CN112026678A

CN112026678A - Intelligent vehicle system and scheduling method

Info

Publication number: CN112026678A
Application number: CN201910413432.8A
Authority: CN
Inventors: 马克·安东尼·克劳福德; 和林; 张凯; 赵博; 王天培; 郭晓琳
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-12-04

Abstract

The present disclosure relates to a scheduling method of intelligent vehicle units, wherein the intelligent vehicle units comprise an intelligent navigation vehicle unit and a passenger/goods vehicle unit, the scheduling method comprising: receiving a transportation task; selecting at least one intelligent navigation vehicle unit and at least one passenger/cargo vehicle unit according to the transportation task; controlling the selected intelligent navigation vehicle unit and the passenger/cargo vehicle unit to interface with each other. The present disclosure is advantageous in that it is more flexible and less costly than other prior autonomous vehicle systems. Because multiple modules can be combined, significant fuel savings can be realized. Because the modules can be self-assembled, no additional structure or labor is required to create an autonomous vehicle system.

Description

Intelligent vehicle system and scheduling method

Technical Field

The present disclosure relates to the field of automatic driving, and in particular, to an intelligent vehicle system and an intelligent vehicle unit scheduling method.

Background

Autonomous vehicles (Autonomous vehicles), such as autonomy automobiles, are capable of driving on urban roads and highways for a variety of different applicable scenarios and environmental conditions. Advanced structures of these autonomous vehicles generally include: a sensor for detecting environmental information; high performance computing hardware; advanced algorithms for decision control to accomplish various dynamic driving tasks; and a fail-operational car platform, performs various operations such as acceleration, deceleration, and turning, and carries cargo and/or passengers. These autonomous vehicles typically communicate with a remote computer system that helps coordinate their functions while the autonomous vehicle is traveling and performing its tasks.

Some manufacturers have made technological improvements in vehicle platforms, incorporating a more modular architecture. The advantages of the modular autonomous vehicle architecture are: which allows the autonomous vehicle to be more flexible and thus perform various functions. These advances have allowed autonomous vehicles to perform a variety of functions by having a modular design that allows for the interchange of their cargo and/or passenger modules (CPMs). These autonomous vehicles use external manual or automatic systems to replace the cargo and/or passenger modules of the vehicle. Autonomous vehicles carry cargo and/or passenger compartments, which means that the load is dragged over the chassis and/or body structure of the vehicle.

Autonomous vehicles using currently existing modular structures are limited to carrying their CPM on their fixed wheelbase vehicle chassis and/or body. These modular autonomous vehicles must carry their CPM, which has three major drawbacks: 1) the weight of the CPM is limited due to the total vehicle weight limit of the autonomous vehicle; 2) additional machinery and systems are required to load the CPM onto the autonomous vehicle; 3) the size and shape of the CPM is limited and must be able to fit on an autonomous vehicle. These disadvantages result in less flexibility and additional cost to operate for existing modular autonomous vehicles. Autonomous vehicles may be used for a variety of mobile services, including taxi-taking, package/goods delivery, mobile office and retail, and other commercial applications. Autonomous vehicles that are only capable of a single dedicated mobile service are inefficient and can increase the operating costs of a fleet of autonomous vehicles.

The statements in this background section merely represent techniques known to the public and are not, of course, representative of the prior art.

Disclosure of Invention

The technical scheme described in the present disclosure solves at least one of the above problems, and realizes a plurality of mobile services with lower cost and higher flexibility.

In view of at least one of the deficiencies of the prior art, the present disclosure proposes an intelligent vehicle unit comprising: a vehicle body; a traveling device mounted on the vehicle body; and a docking unit disposed on a front side and/or a rear side of the vehicle body, the docking unit being configured to be connectable with docking units of other smart vehicle units to form a mechanical connection and an electrical connection.

According to one aspect of the disclosure, a wireless communication system is disposed on the smart vehicle unit and is configured to communicate with the central control unit of the smart vehicle unit and the wireless communication systems of other smart vehicle units.

According to one aspect of the disclosure, the smart vehicle unit further comprises a control unit and a drive device that can be activated or deactivated by the control unit via electrical signals received by the docking unit or the wireless communication system.

According to one aspect of the disclosure, the smart vehicle unit has a drive mode and a driven mode, wherein in the drive mode the drive means is activated; in the driven mode, the drive is disabled.

According to one aspect of the disclosure, the smart vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, the other smart vehicle units it is connected to switch to the secondary mode.

According to one aspect of the present disclosure, the intelligent vehicle unit further comprises one or more sensors, and the control unit is coupled with the sensors and implements unmanned driving according to signals sensed by the sensors.

According to one aspect of the present disclosure, the intelligent vehicle driving unit is provided with a lamp on both the front side and the rear side.

The present disclosure also relates to an intelligent vehicle system, comprising: a central control unit; and a plurality of intelligent vehicle units as described above, said intelligent vehicle units being in communication with said central control unit; wherein the central control unit is configured to couple together at least two of the plurality of smart vehicle units via the docking unit.

According to one aspect of the present disclosure, a wireless communication system is provided on the intelligent vehicle unit, the wireless communication system being configured to communicate with the wireless communication systems of the central control unit and other intelligent vehicle units, the intelligent vehicle unit having a drive mode and a driven mode, wherein in the drive mode the drive device is activated; in the driven mode, the drive means is disabled; the intelligent vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, other intelligent vehicle units to which it is connected switch to the secondary mode; the central control unit communicates with the intelligent vehicle units through the wireless communication system and controls each intelligent vehicle unit to be in a driving mode or a driven mode, a main mode or an auxiliary mode.

The present disclosure also relates to a method of scheduling a smart vehicle unit, wherein the smart vehicle unit comprises a smart navigation vehicle unit and a passenger/cargo vehicle unit, the method of scheduling comprising: receiving a transportation task; selecting at least one of said intelligent navigation vehicle units and at least one of said passenger/cargo vehicle units based on said transportation task; controlling the selected intelligent navigation vehicle unit and the passenger/cargo vehicle unit to interface with each other.

According to one aspect of the present disclosure, wherein the smart vehicle unit includes: a vehicle body; a traveling device mounted on the vehicle body; and a docking unit disposed on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units to form a mechanical connection and an electrical connection, wherein the step of controlling the selected smart navigation vehicle unit and the passenger/cargo vehicle unit to dock with each other comprises: controlling the docking unit of the selected smart navigation vehicle unit and the docking unit of the passenger/cargo vehicle unit to be connected to each other.

According to one aspect of the present disclosure, the intelligent vehicle unit is provided with a wireless communication system configured to be communicable with the central control unit of the intelligent vehicle unit and the wireless communication systems of other intelligent vehicle units, the intelligent vehicle unit further includes a control unit and a driving device that is activatable or deactivatable by the control unit through an electrical signal received by the docking unit, the scheduling method further includes: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task.

