CN108389418A - The dispatching method of automatic driving vehicle - Google Patents
The dispatching method of automatic driving vehicle Download PDFInfo
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- CN108389418A CN108389418A CN201810393817.8A CN201810393817A CN108389418A CN 108389418 A CN108389418 A CN 108389418A CN 201810393817 A CN201810393817 A CN 201810393817A CN 108389418 A CN108389418 A CN 108389418A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/51—Discovery or management thereof, e.g. service location protocol [SLP] or web services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of dispatching methods of automatic driving vehicle, including：Background server receives the call information that user terminal is sent, and includes the information of the user information of user terminal, the information and subscription time of reservation position；Background server carries out information of vehicles Fuzzy Calculation according to the information of reservation position and the information of subscription time, obtains the information of schedulable vehicle, and determine one and wait dispatching buses；On-board processing terminal to be dispatched buses receives scheduling information, authentication code is generated according to vehicle ID to be dispatched buses, and it waits information, the information of subscription time and the current location information to be dispatched buses dispatched buses according to reservation position, generates automatic traveling crane planning information；It when reaching the vehicle launch time, generates automatic Pilot control instruction and starts and waits dispatching buses so that wait dispatching buses according to driving planning path automatic running to preengaging position；It waits dispatching buses and receives pick-up code, and match with authentication code, when successful match provides a user driving service.
Description
Technical field
The present invention relates to automatic Pilot applied technical field more particularly to a kind of dispatching methods of automatic driving vehicle.
Background technology
It is entitled at one of the 1930s that this idea of automatic Pilot technology, which first appears,《Air Wonder
Stories》Monthly magazine science fiction magazine on.But until 1986, the NavLab 1 that Carnegie Mellon University produces just was calculated
Upper first is driven and the automobile of non-human driving by computer.Since at that time, as benz, BMW, Audi, masses, Ford etc.
The well-known automotive giants in the whole world begin to set about researching and developing automatic Pilot technology, 10 years especially nearest, even Google, Intel,
The science and technology such as apple manufacturer also adds among the research of automatic Pilot.
In order to more easily distinguish and define automatic Pilot technology, the classification of automatic Pilot is just at a major issue.At present
Two generally acknowledged classifying systems of Global Auto industry are by United States highways safety management bureau (abbreviation NHTSA) and the world respectively
What robot engineering Shi Xuehui (abbreviation SAE) was proposed.Wherein, the automatic Pilot technology of L4 and L5 ranks can be known as completely certainly
Dynamic driving technology, has arrived this rank, automobile can own under the case where being intervened completely without driver
Driver behavior, attention can also be placed in terms of others and such as work or rest by driver.But the difference of the two exists
In the automatic Pilot of L4 ranks is suitable under the scene of part, typically refers in city or on highway.And L5 ranks are then
It is required that autonomous driving vehicle can be accomplished to drive vehicle traveling completely under any scene.
Current automatic Pilot technology, mostly for occupied vehicle in the case of serviced, in automatic Pilot
In the case that technology reaches its maturity, how to realize more functions, provide and more easily service, is that the present invention inquires into emphatically
Problem.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of dispatching method of automatic driving vehicle, can realize according to user's need
It is that passenger provides driving service to ask the automatic appointed place that reaches, after driving service Automatic-searching park place park and
Vehicle parking point is carried out to more vehicles according to setting time, region to make rational planning for, in order in the specific region of different periods or
The specially region vehicle demand more concentrated.
