CN107845255A - A kind of trick car system of pilotless automobile with route - Google Patents
A kind of trick car system of pilotless automobile with route Download PDFInfo
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- CN107845255A CN107845255A CN201711162350.8A CN201711162350A CN107845255A CN 107845255 A CN107845255 A CN 107845255A CN 201711162350 A CN201711162350 A CN 201711162350A CN 107845255 A CN107845255 A CN 107845255A
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- pilotless automobile
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- 238000004891 communication Methods 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 13
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 238000000034 method Methods 0.000 claims description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Classifications
-
- 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
-
- 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
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of trick car system of pilotless automobile with route, including car-mounted terminal, car-mounted terminal to be connected by wireless network with communication server and handheld terminal, and communication server is used to dispatch the pilotless automobile in certain area coverage；Car-mounted terminal includes：Route memory cell, for storing the route of vehicle；Route Generation unit, according to user's boarding position, targeted sites and route, multiple travel routes are calculated, and travel route is sent to the traveling mechanism of pilotless automobile；Handheld terminal includes：Combined network communication unit, for receiving the data of communication server transmission, send the site information and terminal current geographic position information of input；Human-computer interaction module, for showing the cartographic information of specific region, cartographic information includes site information, there is provided site information input module.Pilotless automobile is recruited by user position by handheld terminal, and takes user in region specified sites automatically.
Description
Technical field
The invention belongs to technical field of intelligent traffic, more particularly to a kind of pilotless automobile with route
Recruit car system, the unmanned tourist coach in the garden that is particularly suitable for use in.
Background technology
Pilotless automobile is typically to plan route or travel by vehicle automatically by vehicle-mounted arithmetic element, and by vehicle-mounted automechanism
Running car is controlled by this route.The starting point of travel route is current car position, and destination is stilled need by being manually entered.It is existing
There is technical scheme mainly to input destination by vehicle-mounted human-computer interaction device by passengers inside the car.
Pilotless automobile with route, refer to fixed travel route, the get-off stop specified nobody
Driving, such as the pilotless automobile of the closing traveling in the garden such as unmanned bus, park, plant area.Nobody drives
Sail garden tourist coach has the advantages of very big compared with the manned tourist coach being commonly used, and such as saves labour turnover, saves
Fuel, without nonstandard driving behavior.At present still without the pilotless automobile technical scheme for garden visit demand.It is existing
Related technology in following defect be present：
1）Traveling destination is inputted by vehicle-mounted human-computer interaction device by passengers inside the car in the prior art, first, vehicle-mounted man-machine interaction
Equipment adds auto cost, second, can not meet that user in upper Chinese herbaceous peony, summons vehicle and the needs of specified destination.
）Planned in the prior art by vehicle-mounted arithmetical organ and calculate route or travel by vehicle, add arithmetical organ cost, and not
Travelled beneficial to control vehicle by route.
The content of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of pilotless automobile with route
Trick car system, the unmanned tourist coach in the garden that is particularly suitable for use in, user can be by handheld terminal, by the unmanned visit in garden
Car recruits user position, and tourist coach takes user in garden specified sites automatically.
The technical scheme is that：
A kind of trick car system of pilotless automobile with route, including it is arranged at the vehicle-mounted end of pilotless automobile
End, the car-mounted terminal are connected by wireless network with communication server and handheld terminal, and the communication server is used to dispatch
Pilotless automobile in certain area coverage；
The car-mounted terminal includes：
Route memory cell, for storing the route of vehicle, the route is by a series of roads described by longitude and latitude
Line point sequence is formed；
Route Generation unit, according to user's boarding position, targeted sites and route, multiple travel routes are calculated, and will row
Sail the traveling mechanism that route is sent to pilotless automobile；
Vehicle locating unit, for obtaining vehicle current geographic position information；
Combined network communication unit, for by wireless network, sending data to communication server and receiving instruction；
The communication server includes：
Car-mounted terminal communication unit, for sending instruction to car-mounted terminal, receiving data；
Handheld terminal communication unit, communicate to connect with car-mounted terminal communication unit, refer to for sending data to handheld terminal, receiving
Order；
The handheld terminal is built-in with numerical map, including：
Combined network communication unit, for receiving the data of communication server transmission, send site information and the terminal current position of input
Manage positional information；
Human-computer interaction module, for showing the cartographic information of specific region, the cartographic information includes site information, there is provided website
MIM message input module；
Positioning unit, for obtaining terminal current geographic position information.
