CN108238052A

CN108238052A - For determining the system and method for the message data rate between driver and vehicle

Info

Publication number: CN108238052A
Application number: CN201711084936.7A
Authority: CN
Inventors: K·C·冯; T·J·迪克; C·W·小霍尔
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2016-12-23
Filing date: 2017-11-07
Publication date: 2018-07-03
Anticipated expiration: 2037-11-07
Also published as: CN108238052B; DE102017220453A1

Abstract

The invention discloses a kind of for determining the system and method for the message data rate between driver and vehicle, the method includes measuring driver information and measure information of vehicles.In addition, it calculates positive message data rate from the driver to the vehicle using the driver information and the information of vehicles in certain period of time and calculates the reversed message data rate from the vehicle to the driver using the driver information and the information of vehicles within the period.Additionally, the method includes using the positive message data rate and the reversed message data rate to calculate driver's state of a control.

Description

For determining the system and method for the message data rate between driver and vehicle

Related application

Present patent application is the U.S. Shen for submitting, being now published as US publication 2016/0243985 on May 3rd, 2016 Please S/N 15/145360 part continuation application, the application S/N 15/145360 be expressly incorporated into herein.It is beautiful State application S/N 15/145360 is the U.S. Shen for submitting, being now published as U.S. Patent number 9,352,751 on December 17th, 2014 Please S/N 14/573778 continuation application, the application S/N 14/573778 is expressly incorporated herein also by reference.The U.S. Application S/N 14/573778 requires the priority of U.S. Provisional Application S/N 62/016020 that on June 23rd, 2014 submits, institute Application S/N 62/016020 is stated to be expressly incorporated herein also by reference.

Technical field

The present invention relates to a kind of for determining the system and method for the message data rate between driver and vehicle.

Background technology

During driving, information flows to vehicle from driver and flows to driver from vehicle.In order to maintain to vehicle Control, needs the constant information flow from driver to vehicle and from vehicle to driver.For example, driver passes through via direction Disk, accelerator and brake transfer information to vehicle to generate the appropriate of vehicle acceleration, speed, lane position and direction Change to maintain the control to vehicle.Additionally, for example, driver by response to the information of driver is transferred to from vehicle and This information is transmitted to maintain the control to vehicle.Such as due to driver damage (for example, divert one's attention, drowsy, pressure is excessive, It is drunk) caused by information flow from driver to vehicle and/or from vehicle to driver variation (for example, increasing or decreasing) It may lead to the reduction or loss of vehicle control.

Invention content

It is a kind of for determining the computer implemented method of message data rate according on one side, including from driving Member measures driver information, measures information of vehicles from vehicle.In addition, the method includes：Driving is used in certain period of time Member's information and information of vehicles calculate positive message data rate from driver to vehicle and are used within the period Driver information and information of vehicles calculate the reversed message data rate from vehicle to driver.The method includes using just Driver's state of a control is calculated to message data rate and reversed message data rate.

According on the other hand, a kind of non-transitory computer-readable medium including instructing, described instruction is by handling The method for determining message data rate is performed when device performs.The method includes from driver measure driver information and Information of vehicles is measured from vehicle.The method includes：It is calculated in certain period of time using driver information and information of vehicles Positive message data rate from driver to vehicle and driver information and information of vehicles is used within the period Calculate the reversed message data rate from vehicle to driver.In addition, the method includes use positive message data rate and Reversed message data rate calculates driver's state of a control.

It is a kind of to be used to determine that the message data rate system of message data rate includes according to yet other aspects：It calculates Machine processor；And the computer readable storage medium of storage executable code, the executable code is by computer disposal Device performs method when performing.The method includes measuring driver information and from information of vehicles from driver information sensing device further Sensing device further measures information of vehicles.The method includes：It is counted in certain period of time using driver information and information of vehicles It calculates the positive message data rate from driver to vehicle and driver information and information of vehicles is used within the period To calculate the reversed message data rate from vehicle to driver.In addition, the method includes：Use positive message data rate Driver's state of a control is calculated with reversed message data rate, Vehicular system is controlled based on driver's state of a control.

Description of the drawings

Fig. 1 is according to the schematic diagram of the vehicle of exemplary implementation, and the vehicle has to determine driver and vehicle The message data rate system of message data rate between；

Fig. 2 is Fig. 1 for being used to determine the message data rate between driver and vehicle according to exemplary implementation Message data rate system schematic diagram；

Fig. 3 is the method for being used to determine the message data rate between driver and vehicle according to exemplary implementation Process flow diagram flow chart；

Fig. 4 is for determining the real-time of the message data rate between driver and vehicle according to exemplary implementation Continuously repeat the process flow diagram flow chart of method；

Fig. 5 is for determining the standardized information delivery rate between driver and vehicle according to exemplary implementation Method process flow diagram flow chart；

Fig. 6 be according to exemplary implementation be used for using external information determine the information between driver and vehicle The process flow diagram flow chart of the method for delivery rate；

Fig. 7 A are for determining positive message data rate and reversed message data rate according to exemplary implementation Method process flow diagram flow chart；

Fig. 7 B are to be used for according to exemplary implementation based on positive message data rate and reversed message data rate To determine the process flow diagram flow chart of the method for driver's state of a control；

Fig. 7 C are to be used for according to exemplary implementation based on positive message data rate and reversed message data rate To determine the process flow diagram flow chart of another method of driver's state of a control；

Fig. 8 A are based on associated with the driver in the vehicle control to vehicle according to exemplary implementation Information transmission entropy diagram；

Fig. 8 B be according to exemplary implementation compared with Fig. 8 A based on being driven with vehicle control reduction to vehicle The transmission entropy diagram of the associated information of the person of sailing；

Fig. 9 A are based on associated with the driver in the vehicle control to vehicle according to exemplary implementation Information transmission entropy diagram；

Fig. 9 B be according to exemplary implementation compared with Fig. 9 A based on being driven with vehicle control reduction to vehicle The transmission entropy diagram of the associated information of the person of sailing；

Figure 10 A are based on associated with the driver in the vehicle control to vehicle according to exemplary implementation Information Nogata transmit entropy diagram；And

Figure 10 B be according to exemplary implementation compared with Figure 10 A based on reducing with the vehicle control to vehicle The Nogata of the associated information of driver transmits entropy diagram.

Specific embodiment

Embodiment is described referring now to attached drawing, wherein indicating identical or functionally similar element similar to reference number.

In this specification to " embodiment (one embodiment) " or to " embodiment (an an Embodiment reference) " means to be included at least one reality about the described feature of the embodiment, structure or feature It applies in scheme.Phrase " (in one embodiment) in one embodiment " or " embodiment (an an Embodiment) " appearance in each place in the present specification need not all refer to same embodiment.

" bus " as used herein, refers to interconnection architecture, be operably connected to computer-internal or computer it Between other machine elements.Bus can transmit data between machine element.Bus can be memory bus, storage Device controller, peripheral bus, external bus, crossbar switch and/or local bus etc..Bus can also be vehicle using agreement The vehicle bus of the component connection of inside, the agreement such as controller zone network (CAN), Local Interconnect Network (LIN) Etc..

" processor " as used herein, handles signal and performs general-purpose computations and algorithm function.It is handled by processor Signal may include digital signal, data-signal, computer instruction, processor instruction, message, bit, bit stream or can be connect Other means received, transmit and/or detected.In general, processor can be a variety of different processors, including multiple monokaryons and more Core processor and coprocessor and other multiple monokaryons and multi-core processor and coprocessor framework.Processor may include being used for The various modules performed various functions.

For example, as used herein " disk " can be disc driver, solid-state disk drive, floppy disk, tape Driver, Zip drive, flash card and/or memory stick.In addition, disk, which can be CD-ROM (CD ROM), CD, can record driving Device (CD-R drive), CD recordable drives (CD-RW drive), and/or digital video ROM drive (DVD ROM).Disk Control can be stored or distribute the operating system of the resource of computing device.

" memory (memory) " may include volatile memory and/or nonvolatile memory as used herein. Nonvolatile memory may include, for example, ROM (read-only memory), PROM (programmable read only memory), EPROM are (erasable ) and EEPROM (electric erasable PROM) PROM.Volatile memory may include, for example, RAM (random access memory), synchronization RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), Double Data Rate SDRAM (DDRSDRAM) and direct RAM Bus RAM (DRRAM).Memory can store control or distribute the operating system of the resource of computing device.

" module ", as used herein, including but not limited to hardware, firmware, the software performed on machine and/or each Combination to perform function or action and/or to cause function or the action from another module, method and/or system. Module may include the microprocessor of software control, discrete logic, analog circuit, digital circuit, the logic device programmed, compile The simulator of journey, memory device comprising execute instruction etc..

As used herein " database (database) " can refer to table, table set, data storage device set and/ Or the method for accessing and/or manipulating those data storage devices.

" output device " may include may originate from vehicle part, system, subsystem and electronic device as used herein Device.Term " output device " includes but not limited to：Display device and for other of output information and function device.

" vehicle " is to refer to carry one or more mankind users and by any form as used herein Energy provide power any mobile vehicle.Term " vehicle " includes but not limited to：It is automobile, truck, cargo, small-sized Lorry, multi-function vehicle, motorcycle, motor scooter, ship, personal ship and aircraft.In some cases, motor vehicles include one A or multiple engines.