In view of this, an embodiment of the present invention provides a kind of dispatching methods of automatic driving vehicle, including：
Background server receives the call information that user terminal is sent；The call information includes the use of the user terminal
The information of family information, the information and subscription time of reservation position；
The background server carries out information of vehicles and obscures according to the information of the reservation position and the information of subscription time
It calculates, obtains the information that can reach the schedulable vehicle of reservation position in subscription time；
Background server determination one in the schedulable vehicle waits dispatching buses, and waits for car hauler described in determination
Vehicle ID and communication service ID；
The background server generates scheduling information according to the call information, and will be described according to the communication service ID
Scheduling information waits dispatching buses described in being sent to；The scheduling information includes the user information, preengages the information of position and pre-
The information made an appointment；
The on-board processing terminal to be dispatched buses receives the scheduling information, according to the vehicle to be dispatched buses
ID generates authentication code and is sent to the background server, and is sent out the vehicle ID and the authentication code by the background server
The user terminal is given, pick-up code is generated according to the authentication code by the user terminal；And
It is described to wait dispatching buses according to the information of the reservation position, the information of subscription time and described to be dispatched buses
Current location information generates automatic traveling crane planning information；The automatic traveling crane planning information includes reaching the reservation position
Drive a vehicle planning path information and it is expected that duration；
The in-vehicle processor to be dispatched buses determines that vehicle opens according to the estimated duration and the subscription time
The dynamic time；When reaching the vehicle launch time, generates and wait dispatching buses described in the startup of automatic Pilot control instruction so that institute
It states and waits dispatching buses according to the driving planning path automatic running to the reservation position；
It is described wait dispatching buses receive pick-up code, and the pick-up code received is matched with authentication code, when successful match,
Provide a user driving service.
Preferably, the background server carries out vehicle letter according to the information of the reservation position and the information of subscription time
Fuzzy Calculation is ceased, the information for obtaining to reach the adjustable vehicle of reservation position in subscription time specifically includes：
The background server obtains current location information, the vehicle of each vehicle in first area near the reservation position
Status information and traffic information；
Vehicle can be used according to car status information identification；
According to described can be determined with the current location information and traffic information of vehicle reservation position can be reached in subscription time
The information for the adjustable vehicle set.
Preferably, it is obtained after the information that subscription time can reach the adjustable vehicle of reservation position described, institute
The method of stating further includes：
The information of the adjustable vehicle is sent to the user terminal by the background server.
It is further preferred that the method further includes：
The user terminal carries out input selection to be dispatched buses according to the information of the adjustable vehicle, and generates institute
State input selection information to be dispatched buses；The input selection information includes vehicle ID；
The input selection information is sent to the background server by the user terminal, the background server according to
The input selection information waits dispatching buses described in determining.
Preferably, the method further includes：
The on-board processing terminal recognition drives end of service instruction；
The current location information of vehicle is determined according to the driving end of service instruction, and according to the current position of the vehicle
Confidence breath determines the information of optimal parking site；
The vehicle generates automatic pool according to the information of the current location information of the vehicle and the optimal parking site
Vehicle planning path so that the vehicle is parked automatically according to the automatic parking planning path to the optimal parking site.
It is further preferred that after the on-board processing terminal recognition drives end of service instruction, the method further includes：
The on-board processing terminal generates the vacant information of vehicle and reports the background server；The vacant information of vehicle
Information including vehicle ID, the current location information of vehicle and/or the optimal parking site.
Preferably, the dispatching method further includes：
The background server generates vehicle deploying planning information；The vehicle deploying planning information includes multiple sub-districts
Domain, all subregion vehicle parking planning quantity and allocate planning time information；
Vehicle before the background server obtains allotment planning time in each setting sub-regions at the first moment stops
Put quantity；
When the vehicle parking planning quantity in a sub-regions and the difference between the vehicle parking quantity are more than
When first threshold, vehicle deploying demand information is generated；The vehicle deploying demand information includes the required subregion allocated and institute
The information of quantity need to be allocated；
The background server determines in the required subregion periphery second area allocated and not in other subregions
The information of interior adjustable vehicle, and according to the required allotment quantity, required allotment number is determined in the adjustable vehicle
The vehicle to be deployed of amount, and determine the vehicle ID and communication service ID of the vehicle to be deployed；
The background server generates deployment information, and is sent to the deployment information respectively according to the communication service ID
A vehicle to be deployed；The deployment information includes that the information of the stand in the required subregion allocated and allotment are planned
The information of time；
The vehicle to be deployed generates the information of vehicle deploying planning path according to the information of the stand, and in institute
It states allotment planning time and generates the automatic Pilot control instruction startup vehicle to be deployed so that the vehicle to be deployed is according to institute
Vehicle deploying planning path automatic running is stated to the stand.
It is specifically included it is further preferred that the background server generates vehicle deploying planning information：
The background server receives vehicle deploying configuration-direct；
Vehicle parking in the information and the subregion of subregion, which is obtained, according to the vehicle deploying configuration-direct plans number
The information of amount and allotment planning time；
According to the letter of vehicle parking planning quantity and allotment planning time in the information of the subregion and the subregion
Breath generates the vehicle deploying planning information.
