CN109785611A - Automatic driving vehicle control method, device, server and storage medium - Google Patents
Automatic driving vehicle control method, device, server and storage medium Download PDFInfo
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Abstract
A kind of automatic driving vehicle control method, comprising: when receiving ride-share request, obtain the first geographical location and destination where passenger；According to preparatory trained electricity distance model, target automatic driving vehicle is judged whether there is, the passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle；When determining there are when the target automatic driving vehicle, the terminal device of Xiang Suoshu passenger, which returns, requests successful message and controls the target automatic driving vehicle to drive towards first geographical location where the passenger.The present invention also provides a kind of automatic driving vehicle control device, server and storage mediums.The present invention can fully consider road quality, congested in traffic degree, calculate the distance that remaining capacity can travel, and solve the problems, such as accurately estimate whether automatic driving vehicle can send passenger to destination, improve the experience that passenger takes automatic driving vehicle.
Description
Technical field
The present invention relates to unmanned traveling technical fields, and in particular to a kind of automatic driving vehicle control method, device, service
Device and storage medium.
Background technique
Automatic driving vehicle is that the novel intelligent automobile of one kind also referred to as " wheeled mobile robot " mainly passes through ECU
(Electronic Control Unit, electronic control unit), i.e. vehicle-mounted terminal equipment carry out various pieces in vehicle accurate
Control and the fully automatic operation for calculating analysis and realizing vehicle, achieve the purpose that the unmanned traveling of vehicle.
Whether automatic driving vehicle continuation of the journey technology is lower than default threshold by the current remaining capacity of detection automatic driving vehicle
It is worth electricity；If so, obtaining current illumination intensity information, and further whether detection illumination intensity information meets default item
Part；In response to detecting that illumination intensity information meets preset condition, the solar panel for opening automatic driving vehicle is filled
Electricity.
Though above scheme is able to solve the low problem of unmanned Travel vehicle electricity to a certain extent, if illumination is discontented pre-
If condition, then it can not solve the problems, such as that electricity is low or insufficient.
Summary of the invention
In view of the foregoing, it is necessary to propose that a kind of automatic driving vehicle control method, device, server and storage are situated between
Matter can fully consider road quality, congested in traffic degree, calculate the distance that current residual electricity can travel, solve nothing
Method accurately estimates the problem of whether automatic driving vehicle can send passenger to purpose geographical location, improve passenger take it is unmanned
The experience of vehicle.
The first aspect of the present invention provides a kind of automatic driving vehicle control method, is applied in server, the method
Include:
When receiving ride-share request, the first geographical location and destination where passenger are obtained；
According to preparatory trained electricity distance model, judge whether there is target automatic driving vehicle, the target without
The passenger can be loaded onto the destination by the remaining capacity that people drives vehicle；
When determining there are when the target automatic driving vehicle, the terminal device of Xiang Suoshu passenger returns to request and successfully disappears
It ceases and controls the target automatic driving vehicle and drive towards first geographical location where the passenger.
Preferably, the basis trained electricity distance model in advance, judges whether there is target automatic driving vehicle,
The passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle
By where the remaining capacity of automatic driving vehicle and the automatic driving vehicle the second geographical location with it is described
The traffic information between first geographical location where passenger is input in the trained electricity distance model in advance,
Obtain the first distance that the remaining capacity of the automatic driving vehicle can travel；
Calculate the first sub- distance between second geographical location and first geographical location and first geography
The second sub- distance between position and the destination, is summed to obtain to the described first sub- distance and the described second sub- distance
Second distance；
When judging that the first distance is more than or equal to the second distance, second geographical location will be located at
The automatic driving vehicle is determined as the target automatic driving vehicle；
When judging that the first distance is less than the second distance, determines and the target automatic driving vehicle is not present.
Preferably, the training process of the electricity distance model includes:
Collect the different remaining capacity of automatic driving vehicle, traffic information and the corresponding traffic information and the remaining electricity
The distance of the traveling of amount, as sample data；
The sample data is randomly divided into the training set of the first preset ratio and the verifying collection of the second preset ratio, is utilized
The training set training neural network obtains electricity distance model, and the electricity obtained using the verifying collection verifying training
The accuracy rate of distance model；
If the accuracy rate is more than or equal to default accuracy rate threshold value, terminate to train；
If the accuracy rate is less than the default accuracy rate threshold value, the sample size increased in the training set is laid equal stress on
The electricity distance model is newly trained until the accuracy rate is more than or equal to default accuracy rate threshold value.
Preferably, returned described to the terminal device of the passenger request successful message and control the target nobody
After driving first geographical location where vehicle drives towards the passenger, the method also includes:
Presetting message is sent to other automatic driving vehicles in addition to the target automatic driving vehicle, described in notice
Other automatic driving vehicles have the target automatic driving vehicle and provide the service of taking to the passenger.
Preferably, after the target automatic driving vehicle is not present in determination, the method also includes:
Obtain first automatic driving vehicle nearest apart from first geographical location；
Obtain chargeable electric stake or the second automatic driving vehicle institute between first geographical location and the destination
The 4th geographical location；
According to the trained electricity distance model in advance, the remaining capacity energy of first automatic driving vehicle is judged
It is no to travel to the 4th geographical location；
When the remaining capacity for determining first automatic driving vehicle can be travelled to four geographical location, institute is controlled
It states the first automatic driving vehicle and drives towards first geographical location where the passenger.
Preferably, described according to the trained electricity distance model in advance, judge first automatic driving vehicle
Remaining capacity can travel to the 4th geographical location, comprising:
By the remaining capacity of first automatic driving vehicle and the third geographical location and the 4th geographical position
Traffic information between setting is input in the trained electricity distance model in advance, obtains first automatic driving vehicle
The third distance that can travel of remaining capacity；
Calculate the third distance between the third geographical location and first geographical location and first geography
The 4th sub- distance between position and the 4th geographical location asks the sub- distance of the third and the 4th sub- distance
With obtain the 4th distance；
When judge third distance be more than or equal to the described 4th apart from when, determine first automatic driving vehicle
Remaining capacity can travel to the 4th geographical location；
When judge third distance be less than the described 4th apart from when, determine the residue electricity of first automatic driving vehicle
Amount cannot be travelled to the 4th geographical location.
