CN107256627B - Automatic driving vehicle scheduling method, device and system - Google Patents
Automatic driving vehicle scheduling method, device and system Download PDFInfo
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- CN107256627B CN107256627B CN201710172661.6A CN201710172661A CN107256627B CN 107256627 B CN107256627 B CN 107256627B CN 201710172661 A CN201710172661 A CN 201710172661A CN 107256627 B CN107256627 B CN 107256627B
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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
Abstract
The embodiment of the invention discloses a method, a device and a system for dispatching an automatic driving vehicle, wherein dispatching information is generated by receiving the information of a taking place and a taking destination sent by a passenger terminal according to the information of the taking place and the information of the taking destination, the dispatching information comprises a candidate vehicle, a preset vehicle speed and a driving route, the vehicle density in each road section of the driving route in a current acquisition period is obtained, the driving is previewed according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route, whether the previewed vehicle density of each road section in the driving route is smaller than or equal to a preset vehicle density upper limit is judged, and if so, a sending instruction and the dispatching information are sent to the candidate vehicle; according to the invention, under the condition that the density of the previewed vehicles does not exceed the upper limit of the preset vehicle density, the automatic driving vehicles in the current station are controlled to leave, the traffic jam condition on the road is avoided, and the operation efficiency of the traffic system is improved.
Description
Technical Field
The invention relates to the technical field of public transportation, in particular to a method, a device and a system for dispatching an automatic driving vehicle.
Background
An automatic driving vehicle is also called an unmanned vehicle, and is an intelligent vehicle which realizes unmanned driving through a computer system. In the automatic driving technology, a computer can automatically and safely operate an automatic driving vehicle under the condition of no active operation of a person. With the popularization of autonomous vehicles, autonomous vehicles are used as public transportation means, and become a next emerging transportation mode. Under the condition that the automatic driving vehicle is used as a public transport means, in order to improve the running efficiency of the automatic driving vehicle, how to schedule the automatic driving vehicle becomes a hotspot researched and developed in the industry.
In the existing automatic driving vehicle dispatching method, a passenger generally inputs a riding destination on a passenger terminal arranged in a station, the passenger terminal sends the riding destination to a vehicle dispatching server, the vehicle dispatching server generates a driving route according to the station position and the riding destination and sends the driving route and a departure instruction to the passenger terminal, and after receiving the instruction of the passenger terminal, an on-board computer controls an automatic driving vehicle in the current station to dispatch and depart according to a preset driving route.
In an actual traffic system, in order to improve the transportation capacity of the traffic system, a large number of automatic driving vehicles generally need to be operated in the whole traffic system, and when the automatic driving vehicle scheduling method is adopted to schedule the automatic driving vehicles at a station, as long as passengers enter a riding destination through a passenger terminal at the station, the passenger terminal controls the automatic driving vehicles in the current station to send out, so that traffic jam is easily caused, and the operation efficiency of the traffic system is influenced.
Disclosure of Invention
The invention provides a method, a device and a system for dispatching an automatic driving vehicle, which aim to solve the problems that the existing method for dispatching the automatic driving vehicle is easy to cause traffic jam and influence the operation efficiency of a traffic system.
In a first aspect, the present invention provides a method for scheduling an autonomous vehicle, the method comprising:
receiving the information of a riding starting place and the information of a riding destination sent by a passenger terminal;
generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes;
acquiring the vehicle density in each road section of the driving route in the current acquisition period;
according to the vehicle density in the current acquisition period and the preset vehicle speed, performing previewing on the driving to obtain the previewed vehicle density of each road section in the driving route;
judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not;
and if the density of the previewed vehicles of each road section in the driving route is less than or equal to the upper limit of the preset vehicle density, sending a departure instruction and the scheduling information to the candidate vehicle.
With reference to the first aspect, in a first implementable manner of the first aspect, after determining whether the density of the vehicles previewed for each road segment in the driving route is less than or equal to a preset upper limit of vehicle density, the method includes:
if the density of vehicles to be previewed in each road section is not smaller than or equal to the upper limit of the preset vehicle density in the driving route, delaying the preset time, acquiring the density of the vehicles in each road section of the driving route in the next acquisition period, and performing next previewing on the driving according to the density of the vehicles in the next acquisition period and the scheduling information.
