CN111063187A - Destination dynamic planning method based on unmanned vehicle - Google Patents
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
本发明提供了一种基于无人驾驶车辆的目的地动态规划方法，属于无人驾驶相关技术领域，它解决了无人驾驶车辆不能实时监测停车点的情况，也不能快速修改停车点重新规划行驶路线的问题。本基于无人驾驶车辆的目的地动态规划方法包括建立在无人驾驶车辆智联协助系统基础上的目的地动态规划系统，所述目的地动态规划系统包括终点路线规划单元、会员判断单元、人工驾驶判断单元、自动驾驶单元、停车场状况监测单元、路况实时监测单元和会员线上群组单元，所述无人驾驶车辆智联协助系统包括连接在无线网络上的无人驾驶设备、云服务器和协助平台。本方法实时监测停车点的情况，并实时动态规划行驶路线，快速停车，节省时间。The invention provides a destination dynamic planning method based on an unmanned vehicle, which belongs to the technical field of unmanned driving. route problem. The destination dynamic planning method based on the unmanned vehicle includes a destination dynamic planning system based on the intelligent connection assistance system of the unmanned vehicle, and the destination dynamic planning system includes a destination route planning unit, a member judgment unit, a manual driving A judgment unit, an automatic driving unit, a parking lot condition monitoring unit, a real-time road condition monitoring unit and a member online group unit, the unmanned vehicle intelligent assistance system includes an unmanned vehicle connected to a wireless network, a cloud server and an assistance system platform. The method monitors the situation of the parking spot in real time, dynamically plans the driving route in real time, stops quickly, and saves time.
Description
Technical Field
The invention belongs to the technical field of unmanned driving, relates to an unmanned vehicle auxiliary platform, and particularly relates to a destination dynamic planning method based on an unmanned vehicle.
Background
With the development of science and technology and the progress of society, the unmanned vehicle also enters a rapid development stage, and various functions are complete. The unmanned vehicle belongs to an intelligent vehicle, and is mainly characterized in that each structure in the vehicle is accurately controlled, calculated and analyzed by a computer system and an intelligent driver in the vehicle, and different devices on the unmanned vehicle are controlled by control instructions, so that the full-automatic operation of the vehicle is realized, and the purpose of unmanned driving of the vehicle is achieved.
Chinese patent literature discloses an intelligent cooperation assistance system for unmanned vehicles [ application number: CN 201811586771.8; publication No.: CN109800958A, comprising a drone, a cloud server and an assistance platform connected to a wireless network, wherein the drone is wirelessly connected to the cloud server and the assistance platform, and after the assistance platform detects that the drone stops driving, the real-time information of the unmanned equipment can be obtained through the cloud server, the assisting task is formulated, then the position coordinate of the unmanned equipment is taken as a positioning center, the assisting members with experience ability nearby are searched and matched according to the type of the accident case, the assisting members push the information content of the assisting task to arrive at the scene according to the system, the assisting members are enabled to eliminate the accident case generated by the unmanned equipment, after the unmanned vehicle driven by air-ride has emergencies such as unexpected road condition obstruction, unexpected collision, automobile failure and the like on the way, the assisting system can find out the corresponding professional assisting member to intervene in the assisting system, and can greatly reduce the processing time of the accident while giving consideration to the multi-party benefits.
The intelligent-connection assisting system of the unmanned vehicle further needs a convenient and efficient route planning function, but in the actual application of the unmanned vehicle, a user can set a navigation instruction to enable the unmanned vehicle to go to a destination to complete a task, the navigation can only be positioned to the current position of the user, and the related conditions of a parking space of the destination can not be judged in real time according to the destination of the unmanned vehicle, such as accidents (fire) of a destination parking space or a parking lot, the quantity of the parking spaces of the destination parking space or the parking lot, whether the destination parking space or the parking lot is in maintenance construction, the parking fee of the destination parking space or the parking lot and other problems, and after the conditions of a rear parking space or the parking lot are determined, an optimal driving route is dynamically planned in real time.
Meanwhile, the existing navigation mode is single, a member online group unit is also lacked, the user can not establish a group chat group online, each member can conveniently share information of a real-time terminal parking lot in real time, the member judges whether to switch the terminal, the communication is more humanized, the selection is more diversified, and the travel pleasure of passengers of unmanned vehicles can be increased.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a destination dynamic planning method based on an unmanned vehicle, which aims to solve the technical problems that: how to monitor the condition of the parking spot in real time and dynamically plan the driving route in real time after the parking spot is modified.
