WO2015169204A1 - 自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆 - Google Patents

自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆 Download PDF

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Publication number
WO2015169204A1
WO2015169204A1 PCT/CN2015/078259 CN2015078259W WO2015169204A1 WO 2015169204 A1 WO2015169204 A1 WO 2015169204A1 CN 2015078259 W CN2015078259 W CN 2015078259W WO 2015169204 A1 WO2015169204 A1 WO 2015169204A1
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Prior art keywords
vehicle
ride
request
driving
information
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PCT/CN2015/078259
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English (en)
French (fr)
Inventor
张慧敏
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华为技术有限公司
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Publication of WO2015169204A1 publication Critical patent/WO2015169204A1/zh
Priority to US15/343,603 priority Critical patent/US10409289B2/en
Priority to US16/527,871 priority patent/US11340631B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/10—Office automation; Time management
    • G06Q10/109—Time management, e.g. calendars, reminders, meetings or time accounting
    • G06Q10/1093—Calendar-based scheduling for persons or groups
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry

Definitions

  • the present invention relates to the field of computer technologies, and in particular, to an automatic driving vehicle scheduling method, a vehicle dispatching server, and an autonomous driving vehicle.
  • Self-driving Cars also known as unmanned vehicles, computer-driven vehicles, or wheeled mobile robots, are intelligent vehicles that are unmanned by computer systems. Automated vehicles rely on the synergy between artificial intelligence systems, visual computing systems, radar systems, surveillance systems, and global positioning systems to enable computers to automatically and safely operate autonomous vehicles without active operation. With the popularity of self-driving vehicles, the use of self-driving vehicles as taxis has become an emerging mode of transportation. In order to enable the self-driving vehicle used as a taxi to maximize the satisfaction of different ride requirements, how to dispatch the self-driving vehicle has become a problem of concern to those skilled in the art.
  • the vehicle dispatching server receives each ride request by telephone, and the ride request includes a ride request location; whenever a new ride request is received, the vehicle dispatch server Obtaining the location of each vehicle within the jurisdiction, and determining the vehicle within the preset range of the corresponding location of the new ride request from the already assigned vehicle; finally, determining to join the new ride in the vehicle within the preset range The vehicle with the smallest increase in the distance after the request is requested, and a new ride request is dispatched to the vehicle.
  • the scheduling factor is too single, so the scheduling accuracy rate is not high. For example, after determining the vehicle responding to the new ride request, if the real-time traffic condition of the vehicle location is very congested or a traffic accident occurs on the road, the selected vehicle may not be able to reach the corresponding location of the new ride request as soon as possible, thereby affecting the dispatch. Precision rate.
  • embodiments of the present invention provide an automatic driving vehicle scheduling method, a vehicle dispatching server, and an autonomous driving vehicle.
  • the technical solution is as follows:
  • an autopilot vehicle scheduling method comprising:
  • the ride request including at least a place of departure, a destination of the ride, and a time of arrival of the desired destination;
  • the ride request is issued to the final candidate vehicle to cause the final candidate vehicle to respond to the ride request.
  • the determining, before determining the at least one first candidate vehicle among the plurality of automatically driving vehicles, according to the travel request and the driving information of each of the automatically driving vehicles within the management range further includes:
  • the driving information includes at least current location information, current road condition information, planned route information, and planned destination arrival time;
  • the method further includes:
  • the car-requesting request includes the carpooling information and the number of passengers, in each of the self-driving vehicles within the management range, determining at least one second candidate vehicle with a vacancy not less than the number of passengers and agreeing to carpooling;
  • Determining the at least one first candidate vehicle among the plurality of self-driving vehicles according to the vehicle departure place and the riding destination including:
  • At least one first candidate vehicle is determined based on the ride departure place and the ride destination.
  • the passenger request further includes passenger information
  • the requesting the travel request to the final candidate vehicle includes:
  • the passenger information includes at least one of a passenger feature identifier and a typical road sign around the passenger.
  • the method further includes:
  • the method further includes:
  • the planned route information of the final candidate vehicle is updated, and the updated planned route information is transmitted to the final candidate vehicle, so that the final candidate vehicle determines the driving route according to the updated planned route information.
  • the method further includes:
  • the identification information of the final candidate vehicle is transmitted to the transmitting terminal requested by the passenger such that the sender of the passenger request determines the final candidate vehicle based on the identification information of the final candidate vehicle.
  • the method further includes:
  • the final candidate vehicle does not exist in the plurality of self-driving vehicles within the management range, re-scheduling the newly received riding request and all unexecuted riding requests, and transmitting the scheduling result to the corresponding Self-driving vehicle.
  • a vehicle dispatch server comprising:
  • a ride request receiving module configured to receive a ride request, where the ride request includes at least a place of departure, a destination of the ride, and a time of arrival of the desired destination;
  • a first candidate vehicle determining module configured to determine at least one first candidate vehicle among the plurality of automatically driving vehicles according to the travel request and the driving information of each of the automatically driving vehicles within the management range;
  • a first time calculation module configured to calculate, according to current location information, current road condition information, and planned route information of each first candidate vehicle, a first time required for each first candidate vehicle to arrive at the ride destination;
  • a final candidate vehicle determining module configured to determine a final candidate vehicle in the at least one first candidate vehicle according to a first time corresponding to each first candidate vehicle, the final candidate vehicle being at least full The expected time to reach the destination;
  • a ride request delivery module is configured to deliver the ride request to the final candidate vehicle to cause the final candidate vehicle to respond to the ride request.
  • the server further includes:
  • a driving information acquiring module configured to acquire driving information of each self-driving vehicle in the management scope, where the driving information includes at least current location information, current road condition information, planned route information, and planned destination arrival time;
  • the first candidate vehicle determining module is configured to determine at least one first candidate vehicle among the plurality of automatically driving vehicles according to the riding departure place and the riding destination, the planned planning of the first candidate vehicle
  • the extension of the route or planned route includes the departure place of the ride and the destination of the ride.
  • the server further includes:
  • a second candidate vehicle determining module configured to: when each of the self-driving vehicles within the management range includes the number of passengers in the management range, and agree to carpooling when the ride request includes the carpool information and the number of passengers At least one second candidate vehicle;
  • the first candidate vehicle determining module is configured to determine, in the at least one second candidate vehicle, at least one first candidate vehicle according to the riding departure place and the riding destination.
  • the boarding request issuing module is configured to deliver a boarding request including the passenger information to the final candidate vehicle, After the final candidate vehicle is driven to the departure place of the vehicle, determining a sender of the boarding request according to the passenger information;
  • the passenger information includes at least one of a passenger feature identifier and a typical road sign around the passenger.
  • the server further includes:
  • a security check information sending module configured to send the security check information of the final candidate vehicle to The transmitting terminal requested by the passenger, so that when the final candidate vehicle travels to the departure place of the vehicle, the security verification information provided by the sender of the passenger is verified according to the security verification information.
  • the server further includes:
  • a planned route information updating module configured to update planned route information of the final candidate vehicle, and send the updated planned route information to the final candidate vehicle, so that the final candidate vehicle is determined according to the updated planned route information. vehicle route.
  • the server further includes:
  • a vehicle identification information issuing module configured to send identification information of the final candidate vehicle to the transmitting terminal requested by the passenger, so that the sender of the passenger request determines the final according to the identification information of the final candidate vehicle Candidate vehicle.
  • the server further includes:
  • a scheduling module configured to reschedule the newly received ride request and all unexecuted ride requests when the final candidate vehicle does not exist in the plurality of automatically driven vehicles within the management scope, and schedule the schedule The result is sent to the corresponding autonomous vehicle.
  • a method for automatically driving a vehicle comprising:
  • each ride is executed in turn. begging.
  • the method further includes:
  • the driving task list includes at least one riding request and an execution status corresponding to each riding request.
  • the method further includes:
  • the current sender of the ride request is based on the typical road sign of the passenger surrounding included in the ride request
  • the position is accurately matched and positioned such that the sender of the ride request leaves the departure place of the vehicle after confirming the self-driving vehicle arriving at the departure place of the vehicle based on the received vehicle identification information.
  • the method further includes:
  • the sender of the ride request When performing any one of the ride requests, when the ride departure point corresponding to the ride request is reached, the sender of the ride request is confirmed according to the passenger feature identifier included in the ride request, The sender of the ride request confirms the self-driving vehicle that has arrived at the departure point of the vehicle based on the received vehicle identification information, and then leaves the vehicle departure place.
  • the method further includes:
  • the travel task list is updated according to the changed destination.
  • the method further includes:
  • the method further includes:
  • the other self-driving vehicle that establishes the communication When it is detected that a traffic jam or a traffic accident occurs on the current driving route, the other self-driving vehicle that establishes the communication performs the travel request scheduling negotiation to obtain the scheduling negotiation result;
  • an autonomous vehicle comprising:
  • a ride request receiving module configured to receive a ride request issued by the vehicle dispatching server, where the ride request includes at least a departure place, a ride destination, a desired arrival time, and passenger information;
  • a ride request determination module configured to determine whether there is a ride request in the travel task list that conflicts with the ride request
  • a ride request adding module configured to determine, when the ride request of the travel request list conflicts with the ride request, a ride request according to the expected arrival time of the ride request Execution order, and adding the ride request to the driving task list according to an execution order of the ride request;
  • an execution module configured to sequentially execute each ride request according to an execution sequence of each ride request in the travel task list.
  • the vehicle further includes:
  • An execution status setting module configured to set an execution status for the ride request
  • the driving task list includes at least one riding request and an execution status corresponding to each riding request.
  • the vehicle further includes:
  • a matching confirmation module configured to: when performing any one of the ride requests, when the ride destination corresponding to the ride request is reached, the ride is based on a typical road sign surrounding the passenger included in the ride request The current location of the sender of the request is accurately matched and positioned such that the sender of the ride request leaves the vehicle after confirming the self-driving vehicle arriving at the departure point of the vehicle based on the received vehicle identification information.
  • the matching confirmation module is further configured to perform any one of the ride requests when When the arrival location of the ride corresponding to the ride request is reached, the sender of the ride request is confirmed based on the passenger feature identifier included in the ride request, so that the sender of the ride request is After confirming the self-driving vehicle that has arrived at the departure point of the vehicle based on the received vehicle identification information, the vehicle is departed from the departure place of the vehicle.
  • the vehicle further includes:
  • the driving task list updating module is configured to update the driving task list according to the changed destination after detecting that the passenger performs the destination changing operation on the UI.
  • the vehicle further includes:
  • a scheduling negotiation module configured to perform a travel request scheduling negotiation with the vehicle dispatching server to obtain a scheduling negotiation result when a traffic jam or a traffic accident occurs on the driving route of the self-driving vehicle;
  • the driving task list updating module is further configured to update the driving task list according to the scheduling negotiation result and transfer at least one subsequent riding request to another automatically driving vehicle.
  • the scheduling negotiation module is further configured to: when detecting a traffic congestion or a traffic accident on the current driving route, and establishing another automatic communication Driving the vehicle to perform a passenger request scheduling negotiation, and obtain a scheduling negotiation result;
  • the driving task list updating module is further configured to update the driving task list according to the scheduling negotiation result and transfer at least one subsequent riding request to another automatically driving vehicle.
  • the vehicle scheduling is performed according to at least the current position information, the current road condition information and the planned route information of each of the self-driving vehicles within the management range of the ride request and the vehicle dispatching server, and the vehicle scheduling factors are rich.
  • the resulting scheduling result is more accurate and the scheduling accuracy is high.
  • FIG. 1 is a block diagram of an automatic driving vehicle dispatching system according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an internal structure of a vehicle scheduling server according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of an internal structure of an autonomous vehicle according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an overall hardware architecture of an autonomous vehicle according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a vehicle scheduling server according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an autonomous driving vehicle according to an embodiment of the present invention.