The dispatching method of the automatic driving vehicle of the offer of the embodiment of the present invention can be realized and be arrived automatically according to user demand
There is provided driving service up to appointed place for passenger, drive service after Automatic-searching place of parking park and according to setting
Time, region carry out vehicle parking point to more vehicles and make rational planning for, in order to concentrate in the specific region of different periods or more
Specially region vehicle demand.
Description of the drawings
Fig. 1 is the dispatching method flow chart of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is the method flow diagram of the automatic parking of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 3 is the method flow diagram that vehicle deploying provided in an embodiment of the present invention planning is realized.
Specific implementation mode
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
The dispatching method of the automatic driving vehicle of the offer of the embodiment of the present invention, can be applied in modern city, be
User provides more flexible and easily services.These services include but not limited to reach appointed place automatically according to user location
Connect and multiply, drive service after Automatic-searching place of parking park etc..It is illustrated below by specific embodiment.
Fig. 1 is the dispatching method flow chart of automatic driving vehicle provided in an embodiment of the present invention, in conjunction with shown in Fig. 1, this hair
The dispatching method of bright automatic driving vehicle mainly includes the following steps：
Step 110, background server receives the call information that user terminal is sent；
Specifically, call information includes the user information of user terminal, the information of the information and subscription time of reservation position.
Certainly in addition to this it is possible to drive demand information including user's others, for example number information is taken, if autonomous driving
Information etc..
Herein, background server can be one and be integrated with vehicle management service, map navigation service, traffic information
The server of service function can also be discrete multiple servers, respectively include vehicle management server, map datum service
Device, traffic information server etc..Herein, background server is referred to as to it, not the independent explanation of distinguishing.But
It is not to say that in technical scheme of the present invention can only include that there are one servers.
Step 120, background server is fuzzy according to the information of reservation position and the information progress information of vehicles of subscription time
It calculates, obtains the information that can reach the schedulable vehicle of reservation position in subscription time；
It is the vehicle for determining schedulable optimized specifically, the effect of information of vehicles Fuzzy Calculation, it therefore, can be with
It is in certain area coverage, to inquire the vehicle of schedulable near the required reservation position.Certainly, when this can be according to reservation
Between divided, if subscription time is current time, then according to be currently at reservation position near certain area model
Vehicle location in enclosing is inquired.If subscription time is some time in future, is calculated, determined pre-
The vehicle in certain area coverage near reservation position is at before making an appointment within the scope of certain time.In the process
It needs to carry out estimation calculating to the operating status and running orbit of vehicle, this process is known as Fuzzy Calculation by us.
In the case where subscription time is current time, the specific implementation procedure of this step may include：
Step 121, background server obtains current location information, the vehicle of each vehicle in first area near reservation position
Status information and traffic information；
The range of first area can be pre-set by background server, for example could be provided as within the scope of 2km around,
Or within the scope of surrounding 5km.By reasonable setting area range, the timeliness of service can be preferably ensured, while also ensureing
Economy also more saves the energy consumption of vehicle.
Step 122, vehicle can be used according to car status information identification；
Car status information mentioned here, including whether failure, vehicle are in light condition etc. for vehicle.Backstage takes
Business device can be interacted periodically with on-board processing terminal, determine car status information.When vehicle-state changes, such as by
Zero load becomes driving state, or when becoming light condition from driving, and vehicle can also pass through on-board processing terminal active reporting vehicle
Status information；In addition, under vehicle car state on the berth can also timing or not timing self-test, break down if detected, also can
It is reported to background server.
Step 123, it can be reached in subscription time according to current location information and the traffic information determination that can use vehicle pre-
The about information of the adjustable vehicle of position.
Through the above steps, it can confirm that obtain the information of one or more adjustable vehicle, be also possible to look into certainly
It can not find adjustable information of vehicles.At this moment there are at least two processing methods：
First, feedback information is directly generated, user terminal is transmitted to by background server, informs user without adjustable vehicle
.
Second, expand search area, obtains current location information, the vehicle of each vehicle near reservation position in second area
Status information and traffic information, then identification can use vehicle, and determine and can reach the adjustable of reservation position in subscription time
Information with vehicle.