According to one aspect of the disclosure, the smart vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, the other smart vehicle units it is connected to switch to the secondary mode, wherein the scheduling method further comprises: and controlling the selected intelligent navigation vehicle unit and the passenger/goods vehicle unit to switch to the main mode or the auxiliary mode according to the transportation task. The intelligent vehicle unit further comprises one or more sensors, the control unit is coupled with the sensors, and the scheduling method further comprises: and carrying out unmanned driving according to the signals sensed by the sensors.

The present disclosure also relates to an intelligent vehicle system, comprising: a central control unit; and a plurality of intelligent vehicle units including an intelligent navigation vehicle unit and a passenger/cargo vehicle unit, the intelligent vehicle units being in communication with the central control unit; wherein the central control unit is configured to perform the following scheduling method: receiving a transportation task; selecting at least one of said intelligent navigation vehicle units and at least one of said passenger/cargo vehicle units based on said transportation task; controlling the selected intelligent navigation vehicle unit and the passenger/cargo vehicle unit to interface with each other.

According to one aspect of the present disclosure, the smart vehicle unit includes: a vehicle body; a traveling device mounted on the vehicle body; and a docking unit disposed on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units to form a mechanical connection and an electrical connection, wherein the step of controlling the selected smart navigation vehicle unit and the passenger/cargo vehicle unit to dock with each other comprises: controlling the docking unit of the selected smart navigation vehicle unit and the docking unit of the passenger/cargo vehicle unit to be connected to each other.

According to one aspect of the present disclosure, the smart vehicle unit further includes a control unit and a driving device that is enabled or disabled by the control unit through an electrical signal received by the docking unit, the scheduling method further includes: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task.

According to one aspect of the disclosure, the smart vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, the other smart vehicle units it is connected to switch to the secondary mode, wherein the scheduling method further comprises: controlling the selected intelligent navigation vehicle unit and passenger/cargo vehicle unit to switch to a primary mode or a secondary mode in accordance with the transportation task, wherein the intelligent vehicle unit further comprises one or more sensors, the control unit is coupled with the sensors, the scheduling method further comprises: and carrying out unmanned driving according to the signals sensed by the sensors.

The present disclosure also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the scheduling method as described above.

The present disclosure also relates to a communication method for use between intelligent vehicle units, wherein an intelligent vehicle unit has a primary mode in which the intelligent vehicle unit possesses its control authority and a secondary mode in which the intelligent vehicle unit relinquishes its control authority, the communication method comprising: one of the intelligent vehicle units receives a master mode command; the intelligent vehicle unit is switched to a master mode; sending auxiliary mode instructions to other intelligent vehicle units connected with the auxiliary mode instructions; the other intelligent vehicle units are switched into a secondary mode; and the other intelligent vehicle units transfer the control authority to the intelligent vehicle unit switched to the master mode.

According to an aspect of the present disclosure, the smart vehicle unit comprises a docking unit provided on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units, thereby forming a mechanical connection and an electrical connection, wherein the communication method further comprises: the smart vehicle unit of the master mode controls the smart vehicle unit of the slave mode through the docking unit.

According to one aspect of the present disclosure, the smart vehicle unit includes a smart navigation vehicle unit and a passenger/cargo vehicle unit, the communication method further includes: receiving a transportation task; selecting at least one of said intelligent navigation vehicle units and at least one of said passenger/cargo vehicle units based on said transportation task; controlling the selected intelligent navigation vehicle unit and the passenger/cargo vehicle unit to interface with each other.

According to one aspect of the present disclosure, the smart vehicle unit further includes a control unit and a driving device that is enabled or disabled by the control unit through an electrical signal received by the docking unit, the communication method further includes: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task.

According to one aspect of the disclosure, the intelligent vehicle unit further comprises one or more sensors, the communication method further comprises: and carrying out unmanned driving according to the signals sensed by the sensors.

The present disclosure also relates to an intelligent vehicle system, comprising: a central control unit; and a plurality of smart vehicle units having a primary mode in which the smart vehicle units possess their control authority and a secondary mode in which the smart vehicle units relinquish their control authority; wherein the central control unit is configured to perform the following method: sending a master mode command to one of the intelligent vehicle units; sending auxiliary mode instructions to other intelligent vehicle units connected with the auxiliary mode instructions; the intelligent vehicle unit is switched to the master mode after receiving the master mode command; and after receiving the auxiliary mode instruction, the other intelligent vehicle units connected with the intelligent vehicle units are switched to the auxiliary mode, and the control authority is delivered to the intelligent vehicle unit switched to the main mode.

According to an aspect of the present disclosure, the smart vehicle unit includes a docking unit disposed on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units so as to form a mechanical connection and an electrical connection, wherein the smart vehicle unit of the master mode controls the smart vehicle unit of the slave mode through the docking unit.

According to one aspect of the present disclosure, a smart vehicle unit includes a smart navigation vehicle unit and a passenger/cargo vehicle unit, the smart vehicle unit having a wireless communication system disposed thereon, the wireless communication system configured to communicate with a central control unit of the smart vehicle unit and wireless communication systems of other smart vehicle units, the smart vehicle unit further including a control unit and a drive device, the drive device being activatable or deactivatable by the control unit via an electrical signal received by the docking unit, the central control unit further configured to: the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/goods vehicle unit are enabled or disabled depending on the transportation task.

The present disclosure also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the communication method as described above.

An advantage of the present disclosure is that autonomous vehicles are more flexible and less costly than other autonomous vehicle systems of the past. Because multiple modules can be combined, significant fuel savings can be realized. Because the modules can be self-assembled, no additional structure or labor is required to create an autonomous vehicle system. The system of the present disclosure is a push/pull system, allowing for more versatile configuration of modules, and greater ability to transport cargo and/or passengers.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure. In the drawings:

fig. 1 schematically illustrates a smart vehicle unit according to an embodiment of a first aspect of the present disclosure;

FIG. 2 schematically illustrates a smart vehicle unit according to another embodiment of a first aspect of the disclosure;

FIG. 3 illustrates the connection and communication of two intelligent vehicle units according to a first aspect of the present disclosure;

FIG. 4 illustrates a second embodiment according to a first aspect of the present disclosure relating to a smart vehicle system;

FIG. 5 illustrates a plurality of different configuration configurations of a smart vehicle system according to an embodiment of a first aspect of the present disclosure;

FIG. 6 illustrates different configuration configurations of a smart vehicle system according to an embodiment of a first aspect of the present disclosure;

FIG. 7 illustrates a method of scheduling a smart vehicle unit according to a second aspect of the present disclosure;

fig. 8 illustrates a method for communication between intelligent vehicle units of a third aspect of the present disclosure.