  • the self-driving vehicle dispatch system includes a plurality of clients 101, a vehicle dispatch server 102, and a plurality of self-driving vehicles 103.
  • the client 101 is configured to send a passenger's ride request, and the ride request may include a ride departure place, a ride destination, a desired vehicle arrival departure time, a desired vehicle arrival destination time, carpool information, and the like.
  • the client 101 can be a cell phone, a desktop computer, a tablet or a wearable device, and the like.
  • the vehicle dispatching server 102 is configured to schedule, according to the collected riding demand, the current position of the plurality of automatically driving vehicles 103, the current road condition information, and the original scheduling result, the plurality of automatically driving vehicles 103 within the management range, and Latest tune The degree results are sent to each of the self-driving vehicles 103.
  • each of the self-driving vehicles is within the jurisdiction of the vehicle dispatch server 102.
  • the self-driving vehicle 103 does not require a driver to drive, and does not need to manually arrange a driving task. Instead, the vehicle dispatching server 102 arranges a driving task for each of the self-driving vehicles 102 within its management range.
  • passengers are also allowed to change their destination by UI after riding. After obtaining the driving task, the self-driving vehicle can automatically arrange the traveling route according to the driving task plan.
  • the vehicle dispatching server mainly includes a transceiver communication unit 201, a ride request collection unit 202, an automatic driving vehicle information collecting unit 203, and a global dispatch decision unit 204.
  • the transceiver unit 201 is configured to communicate with the client 101 shown in FIG. 1 to receive and respond to a passenger's ride request, and to communicate with the self-driving vehicle 103 shown in FIG.
  • the travel information of the self-driving vehicle 103 is received; the travel information may include a current location, current road condition information, a schedule change request, and the like.
  • the transceiving communication unit 201 can also issue a car scheduling result to the autopilot vehicle 103.
  • the ride request collection unit 202 is configured to collect a passenger's ride request; the ride request generally includes a passenger identity, a place of departure, a desired arrival time of the vehicle, a destination of the ride, a number of passengers, a desired arrival time, Carpooling information and more.
  • the self-driving vehicle information collecting unit 203 is configured to collect driving information of all the self-driving vehicles within the management range of the vehicle dispatching server, and the driving information includes dynamic information and static information.
  • the dynamic information generally includes the driving task of the self-driving vehicle, the current position, the driving task being executed, the current road condition information, and the like; the static information generally includes identification information of the self-driving vehicle, such as a license plate, a model, and the like.
  • the global scheduling decision unit 204 is configured to perform global scheduling based on the passenger request acquired from the riding request collecting unit 202 and the automatically driving vehicle information collecting unit 203 and the driving information of the self-driving vehicle, and calculate the optimal automatic that can satisfy the riding request. The result of the travel schedule of the driving vehicle.
  • the self-driving vehicle mainly includes a transceiver communication unit 301, a UI operation interface 302, a driving task management unit 303, and a traffic condition information collecting unit 304.
  • the transceiver communication unit 301 is configured to communicate with a remote device, such as a vehicle dispatch server, to transmit its own travel information, which may include a current location, current traffic information, a schedule change request, and the like.
  • a remote device such as a vehicle dispatch server
  • UI operation The interface 302 supports the passengers to enter the vehicle and interact with the self-driving vehicle through the UI. For example, passengers can change their destination by UI.
  • the driving task management module 303 is configured to maintain a driving task list of the self-driving vehicle, and supports updating the driving task list according to the passenger request, the vehicle scheduling server, or the local decision.
  • the traffic condition information collecting unit 304 is configured to collect traffic conditions on the driving route or the current location of the self-driving vehicle through a GPS (Global Positioning System) device or a traffic monitoring device.
  • GPS Global Positioning System
  • the self-driving vehicle includes:
  • CPU Central Processing Unit
  • CPU 401 is used to control various parts of the hardware device of the entire self-driving vehicle; on the other hand, it is used to run operating system software and required application software, including the driving task of the present invention Software such as management, traffic information collection, and UI operation interface.
  • the storage device 402 is configured to store various software programs, data, and the like of the self-driving vehicle.
  • the storage device may be a RAM (Random Access Memory) or an EPROM (Erasable Progable Read Only Memory).
  • the software function of the automatic driving vehicle scheduling method provided by the embodiment of the present invention is also used in one or more of a read register), an SSD (Solid State Disk), an SD (Secure Digital) card, and a hard disk.
  • the storage device 402 runs and stores.
  • the communication device 403 provides network communication functions for the self-driving vehicle, including a cellular network (GSM/UMTS/LTE/CDMA, etc.), WLAN (Wireless Local Area Networks), NFC (Near Field Communication), Bluetooth, etc.
  • a cellular network GSM/UMTS/LTE/CDMA, etc.
  • WLAN Wireless Local Area Networks
  • NFC Near Field Communication
  • Bluetooth etc.
  • the antenna device 404 is a wireless transmit antenna or a wireless receive antenna used by the communication device 403.
  • the GPS device 405 is configured to provide location information of the self-driving vehicle.
  • the sensor device 406 may include a radar, a camera, etc. for sensing a road traffic environment and road pedestrians, etc., to guide the self-driving vehicle to perform automatic driving according to road conditions.
  • the power supply device 407 supplies power to the self-driving vehicle.
  • I/O (Input/Output) control device 408 for controlling data interaction between various input and output devices, especially control The data interaction between the CPU 401 and the I/O interface 409 and the UI operation interface 410 is performed.
  • the I/O interface 409 is an external interface provided by an autonomous vehicle, including a USB (Universal Serial Bus) interface, an SD card interface, a CD (Compact Disc), and a DVD (Digital Versatile Disc). One or more of an interface, a button interface, and the like.
  • the UI operation interface 410 is a GUI (Graphical User Interface) operation/display panel provided by the self-driving vehicle for displaying the running state of the self-driving vehicle, the device state, the environment in which the self-driving vehicle is located, the user operation interface, and The result of the operation; the panel may also be a touch screen for receiving a user touch operation and converting into a user operation instruction.
  • GUI Graphic User Interface
  • FIG. 5 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • the method flow provided by the embodiment of the present invention includes:
  • 501 Receive a ride request, and the ride request includes at least a departure place, a ride destination, and an expected arrival time.
  • the method provided by the embodiment of the present invention when scheduling the self-driving vehicle, performs vehicle scheduling according to at least the current position information, the current road condition information, and the planned route information of each of the automatically driving vehicles within the management range of the ride request and the vehicle dispatching server. Because the vehicle scheduling is rich in factors, the obtained scheduling results are more accurate and the scheduling accuracy is high.
  • the method Before determining at least one first candidate vehicle in the self-driving vehicles, the method further includes:
  • the driving information includes at least current location information, current road condition information, planned route information, and planned destination arrival time;
  • Determining at least one first candidate vehicle among the plurality of self-driving vehicles according to the ride request and the travel information of each of the self-driving vehicles within the management range including:
  • the method further includes: before determining at least one first candidate vehicle among the plurality of self-driving vehicles, according to the departure place and the destination of the ride, the method further includes:
  • the ride request includes the carpool information and the number of passengers, in each of the self-driving vehicles within the management range, determining that the vacancy is not less than the number of passengers and agrees to at least one second candidate vehicle of the carpool;
  • Determining at least one first candidate vehicle among the plurality of self-driving vehicles according to the departure place and the riding destination including:
  • the at least one first candidate vehicle is determined based on the riding departure point and the riding destination.
  • the passenger request further includes passenger information
  • the travel request is sent to the final candidate vehicle, including:
  • the passenger information includes at least one of a passenger feature identifier and a typical road sign around the passenger.
  • the method further includes:
  • the method further includes:
  • the planned route information of the final candidate vehicle is updated, and the updated planned route information is transmitted to the final candidate vehicle, so that the final candidate vehicle determines the driving route according to the updated planned route information.
  • the method further includes:
  • the identification information of the final candidate vehicle is transmitted to the transmitting terminal requested by the passenger such that the sender requested by the passenger determines the final candidate vehicle based on the identification information of the final candidate vehicle.
  • the method further includes:
  • the newly received ride request and all the unexecuted ride requests are re-scheduled, and the dispatch result is transmitted to the corresponding self-driving vehicle.
  • FIG. 6 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • the method of the present invention is as follows:
  • the method provided by the embodiment of the present invention when scheduling the self-driving vehicle, at least according to the current request information and the current location of each self-driving vehicle within the management range of the ride request and the vehicle dispatching server
  • the situation information and the planned route information are used for vehicle scheduling. Since the vehicle scheduling is rich in factors, the obtained scheduling result is more accurate and the scheduling accuracy is high.
  • the method further includes:
  • the driving task list includes at least one riding request and an execution status corresponding to each riding request.
  • the method further includes:
  • the current position of the sender of the riding request is accurately matched and positioned according to the typical road sign surrounding the passenger included in the riding request.
  • the sender of the ride request confirms the self-driving vehicle that has arrived at the departure place of the vehicle based on the received vehicle identification information, and then leaves the departure place of the ride.
  • the method further includes:
  • the sender of the boarding request is confirmed based on the passenger characteristic flag included in the boarding request, so that the boarding request is transmitted. After confirming the self-driving vehicle that arrives at the departure place of the vehicle based on the received vehicle identification information, the person leaves the departure place of the passenger.
  • the method further includes:
  • the travel task list is updated according to the changed destination.
  • the method further includes:
  • the vehicle scheduling server When it is detected that a traffic jam or a traffic accident occurs on the current driving route of the self-driving vehicle, the vehicle scheduling server performs a travel request scheduling negotiation to obtain a scheduling negotiation result;
  • the driving task list is updated and at least one subsequent riding request is transferred to other self-driving vehicles.
  • the method further includes:
  • the other self-driving vehicle that establishes the communication When it is detected that a traffic jam or a traffic accident occurs on the current driving route, the other self-driving vehicle that establishes the communication performs the travel request scheduling negotiation to obtain the scheduling negotiation result;
  • the driving task list is updated and at least one subsequent riding request is transferred to other self-driving vehicles.
  • FIG. 7 is a flowchart of a method for automatically driving a vehicle according to an embodiment of the present invention.
  • the interactive entities are vehicle dispatch servers, clients, and autonomous vehicles.
  • the method process provided by the embodiment of the present invention includes:
  • the vehicle dispatching server receives a travel request sent by the client, and the ride request includes at least a departure place, a ride destination, and a desired arrival time.
  • the specific implementation manner of the client sending the ride request includes, but is not limited to, the following methods: sending a ride request through an app (application) on the smart mobile terminal; or, through a fixed terminal (person The computer sends a ride request; or, by means of a smart mobile terminal or a fixed terminal, logs in to the corresponding website and sends a ride request on the web page.
  • the passenger request may include passenger information, expected arrival time, carpool information (whether or not to carpool with others), etc., in addition to the departure place, the destination of the ride, and the expected arrival time.
  • the embodiment does not specifically limit the content included in the ride request.
  • the passenger information may include one or more of a user name, an ID number, an identification number (a series of numbers), or a passenger photo.
  • the content included in the passenger information is also not specifically limited in this embodiment.
  • the passenger information primarily assists the dispatched self-driving vehicle in confirming the passenger's identity while carrying the passenger.
  • the vehicle dispatching server acquires driving information of each of the automatically driving vehicles within the management scope, and the driving information includes at least current location information, current road condition information, planned route information, and planned destination arrival time.
  • the current location information of the self-driving vehicle may be obtained by a GPS device.
  • the current road condition information can be obtained by a sensor device on the self-driving vehicle, and then the current road condition information obtained by the communication device of the self-driving vehicle is transmitted to the vehicle dispatching server.
  • the vehicle dispatching server may transmit current location information of the self-driving vehicle to the traffic monitoring device.