" Vehicular system ", as used herein, it may include but be not limited to, it can be used to enhance vehicle, driving and/or safety Any automatic or manual system.Exemplary vehicle system includes but not limited to：Electronic stability controlling system, anti-lock customization Dynamic system, brake assist system, the prefilled system of automatic braking, low speed servomechanism, cruise control system, collision warning system System, impact-moderation braking system, automatic cruise control system, lane departure warning system, blind-spot indicators system, track are kept Auxiliary system, navigation system, Transmission system, brake pedal system, electrical power steering system, sighting device are (for example, video camera System, proximity sensor system), atmosphere control system, electronics pretensioning system etc..

Calculation of some parts according to the operation to data bit in computer storage in subsequent detailed description Method and symbolic indication and be demonstrated.These algorithm descriptions and expression are that the technical staff in technical field of data processing is used Method, so that their work is substantially most effectively sent to others skilled in the art.Here, algorithm usually quilt It is considered self-congruent piece of (instruction) sequence for leading to desired result.Block refers to need the behaviour to the physical manipulation of physical quantity Make.Although not required, but the electricity that can be stored, transmitted, combined, compared and otherwise manipulated is usually taken in this tittle The form of signal, magnetic signal or optics non-transitory signal.It primarily for general usage reasons, sometimes can be suitably by these Signal is known as bit, value, element, symbol, character, item, number etc..In addition, it is sometimes also very convenient with reference to certain pieces of arrangements, it is described Block arranges the physical manipulation for needing physical quantity or transformation or the expression as module or the physical quantity of code device, without losing one As property.

However, all these and similar terms be intended to appropriate register, and be only be applied to this The suitable label of tittle.Unless expressly stated otherwise, otherwise as apparent from the following discussion, it should be appreciated that entire In specification, such as " handled " using term or " calculate (computing) " or " calculating (calculating) " or " determining " or The discussion of the terms such as " display " or " determining " refers to computer system or similar computing electronics (such as certain computer Device) action and process, the system or device are manipulated and converted in computer system memory or register or other are this The data of physics (electronics) amount are represented as in information-storing device, transmission or display device.

The some aspects of the embodiments described herein include the procedure block described in the form of an algorithm herein and instruction.It should This, can be with note that the procedure block of embodiment and instruction can be with software, firmware or hardware-embodieds, and when embodied in software It is downloaded to reside in used in various operating systems in different platform and is operated by it.Embodiment can also be can In the computer program product performed on a computing system.

Embodiment further relates to apparatus for performing the operations herein.This equipment can be by specific configuration for purpose (for example, certain computer) or it may include selectively being activated by the computer program stored in a computer or again being matched The all-purpose computer put.This computer program can be stored in non-transitory computer-readable storage media, such as but not It is limited to any kind of disk, including floppy disk, CD, CD-ROM, magneto-optic disk, read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetically or optically card, application-specific integrated circuit (ASIC) or be suitable for storing e-command and each self coupling Close any kind of medium of computer system bus.In addition, the computer mentioned in this specification can include it is single Processor can be the framework designed using multiple processors for improving computing capability.

Algorithm and display presented herein are not related to any specific computer or other equipment inherently.According to this The introduction of text, various general-purpose systems can also be used together or build more professional equipment with program and can be demonstrate,proved with performing method block Bright is convenient.Structure for these various systems will appear in following description.In addition, without reference to any specific volume Cheng Yuyan describes embodiment.It will be appreciated that embodiment party as described herein can be realized using various programming languages The introduction of case, and following any enabling and optimal mode with reference to for open embodiment to language-specific is provided.

In addition, language used in the present specification is selected primarily for readability with purpose is instructed, and may It is not selected to describe or limit present subject matter.Therefore, the disclosure of embodiment is intended to illustrative and not limiting claims In the range of embodiment that illustrates.

I. system survey

Referring now to attached drawing, the figure in wherein Fig. 1 be in order to show the purpose of one or more exemplary implementations and Its purpose is not limited to, the schematic diagram of the vehicle 500 according to exemplary implementation is shown, the vehicle 500 has For determining the message data rate system 535 of the message data rate between driver 545 and vehicle 500.In an implementation In scheme, vehicle 500 includes：Driver information sensing device further 505, information of vehicles sensing device further 510, message data rate system 535th, operator alert device 540, GPS 530 and optional external information sensing device further 520.It should be noted that vehicle 500 It can include component in addition to the components shown in fig. 1, and it is further noted that vehicle be omitted for simplicity 500 some components (such as engine, tire and suspension).

According to condition of road surface and traffic, control vehicle 500 needs the constant information from driver 545 to vehicle 500 Stream.In order to control vehicle 500, driver 545 must control input unit to transmit information by one or more drivers, so as to Generate vehicle acceleration, speed, lane position and the appropriate variation in direction.Driver control input unit (not shown) include but It is not limited to steering wheel, accelerator pedal and brake pedal.Therefore, the reduction transmitted from driver 545 to the information of vehicle 500 can Such as may be situations below to signal the reduction of vehicle control：Driver 545 diverts one's attention, is drowsy, drunk or warp Go through condition.

In one embodiment, driver information sensing device further 505 directly can measure driver's letter from driver 545 Breath, such as biological attribute data and direct driver control input unit data.Driver's biological attribute data can include one Kind or a plurality of types of driver's biological attribute datas, include but are not limited to：Eyelid aperture, pupil diameter, head position, note Apparent direction, blink rate, respiratory rate, heart rate, hand position, aortic flow, leg position and electrical activity of brain.Direct driver's control is defeated Driver's control input unit (such as, but not limited to vehicle 500 from one or more types can be included by entering device data Steering wheel, brake pedal and gas pedal) data.Therefore, direct driver control input unit data can include but It is not limited to one or more of following：The steering of the position of steering wheel for vehicle, the turning velocity of steering wheel, steering wheel accelerates Degree, the position of vehicle accelerator pedal, the speed of gas pedal, the acceleration of gas pedal, the position of vehicle brake pedal, braking The speed of pedal and the acceleration of brake pedal.

It is expected that in some embodiments, it can be using a driver information sensing device further 505 directly from driver 545 measure the driver information of one or more types.In other embodiments, it can be sensed using multiple driver informations Device 505 directly measures a plurality of types of driver informations from driver 545.For example, in one embodiment, driver Information-sensing device 505 can include the electroencephalograph for measuring driver's electrical activity of brain.In another embodiment, one A driver information sensing device further 505 can be included for measuring the camera in driver's eyelid aperture, for measuring vehicle accelerator The gas pedal of pedal position and for measuring brake pedal of vehicle brake pedal position etc..

In addition, in other embodiments, driver information sensing device further 505 can be for measuring driver's eyelid hole The camera of diameter, another driver information sensing device further 505 can be defeated for measuring the driver of accelerator pedal position control Enter device (component of such as vehicle accelerator pedal or gas pedal), and additional driver information sensing device further 505 can be For measure another driver of brake pedal position control input unit (such as vehicle brake pedal or brake pedal Component).In other embodiments, driver information sensing device further 505 can be by touch sensor and/or contactless biography One or more of sensor composition, and can include electric current/electric potential sensor (for example, close, sensing, capacitance, electrostatic), Subsonic speed sensor, velocity of sound sensor and ultrasonic sensor, vibrating sensor (for example, piezoelectricity), visual sensor, photoelectric transfer Sensor, lambda sensor and can directly from driver 545 measure driver information any other type device, sensing Device or system.

In one embodiment, information of vehicles sensing device further 510 directly can measure vehicle from the Vehicular system of vehicle 500 Information.For example, information of vehicles sensing device further 510 directly can measure information of vehicles, such as lane position, vehicle from vehicle 500 Road deviation, linear and angled vehicle location, speed and acceleration, the potential obstacle with 500 front of vehicle, side and rear Object distance, the dependence to cruise control or adaptive learning algorithms, the dependence to assisted diversion and to known obstacle Object (such as construct roadblock, traffic lights and park cars) reaction.

As driver information sensing device further 505, in some embodiments, an information of vehicles can be used Sensing device further 510 directly measures the information of vehicles of one or more types from vehicle 500.It in other embodiments, can be with A plurality of types of information of vehicles are measured using multiple information of vehicles sensing device furthers 510.For example, in one embodiment, vehicle Information-sensing device 510 can include for measure vehicle 500 lane position camera and for measuring vehicle 500 Acceleration accelerometer.In a further embodiment, information of vehicles sensing device further 510 can be for measuring vehicle The camera of 500 lane position, another information of vehicles sensing device further 510 of vehicle 500 can be for measuring vehicle 500 The accelerometer of acceleration, and other information of vehicles sensing device further 510 can be for measuring from vehicle 500 to positioned at vehicle The supersonic detector of the distance of any potential barrier around 500.

Operator alert device 540 is used to whether alert driver 545 due to low between driver 545 and vehicle 500 Message data rate and whether the reduction that vehicle control occurs, i.e. driver safety coefficient (following discussion) are not above scheduled Driver safety alert threshold (following discussion).Operator alert device 540 can be the output device of vehicle 500, output To alert the reduction of 545 vehicle control of driver, this will allow driver 545 to take action for vision, machinery or audio signal, Such as vehicle 500 is pulled over, stops vehicle 500 or turns to vehicle 500.

External information sensing device further 520 can be used for measuring the information outside vehicle 500, and therefore as to outside believe The reaction of breath and measure the information flow from driver 545 to vehicle 500.External information sensing device further 520 can measure external letter Breath, such as, but not limited to neighbouring vehicle, road construction roadblock, traffic, animal and the pedestrian stopped.It is contemplated that some embodiment party In case, the external information of one or more types can be measured using an external information sensing device further 520.In other implementations In scheme, a plurality of types of external informations can be measured using multiple external information sensing device furthers 520.For example, in a reality It applies in scheme, external information sensing device further 520 can include：For sense the animal outside vehicle 500 camera, for sensing It the Vehicle Intercommunications System of other vehicles of adjacent vehicle 500 and is connect for sensing the ultrasonic wave of the object near vehicle 500 Nearly sensor.In another embodiment, an external information sensing device further 520 can include sensing outside vehicle 500 The camera of the animal in portion, another external information system can include for sense adjacent vehicle 500 other vehicles vehicle Between communication system, and another external information system can include connect for sensing the ultrasonic wave of the object near vehicle 500 Nearly sensor.