Preferably, the travel route of the Route Generation unit generation is travelled to the travel route of terminal location including vehicle
R1 and travelled from terminal location to the travel route R2 of targeted sites.
Preferably, the generation method of the travel route R1 includes：
The air line distance of the longitude and latitude of all route point longitudes and latitudes and terminal location in route is calculated, air line distance is minimum
Route point X1 as destination；
The route point sequence that interception route R is included, chooses the sub- sequence that route point X0 to route point X1 is currently located from vehicle
Row, you can form travel route R1.
Preferably, the generation method of the travel route R2 includes：
The air line distance of all route point longitudes and latitudes and the longitude and latitude of targeted sites in route is calculated, air line distance is minimum
Route point X2 as destination；
The route point sequence that interception route R is included, choose route point X1 to route point X2 subsequence, you can form traveling
Route R2.
Preferably, the Route Generation unit first sends travel route R1 to traveling mechanism, when vehicle incoming terminal position
Postpone, the Route Generation unit sends travel route R2 to traveling mechanism or Route Generation unit after certain time
Travel route R1 and travel route R2 are sent to traveling mechanism, behind vehicle incoming terminal position, wait row after certain time
Sail mechanism action.
Compared with prior art, it is an advantage of the invention that：
It is easy to operate, cost is low, easy using deployment.Available for the running scheduling of all kinds of garden route driving vehicles, especially
It is applied to the unmanned tourist coach in garden, and handheld terminal can communicate with the car-mounted terminal in certain area coverage, can be fast
Fast-growing recruits user position into different travel routes, by the unmanned tourist coach in garden, tourist coach automatically by user with
Specified sites in garden.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is the theory diagram of the trick car system for the pilotless automobile that the present invention has route；
Fig. 2 is the structured flowchart of mounted terminal of originally dispatching a car；
Fig. 3 is the structured flowchart of communication server of the present invention；
Fig. 4 is the structured flowchart of handheld terminal of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to embodiment and join
According to accompanying drawing, the present invention is described in more detail.It should be understood that these descriptions are merely illustrative, and it is not intended to limit this hair
Bright scope.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring this
The concept of invention.
Embodiment：
Below in conjunction with the accompanying drawings, presently preferred embodiments of the present invention is described further.
As shown in figure 1, a kind of trick car system of pilotless automobile with route, including installed in unmanned
Car-mounted terminal on automobile, it is distally mounted（Such as high in the clouds）Communication server, and handheld terminal forms, and three passes through
Wireless network connects, and communication server can dispatch the pilotless automobile scheduling in certain area coverage.
As shown in Fig. 2 car-mounted terminal includes：
Route memory cell, for storing the route of tourist coach, route is by a series of routes described by longitude and latitude
Point sequence is formed；
Route Generation unit, according to user's boarding position, selection website and route, tourist coach travel route is generated, and bear
Route is assigned to unmanned tourist coach traveling mechanism by duty, vehicle is completed traveling；
Vehicle locating unit, for obtaining vehicle current geographic position；
Combined network communication unit, for by wireless network, sending data to communication server and receiving instruction；
Power module, for being powered to above unit.
As shown in figure 3, communication server is the software systems built on the desktop computer of wireless network is connected to, communication garment
Being engaged in device can be with a range of pilotless automobile of United Dispatching, according to the position of the handheld terminal of reception and targeted sites
The pilotless automobile of respective routes is searched, it is referred herein according to certain qualified pilotless automobile of conditional filtering
Condition can be the vehicle comprising website at handheld terminal and targeted sites, current vehicle position and handheld terminal distance
Far and near, travel condition of vehicle etc., it includes：
Vehicle termination communication unit, for sending instruction to car-mounted terminal, receiving data；
Handheld terminal communication unit, instructed for sending data to handheld terminal, receiving.
As shown in figure 4, handheld terminal is built-in with numerical map, can be that mobile phone etc. is included with the equipment of lower module：
Combined network communication unit, for sending instruction to communication server, receiving data, such as send site information and the end of input
Hold current geographic position information etc.；
Positioning unit, for obtaining handheld terminal current geographic position；
User interactive module, for showing the cartographic information of specific region, cartographic information comprises at least site information, there is provided website
MIM message input module, can be with the geographical position of real-time display associated vehicle.