  • the current road condition information of each of the self-driving vehicles is obtained by the traffic monitoring device according to the current position information of each of the self-driving vehicles. Thereafter, the current road condition information of each of the self-driving vehicles is transmitted to the vehicle dispatching server by the traffic monitoring device.
  • the planned route information and the planned destination arrival time may be the latest scheduling result recorded by the server itself, or may be the latest scheduling result of the vehicle scheduling server after some auto-driving vehicles with autonomously arranged driving tasks change the driving task.
  • the driving information may include, in addition to the current location information, the current road condition information, the planned route information, and the planned destination arrival time, the number of the remaining seats of the vehicle, the driving task list, the carpooling information, and the like, and the driving information in this embodiment
  • the content included is not specifically limited.
  • the vehicle dispatching server determines, in each of the self-driving vehicles within the management range, that the vacancy is not less than the number of passengers and agrees to at least one second candidate vehicle of the carpool.
  • the vehicle dispatch server may receive a large number of ride requests.
  • the number of ride requests may far exceed the number of self-driving vehicles.
  • the embodiment of the present invention provides a solution for carpooling, which can meet the passenger requirements of some passengers to a certain extent.
  • the vehicle dispatching server receives the new ride request, if the ride request includes the carpool information and the number of passengers, in order to find the self-driving vehicle that meets the new ride request as soon as possible, the vehicle dispatch server needs to first In each of the self-driving vehicles within the management range, it is determined that the vacant seat is not less than the number of passengers and the at least one second candidate vehicle that agrees to carpool is determined.
  • the carpooling information is determined because some passengers accept carpooling for different passengers, and some passengers may not accept carpooling. Therefore, when determining at least one second candidate vehicle, it is also necessary to select a candidate vehicle that agrees to carpooling.
  • each of the self-driving vehicles acquired by the vehicle dispatching server The driving information includes the number of vacant seats of the vehicle and the carpooling information, so by analyzing the driving information of each of the self-driving vehicles, at least one second candidate vehicle can be determined among the plurality of automatically driving vehicles within the management range of the vehicle dispatching server. .
  • the vehicle scheduling server determines, in the at least one second candidate vehicle, the at least one first candidate vehicle according to the departure place and the riding destination, and the extended route of the planned route or the planned route of the first candidate vehicle is included. By car and destination.
  • the new ride request when a new ride request is received, the new ride request may be an immediate ride request (the passenger requests to get on the train as fast as possible), or may be an appointment ride request (in the appointment) Get on the train during the time period).
  • the planned route is determined in the at least one second candidate vehicle according to the new departure request and the ride destination of the new ride request.
  • At least one first candidate vehicle including or partially including a departure place and a destination of the ride is included.
  • the first candidate vehicle when determining at least one first candidate vehicle, the first candidate vehicle is divided into the following various situations:
  • At least one planned route of the first candidate vehicle includes a departure place and a ride destination. That is, the departure place and the destination of the ride are the intermediate stations of the planned route.
  • At least one of the planned routes of the first candidate vehicle includes a riding departure place or a riding destination
  • the extension line of the at least one planned route includes a riding destination or a riding departure place. That is, one of the departure place and the destination of the ride is the one in the planned route.
  • the extension line of the at least one planned route of the first candidate vehicle includes a departure place and a ride destination. That is, both the departure point and the destination of the ride do not belong to the intermediate station of the planned route, both of which are on the extension of the planned route.
  • the planned route of the at least one second candidate vehicle may be analyzed, and the at least one second candidate vehicle is determined according to the new departure request and the riding destination according to the new riding request At least one first candidate vehicle.
  • the vehicle scheduling server calculates, according to current location information, current road condition information, and planned route information of each first candidate vehicle, a first time required for each first candidate vehicle to arrive at the riding destination. between.
  • the embodiment of the present invention further includes the step of calculating a first time required for each first candidate vehicle to arrive at the riding destination, taking into account the influence of the traffic factor.
  • the first time calculation is performed by the self-driving vehicle according to its current position information, current road condition information and planned route information, and then reported to the vehicle dispatching server at a first time; or, by the dispatching server, according to each first candidate vehicle
  • the current location information, current traffic information, and planned route information are calculated for the first time.
  • the calculation method is: calculating a travel distance according to current position information of each first candidate vehicle, current road condition information, and planned route information, and then calculating a first time according to the travel distance and the speed of the self-driving vehicle.
  • the travel distance can be calculated based on the time priority, or can be calculated based on the distance priority.
  • the vehicle scheduling server determines, in the at least one first candidate vehicle, the final candidate vehicle according to the first time corresponding to each first candidate vehicle, and the final candidate vehicle meets at least the expected arrival time.
  • the final candidate is determined in the at least one candidate vehicle according to the first time corresponding to each first candidate vehicle calculated in the above step 705. vehicle.
  • the following principles must be followed:
  • the final candidate vehicle will at least meet the expected time to reach the departure time. That is, if the passenger stipulates that the departure place is reached at 4 pm, the final candidate vehicle selected in the at least one first candidate vehicle must arrive at the departure place at 4 pm on time.
  • the new ride request does not affect the original ride request of the final candidate vehicle (planned destination) Time of arrival). For each self-driving vehicle, there may be multiple ride requests to be performed by itself when accepting the new ride request.
  • the final candidate vehicle does not affect the original ride request when executing the new ride request. For example, if the new ride request requires a departure point at 4 pm and the original ride request also has a ride request that arrives at 4 pm, then the first candidate vehicle cannot be the final candidate vehicle.
  • the vehicle dispatching server may re-schedule all unexecuted riding requests together with the new riding request to obtain an optimal driving behavior. Arrange and distribute the latest driving arrangements to the relevant autonomous vehicles within the scope of management.
  • the vehicle dispatching server delivers the travel request to the final candidate vehicle.
  • the ride request is delivered to the final candidate vehicle.
  • the final candidate vehicle extracts the passenger information in the ride request after receiving the ride request. After arriving at the departure point of the ride, precise positioning and passenger identification are based on the passenger information.
  • the ride information may include a feature picture provided by the passenger, such as a typical road sign; and may also include an avatar of the passenger, which is convenient for the auto-driving vehicle to perform image matching recognition and confirm the identity information of the passenger.
  • the method further includes:
  • the planned route information of the final candidate vehicle is updated, and the updated planned route information is transmitted to the final candidate vehicle, so that the final candidate vehicle determines the driving route according to the updated planned route information.
  • the vehicle dispatching server since the processing capability of the vehicle dispatching server is much stronger than that of the self-driving vehicle, the vehicle dispatching server updates the final candidate after delivering the riding request to the final candidate vehicle. Planning route information for the vehicle.
  • the final candidate vehicle is determined to determine the driving route based on the updated planned route information.
  • the update of the route planning information may also be performed by the self-driving vehicle itself, which is not specifically limited in this embodiment.
  • the method further includes:
  • the identification information of the final candidate vehicle is transmitted to the transmitting terminal requested by the passenger such that the sender requested by the passenger determines the final candidate vehicle based on the identification information of the final candidate vehicle.
  • the identification information of the final candidate vehicle may include license plate information, vehicle type information, and the like, and the content included in the identification information is not specifically limited in this embodiment.
  • the photo of the final candidate vehicle and some other basic information may also be sent to the sending terminal, so as to facilitate the sender-to-final candidate of the passenger request. The vehicle is confirmed.
  • the vehicle dispatching server can transmit some safety check information to the sender (passenger) of the ride request. It is convenient for passengers to get on the train to check the safety between passengers and self-driving vehicles.
  • the verification information may be a string of random numbers or a two-dimensional code.
  • the form of the security check information is not specifically limited in this embodiment.
  • the vehicle dispatching server may send the driving password to the sending terminal of the riding request, so that the sending terminal of the riding request uses the power-on password to perform identity authentication, such as the NFC mode, thereby opening the door of the final candidate vehicle.
  • the vehicle dispatching server determines the executed final candidate vehicle for the new riding request through the above steps 701 to 707
  • the new riding request is delivered to the final candidate vehicle.
  • the final candidate vehicle can execute the new ride request. For details, refer to steps 708 to 710 below.
  • the self-driving vehicle's own storage device maintains a driving task list as shown in Table 1 below.
  • the final candidate vehicle When the final candidate vehicle receives the ride request issued by the vehicle dispatching server, it is first determined whether there is a ride request that conflicts with the received ride request, such as in the travel task list shown in FIG.
  • the conflicting ride request refers to the difference between the departure point and the destination of the ride, and it is desirable to arrive at the departure time or expect to reach the destination time and at least one identical ride request.
  • the self-driving vehicle determines the execution order of the riding request according to the expected arrival time of the riding request, and according to the execution order of the riding request Add the ride request to the travel task list and set the execution status for the ride request.
  • the addition is made according to the expected arrival time of the new ride request. That is, the arrangement of the driving tasks is performed in a small to large order in accordance with the expectation that the respective riding requests are expected to reach the destination time.
  • the execution status includes any of the execution completion, execution, or planned execution corresponding to each of the ride requests.
  • the execution status corresponding to the ride request newly added to the travel task list is planned execution.
  • the ride request includes the expected arrival time
  • the execution order of the ride request may be determined together with the expected arrival time and the expected arrival time. .
  • the self-driving vehicle sequentially executes each ride request according to an execution order of each ride request in the travel task list.
  • the self-driving vehicle will sequentially execute the respective ride requests in accordance with the execution order of the respective ride requests in the new travel task list. And after executing a ride request, the execution state of the corresponding ride request and the execution state corresponding to the next ride request in the travel task list are modified.
  • the self-driving vehicle performs any one of the ride requests
  • the sender of the ride request is confirmed in the following two ways.
  • the self-driving vehicle arrives at the riding departure point corresponding to the riding request
  • the current position of the sender of the riding request is accurately matched and positioned according to the typical road sign of the passenger surrounding the passenger request.
  • the sender of the ride request confirms the self-driving vehicle that has arrived at the departure place of the vehicle based on the received vehicle identification information, and then leaves the departure place of the ride.
  • the sender of the boarding request is confirmed based on the passenger characteristic flag included in the boarding request.
  • the sender of the ride request confirms the self-driving vehicle that has arrived at the departure place of the vehicle based on the received vehicle identification information, and then leaves the departure place of the ride.
  • the passenger feature identifier may be a passenger's identity or a passenger's picture, etc., and the form of the passenger feature identifier is not specifically limited in the embodiment of the present invention.
  • step 708 adds the new ride request to the driving task list, it will affect the on-time completion of the existing ride request in the travel task list, and the self-driving vehicle can feedback the situation to the vehicle dispatch.
  • the server negotiates with the vehicle dispatch server how to adjust the travel task list.
  • the following three types of updating the driving task list are further included.
  • the way. The specific process is as follows:
  • the travel task list is updated according to the changed destination.
  • the passenger destination may be temporarily changed based on the traffic situation ahead and the situation.
  • the method provided by the embodiment further provides a UI operation interface.
  • the UI operation interface is usually a touch screen, which allows the user to manually modify the riding destination. And after the user modifies the riding destination, an update of the driving task list is triggered.
  • the second method when detecting a traffic jam or a traffic accident on the current driving route of the self-driving vehicle, performs a travel request scheduling negotiation with the vehicle dispatching server to obtain a scheduling negotiation result; According to the scheduling negotiation result, the driving task list is updated, and at least one subsequent riding request is transferred to other self-driving vehicles.
  • the method provided in this embodiment adopts a measure of negotiating with the vehicle dispatch server and transferring and distributing at least one subsequent ride request.
  • the vehicle scheduling server when the self-driving vehicle detects a traffic jam or a traffic accident on the current driving route, the vehicle scheduling server performs a travel request scheduling negotiation to obtain a scheduling negotiation result; and according to the scheduling negotiation result, the driving task list is updated, The successfully transferred ride request is deleted from the travel task list, or the execution status is changed to "transferred"; at least one subsequent ride request is distributed to other self-driving vehicles to perform subsequent delivery of the distribution by other self-driving vehicles Car request.
