CN107784846A - Unmanned taxi vehicle control and control method - Google Patents
Unmanned taxi vehicle control and control method Download PDFInfo
- Publication number
- CN107784846A CN107784846A CN201610726268.2A CN201610726268A CN107784846A CN 107784846 A CN107784846 A CN 107784846A CN 201610726268 A CN201610726268 A CN 201610726268A CN 107784846 A CN107784846 A CN 107784846A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—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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- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
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Abstract
Unmanned taxi vehicle control and control method.The system includes：Information memory cell, information receiving unit, route searching unit, display unit, passenger's selection result receiving unit and control unit.The control system and control method, the car information that goes out that can be sent according to allotment center searches optional prostitution route in the additional detailed map information to prestore, see a visitor out route and return stop line, and optimal route is selected as selected prostitution route from optional prostitution route and time stop line according to the first condition metric and selectes back stop line, simultaneously, optional route of seing a visitor out also is shown to passenger and route of seing a visitor out is determined according to the selection of passenger, realize that unmanned taxi can be along selected prostitution route, what passenger determined sees a visitor out route with stop line traveling is selected back to complete to pick passenger's task and the purpose for the website that need to be stopped is returned to after passenger's task is picked in completion, more targetedly service is provided for passenger, make unmanned taxi more efficient, safety.
Description
Technical field
The present invention relates to unmanned technical field, more particularly to a kind of unmanned taxi vehicle control and controlling party
Method.
Background technology
One of hot spot technology that unmanned technology is always studied in the industry, it is unmanned compared with manned vehicle
Vehicle has more efficient, safer, the more low advantage of operation cost, with automatic driving vehicle research and development and update,
In the near future, automatic driving vehicle will be applied to taxi field.
However, unmanned taxi can't realize the scheduling for timely responding to control centre at present, it is detailed from what is prestored
Optional prostitution route is inquired about in map, see a visitor out route and time stop line, and according to the selection of certain condition metric and passenger
The functions such as preferred routes are selected from above-mentioned optional route.
The content of the invention
The present invention is to make up the deficiencies in the prior art, there is provided a kind of unmanned taxi vehicle control and controlling party
Method, the system and method can realize according to control centre scheduling instruction and passenger further selection control it is unmanned go out
Hire a car and pick passenger according to the request of passenger.
To reach above-mentioned purpose, the present invention uses following technology：Unmanned taxi vehicle control, including：
Information memory cell, store the additional detailed map information of road；
Information receiving unit, receive that control centre sends goes out car information, it is described go out car information comprise at least passenger's
Boarding position information and positional information of getting off, can also include additional information；
Route searching unit, search by the initial position of taxi to the optional prostitution route of passenger loading position, by multiplying
Objective boarding position to passenger getting off car position it is optional see a visitor out route and by passenger getting off car position to optional go back to of website station need to be stopped
Route；
Display unit, for showing optional route of seing a visitor out that route searching unit is found；
Passenger's selection result receiving unit, the route of seing a visitor out selected for receiving passenger；
Control unit, selected prostitution road is selected from optional prostitution route and optional time stop line based on the first condition metric
Line and select back stop line；The selected prostitution route running in taxi edge is controlled to passenger loading position；Taxi is controlled along passenger
Selected route running of seing a visitor out is to passenger getting off car position；Control taxi need to stop website along selecting back stop line and be back to.
First condition metric is at least one of flatness of crowding or road of path length or route.
The control system also includes scope and presets unit, is stored with and is searching optional prostitution route, optional road of seing a visitor out respectively
The initial lookup scope preset value correspondingly used when line and optional time stop line and each value added for expanding seeking scope.
Control system of the present invention also includes optional route assessment unit of seing a visitor out, for according to the first different condition metrics pair
Optional route of seing a visitor out is assessed, and display unit shows the assessment result of optional see a visitor out route and optional route of seing a visitor out simultaneously.
Above-mentioned control system can also include that website determining unit need to be stopped, for centered on passenger getting off car position
The website that taxi need to stop is determined based on the second condition metric in specified range.