GPS 530 can be optionally present in vehicle 500, and can be used for obtaining the position at the position of vehicle 500 It puts, weather and traffic in the daytime, for by the embodiment of the message data rate system 535 of these information standardizations In, it is used during the standardisation process of the message data rate between driver 545 and vehicle 500.It should be appreciated that due to Following facts：Higher message data rate is needed under some riving conditions to maintain the control to vehicle 500 and at it He needs relatively low message data rate to maintain the control to vehicle 500, therefore to driver 545 and vehicle under riving condition Message data rate between 500, which is standardized, to be necessary.For example, with the length of fair weather directly bleak and desolate road phase Than the bending inner city road during the peak period of more snowy day gas needs the higher information from driver 545 to vehicle 500 to pass Rate is passed to maintain the control to vehicle 500.

II. driver is to the message data rate of vehicle

Turning now to Fig. 2, show to be used to determine between driver 545 and vehicle 500 according to exemplary implementation The schematic, detailed of the message data rate system 535 of message data rate passes described information the element with reference to figure 1 Rate system 535 is passed to be described.Message data rate system 535 includes computer processor 601 and memory 605.It should Note that message data rate system 535 include feature structure, such as with the communication interface of driver information sensing device further 505, vehicle Information-sensing device 510, operator alert device 540, GPS 530 and optional external information sensing device further 520 (figure 1).However, for brevity, the explanation of these features is omitted.It should be noted that in other embodiments, information transmits speed Rate system 535 can also include the additional features other than Fig. 1 and feature structure shown in Fig. 2.

In one embodiment, processor 601 handles data-signal and can include various computing architectures, described each Kind computing architecture includes Complex Instruction Set Computer (CISC) framework, Reduced Instruction Set Computer (RISC) framework or realizes to refer to Enable the framework of collection combination.Although only showing single processor in fig. 2, multiple processors can be included.Processor 601 can To include arithmetical logic device, microprocessor, all-purpose computer or some other massaging device, it is assembled to emit, connect It receives and processing is from memory 605, driver information detection device 505, information of vehicles sensing device further 510, operator alert dress Put 540, GPS 530 and the non-transitory electronic data signals of external information sensing device further 520.

In one embodiment, the storage of memory 605 can be by instruction that processor 601 performs and/or data.Instruction And/or data can include the code (that is, module) for performing some and/or all technologies described herein.In an implementation In scheme, memory 605 includes baseline information delivery rate database 610, operator alert module 615, message data rate Module 620 and driver safety coefficient module 625.It should be noted that it in other embodiments, can use in addition to shown in Fig. 2 Other modules except module perform functionality described herein.Module is suitable for through bus (not shown) and following communication： Processor 601, driver information detection device 505, information of vehicles sensing device further 510, operator alert device 540, GPS 530 With optional external information sensing device further 520.

In one embodiment, in the form of the driver time's sequence calculated according to following equation, information transmits speed Rate module 620 receives the driver information directly measured from driver 545 from driver information sensing device further 505：

D_x={ d_x1, d_x2…d_xN}(1)

Wherein：D_xIt is time series, is directly to be measured using driver information sensing device further 505 from driver 545 The ordered set of the actual value of driver information, and d_xi(1≤i≤N) be using driver information sensing device further 505 directly from The time series element of the actual value for the driver information that driver 545 measures.

In addition, in the form of the vehicle time sequence calculated according to following equation, message data rate module 620 is from vehicle Information-sensing device 510 receives the information of vehicles directly measured from vehicle 500：

V_y={ v_y1, v_y2…v_yN}(2)

Wherein：V_yIt is time series, is the information of vehicles directly measured using information of vehicles sensing device further 510 from vehicle Actual value ordered set, and v_yi(1≤i≤N) is the vehicle directly measured using information of vehicles sensing device further 510 from vehicle The time series element of the actual value of information.

Message data rate module 620, which uses, passes through information of vehicles sensing device further 510 from 500 vehicle measured directly of vehicle Information and driver is calculated from 545 driver information measured directly of driver by driver information sensing device further 505 Message data rate between vehicle.Use condition entropy and transfer entropy calculate the information between driver 545 and vehicle 500 Delivery rate.It is the known result institute for describing stochastic variable Y that conditional entropy, which has quantified in the value of another stochastic variable X, The information content needed.In addition, transfer entropy is measure orientation (when m- asymmetry) amount of transmitted information between two random processes non- Parameter statistics.By the way that in view of the past value of Y knows the past value of X, the transfer entropy from process X to another process Y is Y The uncertain amount of reduction in future value.Therefore, in one embodiment, message data rate system 535 is relative to only reflecting In the V of the history segment of V it is uncertain reduce measure in view of V (vehicle) and D (driver) the two history segment V in Uncertainty reduces.In other words, message data rate system 535, which determines, knows that D assists to determine the degree of V.

More specifically, in one embodiment, the letter between driver 545 and vehicle 500 is calculated according to following equation Breath transmits：

Wherein：It is the transfer entropy from driver's measurement result x to vehicle measurement results y, It is in v_yiWith V_yL point it is long and delay the conditional entropy between the previous fragment of t point, i.e.,AndIt is v_iWith based on D_xK point It grows and delays the V that the previous fragment at τ time point is further adjusted_yPrevious fragment between conditional entropy, i.e.,It should be noted that it is based onTo v_yiFurther adjust cannot Increase v_iUncertainty, soWithAlways greater than zero.In N/FS This information occurs in the period of second to transmit, wherein FS is data sampling frequency.Information transmit can with divided by the period (N/FS), To be formed with bps message data rate measured.

Message data rate module 620 can be configured to use all driver informations and vehicle separately or in combination Information, to form various transmission information and and to calculate the message data rate between driver and vehicle.For example, at one In embodiment, message data rate module 620 transmits T using following equation to calculate total information_D→V：

It is all driver informations directly measured from driver 545 by driver information sensing device further 505 (in total X each possible group of (Y in total)) and by all vehicles that information of vehicles sensing device further 510 is directly measured from vehicle is measured The summation of conjunction for X*Y individual sums total.

In other embodiments, message data rate module 620 can be configured to separately or in combination using only The driver information and information of vehicles of some, to form various transmission information and and to calculate the letter between driver and vehicle Cease delivery rate.For example, it in one embodiment, is directly measured by driver information sensing device further 505 from driver 545 Driver information measure 3 to 5 and by information of vehicles sensing device further 510 directly from vehicle 500 measure vehicle measure 2 To 6 combination and (be expressed as) can be calculated by message data rate module 620 using following equation：

Thus, it will be seen that message data rate module 620 is calculated using entropy between driver 545 and vehicle 500 Message data rate.More specifically, message data rate module 620 calculates delivery rate using transfer entropy and conditional entropy.With Each equation 3-5 of upper discussion transmits speed using transfer entropy and conditional entropy to provide the information between driver 545 and vehicle 500 Rate.

In some embodiments, message data rate module 620 also uses what is provided by external information sensing device further 520 Externally measured result (measurement result of the information outside vehicle 500) is transmitted to calculate the information between driver and vehicle Rate.

In some embodiments, based on the type and riving condition from 545 driver information measured directly of driver At least one of, message data rate module 620 is standardized the message data rate calculated.Riving condition includes At least one of specified link condition, weather condition, time of day and transportation condition.In addition, in some embodiments, letter Breath delivery rate module 620 also uses the information provided by the GPS 530 of vehicle 500, to be directed to riving condition standardization letter Cease delivery rate.In one embodiment, message data rate module 620 by adjusting equation discussed above parameter t, τ, k, l determine maximum information delivery rate, to determine the maximum information delivery rate between driver 545 and vehicle 500. Specifically, in one embodiment, based on from the type and riving condition of 545 driver information measured directly of driver It is at least one come adjusting parameter t, τ, k, l.Riving condition includes specified link condition, weather condition, time of day and traffic At least one of condition.

In some embodiments, between the driver and vehicle that all drivers measure and all vehicles measure Message data rate is calculated by message data rate module 620, is tracked by processor 601, and be stored in memory 605 so as to Each driver 545 for vehicle 500 establishes personal norms.Then, these personal norms are stored in baseline information and transmit speed As the baseline information delivery rate value of driver 545 in rate database 610, for by driver safety coefficient module 625 Retrieval and use.

In one embodiment, baseline information delivery rate database 610 includes the control for maintaining to vehicle 500 Baseline information delivery rate value.In some embodiments, baseline information delivery rate database 610 only includes a baseline Message data rate value.In other embodiments, baseline information delivery rate database 610 is included for driver's 545 At least two different baseline information delivery rate values, wherein adjusting each value for road conditions.Road conditions can include But it is not limited to road, weather, time of day and the transportation condition of one or more types.

In one embodiment, driver safety coefficient module 625 calculates the driver's 545 of vehicle 500 in real time Driver safety coefficient.Driver safety coefficient is between the driver and vehicle calculated by message data rate module 620 Message data rate and the base retrieved by driver safety coefficient module 625 from baseline information delivery rate database 610 The ratio of line message data rate.Include the driver's 545 for vehicle 500 in baseline information delivery rate database 610 In the case of multiple baseline information delivery rates, driver safety coefficient module 625 retrieves most tight fit vehicle 500 on it The baseline information delivery rate of the Real-time Road condition of the road of traveling.