  • the vehicle dispatch server may perform the transfer when the self-driving vehicle can perform the transfer.
  • the embodiment of the present invention does not specifically limit the transfer.
  • the other self-driving vehicle that establishes the communication performs the travel request scheduling negotiation to obtain the scheduling negotiation result; and the driving task list is updated according to the scheduling negotiation result. And transfer at least one subsequent ride request to another self-driving vehicle.
  • the method provided in this embodiment takes measures to negotiate with other self-driving vehicles and transfer and distribute at least one subsequent ride request. That is, when the self-driving vehicle detects a traffic jam or a traffic accident on the current driving route, the vehicle scheduling server performs a travel request scheduling negotiation to obtain a scheduling negotiation result; and according to the scheduling negotiation result, the driving task list is updated, or Change the execution status to "Transferd"; distribute at least one subsequent ride request to other autopilot vehicles. By other self-driving vehicles Perform a subsequent ride request for distribution.
  • the vehicle dispatch server may perform the transfer when the self-driving vehicle can perform the transfer.
  • the embodiment of the present invention does not specifically limit the transfer.
  • the method provided by the embodiment of the present invention when scheduling the self-driving vehicle, performs vehicle scheduling according to at least the current position information, the current road condition information, and the planned route information of each of the automatically driving vehicles within the management range of the ride request and the vehicle dispatching server.
  • the resulting scheduling result is more accurate, the scheduling accuracy is high, the passengers are more satisfied with the scheduling result of the vehicle, and the passenger experience is better.
  • FIG. 8 is a vehicle scheduling server according to an embodiment of the present invention.
  • the scheduling server includes: a ride request receiving module 801 , a first candidate vehicle determining module 802 , a first time calculating module 803 , a final candidate vehicle determining module 804 , and a ride request sending module 805 .
  • the ride request receiving module 801 is configured to receive a ride request, and the ride request includes at least a ride departure place, a ride destination, and a desired arrival destination time; the first candidate vehicle determination module 802 and the ride request receiving module a 801 connection, configured to determine at least one first candidate vehicle among the plurality of self-driving vehicles according to the ride request and the travel information of each of the self-driving vehicles within the management range; the first time calculation module 803 and the first candidate vehicle determination module 802 And a connection, configured to calculate, according to current location information, current road condition information, and planned route information of each first candidate vehicle, a first time required for each first candidate vehicle to arrive at the riding destination; final candidate vehicle determining module 804 Connected with the first time calculation module 803, for determining, in the at least one first candidate vehicle, the final candidate vehicle according to the first time corresponding to each first candidate vehicle, the final candidate vehicle meeting at least the expected arrival time; The car request delivery module 805 is connected to the final candidate vehicle determination module 804 for delivering the ride request
  • the server further includes:
  • the driving information acquiring module is configured to acquire driving information of each self-driving vehicle in the management scope, and the driving information includes at least current position information, current road condition information, planned route information, and planned items. Land arrival time;
  • a first candidate vehicle determining module configured to determine at least one first candidate vehicle, an extended route of a planned route or a planned route of the first candidate vehicle, according to the riding departure place and the riding destination, among the plurality of automatically driving vehicles It includes the departure place and the destination of the ride.
  • the server further includes:
  • a second candidate vehicle determining module configured to determine, in each of the automatically driving vehicles within the management range, that the vacancy is not less than the number of passengers and agrees to at least one second candidate for carpooling when the ride request includes the carpool information and the number of passengers vehicle;
  • a first candidate vehicle determining module configured to determine, in the at least one second candidate vehicle, the at least one first candidate vehicle according to the riding departure place and the riding destination.
  • the boarding request issuing module is configured to deliver the boarding request including the passenger information to the final candidate vehicle, so that the final candidate vehicle determines the boarding request according to the passenger information after driving to the boarding place. sender;
  • the passenger information includes at least one of a passenger feature identifier and a typical road sign around the passenger.
  • the server further includes:
  • a security check information sending module configured to send the security check information of the final candidate vehicle to the sending terminal requested by the passenger, so that the final candidate vehicle sends the passenger request according to the security check information when driving to the departure place of the vehicle.
  • the server further includes:
  • the planned route information updating module is configured to update planned route information of the final candidate vehicle, and send the updated planned route information to the final candidate vehicle, so that the final candidate vehicle determines the driving route according to the updated planned route information.
  • the server further includes:
  • a vehicle identification information issuing module configured to send the identification information of the final candidate vehicle to the transmitting terminal requested by the passenger, so that the sender requested by the passenger determines the final candidate according to the identification information of the final candidate vehicle.
  • the server further includes:
  • a scheduling module configured to re-schedule the newly received ride request and all unexecuted ride requests when the final candidate vehicle does not exist in the plurality of automatically driven vehicles within the management scope, and send the dispatch result to the corresponding Auto-driving vehicle.
  • the server when scheduling the self-driving vehicle, performs at least the current location information, the current road condition information, and the planned route information of each of the automatically driving vehicles within the management range of the ride request and the vehicle dispatching server.
  • Vehicle scheduling because the vehicle scheduling is rich in factors, the resulting scheduling results are more accurate, the scheduling accuracy is high, the passengers are more satisfied with the vehicle scheduling results, and the passengers' ride experience is better.
  • FIG. 9 is a schematic structural diagram of an autonomous driving vehicle according to an embodiment of the present invention.
  • the vehicle includes: a ride request receiving module 901, a ride request determination module 902, a ride request addition module 903, and an execution module 904.
  • the ride request receiving module 901 is configured to receive a ride request issued by the dispatch server, where the ride request includes at least a departure place, a ride destination, a desired arrival time, and passenger information; and a ride request determination module
  • the 902 is connected to the boarding request receiving module 901, and is configured to determine whether there is a boarding request in the driving task list that conflicts with the boarding request; the boarding request adding module 903 and the boarding request determining module 902 are used for the driving task list.
  • the execution order of the ride request is determined according to the expected arrival time of the ride request, and the ride request is added to the travel task list according to the execution order of the ride request
  • the execution module 904 is connected to the ride request adding module 903 for sequentially executing the respective ride requests according to the execution order of the respective ride requests in the travel task list.
  • the vehicle further comprises:
  • An execution status setting module for setting an execution status for a ride request
  • the driving task list includes at least one riding request and execution corresponding to each riding request status.
  • the vehicle further comprises:
  • a matching confirmation module configured to, when performing any one of the ride requests, when the ride departure destination corresponding to the ride request is reached, according to the typical road sign of the passenger surrounding included in the ride request, the current sender of the ride request The position is accurately matched and positioned so that the sender of the ride request leaves the departure place of the vehicle after confirming the self-driving vehicle arriving at the departure place of the vehicle based on the received vehicle identification information.
  • the matching confirmation module is further configured to: when performing any one of the ride requests, when the ride departure destination corresponding to the ride request is reached, send the ride request according to the passenger feature identifier included in the ride request The confirmation is made so that the sender of the ride request confirms the self-driving vehicle that has arrived at the departure place of the vehicle based on the received vehicle identification information, and then leaves the departure place of the ride.
  • the vehicle further comprises:
  • the driving task list updating module is configured to update the driving task list according to the changed destination after detecting that the passenger performs the destination changing operation on the UI.
  • the vehicle further comprises:
  • the scheduling negotiation module is configured to perform a travel request scheduling negotiation with the dispatch server when a traffic congestion or a traffic accident occurs on the current driving route of the self-driving vehicle, and obtain a scheduling negotiation result;
  • the driving task list updating module is further configured to update the driving task list according to the scheduling negotiation result and transfer the at least one subsequent riding request to the other self-driving vehicle.
  • the scheduling negotiation module is further configured to: when detecting a traffic congestion or a traffic accident on the current driving route, perform a travel request scheduling negotiation with another self-driving vehicle that establishes communication, and obtain a scheduling negotiation result;
  • the driving task list updating module is further configured to update the driving task list according to the scheduling negotiation result and transfer the at least one subsequent riding request to the other self-driving vehicle.
  • the self-driving vehicle when scheduling the self-driving vehicle, performs the vehicle according to at least the current position information, the current road condition information, and the planned route information of each of the self-driving vehicles within the management range of the ride request and the vehicle dispatching server. Scheduling, due to vehicle scheduling factors In order to enrich, the resulting scheduling results are more accurate, the scheduling accuracy is high, the passengers are more satisfied with the vehicle scheduling results, and the passengers' ride experience is better.
  • the vehicle dispatching server and the self-driving vehicle provided by the above embodiments are only illustrated by the division of the above functional modules when performing the automatic driving vehicle scheduling. In actual applications, the functions may be allocated according to needs. Different functional modules are completed, that is, the internal structure of the server and the vehicle are divided into different functional modules to complete all or part of the functions described above.
  • the embodiments of the vehicle dispatching server and the self-driving vehicle and the method for automatically driving the vehicle are provided in the same embodiment. The specific implementation process is described in detail in the method embodiment, and details are not described herein again.
