DE102018215635A1 - Method, device and computer-readable storage medium with instructions for service-dependent route determination for an automatically driving service vehicle - Google Patents

Abstract

A method, a device and a computer-readable storage medium for service-related route determination for an automatically driving service vehicle (1), a service request being received (S100); the planned time requirement for the provision of services is subdivided into time segments, the sum of the time segments corresponding to the planned total time requirement (S200); Route requirements for each time period of service provision are determined (S300), at least one possible route for the journey from a starting point A to a destination B is calculated (S400), the at least one route being composed of route elements (6, 7, 8, 9) and each route element (6, 7, 8, 9) is described by a start time and by at least one attribute; and wherein the attributes of each route element are compared with the requirements resulting from the phases of the service provision (S500), and each resulting route, which is composed of one or more route elements and which thus describes a route from the starting point A to the destination point B. , is marked as a permissible route (S600).

Description

The present invention relates to a method, a device and a computer-readable storage medium with instructions for service-related route determination for an automatically driving service vehicle.

An important research area for the further development of motor vehicles is the development of autonomous, i.e. automatically moving vehicles. Automatic vehicles will be able to be used in a few years at least on selected routes. The first solutions are conceivable in particular on closed areas or also on specially designated routes.

With the use of automatically driving vehicles, people's attitudes to getting around in a vehicle will change significantly. Driving fun, which was often practiced in the past, takes a back seat. Staying in a vehicle is considered an unproductive time - also due to the traffic problems occurring in metropolitan areas. It is becoming increasingly important to take the time to travel from one point A to a point B to use effectively. With the availability of automatic vehicles, completely new solutions will emerge here that will make people's lives more pleasant and efficient, especially in metropolitan areas.

The use of travel time when driving from one point A to a point B services other than driving will result in new service offers. Technical systems are conceivable here that provide a passenger with additional services in addition to transportation, with which he can use the time spent in a vehicle for other activities.

Vehicle solutions for the provision of a mobile service are already known. An https://newsroom.toyota.co.jp/en/corporate/20546438.html describes an ecosystem in which automatically driving service vehicles are used as part of mobile services. Depending on the type of service, the service vehicle is equipped with an interior that is set up specifically for the task of providing a mobile service. If this unit is able to drive automatically, it can move to any location and pick up a passenger there. During the subsequent transport journey, a service employee traveling in the vehicle can provide the service desired by the passenger.

The route that is chosen for the transport must be specified in an automatically driving vehicle by a navigation system. Optimization methods are usually known for determining the route in navigation systems, which are based in particular on criteria such as travel time, distance traveled and fuel consumption.

Additional requirements must be taken into account when calculating the route in connection with the provision of a mobile service in an automatically driving vehicle. These are in particular requirements on the part of the service to be provided. Accelerating or braking processes may have to be avoided in order not to negatively influence the quality of the service to be provided. Even a journey that leads over poor distances can impair a service due to the resulting vibrations. Such influences must be taken into account when calculating the route.

This optimization task cannot be solved manually due to the various influencing factors and the resulting variety of solutions. Powerful technical processes and devices for solving the problem are therefore required.

• - Berechnen einer ersten Route zwischen dem Startort und dem Zielort anhand von Landkartendaten,
• - Bestimmen eines ersten imaginären Startortes, der ein Ort auf der berechneten ersten Route zwischen dem Startort und dem Zielort ist,
• - Berechnen einer Route zwischen dem imaginären Startort und dem Zielort,
• - Vergleichen der berechneten Route zwischen dem imaginären Startort und dem Zielort mit einer entsprechenden Teilroute der ersten Routen hinsichtlich mindestens einer Routenkennzahl, insbesondere der Routenlänge oder der Fahrzeit,
• - gegebenenfalls Ersetzen der entsprechenden Teilroute der ersten Route durch die berechnete Route zwischen dem imaginären Startort und dem Zielort.

The EP 1 637 841 A3 describes a method for determining a route for a land vehicle between a starting location and a destination with the following method steps:

• Calculating a first route between the starting point and the destination based on map data,
• Determining a first imaginary starting location, which is a location on the calculated first route between the starting location and the destination,
• - calculating a route between the imaginary starting point and the destination,
• Comparing the calculated route between the imaginary starting point and the destination with a corresponding partial route of the first routes with regard to at least one route code, in particular the route length or the driving time,
• - If necessary, the corresponding partial route of the first route is replaced by the calculated route between the imaginary starting point and the destination.