Preferably, it can travel when the remaining capacity for determining first automatic driving vehicle to the 4th geographical location
Later, before first geographical location where controlling first automatic driving vehicle and driving towards the passenger, the side
Method further include:
The inquiry message that midway need to change to is sent to the terminal device of the passenger, so that the passenger chooses whether to take
First automatic driving vehicle；
The control first automatic driving vehicle drives towards the first geographical location where the passenger, comprising: when connecing
When receiving the confirmation selection of the passenger, controls first automatic driving vehicle and drive towards first ground where the passenger
Manage position；
The method also includes:
When the confirmation for receiving the passenger selects, controls second automatic driving vehicle and lock a door.
The second aspect of the present invention provides a kind of automatic driving vehicle control device, runs in server, described device
Include:
Module being obtained, when for receiving ride-share request, obtaining the first geographical location and destination where passenger；
Judgment module, for judging whether there is target automatic driving car according to preparatory trained electricity distance model
, the passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle；
Control module, for determining there are when the target automatic driving vehicle when the judgment module, Xiang Suoshu passenger
Terminal device return request successful message and control the target automatic driving vehicle drive towards it is described where the passenger
First geographical location.
The third aspect of the present invention provides a kind of server, and the server includes processor and memory, the processing
Device is for realizing the automatic driving vehicle control method when executing the computer program stored in the memory.
The fourth aspect of the present invention provides a kind of computer readable storage medium, deposits on the computer readable storage medium
Computer program is contained, the computer program realizes the automatic driving vehicle control method when being executed by processor.
Automatic driving vehicle control method, device, server and storage medium of the present invention, by most starting to connect
When receiving ride-share request, the geographical location and purpose geographical location and multiple automatic driving vehicles that acquisition passenger is currently located are worked as
Preceding remaining capacity and current geographic position；According to preparatory trained electricity distance model, judgement has target automatic driving car
The passenger can be loaded onto the purpose geographical location under current residual electricity, the terminal device return of Xiang Suoshu passenger is asked
It seeks successful message and controls the target automatic driving vehicle and drive towards the geographical location that the passenger is currently located.According to preparatory
Trained electricity distance model calculates current residual electricity in the case where having fully considered road quality, congested in traffic degree
The distance that can be travelled, tallies with the actual situation, to solve accurately estimate whether automatic driving vehicle can send passenger to mesh
Geographical location the problem of, improve passenger take automatic driving vehicle experience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the application environment schematic diagram of automatic driving vehicle control method provided in an embodiment of the present invention.
Fig. 2 is the flow chart for the automatic driving vehicle control method that the embodiment of the present invention one provides.
Fig. 3 is the functional block diagram of automatic driving vehicle control device provided by Embodiment 2 of the present invention.
Fig. 4 is the schematic diagram for the server that the embodiment of the present invention three provides.
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying example, the present invention will be described in detail.It should be noted that in the absence of conflict, the embodiment of the present invention and embodiment
In feature can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
As shown in fig.1, being the application environment schematic diagram of automatic driving vehicle control method provided by the invention.
The automatic driving vehicle control method can apply by automatic driving vehicle 1, network 2, remote server 3 and
In the application environment that terminal device 4 is constituted.
The automatic driving vehicle 1 can be various types of automatic driving vehicles, for example, unmanned traveling bus, nobody
Travel car etc..In the present embodiment, solar panel, shown solar battery are installed in the automatic driving vehicle 1
Electricity is stored in plate to provide electric energy when automatic driving vehicle work.The automatic driving vehicle 1 can also pass through institute
It states network 2 and sends prompt information to the terminal device 4.
The network 2 is to provide Jie of communication connection between the automatic driving vehicle 1 and the remote server 3
Matter.The network 2 may include various connection types, such as wired, wireless communication link or fiber optic cables etc..
The remote server 3 can be to provide the remote server of various services, and shown remote server can receive
The default warning information of automatic driving vehicle, and the accurate of chargeable electric stake or automatic driving vehicle is known in conjunction with high definition map
Geographical location information, and provide chargeable electric stake or other available nothings to multiple automatic driving vehicles 1 by the network 2
The geographical location of people's driving vehicle.The remote server 3 can also be mentioned by the network 2 to the terminal device 4 transmission
Show information.
Various telecommunication customer end applications, such as social category application etc. can be installed on the terminal device 4.The terminal
Equipment 4 can take the terminal device that automatic driving vehicle is held.Terminal device 4 can be with display screen and support wireless
The various automatic driving vehicles of communication, including but not limited to smart phone, tablet computer, pocket computer on knee etc..
It should be noted that automatic driving vehicle control method provided by the embodiment of the present invention can be by the long-range clothes
Business device 3 executes, and correspondingly, the anti-device of abducting based on automatic driving vehicle is generally positioned in the remote server 3.
It should be understood that the number of automatic driving vehicle, network, remote server and terminal device in Fig. 1 is only to show
Meaning property.According to needs are realized, any number of mobile terminal, network, remote server and terminal device can have.At it
It can not also include the terminal device in the application environment of the method in his embodiment.
Embodiment one
As shown in fig.2, the flow chart of the automatic driving vehicle control method provided for the embodiment of the present invention one.According to not
With demand, the execution sequence in the flow chart can change, and certain steps can be omitted.
S21: when receiving ride-share request, the first geographical location and destination where passenger are obtained.
Passenger can send ride-share request to multiple automatic driving vehicles by network using portable terminal device.
In some embodiments, it can download and install described in correspondence from remote server in the terminal device of the passenger
The application program of automatic driving vehicle.Passenger sends ride-share request to multiple automatic driving vehicles by the application program.Institute
State the first geographical location and the destination where carrying passenger in ride-share request.
Specifically, can show input interface in the terminal device by the application program.The input interface
It is upper to show purposefully input frame.The destination input frame is used to receive the destination of passenger's input.Terminal device detects
After having input destination in the destination input frame, by where passenger the first geographical location and the destination be sent to far
Journey server.The ride-share request of remote server receiving terminal apparatus and according to the ride-share request obtain passenger where first
Geographical location and the destination of the passenger.
