. For example, the distance threshold can be called threshold one, etc.

[0099] In one possible implementation, the first device can determine whether a first event has occurred using a model. For example, the first device acquires a first model, which is used to identify the first event. The first device uses first information as input to the first model and acquires the output information of the first model, which indicates whether the first event has occurred or not. If the output information of the first model indicates that the first event has occurred, the first device determines that the first event has occurred. The model-based approach to identifying the first event can improve the speed and accuracy of the first device in determining whether the first event has occurred, and can also reduce the workload and complexity on the first device side.

[0100] For example, the first model is learned from first training data, or the first model is set up. The first training data includes: external information and / or driving information of the vehicle associated with the first event, and information of the person associated with the first event. During the learning process, staff can annotate the first training data. The first training data may be, for example, data showing the occurrence of a first characteristic (the first characteristic will be introduced later; here it is only an example, such as the person being surprised, applying the brakes, or intervening in driving) when the first event is met. The thresholds associated with the first model (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or change in driving direction threshold) and various parameters involved in the first event (e.g., first duration and / or second duration) can be determined based on the relevant parameters when the person exhibits the first characteristic (e.g., the first characteristic is the person being surprised, applying the brakes, or intervening in driving). For example, if the distance between the vehicle and other vehicles reaches 35 centimeters and the person exhibits the first characteristic, the distance threshold may be determined to be 35 centimeters after learning. This example is one possible scenario. In practical applications, the first training data can be a large amount of sample data to train a more accurate first model. Since the first training data consists of vehicle and personnel information associated with the first event—for example, it could include vehicle and personnel information associated with a situation where a first person intervenes in the vehicle's driving system after the first event—the first model trained on this first training data can more accurately identify first events that easily lead to distrust of the vehicle's driving system and attempts to intervene. This improves the accuracy of the first device in identifying a first person's distrust of the vehicle's driving system.

[0101] Step 202: The first device acquires the second information.

[0102] The second information includes / is information about the first person. In one possible implementation, the first device may continuously or intermittently monitor the first person and acquire the second information.

[0103] In some cases, the first person may exhibit surprise or other behaviors consistent with the first characteristic, but these behaviors may not be caused by the first event. For example, the surprise might be due to the content being watched. In such cases, the first device can determine that the surprise or other behaviors consistent with the first characteristic are not due to distrust of the vehicle's driving system, and therefore, there is no need to reassure the first person. Based on the above analysis, it can be seen that the first person may exhibit behaviors consistent with the first characteristic even if the first event does not occur, and these behaviors do not require the output of third information. If the first device continuously monitors the state of the first person and continuously acquires second information, it will lead to high power consumption. Based on this, this application provides a solution where the first device can acquire second information only after determining that the first event has occurred based on the first information. If the first person exhibits surprise or other behaviors consistent with the first characteristic after the first event has occurred, it is more likely that the first event caused the behavior. Based on this analysis, acquiring second information after the first event has occurred is reasonable. Moreover, this solution does not require the first device to continuously acquire second information, thereby reducing the number of times the first device acquires information about the first person, thus reducing workload and saving power consumption.

[0104] In one possible implementation, the second information (or the information of the first person) includes / is at least one of the following:

[0105] The information conveyed by the first person's facial expression;

[0106] Information on the physiological characteristics of the first person;

[0107] Information about the direction of the first person's gaze;

[0108] Information about the first person's line of sight;

[0109] The voice information of the first person;

[0110] Language information of the first person;

[0111] Information about the behavior of the first person; or,

[0112] Information about the first person's posture.

[0113] When a first person distrusts the vehicle's driving system, several situations may arise from multiple dimensions. When the second information includes at least one of the above-mentioned items, the first device can more accurately identify whether the first person exhibits the first characteristic, and thus more accurately determine whether the first person's distrust of the vehicle's driving system is due to the first event.

[0114] For example, the first person's expression may include at least one of the following: surprise, fear, happiness, or relaxation.

[0115] For example, the physiological characteristics of the first person include at least one of the following: the first person's complexion, heart rate, brain waves, body temperature, or amount of sweating. The first person's heart rate can be detected by wearable devices or by a camera; for example, a camera can detect the degree of rise and fall of the first person's chest to calculate the heart rate.

[0116] For example, the direction of the first person's gaze can be determined by at least one of the following: the direction of the first person's eyes (or eye movements), the direction of the first person's head (or head movements), and the direction of the first person's body (e.g., the direction of the first person's shoulders) (or trunk movements).

[0117] For example, the field of vision of a first person can be determined by their position. If the first person is in the back seat of the vehicle, their field of vision may include the areas on both sides of the back seat, while the area directly in front of the vehicle may not be within their field of vision. Similarly, if the first person is on the left side of the back seat, their field of vision may include the area on the left side of the back seat, while the area on the front right side of the vehicle may not be within their field of vision.

[0118] For example, the voice information of the first person includes: the volume of the voice.

