CN107092881B - A kind of human pilot changes system and method - Google Patents
A kind of human pilot changes system and method Download PDFInfo
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- CN107092881B CN107092881B CN201710252648.1A CN201710252648A CN107092881B CN 107092881 B CN107092881 B CN 107092881B CN 201710252648 A CN201710252648 A CN 201710252648A CN 107092881 B CN107092881 B CN 107092881B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G06V40/70—Multimodal biometrics, e.g. combining information from different biometric modalities
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00563—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys using personal physical data of the operator, e.g. finger prints, retinal images, voicepatterns
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Abstract
The present invention relates to a kind of human pilot to change system and method, and this method comprises at least following steps：Request based on the first driver, triggering of the mobile terminal to identification module accesses and/or long-distance management system starts the first authentication module to the pre-authorization of kid, history driving information based on the kid extracted from the first authentication module and the real-time physiological information detected calculate the first data, start the feedback information of the second authentication module and the simulated roadway shown based on the kid gathered by the second authentication module to the second authentication module when the first data reach given threshold to calculate the second data, use weighting method to calculate the 3rd data of reflection kid's safe driving probability based on the first data and the second data and judge the driving authority of kid and the standard database obtained to determine whether that the driver by vehicle fitting is replaced by kid with reference to by statistical analysis.
Description
Technical field
The present invention relates to vehicle security drive technical field, more particularly to a kind of shared automobile driver change system and
Method.
Background technology
As automobile plays more and more important and complicated role in people live, its occupation mode is also constantly becoming
Change, the feelings that same car there are multiple different users' uses or a user can use more automobiles often occur
Condition.So that shared use of automobile becomes an important use pattern.However, shared automobile is gone back in use
The problem of more be present, wherein the problem of significantly being authorized to driver.Due to the uncertainty of driver identity, drive
The factors such as horizontal otherness, the diversity of driving habit are sailed so that shared mode motor easily triggers traffic accident.For example, use car
Personnel's driving ability is uneven, the driver of some driving experiences deficiency in the process of moving, often because error in judgement
The generation to result in an automobile accident, such as not being accurately to cause very much rear-end collision is judged to the spacing of front vehicles in vehicle travel process
Generation, atrocious weather (such as rainy day, icy on road or snowy road surface) is either ignored in vehicle travel process,
Vehicle speed traveling control is improper, during to running into emergency case brake due to car cunning can not normal brake application, it is serious so as to cause
Traffic accident occurs.
Therefore, Chinese patent (publication No. CN102975669B) discloses a kind of driver identity identification device and its knowledge
Other method.The identification device includes controller, and the output interface of output identification signal is connected with controller, gathers driver's head portrait
With the camera and pressure sensor of body weight signal to controller；Described controller is connected with mode selector switch；Based on driving
The recognition methods of the person's of sailing identity recognition device：By mode selector switch can make identification device selectivity enter drainage pattern and
Recognition mode；Drainage pattern obtains driver's head image information by camera, and obtaining driver's body weight by pressure sensor believes
Breath, while controller is delivered to, above- mentioned information is determined a driver identity identification information and stored by described controller；Know
Other pattern obtains driver's head image information by camera, obtains driver's body weight information by pressure sensor, conveys simultaneously
To controller, described controller compares above-mentioned driver information with data storage, if comparing, the match is successful, and output is corresponding
Driver information, if comparing, it fails to match, exports without identification signal.Chinese patent (publication No. CN102156854A) is open
A kind of mobile unit, inspection equipment, vehicle driver identification system and method.Vehicle driver's body disclosed in the patent
Part recognition methods includes：Gather the fingerprint of driver；The legal fingerprint for contrasting the fingerprint of collection and prestoring, works as comparing result
When fingerprint for collection and legal fingerprint matching, driver identity legal information is sent, it is illegal that no person sends driver identity
Information.
It can be seen that existing driver identity identification technology is by by information and dates such as the head portraits, fingerprint, body weight of driver
The data prestored in storehouse are compared to realize, this method can to a certain extent exclusive segment it is ineligible
Human pilot, still, the head portrait and body weight information of this method can change, and the information such as head portrait, fingerprint, body weight is easy
It is counterfeit to obtain the right to use of vehicle by lawless people, it is also possible to occur that legal driver can be due to itself head portrait, body weight
Change and cause the situation that can not obtain mandate.Therefore, the recognition methods reliability of prior art is relatively low.On the other hand, share
In extension process, at least also following two important technical problems need to solve automotive engineering：First, hold legal driving license
Do not possess vehicle drive ability using personnel's actual capabilities of license with vehicle, such as drink at it, lack driving experience and obtain the heart
In the case that reason is not in good state, it is therefore necessary to judge whether the personnel truly possess vehicle drive energy before vehicle ignition
Power, automobile is shared when changing driver, how the access right of shared automobile to be authorized to qualified driver.Second, hold
Legal driving license, vehicle, may be because of vehicles using permitting and have passed through the personnel of vehicle verification step during shared automobile is used
Or personnel emergency case and be not suitable for continuing to drive, such as shared vehicle failure, the abnormal situation of car user person's health
Down, it is necessary to which shared automobile is repaired, changed or stopped in emergency to avoid dangerous generation.
The content of the invention
In order to limit or forbid the librarian use for not possessing driving ability to share automobile, the invention provides a kind of driver
Member's replacing options, especially a kind of shared automobile driver's replacing options.Methods described comprises at least following steps：Based on
One driver request, mobile terminal trigger the pre-granted of access and/or long-distance management system to kid to identification module
Weigh and start the first authentication module in a manner of allowing the kid to be operated in default access to vehicle fitting.