In the present embodiment, in the ride-share request for receiving passenger, the where passenger is obtained according to the ride-share request
One geographical location and the destination of passenger, while also obtaining the remaining capacity of automatic driving vehicle.
In the present embodiment, the residue electricity of automatic driving vehicle solar battery can be monitored by way of automatic regular polling
Amount.Poll is that one kind is taken by how central processing unit (Central Processing Unit, CPU) decision provides peripheral equipment
The mode of business.
It can be issued and be inquired by the CPU timing of remote server, sequentially inquire whether each automatic driving vehicle needs
It services, for example, asking whether the remaining capacity of monitoring solar battery.When inquiring corresponding result to determine, give corresponding
Service, for example, when determine need to monitor the remaining capacity of solar battery when, monitor the remaining capacity of solar battery.Clothes
Next peripheral equipment is inquired again after business, then constantly in cycles.
In the present embodiment, the remaining capacity of automatic driving vehicle can be monitored in a manner of periodical poll, wherein institute
Stating polling cycle can be passenger's setting, be also possible to (such as the period is 5 seconds) of default setting.
S22: according to preparatory trained electricity distance model, target automatic driving vehicle, the mesh are judged whether there is
The passenger can be loaded onto the destination by the remaining capacity of mark automatic driving vehicle.
In the present embodiment, electricity distance model can be trained in advance, each described nothing is judged by electricity distance model
Can the remaining capacity that people drives vehicle be loaded onto the destination by first geographical location at place for the passenger.The electricity
Distance model can be that training obtains in advance by remote server.
Preferably, the basis trained electricity distance model in advance, judges whether there is target automatic driving vehicle,
The passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle, comprising:
By where the remaining capacity of automatic driving vehicle and the automatic driving vehicle the second geographical location with it is described
The traffic information between first geographical location where passenger is input in the trained electricity distance model in advance,
Obtain the first distance that the remaining capacity of the automatic driving vehicle can travel；
Calculate the first sub- distance between second geographical location and first geographical location and first geography
The second sub- distance between position and the destination, is summed to obtain to the described first sub- distance and the described second sub- distance
Second distance；
Judge whether the first distance is greater than the second distance；
When judging that the first distance is more than or equal to the second distance, second geographical location will be located at
The automatic driving vehicle is determined as the target automatic driving vehicle；
When judging that the first distance is less than the second distance, determines and the target automatic driving vehicle is not present.
In the present embodiment, the residue electricity of each automatic driving vehicle is calculated by preparatory trained electricity distance model
The first distance that can travel is measured, while the second geographical location where calculating each described automatic driving vehicle multiplies with described
The first sub- distance between the first geographical location where objective and the first geographical location where the passenger and the destination
Between the second sub- distance, calculate the first and second sub- sum of the distance obtain second distance.And according to first distance and second away from
Size relation between is determined whether there are target automatic driving vehicle, the passenger can be loaded onto the destination.
When remote server determine have any one automatic driving vehicle remaining capacity can by the passenger by the place first
When geographical location is loaded onto the destination, i.e., it is believed that there are target automatic driving vehicles.When remote server is determined without appointing
The passenger can be loaded onto the purpose by first geographical location at the place by the remaining capacity of what automatic driving vehicle
When ground, i.e., it is believed that purpose automatic driving vehicle is not present.
Preferably, the training process of the electricity distance model includes:
1) the different remaining capacity of automatic driving vehicle, traffic information, the corresponding traffic information and the residue are collected
The distance of the traveling of electricity, as sample data；
The distance of identical remaining capacity, different traffic information downward drivings can be collected；
Different remaining capacities, the distance of identical traffic information downward driving can be collected；
The distance of different remaining capacities, different traffic information downward drivings can also be collected.
The traffic information may include, but be not limited to: road quality, congested in traffic degree etc..Thus, different road conditions
Information can indicate that road quality is identical, congested in traffic degree is different or different, the congested in traffic degree of road quality is identical,
Or road quality is different, congested in traffic degree is different.
2) sample data is randomly divided into the training set of the first preset ratio and the verifying collection of the second preset ratio, benefit
Electricity distance model, and the electricity obtained using the verifying collection verifying training are obtained with training set training neural network
Measure the accuracy rate of distance model.
If 3) accuracy rate is more than or equal to default accuracy rate threshold value, terminate to train；Otherwise, if it is described accurate
When rate is less than the default accuracy rate threshold value, then it is straight to increase electricity distance model described in the quantity of the training set and re -training
It is more than or equal to default accuracy rate threshold value to the accuracy rate.
Illustratively, it is assumed that obtain 10,000 and include different road qualities, congested in traffic degree, remaining capacity and described
The corresponding operating range of remaining capacity, as sample data.The sample data of the first preset ratio is extracted as training set, is extracted
The sample data of the second preset ratio of remaining sample data collects as verifying in the sample data, the sample number in training set
According to quantity be greater than verifying concentrate sample data quantity, such as using 80% sample data in sample data as train
Collection collects 15% sample data in the sample data of residue 20% as verifying.
In first time training neural network model, the parameter of the neural network model is instructed using the parameter of default
Practice, in the continuous adjusting parameter of training process, after training generates neural network model, using each sample data to be verified to institute
The neural network model of generation is verified, and rate is more than or equal to preset threshold if the verification passes, such as accuracy rate is more than or equal to
98%, then training terminates, and the neural network model obtained using the training is electricity distance model；If accuracy rate is less than default threshold
Value, is, for example, less than 98%, then increases the quantity for participating in the sample data of training, and re-execute above-mentioned step, until verifying
Percent of pass is more than or equal to default accuracy rate threshold value.
In the present embodiment, since road quality is different with congested in traffic degree, it can be travelled when remaining capacity is identical
Distance will be different, and the distance that different remaining capacities can travel is less identical, thus by remaining capacity, road quality, friendship
The electricity distance model that the logical degree of crowding, operating range are trained collectively as sample data, model strong robustness, essence
Exactness is high, more fitting actual conditions.It is more accurate by the corresponding operating range of the remaining capacity being calculated apart from electricity model.
When determining there are when target automatic driving vehicle, S23 is executed；Otherwise, target automatic driving car is not present when determining
When, execute S24.
