CN110531761A - Unmanned vehicle dispatching method, device and the system for executing unmanned vehicle dispatching method - Google Patents
Unmanned vehicle dispatching method, device and the system for executing unmanned vehicle dispatching method Download PDFInfo
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- CN110531761A CN110531761A CN201910764910.XA CN201910764910A CN110531761A CN 110531761 A CN110531761 A CN 110531761A CN 201910764910 A CN201910764910 A CN 201910764910A CN 110531761 A CN110531761 A CN 110531761A
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- unmanned vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The present invention relates to unmanned vehicle dispatching method, device and the systems for executing unmanned vehicle dispatching method, belong to unmanned vehicle technology field.This method comprises: determining starting area and land；Target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；Dispatch command is sent to the target unmanned vehicle；The dispatch command is travelled according to the driving path to the land for controlling the target unmanned vehicle from the starting area.Above-mentioned technical proposal, solving the problems, such as can not multizone manage and dispatch to unmanned vehicle.The more unmanned vehicles that can be dispatched in unmanned region travel in multiple regions.
Description
Technical field
The present invention relates to unmanned vehicle technology fields, more particularly to unmanned vehicle dispatching method, device, execute unmanned vehicle scheduling
System, unmanned vehicle controlling equipment and the storage medium of method.
Background technique
With the development of science and technology and the improvement of people's living standards, demand of the people to trip are higher and higher.Nobody drives
Sailing technology is current emerging technology, it can greatly reduce the violent conflict event that driver and passenger may occur, also can
Vehicle operating cost is enough reduced, the safety of vehicle operation is improved.With the quantity of automatic driving vehicle (abbreviation unmanned vehicle) with
And the increase of driver area, how the large number of vehicle of manage and dispatch difference operational area, be to realize to routinize management
A major issue.
In realizing process of the present invention, inventor has found that at least there are the following problems in traditional approach: the current overwhelming majority
Vehicle management system only support the management to conventional truck information, do not support to automatic driving vehicle management.Certainly, at present
Unmanned management system has been had already appeared, it is same although these unmanned management systems can be managed unmanned vehicle
Sample cannot achieve the multizone manage and dispatch of unmanned vehicle.
Summary of the invention
Based on this, the embodiment of the invention provides unmanned vehicle dispatching method, device, executes unmanned vehicle dispatching method and be
System, unmanned vehicle controlling equipment and storage medium, are able to achieve the multizone manage and dispatch of unmanned vehicle.
The content of the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the present invention provides a kind of unmanned vehicle dispatching method, comprising the following steps: determine starting area
And land；Target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the nothing in unmanned region
People's vehicle；According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；To the target
Unmanned vehicle sends dispatch command；The dispatch command is for controlling the target unmanned vehicle from the starting area according to the row
Route is sailed to the land.
In one embodiment, described the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: it is determining with it is described
The nearest candidate unmanned vehicle of starting area distance, as the target unmanned vehicle.
In one embodiment, described the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: receive unmanned vehicle
Specify information determines candidate unmanned vehicle corresponding with the unmanned vehicle specify information, as the target unmanned vehicle.
In one embodiment, the determining starting area and the step of land, comprising: receive control centre's hair
The vehicle dispatching information sent；According to the vehicle dispatching information, starting area and end are determined in the unmanned region
Point region.
In one embodiment, the vehicle dispatching information includes at least one of the following: scheduler task and recruits vehicle task；Institute
The step of stating the driving path that the target unmanned vehicle is calculated according to the starting area and the land, comprising: if
The vehicle dispatching information is scheduler task, and calculating is travelled from the starting area to the path of the land, obtains institute
State the driving path of target unmanned vehicle；If the vehicle dispatching information is to recruit vehicle task, passenger is determined according to the trick vehicle task
The transfer region at place, calculating are travelled to the transfer region from the starting area and are travelled from the transfer region to described
The path of land obtains the driving path of the target unmanned vehicle.
In one embodiment, further comprising the steps of: according to the vehicle dispatching information, to send vehicle to target unmanned vehicle
Scheduling request；Receive the response message that the target unmanned vehicle is returned for vehicle scheduling request；The response is believed
Breath is sent to the control centre.
In one embodiment, described before the step of determining target unmanned vehicle in candidate unmanned vehicle, further includes: to receive
The logging request of unmanned vehicle to be selected verifies the logging request；If the logging request is proved to be successful, determine it is described to
It selects unmanned vehicle to login successfully, the unmanned vehicle to be selected is determined as candidate unmanned vehicle, and send and log in the unmanned vehicle to be selected
Successful response message；If the logging request authentication failed, the unmanned vehicle login failure to be selected is determined, to the nothing to be selected
The response message of people's vehicle transmission login failure.
In one embodiment, it is described determine the step of unmanned vehicle to be selected logins successfully after, further includes: receive to
The initial position for selecting unmanned vehicle to send；If the initial position is located at unmanned areas outside, the determining and initial position
The nearest unmanned region of distance, as unmanned prime area；Driving instruction is sent to the unmanned vehicle to be selected；It is described
Driving instruction is travelled from the initial position to the unmanned prime area for controlling the unmanned vehicle to be selected.
In one embodiment, described the step of sending dispatch command to the target unmanned vehicle, comprising: according to described
Point region, the land and the driving path, obtain map file；According to the map file, Xiang Suoshu target
Unmanned vehicle sends map pushed information；The map pushed information is for controlling the target unmanned vehicle, to the map file
It carries out distorting verifying, if determining that the map file is not tampered with according to the result for distorting verifying, instruction information is not distorted in return；
Receive the target unmanned vehicle return does not distort instruction information, and Xiang Suoshu target unmanned vehicle sends dispatch command.
In one embodiment, after described the step of sending dispatch command to the target unmanned vehicle, further includes: obtain
The travel condition of vehicle of the target unmanned vehicle in the process of moving；Store the travel condition of vehicle.
Second aspect, the embodiment of the present invention provide a kind of unmanned vehicle dispatching device, comprising: area determination module, for true
Determine starting area and land；Unmanned vehicle determining module, for determining target unmanned vehicle from candidate unmanned vehicle；The time
Selecting unmanned vehicle is the unmanned vehicle in unmanned region；Driving path computing module, for according to the starting area and institute
Land is stated, the driving path of the target unmanned vehicle is calculated；Dispatch command sending module is used for the target unmanned vehicle
Send dispatch command；The dispatch command is for controlling the target unmanned vehicle from the starting area according to the driving path
It travels to the land.
