CN107256627A - Automatic driving vehicle dispatching method, apparatus and system - Google Patents
Automatic driving vehicle dispatching method, apparatus and system Download PDFInfo
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- CN107256627A CN107256627A CN201710172661.6A CN201710172661A CN107256627A CN 107256627 A CN107256627 A CN 107256627A CN 201710172661 A CN201710172661 A CN 201710172661A CN 107256627 A CN107256627 A CN 107256627A
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- 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
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- Chemical & Material Sciences (AREA)
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Abstract
The embodiment of the present invention discloses a kind of automatic driving vehicle dispatching method, apparatus and system, by receiving origin information and by bus destination information by bus that passenger terminal is sent, according to origin information and by bus destination information by bus, generate schedule information, schedule information includes candidate's vehicle, preset vehicle speed and traffic route, in each section for obtaining traffic route, traffic density in current collection period, according to the traffic density and preset vehicle speed in current collection period, this driving is previewed, obtain the preview traffic density in each section traffic route Nei, judge the preview traffic density in each section traffic route Nei whether both less than or equal to preset vehicle upper density limit, if, departure instructions and schedule information are sent to candidate's vehicle；The present invention controls the automatic driving vehicle in current station to dispatch a car in the case where preview traffic density is not above preset vehicle upper density limit, it is to avoid traffic congestion situation occurs in road, lifts traffic system operational efficiency.
Description
Technical field
The present invention relates to public transport technical field, more particularly to a kind of automatic driving vehicle dispatching method, device and it is
System.
Background technology
Automatic driving vehicle is also known as automatic driving vehicle, is that one kind realizes unpiloted intelligent vehicle by computer system
.In automatic Pilot technology, computer can operate automatic Pilot car automatic safe in the case of unmanned active operation
.With the popularization of automatic driving vehicle, used automatic driving vehicle as public transport to run, as when it is next
Plant emerging mode of transportation.In the case where automatic driving vehicle is as public transport, in order to lift automatic driving vehicle
Operational efficiency, how automatic driving vehicle is scheduled, as the focus researched and developed in the industry.
In existing automatic driving vehicle dispatching method, typically passenger inputs in the passenger terminal being arranged in station and multiplied
Car destination, passenger terminal will be sent to vehicle scheduling server destination by bus, and vehicle scheduling server is according to interchange of position
Destination generation traffic route, and traffic route and departure instructions are sent to passenger terminal by bus, car-mounted computer connects
After the instruction for receiving passenger terminal, control the automatic driving vehicle in current station to adjust and dispatched a car according to default traffic route.
In actual traffic system, usually required to be lifted in the transport capacity of traffic system, whole traffic system
Substantial amounts of automatic driving vehicle is run, and uses above-mentioned automatic driving vehicle dispatching method to carry out the automatic driving vehicle at station
During scheduling, as long as station has passenger to input destination of riding by passenger terminal, passenger terminal just controls oneself in current station
The dynamic vehicle that drives is dispatched a car, and is so easily caused traffic congestion, is influenceed the operational efficiency of traffic system.
The content of the invention
The invention provides a kind of automatic driving vehicle dispatching method, apparatus and system, to solve existing automatic Pilot
Vehicle dispatching method is easily caused traffic congestion, the problem of influenceing the operational efficiency of traffic system.
In a first aspect, the present invention provides a kind of automatic driving vehicle dispatching method, methods described includes：
Receive origin information and by bus destination information by bus that passenger terminal is sent；
According to the origin information by bus and the destination information by bus, schedule information, the schedule information are generated
Including candidate's vehicle, preset vehicle speed and traffic route；
Obtain in each section of the traffic route, the traffic density in current collection period；
According to the traffic density and the preset vehicle speed in the current collection period, this driving is previewed,
Obtain the preview traffic density in each section traffic route Nei；
Judge the preview traffic density in each section traffic route Nei whether both less than or equal to preset vehicle density
The upper limit；
If the preview traffic density in each section is both less than or equal to preset vehicle upper density limit in the traffic route,
Departure instructions and the schedule information are sent to candidate's vehicle.
With reference in a first aspect, in first aspect in the first enforceable mode, judging each road in the traffic route
Section preview traffic density whether both less than or equal to preset vehicle upper density limit after, including：
If not being that the preview traffic density in each section is both less than or equal to preset vehicle density in the traffic route
The upper limit, be delayed preset time, in each section for obtaining the traffic route, the traffic density in next collection period, according to
Traffic density and the schedule information in next collection period, are previewed next time to this driving.