With reference to the first aspect, in a second implementable manner of the first aspect, the acquiring the vehicle density in the current acquisition cycle in each road segment of the driving route includes:
acquiring the number and the acquisition duration of vehicles passing through a vehicle density acquisition unit in a current acquisition period in each road section of the driving route;
and calculating the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition time length, the preset vehicle length and the preset vehicle speed.
With reference to the second implementable manner of the first aspect, in a third implementable manner of the first aspect, in the step of calculating the vehicle density in each section of the driving route in the current acquisition period according to the number of vehicles, the acquisition duration, and the preset vehicle length and vehicle speed, the following formula is adopted:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
In a second aspect, the present invention provides an autonomous vehicle scheduling apparatus, the apparatus comprising:
a receiving unit for receiving the information of the riding origin and the information of the riding destination sent by the passenger terminal;
the scheduling information generating unit is used for generating scheduling information according to the taking place information and the taking destination information, and the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes;
the vehicle density acquisition unit is used for acquiring the vehicle density in each road section of the driving route in the current acquisition period;
the previewing unit is used for previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route;
the judging unit is used for judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not;
and the sending unit is used for sending a departure instruction and the scheduling information to the candidate vehicle if the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit.
With reference to the second aspect, in a first implementable manner of the second aspect, the rehearsal unit is further configured to, if the density of the vehicles to be rehearsed in each road segment in the driving route is not less than or equal to the preset upper limit of vehicle density, delay the preset time, obtain the density of the vehicles in the next acquisition period in each road segment in the driving route, and perform the next rehearsal on the current driving according to the density of the vehicles in the next acquisition period and the scheduling information.
With reference to the second aspect, in a second implementable manner of the second aspect, the vehicle density acquisition unit includes:
the data acquisition unit is used for acquiring the number and the acquisition duration of vehicles passing through the vehicle density acquisition unit in the current acquisition period in each road section of the driving route;
and the calculating unit is used for calculating the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition time length, the preset vehicle length and the preset vehicle speed.
With reference to the second implementable manner of the second aspect, in a third implementable manner of the second aspect, the calculating unit calculates the vehicle density using the following equation:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
In a third aspect, the present invention provides an autonomous vehicle dispatch system, the system comprising: the system comprises a vehicle dispatching server, a vehicle density collector and a passenger terminal;
the vehicle density collector is used for collecting the vehicle density of each road section in a preset collection period;
the vehicle dispatching server is used for receiving the information of the riding starting place and the information of the riding destination sent by the passenger terminal;
generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes; acquiring the vehicle density in each road section of the driving route in the current acquisition period; according to the vehicle density in the current acquisition period and the preset vehicle speed, performing previewing on the driving to obtain the previewed vehicle density of each road section in the driving route; judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not; if the density of the previewed vehicles of each road section in the driving route is less than or equal to the upper limit of the preset vehicle density, sending a departure instruction and the scheduling information to the candidate vehicle;
the passenger terminal is used for sending the riding starting place information and the riding destination information to the vehicle scheduling server.
According to the technical scheme, the automatic driving vehicle scheduling method, the automatic driving vehicle scheduling device and the automatic driving vehicle scheduling system provided by the embodiment of the invention receive the information of the taking place and the information of the taking destination sent by the passenger terminal by using the vehicle scheduling server, and then generate the scheduling information according to the information of the taking place and the information of the taking destination, wherein the scheduling information comprises candidate vehicles, the preset vehicle speed and the driving route. Then obtaining the vehicle density in each road section of the driving route in the current acquisition period, previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route, judging whether the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, and if the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, sending a vehicle sending instruction and scheduling information to the candidate vehicle; according to the embodiment of the invention, after the vehicle dispatching server generates the dispatching information according to the information of the taking place starting place and the taking destination sent by the passenger terminal, the data and the dispatching information collected by the vehicle density collector are utilized to preview the driving process, and under the condition that the previewed vehicle density does not exceed the preset vehicle density upper limit, the automatic driving vehicle in the current station is controlled to send out, so that the maximum traffic volume of the traffic system is ensured, the traffic jam condition on the road is avoided, and the operation efficiency of the traffic system is improved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
FIG. 1 is a schematic diagram of an autonomous vehicle dispatch system in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a method for scheduling an autonomous vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flowchart of step S103 in FIG. 2;
FIG. 4 is a schematic diagram of a vehicle of an autonomous vehicle dispatch system in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of a lane change of a vehicle in an automatic vehicle dispatching system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an automatic vehicle dispatching device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of the vehicle density acquisition unit in fig. 6.