Preferably, we use second scheme, to better meet the demand of user.
Step 130, background server determines one in schedulable vehicle and waits dispatching buses, and determination is to be dispatched buses
Vehicle ID and communication service ID；
Specifically, background server can according to preset rules, determining one is waited dispatching in schedulable vehicle
Vehicle.This rule can be that path is nearest, fastest, most economical etc..Background server is waited for according to the rule determination of setting
It dispatches buses and obtains vehicle ID and communication service ID.Vehicle, which with the communication of background server may be used 4G/5G and communicate, to be connect
It mouthful realizes.Each vehicle has unique vehicle ID and communication service ID.Vehicle ID may include license board information.
It is exactly step before background server obtains in addition, voluntarily selecting information to be dispatched buses the present invention also provides user
The information for the adjustable vehicle searched in rapid 120, and the information of each adjustable vehicle searched is sent to described
User terminal.User terminal carries out input selection to be dispatched buses according to the information of adjustable vehicle, and generates and wait for car hauler
Input selection information；Input selection information is sent to background server by user terminal, and background server is selected according to input
It selects and waits dispatching buses described in information determination.
In the more powerful implementation of function, the vehicle of each adjustable vehicle can be provided a user, can be driven
Number, and service fee can be accordingly set, vehicle is carried out in adjustable vehicle according to actual demand and itself hobby by user
Selection, determination wait dispatching buses.
Step 140, background server generates scheduling information according to call information, and according to communication service ID by scheduling information
It is sent to and waits dispatching buses；
Specifically, scheduling information includes user information, preengages the information of the information and subscription time of position.
Step 150, on-board processing terminal to be dispatched buses receives scheduling information, according to vehicle ID lifes to be dispatched buses
It is sent to background server at authentication code, and vehicle ID and authentication code are sent to user terminal by background server, by user
Terminal generates pick-up code according to authentication code；
Specifically, authentication code can be bar code, two codes or the identification code using other coding modes.Authentication code
It generates other than according to vehicle ID to be dispatched buses, subscription time or User ID is can be combined with, to ensure authentication code
Uniqueness.
Authentication code can also be given birth to by background server according to vehicle ID combinations subscription time to be dispatched buses or User ID
At, and user terminal is sent respectively to by server and waits dispatching buses.By authentication code, vehicle can be realized to driving user
Certification, only by certification code authentication after, user can just drive vehicle, and the phenomenon that effectively avoiding " taking a wrong bus " occurs.
User terminal generates pick-up code after receiving authentication code, according to authentication code, and information when picking up the car for user is recognized
Card.
After step 140, with step 150 can synchronous execution further include：
Step 160, it waits dispatching buses according to the information of reservation position, the information of subscription time and to be dispatched buses current
Location information generates automatic traveling crane planning information；
The current location information that waits dispatching buses is determined by GPS and/or 4G/5G specifically, waiting dispatching buses, and according to
Current time, the information for preengaging position, the information of subscription time generate automatic traveling crane planning information.Automatic traveling crane planning information packet
Include the information for the driving planning path for reaching reservation position and it is expected that duration.
It in the process, preferably can also be from background server acquisition map navigation service, the service of traffic information service
Data are generated in conjunction with the current location information that waits dispatching buses, current time, the information for preengaging position, the information of subscription time
Automatic traveling crane planning information.To ensure it is quick, economical can reaching on the time preengage position.
In addition, automatic traveling crane planning information can also be to be generated in background server, then by background server
It is handed down to and waits dispatching buses.
Step 170, in-vehicle processor to be dispatched buses duration and subscription time on the estimation, when determining vehicle launch
Between；
Specifically, if subscription time is not current time, vehicle may will continue to keep original place waiting or preferential complete
The carrying duty not conflicted at other.And the position started according to vehicle plan determines vehicle to the estimated duration of reservation position
Start the time for going to reservation position.
If calculated vehicle launch time gap current time is longer, in the process may one this or repeatedly more
The vehicle launch time newly is recalculated, or automatic traveling crane planning information may be recalculated, to ensure in subscription time vehicle
Reservation position can be reached.