With reference in a first aspect, in second of enforceable mode of first aspect, obtaining each road of the traffic route
In section, the traffic density in current collection period, including：
Obtain in each section of the traffic route, by the vehicle number of traffic density collector in current collection period
Amount and collection duration；
According to the vehicle fleet size, the collection duration, and default Vehicle length and car speed, the row is calculated
In each section of bus or train route line, the traffic density in current collection period.
With reference to second of enforceable mode of first aspect, in first aspect in the third enforceable mode, according to institute
Vehicle fleet size, the collection duration, and default Vehicle length and car speed are stated, each road of the traffic route is calculated
In section, the step of traffic density in current collection period in, using equation below：
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
Second aspect, the present invention provides a kind of automatic driving vehicle dispatching device, and described device includes：
Receiving unit, origin information and by bus destination information by bus for receiving passenger terminal transmission；
Schedule information generation unit, for according to the origin information by bus and the destination information by bus, generation
Schedule information, the schedule information includes candidate's vehicle, preset vehicle speed and traffic route；
In traffic density acquiring unit, each section for obtaining the traffic route, the car in current collection period
Density；
Unit is previewed, for according to the traffic density and the preset vehicle speed in the current collection period, to this
Driving is previewed, and obtains the preview traffic density in each section traffic route Nei；
Judging unit, for judging whether the preview traffic density in each section in the traffic route is both less than or is equal to
Preset vehicle upper density limit；
Transmitting element, if the preview traffic density for each section in the traffic route is both less than or equal to default
The traffic density upper limit, departure instructions and the schedule information are sent to candidate's vehicle.
With reference to second aspect, in second aspect in the first enforceable mode, the preview unit, if being additionally operable to institute
State in traffic route, be not that the preview traffic density in each section is both less than or equal to preset vehicle upper density limit, delay is default
In time, each section for obtaining the traffic route, the traffic density in next collection period, according to next collection week
Traffic density and the schedule information in phase, are previewed next time to this driving.
With reference to second aspect, in second of enforceable mode of second aspect, the traffic density acquiring unit includes：
In data capture unit, each section for obtaining the traffic route, pass through vehicle in current collection period
The vehicle fleet size and collection duration of density collector；
Computing unit, for according to the vehicle fleet size, the collection duration, and default Vehicle length and vehicle speed
In degree, each section for calculating the traffic route, the traffic density in current collection period.
With reference to second of enforceable mode of second aspect, in second aspect in the third enforceable mode, the meter
Calculate unit and the traffic density is calculated using equation below：
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
The third aspect, the present invention provides a kind of automatic driving vehicle scheduling system, and the system includes：Vehicle scheduling is serviced
Device, traffic density collector and passenger terminal；
The traffic density collector, the traffic density for gathering each section in default collection period；
The vehicle scheduling server, for receive passenger terminal transmission by bus origin information and by bus destination letter
Breath；
According to the origin information by bus and the destination information by bus, schedule information, the schedule information are generated
Including candidate's vehicle, preset vehicle speed and traffic route；Obtain in each section of the traffic route, in current collection period
Traffic density；According to the traffic density and the preset vehicle speed in the current collection period, this driving is previewed,
Obtain the preview traffic density in each section traffic route Nei；Judge the preview vehicle in each section traffic route Nei
Whether density is both less than or equal to preset vehicle upper density limit；If the preview traffic density in each section in the traffic route
Both less than or equal to preset vehicle upper density limit, departure instructions and the schedule information are sent to candidate's vehicle；
The passenger terminal, for the vehicle scheduling server send the origin information by bus and it is described by bus
Destination information.