In one embodiment, the driving that operator alert module 615 will be calculated by driver safety coefficient module 625 Member's safety coefficient is compared with scheduled driver safety alert threshold.It is less than in the driver safety coefficient calculated pre- In the case of determining driver safety alert threshold, as discussed above, sent out using operator alert device 540 to driver 545 Go out alarm.Following alarm signal is sent out to driver 545：Real time information delivery rate between driver and vehicle has declined To less than driver 545 in order in view of present road situation maintain to necessary to the suitable control of vehicle 500 information transmit speed Rate.

Referring additionally to Fig. 2, message data rate system 535 can include processor 601 and memory 605.System 535 It can also include：Baseline information delivery rate database 610, operator alert module 615,620 and of message data rate module Driver safety coefficient module, each can be stored in memory 605.Baseline information delivery rate database 610 can be included under given road conditions for the control of vehicle 500 be between required driver 545 and vehicle 500 Baseline information delivery rate.620 use information delivery rate module 620 of message data rate module come calculate driver 545 with Actual information delivery rate between vehicle 500.Message data rate module 620 will also be for the real-time conditions of vehicle 500 Compared with actual information delivery rate between baseline rate and driver 545 and vehicle 500 carries out in real time.Compared according to this, it can To determine driver 545 whether in the suitable control to vehicle 500.

Driver safety coefficient module 625 can calculate real-time driver's safety coefficient, be that calculated information is transmitted The ratio of rate and predetermined information delivery rate.Operator alert module 615 by the real-time driver's safety coefficient calculated with Predetermined driver safety alert threshold is compared.If the real-time driver's safety coefficient calculated is relatively low, driver police Module 615 is reported to provide alarm to driver 545.When the execution of operator alert module 615 is compared, if what is calculated drives in real time The person's of sailing safety coefficient is less than scheduled driver safety alert threshold, then the real-time driver's safety coefficient calculated is relatively low.When When the real-time driver's safety coefficient calculated is relatively low, operator alert module 615 is driven using the warning of operator alert device 540 The person of sailing 545, so as to alert the presence of impaired driver 545.

III. for the method for driver to the message data rate of vehicle

With reference to figure 3, show according to exemplary implementation for determining the information between driver 545 and vehicle 500 The process flow diagram flow chart of the method 100 of delivery rate.To the method 100 of Fig. 3 be described with reference to figure 1 and Fig. 2, although the method 100 of Fig. 3 It can also be used together with other systems with embodiment.As will be discussed herein, frame shown in Fig. 3 can include such as about figure The more detailed process that 4-6 is explained, and can be connected by connector A.It will be appreciated, however, that the method shown in Fig. 3-6 It can connect and/or flow at other points other than connector A.In addition, in some embodiments that will be discussed herein In.One or more frames shown in Fig. 3-6 can merge with one or more frames shown in Fig. 7 A, 7B and 7C.

In the frame 101 of Fig. 3, directly driver information is measured from driver 545.In one embodiment, as above institute It states, this driver information is measured using driver information sensing device further 505.In block 105, directly vehicle is measured from vehicle 500 Information.In one embodiment, as described above, measuring this information of vehicles using information of vehicles sensing device further 510.

In block 110, the driver information that is directly measured in block 101 from driver 545 and straight in block 105 is used It connects and calculates the message data rate between driver 545 and vehicle 500 from the information of vehicles that vehicle measures.In an embodiment party In case, as described above, use information delivery rate module 620 calculates this message data rate.Thus, it will be seen that it uses Entropy calculates the message data rate between driver 545 and vehicle 500.More specifically, in some embodiments, it uses Transfer entropy and conditional entropy calculate delivery rate, as shown in each above in equation 3-5.

At frame 115, driver safety coefficient module 625 retrieves baseline letter from baseline information delivery rate database 610 Cease delivery rate.As described above, in one embodiment, baseline information delivery rate database 610 includes to maintain vehicle Control baseline information delivery rate value.In some embodiments, baseline information delivery rate database 610 only includes one A baseline information delivery rate value.In other embodiments, baseline information delivery rate database 610 is included for driver 545 at least two different baseline information delivery rate values, wherein adjusting each value for road conditions.Road conditions can be with Road, weather, time of day and the transportation condition of including but not limited to one or more types.In baseline information delivery rate number In the case of there are multiple message data rates for the driver 545 of vehicle 500 according to library 610, driver safety coefficient module Block 625 retrieves the baseline information delivery rate of the Real-time Road condition for the road that most tight fit vehicle 500 travels on it.

In block 120, it once retrieving baseline information delivery rate from baseline information delivery rate database 610, then fills Standby operator alert module 615.It is retrieved in driver safety coefficient module 625 from baseline information delivery rate database 610 After baseline information delivery rate, message data rate system 535 equips operator alert module 615.In equipment, make driving Member's alarm modules 615 get out the predetermined driver safety alert threshold that will be stored in memory 605 and driver safety system The driver safety coefficient that digital-to-analogue block 625 is calculated is compared.When driver safety coefficient module 625 is by driver safety system When the driver safety coefficient that digital-to-analogue block 625 is calculated is supplied to operator alert module 615, operator alert module 615 is held Row compares.

At frame 125, driver safety coefficient is calculated.In one embodiment, driver safety coefficient is to be calculated Message data rate and scheduled message data rate ratio.In one embodiment, as described above, driver safety Coefficient module 625 is using the message data rate that calculates in block 110 and in frame 115 from baseline information delivery rate data The baseline information delivery rate that library 610 is retrieved calculates driver safety coefficient.

In frame 130, by the driver safety coefficient calculated in frame 125 and scheduled driver safety alert threshold into Row compares.In one embodiment, compare as described above, performing this by operator alert module 615.In frame 135, if Driver safety coefficient value is less than scheduled driver safety alert threshold, then alerts driver 545.Driver safety coefficient It can be but not limited to scheduled driver safety alert threshold data type digital, nonnumeric, discrete or continuous.One In a embodiment, if the comparison instruction driver safety coefficient that operator alert module 615 is carried out in frame 130 does not surpass Scheduled driver safety alert threshold is crossed, then as described above, alerting driver 545 using operator alert device 540.

With reference to figure 4, show according to exemplary implementation for determining the information between driver 545 and vehicle 500 The process flow diagram flow chart of the method 100 of delivery rate.To the method for Fig. 4 be described with reference to figure 1, Fig. 2 and Fig. 3, although the method for Fig. 4 It can be used together with other systems with embodiment.Fig. 4 includes the supplementary frame beyond frame shown in Fig. 3, i.e. frame 140 to 155, It is clearly shown when vehicle 500 when driving, how message data rate system 535 continuously repeats the method in real time.

In the embodiment depicted in fig. 4, it after frame 135, in a block 140, directly measures drive from driver 545 again The person's of sailing information.In one embodiment, as described above, being believed using driver information sensing device further 505 to measure this driver Breath.After frame 140, directly information of vehicles is measured from vehicle 500 again in frame 145.In one embodiment, as above institute It states, this information of vehicles is measured using information of vehicles sensing device further 510.

In block 150, the driver information that is directly measured from driver 545 is reused in block 140 and in frame 145 In the information of vehicles that is directly measured from vehicle 500 calculate the message data rate between driver 545 and vehicle 500.One In a embodiment, as described above, use information delivery rate module 620 calculates this message data rate.

After frame 150, as described above, retrieving base from baseline information delivery rate database 610 again in frame 155 Line message data rate, and provide it to driver safety coefficient module 625.As described above, in one embodiment, Baseline information delivery rate database 610 includes the baseline information delivery rate value for maintaining vehicle control.In some implementations In scheme, baseline information delivery rate database 610 only includes a baseline information delivery rate value.In other embodiments In, baseline information delivery rate database 610 includes at least two different baseline information delivery rates for driver 545 Value, wherein adjusting each value for road conditions.Road conditions can include but is not limited to the road of one or more types, day Gas, time of day and transportation condition.Have the driver's 545 for vehicle 500 in baseline information delivery rate database 610 In the case of multiple message data rates, driver safety coefficient module 625 is retrieved most tight fit vehicle 500 and is travelled on it Road Real-time Road condition baseline information delivery rate.

Baseline information delivery rate is retrieved from baseline information delivery rate database 610 and be provided in frame 155 After driver safety coefficient module 625, the method returns frame 125.

With reference to figure 5, show according to exemplary implementation for determining the information between driver 545 and vehicle 500 The process flow diagram flow chart of the method 100 of delivery rate.To the method for Fig. 5 be described with reference to figure 1, Fig. 2, Fig. 3 and Fig. 4, although the side of Fig. 5 Method can also be used together with other systems with embodiment.Fig. 5 includes the supplementary frame beyond Fig. 3 and frame shown in Fig. 4, i.e. frame 111 and 151.

In the embodiment depicted in fig. 5, as discussed above, based on the driver's letter directly measured from driver 545 At least one of the type of breath and riving condition, in frame 111, message data rate module 620 transmits information in frame 110 Message data rate between driver 545 that velocity module 620 is calculated and vehicle 500 is standardized.Riving condition packet It includes but is not limited at least one of specified link condition, weather condition, time of day and transportation condition.In addition, in some realities It applies in scheme, message data rate module 620 is also used by the information of the GPS530 offers of vehicle 500, to be directed to driving item Part standardized information delivery rate.