The third aspect, the embodiment of the present invention provide a kind of system for executing unmanned vehicle dispatching method, the system comprises: net
Control centre, server and the candidate unmanned vehicle of network connection；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；Institute
Control centre is stated, for sending vehicle dispatching information to the server；The server, for being believed according to the vehicle scheduling
Breath, determines starting area and land；Target unmanned vehicle is determined from the candidate unmanned vehicle；It is described candidate unmanned vehicle be
Unmanned vehicle in unmanned region；According to the starting area and the land, the target unmanned vehicle is calculated
Driving path；Dispatch command is sent to the target unmanned vehicle；The target unmanned vehicle, for according to the dispatch command from institute
Starting area is stated to travel according to the driving path to the land.
In one embodiment, the control centre is logged in administrator's account；The control centre is also used to obtain pipe
The selected unmanned region of reason person's account determines the candidate unmanned vehicle in the selected unmanned region, as
Unmanned vehicle is selected；The context information for having selected unmanned vehicle is obtained, the context information is shown on interface.
In one embodiment, the control centre is also used to carry out Authority Verification to administrator's account, if permission
Authentication failed exports the prompt information of authentication failed.
Fourth aspect, the embodiment of the present invention provides a kind of unmanned vehicle controlling equipment, including memory and processor, described to deposit
Reservoir is stored with computer program, and the processor performs the steps of determining starting area when executing the computer program
And land；Target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the nothing in unmanned region
People's vehicle；According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；To the target
Unmanned vehicle sends dispatch command；The dispatch command is for controlling the target unmanned vehicle from the starting area according to the row
Route is sailed to the land.
5th aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
The computer program performs the steps of determining starting area and land when being executed by processor；From it is candidate nobody
Target unmanned vehicle is determined in vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；According to the starting area with
And the land, calculate the driving path of the target unmanned vehicle；Dispatch command is sent to the target unmanned vehicle；It is described
Dispatch command is travelled according to the driving path to the terminal area for controlling the target unmanned vehicle from the starting area
Domain.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that determines starting area and end
Point region, determines target unmanned vehicle from the candidate unmanned vehicle in unmanned region, calculates the driving path of target unmanned vehicle, to
Target unmanned vehicle sends dispatch command, travels region to terminal according to driving path to control target unmanned vehicle from starting area.
The more unmanned vehicles that can be dispatched in unmanned region travel in multiple regions.
Detailed description of the invention
Fig. 1 is the applied environment figure of unmanned vehicle dispatching method in one embodiment；
Fig. 2 is the flow diagram of unmanned vehicle dispatching method in one embodiment；
Fig. 3 is the schematic diagram that target unmanned vehicle travels in multiple regions in one embodiment；
Fig. 4 is the flow diagram of unmanned vehicle dispatching method in another embodiment；
Fig. 5 is the flow diagram of unmanned vehicle dispatching method in further embodiment；
Fig. 6 is the display schematic diagram at control centre interface in one embodiment；
Fig. 7 is the display schematic diagram at control centre interface in one embodiment；
Fig. 8 is the structural block diagram of unmanned vehicle dispatching device in one embodiment；
Fig. 9 is the structural block diagram that the system of unmanned vehicle dispatching method is executed in one embodiment；
Figure 10 is the internal structure of computer equipment in one embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
It is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Unmanned vehicle dispatching method provided by the present application can be applied in application environment as shown in Figure 1.The application environment
In include that server 101 and unmanned vehicle 102 (show 3 unmanned vehicles, may include more in actual application scenarios in Fig. 1
Or less unmanned vehicle), network communication can be carried out between server 101 and unmanned vehicle 102.Unmanned vehicle 102 is located at different
In region (it is of course also possible to being located at the same area).Wherein, server 101 determines mesh in the unmanned vehicle in unmanned region
It marks unmanned vehicle (as shown in figure 1 plus unmanned vehicle of dotted line frame), and controls the target unmanned vehicle and travel region to terminal from initiation region.
Server 101 can realize with the server cluster of independent server either multiple servers composition, certainly, server
101 also could alternatively be terminal device, and terminal device can be, but not limited to be various personal computers, laptop, intelligence
Mobile phone and tablet computer.Unmanned vehicle 102 can be various types of pilotless automobiles.
The embodiment of the present invention provide a kind of unmanned vehicle dispatching method, device, the system for executing unmanned vehicle dispatching method, nobody
Vehicle controlling equipment and storage medium.It is described in detail separately below.
In one embodiment, as shown in Fig. 2, providing a kind of unmanned vehicle dispatching method.It is applied in Fig. 1 in this way
101 end of server for be illustrated, comprising the following steps:
S201, starting area and land are determined.
First choice explains unmanned vehicle, and unmanned vehicle refers to pilotless automobile, is one kind of intelligent automobile, also referred to as
Wheeled mobile robot relies primarily on the interior intelligent driving instrument based on computer system to realize unpiloted mesh
, the embodiment of the present invention to the type of unmanned vehicle with no restrictions.The candidate unmanned vehicle quantity possible more than one that server is connected
It is a, therefore, candidate unmanned vehicle can be numbered, so that each candidate unmanned vehicle has unique ID.Further, nothing
Equipped with computer system on people's vehicle, therefore, they can be divided by the information that the computer system sends server
Analysis, the adjustment travel speed such as detection information that can also be sent according to detector and direction (such as: detecting 50 meters of front has barrier
Hinder object, then stop travelling).
Starting area refers to the corresponding start position of current scheduling, and land refers to the corresponding terminal of current scheduling
Position.Further, starting area and land can be the region for occupying certain level area, this horizontal area can be with
It is bigger, smaller than the size of unmanned vehicle, even consistent.
In one embodiment, the step of determining starting area and land, comprising: receive what control centre was sent
Vehicle dispatching information；According to vehicle dispatching information, starting area and land are determined in the unmanned region.