From above technical scheme, automatic driving vehicle dispatching method provided in an embodiment of the present invention, apparatus and system,
Using vehicle scheduling server, origin information and by bus destination information by bus that passenger terminal is sent are received, then basis
Origin information and by bus destination information by bus, generate schedule information, and schedule information includes candidate's vehicle, preset vehicle speed and row
Bus or train route line.In each section for obtaining traffic route afterwards, the traffic density in current collection period, according to current collection period
Interior traffic density and preset vehicle speed, is previewed to this driving, obtains the preview vehicle in each section traffic route Nei
Density, then judge whether the preview traffic density in each section traffic route Nei is both less than or equal to preset vehicle upper density limit,
If the preview traffic density in each section is both less than or equal to preset vehicle upper density limit, sent out to candidate's vehicle in traffic route
Send departure instructions and schedule information；The embodiment of the present invention is originated by bus in vehicle scheduling server according to what passenger terminal was sent
After ground information and by bus destination information, generation schedule information, the data gathered using traffic density collector and scheduling
This driving conditions is previewed by information, in the case where preview traffic density is not above preset vehicle upper density limit, then
The automatic driving vehicle in current station is controlled to dispatch a car, while traffic system maximum traffic volume is ensured, it is to avoid road occurs
Traffic congestion situation, lifts the operational efficiency of traffic system.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the application, letter will be made to the required accompanying drawing used in embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without having to pay creative labor,
Other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 dispatches the schematic diagram of system for a kind of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of automatic driving vehicle dispatching method provided in an embodiment of the present invention；
The schematic flow sheet that Fig. 3 is step S103 in Fig. 2；
Fig. 4 is a kind of schematic diagram of the vehicle of automatic driving vehicle scheduling system provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of vehicle lane change in a kind of automatic driving vehicle scheduling system provided in an embodiment of the present invention；
Fig. 6 is a kind of structural representation of automatic driving vehicle dispatching device provided in an embodiment of the present invention；
Fig. 7 is the structural representation of traffic density acquiring unit in Fig. 6.
Embodiment
In existing traffic system, a large amount of private cars in addition to track traffic and bus do not dispatch system substantially, each
The form of vehicle is random, often results in blockings, and according to the theory of Nash Equilibrium, this present situation, which is depended alone, largely repairs the roads, increasing
Plus the method for road capacity is the problem of can not solve traffic congestion, so urban transportation present situation is that road is more much more stifled, in addition,
Regulation and control in the policy such as limit purchase and restricted driving are also not meet Citizen needs.It is contemplated that by mainframe computer, to traffic
The travel condition of vehicle that will occur in system carries out preview formula calculating, and the vehicle that will participate in operation is entered according to result of calculation
The rational scheduling controlling of row so that the traveling of each vehicle is orderly, so that urban traffic blocking is solved, the problem of operational efficiency is low.
Before explanation is explained in detail to the embodiment of the present invention, first to the system architecture and applied field of the embodiment of the present invention
Scape is simply introduced.Fig. 1 dispatches the schematic diagram of system, the system for a kind of automatic driving vehicle provided in an embodiment of the present invention
System is applied in public transportation system, and the system mainly includes：Vehicle scheduling server 1, traffic density collector 6 and multiply
Objective terminal 4.
Vehicle scheduling server 1 is the central schedule control centre that whole automatic driving vehicle dispatches system.According to geography
Position, is divided into several sections by public transportation system, and a convergence base station 2 is built in each section, and vehicle scheduling server 1 is distinguished
By optical cable and transmission equipment, it is attached with each convergence base station 2, constitutes basic communication network.
Each convergence base station 2 has multiple stations 3, track 7 and vehicle 5 under its command.Each station 3 is provided with a communication base
Stand 31, communication base station 31 is connected with convergence base station 2 also by transmission equipment.Multiple passenger terminals 4 are provided with station 3.Parking
Traffic density collector 6 is provided with the regional of field and track 7, traffic density collector 6 communicates with communication base station 31.Car
Road 7 can be divided into multiple sections according to preset distance, and each section is respectively provided with traffic density collector 6.
It is closed in the public transportation system that automatic driving vehicle scheduling system provided in an embodiment of the present invention is applied
Autonomous system, the vehicle 5 of traveling is that specific vehicle 5 is only run in identical vehicle, and each track 7 in each track 7,
Intervene in each track 7 without other vehicles and pedestrian, vehicle 5 can be automatic driving vehicle, and all vehicles 5 are with identical
Speed is at the uniform velocity travelled.Vehicle 5 can be compact car, the inner space size of vehicle 5 and the arrangement at seat can with it is common
Car is similar, and compared with other public transports such as existing electric car, the comfort level and security of seating are higher.