Detailed Description
In the existing traffic system, a large number of private cars except rail transit and buses basically have no dispatching system, the form of each car is random, and the traffic jam is often caused, and according to the theory of Nash equilibrium, the method for increasing the road capacity by means of a large number of road repair under the current situation cannot solve the problem of traffic jam, so that the current situation of urban traffic is that the number of roads is more and the traffic jam is more, and in addition, the regulation and control on policies such as purchase limitation and restriction are not in line with the demands of citizens. The invention aims to carry out preview calculation on the running state of the vehicles to be appeared in the traffic system through a large-scale computer, and carry out reasonable scheduling control on the vehicles to be participated in running according to the calculation result, so that the vehicles run orderly, thereby solving the problems of urban traffic jam and low running efficiency.
Before explaining the embodiments of the present invention in detail, a brief description is given to the system architecture and application scenario of the embodiments of the present invention. Fig. 1 is a schematic diagram of an automatic vehicle dispatching system provided by an embodiment of the present invention, which is applied to a public transportation system, and the system mainly includes: the vehicle dispatching server 1, the vehicle density collector 6 and the passenger terminal 4.
The vehicle dispatching server 1 is a central dispatching control center of the whole automatic driving vehicle dispatching system. According to the geographical position, the public traffic system is divided into a plurality of districts, each district is provided with a convergent base station 2, and the vehicle dispatching server 1 is connected with each convergent base station 2 through optical cables and transmission equipment to form a basic communication network.
Each convergent base station 2 supervises a plurality of stations 3, lanes 7 and vehicles 5. Each station 3 is provided with a communication base station 31, the communication base station 31 being also associated with the convergent base station 2 by means of a transmission device. A plurality of passenger terminals 4 are provided in the station 3. Vehicle density collectors 6 are arranged in each area of the parking lot and the lane 7, and the vehicle density collectors 6 communicate with the communication base station 31. The lane 7 may be divided into a plurality of road sections at predetermined distances, and each road section is provided with a vehicle density collector 6.
The public transportation system applied by the automatic driving vehicle dispatching system provided by the embodiment of the invention is a closed independent system, the vehicles 5 running in each lane 7 are the same vehicles, only the specific vehicle 5 runs in each lane 7, no other vehicles or pedestrians intervene in each lane 7, the vehicles 5 can be automatic driving vehicles, and all the vehicles 5 run at the same speed at a constant speed. The vehicle 5 may be a small car, and the size of the inner space of the vehicle 5 and the arrangement of the seats may be similar to those of a common car, so that the riding comfort and safety are higher than those of other public transportation vehicles such as an existing electric train.
As can be seen from the above technical solutions, the automatic driving vehicle scheduling system according to the embodiment of the present invention receives the information of the taking place and the information of the taking destination sent by the passenger terminal 4 by using the vehicle scheduling server 1, and then generates the scheduling information according to the information of the taking place and the information of the taking destination, where the scheduling information includes the candidate vehicle, the preset vehicle speed, and the driving route. Then obtaining the vehicle density in each road section of the driving route in the current acquisition period, previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route, judging whether the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, and if the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, sending a vehicle sending instruction and scheduling information to the candidate vehicle; according to the invention, after the vehicle dispatching server 1 generates dispatching information according to the information of the taking place starting place and the taking destination sent by the passenger terminal 4, the data and the dispatching information collected by the vehicle density collector are utilized to preview the driving process, and under the condition that the previewed vehicle density does not exceed the preset vehicle density upper limit, the automatic driving vehicle in the current station is controlled to send out, so that the maximum traffic volume of the traffic system is ensured, the traffic jam condition on the road is avoided, and the operation efficiency of the traffic system is improved.