The DE 10 2006 057 427 A1 discloses a routing method and an arrangement for performing such a method, as well as a corresponding computer program and a corresponding processor-readable storage medium, in order to provide a user (driver or pedestrian, cyclist, etc.) with comprehensive information about route planning and corresponding decision options for route selection to deliver. For this purpose, it is provided that motor vehicles are navigated using a vehicle system which maneuver and / or orientation recommendations are output by the vehicle for at least two routes.

The DE 10 2007 046 038 A1 relates to a system in which a traffic network is divided into sections of the route, for which the recording vehicles provide a server with transit times or, in the event of a traffic jam, dwell times, which then provides vehicles with current expected route section travel times for sections of a current remaining route, as a result of which, in these vehicles, traffic jam-free or with fewer congestion-laden alternative routes with the shortest expected remaining route travel time are determined and displayed. This provides early congestion information and thus enables timely evasion via a currently fastest and as possible congestion-free alternative route or information about the expected duration of the congestion. Furthermore, an improved use of capacity and load distribution in the existing traffic infrastructure is achieved, and traffic control centers receive additional traffic control data, for example for dynamic traffic light controls.

The WO 09059572 A1 relates to a method for operating a navigation system for calculating the expected route duration of a route from a starting point to a destination, the route consisting of a sequence of route segments and nodes between the route segments, using a route calculation method from a database in which a geographical area is described by a network of nodes and the route segments connecting the nodes, wherein each route segment is characterized by a travel time which describes the duration for driving through the route segment, at least one waiting time being assigned to at least one node and the expected route duration being the analyzed route is calculated by adding all the travel times of the route segments lying on the route and all waiting times of the nodes lying on the route.

• - Empfangen einer Vorgabe eines Startortes,
• - Empfangen einer Vorgabe eines Zielortes,
• - Auswerten eines Datensatzes repräsentierend eine Lärmbelastung entlang für die Route in Frage kommender Routenabschnitte, und
• - Berechnen einer ersten Route unter Berücksichtigung des Datensatzes

The DE 10 2014 214 455 A1 describes a navigation system and a method for calculating a noise-reduced route. The process includes the steps:

• - receiving a specification of a starting location,
• - receiving a specification of a destination,
• - Evaluation of a data set representing noise pollution along route sections that are possible for the route, and
• - Calculate a first route taking into account the data set

The EP 2 827 289 A1 relates to a procedure for the collection and delivery of goods or the provision of services using dynamic route planning, in which several vehicles with storage capacity deliver goods or services on calculated routes in a decentralized transport network, the routes being calculated locally for the vehicles and new, modified routes Transfer points and transfer times for goods or services between vehicles are decentrally calculated and departed if new orders are accepted and / or goods or services are exchanged or transferred between vehicles and / or existing orders are changed while driving the routes.

It is an object of the present invention to provide a technical solution for determining the route for an automatically moving service vehicle.

This object is achieved by a method having the features of claim 1, a device according to claim 7 and a computer-readable storage medium with instructions according to claim 8. Preferred embodiments of the invention are the subject of the dependent claims.

In the first step, the method according to the invention provides for the receipt of a service request.

A service request in the sense of the invention is a request from a potential customer for a mobile service, which is recorded in particular with the help of a mobile terminal, for example a smartphone with a software application installed thereon. In addition to the type of service, the content of the request includes in particular the start and destination of the transport journey.

In a next step, the time required to provide the requested service is divided into at least one time period. Each period reflects a phase in the provision of services.

The sum of the time segments corresponds to the planned total time required for the provision the mobile service. If the time requirement consists of only one time segment, the planning time requirement for the service and the time requirement for the one segment are identical.

The individual periods therefore describe the individual activities during the provision of services. For example, preparatory activities may be necessary before the actual service provision begins.

Furthermore, the route requirements resulting from the service phases are determined for each of these time periods.