Similarly, in the frame of Fig. 5 151, as discussed above, based on the driver's letter directly measured from driver 545 At least one of the type of breath and riving condition, message data rate module 620 transmits information in frame 150 in frame 151 Message data rate between driver 545 that velocity module 620 is calculated and vehicle 500 is standardized.Riving condition packet It includes but is not limited at least one of specified link condition, weather condition, time of day and transportation condition.In addition, in some realities It applies in scheme, message data rate module 620 is also used by the information of the GPS530 offers of vehicle 500, to be directed to driving item Part standardized information delivery rate.

With reference to figure 6, show according to exemplary implementation for determining the information between driver 545 and vehicle 500 The process flow diagram flow chart of the method 100 of delivery rate.To the method for Fig. 6 be described with reference to figure 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, although Fig. 6 Method can also be used together with other systems with embodiment.Fig. 6 includes the implementation beyond the method 100 shown in Fig. 3-5 The supplementary frame of the frame of scheme, i.e. frame 106 and 146.It should be noted that it in other embodiments, can perform in addition to shown in fig. 6 Other frames except frame.

In block 105, the external information of the outside of vehicle 500 is measured.In one embodiment, as described above, using External information sensing device further 520 measures this external information.In block 110, message data rate module 620 uses this external letter It ceases, together with the driver information measured in frame 101 and the information of vehicles measured in block 105, so as to as described above, in frame The message data rate between driver 545 and vehicle 500 is calculated in 110.

Similarly, in frame 146, the external information of the outside of vehicle 500 is measured.In one embodiment, as above institute It states, this external information is measured using external information sensing device further 520.In block 150, message data rate module 620 uses This external information, together with the driver information measured in a block 140 and the information of vehicles measured in frame 145, so as to as above institute It states, calculates the message data rate between driver 545 and vehicle 500 in block 150.

Therefore, disclosed above is for using the information directly measured from driver 545 and directly being measured from vehicle 500 Information, be calculate the message data rate between driver 545 and vehicle 500 by message data rate module 620 The embodiment of system and method.Use condition entropy and transfer entropy calculate message data rate in real time.Use calculated information Delivery rate come determine the driver 545 of vehicle 500 whether be in the suitable control of vehicle 500 or driver 545 whether It is undergoing and interferes driver 545 that there is the damage to the suitable control of vehicle 500.

IV. for driver to vehicle message data rate and vehicle to the message data rate of driver method

In embodiment discussed above, the message data rate from driver to vehicle is measured.From driver to vehicle Message data rate (that is,) describe positive information flow from driver to vehicle.Need positive information flow with Maintain the control to vehicle.For example, the driver 545 as discussed above with respect to Fig. 1-6 must be driven by one or more Member's control input unit transmission information, to generate vehicle acceleration, speed, lane position and the variation in direction.Therefore, as Illustrative example, driver 545 can rotate the steering wheel (not shown) of vehicle 500, be passed from there through steering wheel to vehicle 500 Defeated information is to generate the variation in the direction of vehicle 500.In other words, steering wheel rotation is to show to enter trailer reversing (that is, vehicle The variation in direction) pilot control (for example, driver input).In some embodiments, from driver 545 to vehicle The reduction that 500 information is transmitted can signal the reduction of vehicle control, such as may be situations below：Driver distraction, Drowsy, drunk or experience condition.

In addition, in some embodiments, message data rate from vehicle to driver (that is,) describe from Vehicle is to the reversed information flow of driver.Reversed information flow is needed to maintain the control to vehicle.For example, with reference to figure 1-2, vehicle 500 can perform trailer reversing in response to external condition (for example, external disturbance).For example, external condition can be road conditions, Weather condition etc..It can include vehicle acceleration, speed, lane position and the change in direction in response to the trailer reversing of external condition Change.As illustrative example, fitful wind can generate trailer reversing, such as the change of the transverse acceleration of vehicle 500.Vehicle 500 To driver 545 be transferred to by the information that trailer reversing generates.Driver 545 can be in response to the vehicle as caused by external condition It manipulates and driver is caused to respond and is manipulated (for example, controlling input unit by one or more drivers).Therefore, driver 545 are performing vehicle 500 correction or reactivity input.Referring again to illustrative above example, the transverse direction based on vehicle 500 Acceleration changes, and driver 545 can correct the side of vehicle 500 along the opposite direction steering wheel rotation of transverse acceleration To.As the second illustrative example, have reduced vehicle control (for example, impaired) driver directly in vehicle front and It is not that there is focus (for example, eye gaze) on the section far from road, this may lead to coming repeatedly for vehicle and lane boundary Backcrossing is mutual, so as to generate so-called " braiding " pattern.In response to the increased exterior vehicle of information flow for leading to vehicle to driver Disturbance, the interaction of these lane boundaries also cause powerful corrective manipulated.Based on above-mentioned, in some embodiments, from vehicle 500 The increase transmitted to the information of driver 545 can signal the reduction of vehicle control, such as may be situations below：It drives Member diverts one's attention, is drowsy, drunk or experience condition.

Therefore, information from driver to vehicle transmits (positive message data rate) and/or from vehicle to driver Information transmits (reversed message data rate) available for determining vehicle control.It is described just now with reference to the method 700 of Fig. 7 A To determining for message data rate and reversed message data rate.Fig. 7 A will be described with reference to figure 1 and Fig. 2, although method 700 also may be used To be used together with other systems with embodiment.As will be discussed herein, the frame shown in Fig. 7 A can include such as about Fig. 7 B The more detailed process explained with Fig. 7 C, and can be connected by connector B.It will be appreciated, however, that Fig. 7 A, Fig. 7 B and figure Method shown in 7C can be connected and/or be flowed at other points other than connector B.Additionally, it should be understood that side The frame of method 700 can be realized wholly or partly by the frame of method shown in Fig. 3-6.

At frame 702, method 700 includes measuring driver information.Similar to the frame 101 of Fig. 3, in an embodiment In, as described above, measuring driver information using driver information sensing device further 505.At frame 704, method 700 includes surveying Measure information of vehicles.Similar to the frame 105 of Fig. 3, in one embodiment, as described above, using information of vehicles sensing device further 510 To measure information of vehicles.

At frame 706, method 700 includes calculating the positive message data rate from driver to vehicleAnd At frame 708, including calculating the reversed message data rate from vehicle to driverSpecifically, frame 706 can wrap It includes and driver information and vehicle is used in one or more time slices in certain period of time and/or within the period Information calculates the positive message data rate from driver 545 to vehicle 500.In addition, frame 708 can include within the period And/or it is calculated in one or more time slices within the period using driver information and information of vehicles from vehicle 500 To the reversed message data rate of driver 545.In one embodiment, use information delivery rate module 620 calculates Positive message data rate and reversed message data rate.

As that being discussed second part and frame 110 about Fig. 3, can be counted above using transfer entropy and conditional entropy Calculate message data rate.The positive information that equation (3) from the above discussion calculates from driver 545 to vehicle 500 transmits speed Rate.Include positive message data rate being calculated as from driver more specifically, calculating positive message data rate at frame 706 Measurement result x is to the transfer entropy of vehicle measurement results y.Driver's measurement result x can be exported from driver information, such as more than Driver time's sequence D shown in equation (1)_x.In addition, vehicle measurement results y can be exported from driver information, such as more than Vehicle time sequence V shown in equation (2)_y.Therefore, driver's measurement result x is the driver information value of time series segment, And vehicle measurement results y is the information of vehicles value of time series segment.It is begged for herein relative to positive message data rate In some embodiments of opinion, driver's measurement result x is referred to alternatively as positive driver's measurement result x, and vehicle measures knot Fruit y can be referred to as positive vehicle measurement results y.

As shown in equation (3), adjusted above based on previous driver's measurement result x and previous vehicle measurement result y The transfer entropy of positive message data rate.More specifically, in v_yiWith V_yL point it is long and delay the previous fragment of t point Between existence condition entropy, i.e.,And It is v_iWith based on D_xK point it is long and delay the V that the previous fragment at τ time point is further adjusted_yPrevious fragment between Conditional entropy, i.e.,In text by an embodiment of description, It can be postponed to calculate positive message data rate according to the first time of the maximum point corresponding to positive information rate.For example, In equation (3), t time point can be postponed at the first time.It can make a reservation for postpone at the first time.It can prolong at the first time It calculates and/or can be postponed within the period with multiple interval calculation forward direction message data rates according to first time late.Such as with On discussed about equation (4) and equation (5), message data rate module 620 can be configured to separately or in combination Using all driver informations and information of vehicles to calculate positive message data rate.

In one embodiment, the reversed information calculated according to following equation from vehicle 500 to driver 545 transmits speed Rate：

Wherein：It is the transfer entropy from vehicle measurement results y to driver's measurement result x.It is surveyed based on previous vehicle Measure the transfer entropy that result y and previous driver's measurement result x adjusts positive message data rate.More specifically, equation (6) includesIt is describedIt is d_xiWith D_xK point it is long and delay and deposit between the previous fragment of τ point In conditional entropy, i.e.,AndIt is describedIt is d_xiWith based on V_yL point it is long and delay the previous fragment at t time point and further adjust The D of section_xPrevious fragment between conditional entropy, i.e.,It should be noted that it is based onTo d_xiFurther adjust cannot increase d_xiUncertainty, so WithAlways greater than zero.

Driver's measurement result x can be exported from driver information, such as driver time's sequence shown in above equation (1) Arrange D_x.In addition, vehicle measurement results y can be exported from driver information, such as the vehicle time sequence shown in above equation (2) V_y.Therefore, driver's measurement result x is the driver information value of time series segment, and vehicle measurement results y is time sequence The information of vehicles value of column-slice section.Herein relative in some embodiments of reversed message data rate discussion, driver Measurement result x is referred to alternatively as counter steer person measurement result x, and vehicle measurement results y can be referred to as reversed vehicle and measure As a result y.