  • a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
  • the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

本发明公开了一种自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆，属于计算机技术领域。方法包括：接收乘车请求；根据乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达乘车目的地所需的第一时间；根据每个第一候选车辆对应的第一时间，在至少一个第一候选车辆中，确定最终候选车辆，最终候选车辆至少满足期望到达目的地时间；将乘车请求下发至最终候选车辆。本发明至少根据乘车请求和各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，调度精准率高。

Description

自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆
本申请要求于2014年05月06日提交中国专利局、申请号为201410187463.3、发明名称为“自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及计算机技术领域，特别涉及一种自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆。
背景技术
自动驾驶车辆(Self-driving Car)，又称无人驾驶车辆、电脑驾驶车辆、或轮式移动机器人，是一种通过计算机系统实现无人驾驶的智能车辆。自动驾驶车辆依靠人工智能系统、视觉计算系统、雷达系统、监控系统和全球定位系统之间的协同合作，使计算机可以在无人主动操作的情况下，自动安全地操作自动驾驶车辆。随着自动驾驶车辆的普及，将自动驾驶车辆作为出租车来运营使用，成为时下一种新兴的交通方式。而为了让作为出租车使用的自动驾驶车辆能够最大化地满足不同乘车需求，如何对自动驾驶车辆进行调度，成为了本领域技术人员较为关注的一个问题。
现有技术在进行车辆调度时，通常采取如下方式：车辆调度服务器通过电话方式接收各个乘车请求，乘车请求中包括乘车请求地点；每当接收到一个新乘车请求时，车辆调度服务器获取管辖范围内各个车辆所处位置，并从已经被指派的车辆中，确定位于新乘车请求对应地点预设范围内的车辆；最后，在预设范围内的车辆中，确定加入新乘车请求后行驶距离增加最小的车辆，并将新乘车请求派发给这辆车。
在实现本发明的过程中，发明人发现现有技术至少存在以下问题：
在车辆调度过程中，由于仅根据已被指派车辆的位置和乘车请求进行车辆调度，调度依据因素过于单一，所以调度精准率不高。比如，在确定响应新乘车请求的车辆后，若该车所在地交通实时路况十分拥堵或者行车路上发生交通事故，则所选择的车辆不一定能够最快到达新乘车请求对应地点，从而影响调度精准率。
发明内容
为了解决现有技术的问题，本发明实施例提供了一种自动驾驶车辆调度方法、车辆调度服务器及自动驾驶车辆。所述技术方案如下：
第一方面，提供了一种自动驾驶车辆调度方法，所述方法包括：
接收乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间；
根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；
根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达所述乘车目的地所需的第一时间；
根据每个第一候选车辆对应的第一时间，在所述至少一个第一候选车辆中，确定最终候选车辆，所述最终候选车辆至少满足所述期望到达目的地时间；
将所述乘车请求下发至所述最终候选车辆，以使所述最终候选车辆响应所述乘车请求。
在第一方面的第一种可能的实现方式中，所述根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆之前，所述方法还包括：
获取管理范围内各个自动驾驶车辆的行驶信息，所述行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间；
所述根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，所述第一候选车辆的已规划路线或已规划路线的延长线上包括所述乘车出发地和所述乘车目的地。
结合第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，所述根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆之前，所述方法还包括：
如果所述乘车请求中包括拼车信息及乘车人数，则在所述管理范围内的各个自动驾驶车辆中，确定空位不小于所述乘车人数且同意拼车的至少一个第二候选车辆；
所述根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
在所述至少一个第二候选车辆中，根据所述乘车出发地和所述乘车目的地，确定至少一个第一候选车辆。
结合第一方面，在第一方面的第三种可能的实现方式中，所述乘车请求中还包括乘客信息，所述将所述乘车请求下发至所述最终候选车辆，包括：
将包括所述乘客信息的乘车请求下发至所述最终候选车辆，以使所述最终候选车辆在行驶至所述乘车出发地后，根据所述乘客信息确定所述乘车请求的发送者；
其中，所述乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
结合第一方面，在第一方面的第四种可能的实现方式中，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
将所述最终候选车辆的安全校验信息发送至乘客请求的发送终端，以使所述最终候选车辆在行驶至所述乘车出发地时，根据所述安全校验信息对乘客请 求的发送者提供的安全校验信息进行校验。
结合第一方面，在第一方面的第五种可能的实现方式中，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
更新所述最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至所述最终候选车辆，以使所述最终候选车辆根据更新后的规划路线信息确定行车路线。
结合第一方面，在第一方面的第六种可能的实现方式中，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
将所述最终候选车辆的标识信息发送至所述乘客请求的发送终端，以使所述乘客请求的发送者根据所述最终候选车辆的标识信息确定所述最终候选车辆。
结合第一方面、第一方面的第一种至第六种可能的实现方式，在第一方面的第七种可能的实现方式中，所述方法还包括：
如果所述管理范围内的多个自动驾驶车辆中不存在所述最终候选车辆，则对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
第二方面，提供了一种车辆调度服务器，所述服务器包括：
乘车请求接收模块，用于接收乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间；
第一候选车辆确定模块，用于根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；
第一时间计算模块，用于根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达所述乘车目的地所需的第一时间；
最终候选车辆确定模块，用于根据每个第一候选车辆对应的第一时间，在所述至少一个第一候选车辆中，确定最终候选车辆，所述最终候选车辆至少满 足所述期望到达目的地时间；
乘车请求下发模块，用于将所述乘车请求下发至所述最终候选车辆，以使所述最终候选车辆响应所述乘车请求。
在第二方面的第一种可能的实现方式中，所述服务器还包括：
行驶信息获取模块，用于获取管理范围内各个自动驾驶车辆的行驶信息，所述行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间；
所述第一候选车辆确定模块，用于根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，所述第一候选车辆的已规划路线或已规划路线的延长线上包括所述乘车出发地和所述乘车目的地。
结合第二方面的第一种可能的实现方式，在第二方面的第二种可能的实现方式中，所述服务器还包括：
第二候选车辆确定模块，用于当所述乘车请求中包括拼车信息及乘车人数时，在所述管理范围内的各个自动驾驶车辆中，确定空位不小于所述乘车人数且同意拼车的至少一个第二候选车辆；
所述第一候选车辆确定模块，用于在所述至少一个第二候选车辆中，根据所述乘车出发地和所述乘车目的地，确定至少一个第一候选车辆。
结合第二方面，在第二方面的第三种可能的实现方式中，所述乘车请求下发模块，用于将包括所述乘客信息的乘车请求下发至所述最终候选车辆，以使所述最终候选车辆在行驶至所述乘车出发地后，根据所述乘客信息确定所述乘车请求的发送者；
其中，所述乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
结合第二方面，在第二方面的第四种可能的实现方式中，所述服务器还包括：
安全校验信息发送模块，用于将所述最终候选车辆的安全校验信息发送至 所述乘客请求的发送终端，以使所述最终候选车辆在行驶至所述乘车出发地时，根据所述安全校验信息对所述乘客请求的发送者提供的安全校验信息进行校验。
结合第二方面，在第二方面的第五种可能的实现方式中，所述服务器还包括：
规划路线信息更新模块，用于更新所述最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至所述最终候选车辆，以使所述最终候选车辆根据更新后的规划路线信息确定行车路线。
结合第二方面，在第二方面的第六种可能的实现方式中，所述服务器还包括：
车辆标识信息下发模块，用于将所述最终候选车辆的标识信息发送至所述乘客请求的发送终端，以使所述乘客请求的发送者根据所述最终候选车辆的标识信息确定所述最终候选车辆。
结合第二方面、第二方面的第一种至第六种可能的实现方式，在第二方面的第七种可能的实现方式中，所述服务器还包括：
调度模块，用于当所述管理范围内的多个自动驾驶车辆中不存在所述最终候选车辆时，对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
第三方面，提供了一种自动驾驶车辆调度方法，所述方法包括：
接收车辆调度服务器下发的乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地、期望到达目的地时间及乘客信息；
确定行车任务列表中是否存在与所述乘车请求相互冲突的乘车请求；
如果所述行车任务列表中不存在与所述乘车请求相互冲突的乘车请求，则根据所述乘车请求的期望达到目的地时间确定所述乘车请求的执行顺序，并根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中；
根据所述行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请 求。
在第三方面的第一种可能的实现方式中，所述根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中之后，所述方法还包括：
为所述乘车请求设置执行状态；
其中，所述行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
结合第三方面，在第三方面的第二种可能的实现方式中，所述方法还包括：
在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客周边典型道路标识，对所述乘车请求的发送者的当前位置进行精确匹配定位，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
结合第三方面或第三方面的第二种可能的实现方式，在第三方面的第三种可能的实现方式中所述方法还包括：
在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客特征标识，对所述乘车请求的发送者进行确认，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
结合第三方面，在第三方面的第四种可能的实现方式中，所述方法还包括：
当检测到乘客在UI(User Interface，用户界面)上执行了目的地变更操作后，根据变更后的目的地更新所述行车任务列表。
结合第三方面，在第三方面的第五种可能的实现方式中，所述方法还包括：
当检测到所述自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与所述车辆调度服务器进行乘车请求调度协商，得到调度协商结果；
根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
结合第三方面，在第三方面的第六种可能的实现方式中，所述方法还包括：
当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
第四方面，提供了一种自动驾驶车辆，所述车辆包括：
乘车请求接收模块，用于接收车辆调度服务器下发的乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地、期望到达目的地时间及乘客信息；
乘车请求确定模块，用于确定行车任务列表中是否存在与所述乘车请求相互冲突的乘车请求；
乘车请求添加模块，用于当所述行车任务列表中不存在与所述乘车请求相互冲突的乘车请求时，根据所述乘车请求的期望达到目的地时间确定所述乘车请求的执行顺序，并根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中；
执行模块，用于根据所述行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
在第四方面的第一种可能的实现方式中，所述车辆还包括：
执行状态设置模块，用于为所述乘车请求设置执行状态；
其中，所述行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
结合第四方面，在第四方面的第二种可能的实现方式中，所述车辆还包括：
匹配确认模块，用于在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客周边典型道路标识，对所述乘车请求的发送者的当前位置进行精确匹配定位，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
结合第四方面或第四方面的第二种可能的实现方式，在第四方面的第三种可能的实现方式中，所述匹配确认模块，还用于在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客特征标识，对所述乘车请求的发送者进行确认，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