[0119] For example, the language information of the first person can indicate what the first person is saying.

[0120] For example, the actions of the first person include: the actions of the first person's hands (such as the first person clicking a button or a piece of information, or the first person clicking on the information displayed on the vehicle status), and the actions of other parts of the first person's body (such as the first person stepping on the brake, braking, driving, or steering pedals).

[0121] For example, the first person's posture information includes: body posture and / or pose.

[0122] There are several ways for the first device to acquire information about the first person. For example, the first device can acquire information about the first person through sensors deployed on the vehicle. The first person could be the driver inside the vehicle, a front-seat passenger, a rear-seat passenger, or someone who is not sitting in the vehicle but has control over it. In one possible implementation, the first device can acquire information about the first person through sensors inside the vehicle, such as an in-vehicle camera capturing images of the first person, acquiring these images, and obtaining information about the first person based on these images.

[0123] Alternatively, the first device can obtain the first person's information through interaction with other devices, such as devices carried by the user (e.g., mobile phones, watches, etc.). The first device can obtain the first person's information from these devices, or obtain information that can be analyzed to identify the first person.

[0124] In one possible implementation, the first device can determine whether the first person meets the first characteristic based on the second information, or the first device can determine whether the first person exhibits the first characteristic based on the second information. The first characteristic may be some characteristics of the first person's surprise or distrust of the vehicle driving system. The name of the first characteristic can be changed, for example, it can be called the characteristic of the user's distrust of the vehicle driving system. The first characteristic can be obtained through machine learning or it can be pre-configured.

[0125] In one possible implementation, the presence of the first characteristic of the first person includes at least one of the following (when at least one of the following is satisfied, the first device can determine that the first person has exhibited the first characteristic):

[0126] The first person's expression belongs to the specified type of expression;

[0127] The physiological characteristics of the first person belong to the specified type of physiological characteristics;

[0128] The first person's gaze is directed in the direction in which the first incident occurred;

[0129] The first person's line of sight includes the location where the first incident occurred;

[0130] The volume of the first person's voice is greater than (or not less than) the volume threshold;

[0131] The first person's language belongs to the specified language type;

[0132] The first person's behavior falls under the first designated type of behavior; or,

[0133] The first person's posture belongs to the specified posture type.

[0134] When a first person distrusts the vehicle's driving system, several situations may arise from multiple dimensions. If the first person meets at least one of the first characteristics, the first device can more accurately determine whether the first person meets the first characteristics, and thus more accurately determine whether the first person's distrust of the vehicle's driving system is due to the first event.

[0135] In the aforementioned first event, when comparing each parameter with the threshold, the case where a parameter equals the threshold can fall under the category of the first person exhibiting the first characteristic, or it can not. For example, if the volume of the first person's voice equals the volume threshold, it can be considered that the first person exhibits the first characteristic, or it can be considered that the first person does not exhibit the first characteristic.

[0136] In the above-described implementation of the first characteristic of the first person, the specified type of expression may include, for example, a surprised expression and / or a frightened expression.

[0137] For example, the specified type of physiological characteristic includes at least one of the following: facial coloration meeting the requirements for facial coloration, heart rate greater than (or not less than) the heart rate threshold, brainwaves meeting the requirements for brainwave regularity, body temperature greater than (or not less than) the body temperature threshold, or sweat volume greater than (or not less than) the sweat volume threshold. The specified type of physiological characteristic may or may not include at least one of the following: body temperature equal to the body temperature threshold, or sweat volume equal to the sweat volume threshold.

[0138] For example, if the first person is located in the back seat of the vehicle, and the first incident occurs in a relatively close area directly in front of the vehicle, then the location of the first incident may not be within the first person's line of sight. Similarly, if the first person is located on the left side of the back seat of the vehicle, and the first incident occurs in the area to the right front of the vehicle, then the location of the first incident may not be within the first person's line of sight.

[0139] For example, the specified types of language include: language used to express surprise and / or fear (e.g., “ah,” “good heavens,” or “oh”).

[0140] For example, the first specified type of behavior includes at least one of the following: behavior for querying information of the vehicle driving system, behavior for intervening in the driving of the vehicle (e.g., turning the steering wheel, pressing the emergency stop button, stepping on the brake, etc.), or behavior for expressing surprise and / or fear (e.g., intending to turn the steering wheel, intending to press the emergency stop button, intending to step on the brake, etc.).

[0141] For example, the specified type of posture includes: postures used to express surprise and / or fear (e.g., leaning forward or facing the discovery of the first event, such as a posture of intending to turn the steering wheel, an posture of intending to press the emergency stop button, an posture of intending to step on the brake, etc.).

[0142] The above content is more consistent with the situation that would occur when the first person does not trust the vehicle driving system. Therefore, the above content can enable the first device to more accurately identify whether the first person has exhibited the first characteristic, and thus more accurately determine whether the first person's distrust of the vehicle driving system is caused by the first event.