Specific workflow is as follows：
When handheld terminal works, user mutual screen shows selectable site list to user, and user selects to refer in list
Determine website, site number S is sent to combined network communication unit by user mutual screen, and positioning unit is by user current location
Longitude and latitude P is sent to combined network communication unit, and communication server is sent to by combined network communication unit.
After the handheld terminal communication unit of communication server receives longitude and latitude P and the targeted sites of user current location,
Qualified vehicle is searched, and sends an instruction to the car-mounted terminal communication unit of corresponding vehicle, is then forwarded to by it vehicle-mounted
Terminal.
After the combined network communication unit of car-mounted terminal receives specified sites instruction, instruction is sent into Route Generation unit, by
It reads out user current location longitude and latitude P, specified sites numbering S, and Route Generation unit is read from route memory cell again
Route R, the route R1 of user current location is driven to according to following methods generation vehicle：
Route R calculates wherein all route point longitudes and latitudes and P by a series of route point Sequence compositions described by longitude and latitude
Air line distance, find minimum value r1 therein, route point X1 corresponding to r1 is that user gets on the bus a little；
The route point sequence that interception route R is included, chooses the sub- sequence that route point X0 to route point X1 is currently located from vehicle
Row, you can form route R1.
The Route Generation unit of car-mounted terminal generates vehicle according to following methods and drives to specified station from user current location P
Point S route R2：
The air line distance of all route point longitudes and latitudes and S in R is calculated, finds minimum value r2 therein, route point X2 corresponding to r2
It is user's getting off a little in specified sites；
The route point sequences that include of interception route R, choose from user and get on the bus point X1 to route point X2 subsequence, you can structure
Into route R2.
Route R1 and route R2 are sent to vehicle traveling mechanism by Route Generation unit, and control vehicle first drives to route point
X1, route point X2 is driven to again after waiting some time.Or Route Generation unit first sends travel route R1 to traveling machine
Structure, behind vehicle incoming terminal position, Route Generation unit again sends travel route R2 to traveling machine after certain time
Structure.
Vehicle continues waiting for instructing next time in X2, is connected to repeat step after instruction.
It should be appreciated that the above-mentioned embodiment of the present invention is used only for exemplary illustration or explains the present invention's
Principle, without being construed as limiting the invention.Therefore, that is done without departing from the spirit and scope of the present invention is any
Modification, equivalent substitution, improvement etc., should be included in the scope of the protection.In addition, appended claims purport of the present invention
Covering the whole changes fallen into scope and border or this scope and the equivalents on border and repairing
Change example.
Claims (5)
1. a kind of trick car system of pilotless automobile with route, including it is arranged at the vehicle-mounted end of pilotless automobile
End, it is characterised in that the car-mounted terminal is connected by wireless network with communication server and handheld terminal, the Communications service
Device is used to dispatch the pilotless automobile in certain area coverage；
The car-mounted terminal includes：
Route memory cell, for storing the route of vehicle, the route is by a series of roads described by longitude and latitude
Line point sequence is formed；
Route Generation unit, according to user's boarding position, targeted sites and route, multiple travel routes are calculated, and will row
Sail the traveling mechanism that route is sent to pilotless automobile；
Vehicle locating unit, for obtaining vehicle current geographic position information；
Combined network communication unit, for by wireless network, sending data to communication server and receiving instruction；
The communication server includes：
Car-mounted terminal communication unit, for sending instruction to car-mounted terminal, receiving data；
Handheld terminal communication unit, communicate to connect with car-mounted terminal communication unit, refer to for sending data to handheld terminal, receiving
Order；
The handheld terminal is built-in with numerical map, including：
Combined network communication unit, for receiving the data of communication server transmission, send site information and the terminal current position of input
Manage positional information；
Human-computer interaction module, for showing the cartographic information of specific region, the cartographic information includes site information, there is provided website
MIM message input module；
Positioning unit, for obtaining terminal current geographic position information.
2. the trick car system of the pilotless automobile according to claim 1 with route, it is characterised in that described
The travel route of Route Generation unit generation is travelled to the travel route R1 of terminal location including vehicle and travelled from terminal location
To the travel route R2 of targeted sites.