Referring to fig. 2, a flowchart of an automatic vehicle dispatching method according to an embodiment of the present invention is shown, where the method includes the following steps:
and step S101, receiving the information of the vehicle starting place and the information of the vehicle destination sent by the passenger terminal.
Referring to fig. 1, in the embodiment of the present invention, a passenger terminal 4 is disposed in a station 3, and the passenger terminal 4 communicates with a vehicle scheduling server 1 through a communication base station 31 and a convergence base station 2. The passenger terminal 4 may be a touch-control all-in-one machine, and is provided with a touch-control display screen, and passengers can input riding destination information on the touch-control display screen. The passenger terminal 4 is also provided with a GPS positioning module, which can position the current position information of the passenger terminal 4, i.e. the information of the origin of the ride. After the passenger inputs the riding destination information on the touch display screen, the passenger terminal 4 transmits the riding destination information and the riding origin information to the vehicle dispatching server 1 through the communication base station 31 in the station 3 and the convergence base station 2 in the area where the station 3 is located.
And S102, generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes.
The vehicle dispatching server 1 generates a driving route according to the riding destination information and the riding starting place information sent by the passenger terminal 4 and by combining a system map of a memory, selects candidate vehicles in the station 3 and determines a preset vehicle speed.
And S103, acquiring the vehicle density in each road section of the driving route in the current acquisition period.
The vehicle density in the current acquisition period refers to the vehicle density passing through the vehicle density acquisition unit 6 in a certain road section in the current acquisition period, and is used for reflecting the vehicle saturation in the road section.
And S104, previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route.
The vehicle dispatching server 1 predicts the conditions of each road section in the driving route after the vehicle is dispatched according to the vehicle density, the preset vehicle speed and the driving route.
And S105, judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit.
The maximum vehicle density is 100%, that is, all vehicles are connected end to end. The preset upper limit of the vehicle density can be set as required, for example, in order to ensure smooth traffic, the upper limit of the preset vehicle density is set to 80% and the like.
And S106, if the density of the previewed vehicles of each road section in the driving route is less than or equal to the upper limit of the preset vehicle density, sending a departure instruction and the scheduling information to the candidate vehicle.
If the density of the previewed vehicles is smaller than the preset upper limit of the vehicle density, the smooth traffic can be ensured in the driving route after the vehicles are sent, so that the vehicle-mounted computer of the candidate vehicles can be sent with the vehicle-mounted instructions and the dispatching information, and then the vehicle-mounted computer controls the candidate vehicles to drive to the destination according to the driving route.
In another embodiment of the method for scheduling an automatic driving vehicle according to the present invention, after determining whether the density of the vehicles predicted at each road section in the driving route is less than or equal to the preset upper limit of the density of the vehicles, if the density of the vehicles predicted at each road section in the driving route is not less than or equal to the preset upper limit of the density of the vehicles, delaying a preset time, obtaining the density of the vehicles in each road section of the driving route in the next collection period, and performing the next prediction on the driving according to the density of the vehicles in the next collection period and the scheduling information.
In the driving route, if the density of the previewed vehicles is greater than the upper limit of the preset vehicle density in one or more road sections, the situation that the traffic jam occurs in the driving process can be caused if the vehicles are dispatched. Therefore, in order to avoid such a situation, after a delay of a preset time, the steps of S103 to S104 are repeated again until the predicted vehicle density of each link is less than or equal to the preset upper vehicle density limit. When the step of S103 is repeated, the current acquisition cycle at this time is the next acquisition cycle described above.
As shown in fig. 3, in another embodiment of the method for scheduling an autonomous vehicle according to the present invention, obtaining the vehicle density in each road segment of the driving route in the current collection period includes:
step S201, obtaining the number and the collection duration of vehicles passing through a vehicle density collector in the current collection period in each road section of the driving route.