结合第四方面，在第四方面的第四种可能的实现方式中，所述车辆还包括：
行车任务列表更新模块，用于当检测到乘客在UI上执行了目的地变更操作后，根据变更后的目的地更新所述行车任务列表。
结合第四方面，在第四方面的第五种可能的实现方式中，所述车辆还包括：
调度协商模块，用于当检测到所述自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与所述车辆调度服务器进行乘车请求调度协商，得到调度协商结果；
所述行车任务列表更新模块，还用于根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
结合第四方面，在第四方面的第六种可能的实现方式中，所述调度协商模块，还用于当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
所述行车任务列表更新模块，还用于根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
本发明实施例提供的技术方案带来的有益效果是：
在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，由于车辆调度依据因素较为丰富，从而得到的调度结果较为精确，调度精准率高。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种自动驾驶车辆调度系统的架构图；
图2是本发明实施例提供的一种车辆调度服务器的内部结构示意图；
图3是本发明实施例提供的一种自动驾驶车辆的内部结构示意图；
图4是本发明实施例提供的一种自动驾驶车辆的整体硬件架构示意图；
图5是本发明实施例提供的一种自动驾驶车辆调度方法的流程图；
图6是本发明实施例提供的一种自动驾驶车辆调度方法的流程图；
图7是本发明实施例提供的一种自动驾驶车辆调度方法的流程图；
图8是本发明实施例提供的一种车辆调度服务器的结构示意图；
图9是本发明实施例提供的一种自动驾驶车辆的结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
在对本发明实施例做详细解释说明之前，先对本发明实施例的系统架构和应用场景进行简单介绍。参见图1，自动驾驶车辆调度系统包括多个客户端101、一个车辆调度服务器102及多个自动驾驶车辆103。其中，客户端101用于发送乘客的乘车请求，该乘车请求可包括乘车出发地、乘车目的地、期望车辆达到出发地时间、期望车辆到达目的地时间、拼车信息等等。客户端101可以是手机、台式电脑、平板电脑或穿戴式设备等等。车辆调度服务器102，用于根据收集到的乘车需求、多个自动驾驶车辆103的当前位置、当前路况信息和原有调度结果，对管理范围内的多个自动驾驶车辆103进行调度，并将最新的调 度结果下发给各个自动驾驶车辆103。对于多个自动驾驶车辆103来说，各个自动驾驶车辆位于车辆调度服务器102的管辖范围内。自动驾驶车辆103不需要司机驾驶，不需要人工安排行车任务，而是由车辆调度服务器102自行为其管理范围内的各个自动驾驶车辆102安排行车任务。当然，也支持乘客在乘车后通过UI变更乘车目的地。自动驾驶车辆在获取行车任务后，可自动根据行车任务规划安排行进路线。
参见图2，车辆调度服务器主要包括收发通信单元201、乘车请求收集单元202、自动驾驶车辆信息收集单元203及全局调度决策单元204。其中，收发通信单元201，一方面用于与图1所示的客户端101进行通信，接收和响应乘客的乘车请求；另一方面用于与图1所示的自动驾驶车辆103进行通信，接收自动驾驶车辆103的行驶信息；该行驶信息可包括当前位置、当前路况信息、行程安排变更请求等等。收发通信单元201还可向自动驾驶车辆103下发行车安排调度结果。乘车请求收集单元202，用于收集乘客的乘车请求；乘车请求中一般包括乘客身份、乘车出发地、期望车辆到达时间、乘车目的地、乘车人数、期望到达目的地时间、拼车信息等等。自动驾驶车辆信息收集单元203，用于收集车辆调度服务器管理范围内所有自动驾驶车辆的行驶信息，该行驶信息包括动态信息和静态信息。其中，动态信息一般包括自动驾驶车辆的行车任务、当前位置，正在执行的行车任务、当前路况信息等；静态信息一般包括自动驾驶车辆的标识信息，如车牌、车型等。全局调度决策单元204，用于根据从乘车请求收集单元202和自动驾驶车辆信息收集单元203获取的乘客请求和自动驾驶车辆的行驶信息，进行全局调度，计算能够满足乘车请求的最佳自动驾驶车辆的行程调度结果。
参见图3，自动驾驶车辆主要包括收发通信单元301、UI操作界面302、行车任务管理单元303、及交通路况信息收集单元304。其中，收发通信单元301，用于与诸如车辆调度服务器等远端设备进行通信，发送自身的行驶信息，该行驶信息可包括当前位置、当前路况信息、行程安排变更请求等等。UI操作 界面302，支持乘客上车后，通过UI与自动驾驶车辆进行交互。比如，乘客可通过UI变更乘车目的地。行车任务管理模块303，用于维护自动驾驶车辆的行车任务列表，并支持根据乘客请求、车辆调度服务器或本地决策更新行车任务列表。交通路况信息收集单元304，用于通过GPS(Global Pos it ioning System，全球定位系统)设备或交通监管设备收集自动驾驶车辆的行车路线上或当前所处位置的交通状况。
图4是自动驾驶车辆的整体硬件结构示意图。参见图4，该自动驾驶车辆包括：
CPU(Central Processing Unit，中央处理器)401，一方面用于控制整个自动驾驶车辆的各部分硬件设备；另一方面用于运行操作系统软件以及需要的应用程序软件，包括本发明涉及的行车任务管理、交通路况信息收集、UI操作界面等软件。
存储设备402，用于存储自动驾驶车辆的各种软件程序、数据等；存储设备可以是RAM(Random Access Memory，随机存取存储器)、EPROM(Erasable Prog rammable Read Only Memory，可擦除可编程只读寄存器)、SSD(Solid State Disk,固态磁盘)、SD(Secure Digital,安全数位)卡、硬盘中的一种或者多种，本发明实施例提供的自动驾驶车调度方法的软件功能，也在存储设备402上运行和存储。
通信设备403为自动驾驶车辆提供网络通信功能，包括蜂窝网络(GSM/UMTS/LTE/CDMA等)、WLAN(Wireless Local Area Networks，无线局域网)、NFC(Near Field Communication,近距离通信)、蓝牙等通信方式中的一种或者多种。
天线设备404是通信设备403所使用的无线发射天线或无线接收天线。GPS设备405，用于提供自动驾驶车辆的位置信息。传感器设备406可包括雷达、摄像头等，用于感知道路交通环境和道路行人等，以引导自动驾驶车辆根据路况进行自动驾驶。供电设备407为自动驾驶车辆供电。I/O(Input/Output，输入输出)控制设备408，用于控制各种输入输出设备之间的数据交互，特别是控 制CPU401与I/O接口409、UI操作界面410之间的数据交互。
I/O接口409是自动驾驶车辆提供的对外接口，包括USB(Universal Serial Bus，通用串行总线)接口、SD卡接口、CD(Compact Disc，光盘)/DVD(Digital Versatile Disc，数字多功能光盘)接口、按键接口等中的一种或者多种。UI操作界面410是自动驾驶车辆提供的GUI(Graphical User Interface，图形用户界面)操作/显示面板，用于显示该自动驾驶车辆的运行状态、设备状态、自动驾驶车辆所处环境、用户操作界面和操作结果；该面板也可以是触摸屏，用于接收用户触摸操作并转换成用户操作指令。
图5是本发明实施例提供的一种自动驾驶车辆调度方法的流程图。以车辆调度服务器执行该方法的角度为例，参见图5，本发明实施例提供的方法流程包括：
501、接收乘车请求，乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间。
502、根据乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆。
503、根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达乘车目的地所需的第一时间。
504、根据每个第一候选车辆对应的第一时间，在至少一个第一候选车辆中，确定最终候选车辆，最终候选车辆至少满足期望到达目的地时间。
505、将乘车请求下发至最终候选车辆，以使最终候选车辆响应乘车请求。
本发明实施例提供的方法，在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，由于车辆调度依据因素较为丰富，从而得到的调度结果较为精确，调度精准率高。
可选地，根据乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多 个自动驾驶车辆中确定至少一个第一候选车辆之前，该方法还包括：
获取管理范围内各个自动驾驶车辆的行驶信息，行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间；
根据乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
根据乘车出发地和乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，第一候选车辆的已规划路线或已规划路线的延长线上包括乘车出发地和乘车目的地。
可选地，根据乘车出发地和乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆之前，该方法还包括：
如果乘车请求中包括拼车信息及乘车人数，则在管理范围内的各个自动驾驶车辆中，确定空位不小于于乘车人数且同意拼车的至少一个第二候选车辆；
根据乘车出发地和乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
在至少一个第二候选车辆中，根据乘车出发地和乘车目的地，确定至少一个第一候选车辆。
可选地，乘车请求中还包括乘客信息，将乘车请求下发至最终候选车辆，包括：
将包括乘客信息的乘车请求下发至最终候选车辆，以使最终候选车辆在行驶至乘车出发地后，根据乘客信息确定乘车请求的发送者；
其中，乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
可选地，将乘车请求下发至最终候选车辆之后，该方法还包括：
将最终候选车辆的安全校验信息发送至乘客请求的发送终端，以使最终候选车辆在行驶至乘车出发地时，根据安全校验信息对乘客请求的发送者提供的安全校验信息进行校验。
可选地，将乘车请求下发至最终候选车辆之后，该方法还包括：
更新最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至最终候选车辆，以使最终候选车辆根据更新后的规划路线信息确定行车路线。
可选地，将乘车请求下发至最终候选车辆之后，该方法还包括：
将最终候选车辆的标识信息发送至乘客请求的发送终端，以使乘客请求的发送者根据最终候选车辆的标识信息确定最终候选车辆。
可选地，该方法还包括：
如果管理范围内的多个自动驾驶车辆中不存在最终候选车辆，则对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
上述所有可选技术方案，可以采用任意结合形成本发明的可选实施例，在此不再一一赘述。
图6是本发明实施例提供的一种自动驾驶车辆调度方法的流程图。以自动驾驶车辆执行该方法的角度为例，参见图6，本发明实施例提供的方法流程包括：
601、接收车辆调度服务器下发的乘车请求，乘车请求至少包括乘车出发地、乘车目的地、期望到达出发地时间及乘客信息。
602、确定行车任务列表中是否存在与乘车请求相互冲突的乘车请求。
603、如果行车任务列表中不存在与乘车请求相互冲突的乘车请求，则根据乘车请求的期望达到目的地时间确定乘车请求的执行顺序，并根据乘车请求的执行顺序将将乘车请求添加到行车任务列表中。
604、根据行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
本发明实施例提供的方法，在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路 况信息和已规划路线信息进行车辆调度，由于车辆调度依据因素较为丰富，从而得到的调度结果较为精确，调度精准率高。
可选地，根据乘车请求的执行顺序将乘车请求添加到行车任务列表中之后，该方法还包括：
为乘车请求设置执行状态；
其中，行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
可选地，该方法还包括：
在执行任一个乘车请求时，当到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客周边典型道路标识，对乘车请求的发送者的当前位置进行精确匹配定位，以使乘车请求的发送者在根据接收到的车辆标识信息对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
可选地，该方法还包括：
在执行任一个乘车请求时，当到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客特征标识，对乘车请求的发送者进行确认，以使乘车请求的发送者在根据接收到的车辆标识信息对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
可选地，该方法还包括：
当检测到乘客在UI上执行了目的地变更操作后，根据变更后的目的地更新行车任务列表。
可选地，该方法还包括：
当检测到自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与车辆调度服务器进行乘车请求调度协商，得到调度协商结果；
根据调度协商结果，更新行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
可选地，该方法还包括：
当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
根据调度协商结果，更新行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
上述所有可选技术方案，可以采用任意结合形成本发明的可选实施例，在此不再一一赘述。
图7是本发明实施例提供的一种自动驾驶车辆调度方法的流程图。交互主体为车辆调度服务器、客户端和自动驾驶车辆。参见图7，本发明实施例提供的方法流程包括：
701、车辆调度服务器接收客户端发送的乘车请求，乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间。
在本发明实施例中，客户端发送乘车请求的具体实现方式，包括但不限于下述几种方式：通过智能移动终端上的app(应用)发送乘车请求；或，通过固定终端(个人计算机)发送乘车请求；或，通过智能移动终端或固定终端登录相应的网站，在网页上发送乘车请求。