Second condition metric be in the distance or website of website and passenger getting off car position in the quantity of taxi extremely
Few one kind.
Unmanned taxi control method is also claimed in the present invention, comprises the following steps：
S1：Receive that control centre sends goes out car information, it is described go out car information comprise at least the boarding position of passenger and believe
Cease and positional information of getting off；
S2：Optional prostitution route is searched, optimal route is selected from optional prostitution route based on the first condition metric afterwards
As selected prostitution route, and control boarding position of the taxi along selected prostitution route running to passenger；
S3：Search and show optional route of seing a visitor out, meanwhile, seing a visitor out of receiving that passenger selectes and controls taxi along multiplying at route
The selected route running of seing a visitor out of visitor is to passenger getting off car position；
S4：Optional time stop line is searched, optimal route is selected from optional time stop line based on the first condition metric afterwards
As selecting back stop line, and taxi is controlled extremely to stop website along route running of standing back select.
Further, optional prostitution route is searched in S2, S3 and S4, optional sees a visitor out route and optional time stop line specifically wraps
Include：
Default initial lookup scope preset value and the value added for expanding seeking scope every time；
Optional prostitution route, optional route and the optional go back to stop of seing a visitor out are searched in the range of corresponding default initial lookup
Line, if not finding, expand seeking scope by default value added and continue to search for, untill finding.
S3 also comprises the following steps in this method:
Optional route of seing a visitor out is assessed according to the first different condition metrics；
Show the result to optional route assessment of seing a visitor out.
S4 specifically comprises the following steps in this method：
S4.1：Determine that taxi need to stop based on the second condition metric in the specified range centered on passenger getting off car position
The website leaned on；
S4.2：Website need to be stopped according to the taxi of determination and search optional time stop line, afterwards based on the first condition metric
Select optimal route to be used as from optional time stop line and select back stop line, and control taxi edge to select back station route running extremely
Website need to be stopped.
Compared with prior art, the beneficial effects of the invention are as follows：The unmanned taxi vehicle control and control method,
The car information that goes out that can be sent according to control centre is searched optional prostitution route in the additional detailed map information to prestore, seed a visitor out
Route and time stop line, and select optimal route to make from optional prostitution route and time stop line according to the first condition metric
For selected prostitution route and stop line is selected back, meanwhile, optional route of seing a visitor out also is shown to passenger and according to the selection of passenger
It is determined that route of seing a visitor out, seing a visitor out of realizing that unmanned taxi can determine along selected prostitution route, passenger and is selected back route
Stop line is advanced to complete to pick passenger's task and the purpose for the website that need to be stopped is returned to after passenger's task is picked in completion, is more had
Service pointedly is provided for passenger, makes unmanned taxi more efficient, safe.
Brief description of the drawings
Fig. 1 is the structure chart of the unmanned taxi vehicle control of the present invention；
Fig. 2 is the flow chart of unmanned taxi control method.
Embodiment
Below by embodiment, present invention technical scheme to be protected is described in detail.
Optional first condition metric is as follows in following embodiments, but is not limited to following three kinds, and control unit is on selection road
Can the condition metric based on one or more during line.
1st, the first condition metric is path length：
Wherein, optimal route is selected to include as selected prostitution route from optional prostitution route based on the first condition metric
Following steps：
The path length value of optional prostitution route is obtained by cartographic information；
The minimum optional prostitution route of length value is selected as selected prostitution route.
Similarly, being selected optimal route conduct to select back stop line from optional time stop line based on the first condition metric is included
Following steps：
The path length value of optional time stop line is obtained by cartographic information；
Optional time minimum stop line of selection length value, which is used as, selectes back stop line.