Step S202, calculating the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition time, the preset vehicle length and the preset vehicle speed.
In another embodiment of the method for dispatching an automatic driving vehicle, the following formula is adopted in the step of calculating the vehicle density in each road section of the driving route in the current collection period according to the number of the vehicles, the collection time, the preset vehicle length and the preset vehicle speed:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
In the embodiment of the present invention, the vehicle density R represents the ratio of the sum of the lengths of the vehicle bodies of the vehicles passing through the vehicle density collector 6 to the distance traveled by the vehicles in the collection time period. In the step of calculating the vehicle density in the current collection period in each road section of the driving route, the road section refers to the road section where each vehicle passes through the vehicle density collector 6, and the vehicle saturation in the road section is reflected by the ratio.
In the embodiment of the present invention, since L in the formula is the length of a single vehicle body, and is a fixed value, v is the fixed running speed of the vehicle set by the system, and is also a fixed value, and t is the set collection time period, and is also a fixed value, in order to obtain the vehicle density R, the vehicle density collector 6 only needs to count the number a of vehicles passing through the vehicle density collector 6 of the road section in the time period t, and the vehicle density R can be obtained by using the above formula for operation.
For example, if the system sets the main lane vehicle running speed v to be 20m/s, sets the single vehicle length L to be 4m, and sets the collection time period t to be 10s, and if the number of vehicles a collected by the vehicle density collector 6 of a certain road section is 50 in 10s, R to be 50x4/20x10 is 100%, that is, in 10s, all vehicles passing through the vehicle density collector 6 are connected end to end, and all distances between adjacent vehicles are 0, which indicates that the vehicles are jammed in the road section.
If the system sets the running speed v of the vehicles in the main lane to be 90km/h, namely 25m/s, sets the length L of each vehicle to be 4m, sets the collection time period t to be 10s, and if the number a of the vehicles collected by the vehicle density collector 6 passing through a certain road section within 10s is 50, then R is 50x4/25x10 to be 80%, which indicates that the vehicles in the road section have a distance.
The invention also provides a method for changing lanes of a vehicle in a road, as shown in fig. 4 and 5, infrared communicators are arranged around the vehicle 5, and specifically comprise a first infrared communicator 501, a second infrared communicator 502 and a third infrared communicator 503 which are respectively arranged at the front part, the middle part and the rear part of one side of the vehicle 5, and a fourth infrared communicator 504, a fifth infrared communicator 505 and a sixth infrared communicator 506 which are respectively arranged at the front part, the middle part and the rear part of the other side of the vehicle 5. Each of first infrared communicator 501, second infrared communicator 502, third infrared communicator 503, fourth infrared communicator 504, fifth infrared communicator 505, and sixth infrared communicator 506 includes an infrared transmitting module and an infrared receiving module, and can receive and receive infrared signals.
In the first infrared communicator 501, the second infrared communicator 502, the third infrared communicator 503, the fourth infrared communicator 504, the fifth infrared communicator 505 and the sixth infrared communicator 506, each infrared signal transmitted from each infrared communicator has a respective corresponding code, so that it is possible to distinguish which position signal is received after the adjacent vehicle receives the rear infrared signal.
The radiation angle a and radiation power of the light emitted by the infrared emitting module of each infrared communicator and the receiving sensitivity of the infrared receiving module of the infrared communicator must be set to a fixed value which satisfies that only the vehicles adjacent to each other (for example, within one meter) can normally communicate with each other without affecting the running of the vehicles in a far lane (for example, more than two meters away).
When the vehicle 50 starts from the station, it travels in the direction of the arrow. After passing through the starting point 301 of the speed change lane 703 at a certain low speed, the current vehicle 50 accelerates, and before reaching the stable point 302, the speed is accelerated to the preset vehicle speed, and after passing through the stable point 302, the speed of the current vehicle 50 is the same as the speeds of all the vehicles on the first straight lane 701 and the second straight lane 702, and is a preset fixed speed. When the current vehicle 50 needs to change lanes, the current vehicle 50 sends a lane change signal to the second straight lane 702 side through the infrared transmitting module, and the infrared communicator is started after the first vehicle 51 in the second straight lane 702 receives the signal of the current vehicle 50. In the case of fig. 5, only the sixth infrared communicator 506 of the first vehicle 51 receives the infrared signal transmitted from the first infrared communicator 501 of the current vehicle 50.