Wherein, control centre refers to the central platform that more unmanned vehicles are carried out with centralized dispatching, the control centre and clothes
Being engaged in, (control centre after power-up can be with login service device, and records the log-on message of oneself in server, steps on for device network communication
Control centre after record can be with server network communication), to send vehicle dispatching information to server.The control centre can
To be realized by terminal device or server.Further, control centre can for one, two, even more than.
Vehicle dispatching information can refer to the information being scheduled to unmanned vehicle, can wrap containing starting area and land
Description information, also can wrap the instruction information containing target unmanned vehicle, can also be comprising other are relevant to unmanned vehicle scheduling
Information (such as: the requirement to current scheduling, such as: the used time is most short, barrier is minimum).
Unmanned region (being referred to as automatic Pilot region) is the region that can be travelled for unmanned vehicle, this nobody
Specific sensor, detector, communication equipment etc. can be set in driver area, meanwhile, the lane in unmanned region
It is also possible to be paved into as needed；Certainly, in some cases, unmanned region, which is also possible to conventional road, (has
The road of common vehicle and walk).
Further, unmanned region can be a region, can also be formed by connecting, be can also be by multiple regions
Mutually independent region.Unmanned vehicle and server can be under the controls of server in unmanned region after establishing connection
Traveling, the unmanned vehicle controlled can travel in a unmanned region, can also pass through interregional road interconnected
Road and in interregional traveling.
Further, starting area and land are determined in the unmanned region, it is possible to understand that are as follows: one
Two small starting areas and land are determined in a big unmanned region.
S202, target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the nothing in unmanned region
People's vehicle.
Wherein, candidate unmanned vehicle can refer to the unmanned vehicle that can be controlled by server, be specifically as follows positioned at unmanned area
Unmanned vehicle within the scope of domain；Or there are associated unmanned vehicles with unmanned region, for example, in unmanned region
Neighbouring unmanned vehicle.Further, candidate unmanned vehicle can be in the unmanned regional scope and nothing of login service device
People's vehicle.
This step determines target unmanned vehicle in candidate unmanned vehicle.Wherein, the quantity of target unmanned vehicle can be one, two
, even more, target unmanned vehicle be two or more in the case where, server can simultaneously to these target unmanned vehicles
It is controlled.
S203, according to the starting area and the land, calculate the driving path of the target unmanned vehicle.
Map where the available starting area of server and land is calculated according to the line information in the map
Target unmanned vehicle travels the region driving path to be passed through to terminal from starting area.This driving path can be a plurality of,
Such as: apart from shortest path, used time shortest path, the highest path of air quality etc..Further, server can be with
More target unmanned vehicles are controlled respectively to travel on a plurality of driving path.
Further, identified a plurality of driving path can be all sent to target unmanned vehicle by server, by unmanned vehicle
It is selected according to the actual situation, it can also according to the demand of user or vehicle dispatching information determines optimal traveling road
Optimal driving path is sent to target unmanned vehicle by diameter.
S204, Xiang Suoshu target unmanned vehicle send dispatch command；The dispatch command is for controlling the target unmanned vehicle
It travels from the starting area according to the driving path to the land.
In this step, server sends dispatch command to target unmanned vehicle, to control target unmanned vehicle from starting area
Traveling travels region to terminal according to driving path.In the process of moving, target unmanned vehicle may need by it is multiple nobody drive
Sail region.
Further, in dispatch command can also including Vehicle Speed etc. information, with more intelligently to target nobody
Vehicle is controlled.
Certainly, after sending dispatch command to target unmanned vehicle, it can according to need and refer to the transmission parking of target unmanned vehicle
It enables, stops traveling to control target unmanned vehicle, speed control instruction and direction control command can also be sent to target unmanned vehicle
Deng with travel speed and the direction etc. for adjusting target unmanned vehicle.
Unmanned vehicle dispatching method provided in this embodiment, determines starting area and land, from unmanned region
Candidate unmanned vehicle in determine target unmanned vehicle, calculate target unmanned vehicle driving path, to target unmanned vehicle send scheduling refer to
It enables, travels region to terminal according to driving path to control target unmanned vehicle from starting area, can dispatch in unmanned region
More unmanned vehicles travelled in multiple regions, be able to achieve the multizone manage and dispatch of unmanned vehicle.
In one embodiment, described the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: it is determining with it is described
The nearest candidate unmanned vehicle of starting area distance, as the target unmanned vehicle.Wherein, distance can be linear distance most recently
Closely, it can also refer to that travel distance (distance of starting area is driven to from the current location of candidate unmanned vehicle) is most short.Determining mesh
After marking unmanned vehicle, driving instruction can be sent, to the target unmanned vehicle to control target unmanned vehicle from its current position row
It sails to starting area.The candidate unmanned vehicle nearest apart from starting area is determined as target unmanned vehicle by the present embodiment, can guarantee mesh
Mark unmanned vehicle travels within the shortest time to starting area.
In another embodiment, the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: receive unmanned vehicle and refer to
Determine information, candidate unmanned vehicle corresponding with the unmanned vehicle specify information is determined, as the target unmanned vehicle.Equally, true
It sets the goal after unmanned vehicle, driving instruction can be sent, to the target unmanned vehicle to control target unmanned vehicle from its current position
Traveling is set to starting area.The present embodiment determines target unmanned vehicle according to unmanned vehicle specify information, can be according to the demand of user
It is selected, improves the intelligence of entire unmanned vehicle scheduling system.
In one embodiment, vehicle dispatching information includes at least one of the following: scheduler task and recruits vehicle task；According to institute
The step of stating starting area and the land, calculating the driving path of the target unmanned vehicle, comprising: if the vehicle
Scheduling information is scheduler task, calculating travel from the starting area to the path of the land, obtain the target without
The driving path of people's vehicle；If the vehicle dispatching information is to recruit vehicle task, determined in where passenger according to the trick vehicle task
Turn region, calculating is travelled to the transfer region from the starting area and travelled from the transfer region to the land
Path, obtain the driving path of the target unmanned vehicle.
Wherein, scheduler task can refer to the task that a certain unmanned vehicle is dispatched to final position B from start position A.And
Recruit vehicle task that can refer to that needing unmanned vehicle to travel from start position A to passenger (can be hair according to task of vehicle order being recruited to generate
Play the passenger of trick vehicle order) where position C carry the passenger, and continue traveling position B to terminal.