History driving information based on the kid extracted from first authentication module and the real-time life detected
Manage information and calculate the first data.Start the second authentication module when first data reach given threshold and based on by described
The feedback information for the simulated roadway that the kid of second authentication module collection shows to second authentication module comes
Calculate the second data for reflecting its actual driving ability.Calculated based on first data and second data using weighting method
Reflect the 3rd data of kid's safe driving probability and with reference to by statistical analysis and the standard database that obtains
To judge the driving authority of the kid to determine whether the driver of the vehicle fitting being replaced by described second
Driver.Preferably, the driving authority is, for example, drive speed, drive route, driving time etc..Judged based on authority is driven
Whether the driver of the vehicle fitting is replaced by the kid, and kid is driven according to what it was authorized
Authority is sailed using shared automobile, is advantageous to improve its security when shared automobile uses.
The human pilot replacing options of the present invention are carried out by the physiological status to kid and actual driving ability
Test is judged whether the driving of the vehicle fitting with the driving authority of comprehensive descision kid and based on the authority
Member is replaced by the kid.By the human pilot replacing options of the present invention, can exclude to hold legal driving license and vehicle
Personnel but the actual kid for not possessing vehicle drive ability using license, can also exclude not possess in physiological status
The kid of vehicle drive ability, so as to improve the security that shared automobile uses.Preferably, the mobile unit also has
There is wireless networking unit to perform the metering-in control system of positioning and kid's login, the mobile unit, which also has, to be contained
The central control system of memory cell.The human pilot is changed system and driven through metering-in control system and central control system to realize to second
The drive authorization for the person of sailing, without to sharing automobile progress hardware modification or adding the equipment of renewal.
Preferably, first data are going through based on the kid extracted from first authentication module
What history driving information and the real-time physiological information detected were calculated using weighting method, and reach in first data
By with reference to one or more of the case history driving information of the kid and/or physiologic information during predetermined level
Index is corrected to first data.Preferably, the history driving information is, for example, the violating the regulations of the kid
Information, history authorization message, history drive authority information etc..Preferably, the physiologic information is, for example, the kid
Sitting posture, height, body weight, eyesight, hearing, heartbeat, blood pressure, alcohol content, blood glucose, the age, emotional state, in degree of fatigue
One or more indexs.Physiologic information not limited to this, can also be may influence the actual driving ability of the kid
Remaining index.Letter is driven by the case history with reference to the kid when first data reach predetermined level
One or more of breath and/or physiologic information index are corrected to first data so that the first data can be more accurate
The reflection kid whether possess vehicle and use ability.Preferably, by combining alcohol content, degree of fatigue, the heart
The safe driving to kid such as jump, blood pressure has the index of material impact to correct first data.For calculating
The index of first data is more, it is likely that reaches alcohol content, the tired journey of predetermined level and kid in the first data
The indexs such as degree, heartbeat, blood pressure do not meet the situation of riving condition, for this by carrying out school to the first data with reference to corresponding index
Just, so as to judge whether the kid possesses vehicle and use ability exactly.
Preferably, the calculating process of second data comprises at least following steps：Reached based on first data and set
Second authentication module determined threshold value and started is in a manner of audio, image, word and/or video to the kid
Play simulated roadway traffic.Gather feedback information that the kid makes to the simulated roadway traffic simultaneously
The information gathered is sent to the second data storage cell and stored.Based on what is stored in second data storage cell
Data to the respond of the kid, driver behavior correctness, road conditions judgment accuracy, current state stability
And dangerous driving possibility carries out classification analysis and calculates the first associated index, the second index and the 3rd index.
Second data are calculated based on first index, second index and the 3rd index and using weighting method.
Preferably, second authentication module is driven when the driving ability of test kid by described second
Member is according to road conditions acceleration, deceleration and/or the steering operation shown on the second authentication module screen.Now, braking control
The state or data of unit processed, Acceleration Control unit and/or turning control cell will change and via CAN and
OBD interfaces are actively or passively detected by second authentication module.Second authentication module is based on and described second
Brak control unit, Acceleration Control unit, turning control cell and/or the physiologic information inspection that the related mode of driver stores
The delta data of unit is surveyed to the respond of the kid, driver behavior correctness, road conditions judgment accuracy, current
Two in the stability and dangerous driving possibility of state or multinomial carry out classification analysis simultaneously calculate associated index,
By calculating second data using weighting method to the index.Preferably, it is not limited to for calculating the index of the second data
This, can also be the parameter of the actual driving ability of remaining reaction kid.Surveyed by second authentication module to simulate
Try the driving ability of kid, it can be determined that the reaction speed of kid, react accuracy of action to determine to be
The no access right for allowing the kid to obtain shared automobile.
Further, in order to detect the true driving ability of the kid, second authentication module is shown
Simulated roadway include at least one Driving Scene, the Driving Scene is driven according to enabling the kid to carry out simulation
The mode sailed pushes to the display unit of second authentication module, and the driving in a manner of random or be selectable
Scene setting have at least one driving to the kid cause hinder interference information and the interference information with non-
Periodic mode comes across any position of the simulated roadway.Preferably, interference information is, for example, traffic signals, not observed
The citizen of traffic rules, there is the road of barrier, emergency brake or vehicle for overtaking other vehicles etc..It is highly preferred that simulated roadway is disk
Bent hill path, expressway, urban district main road and/or street corner lane.By random different simulated roadways are shown to kid
Scene, help to detect the true driving ability of kid.
Preferably, the feedback information for the simulated roadway that the kid shows to second authentication module include but
Be not limited to the eye information of the kid, facial information, body temperature information, blood pressure information, pulse information, hand information,
Foot's information, header information.Second authentication module actively or passively detects IMAQ via CAN and OBD interfaces
The eye information and/or facial information of unit collection, the body temperature information gathered by body temperature transducer, adopted by blood pressure sensor
The blood pressure information of collection and/or the pulse information gathered by pulse transducer.Preferably, image collector is set to eye tracker, phase
Machine, infrared photography are first-class.When running at high speed or running into emergency case, notice can be in the state of high concentration, face
Occur and frown, sting the expressions such as lip, the blood pressure of kid, pulse, body temperature etc. can also change.By combining to second
The analysis of physiological driver's change, helps to judge the emergency capability of kid.Therefore, the physical signs of kid
There is very important influence to the driving ability of kid, when testing the driving ability of kid, second drives
The physiologic information for the person of sailing is an important index.E.g.：Kid is in simulated roadway driving, for occurring suddenly
The pedestrian for crossing road, the first operation of progress should slow down and get emergency light to remind front vehicle, but second
Driver may due to psychological stress or it is uncomfortable and wrong by throttle as brake or emergency turn, so as to trigger traffic
Accident.