The purpose of the invention can be realized by the following technical scheme:
a destination dynamic planning method based on an unmanned vehicle comprises a destination dynamic planning system established on the basis of an intelligent link assistance system of the unmanned vehicle, and is characterized in that the destination dynamic planning system comprises a destination route planning unit, a member judgment unit, a manual driving judgment unit, an automatic driving unit, a parking lot condition monitoring unit, a road condition real-time monitoring unit and a member online group unit; the destination route planning unit comprises a parking lot selection module and a target destination, the parking lot selection module is inquired according to the target destination, the member judgment unit is used for judging and selecting a solution and selecting manual driving options, the manual driving judgment unit verifies member information and judges whether manual driving can be carried out or not, the automatic driving unit is used for automatically controlling driving of an automobile, the parking lot condition monitoring unit comprises a detection condition module and an analysis scheme module, the detection condition module detects the condition of the parking lot, if relevant problems occur in a destination parking lot, the analysis scheme module analyzes and provides the information for passengers, the road condition real-time monitoring unit comprises a lens camera module and a road condition judgment module, the lens camera module is installed on the outer side of the automobile and is used for monitoring the road condition in real time, and the road condition judgment module monitors the road condition in real time, judging whether manual driving is performed or not and whether a route is changed or not, wherein the member on-line group unit comprises an on-line group module and a map display module, the on-line group module can inform a member on the line whether to establish a temporary conversation group or not or whether to join the temporary conversation group, and the map display module can display the position of the member joining the temporary conversation group on a navigation map; the unmanned vehicle intelligent-connection assisting system comprises unmanned equipment, a cloud server and an assisting platform, wherein the unmanned equipment, the cloud server and the assisting platform are connected to a wireless network.
The unmanned equipment comprises an unmanned vehicle, and an alarm device, a camera device, a communication device, a positioning navigation device and a data acquisition device which are arranged on the unmanned vehicle; the cloud server comprises a central server for bearing an assistance platform, and a cloud database and a local database which are connected with the central server; the assistance platform comprises an administrator module, a system customer service module, an assistance member module and a task module; the administrator module is used for maintaining and upgrading a daily system, managing membership authority of the system, content information stored in a cloud database and a local database, and monitoring receiving and sending task requests among the modules in real time; the system customer service module performs manual auditing except system assistance on unmanned equipment of the accident case, and customer service consultation except system automatic member real-name identity information auditing; the assistant member module is used for managing assistant members which are individuals made of natural persons, recording personal information of the assistant members, storing the personal information in the cloud database and the local database, and receiving customer service requests of the assistant members; the task module formulates an assistance task according to the task request sent by the administrator module, takes the geographic coordinates of the accident vehicle as a positioning point and an accident category, screens and matches assistance members with corresponding task identities nearby to publish assistance task information to the assistance members, guides the assistance members to arrive at an accident scene, and handles accident cases generated by unmanned equipment.
The parking lot selection module comprises a shortest driving distance mode, an indoor parking lot mode, an outdoor parking lot mode, a lowest price mode and a system recommendation mode and is used for meeting different parking requirements of members.
The detection condition module judges the relevant information of the parking lot according to the system platform information of the cooperative parking lot, such as: accidents (such as fire) in an end point parking space or a parking lot, the number of parking spaces in the end point parking space or the parking lot, whether the end point parking space or the parking lot is under maintenance construction, and parking fees in the end point parking space or the parking lot, among other problems.
The member judgment unit further comprises options of driving according to the original route, parking nearby and replacing the destination.
The steps of parking nearby are as follows:
step one, selecting a nearby parking option;
step two, searching the positions of parking places nearby the original parking place, and planning and displaying a plurality of nearby parking spaces or parking lots by a system;
step three, selecting a parking space or parking lot in the step two;
step four, the vehicle automatically drives to a parking space or parking lot selected in the step three;
and step five, reporting the relevant information of the parking lot in real time.
The use steps of the manual driving judgment unit are as follows:
step one, selecting a manual driving option;
step two, the member confirms to send out the application;
thirdly, the system checks the member information and judges whether the member meets the driving condition;
step four, the manual driving mode is started when the driving condition is met, and the main interface is returned when the driving condition is not met;
step five, meeting the requirement of step four, reporting route and terminal information in real time after starting the manual driving mode.