It, can be according to the maximum point corresponding to reversed message data rate in text by an embodiment of description Second time delay calculates reversed message data rate.For example, in equation (6), τ time point can be used as the second time Delay.It can make a reservation for the second time delay.Can the second time delay calculate and/or can according to the second time delay when Between in section with the reversed message data rate of multiple interval calculations.As discussed above with respect to equation (4) and equation (5), information Delivery rate module 620 can be configured to separately or in combination using all driver informations and information of vehicles to calculate Reversed message data rate.

In some embodiments, message data rate module 620 calculates multiple positive information within the period and transmits speed Rate and multiple reversed message data rates.In the present embodiment, message data rate module 620 is according to following equation, with just To the multiple positive message data rates of form calculus of message data rate time series：

Wherein：T_DV(1≤i≤N) is time series, and the time series is having for the actual value of positive message data rate Ordered sets, and each value in time series is equal to the estimation of the positive message data rate under the given time of i/FS, Wherein FS is sample rate and N is the quantity of the element in time series.In some embodiments that will be discussed herein, pass through Postpone the t- vehicle datas of τ seconds relative to Driver data to calculate each value in positive message data rate time series. Time interval t- τ are empirically selected to maximize the detection of positive information flow.In addition, message data rate module 620 can According to following equation, with the multiple reversed message data rates of the form calculus of reversed message data rate time series：

Wherein：T_VD(1≤i≤N) is time series, and the time series is having for the actual value of reversed message data rate Ordered sets, and each value in time series is equal to the estimation of the reversed message data rate under the given time of i/FS, Wherein FS is sample rate and N is the quantity of the element in time series.In some embodiments that will be discussed herein, pass through Postpone the τ Driver datas of-t seconds relative to vehicle data to calculate each value in reversed message data rate time series. Time interval τ-t are empirically selected to maximize the detection of reversed information flow.It now will be more detailed relative to Fig. 8 A and Fig. 8 B The maximum point that positive information is transmitted and reversed information is transmitted carefully is described.

Referring now to Fig. 8 A, show to transmit entropy diagram, the transfer entropy illustrate illustrative positive message data rate and Reversed message data rate.More specifically, Fig. 8 A be according to exemplary implementation based on in the vehicle control to vehicle Make transfer entropy Figure 80 0 of the associated data of driver in (for example, alarm).Sides of the transfer entropy Figure 80 0 based on record simultaneously To disk angle information (for example, driver information) and lateral acceleration information (for example, information of vehicles).Line 802 represent it is multiple just To the curve graph of message data rate (for example, being calculated according to equation (3)), and line 804 represents that multiple reversed information transmit speed The curve graph of rate (for example, being calculated according to equation (6)).It can be noted that the peak value of positive information flow such as in transfer entropy Figure 80 0 806 form under 100 time steps, and 100 time steps correspond to time delay (the i.e. t- of 0.5 second (5ms/ steps) τ).In this example, positive message data rate is the largest under the first time delay of 100 time steps.Therefore, vehicle It spends and fully to show within about 0.5 second that vehicle response is manipulated (for example, driver passes through one or more drive from pilot control Member's control input unit transmission information).

As illustrative example, and referring again to Fig. 1-2, driver 545 can pass through steering wheel rotation (not shown) To transmit information to vehicle 500, thus change steering wheel angle information (being represented by line 802).It can be driver to transmit information It manipulates.In response to pilot control, vehicle 500 performs vehicle response and manipulates.Specifically, the transverse acceleration (example of vehicle 500 Such as, represented by line 804) change in response to pilot control.Time delay between pilot control and vehicle response manipulation It is due to the linkage between steering wheel and tire-road interface.Therefore, the time between pilot control and vehicle response manipulate Delay is that pilot control (for example, steering wheel rotation) shows in vehicle responds manipulation (for example, change of transverse acceleration) Period.Therefore, in one embodiment, positive message data rate is grasped corresponding to pilot control and vehicle response It is maximum at the first time delay (that is, t- τ) of period between vertical.

Transfer entropy Figure 80 0 is also shown in the peak value 808 of the reversed message data rate formed under 200 time steps, institute State the time delay (i.e. τ-t) that 200 time steps postponed (5ms/ steps) corresponding to 1 second.In this example, reversed information is transmitted Rate is the largest under the second time delay of 200 time steps.Accordingly, in response to trailer reversing, driver spends about 1 Second, which responds to manipulate with driver, is reacted (for example, driver controls input unit transmission letter by one or more drivers Breath).Referring again to illustrative example discussed above, vehicle 500 can perform trailer reversing in response to external condition.For example, External condition can be road conditions, weather condition etc..In this illustrative example, external condition can be cause vehicle along to The uneven road surface (for example, protrusion) that right direction (for example, trailer reversing) laterally accelerates.Information (that is, trailer reversing) is transmitted To driver 545 and be shown to be driver's automobile interface parameter change (steering wheel angle).

In response to the trailer reversing as caused by external condition, driver 545 can generate driver respond manipulate (for example, Input unit is controlled by one or more drivers).In some embodiments, it is by driver that driver, which responds manipulation, 545 response operations or correct action taken.Referring again to illustrative example, the transverse direction based on the vehicle 500 along right direction Acceleration changes, and steering wheel can be rotated and (be manipulated for example, driver responds) to the phase negative side of transverse acceleration by driver 545 To (i.e. to the left) to correct the direction of vehicle 500.Time delay between trailer reversing and driver's response manipulation is partly It is the reaction time due to driver 545 to trailer reversing.Therefore, the time that trailer reversing and driver are responded between manipulating prolongs It is that driver responds manipulation (for example, the steering wheel that turns left) in response to trailer reversing (for example, the transverse direction along right direction adds late Speed) period for showing completely.Therefore, in one embodiment, reversed message data rate is corresponding to trailer reversing It is responded with driver maximum at the second time delay (that is, τ-t) of the period between manipulating.

Referring now to Fig. 8 B, show according to exemplary implementation based on with reduction vehicle control (for example, point The heart) the associated data of driver transfer entropy Figure 81 0.Steering wheel angle information of the transfer entropy Figure 81 0 based on record simultaneously (for example, driver information) and lateral acceleration information (for example, information of vehicles).Line 812 represents that multiple positive information transmit speed The curve graph of rate (for example, according to equation (3) calculate), and line 814 represent multiple reversed message data rates (for example, according to Equation (6) calculate) curve graph.It can be noted that the peak value 816 of positive information flow is at 70 such as in transfer entropy Figure 81 0 Between formed under step-length, 100 time steps correspond to the time delay (i.e. t- τ) of 0.35 second (5ms/ steps).Therefore, vehicle It spends about 0.35 second and fully shows that vehicle response is manipulated (for example, driver is driven by one or more from pilot control Member's control input unit transmission information).It is similarly to the peak value 806 of Fig. 8 A.

However, compared with Fig. 8 A, in transfer entropy Figure 81 0, the peak value 818 of reversed message data rate is in 300 times It is formed under step-length, 300 time steps correspond to 1.5 seconds time delays (i.e. τ) for postponing (5ms/ steps).Subtract for having The driver of few vehicle control, the second time delay (i.e. 200 time steps of the reversed message data rate shown in Fig. 8 A It is long) it compares, the second time delay (i.e. 300 time steps) significant increase of the reversed message data rate in Fig. 8 B.Such as It will be discussed herein, the change of maximum reverse message data rate can be attributed to the reduction of vehicle control.

Fig. 8 A and Fig. 8 B show using the Driver data (k=1) standardized on interval [0,1] and vehicle data (l =1) (for example, N is about million times of 1-2 on the long data slot of short data segment (being in this example a single point) Point), the single maximum value of positive message data rate and the single maximum value of reversed message data rate.It as described above, can It is passed with the positive information that Continuous plus is such as calculated by transfer entropy and conditional entropy within a period and/or multiple time slices Pass rate and reversed message data rate.In some embodiments, it is transmitted according to first time delay to calculate multiple information Rate, and multiple reversed message data rates are calculated according to the second time delay.Referring now to Fig. 9 A and Fig. 9 B, show have There are the exemplary positive message data rate of Continuous plus in a period of time and the transmission entropy diagram of reversed message data rate. Data shown in Fig. 9 A and Fig. 9 B are based on being recorded in simultaneously in multiple short data segments (for example, 5 minutes segments, N=60,000) Steering wheel angle information (for example, driver information) and lateral acceleration information (for example, information of vehicles).Fig. 9 A are that basis is shown Example property embodiment based on driver information associated with the driver in vehicle control (for example, alarm) and vehicle Transfer entropy Figure 90 0 of information.In this example, with 100 time step interval (vehicles of 100 time steps to driver Positive viewing segment, t- τ=0.5 second) calculate positive message data rate, and with 200 (200, time step intervals The vehicle of step-length watches segment, τ-t=1 seconds to the reversed of driver) calculate reversed message data rate.Therefore, line 902 represents Multiple forward direction message data rates (for example, being calculated under the first time delay t of 100 time steps according to equation (3)) Curve graph, and line 904 represents multiple reversed message data rates (for example, in the second time delay τ of 200 time steps It is lower according to equation (6) calculate) curve graph.Therefore, in one embodiment, the first of positive message data rate maximum Multiple positive message data rates are calculated under time delay, and under the second time delay of reversed message data rate maximum Calculate multiple reversed message data rates.