[0143] The thresholds involved in this application embodiment (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and the various contents involved in the first feature (e.g., at least one of specified type of expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture) may be pre-configured, or determined based on historical events, or sent to the first device by other devices, or recommended by the system and set after user confirmation, or set by the user.

[0144] The thresholds involved in this application embodiment (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and the various contents involved in the first feature (e.g., at least one of specified type of expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture) can also be associated with a person. For example, the first person can be associated with a set of parameters (including thresholds (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and the various contents involved in the first feature (e.g., at least one of specified type of expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture). The first person may be associated with at least one of the specified type of behavior or specified type of posture. The second person may be associated with another set of parameters (including thresholds (e.g., volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and various contents involved in the first feature (e.g., specified type of facial expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture). The parameter values ​​corresponding to the same parameter item in the two sets of parameters may be the same or different, and can be flexibly set according to the actual tolerance of the person. For example, the heart rate threshold associated with the first person is 80 beats per minute, and the heart rate threshold associated with the second person is 85 beats per minute.

[0145] For ease of understanding, the embodiments of this application name each threshold (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and each content involved in the first feature (e.g., at least one of specified type of expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture). In practical applications, the names of these contents can be changed. For example, the volume threshold can be called threshold two, etc.

[0146] In one possible implementation, the first device can determine whether a first person exhibits a first characteristic using a model. For example, the first device acquires a second model, uses the second information as input to the second model, and acquires the output information of the second model. The output information of the second model indicates whether the first person conforms to or does not conform to the first characteristic. If the output information of the second model indicates that the first person conforms to the first characteristic, the first device determines that the first person conforms to the first characteristic. This model-based approach to identifying the first characteristic can improve the speed and accuracy of the first device in determining whether a first person exhibits the first characteristic, while also reducing the workload and complexity on the first device side.

[0147] For example, the second model is learned from second training data, or the second model is set up. The second training data includes: external information and / or driving information of the vehicle associated with the first event, and information of the personnel associated with the first event. During the learning process, staff can annotate the second training data. The second training data may be, for example, data on situations where a person exhibits a first characteristic (the first characteristic will be introduced later; this is just an example, such as a person being surprised, applying the brakes, or intervening in driving) when the first event is met. The thresholds associated with the second model (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and the various contents involved in the first characteristic (e.g., at least one of a specified type of facial expression, a specified type of physiological characteristic, a specified type of language, a first specified type of behavior, or a specified type of posture) may be determined based on relevant parameters when a person exhibits the first characteristic (e.g., a person being surprised, applying the brakes, or intervening in driving). For example, if a person shows surprise and their heart rate is 80 beats per minute when the distance between the vehicle and other vehicles reaches 35 centimeters, then after learning, the heart rate threshold in the first feature might be determined to be 80 beats per minute. This example is one possible one; in practical applications, the second training data can be a large amount of sample data to train a more accurate first model. Since the second training data is information about the vehicle and the person associated with the first event, for example, the second training data can include information about the vehicle and the person associated with the situation where the first person intervenes in the vehicle's driving system after the first event. The second model trained on this second training data can then more accurately identify the first feature that easily leads to distrust of the vehicle's driving system and attempts to intervene, thereby improving the accuracy of the first device in identifying the first person's distrust of the vehicle's driving system.

[0148] In one possible implementation, the first training data and the second training data can be overlapping or non-overlapping. In another possible implementation, the second training data may include personnel information but exclude vehicle external information and / or driving information. That is, the second model can be trained based on personnel information, but not on vehicle external information and / or driving information. In this implementation, the second training data can also be manually set or data collected daily; this data can be data from when the first event occurred, or it can be unrelated to the first event. For example, the second training data could include data on user-inputted facial expressions such as surprise. This increases the flexibility of the solution.

[0149] In another possible implementation, the first device also needs to determine whether the first person's behavior belongs to a second specified type of behavior based on the second information. Whether the first person's behavior belongs to the second specified type of behavior can be used to assist the first device in determining whether the first person trusts the vehicle's driving system. The second specified type of behavior may include, for example, at least one of: entertainment activities (e.g., watching videos, reading books), sleeping, or communicating with others. Communicating with others may include, for example, chatting (e.g., mobile phone calls, voice chats, or video chats) and / or being in a meeting. For example, the first device can determine whether the first person's face is facing someone else, or whether the first person's face is facing a mobile phone or computer, and determine whether the first person is communicating with others based on this information.

[0150] The first device can determine whether the first person distrusts the vehicle's driving system based on whether their behavior belongs to a second specified type of behavior. For example, if the first device determines that the first person's behavior belongs to the second specified type of behavior, such as the first person watching a movie, then it determines that the first person trusts the vehicle's driving system. Alternatively, if the first device determines that the first person's behavior does not belong to the second specified type of behavior, it can further determine whether a first event has occurred and whether the first person exhibits a first characteristic, thus determining whether the first person trusts the vehicle's driving system. For example, if the first device determines that a first event has occurred based on first information, that the first person meets the first characteristic based on second information, and that the first person's behavior does not belong to the second specified type of behavior based on second information: then it determines that the first person distrusts the vehicle's driving system.