The road condition real-time monitoring unit comprises the following steps:
after a vehicle is started, a lens camera module and a road condition judgment module are started;
step two, the lens camera module monitors the road surface condition in real time and collects the road surface condition information;
step three, the lens camera module inputs information into a road condition judgment module;
step four, the road condition judging module judges whether the road condition is normal or not according to the information in the step three;
step five, selecting whether to enter manual driving or not when the road condition is normal, the vehicle runs according to the planned route and the road condition is abnormal;
and step six, if manual driving is selected, entering a manual driving judgment unit, and if manual driving is not selected, entering a destination route planning unit.
The using steps of the membership online group unit are as follows:
step one, after a member confirms a route, a system platform automatically searches the positions of other members on the route;
step two, the online group module informs the number of the members on the line whether to establish a temporary session group, and whether the members are willing to join the temporary session group after establishing the temporary session group or establishing the temporary session group;
step three, the map display module displays the positions of the members joining the temporary conversation group on a navigation map;
step four, the members of the temporary conversation group can carry out conversation, share road condition information and judge whether to switch the end point;
and step five, reaching the destination and selecting to reserve or dismiss or transfer the temporary conversation group.
The temporary session group comprises a group chat function module, a position sharing function module, a team forming function module, a friend application function module and a private letter function module, and the group chat function module has the functions of character and picture communication, voice communication and video communication. The member judges whether to switch the terminal, and simultaneously, the communication is more humanized, and the travel pleasure is increased.
Compared with the prior art, the destination dynamic planning method based on the unmanned vehicle has the following advantages:
by adopting the parking lot condition monitoring unit, the unmanned automobile members in the driving state can monitor the condition of the terminal parking lot in real time and provide the monitoring result and the analysis scheme for the riding members, and the members are assisted to select the solution scheme, so that the members can quickly park after arriving at the terminal, the time is saved, and the efficiency is improved; the road condition real-time monitoring unit is adopted to monitor the road condition in real time, avoid entering a large pit or a complex road section, and judge whether to drive manually or not and whether to change a route; the member online group unit is adopted to inform whether a temporary conversation group is established or not or whether the temporary conversation group is added or not, the positions of members who are added to the temporary conversation group are displayed on a navigation map, and the members judge whether the destination is switched or not according to the sharing real-time road condition information of other members.
Drawings
FIG. 1 is a control flow block diagram of the present invention.
FIG. 2 is a schematic composition of the present invention.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
Referring to fig. 1-2, the present embodiment provides a destination dynamic planning method based on an unmanned vehicle, including a destination dynamic planning system based on an intelligent-link assistance system of an unmanned vehicle, wherein the destination dynamic planning system includes a destination route planning unit, a member judgment unit, a manual driving judgment unit, an automatic driving unit, a parking lot status monitoring unit, a road condition real-time monitoring unit, and a member on-line group unit; the destination route planning unit comprises a parking lot selection module and a target destination, the parking lot selection module is inquired according to the target destination, the member judgment unit is used for judging and selecting a solution and selecting manual driving options, the manual driving judgment unit verifies member information and judges whether manual driving can be carried out or not, the automatic driving unit is used for automatically controlling driving of an automobile, the parking lot condition monitoring unit comprises a detection condition module and an analysis scheme module, the detection condition module detects the condition of the parking lot, if relevant problems occur in a destination parking lot, the analysis scheme module analyzes and provides the information for passengers, the road condition real-time monitoring unit comprises a lens camera module and a road condition judgment module, the lens camera module is installed on the outer side of the automobile and is used for monitoring the road condition in real time, and the road condition judgment module monitors the road condition in real time, judging whether manual driving is performed or not and whether a route is changed or not, wherein the member on-line group unit comprises an on-line group module and a map display module, the on-line group module can inform a member on the line whether to establish a temporary conversation group or not or whether to join the temporary conversation group, and the map display module can display the position of the member joining the temporary conversation group on a navigation map; the unmanned vehicle intelligent-connection assisting system comprises unmanned equipment, a cloud server and an assisting platform, wherein the unmanned equipment, the cloud server and the assisting platform are connected to a wireless network.
The unmanned equipment comprises an unmanned vehicle, and an alarm device, a camera device, a communication device, a positioning navigation device and a data acquisition device which are arranged on the unmanned vehicle; the cloud server comprises a central server for bearing an assistance platform, and a cloud database and a local database which are connected with the central server; the assistance platform comprises an administrator module, a system customer service module, an assistance member module and a task module; the administrator module is used for maintaining and upgrading a daily system, managing membership authority of the system, content information stored in a cloud database and a local database, and monitoring receiving and sending task requests among the modules in real time; the system customer service module performs manual auditing except system assistance on unmanned equipment of the accident case, and customer service consultation except system automatic member real-name identity information auditing; the assistant member module is used for managing assistant members which are individuals made of natural persons, recording personal information of the assistant members, storing the personal information in the cloud database and the local database, and receiving customer service requests of the assistant members; the task module formulates an assistance task according to the task request sent by the administrator module, takes the geographic coordinates of the accident vehicle as a positioning point and an accident category, screens and matches assistance members with corresponding task identities nearby to publish assistance task information to the assistance members, guides the assistance members to arrive at an accident scene, and handles accident cases generated by unmanned equipment.