Above-described embodiment pointedly generates driving path according to vehicle dispatching information, can carry out independent tune to vehicle
Degree, moreover it is possible to accept order, control unmanned vehicle goes to transfer region to carry passenger, can effectively extend the application scenarios of whole system.
In one embodiment, further comprising the steps of: according to the vehicle dispatching information, to send vehicle to target unmanned vehicle
Scheduling request；Receive the response message that the target unmanned vehicle is returned for vehicle scheduling request；The response is believed
Breath is sent to the control centre.
For response message, it can be " having received vehicle scheduling solicited message, can receive dispatch command "；Target
Unmanned vehicle can request to verify to vehicle scheduling, if be proved to be successful, response message can be for " vehicle dispatching information is tested
Demonstrate,prove successfully ", at this point, target unmanned vehicle can receive the dispatch command of server transmission and drive to terminal according to the dispatch command
Region, if authentication failed, response message can be " vehicle dispatching information authentication failed ", at this point, target unmanned vehicle can be with
Reject the dispatch command that server is sent；Target unmanned vehicle can also according to itself state (such as: schedulable state or
Non-scheduling state) Lai Shengcheng response message, such as: when oneself state is non-scheduling state, response message is " to have received
Vehicle scheduling solicited message, but this vehicle non-scheduling ".
Specifically, administrator can log in control centre, issue scheduler task to control centre or recruit vehicle task (when
So, the two tasks can also be automatically generated by control centre).If what administrator initiated is scheduler task, control centre
The information such as the ID (i.e. the ID of target unmanned vehicle) of input scheduling vehicle, start-stop point, and the scheduler task is uploaded onto the server,
After server authentication scheduler task is legal, scheduling request is initiated to target unmanned vehicle, and target unmanned vehicle is directed to the tune
The response message of degree request returns to control centre；If what administrator initiated is to recruit vehicle task, control centre's input scheduling
The information such as ID, start-stop point, the Customer information (may include gender, position of passenger etc.) of vehicle, control centre is by the trick
Vehicle task is uploaded onto the server, and after server authentication recruits vehicle task legal, initiates target unmanned vehicle to recruit vehicle request, and will
Target unmanned vehicle returns to control centre for the response message of trick vehicle request.
In the present embodiment, server sends vehicle scheduling to target unmanned vehicle according to different vehicle dispatching informations and requests,
And the response message that target unmanned vehicle returns is sent to control centre, response message can be obtained according to the state of target unmanned vehicle,
To be more intelligently scheduled to target unmanned vehicle, it also can guarantee the current dispatching response feelings of management and running personnel's timely learning
Condition.
In one embodiment, before the step of determining target unmanned vehicle in candidate unmanned vehicle, further includes: receive to be selected
The logging request (may include the login authentications such as identifying code information in the logging request) of unmanned vehicle, tests logging request
Card；If logging request is proved to be successful, determines that the unmanned vehicle to be selected logins successfully, the unmanned vehicle to be selected is determined as candidate nothing
People's vehicle, and the response message logined successfully is sent to the unmanned vehicle to be selected；If the logging request authentication failed, described in judgement
Unmanned vehicle login failure to be selected sends the response message of login failure to the unmanned vehicle to be selected.
Further, the automatic operation for carrying out login service device after unmanned vehicle booting, uploads logging request.Server pair
Logging request carries out verifying and returns to response message to corresponding unmanned vehicle.Unmanned vehicle is sentenced according to the response message that server returns
It is disconnected whether online success.Wherein, server in password mistake, vehicle is unregistered, self-position is apart from all automatic Pilot regions
All too far etc. reasons when, it is believed that logging request authentication failed (it is also assumed that logging request irregularity), and verifying is lost
The reason of losing returns to corresponding unmanned vehicle.
Above-described embodiment can verify the logging request of unmanned vehicle, prevent the unmanned vehicle of irregularity from accessing server,
Guarantee the safety of entire unmanned vehicle scheduling system.
In one embodiment, it is described determine the step of unmanned vehicle to be selected logins successfully after, further includes: receive to
The initial position for selecting unmanned vehicle to send；If the initial position is located at unmanned areas outside, the determining and initial position
The nearest unmanned region of distance, as unmanned prime area；Driving instruction is sent to the unmanned vehicle to be selected；It is described
Driving instruction is travelled from the initial position to the unmanned prime area for controlling the unmanned vehicle to be selected.
If server issues driving instruction specifically, candidate unmanned vehicle is not in automatic Pilot region, waited with controlling
Unmanned vehicle is selected to travel to automatic Pilot region.And candidate unmanned vehicle uploads vehicle-state letter to server in the process of running
Breath.
As shown in figure 3, determining after target unmanned vehicle (301 in such as Fig. 3), server obtains the initial of the target unmanned vehicle
Position controls target unmanned vehicle from initial position and drives to unmanned prime area, and then controls after calculating driving path
Target unmanned vehicle processed travels region to terminal from starting area.
Above-described embodiment controls candidate unmanned vehicle according to initial position and travels to unmanned prime area, can make
Candidate unmanned vehicle is in the region that can easily travel, and sends and adjusts to corresponding unmanned vehicle when needing to be scheduled unmanned vehicle
Degree instructs the unmanned vehicle that can make an immediate response, and can effectively improve the efficiency of unmanned vehicle scheduling.
In some embodiments, if it find that a certain unmanned vehicle D to be selected is not or not automatic Pilot region, and candidate's unmanned vehicle
Candidate's unmanned vehicle D recently (being also possible to other reasons), then can be determined as target unmanned vehicle apart from starting area by D, can
Not control in its traveling to automatic Pilot region, and at the beginning of directly controlling candidate unmanned vehicle D from its after determining driving path
Beginning position is travelled to starting area, and travels region to terminal from starting area.It is further possible to control candidate unmanned vehicle
Region to terminal is directly travelled without starting area.The present embodiment controls unmanned vehicle according to the actual situation, is able to achieve pair
Unmanned vehicle intelligent scheduling.