The terminal device of S23: Xiang Suoshu passenger, which returns, requests successful message and controls the target automatic driving vehicle
Drive towards first geographical location where the passenger.
When there are when target automatic driving vehicle for determination, it is believed that have target automatic driving vehicle that can provide and taken described in correspondence
Multiply the service of request, the terminal device of Xiang Suoshu passenger, which returns, requests successful message.
The successful message of the request may include: to provide the device number of the target automatic driving vehicle of the service of carrying and right
The identifying code etc. of the target automatic driving vehicle should be opened.The device number of the target automatic driving vehicle is to show can
The mark of the automatic driving vehicle of the service of carrying is provided, the passenger can find according to the device number of the automatic driving vehicle
Corresponding target automatic driving vehicle.The identifying code is serviced to verify to send the passenger of ride-share request and be capable of providing carrying
Target automatic driving vehicle between corresponding relationship.
Preferably, returned described to the terminal device of the passenger request successful message and control the target nobody
After driving first geographical location where vehicle drives towards the passenger, the method also includes:
Presetting message is sent to other automatic driving vehicles in addition to the target automatic driving vehicle, described in notice
Other automatic driving vehicles have the target automatic driving vehicle and provide the service of taking to the passenger.
The presetting message can be " this ride-share request is responded ".
S24: Xiang Suoshu passenger returns to request failure news.
When there is no when target automatic driving vehicle for determination, it is believed that no target automatic driving vehicle can provide corresponding institute
The service of ride-share request is stated, the terminal device of Xiang Suoshu passenger returns to request failure news.
Preferably, after the target automatic driving vehicle is not present in determination, the method also includes:
Obtain first automatic driving vehicle nearest apart from first geographical location；
Obtain chargeable electric stake or the second automatic driving vehicle institute between first geographical location and the destination
The 4th geographical location；
According to it is described in advance trained electricity distance model, judge first automatic driving vehicle remaining capacity
It can travel to the 4th geographical location；
When the remaining capacity for determining first automatic driving vehicle can be travelled to four geographical location, institute is controlled
It states the first automatic driving vehicle and drives towards first geographical location where the passenger.
In the present embodiment, the server by high definition three-dimensional map inquire automatic driving vehicle where geographical location extremely
Traffic condition between the destination of the passenger is obtained apart from nearest first unmanned in the first geographical location where the passenger
Vehicle, and obtain chargeable electric stake between the first geographical location and the destination where the passenger or second nobody drive
Sail the 4th geographical location where vehicle, and judge the remaining capacity of first automatic driving vehicle can travel to it is described can
The 4th geographical location where the electric stake of charging or the second automatic driving vehicle.
Preferably, described according to the trained electricity distance model in advance, judge first automatic driving vehicle
Remaining capacity can travel to the 4th geographical location and include:
By the remaining capacity of first automatic driving vehicle and the third geographical location and the 4th geographical position
Traffic information between setting is input in the trained electricity distance model in advance, obtains first automatic driving vehicle
The third distance that can travel of remaining capacity；
Calculate the third distance between the third geographical location and first geographical location and first geography
The 4th sub- distance between position and the 4th geographical location asks the sub- distance of the third and the 4th sub- distance
With obtain the 4th distance；
Judge whether the third distance is greater than the 4th distance；
When judge third distance be more than or equal to the described 4th apart from when, determine first automatic driving vehicle
Remaining capacity can travel the 4th geographical location to the chargeable electric stake or second automatic driving vehicle；
When judge third distance be less than the described 4th apart from when, determine the residue electricity of first automatic driving vehicle
Amount cannot travel the 4th geographical location to the chargeable electric stake or second automatic driving vehicle.
In the present embodiment, remote server calculates the third that the remaining capacity of first automatic driving vehicle can travel
Distance, meanwhile, calculate signal geographical location and the chargeable electric stake or second nothing of first automatic driving vehicle
People drives the 4th distance between the 4th geographical location of vehicle.
When third distance be more than or equal to the 4th apart from when, illustrate apart from where passenger the first geographical location recently
The remaining capacity of first automatic driving vehicle can travel the 4th to the chargeable electric stake or second automatic driving vehicle
Geographical location then controls first automatic driving vehicle and drives towards passenger, while controlling the second automatic driving vehicle and locking a door, no longer
Receive the ride-share request of other passengers, waiting Passengen is taken the first automatic driving vehicle and automatically turned on after arriving.Or multiplying
Visitor, which takes, to be controlled the first automatic driving vehicle after the first automatic driving vehicle and travels to chargeable electric stake, pause charging.
Preferably, when determine first automatic driving vehicle remaining capacity can travel to the described 4th geographical position
It is described before first geographical location where controlling first automatic driving vehicle and driving towards the passenger after setting
Method further include:
The inquiry message that midway need to change to is sent to the terminal device of the passenger, so that the passenger chooses whether to take
First automatic driving vehicle.
Control first automatic driving vehicle drives towards the first geographical location where the passenger, comprising:
When the confirmation for receiving the passenger selects, controls first automatic driving vehicle and drive towards where the passenger
First geographical location.
The method also includes:
When the confirmation for receiving the passenger selects, controls second automatic driving vehicle and lock a door.
In the present embodiment, by sending inquiry message to passenger, allow passenger independently choose whether to be ready pause charging or
Transfer.When passenger is ready pause charging or transfer, the first automatic driving vehicle of control drives towards passenger, while controlling the second nothing
People drives vehicle and locks a door to wait the first automatic driving vehicle, has given passenger's multiple choices chance, takes body with improve passenger
It tests.
In conclusion automatic driving vehicle control method provided in an embodiment of the present invention, by taking most initially receiving
Geographical location and destination and multiple automatic driving vehicle remaining capacities and the ground at place when multiplying request, where acquisition passenger
Manage position；According to preparatory trained electricity distance model, there are target automatic driving vehicle, target automatic driving cars for judgement
Remaining capacity the passenger can be loaded onto the destination, the terminal device of Xiang Suoshu passenger, which returns, requests successful message
And it controls the target automatic driving vehicle and drives towards the geographical location where the passenger.According to electricity trained in advance apart from mould
Type calculates the distance that remaining capacity can travel in the case where having fully considered road quality, congested in traffic degree, meets reality
Border situation improves passenger and multiplies to solve the problems, such as accurately to estimate whether automatic driving vehicle can send passenger to destination
Sit the experience of automatic driving vehicle.