其中，乘车请求中除包括乘车出发地、乘车目的地及期望到达目的地时间外，还可包括乘客信息、期望到达出发地时间、拼车信息(是否愿意与他人拼车)等等，本实施例对乘车请求包括的内容不进行具体限定。此外，乘客信息可包括用户姓名、身份证号、身份标识(一串数字)或乘客照片中的一种或几种，本实施例对乘客信息包括的内容同样不进行具体限定。乘客信息主要帮助被调度的自动驾驶车辆在载乘客时进行乘客身份确认。
702、车辆调度服务器获取管理范围内各个自动驾驶车辆的行驶信息，行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间。
在本发明实施例中，自动驾驶车辆的当前位置信息可以通过GPS设备获得。 当前路况信息可以通过自动驾驶车辆上的传感器设备获得，之后再由自动驾驶车辆的通信设备将获得的当前路况信息发送给车辆调度服务器。在获取自动驾驶车辆的当前路况信息时，车辆调度服务器可将自动驾驶车辆的当前位置信息发送给交通监控设备。由交通监控设备根据各个自动驾驶车辆的当前位置信息获取各个自动驾驶车辆的当前路况信息。之后，再由交通监控设备将各个自动驾驶车辆的当前路况信息发送给车辆调度服务器。
在执行本实施例提供的方法时，具体采取上述何种方式获取当前路况信息，本实施例对此不作具体限定。已规划路线信息及已规划目的地到达时间可以是服务器自身记录的最新调度结果，也可以是某些拥有自主安排行车任务的自动驾驶车辆变更行车任务后，告知车辆调度服务器的最新调度结果。
此外，行驶信息除包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间外，还可包括车辆空余座位数、行车任务列表、拼车信息等等，本实施例对行驶信息包括的内容不进行具体限定。
703、如果乘车请求中包括拼车信息及乘车人数，则车辆调度服务器在管理范围内的各个自动驾驶车辆中，确定空位不小于乘车人数且同意拼车的至少一个第二候选车辆。
在用车高峰期，车辆调度服务器可能会接收到大量的乘车请求。乘车请求的数量可能远远超出自动驾驶车辆的数量。在该种情况下，为了尽可能地满足乘客的乘车要求，本发明实施例提供了拼车的解决方式，在一定程度上可满足部分乘客的乘车要求。当车辆调度服务器在接收到新乘车请求后，若该乘车请求中包括拼车信息和乘车人数，为了能尽快找到符合新乘车请求的自动驾驶车辆，则车辆调度服务器还需先从其管理范围内的各个自动驾驶车辆中，确定空位不小于乘车人数且同意拼车的至少一个第二候选车辆。之所以确定拼车信息，是因为针对不同乘客而言，有些乘客接受拼车，有些乘客可能不接受拼车，所以在确定至少一个第二候选车辆时，还需选择同意拼车的候选车辆。
在确定第二候选车辆时，由于车辆调度服务器获取到的各个自动驾驶车辆 的行驶信息中就包括车辆空余座位数和拼车信息，所以通过对各个自动驾驶车辆的行驶信息进行分析，便可在车辆调度服务器管理范围内的多个自动驾驶车辆中确定至少一个第二候选车辆。
704、车辆调度服务器在至少一个第二候选车辆中，根据乘车出发地和乘车目的地，确定至少一个第一候选车辆，第一候选车辆的已规划路线或已规划路线的延长线上包括乘车出发地和乘车目的地。
在本发明实施例中，当接收到一个新的乘车请求时，新的乘车请求可能为即时乘车请求(乘客要求尽可能快的上车)，也可能为预约乘车请求(在预约时间段内上车)。而无论新的乘车请求为即时乘车请求还是预约乘车请求，均需根据新的乘车请求的乘车出发地和乘车目的地，在至少一个第二候选车辆中，确定已规划路线中包括或部分包括乘车出发地和乘车目的地的至少一个第一候选车辆。其中，在确定至少一个第一候选车辆时，第一候选车辆分为下述各种情况：
第一种情况、第一候选车辆的至少一个已规划路线中包括乘车出发地和乘车目的地。也即，乘车出发地和乘车目的地为已规划路线的中间站点。
第二种情况、第一候选车辆的至少一个已规划路线中包括乘车出发地或乘车目的地，而至少一个已规划路线的延长线上包括乘车目的地或乘车出发地。也即，乘车出发地和乘车目的地中的一个为已规划路线中的站点。
第三种情况、第一候选车辆的至少一个已规划路线的延长线上包括乘车出发地和乘车目的地。也即，乘车出发地和乘车目的地均不属于已规划路线的中间站点，二者均在已规划路线的延长线上。
在确定第一候选车辆时，可对至少一个第二候选车辆的已规划路线进行分析，根据新的乘车请求的乘车出发地和乘车目的地，在至少一个第二候选车辆中，确定至少一个第一候选车辆。
705、车辆调度服务器根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达乘车目的地所需的第一时 间。
在根据上述步骤704确定至少一个第一候选车辆后，由于当下路面的交通情况通常不是很好，经常会发生交通事故或交通拥堵的情况。所以即便确定了至少一个第一候选车辆，至少一个第一候选车辆也可能不能在乘客需求的时间内到达乘车出发地，从而给乘客带来不良的乘车体验。在考虑到交通因素影响的前提下，本发明实施例还包括计算每个第一候选车辆到达乘车目的地所需的第一时间的步骤。
在计算每个第一候选车辆达到乘车目的地所需的第一时间时，具体可采取下述方式实现：
由自动驾驶车辆根据自身的当前位置信息、当前路况信息和已规划路线信息进行第一时间的计算，之后将第一时间上报给车辆调度服务器；或，由调度服务器自行根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息进行第一时间的计算。计算方法为：根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息计算行程距离，然后根据行程距离和自动驾驶车辆的速度，计算第一时间。其中，行程距离可以时间优先为基准进行计算，也可以以距离优先为基准进行计算。
706、车辆调度服务器根据每个第一候选车辆对应的第一时间，在至少一个第一候选车辆中，确定最终候选车辆，最终候选车辆至少满足期望到达目的地时间。
在本发明实施例中，在根据上述步骤704确定至少一个第一候选车辆后，还需根据上述步骤705计算的每个第一候选车辆对应的第一时间，在至少一个候选车辆中确定最终候选车辆。在确定最终候选车辆时，需依据下述原则：
首先、最终候选车辆至少满足期望达到达出发地时间。也即，若乘客规定下午4时到达乘车出发地，那么在至少一个第一候选车辆中选择出的最终候选车辆需在下午4时准时到达乘车出发地。
其次、新的乘车请求不影响最终候选车辆原有的乘车请求(已规划目的地 到达时间)。针对每个自动驾驶车辆而言，在接受该新的乘车请求时，其自身可能存在多个待执行的乘车请求。最终候选车辆在执行新的乘车请求时，需不影响原有的乘车请求。比如，新的乘车请求要求下午4时乘车出发地，而原有的乘车请求中也存在要求下午4时到达的乘车请求，那么该第一候选车辆就不能够作为最终候选车辆。
此外，若在至少一个第一候选车辆中没有符合要求的最终候选车辆，则车辆调度服务器还可将所有未执行的乘车请求和该新的乘车请求一起重新调度，得出最优的行车安排，并将得到的最新行车安排下发给管理范围内的相关自动驾驶车辆。
707、车辆调度服务器将乘车请求下发至最终候选车辆。
在本发明实施例中，当车辆调度服务器确定最终候选车辆后，将乘车请求下发至最终候选车辆。最终候选车辆在接收到乘车请求后，提取乘车请求中的乘客信息。在到达乘车出发地后，根据乘客信息进行精确定位和乘客身份确认。其中，乘车信息可包括乘客提供的特征图片，如典型道路标识；也可包括乘客的头像，方便自动驾驶车辆进行图像匹配识别，确认乘客的身份信息。
可选地，将乘车请求下发至最终候选车辆之后，该方法还包括：
更新最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至最终候选车辆，以使最终候选车辆根据更新后的规划路线信息确定行车路线。
在本发明实施例中，由于车辆调度服务器的处理能力相较于自动驾驶车辆而言，要强大的多，所以车辆调度服务器在将乘车请求下发至最终候选车辆后，还要更新最终候选车辆的规划路线信息。以使最终候选车辆根据更新后的规划路线信息确定行车路线。当然，路线规划信息的更新也可由自动驾驶车辆自身执行，本实施例对此不作具体限定。
可选地，将乘车请求下发至最终候选车辆之后，该方法还包括：
将最终候选车辆的标识信息发送至乘客请求的发送终端，以使乘客请求的发送者根据最终候选车辆的标识信息确定最终候选车辆。
在本发明实施例中，最终候选车辆的标识信息可包括车牌信息、车型信息等等，本实施例对标识信息包括的内容不进行具体限定。可选的，在将最终候选车辆的标识信息下发至乘客请求的发送终端后，还可以将最终候选车辆的照片和一些其他基本信息发送给发送终端，以方便乘客请求的发送者对最终候选车辆进行确认。
另外，如果考虑用车的安全性，车辆调度服务器可以将一些安全校验信息发送给乘车请求的发送者(乘客)。便于乘客上车时进行乘客和自动驾驶车辆之间的安全校验。其中，校验信息可以是一串随机数，也可以是一个二维码，本实施例对安全校验信息的形式不进行具体限定。可选的，车辆调度服务器可以将开车密码发送至乘车请求的发送终端，以便于乘车请求的发送终端使用诸如NFC方式，通过开机密码进行身份认证，从而打开最终候选车辆的车门。
需要说明的是，在车辆调度服务器通过上述步骤701至步骤707，为新的乘车请求确定执行的最终候选车辆后，将该新的乘车请求下发至最终候选车辆。进而，最终候选车辆便可执行该新的乘车请求，详细过程参见下述步骤708至步骤710。
708、自动驾驶车辆在接收到车辆调度服务器下发的乘车请求后，确定行车任务列表中是否存在与乘车请求相互冲突的乘车请求；其中，行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
在本发明实施例中，针对每个自动驾驶车辆而言，自动驾驶车辆自身的存储设备均会维护一个如下表1所示的行车任务列表。
表1
Figure PCTCN2015078259-appb-000001
Figure PCTCN2015078259-appb-000002
当最终候选车辆接收到车辆调度服务器下发的乘车请求后，首先确定诸如图1所示的行车任务列表中，是否存在与接收到的乘车请求相冲突的乘车请求。相冲突的乘车请求指代乘车出发地和乘车目的地都不同，且期望到达出发地时间或期望达到目的地时间又至少有一个相同的乘车请求。
709、如果行车任务列表中不存在与乘车请求相互冲突的乘车请求，则自动驾驶车辆根据乘车请求的期望达到目的地时间确定乘车请求的执行顺序，并根据乘车请求的执行顺序将乘车请求添加到行车任务列表中，并为乘车请求设置执行状态。
在本发明实施例中，将新乘车请求添加到行车任务列表中时，依据该新乘车请求的期望达到目的地时间进行添加。也即，依据各个乘车请求的期望达到目的地时间的由小到大的顺序进行行车任务的排列。其中，执行状态包括各个乘车请求对应的执行完毕、执行中或计划执行中的任一状态。新添加到行车任务列表中的乘车请求对应的执行状态为计划执行中。此外，若乘车请求中包括期望到达出发地时间，则在将乘车请求添加至行车任务列中时，也可根据期望到达目的地时间和期望到达出发地时间一同确定乘车请求的执行顺序。
710、自动驾驶车辆根据行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
在本发明实施例中，在将新的乘车请求添加到行车任务列表中后，自动驾驶车辆将依据新行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。且在执行完毕一个乘车请求后，修改行车任务列表中对应乘车请求的执行状态及下一乘车请求对应的执行状态。
可选地，自动驾驶车辆在执行任一个乘车请求时，当行驶至乘车出发地时， 通过下述两种方式对乘车请求的发送者进行确认。
第一种方式、当自动驾驶车辆到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客周边典型道路标识，对乘车请求的发送者的当前位置进行精确匹配定位。以使乘车请求的发送者在根据接收到的车辆标识信息，对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
第二种方式、当自动驾驶车辆到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客特征标识，对乘车请求的发送者进行确认。以使乘车请求的发送者在根据接收到的车辆标识信息，对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
其中，乘客特征标识可为乘客的身份标识或乘客图片等等，本发明实施例对乘客特征标识的形式不进行具体限定。
需要说明的是，如果上述步骤708在将新乘车请求添加到行车任务列表后，会影响行车任务列表中已有乘车请求的按时完成，则自动驾驶车辆可将该种情况反馈给车辆调度服务器，并与车辆调度服务器协商如何调整行车任务列表。
可选地，在执行本实施例提供的自动驾驶车辆调度方法时，除上述根据车辆调度服务器下发的乘车请求更新自身行车任务列表的方式外，还包括下述三种更新自身行车任务列表的方式。具体过程如下：
第一种方式、当检测到乘客在UI上执行了目的地变更操作后，根据变更后的目的地更新行车任务列表。
针对第一种方式、乘客在上车后，基于前方交通情况和自身情况的考虑，可能会临时变更乘车目的地。为了便于乘客在旅途中进行乘车目的地的修改，本实施例提供的方法还提供了UI操作界面。该UI操作界面通常为触摸屏，支持用户手动对乘车目的地进行修改。且在用户修改乘车目的地后，触发一次行车任务列表的更新。
第二种方式、当检测到自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与车辆调度服务器进行乘车请求调度协商，得到调度协商结果； 根据调度协商结果，更新行车任务列表，并将至少一个后续乘车请求转移给其他自动驾驶车辆。
针对第二种方式，为了提高乘客的乘车体验，针对某一自动驾驶车辆而言，如果当前所在行车路线上发生交通拥堵或交通事故，且在短时间内又得不到缓解时，为了不影响行车任务列表中后续乘车请求的按时完成，本实施例提供的方法采取与车辆调度服务器协商并将至少一个后续乘车请求进行转移分发的措施。也即，当自动驾驶车辆检测到当前所在行车路线上发生交通拥堵或交通事故时，与车辆调度服务器进行乘车请求调度协商，得到调度协商结果；根据调度协商结果，一边更新行车任务列表，将成功转移的乘车请求从行车任务列表中删除，或将执行状态改为“已转移”；一边将至少一个后续乘车请求分发给其他自动驾驶车辆，以由其他自动驾驶车辆执行分发的后续乘车请求。
需要说明的是，在转移后续乘车请求时，除了自动驾驶车辆可自行进行转移时，还可由车辆调度服务器进行转移。具体由自动驾驶车辆还是车辆调度服务器进行转移，本发明实施例对此不作具体限定。
第三种方式、当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；根据调度协商结果，更新行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
针对第三种方式，为了提高乘客的乘车体验，针对某一自动驾驶车辆而言，如果当前所在行车路线上发生交通拥堵或交通事故，且在短时间内又得不到缓解时，为了不影响行车任务列表中后续乘车请求的按时完成，本实施例提供的方法采取与其他自动驾驶车辆协商并将至少一个后续乘车请求进行转移分发的措施。也即，当自动驾驶车辆检测到当前所在行车路线上发生交通拥堵或交通事故时，与车辆调度服务器进行乘车请求调度协商，得到调度协商结果；根据调度协商结果，一边更新行车任务列表，或将执行状态改为“已转移”；一边将至少一个后续乘车请求分发给其他自动驾驶车辆。以由其他自动驾驶车辆 执行分发的后续乘车请求。