Further, kid changes in driving procedure because violation operation can cause it to drive authority.For
The driving authority of the determination kid, in shared vehicle traveling process, first data and second number
According to the ignition control unit of the vehicle fitting based on collection, parking control unit, brak control unit, Acceleration Control list
Member and/or the delta data of turning control cell and the physiological indexes data of the kid are updated, and
And reflect kid's safe driving probability based on first data after renewal and second data to update
The 3rd data and judge the driving authority of the kid based on the 3rd data after renewal.Preferably, second
When the driving authority of driver changes, via the second authentication module by CAN and OBD interfaces come drive ignition control
Unit, parking control unit, brak control unit, Acceleration Control unit and/or turning control cell and to kid
Send warning.Monitored in real time by the driving authority to kid, help to evade because of kid's body not
Suitable or driver behavior it is improper and caused by traffic accident.For example, when the emotional state of kid occurs abnormal, by second
The driving authority speed of driver reduces.In the blood pressure rise of kid, kid is forbidden to use shared automobile.
Further, in order to more accurately distinguish between the driving authority of kid, based on driving for the kid
Authority is sailed to be sorted out to normal type user, restricted type user or dangerous type user, wherein, the normal type user possesses to institute
Whole control abilities of vehicle fitting are stated, the restricted type user possesses the control to the vehicle fitting in its limit of power
Ability, the dangerous type user do not have the control ability to the vehicle fitting.For restricted type user, in its limit of power
The control ability to the vehicle fitting be, for example,：Speed does not allow more than 80Km/h, can not take a sudden turn, not allow to travel such as
It is the excessive risk route of Sichuan-Tibet line etc..It is highly preferred that to restricted type user, authorization module in advance can not travel kid
Route conceal, and keep track kid's course, reminded and corrected in time when there is deviation.Preferably,
For dangerous type user, directly vehicle fitting is locked and alarmed.The person's of sailing identity authorization system passes through secondary use
Mobile unit and location equipment, without transforming in itself vehicle fitting, versatility is higher, reduces cost.
Preferably for restricted type user, based on its drive authority in advance the ignition control unit to the vehicle fitting,
Parking control unit, brak control unit, Acceleration Control unit and/or turning control cell are adjusted and in navigation system
It is middle to hide the limitation route of the kid, and its driving behavior is entered during the kid travels
Row monitoring and/or correction.More preferably, for normal type user and restricted type user, based on the first data after renewal and more
The second data after new are updated to update the 3rd data and it is classified based on the 3rd data after renewal.It is for example, normal
There is act of violating regulations in driving procedure in type user, and when being no longer complies with normal type user and requiring, the authorization module is updated
Be defined restricted type and continuous observation (being, for example, 10min), while alerted for a period of time, after alerting at least once still against
During Zhang Hangwei, it is updated to restricted type by normal type, and implements to drive authority restriction.By that analogy, will can also limit
Type user is updated to dangerous type user, or normal type user is directly updated to dangerous type user, also can be by restricted type user more
New is normal type user.
The first data and the second data being preferably based on after renewal drive the 3rd data that update and described second
When the driving authority of member changes, the vehicle is adjusted in a manner of the driving authority for being adapted to the kid
The ignition control unit of device, parking control unit, brak control unit, Acceleration Control unit, turning control cell and/or
Navigation system, and when the kid sorts out to dangerous type user, the vehicle is forced with automatic Pilot means
The mode that device is parked in home starts automatic Pilot module and waited for rescue.E.g., based on the authentication module
Monitoring finds kid when be in fatigue driving, the drive speed of the authorization module limitation kid and
Driving time.In another example be, it is described to award when monitoring discovery kid in fierce drive based on second authentication module
Weigh the drive speed that module limits the kid.The present invention passes through the physiological status to kid and shared automobile
Use state monitored in real time, help to evade because human pilot is uncomfortable or driver behavior is improper and caused by traffic
Accident.
In shared automobile during use, need to change driver, or the first driver because human pilot is uncomfortable
Use after shared vehicle, it is necessary to authorize next bit qualified driver the access right of shared automobile, be this present invention's
On the other hand additionally provide a kind of human pilot and change system, it is especially a kind of to be used to share automobile driver's replacing system.
The system comprises at least mobile terminal, is provided with the vehicle fitting of mobile unit, and the mobile unit comprises at least identification mould
Block, the first authentication module, the second authentication module and authorization module.First authentication module asking based on first driver
Ask, triggering of the mobile terminal to the identification module accesses and/or long-distance management system is to the pre- of the kid
Authorize and start.Second authentication module is based on first authentication module by being driven to the history of the kid
The first data that parameter and real-time physiological index parameter are calculated start when reaching given threshold, and described second tests
Card module is by showing the simulated roadway information being made up of sound, image and/or video to the kid and collecting institute
The feedback information for stating kid calculates the second data for reflecting its actual driving ability.The authorization module is based on described the
One data and second data reflect the 3rd data of kid's safe driving probability using weighting method to calculate
And judge the driving authority of the kid and the standard database obtained to determine whether with reference to by statistical analysis
The driver of the vehicle fitting is replaced by the kid.The system is by setting up e.g. tablet personal computer, intelligence
Can the touch-screen type human-computer interaction device of mobile phone directly established in kid and vehicle fitting independently of institute to realize
At least one right discriminating system outside metering-in control system is stated, is authenticated through independent right discriminating system, can be filtered out with real
The kid of border vehicle drive ability.The system is by secondary use mobile unit and location equipment, without to car
Device is transformed in itself, and versatility is higher, and cost is relatively low.