From above technical scheme, automatic driving vehicle provided in an embodiment of the present invention is dispatched system, adjusted using vehicle
Server 1 is spent, origin information and by bus destination information by bus that passenger terminal 4 is sent is received, then basis is originated by bus
Ground information and by bus destination information, generate schedule information, and schedule information includes candidate's vehicle, preset vehicle speed and traffic route.
In each section for obtaining traffic route afterwards, the traffic density in current collection period, according to the car in current collection period
Density and preset vehicle speed, preview to this driving, obtain the preview traffic density in each section traffic route Nei, then
Whether the preview traffic density in each section traffic route Nei is judged both less than or equal to preset vehicle upper density limit, if driving
The preview traffic density in each section is both less than or equal to preset vehicle upper density limit in route, is dispatched a car finger to candidate's vehicle
Order and schedule information；Origin information by bus and ride that the present invention is sent in vehicle scheduling server 1 according to passenger terminal 4
After destination information, generation schedule information, the data and schedule information gathered using traffic density collector, to this row
Car process is previewed, and in the case where preview traffic density is not above preset vehicle upper density limit, then controls current station
Interior automatic driving vehicle is dispatched a car, while traffic system maximum traffic volume is ensured, it is to avoid traffic congestion situation occurs in road, lifting
The operational efficiency of traffic system.
Referring to Fig. 2, a kind of automatic driving vehicle dispatching method flow chart for implementing to provide from example for the present invention, this method
Comprise the following steps：
Step S101, the origin information and by bus destination information by bus for receiving passenger terminal transmission.
With reference to Fig. 1, in embodiments of the present invention, passenger terminal 4 is arranged in station 3, and passenger terminal 4 passes through communication base station
31 and convergence base station 2, with vehicle scheduling server 1 realize communicate.Passenger terminal 4 can be touch-control all-in-one machine, be provided with tactile
Display screen is controlled, passenger can input destination information by bus on touching display screen.GPS location mould is additionally provided with passenger terminal 4
Block, can navigate to the positional information of current passenger terminal 4, i.e. origin information by bus.Passenger inputs on touching display screen to be multiplied
After car destination information, destination information and by bus origin information by bus are passed through the communication in station 3 by passenger terminal 4
Base station 31 and the convergence base station 2 of the place section of station 3, send to vehicle scheduling server 1.
Step S102, ridden according to origin information and the destination information by bus, generate schedule information, described
Schedule information includes candidate's vehicle, preset vehicle speed and traffic route.
Destination information and by bus origin information by bus that vehicle scheduling server 1 is sent according to passenger terminal 4, knot
The system map of internal memory is closed, traffic route is generated, and selectes candidate's vehicle in 3 AT STATION, preset vehicle speed is determined.
In step S103, each section of the acquisition traffic route, the traffic density in current collection period.
Traffic density in current collection period is referred in current collection period, by the traffic density in a certain section
The traffic density of collector 6, for reflecting the vehicle saturation degree in section.
Step S104, according to the traffic density and the preset vehicle speed in the current collection period, to this driving
Previewed, obtain the preview traffic density in each section traffic route Nei.
Vehicle scheduling server 1 is according to traffic density, preset vehicle speed and traffic route, after preview is dispatched a car in traffic route
The situation in each section.
Step S105, judge the preview traffic density in each section traffic route Nei whether both less than or equal to default
The traffic density upper limit.
Traffic density is 100% to the maximum, i.e., all vehicles are end to end.Preset vehicle upper density limit can be as needed
It is configured, such as, in order to ensure the unobstructed of traffic, it is 80% etc. to set preset vehicle upper density limit.
If the preview traffic density in each section is both less than or equal to preset vehicle in step S106, the traffic route
Upper density limit, departure instructions and the schedule information are sent to candidate's vehicle.
If previewing traffic density is less than preset vehicle upper density limit, illustrate after dispatching a car, in traffic route, it is ensured that
Traffic it is unobstructed, therefore departure instructions and schedule information can be sent to the car-mounted computer of candidate's vehicle, it is vehicle-mounted afterwards
Computer control candidate's vehicle is travelled to destination according to traffic route.
In a kind of another embodiment of automatic driving vehicle dispatching method of the present invention, judge each in the traffic route
The preview traffic density in individual section whether both less than or equal to preset vehicle upper density limit after, if in the traffic route,
It is not that the preview traffic density in each section is both less than or equal to preset vehicle upper density limit, be delayed preset time, obtains described
In each section of traffic route, the traffic density in next collection period is close according to the vehicle in next collection period
Degree and the schedule information, are previewed next time to this driving.