The above is only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, for
For those skilled in the art, without departing from the concept of the premise of the invention, improvement, but these can also be made
It all belongs to the scope of protection of the present invention.
Below with reference to the 3rd to 4 figure, respectively to the function of the automatic driving vehicle of the above-mentioned automatic driving vehicle control method of realization
Energy module and hardware configuration are introduced.
Embodiment two
Fig. 3 is the functional module in automatic driving vehicle control device preferred embodiment provided by Embodiment 2 of the present invention
Figure.
In some embodiments, the automatic driving vehicle control device 30 is run in automatic driving vehicle.The nothing
It may include multiple functional modules as composed by program code segments that people, which drives controller of vehicle 30,.The automatic driving vehicle
The program code of each program segment in control device 30 can store in memory, and be held by least one processor
Row, with execution (being detailed in Fig. 2 and its associated description) automatic driving vehicle control method.
In the present embodiment, function of the automatic driving vehicle control device 30 according to performed by it can be divided into
Multiple functional modules.The functional module may include: that the first acquisition module 301, second obtains module 302, first judges mould
Block 303, the first control module 304, the first sending module 305, the second sending module 306, third obtain module the 307, the 4th and obtain
Modulus block 308, the second judgment module 309 and the second control module 310.The so-called module of the present invention refers to that one kind can be by least
One processor is performed and can complete the series of computation machine program segment of fixed function, and storage is in memory.?
In some embodiments, the function about each module will be described in detail in subsequent embodiment.
First obtains module 301, the first geographical location and purpose when for receiving ride-share request, where acquisition passenger
Ground.
Passenger can send ride-share request to multiple automatic driving vehicles by network using portable terminal device.
In some embodiments, it can download and install described in correspondence from remote server in the terminal device of the passenger
The application program of automatic driving vehicle.Passenger sends ride-share request to multiple automatic driving vehicles by the application program.Institute
State the first geographical location and the destination where carrying passenger in ride-share request.
Specifically, can show input interface in the terminal device by the application program.The input interface
It is upper to show purposefully input frame.The destination input frame is used to receive the destination of passenger's input.Terminal device detects
After having input destination in the destination input frame, by where passenger the first geographical location and the destination be sent to far
Journey server.Remote server passes through the ride-share request of the first acquisition 301 receiving terminal apparatus of module and is asked according to described take
Ask the first geographical location where obtaining passenger and the destination of the passenger.
Second obtains module 302, for obtaining the remaining capacity of automatic driving vehicle.
In the present embodiment, in the ride-share request for receiving passenger, the where passenger is obtained according to the ride-share request
One geographical location and the destination of passenger, while also obtaining the remaining capacity of automatic driving vehicle.
In the present embodiment, the residue electricity of automatic driving vehicle solar battery can be monitored by way of automatic regular polling
Amount.Poll is that one kind is taken by how central processing unit (Central Processing Unit, CPU) decision provides peripheral equipment
The mode of business.
It can be issued and be inquired by the CPU timing of remote server, sequentially inquire whether each automatic driving vehicle needs
It services, for example, asking whether the remaining capacity of monitoring solar battery.When inquiring corresponding result to determine, give corresponding
Service, for example, when determine need to monitor the remaining capacity of solar battery when, monitor the remaining capacity of solar battery.Clothes
Next peripheral equipment is inquired again after business, then constantly in cycles.
In the present embodiment, the remaining capacity of automatic driving vehicle can be monitored in a manner of periodical poll, wherein institute
Stating polling cycle can be passenger's setting, be also possible to (such as the period is 5 seconds) of default setting.
First judgment module 303, for according to preparatory trained electricity distance model, judge whether there is target nobody
Vehicle is driven, the passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle.
In the present embodiment, electricity distance model can be trained in advance, each described nothing is judged by electricity distance model
Can the remaining capacity that people drives vehicle be loaded onto the destination by first geographical location at place for the passenger.The electricity
Distance model can be that training obtains in advance by remote server.
Preferably, the first judgment module 303 judges whether there is mesh according to preparatory trained electricity distance model
Automatic driving vehicle is marked, the passenger can be loaded onto the destination by the remaining capacity of the target automatic driving vehicle, comprising:
By where the remaining capacity of automatic driving vehicle and the automatic driving vehicle the second geographical location with it is described
The traffic information between first geographical location where passenger is input in the trained electricity distance model in advance,
Obtain the first distance that the remaining capacity of the automatic driving vehicle can travel；
Calculate the first sub- distance between second geographical location and first geographical location and first geography
The second sub- distance between position and the destination, is summed to obtain to the described first sub- distance and the described second sub- distance
Second distance；
Judge whether the first distance is greater than the second distance；
When judging that the first distance is more than or equal to the second distance, second geographical location will be located at
The automatic driving vehicle is determined as the target automatic driving vehicle；
When judging that the first distance is less than the second distance, determines and the target automatic driving vehicle is not present.
In the present embodiment, the residue electricity of each automatic driving vehicle is calculated by preparatory trained electricity distance model
The first distance that can travel is measured, while the second geographical location where calculating each described automatic driving vehicle multiplies with described
The first sub- distance between the first geographical location where objective and the first geographical location where the passenger and the destination
Between the second sub- distance, calculate the first and second sub- sum of the distance obtain second distance.And according to first distance and second away from
Size relation between is determined whether there are target automatic driving vehicle, the passenger can be loaded onto the destination.
When remote server determine have any one automatic driving vehicle remaining capacity can by the passenger by the place first
When geographical location is loaded onto the destination, i.e., it is believed that there are target automatic driving vehicles.When remote server is determined without appointing
The passenger can be loaded onto the purpose by first geographical location at the place by the remaining capacity of what automatic driving vehicle
When ground, i.e., it is believed that purpose automatic driving vehicle is not present.
Preferably, the training process of the electricity distance model includes:
1) the different remaining capacity of automatic driving vehicle, traffic information, the corresponding traffic information and the residue are collected
The distance of the traveling of electricity, as sample data；
The distance of identical remaining capacity, different traffic information downward drivings can be collected；
Different remaining capacities, the distance of identical traffic information downward driving can be collected；
The distance of different remaining capacities, different traffic information downward drivings can also be collected.