Within the meaning of the invention, the route requirements are to be understood as those parameters which result from the individual phases of the service and which must not be violated while driving along the route. Looking at the vertical acceleration in the individual phases of a service provision as an example, it may be permissible that a higher acceleration is acceptable during the preparation of the service provision than during the actual service provision.

Then at least one route for the journey from a starting point A calculated to a destination B, the at least one route being composed of at least one route element and each route element being uniquely identified by a start time.

In response to the result of the method step, the individual properties of the route elements are compared with the requirements that result from the service phases. For this purpose, a comparison of the properties of the route elements with the requirements of the service phases is carried out on the basis of the respective start times of the route elements and the start times of the service phases.

This contrasts with the resulting properties of the individual route sections. These are checked when determining the route. A permissible sequence of several route elements, that is to say route elements that do not violate the requirements, leads to a permissible route for the journey from the starting point A to the destination B .

Each resulting route, which is composed of one or more route elements and which is a permissible solution for the journey from the starting point A to destination B is marked as a permissible route.

This method advantageously ensures that a route is determined as the permissible route which does not violate the requirements resulting from the service. If, for example, vibrations are to be avoided during a certain period of service provision, this requirement is taken into account accordingly when determining the route.

In a preferred embodiment, the fulfillment of the route requirements is described by the properties of the route elements with the aid of a confidence value for each individual element and then combined to form an overall confidence value. This offers the advantage that the selection of route elements does not have to be binary, that is to say permissible or not permissible. Instead, it is achieved that the best route can be determined and marked from a large number of possible routes. This ensures that at least one permissible route can be determined.

In a further preferred embodiment of the invention, starting from a current location of the service vehicle during the journey from the starting location A to the destination location B A` the determination of a permissible route is carried out repeatedly and, when a route with a higher confidence value is recognized, the journey continues along the newly determined route. In this way, it is advantageously achieved that properties or events that were not known at the time of the initial route determination are included in the route determination. Examples are traffic jams or weather conditions that are detrimental to the provision of services.

In a further preferred embodiment of the invention, route elements in which the service vehicle does not drive are taken into account when determining a permissible route. This makes it possible in a preferred manner to avoid possible violations of the requirements in the individual phases of the provision of services by holding times.

In a further preferred embodiment of the invention, information on the current location of the service vehicle and the remaining driving time is derived from the time course of the journey along the selected route and transmitted to the service employee in the service vehicle. This is possible in particular by using the signals from a GPS sensor. From the knowledge of this information, the service employee can advantageously optimize his work flow or offer the customer an additional service.

In a further preferred embodiment of the invention, with the aid of sensors, measured values are recorded while the service vehicle is traveling, which describe its journey and the one Clarify violations of requirements on the route elements. In such a case, this embodiment provides that the movement parameters of the service vehicle are influenced. For example, the speed can be temporarily reduced so that the journey becomes quieter and an improved service quality can thus advantageously be achieved.

• - mindestens eine Datenschnittstelle, mit deren Hilfe mindestens eine Dienstleistungsanfrage für ein automatisch fahrendes Servicemobil erfassbar ist,
• - eine Steuervorrichtung, die dazu eingerichtet ist
  • ◯ eine Unterteilung des geplanten Zeitbedarfs zur Dienstleistungserbringung in mindestens einen Zeitabschnitt vorzunehmen, wobei die Summe der Zeitabschnitte dem geplanten Gesamt-Zeitbedarf entspricht;
  • ◯ die Routenanforderungen für jeden Zeitabschnitt der Dienstleistungserbringung zu ermitteln;
  • ◯ mindestens einer Route für die Fahrt von einem Startort A zu einem Zielort B zu berechnen, wobei sich die mindestens eine Route aus mindestens einem Routenelement zusammensetzt und wobei jedes Routenelement durch jeweils eine Startzeit sowie mindestens ein weiteres Attribut beschrieben wird;
  • ◯ die Eigenschaften eines jeden Routenelementes mit den Anforderungen zu verglichen; und
  • ◯ jede Route, welche sich aus einem oder mehreren Routenelementen zusammensetzt, die eine zulässige Lösung für die Fahrt von dem Startort A zu dem Zielort B darstellt, als zulässige Route zu kennzeichnen.