Step 180, when reaching the vehicle launch time, generation automatic Pilot control instruction, which starts, to be waited dispatching buses so that
It waits dispatching buses according to driving planning path automatic running to preengaging position；
Specifically, wait dispatching buses when reaching the vehicle launch time, automatic Pilot control is generated by on-board processing terminal
System instruction, and controls startup vehicle so that waits dispatching buses according to driving planning path automatic running to preengaging position.
, can be with the location information of real-time report vehicle in vehicle travel process, and be sent to by background server
User terminal so that user can be by user terminal real time inspection location information to be dispatched buses, to facilitate user's root
Reservation position, which is reached, according to vehicle practical operation situation takes vehicle.
Step 190, wait dispatching buses and receive pick-up code, and the pick-up code received is matched with authentication code, match at
When work(, driving service is provided a user.
Specifically, when vehicle and user reach reservation position, vehicle that user can be received by user terminal
License plate number in ID, which is accurately found, to be waited dispatching buses, by the certification code recognition device on vehicle, by the pick-up code of user terminal
It is transferred to vehicle and carries out match cognization.If with authentication code successful match, which provides a user driving service, otherwise leads to
Generation it fails to match information is crossed, user terminal is sent to by background server, and refuses to provide the service of driving.
The dispatching method of automatic driving vehicle provided in an embodiment of the present invention, can be applied in modern city, according to
User location reaches appointed place and connects automatically to be multiplied, and is saved the time that user actively looks for vehicle, is provided to the user more flexible and convenient
Service.
After user drives, the dispatching method of the embodiment of the present invention further includes realizing automatic seeking after the service of driving
The function of looking for place of parking to park.
Specifically as shown in Fig. 2, including the following steps：
Step 210, on-board processing terminal recognition drives end of service instruction；
Specifically, driving the input of end of service instruction can be identified by prespecified mode.Such as it can be with
It is specifically included on door handle setting contact switch button, when user gets off closed door and when pressing contact switch button,
Driving end of service instruction is sent out, or end of service instruction can also be driven by the operation input of user terminal.
Step 220, the current location information of vehicle is determined according to driving end of service instruction, and according to the current position of vehicle
Confidence breath determines the information of optimal parking site；
Specifically, vehicle determines the location information of vehicle when terminating to drive service by GPS positioning or 4G/5G positioning,
And the information of available parking site is obtained from background server.
The information of parking site is arranged by advance planning in map datum, therefore vehicle can pass through current location information
Determine the information of the parking site of its periphery.And can be by preset rules, such as time priority, expense is preferential, distance
Priority scheduling rule, determines optimal parking site therein.
Step 230, vehicle generates automatic parking rule according to the information of the current location information of vehicle and optimal parking site
Draw path so that vehicle is according to automatic parking planning path automatic Pilot and parks to optimal parking site.
Step 210 on-board processing terminal recognition drive end of service instruction after, with step 220 can synchronous execution also
Including：Step 240, on-board processing terminal generates the vacant information of vehicle and reports background server；
The vacant information of vehicle includes the information of vehicle ID, the current location information of vehicle and/or optimal parking site.
On-board processing terminal generate the vacant information of vehicle and report can specifically recognize drive end of service instruction it
It just reports, can also again be reported after vehicle automatic parking to optimal parking site afterwards.
Preferably we using recognize drive end of service instruction after the scheme that just reports, response speed faster,
Next reception for driving service role can be docked to without interval.
The dispatching method of automatic driving vehicle provided in an embodiment of the present invention, can be automatic after user drives and services
It finds optimal parking site and voluntarily parks, save user and find the time that place parks cars, provide to the user more flexible
Easily service.
In addition, the dispatching method of automatic driving vehicle provided by the invention, additionally it is possible to cope with stream of people's tide in city and cause
Vehicle deploying demand.
Specific method is as shown in figure 3, include the following steps：
Step 310, background server generates vehicle deploying planning information；
Specifically, vehicle deploying planning information includes multiple subregions, the vehicle parking planning quantity of all subregion and tune
Information with planning time.
The division of subregion can be divided with specific reference to the functionality in region, such as subway periphery parking area, small
Area periphery parking area, office building periphery parking area etc..