Reference numerals

100 a smart vehicle unit; 101 a vehicle body; 112 a wheel system; 106 a docking unit; 104 a wireless communication system; 109 a control unit; 105 a drive device; 103 a sensor system mounted on the roof of the vehicle; 107 a sensor system mounted on the vehicle body; 111 a vehicle lamp; 200 a smart vehicle unit; 201 a vehicle body; 212 a wheel system; 206 a docking unit; 204 a wireless communication system; 209 a control unit; 205 a drive device; 203 a sensor system mounted on the vehicle roof; 207 a sensor system mounted on the vehicle body; 211 a vehicle lamp; 300 smart vehicle systems; 301 a central control unit; 302 a network; 401. 402, 403, 404, 405, a cooperative modular autonomous vehicle system; 406, over-the-air configuration; 500 intelligent flight unit; 506 docking unit.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art can appreciate, the described embodiments can be modified in various different ways, without departing from the spirit or scope of the present disclosure. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

Throughout the description of the present disclosure, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or otherwise in communication with one another; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the disclosure. To simplify the disclosure of the present disclosure, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The preferred embodiments of the present disclosure will be described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are merely for purposes of illustrating and explaining the present disclosure and are not intended to limit the present disclosure.

First aspect

A first aspect of the present disclosure relates to an intelligent vehicle unit. This is described in detail below with reference to fig. 1 and 2.

A smart vehicle unit 100 is shown in fig. 1. As shown in fig. 1, the smart vehicle unit 100 includes a vehicle body 101, a wheel system 112, and a docking unit 106. Wherein the wheel system 112 is provided on a vehicle body, and the wheel system 112 is steerable so as to be driven on urban roads, rural environments, and highways. Docking units 106 are arranged on the front and/or rear side of the vehicle body 101, said docking units 106 being configured to be connectable with the docking units of other smart vehicle units, thereby forming a mechanical connection and an electrical connection, forming a combined queue. The wheel system 112 is one embodiment of a travel device. The intelligent vehicle unit 100 may include other types of travel devices, such as tracks, and the like. All of which are within the scope of the present disclosure. For convenience, the following description will still be given taking the wheel system 112 as an example.

Preferably, the docking unit 106 is provided on the front side and the rear side of the vehicle body 101. Thus, when the smart vehicle units 100 are connected together to form a fleet of vehicles in different configurations, the smart vehicle units 100 may be connected in front of or behind the fleet of vehicles. Preferably, docking unit 106 is allo-isomorphic (hermaphroditic). For example, the docking unit 106 includes both a male portion and a female portion, wherein the male portion and the female portion correspond to each other. An advantage of this configuration is that the docking units 106 on each smart vehicle unit 100 may be identical, so that multiple smart vehicle units 100 may be conveniently combined together in series to form a larger fleet of vehicles.

Additionally, the wheel systems 112 of the smart vehicle unit 100 may be steered, allowing the smart vehicle unit 100 to travel conveniently in any direction, and allowing the smart vehicle unit to travel forward and backward. Preferably, the wheel system 112 includes three or four wheels sufficient to support itself and travel without having to be carried on the chassis or body of another vehicle.

According to a preferred embodiment of the present disclosure, the smart vehicle unit 100 is provided with a wireless communication system 104, such as an antenna 104, as shown in fig. 1. The wireless communication system 104 is configured to communicate with the central control unit of the intelligent vehicle unit and the wireless communication systems of other intelligent vehicle units (described in detail below).

According to a preferred embodiment of the present disclosure, the smart vehicle unit 100 further comprises a control unit 109 and a drive device 105. Wherein the control unit 109 is, for example, an on-board computer or a micro-control unit, which may control all or part of the electrical and power components on the smart vehicle unit 100. The driving device 105 may be, for example, an electric motor or an engine, for driving the wheel system 112, thereby enabling the movement of the intelligent vehicle unit 100.

According to one embodiment of the present disclosure, each smart vehicle unit 100 has a drive mode and a driven mode. Wherein in the driving mode, the driving device 105 is enabled to provide driving force to the intelligent vehicle unit 100; in the slave mode, the drive device 105 is disabled so that the smart vehicle unit 100 needs to rely on the drag or propulsion from other smart vehicle units to be able to travel. Each smart vehicle unit may be controlled by its control unit 109 to switch between a driving mode and a driven mode. Such an arrangement is advantageous for flexible configuration of the intelligent vehicle unit. For example, in a scenario where a large driving force is not required, it is sufficient that only the smart vehicle unit 100 as the vehicle head is in the driving mode, and the other connected smart vehicle units may be switched to the driven mode without outputting power. In a scenario requiring a large driving force, in a fleet formed by connecting a plurality of intelligent vehicle units, the plurality of intelligent vehicle units may be required to be in a driving mode, for example, the intelligent vehicle units at the head and tail of the fleet are required to be in the driving mode, while the intelligent vehicle units in the middle are in a driven mode. According to an embodiment of the present disclosure, the control unit 109 may control the driving device to be in a driving mode or a driven mode according to an electrical signal received by the docking unit 106 or the wireless communication system 104. All of which are within the scope of the present disclosure.

According to a preferred embodiment of the present disclosure, the smart vehicle unit 100 has a primary mode and a secondary mode, and can be switched between the primary mode and the secondary mode by the control unit 109. "master mode" in this disclosure means that the intelligent vehicle unit has control over itself, for example, control over one or more of the steering system, braking system, electrical system, and powertrain system; and "secondary mode" means that the intelligent vehicle unit has relinquished control over all or part of itself, for example control over one or more of the steering system, braking system, electrical system, power system to other control units or other intelligent vehicle units. For example, in a fleet formed by connecting a plurality of intelligent vehicle units, the intelligent vehicle unit at the head of the fleet is in the primary mode, and the remaining intelligent vehicle units are in the secondary mode, and are guided and controlled by the intelligent vehicle unit in the primary mode. According to a preferred embodiment of the present disclosure, only one smart vehicle unit may be in master mode in a fleet of connected smart vehicle units. When one intelligent vehicle unit is switched to the primary mode, the other intelligent vehicle units connected thereto are switched to the secondary mode. For example, the control unit 109 may control the smart vehicle unit 100 to be in the primary mode or the secondary mode through an electrical signal received by the docking unit 106 or the wireless communication system 104.

According to a preferred embodiment of the present disclosure, in a fleet formed by connecting a plurality of intelligent vehicle units, the intelligent vehicle unit in the master mode takes over the control of the driving devices and the braking systems of all the intelligent vehicle units in the fleet.

As shown in fig. 1, according to a preferred embodiment of the present disclosure, the smart vehicle unit 100 may have one or more sensors, and the control unit is coupled to the sensors and provides driving assistance to the driver according to signals sensed by the sensors, for example, for implementing unmanned driving. In fig. 1, a roof-mounted sensor system 103 and a body-mounted sensor system 107 are shown, which are used to sense the environment and thus contribute to the execution of dynamic driving tasks. The sensors may include, but are not limited to: infrared sensors, cameras, laser radars, millimeter wave radars, ultrasonic devices, temperature sensors, humidity sensors, SLAM sensors, and the like. And the control unit 109 is used for detecting and sensing the surrounding environment, providing the acquired signals and data to the intelligent vehicle unit, and making decisions and realizing dynamic driving tasks by the control unit 109. Alternatively, the control unit 109 of the smart vehicle unit 100 in the secondary mode may send signals and data collected by the sensors thereon to the control unit 109 of the smart vehicle unit 100 in the primary mode for control.