The traffic information may include, but be not limited to: road quality, congested in traffic degree etc..Thus, different road conditions
Information can indicate that road quality is identical, congested in traffic degree is different or different, the congested in traffic degree of road quality is identical,
Or road quality is different, congested in traffic degree is different.
2) sample data is randomly divided into the training set of the first preset ratio and the verifying collection of the second preset ratio, benefit
Electricity distance model, and the electricity obtained using the verifying collection verifying training are obtained with training set training neural network
Measure the accuracy rate of distance model.
If 3) accuracy rate is more than or equal to default accuracy rate threshold value, terminate to train；Otherwise, if it is described accurate
When rate is less than the default accuracy rate threshold value, then it is straight to increase electricity distance model described in the quantity of the training set and re -training
It is more than or equal to default accuracy rate threshold value to the accuracy rate.
Illustratively, it is assumed that obtain 10,000 and include different road qualities, congested in traffic degree, remaining capacity and described
The corresponding operating range of remaining capacity, as sample data.The sample data of the first preset ratio is extracted as training set, is extracted
The sample data of the second preset ratio of remaining sample data collects as verifying in the sample data, the sample number in training set
According to quantity be greater than verifying concentrate sample data quantity, such as using 80% sample data in sample data as train
Collection collects 15% sample data in the sample data of residue 20% as verifying.
In first time training neural network model, the parameter of the neural network model is instructed using the parameter of default
Practice, in the continuous adjusting parameter of training process, after training generates neural network model, using each sample data to be verified to institute
The neural network model of generation is verified, and rate is more than or equal to preset threshold if the verification passes, such as accuracy rate is more than or equal to
98%, then training terminates, and the neural network model obtained using the training is electricity distance model；If accuracy rate is less than default threshold
Value, is, for example, less than 98%, then increases the quantity for participating in the sample data of training, and re-execute above-mentioned step, until verifying
Percent of pass is more than or equal to default accuracy rate threshold value.
In the present embodiment, since road quality is different with congested in traffic degree, it can be travelled when remaining capacity is identical
Distance will be different, and the distance that different remaining capacities can travel is less identical, thus by remaining capacity, road quality, friendship
The electricity distance model that the logical degree of crowding, operating range are trained collectively as sample data, model strong robustness, essence
Exactness is high, more fitting actual conditions.It is more accurate by the corresponding operating range of the remaining capacity being calculated apart from electricity model.
First control module 304, for determining there are when target automatic driving vehicle when the first judgment module 303,
It returns to the successful message of request to the terminal device of the passenger and controls the target automatic driving vehicle and drive towards the passenger
First geographical location at place.
When there are when target automatic driving vehicle for determination, it is believed that have target automatic driving vehicle that can provide and taken described in correspondence
Multiply the service of request, the terminal device of Xiang Suoshu passenger, which returns, requests successful message.
The successful message of the request may include: to provide the device number of the target automatic driving vehicle of the service of carrying and right
The identifying code etc. of the target automatic driving vehicle should be opened.The device number of the target automatic driving vehicle is to show can
The mark of the automatic driving vehicle of the service of carrying is provided, the passenger can find according to the device number of the automatic driving vehicle
Corresponding target automatic driving vehicle.The identifying code is serviced to verify to send the passenger of ride-share request and be capable of providing carrying
Target automatic driving vehicle between corresponding relationship.
Preferably, it is returned in first control module 304 to the terminal device of the passenger and requests successful message simultaneously
After controlling first geographical location where the target automatic driving vehicle drives towards the passenger, described device is also wrapped
It includes:
First sending module 305, for being sent out to other automatic driving vehicles in addition to the target automatic driving vehicle
Presetting message is sent, to notify other described automatic driving vehicles have the target automatic driving vehicle to take to passenger offer
Multiply service.
The presetting message can be " this ride-share request is responded ".
Second sending module 306, for target automatic driving vehicle to be not present when the first judgment module 303 determines
When, Xiang Suoshu passenger returns to request failure news.
When there is no when target automatic driving vehicle for determination, it is believed that no target automatic driving vehicle can provide corresponding institute
The service of ride-share request is stated, the terminal device of Xiang Suoshu passenger returns to request failure news.
Preferably, after the target automatic driving vehicle is not present in determination, described device further include:
Third obtains module 307, for obtaining first automatic driving vehicle nearest apart from first geographical location；
4th obtains module 308, for obtaining the chargeable electric stake between first geographical location and the destination
Or the second the 4th geographical location where automatic driving vehicle；
Second judgment module 309, for according to it is described in advance trained electricity distance model, judge described first nobody
Drive vehicle remaining capacity can travel to the 4th geographical location；
Second control module 310, for that can travel when the remaining capacity for determining first automatic driving vehicle to described
When four geographical locations, controls first automatic driving vehicle and drive towards first geographical location where the passenger.
In the present embodiment, the server by high definition three-dimensional map inquire automatic driving vehicle where geographical location extremely
Traffic condition between the destination of the passenger is obtained apart from nearest first unmanned in the first geographical location where the passenger
Vehicle, and obtain chargeable electric stake between the first geographical location and the destination where the passenger or second nobody drive
Sail the 4th geographical location where vehicle, and judge the remaining capacity of first automatic driving vehicle can travel to it is described can
The 4th geographical location where the electric stake of charging or the second automatic driving vehicle.
Preferably, second judgment module 309 judges described the according to the trained electricity distance model in advance
Can the remaining capacity of one automatic driving vehicle travel to the 4th geographical location
By the remaining capacity of first automatic driving vehicle and the third geographical location and the 4th geographical position
Traffic information between setting is input in the trained electricity distance model in advance, obtains first automatic driving vehicle
The third distance that can travel of remaining capacity；
Calculate the third distance between the third geographical location and first geographical location and first geography
The 4th sub- distance between position and the 4th geographical location asks the sub- distance of the third and the 4th sub- distance
With obtain the 4th distance；
Judge whether the third distance is greater than the 4th distance；
When judge third distance be more than or equal to the described 4th apart from when, determine first automatic driving vehicle
Remaining capacity can travel the 4th geographical location to the chargeable electric stake or second automatic driving vehicle；
When judge third distance be less than the described 4th apart from when, determine the residue electricity of first automatic driving vehicle
Amount cannot travel the 4th geographical location to the chargeable electric stake or second automatic driving vehicle.