In the traffic route, if in some or multiple sections, preview traffic density is more than in preset vehicle density
Limit, if then explanation is dispatched a car, may cause driving conditions traffic congestion situation occur.Therefore, in order to avoid this situation, delay is pre-
If after the time, the step of S103 to S104 is repeated again, until the preview traffic density in each section is both less than or equal to default
The traffic density upper limit is just dispatched a car.When repeating S103 step, current collection period now is above-described next collection week
Phase.
As shown in figure 3, in a kind of another embodiment of automatic driving vehicle dispatching method of the present invention, obtaining the row
In each section of bus or train route line, the traffic density in current collection period, including：
In step S201, each section of the acquisition traffic route, by traffic density collection in current collection period
The vehicle fleet size and collection duration of device.
Step S202, according to the vehicle fleet size, the collection duration, and default Vehicle length and car speed,
Calculate in each section of the traffic route, the traffic density in current collection period.
In a kind of another embodiment of automatic driving vehicle dispatching method of the present invention, according to the vehicle fleet size, institute
Collection duration, and default Vehicle length and car speed are stated, in each section for calculating the traffic route, current collection
In the step of traffic density in cycle, using equation below：
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
In embodiments of the present invention, traffic density R representatives are by the total of each automobile body length of traffic density collector 6
With the ratio for the distance passed by with each vehicle in collection duration.Calculate in each section of the traffic route, currently adopt
In the step of traffic density in the collection cycle, the section passed by by each vehicle of traffic density collector 6 that section refers to,
The vehicle saturation degree in the section is reacted by the ratio.
In embodiments of the present invention, it is a fixed value because the L in formula is the length of single unit vehicle vehicle body, v is to be
The fixation speed of service of the vehicle of system setting, is also a fixed value, and t is set acquisition time section, is also fixed value, institute
So that in order to obtain traffic density R, traffic density collector 6 only need to be in the t periods, being gathered by the traffic density in the section
The quantity a of the vehicle of device 6 is counted, and utilizes above formula computing, you can obtain traffic density R.
For example, if default A-road running velocity v=20m/s, sets single unit vehicle length L=4m, adopts
Collect time period t=10s, if in 10s, the vehicle fleet size a=50 that the traffic density collector 6 in some section is gathered, then R=
50x4/20x10=100%, that is to say, that in this 10s, is all joined end to end by the vehicle of traffic density collector 6, adjacent
The spacing all 0 of vehicle, illustrates congested with cars in the section.
If default A-road running velocity v=90km/h, both 25m/s, set single unit vehicle length L=
4m, acquisition time section t=10s, if in 10s, the vehicle fleet size a gathered by the traffic density collector 6 in some section
=50, then R=50x4/25x10=80%, illustrates still there is spacing between vehicle in the section.
The method that the present invention also provides vehicle lane change in road, as shown in Figure 4 and Figure 5, the periphery of vehicle 5 is provided with infrared
Communicator, specifically includes the first infrared communication device 501, second at the front portion for being respectively arranged at the side of vehicle 5, middle part and rear portion
The infrared communication device 503 of infrared communication device 502 and the 3rd, and be arranged at the front portion, middle part and rear portion of the opposite side of vehicle 5
4th infrared communication device 504, the 5th infrared communication device 505 and the 6th infrared communication device 506.First infrared communication device 501,
Two infrared communication devices 502, the 3rd infrared communication device 503, the 4th infrared communication device 504, the 5th infrared communication device 505 and the 6th
Infrared communication device 506 includes infrared transmission module and infrared receiving module, can receive and dispatch infrared signal.
In the first infrared communication device 501, the second infrared communication device 502, the 3rd infrared communication device 503, the 4th infrared communication
In device 504, the 5th infrared communication device 505 and the 6th infrared communication device 506, the infrared signal tool that each infrared communication device is sent out
Have respective code so that Adjacent vehicles receive after after infrared signal, which position can distinguish received is
Signal.
The radiation angle a of the infrared transmission module institute isolychn of each infrared communication device, radiant power and infrared communication device it is red
The receiving sensitivity of outer receiving module must be set to a definite value, this definite value meet it is only adjacent (as distance for one meter it
It is interior) vehicle between could proper communication, without influence distant place track (as distance be more than two meters) vehicle operation.