2nd, the first condition metric is the crowding of route：
Wherein, optimal route is selected to include as selected prostitution route from optional prostitution route based on the first condition metric
Following steps：
The crowding evaluation of estimate of optional prostitution route is obtained by cartographic information, wherein, the crowding evaluation of every route
Value can be by obtaining and being stored in cartographic information to the investigation statisticses of each route in advance；
The optional prostitution route of crowding evaluation of estimate minimum (i.e. most smooth) is selected as selected prostitution route；
Similarly, being selected optimal route conduct to select back stop line from optional time stop line based on the first condition metric is included
Following steps：
The crowding evaluation of estimate of optional time stop line is obtained by cartographic information；
Optional time stop line of selection crowding evaluation of estimate minimum (i.e. most smooth), which is used as, selectes back stop line.
3rd, the first condition metric is the flatness of road：
Wherein, optimal route is selected to include as selected prostitution route from optional prostitution route based on the first condition metric
Following steps：
The road evenness evaluation of estimate of optional prostitution route is obtained by cartographic information, wherein, the road of every route is put down
Whole degree evaluation of estimate can be by obtaining and being stored in cartographic information to the investigation statisticses of each route in advance；
The optional prostitution route of road evenness evaluation of estimate maximum (i.e. most smooth) is selected as selected prostitution route；
Similarly, being selected optimal route conduct to select back stop line from optional time stop line based on the first condition metric is included
Following steps：
The road evenness evaluation of estimate of optional time stop line is obtained by cartographic information；
Optional time stop line of selection road evenness evaluation of estimate maximum (i.e. most smooth), which is used as, selectes back stop line.
Embodiment 1
Unmanned taxi vehicle control includes：It is information memory cell, information receiving unit, route searching unit, aobvious
Show unit, passenger's selection result receiving unit and control unit.
Information memory cell, store the additional detailed map information of road；
Information receiving unit, receive that control centre sends goes out car information, it is described go out car information comprise at least passenger's
Boarding position information and positional information of getting off, can also include additional information, such as：Specify arrival time of taxi etc.；
Route searching unit, search by the initial position of taxi to the optional prostitution route of passenger loading position, by multiplying
Objective boarding position to passenger getting off car position it is optional see a visitor out route and by passenger getting off car position to optional go back to of website station need to be stopped
Route；
Display unit, for showing optional route of seing a visitor out that route searching unit is found；
Passenger's selection result receiving unit, the route of seing a visitor out selected for receiving passenger；
Control unit, optimal route is selected as selected prostitution road from optional prostitution route based on the first condition metric
Line, optimal route is selected to control taxi edge as stop line is selected back from optional time stop line based on the first condition metric
Selected prostitution route running is to the boarding position of passenger, and the route running of seing a visitor out that control taxi is selected along passenger is to passenger getting off car
Position, control taxi need to extremely stop website along station route running is selected back.
Embodiment 2
Unmanned taxi vehicle control includes：It is information memory cell, information receiving unit, route searching unit, aobvious
Show that unit, passenger's selection result receiving unit, control unit, scope preset unit, need to stop website determining unit and can select and recommend
Objective route assessment unit.
The present embodiment and the difference of embodiment 1 are that the present embodiment is additionally provided with scope and presets unit, is stored with and is looking into respectively
Look for optional prostitution route, it is optional see a visitor out route and optional time stop line when the initial lookup scope preset value that correspondingly uses and every time
Expand the value added of seeking scope, specific lookup method is as follows：Optional connect is searched in the range of corresponding initial lookup first
Objective route, optional see a visitor out route and optional time stop line, if not finding, by corresponding value added expand seeking scope after
It is continuous to search, untill finding.
The system also includes optional route assessment unit of seing a visitor out, for being seed a visitor out according to the first different condition metrics to optional
Route is assessed, display unit show it is optional see a visitor out route while also show the assessment result of each optional route of seing a visitor out,
Such as：Route A is most flat, route B length is most short, route C is most smooth etc..
Taxi is completed to need the website of stop to be determined by control centre after picking task, is then forwarded to information reception
Unit, or determined by the control system to stop website, in the present embodiment, the control system include stopping website determine it is single
Member, for determining the station that taxi need to stop based on the second condition metric in the specified range centered on passenger getting off car position
Point.
Optional second condition metric is as follows, but be not limited to it is following two, it is determined that can be with base during taxi bus stop point
Selected in following one or more kinds of condition metric.