The parking lot selection module comprises a shortest driving distance mode, an indoor parking lot mode, an outdoor parking lot mode, a lowest price mode and a system recommendation mode and is used for meeting different parking requirements of members.
The detection condition module judges the relevant information of the parking lot according to the system platform information of the cooperative parking lot, such as: accidents (such as fire) in an end point parking space or a parking lot, the number of parking spaces in the end point parking space or the parking lot, whether the end point parking space or the parking lot is under maintenance construction, and parking fees in the end point parking space or the parking lot, among other problems.
The member judgment unit further comprises options of driving according to the original route, parking nearby and replacing the destination.
The steps of parking nearby are as follows:
step one, selecting a nearby parking option;
step two, searching the positions of parking places nearby the original parking place, and planning and displaying a plurality of nearby parking spaces or parking lots by a system;
step three, selecting a parking space or parking lot in the step two;
step four, the vehicle automatically drives to a parking space or parking lot selected in the step three;
and step five, reporting the relevant information of the parking lot in real time.
The use steps of the manual driving judgment unit are as follows:
step one, selecting a manual driving option;
step two, the member confirms to send out the application;
thirdly, the system checks the member information and judges whether the member meets the driving condition;
step four, the manual driving mode is started when the driving condition is met, and the main interface is returned when the driving condition is not met;
step five, meeting the requirement of step four, reporting route and terminal information in real time after starting the manual driving mode.
The road condition real-time monitoring unit comprises the following steps:
after a vehicle is started, a lens camera module and a road condition judgment module are started;
step two, the lens camera module monitors the road surface condition in real time and collects the road surface condition information;
step three, the lens camera module inputs information into a road condition judgment module;
step four, the road condition judging module judges whether the road condition is normal or not according to the information in the step three;
step five, selecting whether to enter manual driving or not when the road condition is normal, the vehicle runs according to the planned route and the road condition is abnormal;
and step six, if manual driving is selected, entering a manual driving judgment unit, and if manual driving is not selected, entering a destination route planning unit.
The using steps of the membership online group unit are as follows:
step one, after a member confirms a route, a system platform automatically searches the positions of other members on the route;
step two, the online group module informs the number of the members on the line whether to establish a temporary session group, and whether the members are willing to join the temporary session group after establishing the temporary session group or establishing the temporary session group;
step three, the map display module displays the positions of the members joining the temporary conversation group on a navigation map;
step four, the members of the temporary conversation group can carry out conversation, share road condition information and judge whether to switch the end point;
and step five, reaching the destination and selecting to reserve or dismiss or transfer the temporary conversation group.
The temporary session group comprises a group chat function module, a position sharing function module, a team forming function module, a friend application function module and a private letter function module, and the group chat function module has the functions of character and picture communication, voice communication and video communication. The member judges whether to switch the terminal, and simultaneously, the communication is more humanized, and the travel pleasure is increased.
The embodiment provides a destination dynamic planning method based on an unmanned vehicle, which preferably comprises the following steps:
and S1, the member logs in the system, and the system confirms the member identity.
S2, filling in the starting and ending positions.
And S3, the destination route planning unit plans the route of the destination and selects a shortest driving distance mode, an indoor parking lot mode, an outdoor parking lot mode, a lowest price mode and a system recommendation mode.
And S4, the member selects any mode of the S3 according to the self requirement.
And S5, detecting the parking lot condition by a detection condition module of the parking lot condition monitoring unit, analyzing and providing the parking lot condition for the passengers by an analysis scheme module, confirming the route again by the passengers, starting the automatic driving unit, and driving the unmanned vehicle according to the route.
S6, the detecting module of the parking lot status monitoring unit monitors the status of the parking lot in real time, and if there is a problem, sends related information such as accident (e.g. fire) in the final parking space/parking lot, the number of parking spaces in the final parking space/parking lot, whether the final parking space/parking lot is under maintenance, parking fee in the final parking space/parking lot, and other problems to the member, and then enters the member determining unit.