Brief description of the drawings
Fig. 1 is the preferred embodiment module diagram that human pilot of the present invention changes system.
Reference numerals list
10：Mobile terminal 20：Vehicle fitting
30：Identification module 40：First authentication module
50：Second authentication module 60：Authorization module
70：Monitoring module 401：First data storage cell
402：Physiologic information detection unit 403：First computing unit
404：Correct unit 501：Second data storage cell
502：Second computing unit 503：Display unit
Embodiment
It is described in detail below in conjunction with the accompanying drawings.
Fig. 1 is the preferred embodiment module diagram that human pilot of the present invention changes system.As shown in figure 1, this
Invention human pilot changes system and comprises at least mobile terminal 10 and be provided with the vehicle fitting 20 of mobile unit.It is described vehicle-mounted to set
It is standby to comprise at least identification module 30, the first authentication module 40, the second authentication module 50, authorization module 60 and monitoring module 70.The
The triggering of one request of the authentication module 40 based on the first driver, mobile terminal 10 to identification module 30 accesses and/or long-range pipe
Reason system starts to the pre-authorization of kid.The first kid of the authentication module 40 based on extraction after activated
History driving information and the physiologic information index of detection calculate the first data.Second authentication module 50 is by showing simulated roadway
Traffic come test the driving ability of kid and calculate reflect its actual driving ability the second data.Authorization module
60 are reflected the 3rd data of its safe driving probability and tied using index weighting method based on the first data and the second data to calculate
Close and the driving authority of kid is judged to determine whether to fill on vehicle and the standard database obtained by statistical analysis
The driver for putting 20 is replaced by the kid.System is changed by the human pilot of the present invention, can exclude to hold conjunction
The personnel but the actual kid for not possessing vehicle drive ability of method driving license and vehicle using license, can also exclude in life
Do not possess the kid of vehicle drive ability in reason state, so as to improve the security that shared automobile uses.
Lower mask body introduces the 26S Proteasome Structure and Function of human pilot replacing each module of system of the present invention.
According to a preferred embodiment, the first request of the authentication module 40 based on the first driver, mobile terminal 10 are right
The triggering of identification module 30 accesses and/or long-distance management system starts to the pre-authorization of kid.Preferably, it is mobile whole
End 10 can be Intelligent bracelet, intelligent watch, smart mobile phone, tablet personal computer etc..Preferably, mobile terminal 10 is by scanning two dimension
Code or REID access identification module 30 to trigger.Identification module 30 after activated is to allow kid pre-
If the mode operated in authority to vehicle fitting 20 starts the first authentication module 40.Preferably, default access is, for example, to permit
Perhaps kid is adjusted seat position, adjustment position of rear view mirror, vehicle is moved with low speed, opens navigation system, input individual
Information etc..According to a preferred embodiment, the first authentication module 40 is of use not only in when human pilot changes system startup and counted
The first data of kid are calculated, are additionally operable to supervise the physiological status of kid during shared automobile use
Control and be based on monitored results and update the first data.Referring again to Fig. 1, the first authentication module 40 includes the first data storage cell
401, physiologic information detection unit 402, the first computing unit 403 and correction unit 404.First authentication module 40 is driven by second
The history driving information for the person of sailing and the comprehensive analysis of current physiological status judge whether kid possesses shared automobile
Use ability.
According to a preferred embodiment, the first data storage cell 401 is used for according to the side related to kid
Formula stores the history driving information of kid.Preferably, the history driving information is, for example, the violating the regulations of kid
Information, the history authorization message of kid, kid's history drive authority information etc..Preferably, the first data are deposited
Data in storage unit 401 are based on during shared automobile use, and the first authentication module 40 passes through CAN and OBD interfaces
Ignition control unit, parking control unit, brak control unit, Acceleration Control unit and/or the turning control cell of acquisition
Delta data and update.
According to a preferred embodiment, physiologic information detection unit 402 detects the seat of kid by sensor
In appearance, height, body weight, body temperature, eyesight, hearing, heartbeat, blood pressure, alcohol content, blood glucose, age, emotional state, degree of fatigue
One or more indexs.The index not limited to this that physiologic information detection unit 402 detects, can also be may influence second
Remaining index of the actual driving ability of driver.Preferably, physiologic information detection unit 402 also to kid in shared vapour
Physical signs during car use is monitored in real time.It is highly preferred that physiologic information detection unit 402 is gathered by sensor
The signals such as the height of kid, body weight, blood pressure, blood glucose are simultaneously changed analog signal the signal of collection by a/d converter
For data signal.Physiologic information detection unit 402 passes through the dynamic letter of the eye of eye tracker or the first-class collection kid of infrared photography
Breath and facial expression.Physiologic information detection unit 402 is by obtaining eye state data of the kid in driving procedure
To judge the degree of fatigue of kid.Eye state data are widened the view including at least kid, narrow eye, eye closing, blink
Duration and/or frequency.Preferably, when detecting that kid is in fatigue state, every early warning is set
Sensitivity is adjusted to highest, reduces the incidence of accident.
According to a preferred embodiment, the first computing unit 403 is based on reading from the first data storage cell 401
Kid's case history driving information and by physiologic information detection unit 402 to the sitting posture of kid, height, body
One or more in weight, body temperature, eyesight, hearing, heartbeat, blood pressure, alcohol content, blood glucose, age, emotional state, degree of fatigue
The analysis result of item index calculates the first data using weighting method.Preferably, during shared automobile use, first calculates list
The life of first 403 updating the data based on the first data storage cell 401 and physiologic information detection unit 402 to kid
The real-time monitoring data for managing index updates the first data.Pass through the physiology to kid during shared automobile use
Situation and service condition are monitored in real time, are started automatic Pilot module when necessary, are helped to evade because of human pilot body
Uncomfortable or driver behavior it is improper and caused by traffic accident.