As shown in fig. 1, according to a preferred embodiment of the present disclosure, the smart vehicle unit 100 is provided with lamps 111 on both front and rear sides, so that the smart vehicle unit 100 can travel both forward (leftward in fig. 1) and backward (rightward in fig. 1). The lamp 111 is only schematically shown in the figure. In practice, the lamp 111 may include a lamp located forward such as a headlight, a fog lamp, or a width lamp of the vehicle, or may include a tail lamp, a brake lamp, or the like located rearward of the vehicle. All within the scope of the present disclosure.

A smart vehicle unit 200 according to another embodiment is shown in fig. 2. As shown in fig. 2, the smart vehicle unit 200 includes a vehicle body 201, a wheel system 212, and a docking unit 206. Wherein the wheel system 212 is provided on a vehicle body, and the wheel system 212 is steerable so as to travel on urban roads, rural environments, and highways. A docking unit 206 is provided on the front and/or rear side of the vehicle body 201, the docking unit 206 being configured to be connectable with docking units of other smart vehicle units, thereby forming a mechanical connection and an electrical connection.

Preferably, the docking unit 206 is provided on the front side as well as the rear side of the vehicle body 201. Thus, when the smart vehicle units 200 are connected together to form a fleet of vehicles in different configurations, the smart vehicle units 200 may be connected in front of or behind the fleet of vehicles. Preferably, docking unit 206 is hermaphroditic (androgrous). For example, the docking unit 206 includes both a male portion and a female portion, wherein the male portion and the female portion correspond to each other. An advantage of this configuration is that the docking unit 206 on each smart vehicle unit 200 may be identical, so that multiple smart vehicle units 200 may be conveniently combined together in series to form a larger fleet of vehicles. Preferably, the docking unit 206 is identical to the docking unit 106 of the first embodiment. This is advantageous for assembling any number of

smart vehicle units

100 and 200 together to form a fleet of vehicles, since no differentiation or special configuration of docking units is required and any

smart vehicle unit

100, 200 can be connected to other

smart vehicle units

100, 200.

Additionally, the wheel systems 212 of the smart vehicle unit 200 may be steered, allowing the smart vehicle unit 200 to travel conveniently in any direction. And allows the intelligent vehicle unit to travel forward and backward. Preferably, the wheel system 212 includes three or four wheels sufficient to support itself and travel without having to be carried on the chassis or body of another vehicle.

According to a preferred embodiment of the present disclosure, the smart vehicle unit 200 is provided with a wireless communication system 204, such as an antenna 204, as shown in fig. 2. The wireless communication system 204 is configured to communicate with the central control unit of the intelligent vehicle unit and the wireless communication systems of other intelligent vehicle units (described in detail below).

According to a preferred embodiment of the present disclosure, the smart vehicle unit 200 further comprises a control unit 209 and a driving device 205. Wherein the control unit 209 is, for example, an on-board computer, and can control all or part of the electrical and power components of the smart vehicle unit 200. The driving device 205 may be, for example, an electric motor or an engine, and is used to drive the wheel system 212, thereby achieving the movement of the smart vehicle unit 200.

According to one embodiment of the present disclosure, each smart vehicle unit 200 has a driving mode in which the driving device 205 is enabled to provide driving force to the smart vehicle unit 200 and a driven mode; in the slave mode, the drive device 205 is disabled so that the smart vehicle unit 200 needs to rely on the drag or push forces from other smart vehicle units to be able to travel. Each smart vehicle unit may be controlled by its control unit 209 to switch between a driving mode and a driven mode. Such an arrangement is advantageous for flexible configuration of the intelligent vehicle unit. For example, in a scenario where a large driving force is not required, it is sufficient that only the smart vehicle unit 200 as the vehicle head is in the driving mode, and the other smart vehicle units may be switched to the driven mode without outputting power. In a scene requiring large driving force, in a fleet formed by connecting a plurality of intelligent vehicle units, the plurality of intelligent vehicle units may be required to be in a driving mode, for example, the intelligent vehicle units at the head and the tail of the fleet are required to be in the driving mode, while the middle intelligent vehicle unit is in a driven mode. According to an embodiment of the present disclosure, the control unit 209 may control the driving device to be in a driving mode or a driven mode according to an electrical signal received by the docking unit 206 or the wireless communication system 204. All of which are within the scope of the present disclosure. Of course, the intelligent vehicle unit 200 may not have the driving device 205 at all, and may run by relying on external drag and propulsion entirely.

According to a preferred embodiment of the present disclosure, the smart vehicle unit 200 has a primary mode and a secondary mode, and can be switched between the primary mode and the secondary mode by the control unit 209. "master mode" in this disclosure means that the intelligent vehicle unit has control over itself, for example, control over one or more of the steering system, braking system, electrical system, and powertrain system; and "secondary mode" means that the intelligent vehicle unit has relinquished control over all or part of itself, for example control over one or more of the steering system, braking system, electrical system, power system to other control units or other intelligent vehicle units. For example, in a fleet formed by connecting a plurality of intelligent vehicle units, the intelligent vehicle unit at the head of the fleet is in the primary mode, and the remaining intelligent vehicle units are in the secondary mode, and are guided and controlled by the intelligent vehicle unit in the primary mode. According to a preferred embodiment of the present disclosure, only one smart vehicle unit may be in master mode in a fleet of connected smart vehicle units. When one intelligent vehicle unit is switched to the primary mode, the other intelligent vehicle units connected thereto are switched to the secondary mode. For example, the control unit 209 may control the smart vehicle unit 200 to be in the primary mode or the secondary mode through an electrical signal received by the docking unit 206 or the wireless communication system 204.

According to a preferred embodiment of the present disclosure, in a fleet formed by connecting a plurality of intelligent vehicle units, the intelligent vehicle unit in the master mode takes over the control of the steering system, the driving device and the braking system of all the intelligent vehicles in the fleet.

As shown in fig. 2, according to a preferred embodiment of the present disclosure, the smart vehicle unit 200 may have one or more sensors, and the control unit is coupled to the sensors and provides driving assistance to the driver according to signals sensed by the sensors, for example, for implementing unmanned driving. In fig. 2, a roof-mounted sensor system 203 and a body-mounted sensor system 207 are shown, which are used to sense the environment and thus contribute to performing dynamic driving tasks. The sensors may include, but are not limited to: infrared sensors, cameras, laser radars, millimeter wave radars, ultrasonic devices, temperature sensors, humidity sensors, SLAM sensors, and the like. For detecting and sensing the surrounding environment, providing the acquired signals and data to the control unit 209 of the intelligent vehicle unit for the control unit 209 to make decisions and to implement dynamic driving tasks. Alternatively, the control unit 209 of the smart vehicle unit 200 in the secondary mode may send the signals and data collected by the sensors thereon to the control unit 209 of the smart vehicle unit 200 in the primary mode for use in control.