As shown in transfer entropy Figure 90 0, represent that the line 902 of positive message data rate is typically larger than and represent that reversed information is transmitted The line 904 of rate.In contrast, Fig. 9 B be according to exemplary implementation based on with reduction vehicle control (for example, Divert one's attention) the associated driver information of driver and information of vehicles transfer entropy Figure 90 6.In this example, with 100 times Step interval (the positive viewing segment of 100 time steps) calculates positive message data rate, and with 300 time steps Interval (the reversed viewing segment of 300 step-lengths) calculates reversed message data rate.Therefore, line 908 represents multiple positive information The curve graph of delivery rate (for example, being calculated under the first time delay t- τ of 100 time steps according to equation (3)), and Line 910 represents multiple reversed message data rates (for example, according to equation under the second time delay τ-t of 300 time steps (6) calculate) curve graph.As shown in transfer entropy Figure 90 6, represent that the line 910 of reversed message data rate is typically larger than and represent just To the line 908 of message data rate.Therefore, in one embodiment, the increase of reversed message data rate is attributable to vehicle Control reduction.Based on above-mentioned, positive message data rate and reversed message data rate can be used for determining vehicle control, this It is discussed in more detail referring now to above example.

Referring again to Fig. 7 A, method 700, which is included at frame 710, calculates and/or determines driver's state of a control.Driver is controlled State processed can be calculated by driver safety coefficient module 625.Driver's state of a control can be for distinguishing two or more Any numerical value of a driver status or other kinds of value.In embodiment discussed in this article, driver's state of a control Can be the numerical value or other types for distinguishing two or more vehicle control (i.e. control of the driver to vehicle) states Value.For example, in some cases, driver's state of a control can be given as the percentage between 0% and 100%, wherein 0% refers to the driver being completely in vehicle control (for example, alarm), and 100% refers to be not in vehicle control (example Such as, divert one's attention completely, be drowsy or even sleeping) in driver.In other cases, driver's state of a control can be with model The value being trapped among between 1 and 10.In other situations, driver safety coefficient is not numerical value, but can be with given discrete state It is associated, such as " no vehicle control ", " the slightly vehicle control of reduction ", " vehicle control " " slightly increased vehicle control " and " complete vehicle control ".In addition, driver's state of a control can be centrifugal pump or successive value.It should be appreciated that driver's state of a control Can be for distinguishing two or more driver status other than vehicle control (for example, vigilant, drowsy, special Note, divert one's attention, is drunk etc.) any numerical value or other kinds of value.

In one embodiment, using the positive message data rate from frame 706 and the reversed information from frame 708 Delivery rate calculates driver's state of a control.Therefore, according to an embodiment, based on from driver 545 to vehicle 500 The transfer entropy of positive information flow and from vehicle 500 to the transfer entropy of the reversed information flow of driver 545 come calculate driver control State processed.It in some embodiments, can be based on multiple positive message data rates from frame 706 and from frame 708 Multiple reversed message data rates calculate driver's state of a control.It it should be appreciated that can be separately or in combination using forward direction Message data rate and reversed message data rate calculate driver's state of a control, to form various information and and to calculate Driver's state of a control.

As described above, driver's state of a control can indicate the value of vehicle control, and positive information can be based on and passed Pass the comparison between rate and reversed message data rate.In one embodiment, driver safety coefficient module 625 can be with Positive message data rate and reversed message data rate are compared, to determine driver's state of a control.It therefore, can be with Based between the positive message data rate in single time slice and/or in a period and reversed message data rate Relationship calculates driver's state of a control.

It is exemplary shown in referring now to Fig. 7 B and Fig. 7 C and Fig. 8 A, Fig. 8 B, Fig. 9 A, Fig. 9 B, Figure 10 A and Figure 10 B Data discuss the exemplary scenario for determining driver's state of a control.Referring now to Fig. 7 B, show according to exemplary reality Apply the method 714 for being used to determine driver's state of a control of scheme.At frame 716, method 714 is included by determining reversed information Whether delivery rate is more than positive message data rate, and positive message data rate and reversed message data rate are compared Compared with.For example, in given positive message data rate time series (T_DV)_1...iWith reversed information rate time series (T_VD)_1...i's In the case of, it is determined whether (T_VD)_i＞ (T_DV)_i.In some embodiments, determine that the reversed information under the second time delay passes Whether more than the positive message data rate under postponing in first time (i.e. most to pass rate (i.e. maximum reverse message data rate) Big forward direction message data rate).

If be determined as at frame 716, method 714, which is included at frame 718, calculates driver's state of a control to refer to Show the reduction of vehicle control.This determines to be supported as the data shown in Fig. 9 A and Fig. 9 B.Based in vehicle control (example Such as, alarm) in driver driver information and information of vehicles Fig. 9 A transfer entropy Figure 90 0 in, line 904 be more than line 902 Point be reduced vehicle control point (for example, diverting one's attention).Based on for the vehicle control (for example, diverting one's attention) with reduction In transfer entropy Figure 90 6 of the driver information of driver and Fig. 9 B of information of vehicles, line 910 (reversed message data rate) is usual It is more than line 908 (positive message data rate) within the entire period.Therefore, based on above-mentioned, determining that reversed information transmits speed When rate is more than positive message data rate, driver's state of a control is calculated to indicate the reduction of vehicle control.

In an alternative embodiment, whether the frame 716 of method 714 can include determining that positive message data rate one Reduce in a period, and reversely whether message data rate increases in a period of time.For example, in forward direction given above In the case of message data rate time series and reversed message data rate sequence, it is determined whether：

((T_VD)_i＞ (T_VD)_i-1)AND((T_DV)_i＜ (T_DV)_i-1)(9)

If be determined as at frame 716, method 714, which is included at frame 718, calculates driver's state of a control to refer to Show the reduction of vehicle control.This determines also to be supported as the data shown in Fig. 9 A.Based in vehicle control (for example, alert Report) in driver driver information and information of vehicles Fig. 9 A transfer entropy Figure 90 0 in, line 904 be more than line 902 and line The point of 902 reductions is the point (for example, diverting one's attention) of reduced vehicle control.Therefore, based on above-mentioned, determining that positive information transmits speed When rate is reduced within the period and reversely message data rate increases within the period, driver's state of a control is calculated to refer to Show the reduction of vehicle control.

In one embodiment, the increased quantity of reversed message data rate and/or positive information can be used to transmit The quantity of rate reduction determines driver's state of a control.Referring now to Fig. 7 C, show to determine driver's state of a control Method 720.Method 720 cycles through positive message data rate time series and reversed message data rate time series, To determine positive message data rate increase and the reversely point of message data rate reduction.Therefore, opening in method 720 Begin, it can be with initialization counter DV (positive message data rate reduction) and counter VD (reversed message data rate increase). It should be appreciated that frame 722,724 and frame 726,728 can be with parallel processings.At frame 722, for reversed message data rate sequence (T_VD)_1...iIn each element i, it is determined whether increase, specifically no ((T_VD)_i＞ (T_VD)_i-1).If determined as It is then to be incremented by counter VD at frame 724.

In an alternative embodiment, frame 722 can include determining whether that the unexpected increasing of reversed message data rate occurs Add.Increase suddenly is the increase for meeting predetermined amplitude.Therefore, in one embodiment, can determine reversely to believe at frame 722 The difference between delivery rate and previously reversed message data rate is ceased, and itself and predetermined threshold (not shown) are compared Compared with.If difference is more than predetermined threshold, the unexpected increase of reversed message data rate is had occurred and that, and method 720 can be with Proceed to frame 724.

At frame 726, for positive message data rate sequence (T_DV)_1...iIn each element (T_DV)_1...i, determine be It is no to reduce, specifically no ((T_DV)_i＜ (T_DV)_i-1).If be determined as at frame 726, make counting at frame 728 Device DV is incremented by.In an alternative embodiment, frame 726 can include determining whether that suddenly subtracting for positive message data rate occurs It is few.Reduce suddenly is the reduction for meeting predetermined amplitude.Therefore, in one embodiment, positive letter can be determined at frame 722 The difference between delivery rate and previously positive message data rate is ceased, and itself and predetermined threshold (not shown) are compared Compared with.If difference is more than predetermined threshold, the unexpected reduction of positive message data rate is had occurred and that, and method 720 can be with Proceed to frame 728.

At frame 730, determine whether the increased quantity of reversed message data rate is more than positive message data rate and reduces Quantity (i.e. VD>DV).If be determined as at frame 730, driver's state of a control is determined at frame 732 to indicate vehicle Control reduction.Therefore, in one embodiment, determining the increased quantity of reversed message data rate more than positive letter When ceasing the quantity of delivery rate reduction, driver's state of a control is calculated to indicate the reduction of driver's control.In another reality It applies in scheme, is more than the unexpected reduction of positive message data rate in the unexpected increased quantity for determining reversed message data rate Quantity when, calculate driver's state of a control so as to indicate driver control reduction.

Reversed message data rate increases and/or the distribution of positive message data rate reduction can be used for determining driving Member's state of a control.Referring now to Figure 10 A and Figure 10 B, transfer entropy histogram is shown.Figure 10 A be based on in vehicle control The transfer entropy histogram 1002 of the associated information of driver in (for example, alarm).In contrast, Figure 10 B are to be based on and tool The transfer entropy histogram 1004 of the associated information of driver for the vehicle control (for example, diverting one's attention) being reduced.Such as from histogram 1002 and histogram 1004 as can be seen that the increase of the reduction that is counted with positive entropy and the counting of negative transfer entropy (in the vehicle of reduction In the case of control), there is the offset along left direction.Therefore, in one embodiment, negative information flow distribution is being determined When increasing the reduction with positive information flow, driver's state of a control is calculated to indicate the reduction of driver's control.