According to a preferred embodiment, correction unit 404 starts when the first data reach predetermined level.Correct unit
404 are entered by extracting one or more of kid's case history driving information and physiologic information index to the first data
Row correction.Correct alcohol content, degree of fatigue, heartbeat, blood pressure that the index that unit 404 extracts is, for example, kid etc. pair
Kid's safe driving has the index of material impact.Preferably, the first data are divided into 1,2,3,4,5 grade, the first number
It could start the second authentication module 50 according in 3 grades and the above.It is highly preferred that it is previously stored with the first authentication module 40 through statistics
The first standard database analyzed and obtained.Weight with each index and scoring in first normal data.Second is collected to drive
The first data can be drawn after each achievement data for the person of sailing.
E.g., when the first data that the first computing unit 403 calculates kid A are 1 grade or 2 grades, correction is single
Member 404 is started without, and kid can not use shared automobile.First computing unit 403 calculates the of kid A
One data are 4 grades, are now corrected default in the extraction kid's A case histories driving information of unit 404 and physiologic information
One or more indexs, such as the index such as the alcohol content of kid, degree of fatigue, heartbeat, blood pressure.Correct unit 404
Extract kid alcohol content it is exceeded when, kid A the first data are divided into 1 grade；In another example it is school
When positive unit 404 extracts kid A and is in one-level fatigue state, kid A the first data are divided into 3
Level；In another example it is, when correction unit 404 extracts kid A rapid heart beat, by kid A the first data
It is divided into 3 grades.By correcting the correction of unit 404, it can reduce and judge the problem of inaccurate caused by the various indexs of COMPREHENSIVE CALCULATING.
According to a preferred embodiment, the second authentication module 50 is of use not only in calculating during driver identity mandate
The second data of two drivers, it is additionally operable to be monitored the state for sharing automobile during shared automobile use and be based on prison
Control result and update the second data.Preferably, the second authentication module 50 to kid by playing simulated roadway traffic
To test the driving ability of kid.Second authentication module 50 is when the driving ability of test kid, and second
The brak control unit, Acceleration Control unit and turning control cell of authentication module 50 and vehicle fitting 20 establish connection and point
Fiery control unit and parking control unit are set with not receiving the state of any instruction.Preferably, during sharing automobile use,
Second authentication module 50 obtains brak control unit, Acceleration Control unit, course changing control list by CAN and OBD interfaces
Member and/or physiologic information detection unit 402 delta data and based on the second data of data real-time update kid.It is logical
Cross and play simulated roadway traffic to test the driving ability of the kid, can determine whether that the kid is stepping on
Whether state during car possesses shared car steering ability.
Preferably, during sharing automobile use, the second authentication module 50 obtains igniting by CAN and OBD interfaces
Control unit, parking control unit, brak control unit, the state change of Acceleration Control unit and/or turning control cell
And when change occurs abnormal, the second authentication module 50 feeds back to long-distance management system by the communication interface of itself.Preferably,
Long-distance management system provides alternative car for it in nearest support point or provides technical support, to ensure member security.The present invention
By being monitored in real time to the use state for sharing automobile, help to evade because share automotive problems and caused by traffic thing
Therefore.On the other hand, fed back, can improved anti-to long-distance management system by the communication interface via second authentication module itself
Speed is presented, can be supported in time when emergency occurs in shared automobile.
Preferably, the second authentication module 50 is, for example, tablet personal computer.Data on shared automobile equipped with same type connect
Mouthful.Second authentication module 50 is connected to data-interface in a wired or wireless manner.It is highly preferred that second authentication module with
OBD interfaces establish connection, and then enable second authentication module to intervene CAN by OBD interfaces and read each control
The data and state of unit processed.It is highly preferred that second authentication module is connected to the data-interface in a wired fashion.Using
Wired connection mode one is to may insure that equipment can not lose, second, can solve the powerup issue of the second authentication module, third,
Interactive efficiency can be improved when mass data interacts.With continued reference to Fig. 1, the second authentication module 50 includes the second data storage cell
501st, the second computing unit 502 and display unit 503.
According to a preferred embodiment, the second data storage cell 501 is used to storing the second authentication module 50 to the
Brak control unit, Acceleration Control unit and/or the course changing control list that the driving ability of two drivers gathers when being tested
The status change data of member.Preferably, the data are stored according to the mode related to kid, to carry out
Efficiency can be improved when data interaction and/or calculating.
According to a preferred embodiment, what the second computing unit 502 was stored based on the mode related to kid
Reaction of the status change data of brak control unit, Acceleration Control unit and/or turning control cell to kid
Two in ability, driver behavior correctness, road conditions judgment accuracy, the stability of current state and dangerous driving possibility
Or multinomial carry out classification analysis and associated index is calculated, and by calculating the second number using weighting method to each index
According to.Preferably, the index not limited to this for the second data of calculating, can also be that remaining reaction kid is actual and drives energy
The parameter of power.Judge the reaction speed of kid by the second computing unit 502, react accuracy of action to determine
The kid whether is allowed to obtain the access right of shared automobile.Preferably, prestored in the second authentication module 50
The second standard database for having statistical analysis and obtaining.There is classification, weight and the scoring of each index in second normal data
Information.The second data can be drawn after collecting each achievement data of kid and shared automobile.
According to a preferred embodiment, display unit 503 is used for the road conditions for showing the displaying of the second authentication module 50.
Display unit 503 may also display navigation information, to information warning of kid etc..
According to a preferred embodiment, authorization module 60 is used for the driving authority for determining kid and based on driving
Authority judges whether to authorize kid.Authorization module 60 is additionally operable to during shared automobile use to kid
Driving authority be updated.Based on drive authority judge whether to kid authorize, and make kid according to
Its driving authority authorized is advantageous to improve security of the kid when shared automobile uses using shared automobile.It is excellent
Selection of land, authorization module 60 update the driving of kid power based on the first data after renewal and the second data after renewal
Limit.Preferably, the driving authority is, for example, drive speed, drive route, driving time etc..Preferably, in authorization module 60
The 3rd standard database for being previously stored with statistical analysis and obtaining.Have in 3rd normal data based on the first data and the
Two data calculate the 3rd data obtained and drive the mapping table between authority.Pass through the after be calculated or renewal
Three data can find corresponding driving authority.