Because in different periods, the use demand of vehicle is different.For example morning peak stage, the driving of vehicle are most
It is to exercise to office building periphery parking area or subway periphery parking area to plug into meet user from cell periphery parking area
The needs of subway.And in the evening peak stage, it is mainly from office building periphery parking area to subway periphery parking area with vehicle demand
Domain or cell periphery parking area.So section during the day, is largely parked in the utilization rate of the vehicle of subway periphery parking area
Will not be very high, the vehicle also resulted in evening peak stage office building periphery parking area is insufficient for use demand.
It these are only a kind of for example, also having various other functional needs to be mismatched with actual vehicle distribution situation certainly
The case where.In order to solve this problem, we obtain after being acquired by mass data for different periods, different zones
Vehicle deploying planning information.
Vehicle deploying planning information is configured in background server, specific as follows：
Step 311, background server receives vehicle deploying configuration-direct；
Step 312, vehicle parking in the information and subregion of subregion is obtained according to vehicle deploying configuration-direct and plans number
The information of amount and allotment planning time；
Step 313, according to the letter of vehicle parking planning quantity and allotment planning time in the information of subregion and subregion
Breath generates vehicle deploying planning information.
Step 320, the vehicle before background server obtains allotment planning time in each setting sub-regions at the first moment
Park quantity；
Specifically, in order to enable when allocating planning time, the vehicle parking quantity of all subregion meets setting value, needs
A time before allotment planning time is just monitored the vehicle parking quantity of all subregion, so as to for quantity
It is insufficient to carry out corresponding deployment operations.The time in advance can also be accumulated by by a large amount of empirical values in advance, to different
Subregion, this time are different.It is preferred to be not less than 30 minutes.
In addition, when planning this time, can also consider to avoid wagon flow peak simultaneously, so as to shorten vehicle deploying
Running time, save the energy.
Step 330, when the vehicle parking planning quantity in a sub-regions and the difference between vehicle parking quantity are more than
When first threshold, vehicle deploying demand information is generated；
We are with a specific example explanation.
Certain office building, allotment planning time are 17：00, demand vehicle parking quantity 20, in the afternoon 15：It is supervised when 00
It is 15 to measure the practical quantity of parking of the region vehicle.Therefore vehicle deploying demand information is generated, the sub-district of required allotment is included
The location information in domain and required allotment quantity are 5.
Step 340, background server determines in the required subregion periphery second area allocated and not in other subregions
The information of interior adjustable vehicle, and according to required allotment quantity, determining required allotment quantity waits adjusting in adjustable vehicle
With vehicle, and determine the vehicle ID and communication service ID of vehicle to be deployed；
Specifically, second area refers to the neighboring area of the required subregion allocated, and get rid of other subregions.
In second area, according to the rule of setting, the vehicle of required allotment quantity is chosen, they are determined as vehicle to be deployed.And
Obtain the vehicle ID and communication service ID of vehicle to be deployed.
Step 350, background server generates deployment information, and deployment information is sent to each wait for according to communication service ID
Car spotting；
Specifically, background server generates deployment information according to determining vehicle to be deployed, include the sub-district of required allotment
The information of the information and allotment planning time of stand in domain, and believed allotment by the communication service ID of vehicle to be deployed
Breath is sent to each vehicle to be deployed.
Step 360, vehicle to be deployed generates the information of vehicle deploying planning path according to the information of stand, and is adjusting
Automatic Pilot control instruction is generated with planning time and starts vehicle to be deployed so that vehicle to be deployed plans road according to vehicle deploying
Diameter automatic running is to stand.
Specifically, for each vehicle to be deployed, vehicle deploying planning path is all separate.Vehicle deploying is advised
The generation for drawing path can be generated by vehicle, can also be to be taken after background server obtains current vehicle position information
It is generated in business device and is handed down to vehicle to be deployed again.
In this way, vehicle to be deployed can start in allotment planning time, and according to the automatic row of vehicle deploying planning path
It sails to stand.
Method provided in this embodiment can carry out more vehicles according to setting time, region the reasonable rule of vehicle parking point
It draws, in order in the specific region of different periods or the specially region vehicle demand more concentrated.