1st, the second condition metric is website and the distance of passenger getting off car position
It is determined that the process that need to stop website is as follows：
(1) whole websites in cartographic information acquisition specified range are searched；
(2) each website and the distance of passenger getting off car position in whole websites are obtained；
(3) using the website most short with passenger getting off car positional distance as the website after determining.
2nd, the second condition metric is the quantity of taxi in website
It is determined that the process that need to stop website is as follows：
(1) whole websites in the cartographic information acquisition specified range are searched；
(2) when reaching passenger getting off car position, the taxi in each website into control centre's transmission acquisition specified range
The solicited message of quantity simultaneously receives the feedback information that control centre is sent；
(3) website of the minimum number of taxi in specified range is defined as what taxi need to be stopped according to feedback information
Website.
Wherein, above-mentioned specified range, which is included in, determines to stop the initial lookup scope preset value that is used during website and every time
Expand the value added of seeking scope, above-mentioned numerical value can be stored in scope and preset in unit, specifically, need to stop website searching
When, website determining unit need to be stopped and determine that taxi need to stop based on the second condition metric first in the range of default initial lookup
The website leaned on, if not finding website in the range of initial lookup, expand seeking scope by default value added and continue to search for, directly
Untill finding, wherein, the value added for expanding seeking scope every time can be definite value, can also be with the increase of the number of lookup
And increase.
Embodiment 3
Unmanned taxi control method includes：
S1：Receive that control centre sends goes out car information, it is described go out car information comprise at least the boarding position of passenger and believe
Cease and positional information of getting off；What is received goes out car information and can also include additional information, such as：During the arrival for the taxi specified
Between, the stop site information of taxi etc.；
S2：Optional prostitution route is searched, optimal route is selected from optional prostitution route based on the first condition metric afterwards
As selected prostitution route, and control boarding position of the taxi along selected prostitution route running to passenger；
S3：Search and show optional route of seing a visitor out, receive the route of seing a visitor out that passenger selectes, according to the first different measurement bars
Part is assessed optional route of seing a visitor out, and shows the result to optional route assessment of seing a visitor out；Control taxi is selected along passenger
Route running see a visitor out to passenger getting off car position；
S4：Optional time stop line is searched, optimal route is selected from optional time stop line based on the first condition metric afterwards
As selecting back stop line, and taxi is controlled extremely to stop website along route running of standing back select.
S4.1：Determine that taxi need to stop based on the second condition metric in the specified range centered on passenger getting off car position
The website leaned on；
S4.2：Website need to be stopped according to the taxi of determination and search optional time stop line, afterwards based on the first condition metric
Select optimal route to be used as from optional time stop line and select back stop line, and control taxi edge to select back station route running extremely
Website need to be stopped.
Wherein, optional prostitution route step S2, is searched in S3 and S4, optional route and the optional time stop line of seing a visitor out can be with
Comprise the following steps：
Default initial lookup scope preset value and the value added for expanding seeking scope every time；
Optional prostitution route, optional route and the optional go back to stop of seing a visitor out are searched in the range of corresponding default initial lookup
Line, if not finding, expand seeking scope by default value added and continue to search for, untill finding.
It is described above, the only preferable embodiment of the invention, but the protection domain of the invention is not
This is confined to, any one skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical scheme of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection domain it
It is interior.
Claims (10)
1. unmanned taxi vehicle control, it is characterised in that including:
Information memory cell, store the additional detailed map information of road；
Information receiving unit, receive that control centre sends goes out car information, it is described go out car information comprise at least getting on the bus for passenger
Positional information and positional information of getting off；
Route searching unit, search optional prostitution route, optional route and the optional time stop line of seing a visitor out；
Display unit, for showing optional route of seing a visitor out that route searching unit is found；
Passenger's selection result receiving unit, the route of seing a visitor out selected for receiving passenger；
Control unit, selected based on the first condition metric from optional prostitution route and optional time stop line selected prostitution route and
Select back stop line；The selected prostitution route running in taxi edge is controlled to passenger loading position；Control taxi is selected along passenger
Route running of seing a visitor out to passenger getting off car position；Control taxi need to stop website along selecting back stop line and be back to.