Preferably, when kid drives authority and changed, via the second authentication module 50 by CAN and
OBD interfaces come drive ignition control unit, parking control unit, brak control unit, Acceleration Control unit and/or turn to control
Unit processed simultaneously sends warning to kid.Monitored in real time by the driving authority to kid, help to advise
Keep away because human pilot is uncomfortable or driver behavior is improper and caused by traffic accident.According to a preferred embodiment, monitoring
Module 70 is used to monitor shared automobile in real time using process.Preferably, it is determined that exception occurs in the use of shared automobile
When, Exception Type is fed back into the second authentication module 50 according to the mode related to pretreating scheme by monitoring module 70, and
And second authentication module 50 via CAN and OBD interfaces come drive ignition control unit, parking control unit, control for brake
Unit, Acceleration Control unit and/or turning control cell.E.g., the monitoring module 70 judges rear car with high quick access
When near, the exception is fed back into the second authentication module 50 by the monitoring module 70, the second authentication module 50 is added by control
Speed control unit and/or turning control cell avoid rear-end collision.In another example being, the monitoring module 70 is to in-car situation
Be monitored, run into driver seized on both sides by the arms, driver lose consciousness etc. emergency case when, as the monitoring module 70 will described in
Exception feeds back to the second authentication module 50, and the second authentication module 50 is by controlling parking unit to avoid traffic accident.
Preferably, monitoring module 70 includes but is not limited to image acquisition units, sound collection unit and apart from collecting unit.
Image acquisition units to the video camera or camera that are set towards shared vehicle front, rear, left and/or right by gathering
Image analyzed to determine whether shared automobile is in safe driving environment.It is highly preferred that image acquisition units can make
With onboard camera, the image that image acquisition units are gathered to onboard camera carries out image procossing to carry out shared garage
The identification of car environment.Image acquisition units can also use laser irradiation device.It is corresponding with laser irradiation device, possess laser
Infrared rays receiver, the laser beam transformation of receiving for the device of electric signal and handled into the device that the electric signal carrys out cognitive disorders thing.Sound
Collecting unit is analyzed to determine by the sound sent in itself to the environment and/or shared automobile of sharing vehicle traveling process
Whether shared automobile is in normal running environment.Apart from collecting unit by ultrasonic distance-measuring sensor obtain shared automobile with
The range information between vehicle all around.Judge by image acquisition units, sound collection unit and/or apart from collecting unit
Whether shared automobile so can further avoid driver because lack experience or in emergency in safe formation environment
Because react not in time and caused by traffic accident.
Embodiment 2
The present embodiment is the further improvement to embodiment 1, and only improved part is illustrated.
Second authentication module 50 calculates the second data and comprises at least following steps：
S1：Second authentication module 50 is display device and/or loudspeaker arrangement in a manner of audio, image and/or video
The traffic of simulated roadway is played to kid.Preferably, simulated roadway has multiple scenes.Multiple scenes are with random
Or selectable mode pushes to the display unit 503 of the second authentication module 50.Each simulated scenario is provided with least one
The interference information for causing to hinder is driven to kid.Interference information come across in a manner of acyclic road anyly
Side.Interference information is, for example, traffic signals, is not observed traffic rules and regulations citizen, the road with barrier, emergency brake or super
Vehicle of car etc..It is highly preferred that simulated roadway is tortuous hill path, expressway, urban district main road and/or street corner lane.By with
Machine shows different simulated roadway scenes to kid, helps to detect the true driving ability of kid.
S2：Second authentication module 50 collects what the simulated roadway scene that kid shows to display unit 503 was made
Feedback information and send the data of collection to the second data storage cell 501 is stored.Preferably, the second authentication module 50
Brak control unit, Acceleration Control unit are actively or passively detected via CAN and OBD interfaces and/or turn to control
The information that the state change of unit processed manipulates to collect kid to sharing automobile.Preferably, the second authentication module 50 passes through
The change of physiologic information detection unit 402 is actively or passively detected by CAN and OBD interfaces to collect kid
Physiological reaction during shared car steering.It is highly preferred that the feedback information that the second authentication module 50 is collected comprises at least
Kid changes to the operational motion, eye and head state of sharing automobile.
Specifically, the second authentication module 50 actively or passively detects kid via CAN and OBD interfaces
Speed, acceleration in drive simulating, bring to a halt.Preferably, the key for influenceing traffic accident is the emergent anti-of driver
Speed is answered, therefore the second authentication module 50 will especially record reaction time and operation of the kid when running into interference information
Means.Preferably, between the manual reaction time in reaction time including kid, foot-propelled reaction time and during the dynamic reaction of eye
Between.Operational means includes functional unit and operation order.On the other hand, emergency brake is likely to result in vehicle rear-end collision accident,
Therefore when recording the feedback information of kid, also as the index for weighing kid's driving ability.
Second authentication module 50 actively or passively detects image acquisition units collection via CAN and OBD interfaces
Eye information and/or facial information, by body temperature transducer gather body temperature information, by blood pressure sensor gather blood pressure
Information and/or the pulse information gathered by pulse transducer.Preferably, image collector is set to eye tracker, camera, infrared taken the photograph
As first-class.When running at high speed or running into emergency case, notice can be in the state of high concentration, and wrinkle occurs in face
Eyebrow, sting the expressions such as lip, the blood pressure of kid, pulse, body temperature etc. can also change.Kid is given birth to by combining
The analysis of change is managed, helps to judge the emergency capability of kid.Therefore, the physical signs of kid is driven to second
The driving ability for the person of sailing has very important influence, when testing the driving ability of kid, the life of kid
It is an important index to manage information.E.g.：Kid crosses in simulated roadway driving for emergent
The pedestrian on road, the first operation of progress should be slowed down and get emergency light to remind front vehicle, but kid can
Can due to psychological stress or it is uncomfortable and wrong by throttle as brake or emergency turn, so as to trigger traffic accident.