[0151] Step 203: The first device determines whether the first person trusts the vehicle's driving system based on the first information and the second information.

[0152] If the first person trusts the vehicle's driving system, proceed to step 204;

[0153] If the first person trusts the vehicle's driving system, proceed to step 205.

[0154] In step 203, the first device may determine whether the first person trusts the vehicle's driving system according to various implementation methods.

[0155] In one possible implementation, the first device can determine whether a first person trusts the vehicle's driving system based on whether a first event has occurred and whether a first person exhibits the first characteristic. For example, if the first device determines that the first event has occurred and the first person exhibits the first characteristic, it determines that the first person does not trust the vehicle's driving system. Alternatively, if the first device determines that the first event has not occurred and / or the first person does not exhibit the first characteristic, it determines that the first person trusts the vehicle's driving system.

[0156] For example, if the first device judges whether a first person trusts the vehicle's driving system based solely on the first piece of information, this approach might trigger a notification to the first person upon the occurrence of a first event. However, the first person might not even notice some of these events, leading to excessive notifications and user disruption. Furthermore, if the first device judges trust based solely on the first person's information, it might make incorrect judgments. For instance, the first person might be watching a video, and the video content might cause them to exhibit behaviors consistent with the first characteristic (surprise). If the first device judges based on these behaviors that the first person does not trust the vehicle's driving system and then outputs third information, this approach leads to incorrect judgments and user disruption. These examples demonstrate that, in one possible solution provided by this application, the first device can combine vehicle information and first person information to comprehensively judge whether the first person trusts the vehicle's driving system, thereby improving the accuracy of the judgment.

[0157] In another possible implementation, the first device may further consider whether the first person's behavior belongs to a second specified type of behavior when determining whether the first person trusts the vehicle's driving system. The first device determines whether the first person trusts the vehicle's driving system based on whether the first person's behavior belongs to the second specified type of behavior, whether a first event has been sent, and whether the first person meets the first characteristic. The second specified type of behavior includes at least one of: recreational activities, sleeping, or communicating with others.

[0158] For example, if the first device determines that the behavior of the first person belongs to the second specified type of behavior based on the second information, regardless of whether the first event occurs or whether the first person meets the first characteristic, the first device can determine that the first person trusts the vehicle's driving system. As can be seen from the above scheme, if the first device determines that the first person is engaging in the second specified type of behavior, even if the first event occurs, the first device can determine that the first person is not paying attention to the first event. Even if the first person meets the first characteristic, the first device believes that the first characteristic is not caused by the first event, but is more likely caused by the second specified type of behavior (such as entertainment activities). Therefore, the first device can determine that the first person does not distrust the vehicle's driving system. In this case, the first device no longer outputs the third information, thereby reducing interference with the first person.

[0159] For example, if the first device determines that a first event has occurred based on first information, determines that a first person meets the first characteristic based on second information, and determines that the first person's behavior does not belong to the second specified type of behavior based on the second information: then it determines that the first person does not trust the vehicle's driving system. Thus, if the first device determines that the first event has occurred and the first person meets the first characteristic, but the first person has not performed the second specified type of behavior, then it is highly likely that the first person's first characteristic was caused by the first event, and consequently, the accuracy of the first device's determination that the first person does not trust the vehicle's driving system is also relatively high.

[0160] For example, suppose a person is chatting, but an event occurs, causing the person to stop chatting and turn their gaze towards the location of the event. Because the person's gaze is directed towards the location of the event, they meet the first characteristic. Since the person stopped chatting, it can be determined that their behavior at that moment does not belong to the second specified type of behavior. In this case, the first device can determine that the person does not trust the vehicle's driving system.

[0161] Step 204: If the first person does not trust the vehicle's driving system, the first device outputs third information.

[0162] Third information is used to increase the first person's trust in the vehicle's driving system.

[0163] In one possible implementation, if the first device determines, based on the first information and the second information, that the first person does not trust the vehicle's driving system, it may determine whether or not to output third information.

[0164] In another possible implementation, before determining whether to output the third information or to output the third information, the first device may also determine whether a specified type of fault has occurred in the vehicle's driving system (or whether a fault has occurred). Alternatively, before determining whether to output the third information or to output the third information, the first device may further determine that the vehicle's driving system has not experienced a specified type of fault (or that a fault has not occurred).

[0165] For example, if the first person does not trust the vehicle's driving system, and if the vehicle's driving system has no specified type of fault (or is fault-free), the first device determines to output third information. Thus, if the vehicle has no specified type of fault and the first device determines that third information needs to be output, it outputs third information to increase the first person's trust in the system.