As shown in fig. 2, according to a preferred embodiment of the present disclosure, the smart vehicle unit 200 is provided with lamps 211 on both front and rear sides, so that the smart vehicle unit 200 can travel both forward (leftward in fig. 2) and backward (rightward in fig. 2). In practice, the lamp 211 may include a lamp located forward such as a headlight, a fog lamp, or a width lamp of the vehicle, or may include a tail lamp, a brake lamp, or the like located rearward of the vehicle. All within the scope of the present disclosure.

According to a preferred embodiment of the present disclosure, the driving device 105 may be provided in the smart vehicle unit 100, and the driving device 205 may not be provided in the smart vehicle unit 200.

According to a preferred embodiment of the present disclosure, the smart vehicle unit 100 has driving capabilities, which may be referred to as a smart navigation vehicle unit; the smart vehicle units 200 have the capability to load passengers and/or cargo and may also be referred to as passenger/cargo vehicle units. For example, the smart vehicle unit 100 may be configured to primarily perform a driving function and the smart vehicle unit 200 may be configured to primarily perform a loading function.

Fig. 3 shows the connection and communication of two intelligent vehicle units. The intelligent vehicle unit 100 and the intelligent vehicle unit 200 are described as an example. Those skilled in the art will appreciate that fig. 3 may also be applicable to the connection and communication between the

smart vehicle units

100 and 100, and between the

smart vehicle units

200 and 200.

As shown in fig. 3, when the smart vehicle unit 100 is docked with the smart vehicle unit 200, the

docking units

106 and 206 are connected together, thereby forming a mechanical connection and an electrical connection. So that they can communicate with each other via the

docking units

106 and 206. In addition, the wireless communication systems 104 and 204 (e.g., antennas) may also form the

wireless communication link

104 and 204. In addition, the

wireless communication systems

104 and 204 may also communicate wirelessly with an external central control system, as will be described in more detail below.

A second embodiment of the present disclosure relates to an intelligent vehicle system 300. As described in detail below with reference to fig. 4. As shown in fig. 4, the smart vehicle system 300 comprises a central control unit 301 and a plurality of

smart vehicle units

100, 200 as described above, said

smart vehicle units

100, 200 communicating with said central control unit 301 via a network 302. Wherein the central control unit 301 is configured to couple together at least two of the plurality of smart vehicle units via the docking unit.

For example, the

wireless communication systems

104 and 204 on the

smart vehicle units

100, 200 may communicate with the central control unit 301 via the network 302, and may also communicate with each other. The present disclosure is not limited to a specific type of network 302, and may be a satellite communication network, a 2G, 3G, 4G, 5G network, or any type of communication means such as EDGE, GPSR network, bluetooth, WIFI, etc. All of which are within the scope of the present disclosure.

As described above, the

smart vehicle units

100, 200 have the driving mode and the driven mode. The central control unit 301 may control the

smart vehicle units

100 and 200 to be in either the drive mode or the slave mode depending on the particular operational and situational needs. For example, each

smart vehicle unit

100, 200 may be assigned a unique number ID. The central control unit 301 may send a command to a particular smart vehicle unit, including the smart vehicle unit's serial number ID and a switch indication (e.g., switch to drive mode or slave mode). And after receiving the instruction, the corresponding intelligent vehicle unit switches to a corresponding mode according to a switching instruction in the instruction.

In addition, as previously indicated, the

smart vehicle units

100, 200 may be switched between a primary mode and a secondary mode. Wherein when switching to the primary mode, the other smart vehicle units to which they are connected switch to the secondary mode. The central control unit 301 may specify one of the

intelligent vehicle units

100, 200 as a master mode through the network 302 when configuring the fleet of

intelligent vehicle units

100, 200, in which case the other

intelligent vehicle units

100, 200 may automatically switch to the slave mode and transfer their control authority to the intelligent vehicle unit in the master mode in the fleet.

One or

more sensors

103, 107, 203, 207 on the

intelligent vehicle units

100, 200 are coupled with a control unit on each intelligent vehicle unit, and the control unit realizes unmanned driving according to signals sensed by the sensors.

Fig. 5 illustrates a number of different configuration configurations of the smart vehicle system 300. The smart vehicle unit 100 has an ability to drive automatically, for example, and the smart vehicle unit 200 does not have an ability to drive automatically, for example. The smart vehicle units 100 may be combined with one or more of the smart vehicle units 100 and/or the smart vehicle units 200 in a variety of configuration configurations to form a cooperative modular autonomous vehicle system (CMMAVS) 401, 402, 403, 404, 405 to accomplish various mobile services. The

intelligent vehicle units

100 and 200, as basic modular units, may be combined into a number of different configurations, which may be advantageous for different applications.

For example, the standard configuration 401 is to connect a single smart vehicle unit 100 to a single smart vehicle unit 200. In the towing configuration 402, two smart vehicle units 100 may be connected together. In the heavy-duty configuration 404, a heavy-duty smart vehicle unit 200 may be connected with two smart vehicle units 100. In

configurations

403 and 405, multiple modules are combined, which improves fuel economy during transportation.

Fig. 6 shows that the smart flying unit 500 may be connected to the smart vehicle unit 200 on the ground. Resulting in an over-the-air configuration 406. The smart flying unit 500 may have a docking unit 506 thereon for making a mechanical and electrical connection with the docking unit 206 on the smart vehicle unit 200. These are exemplary configurations, and other configurations may be implemented due to the highly configurable nature of the cooperative modular autonomous vehicle system.

The smart flying unit 500 may also be an embodiment of the smart vehicle unit 100. Besides having no wheel system, the smart flying unit 500 may also be provided with sensors, wireless communication systems, control units, and docking units similar to the

smart vehicle units

100 and 200, so as to perform sensing, communication, fusion, decision planning, docking, and other operations with other smart vehicle units or smart flying units. And will not be described in detail herein.

In the present disclosure, the smart vehicle unit 100 may have the ability to autonomously drive, either with or without the smart vehicle unit 200, alone. The complexity of the intelligent vehicle unit 200 can range widely, for example, from a simple wheeled vehicle without power components, to a fully self-propelled powered vehicle. The smart vehicle unit 200 may be designed to carry cargo and/or passengers in dedicated components to support various mobile services.

Second aspect of the invention

A second aspect of the present disclosure is directed to a method 600 of scheduling a smart vehicle unit. The scheduling method 600 is described below with reference to fig. 7. The intelligent vehicle units include an intelligent navigation vehicle unit 100, a passenger/cargo vehicle unit 200. The scheduling method 600 may be executed and implemented by, for example, the central control unit 301 in fig. 4, and the central control unit 301 is taken as an example for explanation. Of course, those skilled in the art will appreciate that the scope of the present disclosure is not limited to the scheduling method 600 being performed by the central control unit 301.

As shown in fig. 7, the scheduling method 600 includes:

in step S601, a transportation task is received. The transportation task may include parameters such as people, cargo, number of people, weight of cargo, type of cargo, and the like.