The device proposed in the invention is set up to carry out a method according to claims 1 to 6. It includes in particular

• at least one data interface, with the aid of which at least one service request for an automatically moving service vehicle can be recorded,
• - A control device which is set up for this
  • ◯ subdivide the planned time requirement for the provision of services into at least one time segment, the sum of the time segments corresponding to the planned total time requirement;
  • ◯ determine the route requirements for each period of service provision;
  • ◯ at least one route for the journey from a starting point A to a destination B to be calculated, the at least one route being composed of at least one route element and each route element being described by a respective start time and at least one further attribute;
  • ◯ compare the properties of each route element with the requirements; and
  • ◯ every route, which is composed of one or more route elements, which is a permissible solution for the journey from the starting point A to the destination B represents to mark as a permissible route.

The invention furthermore claims a computer-readable storage medium with instructions which, when executed by a computer, enable the computer to carry out the steps of the method according to claims 1 to 6.

The claimed features are explained below with the aid of an embodiment using several figures. It goes without saying that the invention is not limited to this embodiment and that the described features can also be combined or modified without leaving the scope of protection.

• 1: Aufbau eines Servicemobils
• 2: Aufbau einer Route
• 3: Verfahrensschritte zur Routenermittlung

The following figures are used to explain the exemplary embodiment:

• 1 : Building a service vehicle
• 2nd : Building a route
• 3rd : Procedural steps for route determination

• - Friseur
• - Finanzberatung
• - Maniküre
• - Ärztliche Dienstleistungen
• - Einkäufe
• - Rechtsberatung
• - Steuerberatung

In 1 is an embodiment for the construction of a service vehicle 1 shown. You can see a carriage 2nd . In particular, it contains the drive and control components. In the service structure 3rd are the necessary devices to provide a service. Examples of services can be:

• - Hair stylist
• - Financial advice
• - manicure
• - Medical services
• - Purchases
• - legal advice
• - Tax advice

The merging of the carriage 2nd and service structure 3rd takes place via a detachable, for example screwable connection. In addition, driving guns 2nd and service structure 3rd Interfaces for the transmission of energy and information.

In 2nd is an example of a route between a starting point A and a destination B shown. It consists of several route elements 6 , 7 , 8th , 9 together. Every route element 6 , 7 , 8th , 9 is described by one or more properties. A first property describes, for example, the road condition, a second describes, for example, the lateral accelerations to be expected on this route element. The alignment of the route elements 6 , 7 , 8th , 9 represents a permissible route for the journey from the starting point A to the destination B .

• S100 Empfangen einer Dienstleistungsanforderung;
• S200 Unterteilung der Dienstleistungserbringung in Zeitabschnitte, wobei sich der geplante Gesamt-Zeitbedarf zur Dienstleistungserbringung aus einem Zeitabschnitt oder mehreren Zeitabschnitten zusammensetzt;
• S300 Ermitteln von Routenanforderungen für jeden Zeitabschnitt der Dienstleistungserbringung;
• S400 Ermitteln einer Route unter Verwendung der in einer Navigationsdatenbank hinterlegten Routeninformationen, wobei die Route aus mindestens einem Routenelement 6, 7, 8, 9 besteht und wobei jedes Routenelement 6, 7, 8, 9 durch eine Startzeit beschrieben wird;
• S500 Vergleichen der Eigenschaften der Routenelemente 6, 7, 8, 9 mit den Anforderungen der Dienstleistung, wobei die Anforderungen aus den Zeitabschnitten der Dienstleistungserbringung mit den Eigenschaften der Routenelemente 6, 7, 8, 9 verglichen werden;
• S600 Kennzeichnung einer zulässigen Route, wobei sich jede zulässige Route aus einem oder mehreren Routenelementen 6, 7, 8, 9 zusammensetzt und eine zulässige Kombination der Eigenschaften und der Anforderungen auf der Fahrt von dem Startort A zu dem Zielort B repräsentiert;

In 4th the individual process steps are shown in an exemplary embodiment. In this exemplary embodiment, the method consists of the following steps:

• S100 receiving a service request;
• S200 subdivision of the service provision into time segments, the planned total time requirement for the service provision being composed of a time segment or several time segments;
• S300 determining route requests for each time period of service provision;
• S400 determining a route using the route information stored in a navigation database, the route comprising at least one route element 6 , 7 , 8th , 9 and each route element 6 , 7 , 8th , 9 is described by a start time;
• S500 Compare the properties of the route elements 6 , 7 , 8th , 9 with the requirements of the service, the requirements from the periods of the service provision with the properties of the route elements 6 , 7 , 8th , 9 be compared;
• S600 Identification of a permissible route, whereby each permissible route consists of one or more route elements 6 , 7 , 8th , 9 composed and a permissible combination of properties and requirements on the journey from the starting point A to the destination B represents;

Reference list

1

Service mobile

2nd

Carriage

3rd

Service structure

4th

Starting place A

5

Destination B

6

Route element

7

Route element

8th

Route element

9

Route element

10th

Intermediate location A '

S100

Receive a service request

S200

Divide the provision of services into periods

S300

Determine route requests

S400

Determine a route consisting of route elements

S500

Compare the properties of the route elements with the requirements of the service

S600

Mark a permitted route

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• EP 1637841 A3 [0009]
• DE 102006057427 A1 [0010]
• DE 102007046038 A1 [0011]
• WO 09059572 A1 [0012]
• DE 102014214455 A1 [0013]
• EP 2827289 A1 [0014]

Claims (8)

Method for service-dependent route determination for an automatically driving service vehicle (1), comprising the steps - receiving a service request (S100); - subdivision of the planned time requirement for the provision of services into at least one time segment, the sum of the time segments corresponding to the planned total time requirement (S200); - determining route requests for each time period of service provision (S300); - Determining at least one route for the journey from a starting location A to a destination B, the at least one route being composed of at least one route element and each route element being described by a starting time (S400); - the properties of each route element (6, 7, 8, 9) are compared with the requirements from the periods of service provision (S500); and - Each route, which is composed of one or more route elements (6, 7, 8, 9), the permissible combination of the properties up to the route element (6, 7, 8, 9) and the requirements on the journey from the starting point A represented to the destination B is marked as a permissible route (S600). Procedure according to Claim 1 , characterized in that the correspondences of the requirements with the attributes of the route elements (6, 7, 8, 9) are described with the aid of confidence values, each route being marked as a permissible route with a confidence value lying above a predetermined limit value, the confidence value a route is created by summarizing the confidence values of the individual route elements (6, 7, 8, 9). Procedure according to Claim 2 , characterized in that during the journey from the starting point A to the destination B, starting from a current location of the service vehicle A`, the determination of a permissible route is carried out repeatedly, and when a route with a higher confidence value is recognized, the journey is continued along the newly determined route. Method according to one of the preceding claims, characterized in that route elements (6, 7, 8, 9) in which the service vehicle is located are taken into account when determining a permissible route. Method according to one of the preceding claims, characterized in that information on the current location of the service vehicle (1) and the remaining driving time is derived from the time course of the journey along the selected route and transmitted to the service employee in the service vehicle. Method according to one of the preceding claims, characterized in that the service vehicle is equipped with sensors, with the aid of which measured values are recorded during the journey of the service vehicle, which describe its journey and which are used when the requirements on the route elements (6, 7, 8, 9) can act on the movement parameters of the service vehicle (1). Device for executing a method for service-related route determination for an automatically moving service vehicle (1) at least one data interface, with the aid of which at least one service request for an automatically moving service vehicle (1) can be recorded, - A control device which is set up for this ◯ subdivide the planned time requirement for the provision of services into at least one time segment, the sum of the time segments corresponding to the planned total time requirement; ◯ determine the route requirements for each period of service provision; Berechnen to calculate at least one route for the journey from a starting point A to a destination B, the at least one route being composed of at least one route element (6, 7, 8, 9) and each route element (6, 7, 8, 9 ) is described by a start time and at least one additional attribute; ◯ to compare the properties of each route element (6, 7, 8, 9) with the requirements; and ◯ to mark each route, which is composed of one or more route elements (6, 7, 8, 9), which represents a permissible solution for the journey from the starting point A to the destination B, as a permissible route. Computer-readable storage medium with instructions which, when executed by a computer, the computer for performing the steps of the method according to the Claims 1 to 6 capable.

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