[0166] For example, if the vehicle's driving system experiences a specified type of malfunction (or a failure), regardless of whether the first event has occurred or whether the first person meets the first characteristic, even if the first device determines that the first person does not trust the vehicle's driving system, the first device may not output any third information. This allows the first person to decide whether to access the vehicle's driving system based on the actual situation, thereby improving vehicle driving safety. In another possible implementation, when the first device determines that the vehicle's driving system has experienced a specified type of malfunction (or a failure), it can output information indicating the malfunction to the first person to alert them, enabling them to perform a series of operations to improve vehicle driving safety.

[0167] The specified types of faults include, for example, hardware and / or software faults. Hardware faults include, for example, camera cable malfunctions or vehicle hardware failures. Software faults may include, for example, software exception handling. The first device can identify whether the vehicle's driving system has experienced a specified type of fault by recording the operating information (or log) of the vehicle's driving system. If the operating information (or log) does not contain a fault code of the specified type (or there is no fault code), the first device determines that the vehicle's driving system does not have a fault of the specified type (or there is no fault).

[0168] In one possible implementation, the first person includes at least one of the following: a driver sitting in the vehicle, a person remotely controlling the vehicle, or a passenger sitting in the vehicle (e.g., a passenger sitting in any position in the vehicle, such as a passenger in the front or rear seat of the vehicle).

[0169] In one possible implementation, the format of the third information includes at least one of text, images, audio, or video. In another possible implementation, the first device can output the third information via a display and / or player corresponding to the location of the first person.

[0170] For example, a corresponding human-machine interaction (HMI) device can be located near the position of the first person, such as an HMI device in front of the first person's line of sight. For example, if the first person is the driver, the HMI device near the first person can be an HMI device in front of the driver's line of sight. If the first person is a rear passenger, the HMI device near the first person can be an HMI device in front of the rear passenger's line of sight. This HMI device can be located behind the front passenger's seat or on both sides of the rear passenger's seat.

[0171] For example, the sound played by the player at the location of the first person may only be audible to that person, while other personnel who trust the vehicle's driving system (those riding in the vehicle or remotely controlling the vehicle) may remain unaffected. This reduces interference from those who trust the vehicle's driving system. If other personnel also distrust the vehicle's driving system, the first device can output information to that person to increase their trust in the vehicle's driving system. For relevant solutions, please refer to the section on the first person; further details will not be provided here.

[0172] In another possible implementation, the first device outputs the third information immediately upon determining that it needs to be output. For example, if the first device determines, based on the first and second information, that the first person does not trust the vehicle's driving system, it immediately outputs the third information to alleviate the first person's concerns and prevent the first person from interfering with the vehicle's driving system.

[0173] In another possible implementation, the first device may postpone outputting the third information if it determines that outputting the third information is necessary. For example, if the first device determines, based on the first and second information, that the first person does not trust the vehicle's driving system, it may postpone outputting the third information, such as waiting for a suitable opportunity to output it. This opportunity could be one that ensures the safety of the first person. For instance, if the current traffic environment is complex, or if a takeover warning is in effect, the first device may not output the third information until the current traffic environment becomes less complex, or there are no other warnings, or other warnings have been issued. Alternatively, if the first device determines, based on the actual situation, that the first event has ended, or that the first person has intervened in the vehicle's driving system, or that the first person no longer meets the first characteristic (e.g., not surprised), then the first device may stop outputting the third information to avoid interfering with the first person.

[0174] Here are a few examples.

[0175] Example 1: If a vehicle makes an emergency turn, the first device determines the change in the vehicle's direction of travel within a second time period. If the change in the vehicle's direction of travel within the second time period is greater than a threshold value, the first device determines that a first event has occurred. Alternatively, if the vehicle suddenly accelerates or decelerates, the first device determines that the vehicle's speed is greater than a first speed threshold, or less than a second speed threshold, etc. In these cases, the first device determines that a first event has occurred. After determining that a first event has occurred, the first device determines whether the first person exhibits a state of surprise, i.e., whether the first person meets the first characteristic. For example, the first device determines whether the first person displays a surprised expression. If the first person exhibits surprise, the first device can output information to the first person; for example, the first device can issue a command to the HMI device so that the HMI device outputs third information.

[0176] In Example 1, if the first person involved in the first incident is a passenger in the back seat of the vehicle and displays a surprised expression, the first device can display a trust mitigation interface on a monitor facing the passenger. This interface can show the system's operational status and relevant sensory information. Alternatively, the first device can play audio to the passenger via a player near the passenger, such as the current operational status of the vehicle's driving system and relevant sensory information. Or, the first device can play audio only when it is certain that no other people are inside the vehicle, thus avoiding interference with others. Alternatively, the first device can also display the trust mitigation interface via the passenger's mobile application, showing the system's operational status and relevant sensory information. These methods can increase the first person's trust in the vehicle's driving system, alleviate their anxiety, and prevent them from interfering with the system. Furthermore, these methods can be tailored specifically to the first person, minimizing interference with other passengers.