Current vehicle 50 is travelled in the direction of the arrow behind station.Speed change lane 703 is passed through with a certain relatively low speed
Originating point 301 after, Current vehicle 50 accelerates, and before point of safes 302 is reached, speed is accelerated to preset vehicle speed, by steady
The speed of all vehicles is all after fixed point 302, in the speed of Current vehicle 50 and the first Through Lane 701, the second Through Lane 702
Equally, all it is default fixed speed.When Current vehicle 50 needs lane change, Current vehicle 50 is by infrared transmission module, to
The first vehicle 51 that the side of two Through Lane 702 is sent in lane change signal, the second Through Lane 702 receives the signal of Current vehicle 50
Afterwards, infrared communication device is opened.In the case of figure 5, in the first vehicle 51, only the 6th infrared communication device 506 receives Current vehicle
The infrared signal that 50 the first infrared communication device 501 is sent.
First vehicle 51 does not change, and the first infrared communication device 501 of Current vehicle 50 receives the 6th of the first vehicle 51 the
The signal that infrared communication device 506 is sent, Current vehicle 50 slightly slows down, until the first infrared communication device 501 of Current vehicle 50 is received
The signal sent less than the 6th infrared communication device 506 of the first vehicle 51.5th infrared communication device 505 of the second vehicle 52 is received
The signal of Current vehicle 50, the second vehicle 52 slows down, until the second vehicle 52 can not receive the signal of Current vehicle 50.
Because the second vehicle 52 and the 3rd vehicle 53 are probably end to end, the second vehicle 52 slows down, before the 3rd vehicle 53
Contact induction device 5001 can receive signal, corresponding to slow down, and this series of actions is complete before Current vehicle 50 reaches lane change point 303
When reaching lane change point 303 into, Current vehicle 50, the left side relevant position of lane change point 303 is empty, after lane change point 303,
The second Through Lane 702 is incorporated to, lane change action is completed.Other tracks are relatively easy to the lane change of speed change lane 703, due to derailleur
Road 703 has no other vehicles, and vehicle is directly incorporated into speed change lane 703 after corresponding lane change point is reached.
From above technical scheme, automatic driving vehicle dispatching method provided in an embodiment of the present invention, first with car
Dispatch server, receives origin information and by bus destination information by bus that passenger terminal is sent, then according to the beginning of riding
Hair ground information and by bus destination information, generate schedule information, and schedule information includes candidate's vehicle, preset vehicle speed and roadway
Line.In each section for obtaining traffic route afterwards, the traffic density in current collection period, according in current collection period
Traffic density and preset vehicle speed, are previewed to this driving, obtain the preview traffic density in each section traffic route Nei,
The preview traffic density in each section traffic route Nei is judged again whether both less than or equal to preset vehicle upper density limit, if row
The preview traffic density in each section is both less than or equal to preset vehicle upper density limit, dispatched a car to candidate's vehicle in bus or train route line
Instruction and schedule information；Origin information by bus and ride that the present invention is sent in vehicle scheduling server according to passenger terminal
After destination information, generation schedule information, the data and schedule information gathered using traffic density collector, to this row
Car process is previewed, and in the case where preview traffic density is not above preset vehicle upper density limit, then controls current station
Interior automatic driving vehicle is dispatched a car, while traffic system maximum traffic volume is ensured, it is to avoid traffic congestion situation occurs in road, lifting
The operational efficiency of traffic system.
As shown in fig. 6, second aspect, the embodiment of the present invention also provides a kind of automatic driving vehicle dispatching device, the dress
Put including：
Receiving unit 101, origin information and by bus destination information by bus for receiving passenger terminal transmission.
Schedule information generation unit 102, it is raw for according to the origin information by bus and the destination information by bus
Into schedule information, the schedule information includes candidate's vehicle, preset vehicle speed and traffic route.
In traffic density acquiring unit 103, each section for obtaining the traffic route, in current collection period
Traffic density.
Unit 104 is previewed, for according to the traffic density and the preset vehicle speed in the current collection period, to this
Secondary driving is previewed, and obtains the preview traffic density in each section traffic route Nei.
Judging unit 105, for judge each section in the traffic route preview traffic density whether both less than or
Equal to preset vehicle upper density limit.