It should be appreciated that the exemplary of driver's state of a control discussed above determines to be exemplary in itself, and Concept that can be from what has been discussed above realizes other logical operations and/or logic gate.For example, in some embodiments, it can To realize Different Logic door not described herein (for example, with or) and truth table.In some embodiments, in addition to forward direction is believed It ceases except delivery rate and/or reversed message data rate, driver's state of a control can be based on and driver 545 and/or vehicle The type of 500 relevant monitoring informations.For example, in some embodiments, measurement driver information can wrap at frame 702 It includes and measures the physiologic information in relation to driver 545.Physiologic information can include biological information, such as heart rate, blood pressure, oxygen content, Blood alcohol content (BAC), respiratory rate perspire rate, skin conductivity, brain wave activity, digestion information, salivary secretion information etc.. In some embodiments, driver's state of a control can be based on positive message data rate, reversed message data rate and physiology Information.In other embodiments, physiologic information can be used for confirming and/or verifying driver's state of a control rank.It therefore, can be with Data fusion is used by transfer entropy, to determine driver's state of a control.

It should be appreciated that in some embodiments, driver's state of a control can be the driver safety as described in Fig. 1-6 Coefficient.Therefore, in some embodiments, determine that driver's state of a control can include such as about the frame of Fig. 3 at frame 710 The 115 retrieval baseline forward direction message data rates discussed and the reversed message data rate of baseline.In some embodiments, exist Determined at frame 710 driver's state of a control can include as about the frame 151 of Fig. 3 discussed to positive message data rate with Reversed message data rate is standardized.In other embodiments, driver safety coefficient can be based in part on to come really Determine driver's state of a control.It should be appreciated that the method disclosed in Fig. 7 A, 7B and 7C can include one or more frames of Fig. 3-6.

Referring again to Fig. 7 A, in frame 712, method 700 includes controlling Vehicular system based on driver's state of a control.At one In embodiment, and as discussed above with reference to Fig. 3-6, can operator alert be controlled based on driver's state of a control Device 540.For example, using operator alert device 540, so as to be based on driver's state of a control to driver 545 alert whether The reduction of vehicle control occurs.In some embodiments, as above at the frame of Fig. 3-6 130 disclosed in, can be by driver State of a control is compared with driver safety alert threshold.If driver's state of a control is no more than scheduled driver safety Warning threshold then as discussed at the frame of Fig. 3-6 135 above, can alert driver by operator alert device 540 545.Operator alert device 540 can be the output device of vehicle 500, export vision, machinery or audio signal to warn The reduction of 545 vehicle control of driver is accused, this will allow driver 545 to take action, and such as vehicle 500 is pulled over, is stopped Only vehicle 500 or turn to vehicle 500.

It should be appreciated that Vehicular system can be controlled according to driver's state of a control.Therefore, it as illustrative example, drives The person's of sailing alarm device 540 can export visual signal based on driver's state of a control of the small-sized reduction of instruction vehicle control, And operator alert device 540 can export vision based on driver's state of a control of the medium reduction of instruction vehicle control Signal and audio signal.

In addition, it should be understood that other Vehicular systems can be controlled, such as advanced driving assistance system (ADAS).For example, it drives The person's of sailing alarm modules 615 can control braking system (not shown) to automatically begin to stop based on driver's state of a control And/or slow down vehicle 500.As illustrative example, the reduction based on vehicle control can control braking system to use braking Liquid is pre-charged with one or more brake pipings, to help to increase the reaction of braking system in driver depresses' brake pedal Time.It, can be to avoid can be as caused by the reduction of vehicle control by automatically controlling one or more Vehicular systems of vehicle 500 Dangerous situation.

Embodiment discussed herein can also be in the computer-readable storage of non-transitory of storage computer executable instructions Described in the linguistic context of medium and realize.Non-transitory computer-readable storage media includes computer storage media and communication is situated between Matter.For example, flash memories, digital versatile disc (DVD), laser optical disc (CD), floppy disk and cassette tape.Non-transitory calculates Machine readable storage medium storing program for executing may include being implemented in any method or technology for storage information such as computer-readable instruction, data knot Volatile and nonvolatile, the removable and not removable medium of structure, module or other data.Non-transitory is computer-readable Storage medium does not include data-signal that is temporary and propagating.

It is appreciated that can desirably will it is above-disclosed it is various realization and others feature and function substitute or it Modification be combined in many other different systems or application.In addition, those skilled in the art can then make herein In at present not it is contemplated that or it is unexpected it is various substitute, modification, variation or improve, and these are also intended to by following claims Book is covered.

Claims

1. it is a kind of for determining the computer implemented method of the message data rate in vehicle, including：

Measure driver information；

Measure information of vehicles；

It is calculated in certain period of time using the driver information and the information of vehicles from driver to the vehicle Positive message data rate；

It is calculated within the period using the driver information and the information of vehicles from the vehicle to the driving The reversed message data rate of member；And

Driver's state of a control is calculated using the positive message data rate and the reversed message data rate.

2. computer implemented method according to claim 1 includes inciting somebody to action wherein calculating the positive message data rate The forward direction message data rate is calculated as measuring x based on previously positive driver and previously positive vehicle measurement results y is adjusted From positive driver's measurement result x to the transfer entropy of positive vehicle measurement results y.

3. computer implemented method according to claim 2, wherein the forward direction message data rate is corresponding to driving The person of sailing manipulates to be the largest at the first time delay of the period between vehicle response manipulation.

4. computer implemented method according to claim 1 includes inciting somebody to action wherein calculating the reversed message data rate The reversed message data rate is calculated as based on previous counter steer person's measurement result x and previous reversely vehicle measurement results y The transfer entropy from reversed vehicle measurement results y to counter steer person's measurement result x adjusted.

5. computer implemented method according to claim 4, wherein the reversed message data rate is corresponding to vehicle Manipulate and driver respond manipulate between period the second time delay at be the largest.

6. computer implemented method according to claim 1, wherein driver's state of a control be based on it is described just The value of comparison between message data rate and the reversed message data rate.

7. computer implemented method according to claim 6, wherein determining that the reversed message data rate is more than During the forward direction message data rate, driver's state of a control is calculated to indicate the reduction of vehicle control.

8. computer implemented method according to claim 6, wherein determining the positive message data rate in institute It states and reduces in the period and when the reversed message data rate increases within the period, calculate driver's control State is to indicate the reduction of vehicle control.

9. computer implemented method according to claim 1, wherein when the forward direction message data rate includes described Between positive message data rate in section time series, and the reversed message data rate was included in the period The time series of reversed message data rate.

10. computer implemented method according to claim 9 includes wherein calculating driver's state of a control：Base Determine that the positive message data rate reduces in the time series of the positive message data rate in the period Quantity；And the reversed information is determined based on the time series of the reversed message data rate in the period The increased quantity of delivery rate.

11. computer implemented method according to claim 10, wherein determining the reversed message data rate increasing When big quantity is more than the quantity that the positive message data rate reduces, driver's state of a control is calculated to indicate vehicle Control reduction.

12. a kind of non-transitory computer-readable medium including instructing, described instruction perform be used for when executed by the processor The method for determining message data rate, the method includes：

Driver information is measured from driver；

Information of vehicles is measured from vehicle；

It is calculated in certain period of time using the driver information and the information of vehicles from the driver to the vehicle Positive message data rate；

13. non-transitory computer-readable medium according to claim 12, wherein calculating the positive information transmits speed Rate includes the positive message data rate being calculated as within the period from positive driver's measurement result x to positive vehicle The transfer entropy of measurement result y, and calculate the reversed message data rate and include the reversed message data rate meter Calculate within the period from reversed vehicle measurement results y to the transfer entropy of counter steer person's response measurement result x.

14. non-transitory computer-readable medium according to claim 13, wherein the forward direction message data rate exists It is the largest, and described anti-at the first time delay of period between being manipulated corresponding to pilot control and vehicle response It is at the second time delay that the period between manipulating is responded corresponding to trailer reversing and driver to message data rate Maximum.

15. non-transitory computer-readable medium according to claim 12, wherein driver's state of a control is base The value of comparison between the positive message data rate and the reversed message data rate.

16. a kind of for determining the message data rate system of message data rate, described information delivery rate system includes：

Computer processor；And

The computer readable storage medium of executable code is stored, the executable code is performed by the computer processor A kind of methods of Shi Zhihang, the method includes：

Driver information is measured from driver information sensing device further；

Information of vehicles is measured from information of vehicles sensing device further；

It is calculated within the period using the driver information and the information of vehicles from the vehicle to the driving The reversed message data rate of member；

Driver's state of a control is calculated using the positive message data rate and the reversed message data rate；And

Vehicular system is controlled based on driver's state of a control.

17. message data rate system according to claim 16, wherein the forward direction message data rate is calculated as Transfer entropy within the period from the driver information sensing device further to the information flow of the information of vehicles sensing device further, And the reversed message data rate is calculated as sensing dress from the information of vehicles sensing device further to the driver information The transfer entropy for the information flow put.

18. message data rate system according to claim 17, wherein the forward direction message data rate corresponding to The pilot control received at the driver information sensing device further show by the information of vehicles sensing device senses to Trailer reversing period first time delay at be the largest.

19. message data rate system according to claim 16, wherein the reversed message data rate corresponding to From the information of vehicles sensing device senses to trailer reversing in response to the trailer reversing and in the driver information The driver received at sensing responds to be the largest at the second time delay of the period manipulated.

20. message data rate system according to claim 19, wherein determining second time delay described When increasing in the period, driver's state of a control is calculated to indicate the reduction of vehicle control.