At step S602, at least one of the intelligent navigation vehicle units and at least one of the passenger/cargo vehicle units are selected according to the transportation task. After receiving the transportation task, the central control unit 301 selects at least one intelligent navigation vehicle unit 100 and at least one passenger/cargo vehicle unit 200 according to the content of the transportation task, and the intelligent navigation vehicle unit and the passenger/cargo vehicle unit are used for forming a fleet to complete the transportation task. In the selection process, an appropriate number of the intelligent navigation vehicle units 100 should be selected, for example, depending on the type of transportation task, e.g., whether for carrying passengers or for carrying cargo, and additionally, depending on the number of passengers and/or the weight of cargo, or depending on the number of the selected passenger/cargo vehicle units 200. As previously described, each of the intelligent navigation vehicle units 100 and the passenger/cargo vehicle units 200 includes a unique number ID. The result of step S602 may be a queue or array where each node corresponds to a number ID, the order of the queue or array representing the position of the intelligent navigation vehicle unit 100 and the passenger/goods vehicle unit 200 in the final fleet. In determining the order, certain constraints are preferably followed. For example, if only one intelligent navigation vehicle unit 100 is selected, the intelligent navigation vehicle unit 100 will be located at the head of the line in the fleet. If multiple intelligent navigation vehicle units 100 are selected, one of the intelligent navigation vehicle units 100 will be at the head of the line of the platoon and the remaining intelligent navigation vehicle units 100 may be positioned at the end of the line or at a position in the middle of the line.

In step S603, the selected smart navigation vehicle unit 100 and the passenger/cargo vehicle unit 200 are controlled to dock with each other. After step S602, the central control unit 301 communicates with the selected intelligent navigation vehicle units 100 and passenger/cargo vehicle units 200, for example, over the network 302, and then assembles the intelligent navigation vehicle units 100 and passenger/cargo vehicle units 200 together end-to-end one-by-end. The process of assembly may be automated via the smart navigation vehicle unit 100 and the passenger/cargo vehicle unit 200. For example. After the head of line intelligent navigation vehicle unit 100 is determined, the head of line intelligent navigation vehicle unit 100 can learn the passenger/cargo vehicle unit 200 in the second position and automatically drive to the passenger/cargo vehicle unit 200 in the second position, and the passenger/cargo vehicle unit 200 in the second position is automatically connected together through the

docking units

106 and 206 to form mechanical and electrical connection. After the vehicle unit at the head of the queue and the vehicle unit at the second position are butted to form the combined unit, the combined unit can continue to automatically drive and search for the vehicle unit at the third position in the queue, and the butting operation is carried out. The above process is repeated and iterated until the vehicle units at the tail of the queue are connected. Optionally, the central control unit 301 may issue an assembly task to the operators of the respective intelligent navigation vehicle units 100 and the passenger/cargo vehicle units 200, and the assembly task is completed by the operators. All of which are within the scope of the present disclosure.

As described in the first aspect of the present disclosure, the

smart vehicle unit

100, 200 includes:

vehicle bodies

101, 201;

wheels

112, 212 mounted on the

vehicle body

101, 201; and a

docking unit

106, 206 provided on a front side and/or a rear side of the

smart vehicle unit

100, 200, the

docking unit

106, 206 being configured to be connectable with a docking unit of another smart vehicle unit, thereby forming a mechanical connection and an electrical connection. By including the

docking units

106 and 206, it is possible to conveniently control the docking unit of the selected smart navigation vehicle unit and the docking unit of the passenger/cargo vehicle unit to be connected to each other.

As described in the first aspect of the present disclosure, the

smart vehicle units

100, 200 are provided with

wireless communication systems

104 and 204 configured to communicate with the central control unit 301 of the smart vehicle unit and the wireless communication systems of other smart vehicle units.

As described in the first aspect of the present disclosure, the smart vehicle unit further includes a control unit and a driving device that can be activated or deactivated by the control unit through an electrical signal received by the docking unit or the wireless communication system. The scheduling method 600 further includes: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task. For example, drives may be included in some passenger/cargo vehicle units 200, then after docking, the drives in some passenger/cargo vehicle units 200 may be disabled or enabled depending on the need for power.

As described in the first aspect of the present disclosure, where the

smart vehicle units

100, 200 have a primary mode, it is possible to switch between the primary mode and a secondary mode, where when switching to the primary mode, the other smart vehicle units to which they are connected switch to the secondary mode. Wherein the scheduling method further comprises: and controlling the selected intelligent navigation vehicle unit and the passenger/goods vehicle unit to switch to the main mode or the auxiliary mode according to the transportation task. For example, when the central control unit 301 controls the selected smart navigation vehicle units 100 and the passenger/cargo vehicle units 200 to dock with each other, or thereafter, the central control unit 301 may instruct the smart navigation vehicle unit 100 located at the head of the fleet to switch to the master mode, i.e., take charge of the movement of the entire fleet queue with the smart navigation vehicle unit 100 at the head of the fleet as the head, through the network 302. The central control unit 301 may also instruct other intelligent navigation vehicle units 100 and passenger/cargo vehicle units 200 located outside the head of the fleet to switch to the slave mode, via the network 302, to pass their control authority to the intelligent navigation vehicle units 100 at the head of the fleet, and the intelligent navigation vehicle units 100 and passenger/cargo vehicle units 200 in the fleet may communicate with each other via their wireless communication devices or docking units 106/206, communicating control commands or other information. Or alternatively, after the head-of-line smart navigation vehicle unit 100 switches to the master mode, the smart navigation vehicle unit 100 may communicate a command to the other smart navigation vehicle units 100 and the passenger/cargo vehicle unit 200 via its wireless communication device 104 or docking unit 106 to switch to the slave mode. All of which are within the scope of the present disclosure.

As described in the first aspect of the present disclosure, the

smart vehicle unit

100, 200 further comprises one or

more sensors

103, 107, 203, 207, to which the control unit is coupled. In this case, the scheduling method 600 further includes: and carrying out unmanned driving according to the signals sensed by the sensors.

In the above description, the example in which the intelligent vehicle unit includes the intelligent navigation vehicle unit 100 and the passenger/cargo vehicle unit 200 is explained. Those skilled in the art will appreciate that the smart vehicle unit may also include a smart flying unit 500. According to a preferred embodiment of the present disclosure, at step S602, at least one of the intelligent navigation vehicle units 100, at least one of the passenger/cargo vehicle units 200, at least one of the intelligent flight units 500 is selected according to the transportation task; in step S603, the selected intelligent navigation vehicle unit 100, the passenger/cargo vehicle unit 200, and the intelligent flying unit 500 are controlled to dock with each other.

A second aspect of the present disclosure also relates to a smart vehicle system 300, see fig. 3, the smart vehicle system 300 comprising: a central control unit 301 and a plurality of intelligent vehicle units, including an intelligent navigation vehicle unit 100 and a passenger/cargo vehicle unit 200, which communicate with the central control unit. Wherein the central control unit 301 is configured to the scheduling method 600 as described above.