[0177] Example 2: A vehicle comes to a stop at a merging point. The first device determines that a first event has occurred when the vehicle's speed is zero for a first duration. After determining the first event, the first device determines whether the first person exhibits a state of surprise, i.e., whether the first person meets the first characteristic. For example, the first device determines whether the first person displays a surprised expression. If the first person exhibits surprise, the first device can output information to the first person; for example, the first device can issue a command to the HMI device so that the HMI device outputs third information.

[0178] In Example 2, for instance, when the first event occurs, and the first person is the driver, exhibiting a surprised expression, since the driver's gaze is directed towards the road ahead, the first device can display a trust mitigation interface via a display device in front of the driver's line of sight (e.g., an augmented reality head-up display, AR-HUD). This interface can display the system's operational status and relevant perception information. For example, the trust mitigation interface could explain the event that caused the autonomous vehicle to stop. Alternatively, the first device can play audio directed to the passenger via a player near the driver, such as displaying the current operational status of the vehicle's driving system and relevant perception information. Or, the first device can play audio via a player only when it is certain that no other people are inside the vehicle, thus avoiding interference with others. Alternatively, the first device can also display the trust mitigation interface via the driver's mobile application, which can display the system's operational status and relevant perception information. These methods can increase the first person's trust in the vehicle's driving system, alleviate their anxiety, and prevent them from interfering with the driving system. Furthermore, these methods can be tailored specifically to the first person, thereby reducing interference with other individuals.

[0179] Example 3: When a vehicle is too close to the vehicle in front, the first device determines that a first event has occurred if the distance between the vehicle and an external object is less than a distance threshold. After determining that the first event has occurred, the first device determines whether the first person exhibits a state of surprise, i.e., whether the first person meets the first characteristic. For example, if the first person is the driver, the first device determines whether the driver displays a surprised expression. If the driver exhibits surprise, the first device can output information to the first person. Related solutions can be found in Examples 1 and 2, and will not be elaborated further.

[0180] Step 205: If the first person trusts the vehicle's driving system, the first device will not output third information.

[0181] In step 205, if the first device determines that the first person does not distrust the vehicle's driving system, it may not output the third information to avoid interfering with the first person.

[0182] For example, if a vehicle is too close to the vehicle in front, and the first device determines that a first event has occurred if the distance between the vehicle and an external object is less than a distance threshold, then the first device determines whether the first person meets the first characteristic. For example, if the first person is a rear-seat passenger, their position should prevent them from seeing the distance between the vehicle in front and the first event; that is, the first person's line of sight does not include the location where the first event occurred. In this case, the first person does not meet the first characteristic. The first device can determine whether the first person trusts the vehicle's driving system or whether the first person does not distrust the vehicle's driving system.

[0183] In the above example, the first feature may include: information about the first person's field of vision and information about the first person's facial expression. When the first event occurs, the first person may exhibit other characteristics, such as surprise or lack thereof. Regardless of whether the first person shows surprise, since the first device determines that the first person's field of vision does not include the location where the first event occurred, it can be determined that the first person's surprise was not caused by the first event (i.e., the first person does not meet the first feature). Therefore, the first device can determine that the first person trusts the vehicle's driving system, or that the first person does not distrust the vehicle's driving system. The specific setting of the first feature in this application embodiment can be flexible and varied, thus improving the flexibility and accuracy of the solution.

[0184] Figure 3 exemplarily illustrates a possible structural diagram of Yizhuang Town. As shown in Figure 3, the first device may include several functional units. For example, a functional unit may be used to set a first event and also to determine whether the first event has occurred. The name of this functional unit may vary; for ease of description, in this embodiment, the functional unit is referred to as: Vehicle Special Situation Setting and Determination Functional Unit. This Vehicle Special Situation Setting and Determination Functional Unit may include two functional units: a Vehicle Special Situation Setting Functional Unit and a Vehicle Special Situation Determination Functional Unit. The Vehicle Special Situation Setting Functional Unit may be used to set the first event, such as setting thresholds in the first event (e.g., at least one of distance threshold, acceleration threshold, acceleration change threshold, first speed threshold, second speed threshold, or driving direction change threshold) and various parameters involved in the first event (e.g., first duration and / or second duration, etc.). The Vehicle Special Situation Determination Functional Unit may be used to determine whether the first event has occurred.

[0185] For example, a functional unit in the first device can be used to set a first feature and also to determine whether a first person exhibits the first feature. The name of this functional unit can vary; for ease of description, in this embodiment, it is referred to as: Occupant Trust Setting and Judgment Functional Unit. This Occupant Trust Setting and Judgment Functional Unit may include two functional units: an Occupant Trust Setting Functional Unit and an Occupant Trust Judgment Functional Unit. The Occupant Trust Setting Functional Unit can be used to set thresholds in the first feature (e.g., at least one of volume threshold, facial color requirement, heart rate threshold, EEG pattern requirement, body temperature threshold, or sweating threshold) and various contents involved in the first feature (e.g., at least one of specified type of facial expression, specified type of physiological characteristic, specified type of language, first specified type of behavior, or specified type of posture). The Occupant Trust Judgment Functional Unit can be used to determine whether a first person exhibits the first feature.