The first vehicle 51 is not changed, the first infrared communicator 501 of the current vehicle 50 receives the signal sent by the sixth infrared communicator 506 of the first vehicle 51, and the current vehicle 50 decelerates slightly until the first infrared communicator 501 of the current vehicle 50 does not receive the signal sent by the sixth infrared communicator 506 of the first vehicle 51. The fifth infrared communicator 505 of the second vehicle 52 receives the signal of the current vehicle 50 and the second vehicle 52 decelerates until the second vehicle 52 does not receive the signal of the current vehicle 50.
Since the second vehicle 52 and the third vehicle 53 may be connected end to end, the second vehicle 52 decelerates, the front contact sensor 5001 of the third vehicle 53 receives a signal, and accordingly decelerates, the series of actions are completed before the current vehicle 50 reaches the lane change point 303, when the current vehicle 50 reaches the lane change point 303, the corresponding position on the left side of the lane change point 303 is empty, and after passing the lane change point 303, the vehicle merges into the second straight lane 702 to complete the lane change action. The lane change from the other lanes to the speed change lane 703 is relatively simple, and since there is no other vehicle in the speed change lane 703, the vehicle can be directly merged into the speed change lane 703 after reaching the corresponding lane change point.
According to the technical scheme, the automatic driving vehicle scheduling method provided by the embodiment of the invention comprises the steps of firstly utilizing the vehicle scheduling server to receive the information of the taking place and the information of the taking destination sent by the passenger terminal, and then generating the scheduling information according to the information of the taking place and the information of the taking destination, wherein the scheduling information comprises candidate vehicles, the preset vehicle speed and the driving route. Then obtaining the vehicle density in each road section of the driving route in the current acquisition period, previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route, judging whether the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, and if the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, sending a vehicle sending instruction and scheduling information to the candidate vehicle; according to the invention, after the vehicle dispatching server generates dispatching information according to the information of the taking place starting place and the taking destination sent by the passenger terminal, the data and the dispatching information collected by the vehicle density collector are utilized to preview the driving process, and under the condition that the previewed vehicle density does not exceed the upper limit of the preset vehicle density, the automatic driving vehicle in the current station is controlled to send out, so that the maximum traffic volume of the traffic system is ensured, the traffic jam condition on the road is avoided, and the operation efficiency of the traffic system is improved.
As shown in fig. 6, in a second aspect, an embodiment of the present invention further provides an automatic driving vehicle dispatching device, including:
the receiving unit 101 is configured to receive the information of the vehicle origin and the information of the vehicle destination sent by the passenger terminal.
And the scheduling information generating unit 102 is used for generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes.
And the vehicle density acquisition unit 103 is configured to acquire the vehicle density in the current acquisition cycle in each road section of the driving route.
And the previewing unit 104 is used for previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route.
And the judging unit 105 is used for judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit.
A sending unit 106, configured to send a departure instruction and the scheduling information to the candidate vehicle if the density of the previewed vehicles of each road segment in the driving route is less than or equal to a preset upper limit of vehicle density.
The previewing unit 107 is further configured to delay a preset time if the previewed vehicle density of each road section is not less than or equal to a preset vehicle density upper limit in the driving route, obtain the vehicle density in a next collection period in each road section of the driving route, and perform next previewing on the current driving according to the vehicle density in the next collection period and the scheduling information.
As shown in fig. 7, in another embodiment of the present invention, the vehicle density acquisition unit 103 includes:
the data acquisition unit 201 is configured to acquire the number of vehicles passing through the vehicle density collector and the collection duration in the current collection period in each road section of the driving route.
And the calculating unit 202 is configured to calculate the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition duration, and the preset vehicle length and vehicle speed.