Third aspect of the invention

A third aspect of the present disclosure is directed to a method 700 for communication between intelligent vehicle units. Wherein a smart vehicle unit, for example a

smart vehicle unit

100, 200 as described in the first aspect of the present disclosure, has a primary mode in which the smart vehicle unit possesses its control authority and a secondary mode in which the smart vehicle unit relinquishes its control authority.

As shown in fig. 8, the communication method 700 includes:

in step S701, one of the intelligent vehicle units receives a master mode command. For example, the central control unit 301 in the second aspect of the present disclosure, transmits a master mode command to one of the intelligent vehicle units, for example, the one at the head of the queue.

In step S702, the one smart vehicle unit switches to the master mode after receiving the master mode instruction.

In step S703, a sub-mode command is issued to the other intelligent vehicle units connected thereto. Step 703 may be performed by, for example, the central control unit 301, or may be performed by the smart vehicle unit that has switched to the master mode, and issues a slave mode command to another smart vehicle unit connected to the smart vehicle unit.

In step S704, the other connected intelligent vehicle units are all switched to the secondary mode after receiving the secondary mode command.

In step S705, while or after the other smart vehicle unit is switched to the secondary mode, the smart vehicle unit whose control authority is switched to the primary mode is handed over. Note that the control authority here may be the entire control authority or a part of the control authority.

As described in the first aspect of the present disclosure, the

smart vehicle unit

100, 200 comprises a

docking unit

106, 206, the

docking unit

106, 206 being arranged on a front side and/or a rear side of the

smart vehicle unit

100, 200, the

docking unit

106, 206 being configured to be connectable with a docking unit of another smart vehicle unit, thereby forming a mechanical connection and an electrical connection. Wherein the communication method 700 further comprises: the smart vehicle unit of the master mode controls the smart vehicle unit of the slave mode through the docking unit. The communication method 700 of the third aspect of the present disclosure may also be combined with the scheduling method 600 of the second aspect of the present disclosure. For example, the smart vehicle units include a smart navigation vehicle unit and a passenger/cargo vehicle unit, and the communication method 700 further includes:

receiving a transportation task;

selecting at least one of said intelligent navigation vehicle units and at least one of said passenger/cargo vehicle units based on said transportation task;

controlling the selected intelligent navigation vehicle unit and the passenger/cargo vehicle unit to interface with each other.

As described in the first aspect of the present disclosure, the

smart vehicle units

100, 200 are provided with

wireless communication systems

104, 204, such as antennas, and the

wireless communication systems

104, 204 are configured to communicate with the central control unit 301 of the smart vehicle unit and the wireless communication systems of other smart vehicle units.

As described in the first aspect of the present disclosure, the

smart vehicle unit

100, 200 further comprises a control unit and a driving device that can be activated or deactivated by the control unit through an electrical signal received by the docking unit. The communication method 700 further includes: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task.

As described in the first aspect of the disclosure, the intelligent vehicle unit further comprises one or

more sensors

103, 107, 203, 207, the communication method 700 further comprises: and carrying out unmanned driving according to the signals sensed by the sensors.

In the above description, the example in which the intelligent vehicle unit includes the intelligent navigation vehicle unit 100 and the passenger/cargo vehicle unit 200 is explained. Those skilled in the art will appreciate that the smart vehicle unit may also include a smart flying unit 500. The communication method 700 of the third aspect of the present disclosure may be used for communication between the intelligent navigation vehicle unit 100, the passenger/cargo vehicle unit 200, and the intelligent flight unit 500.

A third aspect of the present disclosure also relates to a smart vehicle system 300, as shown in fig. 3, the smart vehicle system 300 including: a central control unit; and a plurality of smart vehicle units having a primary mode in which the smart vehicle units possess their control authority and a secondary mode in which the smart vehicle units relinquish their control authority. Wherein the central control unit is configured to perform the following method: sending a master mode command to one of the intelligent vehicle units; and sending a secondary mode command to other intelligent vehicle units connected with the secondary mode command. The intelligent vehicle unit is switched to the master mode after receiving the master mode command; and after receiving the auxiliary mode instruction, the other intelligent vehicle units connected with the intelligent vehicle units are switched to the auxiliary mode, and the control authority is delivered to the intelligent vehicle unit switched to the main mode.

As described in the first aspect of the present disclosure, the smart vehicle unit includes a docking unit provided on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units so as to form a mechanical connection and an electrical connection, wherein the smart vehicle unit of the master mode controls the smart vehicle unit of the slave mode through the docking unit.

As described in the first aspect of the present disclosure, a smart vehicle unit includes a smart navigation vehicle unit and a passenger/cargo vehicle unit, the smart vehicle unit having a wireless communication system disposed thereon, the wireless communication system being configured to communicate with a central control unit of the smart vehicle unit and wireless communication systems of other smart vehicle units, the smart vehicle unit further including a control unit and a drive device, the drive device being activatable or deactivatable by the control unit via an electrical signal received by the docking unit, the central control unit further being configured to: the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/goods vehicle unit are enabled or disabled depending on the transportation task.

A third aspect of the present disclosure also relates to a computer-readable storage medium comprising computer-executable instructions stored thereon, which when executed by a processor, implement the communication method 700 as described above.

The technical solution described in this disclosure is a collaborative autonomous vehicle system that can self-assemble to accomplish different mobile services. The disclosed solution includes two or more vehicle modules that, when assembled together to form an autonomous vehicle, can be used to implement mobile services. When the individual modules are assembled into an autonomous vehicle system, they push/pull each other, creating motion, which provides greater flexibility, scalability, and efficiency than previous load-bearing approaches.

The present disclosure has two types of modules. The first is a smart navigation vehicle unit (smart navigation module) 100 that performs sensing, fusion, decision planning, motion control, and vehicle execution to perform dynamic driving tasks in urban road, rural area, off-road, and highway driving situations. The second is a cargo/passenger vehicle unit (cargo/passenger module) 200, which may or may not have a power system or power source, on which cargo and/or passengers may be loaded. There is a rigid physical connection between the modules, i.e. a docking system. The intelligent navigation vehicle unit 100 has autopilot capabilities and may be combined with one or more of the intelligent navigation vehicle units 100 and/or the cargo/passenger vehicle units 200 in a variety of configuration configurations to accomplish various mobile services. The intelligent navigation vehicle unit 100 has the capability of autonomous driving, either with or without the cargo/passenger vehicle unit 200. The intelligent navigation vehicle unit 100 has a wheel system 112, and the wheel system 112 can be steered to allow the intelligent navigation vehicle unit 100 to travel conveniently in any direction. The complexity of the cargo/passenger vehicle unit 200 can range widely, for example, from a simple wheeled vehicle without power components, to a fully powered vehicle. The cargo/passenger vehicle unit 200 may be designed to carry cargo and/or passengers in dedicated components to support various mobile services. The intelligent navigation vehicle unit 100 can be quickly and automatically connected and fitted to other intelligent navigation vehicle units 100 and/or cargo/passenger vehicle units 200 without the assistance of manual/manual or other automated systems.