In one embodiment, described the step of sending dispatch command to the target unmanned vehicle, comprising: according to described
Point region, the land and the driving path, obtain map file；According to the map file, Xiang Suoshu target
Unmanned vehicle sends map pushed information；The map pushed information is for controlling the target unmanned vehicle, to the map file
It carries out distorting verifying, if determining that the map file is not tampered with according to the result for distorting verifying, instruction information is not distorted in return；
Receive the target unmanned vehicle return does not distort instruction information, and Xiang Suoshu target unmanned vehicle sends dispatch command.
Wherein, map file can be accurately map file, and accurately map file can be understood as that nothing can be made for this
People's vehicle knows the file of cartographic information as detailed as possible, such as: it can be 10 centimeter accurates, 20 centimeter accurates etc., certainly, height
Precision map file may be other higher or lower precision.
In the present embodiment, target unmanned vehicle carries out it to distort verification, institute can be effectively ensured when receiving map file
The safety of the map file used guarantees the safety traffic of unmanned vehicle, while also unmanned vehicle can be prevented according to the ground being tampered
Figure is travelled to the place of mistake.
In one embodiment, the interaction between server, unmanned vehicle and control centre, which may pass through, verifies this
Step, such as: unmanned vehicle sends logging request to server, and server can verify the logging request；Server to
Unmanned vehicle sends map file, and unmanned vehicle can verify the map file；Control centre is sent to server recruits vehicle to appoint
Business, server can verify trick vehicle task；Etc..Such processing mode can be effectively ensured server, unmanned vehicle with
And control centre constituted unmanned vehicle scheduling system safety.
In one embodiment, after the step of Xiang Suoshu target unmanned vehicle transmission dispatch command, further includes: described in acquisition
The travel condition of vehicle of target unmanned vehicle in the process of moving；Store the travel condition of vehicle.Unmanned vehicle in the process of running,
Travel condition of vehicle is generated by the information of the acquisitions such as the sensor of vehicle body, detector, which can be stored
In memory.Wherein, which can refer to Vehicle Speed, direction, vehicle safety state etc. information.Into one
Step ground, after server receives travel condition of vehicle, travel condition of vehicle can be stored in memory, can also be transported to vehicle
Row state is analyzed, if according to travel condition of vehicle determine target unmanned vehicle break down, can to the target nobody
Vehicle sends adjustment instruction or cutoff command.
Server can be obtaining travel condition of vehicle by way of actively accessing the computer system of unmanned vehicle, can also be with
The passive travel condition of vehicle for receiving unmanned vehicle and sending.
Further, by taking server passively receives the travel condition of vehicle of unmanned vehicle transmission as an example.Unmanned vehicle is logging in clothes
It is engaged in that in real time, periodically or according to the instruction of server travel condition of vehicle can be sent to server after device.
Further, during target unmanned vehicle drives to unmanned prime area from initial position, Ke Yixiang
Server sends travel condition of vehicle.
Above-described embodiment, server obtain travel condition of vehicle, can when unmanned vehicle breaks down in the process of running and
Shi Jinhang processing.
The above method in order to better understand, as shown in figure 4, elaborating a present invention by taking server end as an example below
The application example of unmanned vehicle dispatching method.
S401, logging request is received, determines the type of the logging request, if the type of logging request is unmanned vehicle to be selected
The logging request of transmission, then execute S402, if it is the logging request that control centre is sent, executes S403.
S402, it carries out verifying to the logging request that unmanned vehicle to be selected is sent and returns to log in corresponding unmanned vehicle to be selected to answer
Answer information.
If S4021, authentication failed, the response message of login failure is returned to corresponding unmanned vehicle to be selected.
S4022, if the verification passes then returns to the response message logined successfully to corresponding unmanned vehicle to be selected and waits for this
Unmanned vehicle is selected to be determined as candidate unmanned vehicle.
S4023, vehicle login position when sending logging request according to candidate unmanned vehicle calculate candidate unmanned vehicle and recently
Automatic Pilot region distance.
If S4024, the threshold value set apart from size, the i.e. current location of the unmanned vehicle to be selected are all from all regions
Too far, then the instruction information of driver area can not be used by returning to current vehicle periphery to candidate's unmanned vehicle.
If S4025, the distance are less than or equal to the threshold value of setting, the high-precision in nearest automatic Pilot region is issued
Map and area information give candidate's unmanned vehicle, this nearest automatic Pilot region becomes unmanned prime area.
S4026, it waits control centre to send vehicle dispatching information, then executes S404.
S403, the logging request that the control centre is sent is carried out verifying and returned to control centre to log in response message,
The administrator's account logged in control centre is verified and returns to verification result simultaneously.
If S4031, administrator's account authentication failed determine the failed login service device of administrator's account, will step on
The information of record failure returns to control centre.
If S4032, administrator's account are proved to be successful, determine administrator's account success login service device, then wait
The vehicle dispatching information that administrator's account is sent, if receiving the vehicle scheduling letter that administrator's account is sent in control centre
Breath, then execute S404.
S404, according to vehicle dispatching information, starting area and land are determined in unmanned region.
S405, target unmanned vehicle is determined from candidate unmanned vehicle.
If S4061, the vehicle dispatching information are scheduler task, calculating is travelled from the starting area to the terminal area
The path in domain obtains the driving path of the target unmanned vehicle.
S4062, Xiang Suoshu target unmanned vehicle send dispatch command (including scheduler task in instruction), to control the mesh
Mark unmanned vehicle is travelled according to the driving path to the land from the starting area.
S4063, travel condition of vehicle is received, if determining that vehicle has been received scheduling and appoints according to travel condition of vehicle
Business then receives the progress that target unmanned vehicle executes scheduler task.
If S4071, the vehicle dispatching information are to recruit vehicle task, the transfer where passenger is determined according to the trick vehicle task
Region, calculating are travelled to the transfer region from the starting area and are travelled from the transfer region to the land
Path obtains the driving path of the target unmanned vehicle.
S4072, Xiang Suoshu target unmanned vehicle send dispatch command (including to recruit vehicle task in instruction), to control the mesh
Mark unmanned vehicle is travelled to the transfer region (carrying passenger) from the starting area and is travelled from the transfer region to described
Land.
S4073, travel condition of vehicle is received, recruits vehicle to appoint if determining that vehicle has been received according to travel condition of vehicle
Business then receives target unmanned vehicle and executes the state for recruiting vehicle task and process (recruiting the execution state of vehicle order), judges that task is
It is no be cancelled, whether vehicle has begun whether stroke, stroke are completed.