In the present embodiment, remote server calculates the third that the remaining capacity of first automatic driving vehicle can travel
Distance, meanwhile, calculate signal geographical location and the chargeable electric stake or second nothing of first automatic driving vehicle
People drives the 4th distance between the 4th geographical location of vehicle.
When third distance be more than or equal to the 4th apart from when, illustrate apart from where passenger the first geographical location recently
The remaining capacity of first automatic driving vehicle can travel the 4th to the chargeable electric stake or second automatic driving vehicle
Geographical location then controls first automatic driving vehicle and drives towards passenger, while controlling the second automatic driving vehicle and locking a door, no longer
Receive the ride-share request of other passengers, waiting Passengen is taken the first automatic driving vehicle and automatically turned on after arriving.Or multiplying
Visitor, which takes, to be controlled the first automatic driving vehicle after the first automatic driving vehicle and travels to chargeable electric stake, pause charging.
Preferably, when determine first automatic driving vehicle remaining capacity can travel to the described 4th geographical position
It is described before first geographical location where controlling first automatic driving vehicle and driving towards the passenger after setting
Device further include:
The inquiry message that midway need to change to is sent to the terminal device of the passenger, so that the passenger chooses whether to take
First automatic driving vehicle.
It is geographical that second control module 310 controls first automatic driving vehicle drives towards where the passenger first
Position, comprising:
When the confirmation for receiving the passenger selects, controls first automatic driving vehicle and drive towards where the passenger
First geographical location.
Second control module 310 is also used to control second nothing when the confirmation for receiving the passenger selects
People drives vehicle and locks a door.
In the present embodiment, by sending inquiry message to passenger, allow passenger independently choose whether to be ready pause charging or
Transfer.When passenger is ready pause charging or transfer, the first automatic driving vehicle of control drives towards passenger, while controlling the second nothing
People drives vehicle and locks a door to wait the first automatic driving vehicle, has given passenger's multiple choices chance, takes body with improve passenger
It tests.
In conclusion automatic driving vehicle control device provided in an embodiment of the present invention, by taking most initially receiving
Geographical location and destination and multiple automatic driving vehicle remaining capacities and the ground at place when multiplying request, where acquisition passenger
Manage position；According to preparatory trained electricity distance model, there are target automatic driving vehicle, target automatic driving cars for judgement
Remaining capacity the passenger can be loaded onto the destination, the terminal device of Xiang Suoshu passenger, which returns, requests successful message
And it controls the target automatic driving vehicle and drives towards the geographical location where the passenger.According to electricity trained in advance apart from mould
Type calculates the distance that remaining capacity can travel in the case where having fully considered road quality, congested in traffic degree, meets reality
Border situation improves passenger and multiplies to solve the problems, such as accurately to estimate whether automatic driving vehicle can send passenger to destination
Sit the experience of automatic driving vehicle.
The above-mentioned integrated unit realized in the form of software function module, can store and computer-readable deposit at one
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, double screen equipment or the network equipment etc.) or processor (processor) execute the present invention
The part of a embodiment the method.
Embodiment three
Fig. 4 is the schematic diagram for the server that the embodiment of the present invention three provides.
The remote server 3 includes: memory 41, at least one processor 42, is stored in the memory 41 simultaneously
The computer program 43 and at least one communication bus 44 that can be run at least one described processor 42.
At least one described processor 42 realizes the step in above method embodiment when executing the computer program 43.
Illustratively, the computer program 43 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by least one described processor 42, to complete the present invention
Step in above method embodiment.One or more of module/units, which can be, can complete a series of of specific function
Computer program instructions section, the instruction segment is for describing execution of the computer program 43 in the remote server 3
Journey.
The remote server 3 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.It will be understood by those skilled in the art that the schematic diagram 4 is only the example of remote server 3, do not constitute to long-range clothes
The restriction of business device 3 may include perhaps combining certain components or different components, example than illustrating more or fewer components
Such as described remote server 3 can also include input-output equipment, network access equipment, bus.
At least one described processor 42 can be central processing unit (Central Processing Unit, CPU),
It can also be other general processors, digital signal processor (Digital Signal Processor, DSP), dedicated integrated
Circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..The processor 42 can be microprocessor or the processor 42 is also possible to any conventional processor
Deng the processor 42 is the control centre of the remote server 3, utilizes various interfaces and the entire remote service of connection
The various pieces of device 3.
The memory 41 can be used for storing the computer program 43 and/or module/unit, and the processor 42 passes through
Operation executes the computer program and/or module/unit being stored in the memory 41, and calls and be stored in memory
Data in 41 realize the various functions of the remote server 3.The memory 41 can mainly include storing program area and deposit
Store up data field, wherein storing program area can application program needed for storage program area, at least one function (for example sound is broadcast
Playing function, image player function etc.) etc.；Storage data area, which can be stored, uses created data (ratio according to remote server 3
Such as audio data, phone directory) etc..In addition, memory 41 may include high-speed random access memory, it can also include non-easy
The property lost memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other
Volatile solid-state part.
If the integrated module/unit of the remote server 3 is realized in the form of SFU software functional unit and as independence
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, of the invention
It realizes all or part of the process in above-described embodiment method, can also instruct relevant hardware come complete by computer program
At the computer program can be stored in a computer readable storage medium, which is being executed by processor
When, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, described
Computer program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The meter
Calculation machine readable medium may include: can carry the computer program code any entity or device, recording medium, USB flash disk,
Mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
Device (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier wave letter
Number and telecommunication signal.
In several embodiments provided by the present invention, it should be understood that disclosed automatic driving vehicle and method, it can
To realize by another way.For example, automatic driving vehicle embodiment described above is only schematical, for example,
The division of the unit, only a kind of logical function partition, there may be another division manner in actual implementation.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in same treatment unit
It is that each unit physically exists alone, can also be integrated in same unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds software function module.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " is not excluded for other units or, odd number is not excluded for plural number.The multiple units stated in system claims
Or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to indicate name
Claim, and does not indicate any particular order.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although reference
Preferred embodiment describes the invention in detail, those skilled in the art should understand that, it can be to of the invention
Technical solution is modified or equivalent replacement, without departing from the spirit of the technical scheme of the invention range.
