Adaptive passenger comfort enhancement in autonomous vehicles

• US 10,029,698 B2
• Filed: 07/19/2016
• Issued: 07/24/2018
• Est. Priority Date: 07/19/2016
• Status: Active Grant

• Current Assignee: Futurewei Technologies Incorporated (Huawei Investment & Holding Co., Ltd.)
• Original Assignee: Futurewei Technologies Incorporated (Huawei Investment & Holding Co., Ltd.)
• Inventors: Rao, Lei, Li, Jian, Hu, Ron-Chung
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US15/213,532
• Publication Number:
  US 20180022361A1
• Time in Patent Office: 735 Days
• CPC Class Codes: B60R 16/037 for occupant comfort , e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
• CPC Class Codes: B60R 16/0373 Voice control in general G10L
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2050/0014 Adaptive controllers
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2540/21 Voice
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60Y 2300/18 Propelling the vehicle
• CPC Class Codes: G05B 13/024 in which a parameter or coefficient is automatically adjusted to optimise the performance
• CPC Class Codes: G05B 13/028 using expert systems only

Abstract

A system and method for performing self-learning for adaptively achieving passenger comfort enhancement in an autonomous vehicle. The system comprises a plurality of sensor inputs. Each sensor input provides data representative of voice responses and image responses from a passenger in the vehicle. A controller is coupled to the plurality of sensor inputs. The controller generates and updates a reward function that includes a plurality of driving state transitions. The reward function is updated based on destination information and the data representative of the voice and image responses. The controller further generates a goal function that determines an optimized driving state transition updates the goal function based on the updated reward function and a previous goal function. The controller also generates a vehicle speed control signal, based on the updated goal function, to control the speed of the autonomous vehicle.

Claims

1. A system to control an autonomous vehicle, the system comprising:

a plurality of sensors generating one or more data representative of a voice response or an image response of a passenger after a first transition from a first driving state to a second driving state, wherein each driving state corresponds to a range of vehicle speed; and

a controller coupled to the plurality of sensors and configured to;

determine a first transition indication including a third driving state and a first action based on a reward function with the one or more data as a first variable, with the first action identifying a potential second operation of the autonomous vehicle during a second transition from the second driving state to the third driving state;

determine at least one next driving state and at least one next action based on the second driving state and a reward matrix, with each next driving state of the at least one next driving state corresponding to one of the at least one next action;

determine a second transition indication including a fourth driving state and a second action based on the first transition indication, the at least one next driving state, and the at least one next action; and

generate a vehicle speed control signal based on the second action.

2. The system of claim 1, wherein the reward matrix includes a plurality of driving states, and an indication of each transition from one driving state to another driving state.

3. The system of claim 2, wherein the reward function is based on the reward matrix and includes the one or more data as a first variable.

4. The system of claim 1, wherein each driving state further corresponds to a range of road segment curvature.

5. The system of claim 4, wherein the controller is further configured to generate a vehicle curvature control signal.

6. The system of claim 1, wherein the controller determines the fourth driving state and the second action based on a goal function which includes the third driving state and the first action as a second variable and includes the at least one next driving state and the at least one next action for each next driving state as a third variable.

7. The system of claim 2, wherein the transition from the one driving state to the another driving state comprises one or more transitions and one or more non-transition indications indicating possibilities for transitioning from the one driving state to the another driving state.

8. The system of claim 1, with the controller determining a first transition indication comprising:

the controller determines a third transition indication based on the reward function with the first variable comprising the image response; and

the controller determines a fourth transition indication based on the reward function with the first variable comprising the voice response.

9. The system of claim 8, wherein the third transition indication is less priority than the fourth transition indication with successive positive feedback collected from the one or more data being representative of the voice response.

10. The system of claim 1, wherein the controller is further configured to determine a plurality of road segments between a source and a destination, wherein the controller generates the vehicle speed control signal for each of the plurality of road segments based on an updated goal function for each road segment.

11. A method of operating an autonomous vehicle, comprising:

generating one or more data representative of a voice response or an image response of a passenger after a first transition from a first driving state to a second driving state, wherein each driving state corresponds to a range of vehicle speed;

determining a first transition indication including a third driving state and a first action based on a reward function with the one or more data as a first variable, with the first action identifying a potential second operation of the autonomous vehicle during a second transition from the second driving state to the third driving state;

determining at least one next driving state and at least one next action based on the second driving state and a reward matrix, with each next driving state of the at least one next driving state corresponding to one of the at least one next action;

determine a second transition indication including a fourth driving state and a second action based on the first transition indication, the at least one next driving state, and the at least one next action; and

generating a vehicle speed control signal based on the second action.

12. The method of claim 11, wherein each driving state further corresponds to a range of road segment curvature.

13. The method of claim 11, further comprising converting the one or more of data of the image response to a binary representation of a passenger facial expression, wherein a first binary representation of the passenger facial expression is assigned to a positive facial expression and a second binary representation of the passenger facial expression is assigned to a negative facial expression.

14. The method of claim 13, wherein the one or more of data representative of the voice response comprises an aural response from the passenger.

15. The method of claim 14, further comprising:

converting the aural response to a binary representation of the aural response, wherein a first binary representation of the aural response is assigned to a positive aural response and a second binary representation of the aural response is assigned to a negative aural response.

16. A non-transitory computer-readable storage medium that stores instructions for execution by processing circuitry of an autonomous vehicle to perform operations that:

obtain one or more data representative of a voice response or an image response of a passenger after a first transition from a first driving state to a second driving state, wherein each driving state corresponds to a range of vehicle speed;

determine a first transition indication including a third state and a first action based on a reward function with the one or more data as a first variable, with the first action identifying a potential second operation of the autonomous vehicle during a second transition from the second driving state to the third driving state;

determine at least one next driving state and at least one next action based on the second driving state and a reward matrix, with each next driving state of the at least one next driving state corresponding to one of the at least one next action;

determine a second transition indication including a fourth driving state and a second action based on the first transition indication and the at least one next driving state, and the at least one next action; and

generate a vehicle speed control signal based on the second action.

17. The non-transitory computer-readable storage medium of claim 16, wherein the operations further determining a plurality of route segments between a source and a destination, with each route segment comprising an assigned state having a speed limit and a road curvature for each respective route segment.

18. The non-transitory computer-readable storage medium of claim 17, wherein the operations further updating the vehicle speed control signal for each of the plurality of route segments.

19. The non-transitory computer-readable storage medium of claim 18, wherein the operations further updating the vehicle speed control signal based on passenger comfort rating and speed rating.