The dispatching method of the automatic driving vehicle of the offer of the embodiment of the present invention can be realized and be arrived automatically according to user demand
There is provided driving service up to appointed place for passenger, drive service after Automatic-searching place of parking park and according to setting
Time, region carry out vehicle parking point to more vehicles and make rational planning for, in order to concentrate in the specific region of different periods or more
Specially region vehicle demand.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, depend on the specific application and design constraint of technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can use hardware, processor to execute
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above specific implementation mode has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
Illustrate, it should be understood that these are only the specific implementation mode of the present invention, the protection model being not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (8)
1. a kind of dispatching method of automatic driving vehicle, which is characterized in that the dispatching method includes：
Background server receives the call information that user terminal is sent；The call information includes user's letter of the user terminal
It ceases, the information of the information and subscription time of reservation position；
The background server carries out information of vehicles Fuzzy Calculation according to the information of the reservation position and the information of subscription time,
Obtain to reach the information of the schedulable vehicle of reservation position in subscription time；
Background server determination one in the schedulable vehicle waits dispatching buses, and to be dispatched buses described in determination
Vehicle ID and communication service ID；
The background server generates scheduling information according to the call information, and according to the communication service ID by the scheduling
Information waits dispatching buses described in being sent to；When the scheduling information includes the user information, the information for preengaging position and reservation
Between information；
The on-board processing terminal to be dispatched buses receives the scheduling information, according to the vehicle ID lifes to be dispatched buses
It is sent to the background server at authentication code, and is sent to the vehicle ID and the authentication code by the background server
The user terminal generates pick-up code by the user terminal according to the authentication code；And
It is described to wait dispatching buses according to the information of the reservation position, the information of subscription time and described to be dispatched buses current
Location information generates automatic traveling crane planning information；The automatic traveling crane planning information includes reaching the driving of the reservation position
The information of planning path and it is expected that duration；
The in-vehicle processor to be dispatched buses is according to the estimated duration and the subscription time, when determining vehicle launch
Between；When reaching the vehicle launch time, generates and wait dispatching buses described in the startup of automatic Pilot control instruction so that is described to wait for
It dispatches buses according to the driving planning path automatic running to the reservation position；
It is described wait dispatching buses receive pick-up code, and the pick-up code received is matched with authentication code, when successful match, Xiang Yong
Family provides the service of driving.
2. the dispatching method of automatic driving vehicle according to claim 1, which is characterized in that the background server according to
The information of the reservation position and the information of subscription time carry out information of vehicles Fuzzy Calculation, obtain to reach in subscription time
The information for the adjustable vehicle for preengaging position specifically includes：
The background server obtains current location information, the vehicle shape of each vehicle in first area near the reservation position
State information and traffic information；
Vehicle can be used according to car status information identification；
According to described can be determined with the current location information and traffic information of vehicle reservation position can be reached in subscription time
The information of adjustable vehicle.
3. the dispatching method of automatic driving vehicle according to claim 1, which is characterized in that in described obtain in reservation
Between can reach reservation position adjustable vehicle information after, the method further includes：
The information of the adjustable vehicle is sent to the user terminal by the background server.
4. the dispatching method of automatic driving vehicle according to claim 3, which is characterized in that the method further includes：
The user terminal carries out input selection to be dispatched buses according to the information of the adjustable vehicle, and is waited for described in generation
The input selection information dispatched buses；The input selection information includes vehicle ID；
The input selection information is sent to the background server by the user terminal, and the background server is according to
Input selection information waits dispatching buses described in determining.
5. the dispatching method of automatic driving vehicle according to claim 1, which is characterized in that the method further includes：
The on-board processing terminal recognition drives end of service instruction；
The current location information of vehicle is determined according to the driving end of service instruction, and is believed according to the current position of the vehicle
Breath determines the information of optimal parking site；
The vehicle generates automatic parking rule according to the information of the current location information of the vehicle and the optimal parking site
Draw path so that the vehicle is parked automatically according to the automatic parking planning path to the optimal parking site.
6. the dispatching method of automatic driving vehicle according to claim 5, which is characterized in that the on-board processing terminal is known
Jia Cheng not be after end of service instruction, the method further includes：
The on-board processing terminal generates the vacant information of vehicle and reports the background server；The vacant information of vehicle includes
The information of vehicle ID, the current location information of vehicle and/or the optimal parking site.