2. unmanned taxi vehicle control according to claim 1, it is characterised in that first condition metric is
At least one of flatness of crowding or road of path length or route.
3. unmanned taxi vehicle control according to claim 1, it is characterised in that the control system also includes model
Enclose default unit, be stored with respectively search optional prostitution route, it is optional see a visitor out route and optional time stop line when corresponding use
Initial lookup scope preset value and every time expand seeking scope value added.
4. unmanned taxi vehicle control according to claim 1, it is characterised in that the control system also includes can
Objective route assessment unit is selected and recommended, for being assessed according to the first different condition metrics optional route of seing a visitor out, display unit
The assessment result of optional see a visitor out route and optional route of seing a visitor out is shown simultaneously.
5. unmanned taxi vehicle control according to claim 1, it is characterised in that the control system also includes needing
Website determining unit is stopped, for being determined in the specified range centered on passenger getting off car position based on the second condition metric
Hire a car the website that need to be stopped.
6. unmanned taxi dispatching system according to claim 5, it is characterised in that second condition metric is
At least one of quantity of taxi in the distance or website of website and passenger getting off car position.
7. unmanned taxi control method, it is characterised in that comprise the following steps：
S1：What reception control centre was sent goes out car information；
S2：Optional prostitution route is searched, optimal route conduct is selected from optional prostitution route based on the first condition metric afterwards
Selected prostitution route, and control boarding position of the taxi along selected prostitution route running to passenger；
S3：Search and show optional route of seing a visitor out, meanwhile, seing a visitor out of receiving that passenger selectes and controls taxi to be selected along passenger at route
Fixed route running of seing a visitor out is to passenger getting off car position；
S4：Optional time stop line is searched, optimal route conduct is selected from optional time stop line based on the first condition metric afterwards
Stop line is selected back, and controls taxi extremely to stop website along station route running is selected back.
8. unmanned taxi control method according to claim 7, it is characterised in that being searched in S2, S3 and S4 can
Select prostitution route, optional see a visitor out route and optional time stop line specifically includes：
Default initial lookup scope preset value and the value added for expanding seeking scope every time；
Optional prostitution route, optional see a visitor out route and optional time stop line are searched in the range of corresponding default initial lookup,
If not finding, expand seeking scope by default value added and continue to search for, untill finding.
9. unmanned taxi control method according to claim 7, it is characterised in that S3 also comprises the following steps：
Optional route of seing a visitor out is assessed according to the first different condition metrics；
Show the result to optional route assessment of seing a visitor out.
10. unmanned taxi control method according to claim 7, it is characterised in that S4 specifically includes following step
Suddenly：
S4.1：Determine what taxi need to be stopped based on the second condition metric in the specified range centered on passenger getting off car position
Website；
S4.2：Website need to be stopped according to the taxi of determination and search optional time stop line, afterwards based on the first condition metric from can
Select back and optimal route is selected in the line of stop as select back stop line, and control taxi edge to select back route running of standing to need to stop
Pull in a little.
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| CN201610726268.2A CN107784846A (en) | 2016-08-25 | 2016-08-25 | Unmanned taxi vehicle control and control method |
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| CN201610726268.2A CN107784846A (en) | 2016-08-25 | 2016-08-25 | Unmanned taxi vehicle control and control method |
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| CN108986505A (en) * | 2018-04-27 | 2018-12-11 | 北京智行者科技有限公司 | Driving service fee calculation method based on automatic Pilot technology |
| CN109410624A (en) * | 2018-12-08 | 2019-03-01 | 浙江久安科技有限公司 | A kind of intellectual traffic control 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 |
| CN111009114A (en) * | 2018-10-06 | 2020-04-14 | 徐泱忠 | Vehicle renting intelligent scheduling management system and vehicle-mounted terminal and vehicle communication protocol thereof |
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