Transmitting element 106, if the preview traffic density for each section in the traffic route is both less than or is equal to
Preset vehicle upper density limit, departure instructions and the schedule information are sent to candidate's vehicle.
It is described preview unit 107, if be additionally operable in the traffic route, be not the preview traffic density in each section all
Less than or equal to preset vehicle upper density limit, be delayed preset time, in each section for obtaining the traffic route, next collection
Traffic density in cycle, according to the traffic density and the schedule information in next collection period, to this driving
Previewed next time.
As shown in fig. 7, in another embodiment, the traffic density acquiring unit 103 includes：
In data capture unit 201, each section for obtaining the traffic route, pass through car in current collection period
The vehicle fleet size and collection duration of density collector.
Computing unit 202, for according to the vehicle fleet size, the collection duration, and default Vehicle length and car
In speed, each section for calculating the traffic route, the traffic density in current collection period.
Wherein, the computing unit calculates the traffic density using equation below：
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
From above technical scheme, automatic driving vehicle dispatching device provided in an embodiment of the present invention can receive passenger
Origin information and by bus destination information by bus that terminal is sent, then according to origin information by bus and by bus, destination is believed
Breath, generates schedule information, and schedule information includes candidate's vehicle, preset vehicle speed and traffic route.The each of traffic route is obtained afterwards
In individual section, the traffic density in current collection period is right according to the traffic density and preset vehicle speed in current collection period
This driving is previewed, and obtains the preview traffic density in each section traffic route Nei, then judges each road in traffic route
Whether the preview traffic density of section is both less than or equal to preset vehicle upper density limit, if the preview in each interior section of traffic route
Traffic density is both less than or equal to preset vehicle upper density limit, departure instructions and schedule information is sent to candidate's vehicle；This hair
Origin information and by bus destination information by bus that bright embodiment is sent in vehicle scheduling server according to passenger terminal, generation
After schedule information, the data and schedule information gathered using traffic density collector are previewed to this driving conditions,
In the case where preview traffic density is not above preset vehicle upper density limit, then control the automatic driving vehicle in current station
Dispatch a car, while traffic system maximum traffic volume is ensured, it is to avoid traffic congestion situation, the operation effect of lifting traffic system occurs in road
Rate.
In the specific implementation, the present invention also provides a kind of computer-readable storage medium, wherein, the computer-readable storage medium can be stored
Have program, the program may include when performing part in each embodiment of automatic driving vehicle dispatching method that the present invention is provided or
Overall Steps.Described storage medium can be magnetic disc, CD, read-only memory (English：Read-only memory, letter
Claim：ROM) or random access memory (English：Random access memory, referred to as：RAM) etc..
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of general hardware platform realize.Understood based on such, the technical scheme in the embodiment of the present invention substantially or
Say that the part contributed to prior art can be embodied in the form of software product, the computer software product can be deposited
Storage is in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are to cause a computer equipment (can be with
It is personal computer, server, or network equipment etc.) perform some part institutes of each of the invention embodiment or embodiment
The method stated.
Between the embodiment of each in this specification identical similar part mutually referring to.Especially for automatic Pilot
For vehicle scheduling device embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, related part
Referring to the explanation in embodiment of the method.
Invention described above embodiment is not intended to limit the scope of the present invention..
Claims (9)
1. a kind of automatic driving vehicle dispatching method, it is characterised in that methods described includes：
Receive origin information and by bus destination information by bus that passenger terminal is sent；
According to the origin information by bus and the destination information by bus, schedule information is generated, the schedule information includes
Candidate's vehicle, preset vehicle speed and traffic route；
Obtain in each section of the traffic route, the traffic density in current collection period；
According to the traffic density and the preset vehicle speed in the current collection period, this driving is previewed, obtained
The preview traffic density in each section in the traffic route；
Judge the preview traffic density in each section traffic route Nei whether both less than or equal to preset vehicle upper density limit；
If the preview traffic density in each section is both less than or equal to preset vehicle upper density limit in the traffic route, to institute
State candidate's vehicle and send departure instructions and the schedule information.