Unmanned vehicle dispatching method provided in this embodiment can dispatch more unmanned vehicles in unmanned region in multiple areas
It is travelled in domain.The technological means solves the drawbacks of conventional truck administrative center is not suitable for management automatic driving vehicle, and solves
Automatic driving vehicle multizone manage and dispatch of having determined and order distribute.
In one embodiment, as shown in figure 5, the application of a unmanned vehicle dispatching method of the present invention detailed below is real
Example.
S501, control centre's login service device record the log-on message of oneself in server.
S502, server authentication administrator account (administrator can also be referred to as) permission.
If S503, Authority Verification fail, server returns to corresponding Defect Indication information to control centre.
If the success of S504, Authority Verification, server successfully indicates information to control centre's return is corresponding.
S505, control centre pull the area information in all automatic Pilot regions supported, verify pulled region
Whether information is tampered.
If S506, area information are tampered, control centre notifies administrator.
If S507, area information are not tampered with, control centre jumps to the automatic Pilot region of administrator's selection, adjusts
Degree center pulls all unmanned vehicles in selection region, and on interface these unmanned vehicles of real-time display shorthand information (such as Fig. 6
Shown, whole region can be understood as a unmanned region, wherein circle indicates different places, and dotted line indicates two
The road of intersite, Fig. 6 show position and the dispatch state of each unmanned vehicle).
S508, control centre receive the scheduling request that administrator sends, and determine the type of scheduling request.
If S509, scheduling request are to show the request of vehicle details, server determines nothing according to the selection of administrator
The vehicle details of people's vehicle, by vehicle details return to control centre, control centre show vehicle details (including
The real time position speed of current vehicle, current planning path traveling progress, front obstacle, current vehicle scheduling or order etc.
Information), shown content can be as shown in Figure 7, wherein what the broken line of real segment composition indicated is planned traveling road
Diameter, the real segment of overstriking indicate that target unmanned vehicle has crossed path, and what triangle indicated is barrier.
If S510, scheduling request are to initiate the request of scheduler task, the id of control centre's input scheduling vehicle, start-stop
Point, and the scheduler task is uploaded onto the server, after server authentication scheduler task is legal, target unmanned vehicle is initiated to adjust
Degree request, and the response by target unmanned vehicle for scheduling request returns to control centre.
If S511, scheduling request are the request for initiating to recruit vehicle task, the id of control centre's input scheduling vehicle, start-stop
The order informations such as point, Customer information, control centre upload onto the server the order information, server authentication order it is legal it
Afterwards, target unmanned vehicle is initiated to recruit vehicle request, and the response by target unmanned vehicle for order information returns to control centre.
It should be noted that for the various method embodiments described above, describing for simplicity, it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according to
According to the present invention, certain steps can use other sequences or carry out simultaneously.
Based on thought identical with the unmanned vehicle dispatching method in above-described embodiment, the present invention also provides unmanned vehicle scheduling to fill
It sets, which can be used for executing above-mentioned unmanned vehicle dispatching method.For ease of description, the structure of unmanned vehicle dispatching device embodiment
In schematic diagram, part related to the embodiment of the present invention illustrate only, it will be understood by those skilled in the art that schematic structure is simultaneously
The not restriction of structure twin installation may include perhaps combining certain components or different than illustrating more or fewer components
Component layout.
The embodiment of the present invention provides a kind of unmanned vehicle dispatching device, as shown in figure 8, include area determination module 801, nobody
Vehicle determining module 802, driving path computing module 803 and dispatch command sending module 804, detailed description are as follows: region determines
Module 801, for determining starting area and land；Unmanned vehicle determining module 802, for being determined from candidate unmanned vehicle
Target unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；Driving path computing module 803 is used for root
According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；Dispatch command sending module
804, for sending dispatch command to the target unmanned vehicle；The dispatch command is for controlling the target unmanned vehicle from described
Starting area is travelled according to the driving path to the land.Unmanned vehicle dispatching device provided in this embodiment can be adjusted
The more unmanned vehicles spent in unmanned region travel in multiple regions.
In one embodiment, unmanned vehicle determining module 802 is also used to the determining and starting area apart from nearest time
Unmanned vehicle is selected, as the target unmanned vehicle.
In one embodiment, unmanned vehicle determining module 802, is also used to receive unmanned vehicle specify information, it is determining with it is described
The corresponding candidate unmanned vehicle of unmanned vehicle specify information, as the target unmanned vehicle.
In one embodiment, area determination module 801, comprising: scheduling information receiving submodule, for receiving in scheduling
The vehicle dispatching information that the heart is sent；Region determines submodule, is used for according to the vehicle dispatching information, in the unmanned area
Starting area and land are determined in domain.
In one embodiment, the vehicle dispatching information includes at least one of the following: scheduler task and recruits vehicle task；Row
Sail path calculation module 803, comprising: scheduling path computing submodule, if being scheduler task, meter for the vehicle dispatching information
Calculation travels the driving path that the target unmanned vehicle is obtained to the path of the land from the starting area；Recruit bus or train route
Diameter computational submodule, if being to recruit vehicle task for the vehicle dispatching information, where determining passenger according to the trick vehicle task
Transfer region, calculating are travelled to the transfer region from the starting area and are travelled from the transfer region to the terminal area
The path in domain obtains the driving path of the target unmanned vehicle.
In one embodiment, unmanned vehicle dispatching device further include: scheduling request sending module, for according to the vehicle
Scheduling information sends vehicle scheduling request to target unmanned vehicle；Response message receiving module, for receiving the target unmanned vehicle
The response message returned for vehicle scheduling request；Response message sending module, for the response message to be sent to
The control centre.
In one embodiment, unmanned vehicle dispatching device further include: logging request authentication module, for receive it is to be selected nobody
The logging request of vehicle verifies the logging request；Login successfully processing module, if for the logging request verifying at
Function determines that the unmanned vehicle to be selected logins successfully, and the unmanned vehicle to be selected is determined as candidate unmanned vehicle, and to the nothing to be selected
People's vehicle sends the response message logined successfully；Login failure processing module determines institute if being used for the logging request authentication failed
Unmanned vehicle login failure to be selected is stated, the response message of login failure is sent to the unmanned vehicle to be selected.