[0186] For example, a functional unit in the first device can be used to determine whether third information needs to be output, and to output the third information. The name of this functional unit can vary; for ease of description, it is referred to as the "occupant trust mitigation functional unit" in this embodiment. This occupant trust mitigation functional unit can include two functional units: an occupant trust mitigation implementation method determination function and an occupant trust mitigation implementation function. The occupant trust mitigation implementation method determination function can be used to determine whether third information needs to be output. The occupant trust mitigation implementation function can be used to output the third information.

[0187] As shown in Figure 3, the first device can be connected to other systems in the vehicle, such as the vehicle control system (e.g., vehicle dynamics control (VDC) system), the occupancy monitoring system (e.g., occupancy monitoring system (OMS)), or the human-machine interface (e.g., HMI device). The vehicle control system can be used to send vehicle information to the first device. The occupancy monitoring system can be used to send occupant information (e.g., information about the first person) to the first device. When the first device determines that it needs to output third information, it can output the third information through the HMI.

[0188] It is understood that, in order to achieve the functions in the above embodiments, the first device may include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0189] Figures 4 and 5 are schematic diagrams of possible apparatus structures provided in embodiments of this application. This apparatus can be used to implement the function of the first apparatus in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. In embodiments of this application, the apparatus can be the apparatus shown in Figure 1, or it can be a chip or chip system (or circuit) applied to the apparatus shown in Figure 1.

[0190] As shown in Figure 4, the device 1300 includes a processing unit 1310 and a transceiver unit 1320. The device 1300 is used to implement the functions of the first device in the method embodiment shown in Figure 2. The transceiver unit 1320 can also be referred to as a communication unit. The transceiver unit 1320 may include a sending unit and a receiving unit.

[0191] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to acquire first information, acquire second information, and output third information if it is determined, based on the first information and the second information, that the first person does not trust the vehicle's driving system. For example, the third information can be output through transceiver unit 1320.

[0192] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 determines that the vehicle's driving system has not experienced a specified type of fault before outputting third information.

[0193] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to determine that a first event has occurred based on first information, and when determining that a first person meets the first characteristic based on second information: determine that the first person does not trust the vehicle's driving system.

[0194] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to obtain second information when it is determined that a first event has occurred based on first information.

[0195] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to acquire a first model, take the first information as the input of the first model, acquire the output information of the first model, and determine that the first event has occurred when the output information of the first model indicates that the first event has occurred.

[0196] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to determine that a first event has occurred based on first information, determine that a first person meets the first characteristic based on second information, and determine that the behavior of the first person does not belong to the second specified type of behavior based on second information: determine that the first person does not trust the vehicle's driving system.

[0197] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to determine, based on second information, that the behavior of the first person belongs to a second specified type of behavior, and to determine that the first person trusts the vehicle's driving system.

[0198] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to obtain a second model, take the second information as the input of the second model, obtain the output information of the second model, the output information of the second model indicates whether the first person conforms to or does not conform to the first feature, and if the output information of the second model indicates that the first person conforms to the first feature, it is determined that the first person conforms to the first feature.

[0199] When device 1300 is used to implement the function of the first device in the method embodiment shown in FIG2, in one possible implementation, processing unit 1310 is used to output third information through a display and / or player corresponding to the location of the first person.

[0200] For a more detailed description of the processing unit 1310 and the transceiver unit 1320, please refer to the relevant description in the method embodiment shown in FIG2.

[0201] As shown in Figure 5, device 1400 includes a processor 1410 and an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled to each other. It can be understood that the interface circuit 1420 can be a transceiver or an input / output interface. The input / output interface is used for inputting and / or outputting information; output can be understood as sending, and input can be understood as receiving. Optionally, device 1400 may also include a memory 1430 for storing instructions executed by the processor 1410, or storing input data required by the processor 1410 to execute instructions, or storing data generated after the processor 1410 executes instructions.

[0202] When the device 1400 is used to implement the method shown in FIG2, the processor 1410 is used to implement the functions of the processing unit 1310, and the interface circuit 1420 is used to implement the functions of the transceiver unit 1320. It is understood that the relevant content of the processor in the embodiments of this application can be referred to the description of the processor in FIG1 above, and will not be repeated here.

[0203] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, compact disc read-only memory (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a base station or terminal. The processor and storage medium can also exist as discrete components in a base station or terminal.