S3：Second computing unit 502 is based on the data analysis kid being stored in the second data storage cell 501
Respond, driver behavior correctness, road conditions judgment accuracy, in current state stability and dangerous driving possibility
One or more indexs are analyzed and use weighting method to calculate the second data.Preferably, the second computing unit 502 is driven to second
Respond, driver behavior correctness, road conditions judgment accuracy, the stability of current state and the dangerous driving for the person of sailing may
Property carry out classification analysis and calculating the first associated index, the second index and the 3rd index, and to the first index, second
Index and the 3rd index calculate the second data using weighting method.
Preferably, the first index is related to the respond of kid.Respond includes but is not limited to second and driven
The reaction speed and emergency reaction speed for the person of sailing.When calculating the first index, the second authentication module 50 collection kid's base
The first feedback information of feedback is made in the simulated roadway shown in display unit 503 and records its time data respectively.First
Feedback information comprises at least the operational motion and eye motion of kid.Second computing unit 502 is to time data
The first feedback information carry out processing and draw the reaction speed and emergency reaction speed of tester, and the is drawn after being weighted
One index.
Preferably, the second index is related to accuracy and/or dangerous driving possibility that kid is judged road conditions.
When calculating the second index, the second authentication module 50 gathers kid based on the simulated roadway shown in display unit 503
Make the second feedback information of feedback.Second feedback information comprises at least operational motion, headwork and eye motion.Second meter
Calculate unit 502 and second index is drawn to the attention threshold data analysis in the second feedback information and combined standard database.Second
Authentication module 50 collects the headwork of kid, more specifically collects kid's by brain wave measuring device
Eeg signal.Second feedback information also includes brain wave data, so can further improve to kid's attention span and
The accuracy of depth survey.
Preferably, the 3rd index is related to the driver behavior correctness of kid and/or the stability of current state.
When calculating three indexs, the second authentication module 50 gathers kid based on the simulated roadway shown in display unit 503
Make the 3rd feedback information of feedback.3rd feedback information comprises at least hand motion, foot action and eye motion.Second meter
Unit 502 is calculated to draw the coordination data analysis in the 3rd feedback information and/or drive simulation data and combined standard database
3rd index.
Embodiment 3
The present embodiment is the further improvement to previous embodiment, and only improved part is illustrated.
The human pilot of the present embodiment changes system and also includes automatic Pilot module.Automatic Pilot module is described second
Driver starts when sorting out to dangerous type user, or detects user's physical signs in physiologic information detection unit 402
Opened when occurring being unsuitable for starting in the case of driving, or monitoring to occur within the interior or exterior of the vehicle exception based on monitoring module 70
It is dynamic.Preferably, automatic Pilot module comprises at least communication unit, vehicle drive data acquisition unit, data analysis unit and car
Control unit.Vehicle drive data acquisition unit by CAN and OBD interfaces, actively or passively drive in real time by detecting vehicle
Sail data, and by vehicle drive data transfer to data analysis unit.Data analysis unit obtains vehicle using communication unit
Navigate travel route, so as to obtain the road direction of the positional information at each crossing and each bar road in route, and then according to car
The data of correction are sent to control unit for vehicle, the wagon control by the road direction that the correction of driving data is currently located
Unit goes to calibrate the travel direction of vehicle and home of the vehicle nearby stops using the road direction after correction.It is more excellent
Selection of land, the gps coordinates of vehicle drive data including Current vehicle, present road width, surrounding obstacles object location and works as
The travel direction of vehicle in front.It is highly preferred that described control unit for vehicle is according to present road width and peripheral obstacle position
Put, judge area of feasible solutions, and then make avoidance reply.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention
Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention scope and fall into this hair
Within bright protection domain.It will be understood by those skilled in the art that description of the invention and its accompanying drawing are illustrative and are not
Form limitations on claims.Protection scope of the present invention is limited by claim and its equivalent.
Claims (10)
1. a kind of human pilot replacing options, it is characterised in that methods described comprises at least following steps：
Based on the first driver request, triggering access and/or long-distance management system of the mobile terminal (10) to identification module (30)
To the pre-authorization of kid and to allow the kid to be operated in default access to vehicle fitting (20)
Mode start the first authentication module (40),
Based on the history driving information of the kid of extraction from first authentication module (40) and detect
Real-time physiological information calculate the first data,
Start the second authentication module (50) when first data reach given threshold and based on by the described second checking mould
The feedback information of simulated roadway that the kid of block (50) collection shows to second authentication module (50) is counted
The second data for reflecting its actual driving ability are calculated,
Calculated based on first data and second data using weighting method and reflect that kid's safe driving is general
3rd data of rate and with reference to by statistical analysis and the standard database obtained come judge the driving of the kid weigh
Limit to determine whether the driver of the vehicle fitting (20) being replaced by the kid.
2. human pilot replacing options as claimed in claim 1, it is characterised in that first data are based on from described the
The history driving information of the kid of extraction and the real-time physiological information detected are adopted in one authentication module (40)
It is calculated with weighting method, and
When first data reach predetermined level by with reference to kid's case history driving information and/or life
One or more of reason information index is corrected to first data.
3. human pilot replacing options as claimed in claim 1 or 2, it is characterised in that the calculating process of second data
Including at least following steps：
Second authentication module (50) for being reached given threshold and being started based on first data is with audio, image, word
And/or the mode of video plays simulated roadway traffic to the kid,
Gather the feedback information that the kid makes to the simulated roadway traffic and send out the information gathered
The second data storage cell (501) is delivered to be stored,
Based on respond of the data stored in second data storage cell (501) to kid, driver behavior
Correctness, road conditions judgment accuracy, the stability of current state and dangerous driving possibility carry out classification analysis and calculated
Associated the first index, the second index and the 3rd index,
Second number is calculated based on first index, second index and the 3rd index and using weighting method
According to.