S7, judging whether to replace the route by a member, selecting a non-replacement terminal point, and driving the unmanned vehicle according to the originally planned route; a replacement route is selected, and a terminal route planning unit (S3), a manual driving option (S8), or a nearby parking option (S9) is further selected.
S8, manual driving option:
step one, selecting a manual driving option;
step two, the member confirms to send out the application;
thirdly, the system checks the member information and judges whether the member meets the driving condition;
step four, the manual driving mode is started when the driving condition is met, and the main interface is returned when the driving condition is not met;
step five, meeting the requirement of step four, reporting the route information in real time after the manual driving mode is started.
S9, option of parking nearby:
step one, selecting a nearby parking option;
step two, searching the positions of nearby parking places, and planning and displaying a plurality of nearby parking spaces or parking lots by a system;
step three, selecting a parking space or parking lot in the step two;
step four, the vehicle automatically drives to a parking space or parking lot selected in the step three;
and step five, reminding route dredging information in real time.
And S10, starting the road condition real-time monitoring unit and the member on-line group unit at the same time of S5.
S11, after the road condition real-time monitoring unit is started:
after a vehicle is started, a lens camera module and a road condition judgment module are started;
step two, the lens camera module monitors the road surface condition in real time and collects the road surface condition information;
step three, the lens camera module inputs information into a road condition judgment module;
step four, the road condition judging module judges whether the road condition is normal or not according to the information in the step three;
step five, selecting whether to enter manual driving or not when the road condition is normal, the vehicle runs according to the planned route and the road condition is abnormal;
and step six, if manual driving is selected to enter, entering a manual driving judgment unit, and if manual driving is not selected to enter, entering a destination route planning unit (S3).
S12, after the member on-line group unit is started:
step one, after a member confirms a route, a system platform automatically searches the positions of other members on the route;
step two, the system platform informs the number of the members on the line whether to establish a temporary session group, and whether the members are willing to join the temporary session group after establishing the temporary session group or establishing the temporary session group;
step three, displaying the positions of the members joining the temporary conversation group on a navigation map;
step four, the members of the temporary conversation group can carry out conversation and share road condition information, and the members judge whether to switch the destination or not and enter a member judging unit (S7);
and step five, reaching the destination, and selecting to reserve or dismiss or transfer or quit the temporary conversation group.
In conclusion, the invention provides a destination dynamic planning method based on an unmanned vehicle, which adopts a parking lot condition monitoring unit to enable members of the unmanned vehicle in a driving state to monitor the condition of a terminal parking lot in real time and provide monitoring results and an analysis scheme for the members, and assists the members to select a solution by themselves so as to facilitate the members to stop quickly after reaching the terminal, thereby saving time and improving efficiency; the road condition real-time monitoring unit is adopted to monitor the road condition in real time, avoid entering a large pit or a complex road section, and judge whether to drive manually or not and whether to change a route; the member online group unit is adopted to inform whether a temporary conversation group is established or not or whether the temporary conversation group is added or not, the positions of members who are added to the temporary conversation group are displayed on a navigation map, and the members judge whether the destination is switched or not according to the sharing real-time road condition information of other members.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (10)
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| CN111627238A (en) * | 2020-06-10 | 2020-09-04 | 中国人民解放军32023部队 | Automatic planning system for wheel type vehicle path |
| CN111709813A (en) * | 2020-06-19 | 2020-09-25 | 深圳市赛宇景观设计工程有限公司 | Commodity recommendation method based on big data line |
| CN112444264A (en) * | 2021-01-29 | 2021-03-05 | 新石器慧义知行智驰(北京)科技有限公司 | Unmanned vehicle-based user path guiding method and device and unmanned vehicle |
| CN113074747A (en) * | 2021-03-25 | 2021-07-06 | 驭势科技（北京）有限公司 | Path planning method, device, equipment and storage medium |
| CN114789708A (en) * | 2022-05-01 | 2022-07-26 | 深圳季连科技有限公司 | Door opening method based on automatic driving and automatic driving vehicle |
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| CN113074747B (en) * | 2021-03-25 | 2024-01-05 | 驭势科技（北京）有限公司 | Path planning method, device, equipment and storage medium |
| CN114789708A (en) * | 2022-05-01 | 2022-07-26 | 深圳季连科技有限公司 | Door opening method based on automatic driving and automatic driving vehicle |
| CN114789708B (en) * | 2022-05-01 | 2024-04-16 | 深圳季连科技有限公司 | Door opening method based on automatic driving and automatic driving vehicle |
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Application publication date: 20200424 |