[0204] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded and executed on a computer, all or part of the processes or functions of the embodiments of this application are performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0205] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0206] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects. "Including at least one of A, B, or C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0207] It is understood that the various numbers involved in the embodiments of this application (such as the numerical numbers "first" and "second", and the letter numbers "A1" and "A2") are only for the convenience of description and are not intended to limit the scope of the embodiments of this application. The order of the above-mentioned process numbers does not mean the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A method for increasing personnel's trust in a driving system, characterized in that, include: Obtain first information, which includes external information of the vehicle and / or driving information of the vehicle; Obtain second information, which includes information about the first person; If, based on the first information and the second information, it is determined that the first person does not trust the vehicle's driving system, third information is output, which is used to increase the first person's level of trust in the vehicle's driving system.

2. The method as described in claim 1, characterized in that, Before outputting the third information, the following is also included: If, based on the first information, it is determined that a first event has occurred, and based on the second information, it is determined that the first person meets the first characteristic: then it is determined that the first person does not trust the vehicle's driving system.

3. The method as described in claim 2, characterized in that, The acquisition of the second information includes: If the occurrence of the first event is determined based on the first information, the second information is obtained.

4. The method as described in claim 2 or 3, characterized in that, The external information of the vehicle includes at least one of the following: information about objects outside the vehicle, distance information between the vehicle and other objects, or traffic information about the location of the vehicle. and / or; The vehicle's driving information includes at least one of the following: the vehicle's speed information, the vehicle's acceleration information, or the vehicle's driving direction information.

5. The method according to any one of claims 2-4, characterized in that, The first event includes at least one of the following: The distance between the vehicle and an object outside the vehicle is less than a distance threshold; The absolute value of the vehicle's acceleration is greater than the acceleration threshold; The change in the vehicle's acceleration is greater than the acceleration change threshold. The speed of the vehicle is greater than a first speed threshold. The vehicle's speed is less than the second speed threshold; The speed of the vehicle is zero during the first duration; or, The change in the vehicle's direction of travel within the second time period is greater than the threshold for the change in direction of travel.

6. The method according to any one of claims 2-5, characterized in that, The second information includes at least one of the following: Information about the first person's facial expression; Information on the physiological characteristics of the first person; Information about the direction of the first person's gaze; Information about the first person's line of sight; The voice information of the first person; The first person's language information; Information about the behavior of the first person; or, Information about the posture of the first person.

7. The method according to any one of claims 2-6, characterized in that, The first person meeting the first characteristic includes at least one of the following: The first person's expression belongs to a specified type of expression; The physiological characteristics of the first person belong to the specified type of physiological characteristics; The first person's line of sight is directed toward the direction in which the first event occurred; The first person's line of sight includes the location where the first event occurred; The volume of the first person's voice is greater than the volume threshold; The language spoken by the first person belongs to the specified language type; The first person's behavior belongs to the first designated type of behavior; or, The first person's posture belongs to the specified type of posture.

8. The method as described in claim 7, characterized in that, At least one of the following must be satisfied: The specified types of facial expressions include: surprised expressions and / or frightened expressions; The specified type of physiological characteristics includes at least one of the following: facial color that meets the requirements for facial color, heart rate that is greater than the heart rate threshold, brain waves that meet the requirements for brain wave regularity, body temperature that is greater than the body temperature threshold, or sweating that is greater than the sweating threshold. The specified types of language include: language used to express surprise and / or fear; The first specified type of behavior includes at least one of the following: behavior for querying information of the vehicle driving system, behavior for intervening in the driving of the vehicle, or behavior for expressing surprise and / or fear; The specified type of gesture includes gestures used to express surprise and / or fear.

9. The method according to any one of claims 2-8, characterized in that, The step of determining that the first event has occurred based on the first information, and determining that the first person meets the first characteristic based on the second information, and then determining that the first person does not trust the vehicle's driving system, includes: If, based on the first information, it is determined that a first event has occurred, based on the second information, it is determined that the first person meets the first characteristic, and based on the second information, it is determined that the behavior of the first person does not belong to the second specified type of behavior: it is determined that the first person does not trust the vehicle's driving system. The second specified type of behavior includes at least one of the following: recreational activities, sleeping, or communicating with others.

10. The method as described in claim 9, characterized in that, The method further includes: Based on the second information, it is determined that the behavior of the first person belongs to the second specified type of behavior, and it is determined that the first person trusts the vehicle's driving system.

11. A communication device, characterized in that, Includes modules for performing the method as described in any one of claims 1 to 10.

12. A communication device, characterized in that, The device includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices and transmit them to the processor or to send signals from the processor to other communication devices, and the processor is used to implement the method as described in any one of claims 1 to 10 through logic circuits or executing code instructions.

13. A communication device, characterized in that, Includes a processor, which implements the method as described in any one of claims 1 to 10 via logic circuitry or executable code instructions.

14. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, which, when executed by a communication device, implement the method as described in any one of claims 1 to 10.

15. A computer program product, characterized in that, The computer program product stores a computer program or instructions, which, when executed by a communication device, implement the method as described in any one of claims 1 to 10.

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