3. the trick car system of the pilotless automobile according to claim 2 with route, it is characterised in that described
Travel route R1 generation method includes：
The air line distance of the longitude and latitude of all route point longitudes and latitudes and terminal location in route is calculated, air line distance is minimum
Route point X1 as destination；
The route point sequence that interception route R is included, chooses the sub- sequence that route point X0 to route point X1 is currently located from vehicle
Row, you can form travel route R1.
4. the trick car system of the pilotless automobile according to claim 3 with route, it is characterised in that described
Travel route R2 generation method includes：
The air line distance of all route point longitudes and latitudes and the longitude and latitude of targeted sites in route is calculated, air line distance is minimum
Route point X2 as destination；
The route point sequence that interception route R is included, choose route point X1 to route point X2 subsequence, you can form traveling
Route R2.
5. the trick car system of the pilotless automobile according to claim 2 with route, it is characterised in that described
Route Generation unit first sends travel route R1 to traveling mechanism, behind vehicle incoming terminal position, the Route Generation list
Member is sent travel route R1 and traveling travel route R2 to traveling mechanism or Route Generation unit after certain time
Route R2 is sent to traveling mechanism, and behind vehicle incoming terminal position, traveling mechanism acts after waiting certain time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711162350.8A CN107845255A (en) | 2017-11-21 | 2017-11-21 | A kind of trick car system of pilotless automobile with route |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711162350.8A CN107845255A (en) | 2017-11-21 | 2017-11-21 | A kind of trick car system of pilotless automobile with route |
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| CN107845255A true CN107845255A (en) | 2018-03-27 |
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ID=61679706
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| CN201711162350.8A Pending CN107845255A (en) | 2017-11-21 | 2017-11-21 | A kind of trick car system of pilotless automobile with route |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108646764A (en) * | 2018-07-25 | 2018-10-12 | 吉林大学 | Automatic driving vehicle and control method based on fixed course, device and system |
| 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 |
| CN109255971A (en) * | 2018-11-26 | 2019-01-22 | 清华大学苏州汽车研究院（吴江） | A kind of trick vehicle system of pilotless automobile |
| CN109737979A (en) * | 2018-12-29 | 2019-05-10 | 同济大学 | A kind of storage method and system for automatic driving car course line |
| CN109767638A (en) * | 2018-12-17 | 2019-05-17 | 北京百度网讯科技有限公司 | Control method for vehicle, device, equipment and computer readable storage medium |
| CN110187711A (en) * | 2019-07-04 | 2019-08-30 | 爱驰汽车有限公司 | Trick vehicle control method, system, equipment and the storage medium of autonomous driving vehicle |
| CN111612978A (en) * | 2019-02-25 | 2020-09-01 | 郑州宇通客车股份有限公司 | Shared riding system and method for unmanned vehicle |
| CN112673387A (en) * | 2018-07-11 | 2021-04-16 | J·米兹拉希 | Method and system for defined autonomous services |
| CN113160553A (en) * | 2021-01-28 | 2021-07-23 | 上海同仕交通科技有限公司 | Driverless direction-based vehicle-road cooperative information communication method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
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| CN109255971A (en) * | 2018-11-26 | 2019-01-22 | 清华大学苏州汽车研究院（吴江） | A kind of trick vehicle system of pilotless automobile |
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| CN109737979B (en) * | 2018-12-29 | 2021-09-03 | 同济大学 | Storage method and system for unmanned vehicle air route |
| CN111612978A (en) * | 2019-02-25 | 2020-09-01 | 郑州宇通客车股份有限公司 | Shared riding system and method for unmanned vehicle |
| CN110187711A (en) * | 2019-07-04 | 2019-08-30 | 爱驰汽车有限公司 | Trick vehicle control method, system, equipment and the storage medium of autonomous driving vehicle |
| CN110187711B (en) * | 2019-07-04 | 2022-05-10 | 爱驰汽车有限公司 | Method, system, device and storage medium for controlling calling of autonomous vehicle |
| CN113160553A (en) * | 2021-01-28 | 2021-07-23 | 上海同仕交通科技有限公司 | Driverless direction-based vehicle-road cooperative information communication method and system |
| CN113160553B (en) * | 2021-01-28 | 2022-09-23 | 上海同仕交通科技有限公司 | Driverless direction-based vehicle-road cooperative information communication method and system |
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Application publication date: 20180327 |