The smart navigation vehicle unit 100 may have a roof mounted sensor system and a body mounted sensor system for sensing the environment to facilitate dynamic driving tasks. The cargo/passenger vehicle unit 200 may have a roof-mounted sensor system and a body-mounted sensor system. The cargo/passenger vehicle unit 200 will use its sensors to assist the intelligent navigation vehicle unit 100 in performing dynamic driving tasks and may use a communication link via the docking system 106 to facilitate communication.

The radio communication system for each module is used to facilitate communication between the intelligent navigation vehicle unit 100 and the cargo/passenger vehicle unit 200 during docking. The radio communication system 104 is also used by the intelligent navigational vehicle unit 100 to communicate with the central control unit over a network. The central control unit assists the intelligent navigation vehicle unit 100 in completing its task planning, monitors the intelligent navigation vehicle unit 100 while the intelligent navigation vehicle unit 100 is performing dynamic driving tasks, and provides information to the intelligent navigation vehicle unit 100 to facilitate module docking operations. The cargo/passenger vehicle unit 200 uses its radio communication system 104 to communicate with a central control unit over a network. The central control unit sends an instruction to the cargo/passenger vehicle unit 200 authorizing a particular intelligent navigation vehicle unit 100 and/or the cargo/passenger vehicle unit 200 can interface with it.

Each module has a multifunctional vehicle lighting system that can provide vehicle headlights as well as brake lights. This allows the module to perform simultaneous forward and backward driving tasks in various configuration configurations.

The docking process between the modules includes physical connections using the

docking systems

106, 206. The

docking systems

106, 206 are heteromorphic, which allows any module to dock with the

docking system

106, 206 of any other module. The on-board computer system 109 controls the smart navigational vehicle unit 100 during docking to send information to other modules to be docked via the

docking system

106, 206 to negotiate a successful docking. The cargo/passenger vehicle unit 200 uses its on-board computer system 209 to control its own behavior during docking.

When the docking is successful, the control authority of the cargo/passenger vehicle unit 200 is given to the smart navigation vehicle unit 100, which allows the master smart navigation vehicle unit 100 to control the braking system, steering system and driving system of the cargo/passenger vehicle unit 200. The master smart navigation vehicle unit 100 of the cooperative modular autonomous vehicle system CMMAVS401, 402, 403, 404, 405 is selected by the central control unit, and all other modules are then slaved to the master smart navigation vehicle unit 100. The master smart navigation vehicle unit 100 uses its on-board computer system 109 to control the motion of the CMMAVS401, 402, 403, 404, 405 and relays motion control and other messages using the communication system through the docking system 106 for each module.

In embodiments of the present disclosure, a modular autonomous vehicle has two types of modules: one capable of autonomous driving and the other capable of carrying passengers and/or cargo. The module is provided with at least four wheels and can support the self weight; more than two modules can be combined into various configurations, and different configurations can be suitable for different application scenes; the modules may have the same docking system, allowing them to connect in both forward and backward positions; the modules may be self-assembling without the need for manual/manual or third party automated methods to assemble the modules into various configurations.

An advantage of the present disclosure is that autonomous vehicles are more flexible and less costly than other autonomous vehicle systems of the past. Because multiple modules can be combined, significant fuel savings can be realized. Because the modules can be self-assembled, no additional structure or labor is required to create an autonomous vehicle system. Other modular autonomous vehicle systems are capable of transporting cargo and/or passenger modules, and the system of the present disclosure is a push/pull system, allowing for more versatile configuration of modules and greater ability to transport cargo and/or passengers.

The above description is only exemplary of the present disclosure and should not be taken as limiting the disclosure, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the disclosure. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A method of scheduling intelligent vehicle units, wherein the intelligent vehicle units include intelligent navigation vehicle units and passenger/cargo vehicle units, the method comprising:

receiving a transportation task;

2. The scheduling method of claim 1, wherein the intelligent vehicle unit comprises: a vehicle body; a traveling device mounted on the vehicle body; and a docking unit provided on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units to form a mechanical connection and an electrical connection,

wherein the step of controlling the selected smart navigation vehicle unit and the passenger/cargo vehicle unit to dock with each other comprises: controlling the docking unit of the selected smart navigation vehicle unit and the docking unit of the passenger/cargo vehicle unit to be connected to each other.

3. The scheduling method according to claim 1 or 2, wherein a wireless communication system is provided on the smart vehicle unit, the wireless communication system being configured to be communicable with the central control unit of the smart vehicle unit and the wireless communication systems of the other smart vehicle units,

the intelligent vehicle unit further comprises a control unit and a drive device that is enabled or disabled by the control unit via electrical signals received by the docking unit,

the scheduling method further comprises the following steps: activating or deactivating the drive of the selected intelligent navigation vehicle unit and the drive of the passenger/cargo vehicle unit in accordance with the transportation task.

4. The scheduling method of claim 3, wherein the smart vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, other smart vehicle units it is connected to switch to the secondary mode, wherein the scheduling method further comprises: and controlling the selected intelligent navigation vehicle unit and the passenger/goods vehicle unit to switch to the main mode or the auxiliary mode according to the transportation task.

The intelligent vehicle unit further comprises one or more sensors, the control unit is coupled with the sensors, and the scheduling method further comprises: unmanned based on signals sensed by the sensor, and/or

The intelligent vehicle unit comprises an intelligent flying unit.

5. An intelligent vehicle system comprising:

a central control unit; and

a plurality of intelligent vehicle units including an intelligent navigation vehicle unit and a passenger/cargo vehicle unit, the intelligent vehicle units in communication with the central control unit;

wherein the central control unit is configured to perform the following scheduling method:

receiving a transportation task;

6. The smart vehicle system as claimed in claim 5, wherein the smart vehicle unit comprises: a vehicle body; a traveling device mounted on the vehicle body; and a docking unit provided on a front side and/or a rear side of the smart vehicle unit, the docking unit being configured to be connectable with docking units of other smart vehicle units to form a mechanical connection and an electrical connection,

7. The smart vehicle system as claimed in claim 5 or 6, wherein the smart vehicle unit is provided with a wireless communication system configured to communicate with the central control unit of the smart vehicle unit and the wireless communication systems of other smart vehicle units.

8. The smart vehicle system according to claim 5 or 6, wherein the smart vehicle unit further comprises a control unit and a driving device that is activatable or deactivatable by the control unit via an electrical signal received by the docking unit,

9. The smart vehicle system of claim 8, wherein the smart vehicle unit switches between a primary mode and a secondary mode, wherein when switching to the primary mode, other smart vehicle units it connects switch to the secondary mode, wherein the scheduling method further comprises: controlling the selected intelligent navigation vehicle unit and the passenger/goods vehicle unit to switch to a primary mode or a secondary mode according to the transportation task,

wherein the intelligent vehicle unit further comprises one or more sensors, the control unit is coupled with the sensors, the scheduling method further comprises: unmanned based on signals sensed by the sensor, and/or

The intelligent vehicle unit comprises an intelligent flying unit.

10. A computer-readable storage medium comprising computer-executable instructions stored thereon which, when executed by a processor, implement the scheduling method of any one of claims 1-4.