Wherein the calculating unit calculates the vehicle density using the following formula:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
As can be seen from the foregoing technical solutions, the automatic driving vehicle scheduling apparatus according to the embodiments of the present invention may receive the information of the riding origin and the information of the riding destination sent by the passenger terminal, and then generate the scheduling information according to the information of the riding origin and the information of the riding destination, where the scheduling information includes the candidate vehicle, the preset vehicle speed, and the driving route. Then obtaining the vehicle density in each road section of the driving route in the current acquisition period, previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route, judging whether the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, and if the previewed vehicle density of each road section in the driving route is less than or equal to the preset vehicle density upper limit, sending a vehicle sending instruction and scheduling information to the candidate vehicle; according to the embodiment of the invention, after the vehicle dispatching server generates the dispatching information according to the information of the taking place starting place and the taking destination sent by the passenger terminal, the data and the dispatching information collected by the vehicle density collector are utilized to preview the driving process, and under the condition that the previewed vehicle density does not exceed the preset vehicle density upper limit, the automatic driving vehicle in the current station is controlled to send out, so that the maximum traffic volume of the traffic system is ensured, the traffic jam condition on the road is avoided, and the operation efficiency of the traffic system is improved.
In a specific implementation, the present invention further provides a computer storage medium, where the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments of the method for dispatching an autonomous vehicle provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
Those skilled in the art will readily appreciate that the techniques of the embodiments of the present invention may be implemented as software plus a required general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The same and similar parts in the various embodiments in this specification may be referred to each other. In particular, for the embodiment of the automatic vehicle dispatching device, since the embodiment is basically similar to the embodiment of the method, the description is simple, and relevant points can be referred to the description in the embodiment of the method.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention.
Claims (8)
1. An autonomous vehicle scheduling method, the method comprising:
receiving the information of a riding starting place and the information of a riding destination sent by a passenger terminal;
generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes;
acquiring the vehicle density in each road section of the driving route in the current acquisition period;
according to the vehicle density in the current acquisition period and the preset vehicle speed, performing previewing on the driving to obtain the previewed vehicle density of each road section in the driving route;
judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not;
if the density of the previewed vehicles of each road section in the driving route is less than or equal to the upper limit of the preset vehicle density, sending a departure instruction and the scheduling information to the candidate vehicle;
if the density of vehicles to be previewed in each road section is not smaller than or equal to the upper limit of the preset vehicle density in the driving route, delaying the preset time, acquiring the density of the vehicles in each road section of the driving route in the next acquisition period, and performing next previewing on the driving according to the density of the vehicles in the next acquisition period and the scheduling information.
2. The method of claim 1, wherein obtaining the density of vehicles in each segment of the driving route within a current acquisition period comprises:
acquiring the number and the acquisition duration of vehicles passing through a vehicle density acquisition unit in a current acquisition period in each road section of the driving route;
and calculating the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition time length, the preset vehicle length and the preset vehicle speed.
3. The method as claimed in claim 2, wherein the step of calculating the vehicle density in each section of the driving route in the current collection period according to the number of vehicles, the collection time, and the preset vehicle length and vehicle speed adopts the following formula:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
4. An autonomous vehicle scheduling apparatus, the apparatus comprising:
a receiving unit for receiving the information of the riding origin and the information of the riding destination sent by the passenger terminal;
the scheduling information generating unit is used for generating scheduling information according to the taking place information and the taking destination information, and the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes;
the vehicle density acquisition unit is used for acquiring the vehicle density in each road section of the driving route in the current acquisition period;
the previewing unit is used for previewing the driving according to the vehicle density in the current acquisition period and the preset vehicle speed to obtain the previewed vehicle density of each road section in the driving route;
the judging unit is used for judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not;
and the sending unit is used for sending a departure instruction and the scheduling information to the candidate vehicle if the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit.
5. The apparatus of claim 4, wherein the rehearsal unit is further configured to delay for a preset time if the density of vehicles in the driving route that are not predicted in each road segment is less than or equal to a preset upper limit of vehicle density, obtain the density of vehicles in each road segment of the driving route in a next collection period, and perform a next rehearsal on the current driving according to the density of vehicles in the next collection period and the scheduling information.