4. human pilot replacing options as claimed in claim 1 or 2, it is characterised in that the second authentication module (50) displaying
Simulated roadway includes at least one Driving Scene, and the Driving Scene carries out drive simulating according to enabling the kid
Mode the display unit (503) of second authentication module (50) is pushed in a manner of random or be selectable, and
The Driving Scene is provided with the interference information and described that at least one driving to the kid causes to hinder
Interference information comes across any position of the simulated roadway in a manner of acyclic.
5. human pilot replacing options as claimed in claim 1 or 2, it is characterised in that the kid is to described
The feedback information of the simulated roadway of two authentication modules (50) displaying includes but is not limited to the eye information of the kid, face
Portion's information, body temperature information, blood pressure information, pulse information, hand information, foot's information, header information.
6. human pilot replacing options as claimed in claim 1 or 2, it is characterised in that determine institute based on the 3rd data
State kid have drive authority and to the kid authorize after, first data and the second data base
In ignition control unit, parking control unit, brak control unit, the Acceleration Control list of the vehicle fitting (20) of collection
Member and/or the delta data of turning control cell and the physiological indexes data of the kid are updated, and
And
It is general that reflection kid's safe driving is updated based on first data after renewal and second data
3rd data of rate simultaneously judge the driving authority of the kid based on the 3rd data after renewal.
7. human pilot replacing options as claimed in claim 1, it is characterised in that the driving power based on the kid
Limit is sorted out to normal type user, restricted type user or dangerous type user, wherein, the normal type user possesses to the car
Whole control abilities of device (20), the restricted type user possess in its limit of power to the vehicle fitting (20)
Control ability, the dangerous type user do not have the control ability to the vehicle fitting (20).
8. human pilot replacing options as claimed in claim 7, it is characterised in that for restricted type user, based on its driving
The authority ignition control unit to the vehicle fitting (20), parking control unit, brak control unit, Acceleration Control in advance
Unit and/or turning control cell are adjusted and hide the limitation route of the kid in navigation system, and
And its driving behavior is monitored and/or corrected during the kid travels.
9. human pilot replacing options as claimed in claim 7 or 8, it is characterised in that based on the first data after renewal and
Second data are described to be adapted to the 3rd data that update and when the driving authority of the kid changes
The mode of the driving authority of kid come adjust the ignition control unit of the vehicle fitting (20), parking control unit,
Brak control unit, Acceleration Control unit, turning control cell and/or navigation system, and
When the kid sorts out to dangerous type user, the vehicle fitting (20) is forced to stop with automatic Pilot means
The mode for being placed on home starts automatic Pilot module and waited for rescue.
10. a kind of human pilot changes system, the system comprises at least mobile terminal (10) and is provided with the car of mobile unit
Device (20), it is characterised in that the mobile unit comprises at least identification module (30), the first authentication module (40), second
Authentication module (50) and authorization module (60), wherein,
First authentication module (40) is based on the first driver request, the mobile terminal (10) to the identification module (30)
Triggering access and/or long-distance management system the pre-authorization of kid is started,
Second authentication module (50) is based on first authentication module (40) by being driven to the history of the kid
Sail parameter and start when the first data that real-time physiological index parameter is calculated reach given threshold, and described second
Authentication module (50) by the simulated roadway information that is made up of to kid displaying sound, image and/or video simultaneously
The feedback information for collecting the kid calculates the second data for reflecting its actual driving ability,
The authorization module (60) calculates reflection described the based on first data and second data using weighting method
Two driver safeties drive the 3rd data of probability and with reference to by statistical analysis and the standard database obtained come described in judging
The driving authority of kid is to determine whether the driver of the vehicle fitting (20) being replaced by the kid.
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| CN201711282799.8A CN108052888B (en) | 2017-04-18 | 2017-04-18 | A kind of driver's replacement system |
| CN201711289955.3A CN107832748B (en) | 2017-04-18 | 2017-04-18 | Shared automobile driver replacing system and method |
| CN201710252648.1A CN107092881B (en) | 2017-04-18 | 2017-04-18 | A kind of human pilot changes system and method |
| DE202017105446.2U DE202017105446U1 (en) | 2017-04-18 | 2017-09-08 | A shared tax system |
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| CN201710252648.1A CN107092881B (en) | 2017-04-18 | 2017-04-18 | A kind of human pilot changes system and method |
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| CN201711289955.3A Division CN107832748B (en) | 2017-04-18 | 2017-04-18 | Shared automobile driver replacing system and method |
| CN201711282799.8A Division CN108052888B (en) | 2017-04-18 | 2017-04-18 | A kind of driver's replacement system |
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| CN107092881A CN107092881A (en) | 2017-08-25 |
| CN107092881B true CN107092881B (en) | 2018-01-09 |
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| CN201710252648.1A Active CN107092881B (en) | 2017-04-18 | 2017-04-18 | A kind of human pilot changes system and method |
| CN201711289955.3A Active CN107832748B (en) | 2017-04-18 | 2017-04-18 | Shared automobile driver replacing system and method |
| CN201711282799.8A Active CN108052888B (en) | 2017-04-18 | 2017-04-18 | A kind of driver's replacement system |
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| CN201711289955.3A Active CN107832748B (en) | 2017-04-18 | 2017-04-18 | Shared automobile driver replacing system and method |
| CN201711282799.8A Active CN108052888B (en) | 2017-04-18 | 2017-04-18 | A kind of driver's replacement system |
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| CN108052888A (en) | 2018-05-18 |
| CN107832748B (en) | 2020-02-14 |
| CN107832748A (en) | 2018-03-23 |
| CN108052888B (en) | 2019-08-20 |
| CN107092881A (en) | 2017-08-25 |
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