In one embodiment, unmanned vehicle dispatching device further include: initial position receiving module, for receive it is to be selected nobody
The initial position that vehicle is sent；Prime area determining module determines if being located at unmanned areas outside for the initial position
The nearest unmanned region with the initial position distance, as unmanned prime area；Driving instruction sending module is used
In sending driving instruction to the unmanned vehicle to be selected；The driving instruction is for controlling the unmanned vehicle to be selected from the initial bit
Traveling is set to the unmanned prime area.
In one embodiment, dispatch command sending module 804, comprising: map file acquisition submodule, for according to institute
Starting area, the land and the driving path are stated, map file is obtained；Pushed information sending submodule, is used for
According to the map file, Xiang Suoshu target unmanned vehicle sends map pushed information；The map pushed information is for controlling institute
Target unmanned vehicle is stated, the map file is carried out to distort verifying, if determining the map file according to the result for distorting verifying
It is not tampered with, instruction information is not distorted in return；Dispatch command sending submodule returns not for receiving the target unmanned vehicle
Instruction information is distorted, Xiang Suoshu target unmanned vehicle sends dispatch command.
In one embodiment, unmanned vehicle dispatching device further include: operating status obtains module, for obtaining the target
The travel condition of vehicle of unmanned vehicle in the process of moving；Operating status memory module, for storing the travel condition of vehicle.
The system that the embodiment of the present invention also provides a kind of execution unmanned vehicle dispatching method (is referred to as unmanned vehicle scheduling system
System), wherein the unmanned vehicle dispatching method in unmanned vehicle dispatching method such as previous embodiment；As shown in figure 9, the system includes: net
Control centre 901, server 902 and the candidate unmanned vehicle 903 of network connection；Candidate's unmanned vehicle is in unmanned region
Unmanned vehicle；The control centre 901, for sending vehicle dispatching information to the server；The server 902 is used for root
According to the vehicle dispatching information, starting area and land are determined；Target unmanned vehicle is determined from the candidate unmanned vehicle；
Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；According to the starting area and the land, calculate
The driving path of the target unmanned vehicle；Dispatch command is sent to the target unmanned vehicle；The target unmanned vehicle is used for basis
The dispatch command is travelled according to the driving path to the land from the starting area.It is provided in this embodiment to hold
The system of row unmanned vehicle dispatching method, the more unmanned vehicles that can be dispatched in unmanned region travel in multiple regions.
In one embodiment, the control centre is logged in administrator's account；The control centre is also used to obtain pipe
The selected unmanned region of reason person's account determines the candidate unmanned vehicle in the selected unmanned region, as
Unmanned vehicle is selected；The context information for having selected unmanned vehicle is obtained, the context information is shown on interface.
Wherein, control centre can also forbid administrator's account progress Authority Verification if Authority Verification does not pass through
What the response message for responding to the association requests of administrator's account, while returning to authentication failed was logged in administrator's account
Terminal.Further, the control centre is also used to carry out Authority Verification to administrator's account, if Authority Verification fails,
Export the prompt information of authentication failed.
In the present embodiment, control centre can carry out the display of information of vehicles according to the selection of administrator, can improve and user
Interactivity.
It should be noted that the logic of each program module is drawn in the embodiment of the unmanned vehicle dispatching device of above-mentioned example
Divide and be merely illustrative of, can according to need in practical application, such as the configuration requirement of corresponding hardware or the reality of software
Existing convenient consideration is completed above-mentioned function distribution by different program modules, i.e., by the inside of the unmanned vehicle dispatching device
Structure is divided into different program modules, to complete all or part of the functions described above.
In addition, unmanned vehicle dispatching device of the invention and execute unmanned vehicle dispatching method system and of the invention nobody
Vehicle dispatching method is corresponding, is suitable in the technical characteristic and its advantages of the embodiment elaboration of above-mentioned unmanned vehicle dispatching method
In the embodiment of the system of unmanned vehicle dispatching device and execution unmanned vehicle dispatching method (vice versa), particular content be can be found in
Narration in embodiment of the present invention method, details are not described herein again, hereby give notice that.
Unmanned vehicle dispatching method provided by the present application can be applied in computer equipment as shown in Figure 10.The computer
Equipment can be server, be also possible to terminal device, and internal structure chart can be as shown in Figure 10.The computer equipment includes
Processor, memory, network interface and the database connected by system bus.Wherein, processor is calculated and is controlled for providing
Ability processed；Memory includes non-volatile memory medium, built-in storage, the non-volatile memory medium be stored with operating system,
Computer program (computer program realizes a kind of unmanned vehicle dispatching method when being executed by processor) and database, the interior storage
Device provides environment for the operation of operating system and computer program in non-volatile memory medium；Database is for storing nobody
Various data involved in vehicle dispatching method implementation procedure；Network interface is used to communicate with external terminal by network connection.
It will be understood by those skilled in the art that structure shown in Figure 10, only part relevant to application scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is set
Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of unmanned vehicle controlling equipment, including memory and processor, memory storage are provided
There is computer program, when computer program is executed by processor, so that the step of processor executes above-mentioned unmanned vehicle dispatching method.
The step of unmanned vehicle dispatching method can be the step in the unmanned vehicle dispatching method of above-mentioned each embodiment herein.
In one embodiment, a kind of computer readable storage medium is provided, computer program, computer journey are stored with
When sequence is executed by processor, so that the step of processor executes above-mentioned unmanned vehicle dispatching method.Unmanned vehicle dispatching method herein
Step can be the step in the unmanned vehicle dispatching method of above-mentioned each embodiment.
It will appreciated by the skilled person that realizing all or part of the process in above-described embodiment method, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated between
In matter, sells or use as independent product.The more specific example (non-exhaustive list) of computer-readable medium includes
Below: there is the electrical connection section (electronic device) of one or more wirings, portable computer diskette box (magnetic device), arbitrary access
Memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), optical fiber dress
It sets and portable optic disk read-only storage (CDROM).In addition, computer-readable medium, which can even is that, to be printed on it
The paper of described program or other suitable media, because can be for example by carrying out optical scanner to paper or other media, then
It edited, interpreted or is handled when necessary with other suitable methods electronically to obtain described program, then by it
Storage is in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
The term " includes " of the embodiment of the present invention and " having " and their any deformations, it is intended that cover non-exclusive
Include.Such as contain series of steps or the process, method, system, product or equipment of (module) unit are not limited to
The step of listing or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for these
The intrinsic other step or units of process, method, product or equipment.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, should not be understood as to the invention patent range
Limitation.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise,
Various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present invention
It should be determined by the appended claims.