7. the dispatching method of automatic driving vehicle according to claim 1, which is characterized in that the dispatching method also wraps
It includes：
The background server generates vehicle deploying planning information；The vehicle deploying planning information includes multiple subregions, each
The vehicle parking planning quantity of subregion and the information for allocating planning time；
Vehicle parking number before the background server obtains allotment planning time in each setting sub-regions at the first moment
Amount；
When the vehicle parking planning quantity in a sub-regions and the difference between the vehicle parking quantity are more than first
When threshold value, vehicle deploying demand information is generated；The vehicle deploying demand information includes the required subregion allocated and required tune
Information with quantity；
The background server determines in the required subregion periphery second area allocated and not in other subregions
The information of adjustable vehicle, and according to the required allotment quantity, required allotment quantity is determined in the adjustable vehicle
Vehicle to be deployed, and determine the vehicle ID and communication service ID of the vehicle to be deployed；
The background server generates deployment information, and the deployment information is sent to each institute according to the communication service ID
State vehicle to be deployed；The deployment information includes the information and allotment planning time of the stand in the required subregion allocated
Information；
The vehicle to be deployed generates the information of vehicle deploying planning path according to the information of the stand, and in the tune
Automatic Pilot control instruction is generated with planning time and starts the vehicle to be deployed so that the vehicle to be deployed is according to the vehicle
Allotment planning path automatic running is to the stand.
8. the dispatching method of automatic driving vehicle according to claim 7, which is characterized in that the background server generates
Vehicle deploying planning information specifically includes：
The background server receives vehicle deploying configuration-direct；
According to the vehicle deploying configuration-direct obtain subregion information and the subregion in vehicle parking planning quantity and
Allocate the information of planning time；
It is given birth to according to vehicle parking planning quantity in the information of the subregion and the subregion and the information for allocating planning time
At the vehicle deploying planning information.
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| CN201810880005.6A CN108986503A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and system of automatic driving vehicle |
| CN201810878210.9A CN108961802A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and user terminal of automatic driving vehicle |
| CN201810878209.6A CN108766008A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and system of automatic driving vehicle |
| CN201810878198.1A CN108922217B (en) | 2018-04-27 | 2018-08-03 | Self-adaptive vehicle scheduling method |
| CN201810901256.8A CN108986505A (en) | 2018-04-27 | 2018-08-09 | Driving service fee calculation method based on automatic Pilot technology |
| CN201811127965.1A CN109308812B (en) | 2018-04-27 | 2018-09-27 | Scheduling method for automatic driving vehicle |
| CN201811127964.7A CN109448411A (en) | 2018-04-27 | 2018-09-27 | The dispatching method of automatic driving vehicle |
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| CN201810393817.8A CN108389418A (en) | 2018-04-27 | 2018-04-27 | The dispatching method of automatic driving vehicle |
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| CN201810880005.6A Pending CN108986503A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and system of automatic driving vehicle |
| CN201810878210.9A Pending CN108961802A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and user terminal of automatic driving vehicle |
| CN201810901256.8A Pending CN108986505A (en) | 2018-04-27 | 2018-08-09 | Driving service fee calculation method based on automatic Pilot technology |
| CN201811127964.7A Pending CN109448411A (en) | 2018-04-27 | 2018-09-27 | The dispatching method of automatic driving vehicle |
| CN201811127965.1A Active CN109308812B (en) | 2018-04-27 | 2018-09-27 | Scheduling method for automatic driving vehicle |
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| CN201810880005.6A Pending CN108986503A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and system of automatic driving vehicle |
| CN201810878210.9A Pending CN108961802A (en) | 2018-04-27 | 2018-08-03 | The dispatching method and user terminal of automatic driving vehicle |
| CN201810901256.8A Pending CN108986505A (en) | 2018-04-27 | 2018-08-09 | Driving service fee calculation method based on automatic Pilot technology |
| CN201811127964.7A Pending CN109448411A (en) | 2018-04-27 | 2018-09-27 | The dispatching method of automatic driving vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108986503A (en) | 2018-12-11 |
| CN108922217A (en) | 2018-11-30 |
| CN108986505A (en) | 2018-12-11 |
| CN108961802A (en) | 2018-12-07 |
| CN109448411A (en) | 2019-03-08 |
| CN109308812A (en) | 2019-02-05 |
| CN109308812B (en) | 2020-10-27 |
| CN108922217B (en) | 2021-01-26 |
| CN108766008A (en) | 2018-11-06 |
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