Claims (10)
1. a kind of automatic driving vehicle control method is applied in server, which is characterized in that the described method includes:
When receiving ride-share request, the first geographical location and destination where passenger are obtained；
According to preparatory trained electricity distance model, judge whether there is target automatic driving vehicle, the target nobody drive
The passenger can be loaded onto the destination by the remaining capacity for sailing vehicle；
When determining there are when the target automatic driving vehicle, the terminal device of Xiang Suoshu passenger returns to the successful message of request simultaneously
It controls the target automatic driving vehicle and drives towards first geographical location where the passenger.
2. the method as described in claim 1, which is characterized in that the basis trained electricity distance model in advance, judgement
With the presence or absence of target automatic driving vehicle, the passenger can be loaded onto the mesh by the remaining capacity of the target automatic driving vehicle
Ground, comprising:
By where the remaining capacity of automatic driving vehicle and the automatic driving vehicle the second geographical location and the passenger
Traffic information between first geographical location at place is input in the trained electricity distance model in advance, is obtained
The first distance that the remaining capacity of the automatic driving vehicle can travel；
Calculate the first sub- distance between second geographical location and first geographical location and first geographical location
The second sub- distance between the destination, is summed to obtain second to the described first sub- distance and the described second sub- distance
Distance；
When judging that the first distance is more than or equal to the second distance, will be located at described in second geographical location
Automatic driving vehicle is determined as the target automatic driving vehicle；
When judging that the first distance is less than the second distance, determines and the target automatic driving vehicle is not present.
3. the method as described in claim 1, which is characterized in that the training process of the electricity distance model includes:
Collect the different remaining capacity of automatic driving vehicle, traffic information and the corresponding traffic information and the remaining capacity
The distance of traveling, as sample data；
The sample data is randomly divided into the training set of the first preset ratio and the verifying collection of the second preset ratio, using described
Training set training neural network obtains electricity distance model, and the electricity distance obtained using the verifying collection verifying training
The accuracy rate of model；
If the accuracy rate is more than or equal to default accuracy rate threshold value, terminate to train；
If the accuracy rate is less than the default accuracy rate threshold value, increases the sample size in the training set and instruct again
Practice the electricity distance model until the accuracy rate is more than or equal to default accuracy rate threshold value.
4. the method as described in claim 1, which is characterized in that requested successfully described to the return of the terminal device of the passenger
Message and after controlling first geographical location where the target automatic driving vehicle drives towards the passenger, the side
Method further include:
Send presetting message to other automatic driving vehicles in addition to the target automatic driving vehicle, with notify it is described other
Automatic driving vehicle has the target automatic driving vehicle and provides the service of taking to the passenger.
5. the method as described in claim 1, which is characterized in that after the target automatic driving vehicle is not present in determination,
The method also includes:
Obtain first automatic driving vehicle nearest apart from first geographical location；
Where obtaining chargeable electric stake or the second automatic driving vehicle between first geographical location and the destination
4th geographical location；
According to the trained electricity distance model in advance, judge that can the remaining capacity of first automatic driving vehicle go
It sails to the 4th geographical location；
When the remaining capacity for determining first automatic driving vehicle can be travelled to four geographical location, described the is controlled
One automatic driving vehicle drives towards first geographical location where the passenger.
6. method as claimed in claim 5, which is characterized in that it is described according to it is described in advance trained electricity distance model,
Judge that can the remaining capacity of first automatic driving vehicle travel to the 4th geographical location, comprising:
By the remaining capacity of first automatic driving vehicle and the third geographical location and the 4th geographical location it
Between traffic information be input to described in advance in trained electricity distance model, obtain the surplus of first automatic driving vehicle
The third distance that remaining electricity can travel；
Calculate the third distance between the third geographical location and first geographical location and first geographical location
With the 4th sub- distance between the 4th geographical location, the sub- distance of the third and the 4th sub- distance sum
To the 4th distance；
When judge third distance be more than or equal to the described 4th apart from when, determine the surplus of first automatic driving vehicle
Remaining electricity can be travelled to the 4th geographical location；
When judge third distance be less than the described 4th apart from when, determine the remaining capacity of first automatic driving vehicle not
It can travel to the 4th geographical location.
7. such as method described in claim 5 or 6, which is characterized in that when the residue for determining first automatic driving vehicle
Electricity can be travelled to the 4th position, where controlling first automatic driving vehicle and driving towards the passenger described in
Before first geographical location, the method also includes:
Send the inquiry message that need to change to of midway to the terminal device of the passenger, for the passenger choose whether to take it is described
First automatic driving vehicle；
The control first automatic driving vehicle drives towards first geographical location where the passenger, comprising: when connecing
When receiving the confirmation selection of the passenger, controls first automatic driving vehicle and drive towards first ground where the passenger
Manage position；
The method also includes:
When the confirmation for receiving the passenger selects, controls second automatic driving vehicle and lock a door.
8. a kind of automatic driving vehicle control device, runs in server, which is characterized in that described device includes:
Module being obtained, when for receiving ride-share request, obtaining the first geographical location and destination where passenger；
Judgment module, for judging whether there is target automatic driving vehicle, institute according to preparatory trained electricity distance model
The passenger can be loaded onto the destination by the remaining capacity for stating target automatic driving vehicle；
Control module, for determining there are when the target automatic driving vehicle when the judgment module, the end of Xiang Suoshu passenger
End equipment return request successful message and control the target automatic driving vehicle drive towards where the passenger described first
Geographical location.
9. a kind of server, which is characterized in that the server includes processor and memory, and the processor is for executing institute
Automatic driving vehicle control as claimed in any of claims 1 to 7 in one of claims is realized when stating the computer program stored in memory
Method processed.
10. a kind of computer readable storage medium, computer program, feature are stored on the computer readable storage medium
It is, the computer program realizes automatic driving car as claimed in any of claims 1 to 7 in one of claims when being executed by processor
Control method.
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