6. The apparatus according to claim 4, wherein the vehicle density acquisition unit includes:
the data acquisition unit is used for acquiring the number and the acquisition duration of vehicles passing through the vehicle density acquisition unit in the current acquisition period in each road section of the driving route;
and the calculating unit is used for calculating the vehicle density in each road section of the driving route in the current acquisition period according to the number of the vehicles, the acquisition time length, the preset vehicle length and the preset vehicle speed.
7. The apparatus according to claim 6, wherein the calculation unit calculates the vehicle density using the following formula:
where R is vehicle density, a is vehicle number, L is vehicle length, v is vehicle speed, and t is acquisition duration.
8. An autonomous vehicle dispatch system, the system comprising: the system comprises a vehicle dispatching server, a vehicle density collector and a passenger terminal;
the vehicle density collector is used for collecting the vehicle density of each road section in a preset collection period;
the vehicle dispatching server is used for receiving the information of the riding starting place and the information of the riding destination sent by the passenger terminal; generating scheduling information according to the taking place information and the taking destination information, wherein the scheduling information comprises candidate vehicles, preset vehicle speed and driving routes; acquiring the vehicle density in each road section of the driving route in the current acquisition period; according to the vehicle density in the current acquisition period and the preset vehicle speed, performing previewing on the driving to obtain the previewed vehicle density of each road section in the driving route; judging whether the previewed vehicle density of each road section in the driving route is less than or equal to a preset vehicle density upper limit or not; if the density of the previewed vehicles of each road section in the driving route is less than or equal to the upper limit of the preset vehicle density, sending a departure instruction and the scheduling information to the candidate vehicle;
the passenger terminal is used for sending the riding starting place information and the riding destination information to the vehicle scheduling server.
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| CN108447294A (en) * | 2018-03-29 | 2018-08-24 | 四川畅云出行信息技术有限公司 | A kind of net about vehicle vehicle dispatching method and system |
| CN108389418A (en) * | 2018-04-27 | 2018-08-10 | 北京智行者科技有限公司 | The dispatching method of automatic driving vehicle |
| CN109326119A (en) * | 2018-09-28 | 2019-02-12 | 上汽通用五菱汽车股份有限公司 | Dispatching method, server and the storage medium of unmanned ferry bus |
| CN109947113A (en) * | 2019-04-10 | 2019-06-28 | 厦门大学嘉庚学院 | A kind of manned automobile and pilotless automobile road surface sharing method |
| CN110136427A (en) * | 2019-04-23 | 2019-08-16 | 广东工业大学 | A kind of automatic Pilot taxi dispatching system based on car networking big data |
| CN113257011B (en) * | 2021-05-13 | 2022-07-26 | 广西交通职业技术学院 | Traffic signal control system based on vehicle-road cooperation |
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| US6411897B1 (en) * | 2000-07-10 | 2002-06-25 | Iap Intermodal, Llc | Method to schedule a vehicle in real-time to transport freight and passengers |
| CN101901546B (en) * | 2010-04-29 | 2012-06-27 | 上海迪爱斯通信设备有限公司 | Intelligent traffic dispatching and commanding and information service method and system based on dynamic information |
| CN102855753A (en) * | 2011-06-30 | 2013-01-02 | 高德软件有限公司 | Method and platform for taxi scheduling based on real-time traffic |
| EP2767963B1 (en) * | 2013-02-18 | 2021-08-25 | Harman Becker Automotive Systems GmbH | A system and a method for automatic scheduling |
| CN104680914A (en) * | 2013-11-28 | 2015-06-03 | 中国航天科工集团第三研究院第八三五七研究所 | Intelligent traffic scheduling real object simulation system based on miniature autonomous unmanned vehicle |
| CN105094767B (en) * | 2014-05-06 | 2019-02-12 | 华为技术有限公司 | Automatic driving vehicle dispatching method, vehicle scheduling server and automatic driving vehicle |
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