Claims (15)
1. a kind of unmanned vehicle dispatching method, which comprises the following steps:
Determine starting area and land；
Target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；
According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；
Dispatch command is sent to the target unmanned vehicle；The dispatch command is for controlling the target unmanned vehicle from the starting point
Region is travelled according to the driving path to the land.
2. the method according to claim 1, wherein the step for determining target unmanned vehicle from candidate unmanned vehicle
Suddenly, comprising:
The determining candidate unmanned vehicle nearest with the starting area distance, as the target unmanned vehicle；
And/or
Unmanned vehicle specify information is received, candidate unmanned vehicle corresponding with the unmanned vehicle specify information is determined, as the target
Unmanned vehicle.
3. the method according to claim 1, wherein the step of determining starting area and land,
Include:
Receive the vehicle dispatching information that control centre is sent；
According to the vehicle dispatching information, starting area and land are determined in the unmanned region.
4. according to the method described in claim 3, it is characterized in that, the vehicle dispatching information includes at least one of the following: tune
Degree task and trick vehicle task；
It is described according to the starting area and the land, the step of calculating the driving path of the target unmanned vehicle,
Include:
If the vehicle dispatching information is scheduler task, calculating is travelled from the starting area to the path of the land,
Obtain the driving path of the target unmanned vehicle；
If the vehicle dispatching information is to recruit vehicle task, the transfer region where passenger is determined according to the trick vehicle task, is calculated
It travels from the starting area to the transfer region and travels from the transfer region to the path of the land, obtain
The driving path of the target unmanned vehicle.
5. according to the method described in claim 3, it is characterized in that, further comprising the steps of:
According to the vehicle dispatching information, vehicle scheduling request is sent to target unmanned vehicle；
Receive the response message that the target unmanned vehicle is returned for vehicle scheduling request；
The response message is sent to the control centre.
6. the method according to claim 1, wherein the step for determining target unmanned vehicle from candidate unmanned vehicle
Before rapid, further includes:
The logging request for receiving unmanned vehicle to be selected verifies the logging request；
If the logging request is proved to be successful, determines that the unmanned vehicle to be selected logins successfully, the unmanned vehicle to be selected is determined as
Candidate unmanned vehicle, and the response message logined successfully is sent to the unmanned vehicle to be selected；
If the logging request authentication failed, the unmanned vehicle login failure to be selected is determined, step on to the unmanned vehicle transmission to be selected
Record the response message of failure.
7. according to the method described in claim 6, it is characterized in that, described determine the step of unmanned vehicle to be selected logins successfully
Later, further includes:
Receive the initial position that unmanned vehicle to be selected is sent；
If the initial position is located at unmanned areas outside, the determining unmanned area nearest with the initial position distance
Domain, as unmanned prime area；
Driving instruction is sent to the unmanned vehicle to be selected；The driving instruction is for controlling the unmanned vehicle to be selected from described initial
Position is travelled to the unmanned prime area.
8. according to the method described in claim 6, it is characterized in that, the step for sending dispatch command to the target unmanned vehicle
Suddenly, comprising:
According to the starting area, the land and the driving path, map file is obtained；
According to the map file, Xiang Suoshu target unmanned vehicle sends map pushed information；The map pushed information is for controlling
The target unmanned vehicle is made, the map file is carried out to distort verifying, if determining the map according to the result for distorting verifying
File is not tampered with, and instruction information is not distorted in return；
Receive the target unmanned vehicle return does not distort instruction information, and Xiang Suoshu target unmanned vehicle sends dispatch command.
9. method according to any one of claims 1 to 8, which is characterized in that described send to the target unmanned vehicle is adjusted
After the step of degree instruction, further includes:
Obtain the travel condition of vehicle of the target unmanned vehicle in the process of moving；
Store the travel condition of vehicle.
10. a kind of unmanned vehicle dispatching device characterized by comprising
Area determination module, for determining starting area and land；
Unmanned vehicle determining module, for determining target unmanned vehicle from candidate unmanned vehicle；Candidate's unmanned vehicle is unmanned
Unmanned vehicle in region；
Driving path computing module, for calculating the target unmanned vehicle according to the starting area and the land
Driving path；
Dispatch command sending module, for sending dispatch command to the target unmanned vehicle；The dispatch command is for controlling institute
It states target unmanned vehicle and is travelled from the starting area according to the driving path to the land.
11. a kind of system for executing unmanned vehicle dispatching method, which is characterized in that the unmanned vehicle dispatching method is claim 1-
Described in 9 any one；The system comprises: control centre, server and the candidate unmanned vehicle of network connection；Candidate's unmanned vehicle
For the unmanned vehicle in unmanned region；
The control centre, for sending vehicle dispatching information to the server；
The server, is used for
According to the vehicle dispatching information, starting area and land are determined；
Target unmanned vehicle is determined from the candidate unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；
According to the starting area and the land, the driving path of the target unmanned vehicle is calculated；
Dispatch command is sent to the target unmanned vehicle；The target unmanned vehicle, for according to the dispatch command from described
Point region is travelled according to the driving path to the land.
12. system according to claim 11, which is characterized in that the control centre is logged in administrator's account；
The control centre, is also used to
The selected unmanned region of administrator's account is obtained, determines the candidate nothing in the selected unmanned region
People's vehicle, as having selected unmanned vehicle；
The context information for having selected unmanned vehicle is obtained, the context information is shown on interface.
13. system according to claim 11, which is characterized in that the control centre is also used to administrator's account
Number carry out Authority Verification, if Authority Verification fail, export the prompt information of authentication failed.
14. a kind of unmanned vehicle controlling equipment, including memory and processor, the memory are stored with computer program, special
The step of sign is, the processor realizes claim 1 to 9 described in any item methods when executing the computer program.
15. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of claim 1 to 9 described in any item methods are realized when being executed by processor.
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