2. the method as described in claim 1, it is characterised in that judge that the preview vehicle in each section traffic route Nei is close
Degree whether both less than or equal to preset vehicle upper density limit after, including：
If not being that the preview traffic density in each section is both less than or equal in preset vehicle density in the traffic route
Limit, be delayed preset time, in each section for obtaining the traffic route, the traffic density in next collection period, according to institute
The traffic density and the schedule information in next collection period are stated, this driving is previewed next time.
3. the method as described in claim 1, it is characterised in that in each section for obtaining the traffic route, current collection
Traffic density in cycle, including：
Obtain in each section of the traffic route, in current collection period by the vehicle fleet size of traffic density collector with
And collection duration；
According to the vehicle fleet size, the collection duration, and default Vehicle length and car speed, the roadway is calculated
In each section of line, the traffic density in current collection period.
4. method as claimed in claim 3, it is characterised in that according to the vehicle fleet size, the collection duration, and it is default
Vehicle length and car speed, in each section for calculating the traffic route, traffic density in current collection period
In step, using equation below：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>a</mi>
<mi>L</mi>
</mrow>
<mrow>
<mi>v</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>&times;</mo>
<mn>100</mn>
<mi>%</mi>
<mo>;</mo>
</mrow>
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
5. a kind of automatic driving vehicle dispatching device, it is characterised in that described device includes：
Receiving unit, origin information and by bus destination information by bus for receiving passenger terminal transmission；
Schedule information generation unit, for according to the origin information by bus and the destination information by bus, generation scheduling
Information, the schedule information includes candidate's vehicle, preset vehicle speed and traffic route；
In traffic density acquiring unit, each section for obtaining the traffic route, the vehicle in current collection period is close
Degree；
Unit is previewed, for according to the traffic density and the preset vehicle speed in the current collection period, to this driving
Previewed, obtain the preview traffic density in each section traffic route Nei；
Judging unit, for judging the preview traffic density in each section in the traffic route whether both less than or equal to default
The traffic density upper limit；
Transmitting element, if the preview traffic density for each section in the traffic route is both less than or equal to preset vehicle
Upper density limit, departure instructions and the schedule information are sent to candidate's vehicle.
6. device as claimed in claim 5, it is characterised in that the preview unit, if be additionally operable in the traffic route,
It is not that the preview traffic density in each section is both less than or equal to preset vehicle upper density limit, be delayed preset time, obtains described
In each section of traffic route, the traffic density in next collection period is close according to the vehicle in next collection period
Degree and the schedule information, are previewed next time to this driving.
7. device as claimed in claim 5, it is characterised in that the traffic density acquiring unit includes：
In data capture unit, each section for obtaining the traffic route, pass through traffic density in current collection period
The vehicle fleet size and collection duration of collector；
Computing unit, for according to the vehicle fleet size, the collection duration, and default Vehicle length and car speed,
Calculate in each section of the traffic route, the traffic density in current collection period.
8. device as claimed in claim 7, it is characterised in that it is close that the computing unit calculates the vehicle using equation below
Degree：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>a</mi>
<mi>L</mi>
</mrow>
<mrow>
<mi>v</mi>
<mi>t</mi>
</mrow>
</mfrac>
<mo>&times;</mo>
<mn>100</mn>
<mi>%</mi>
<mo>;</mo>
</mrow>
Wherein, R is traffic density, and a is vehicle fleet size, and L is Vehicle length, and v is car speed, and t is collection duration.
9. a kind of automatic driving vehicle dispatches system, it is characterised in that the system includes：Vehicle scheduling server, vehicle are close
Spend collector and passenger terminal；
The traffic density collector, the traffic density for gathering each section in default collection period；
The vehicle scheduling server, origin information and by bus destination information by bus for receiving passenger terminal transmission；
According to the origin information by bus and the destination information by bus, schedule information is generated, the schedule information includes candidate
Vehicle, preset vehicle speed and traffic route；Obtain in each section of the traffic route, the vehicle in current collection period is close
Degree；According to the traffic density and the preset vehicle speed in the current collection period, this driving is previewed, institute is obtained
State the preview traffic density in each section traffic route Nei；Judging the preview traffic density in each section traffic route Nei is
It is no to be both less than or equal to preset vehicle upper density limit；If the preview traffic density in each section is both less than in the traffic route
Or equal to preset vehicle upper density limit, departure instructions and the schedule information are sent to candidate's vehicle；
The passenger terminal, for sending the origin information by bus and the purpose by bus to the vehicle scheduling server
Ground information.
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