需要说明的是，在转移后续乘车请求时，除了自动驾驶车辆可自行进行转移时，还可由车辆调度服务器进行转移。具体由自动驾驶车辆还是车辆调度服务器进行转移，本发明实施例对此不作具体限定。
本发明实施例提供的方法，在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，从而得到的调度结果较为精确，调度精准率高，乘客对车辆的调度结果更加满意，乘客的乘车体验度较佳。
图8是本发明实施例提供的一种车辆调度服务器。参见图8，该调度服务器包括：乘车请求接收模块801、第一候选车辆确定模块802、第一时间计算模块803、最终候选车辆确定模块804、乘车请求下发模块805。
其中，乘车请求接收模块801，用于接收乘车请求，乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间；第一候选车辆确定模块802与乘车请求接收模块801连接，用于根据乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；第一时间计算模块803与第一候选车辆确定模块802连接，用于根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达乘车目的地所需的第一时间；最终候选车辆确定模块804与第一时间计算模块803连接，用于根据每个第一候选车辆对应的第一时间，在至少一个第一候选车辆中，确定最终候选车辆，最终候选车辆至少满足期望到达目的地时间；乘车请求下发模块805与最终候选车辆确定模块804连接，用于将乘车请求下发至最终候选车辆，以使最终候选车辆响应乘车请求。
可选地，服务器还包括：
行驶信息获取模块，用于获取管理范围内各个自动驾驶车辆的行驶信息，行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目 的地到达时间；
第一候选车辆确定模块，用于根据乘车出发地和乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，第一候选车辆的已规划路线或已规划路线的延长线上包括乘车出发地和乘车目的地。
可选地，服务器还包括：
第二候选车辆确定模块，用于当乘车请求中包括拼车信息及乘车人数时，在管理范围内的各个自动驾驶车辆中，确定空位不小于乘车人数且同意拼车的至少一个第二候选车辆；
第一候选车辆确定模块，用于在至少一个第二候选车辆中，根据乘车出发地和乘车目的地，确定至少一个第一候选车辆。
可选地，乘车请求下发模块，用于将包括乘客信息的乘车请求下发至最终候选车辆，以使最终候选车辆在行驶至乘车出发地后，根据乘客信息确定乘车请求的发送者；
其中，乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
可选地，该服务器还包括：
安全校验信息发送模块，用于将最终候选车辆的安全校验信息发送至乘客请求的发送终端，以使最终候选车辆在行驶至乘车出发地时，根据安全校验信息对乘客请求的发送者提供的安全校验信息进行校验。
可选地，服务器还包括：
规划路线信息更新模块，用于更新最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至最终候选车辆，以使最终候选车辆根据更新后的规划路线信息确定行车路线。
可选地，服务器还包括：
车辆标识信息下发模块，用于将最终候选车辆的标识信息发送至乘客请求的发送终端，以使乘客请求的发送者根据最终候选车辆的标识信息确定最终候 选车辆。
可选地，服务器还包括：
调度模块，用于当管理范围内的多个自动驾驶车辆中不存在最终候选车辆时，对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
综上，本发明实施例提供的服务器，在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，由于车辆调度依据因素较为丰富，从而得到的调度结果较为精确，调度精准率高，乘客对车辆的调度结果更加满意，乘客的乘车体验度较佳。
图9是本发明实施例提供的一种自动驾驶车辆的结构示意图。参见图9，该车辆包括：乘车请求接收模块901、乘车请求确定模块902、乘车请求添加模块903、执行模块904。
其中，乘车请求接收模块901，用于接收调度服务器下发的乘车请求，乘车请求至少包括乘车出发地、乘车目的地、期望到达目的地时间及乘客信息；乘车请求确定模块902与乘车请求接收模块901连接，用于确定行车任务列表中是否存在与乘车请求相互冲突的乘车请求；乘车请求添加模块903与乘车请求确定模块902，用于当行车任务列表中不存在与乘车请求相互冲突的乘车请求时，根据乘车请求的期望达到目的地时间确定乘车请求的执行顺序，并根据乘车请求的执行顺序将乘车请求添加到行车任务列表中；执行模块904与乘车请求添加模块903连接，用于根据行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
可选地，该车辆还包括：
执行状态设置模块，用于为乘车请求设置执行状态；
其中，行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行 状态。
可选地，该车辆还包括：
匹配确认模块，用于在执行任一个乘车请求时，当到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客周边典型道路标识，对乘车请求的发送者的当前位置进行精确匹配定位，以使乘车请求的发送者在根据接收到的车辆标识信息对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
可选地，匹配确认模块，还用于在执行任一个乘车请求时，当到达乘车请求对应的乘车出发地时，根据乘车请求中包括的乘客特征标识，对乘车请求的发送者进行确认，以使乘车请求的发送者在根据接收到的车辆标识信息对到达乘车出发地的自动驾驶车辆进行确认后，驶离乘车出发地。
可选地，该车辆还包括：
行车任务列表更新模块，用于当检测到乘客在UI上执行了目的地变更操作后，根据变更后的目的地更新行车任务列表。
可选地，该车辆还包括：
调度协商模块，用于当检测到自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与调度服务器进行乘车请求调度协商，得到调度协商结果；
行车任务列表更新模块，还用于根据调度协商结果，更新行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
可选地，调度协商模块，还用于当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
行车任务列表更新模块，还用于根据调度协商结果，更新行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
本发明实施例提供的自动驾驶车辆，在对自动驾驶车辆进行调度时，至少根据乘车请求和车辆调度服务器管理范围内各个自动驾驶车辆的当前位置信息、当前路况信息和已规划路线信息进行车辆调度，由于车辆调度依据因素较 为丰富，从而得到的调度结果较为精确，调度精准率高，乘客对车辆的调度结果更加满意，乘客的乘车体验度较佳。
需要说明的是：上述实施例提供的车辆调度服务器和自动驾驶车辆在进行自动驾驶车辆调度时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将服务器和车辆的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的车辆调度服务器和自动驾驶车辆与自动驾驶车辆调度方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (30)

  1. 一种自动驾驶车辆调度方法，其特征在于，所述方法包括：
    接收乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地及期望到达目的地时间；
    根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；
    根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达所述乘车目的地所需的第一时间；
    根据每个第一候选车辆对应的第一时间，在所述至少一个第一候选车辆中，确定最终候选车辆，所述最终候选车辆至少满足所述期望到达目的地时间；
    将所述乘车请求下发至所述最终候选车辆，以使所述最终候选车辆响应所述乘车请求。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆之前，所述方法还包括：
    获取管理范围内各个自动驾驶车辆的行驶信息，所述行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间；
    所述根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
    根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，所述第一候选车辆的已规划路线或已规划路线的延长线上包括所述乘车出发地和所述乘车目的地。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆之前，所 述方法还包括：
    如果所述乘车请求中包括拼车信息及乘车人数，则在所述管理范围内的各个自动驾驶车辆中，确定空位不小于所述乘车人数且同意拼车的至少一个第二候选车辆；
    所述根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，包括：
    在所述至少一个第二候选车辆中，根据所述乘车出发地和所述乘车目的地，确定至少一个第一候选车辆。
  4. 根据权利要求1所述的方法，其特征在于，所述乘车请求中还包括乘客信息，所述将所述乘车请求下发至所述最终候选车辆，包括：
    将包括所述乘客信息的乘车请求下发至所述最终候选车辆，以使所述最终候选车辆在行驶至所述乘车出发地后，根据所述乘客信息确定所述乘车请求的发送者；
    其中，所述乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
  5. 根据权利要求1所述的方法，其特征在于，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
    将所述最终候选车辆的安全校验信息发送至所述乘客请求的发送终端，以使所述最终候选车辆在行驶至所述乘车出发地时，根据所述安全校验信息对所述乘客请求的发送者提供的安全校验信息进行校验。
  6. 根据权利要求1所述的方法，其特征在于，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
    更新所述最终候选车辆的规划路线信息，并将更新后的规划路线信息发送 至所述最终候选车辆，以使所述最终候选车辆根据更新后的规划路线信息确定行车路线。
  7. 根据权利要求1所述的方法，其特征在于，所述将所述乘车请求下发至所述最终候选车辆之后，所述方法还包括：
    将所述最终候选车辆的标识信息发送至所述乘客请求的发送终端，以使所述乘客请求的发送者根据所述最终候选车辆的标识信息确定所述最终候选车辆。
  8. 根据权利要求1至7中任一权利要求所述的方法，其特征在于，所述方法还包括：
    如果所述管理范围内的多个自动驾驶车辆中不存在所述最终候选车辆，则对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
  9. 一种车辆调度服务器，其特征在于，所述服务器包括：
    乘车请求接收模块，用于接收乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地及期望达到目的地时间；
    第一候选车辆确定模块，用于根据所述乘车请求和管理范围内各个自动驾驶车辆的行驶信息，在多个自动驾驶车辆中确定至少一个第一候选车辆；
    第一时间计算模块，用于根据每个第一候选车辆的当前位置信息、当前路况信息和已规划路线信息，计算每个第一候选车辆到达所述乘车目的地所需的第一时间；
    最终候选车辆确定模块，用于根据每个第一候选车辆对应的第一时间，在所述至少一个第一候选车辆中，确定最终候选车辆，所述最终候选车辆至少满足所述期望达到目的地时间；
    乘车请求下发模块，用于将所述乘车请求下发至所述最终候选车辆，以使所述最终候选车辆响应所述乘车请求。
  10. 根据权利要求9所述的服务器，其特征在于，所述服务器还包括：
    行驶信息获取模块，用于获取管理范围内各个自动驾驶车辆的行驶信息，所述行驶信息至少包括当前位置信息、当前路况信息、已规划路线信息及已规划目的地到达时间；
    所述第一候选车辆确定模块，用于根据所述乘车出发地和所述乘车目的地，在多个自动驾驶车辆中确定至少一个第一候选车辆，所述第一候选车辆的已规划路线或已规划路线的延长线上包括所述乘车出发地和所述乘车目的地。
  11. 根据权利要求10所述的服务器，其特征在于，所述服务器还包括：
    第二候选车辆确定模块，用于当所述乘车请求中包括拼车信息及乘车人数时，在所述管理范围内的各个自动驾驶车辆中，确定空位不小于所述乘车人数且同意拼车的至少一个第二候选车辆；
    所述第一候选车辆确定模块，用于在所述至少一个第二候选车辆中，根据所述乘车出发地和所述乘车目的地，确定至少一个第一候选车辆。
  12. 根据权利要求9所述的服务器，其特征在于，所述乘车请求下发模块，用于将包括所述乘客信息的乘车请求下发至所述最终候选车辆，以使所述最终候选车辆在行驶至所述乘车出发地后，根据所述乘客信息确定所述乘车请求的发送者；
    其中，所述乘客信息中包括乘客特征标识和乘客周边典型道路标识中的至少一种。
  13. 根据权利要求9所述的装置，其特征在于，所述服务器还包括：
    安全校验信息发送模块，用于将所述最终候选车辆的安全校验信息发送所述至乘客请求的发送终端，以使所述最终候选车辆在行驶至所述乘车出发地时，根据所述安全校验信息对所述乘客请求的发送者提供的安全校验信息进行校验。
  14. 根据权利要求9所述的服务器，其特征在于，所述服务器还包括：
    规划路线信息更新模块，用于更新所述最终候选车辆的规划路线信息，并将更新后的规划路线信息发送至所述最终候选车辆，以使所述最终候选车辆根据更新后的规划路线信息确定行车路线。
  15. 根据权利要求9所述的服务器，其特征在于，所述服务器还包括：
    车辆标识信息下发模块，用于将所述最终候选车辆的标识信息发送至所述乘客请求的发送终端，以使所述乘客请求的发送者根据所述最终候选车辆的标识信息确定所述最终候选车辆。
  16. 根据权利要求9至15中任一权利要求所述的服务器，其特征在于，所述服务器还包括：
    调度模块，用于当所述管理范围内的多个自动驾驶车辆中不存在所述最终候选车辆时，对新接收到的乘车请求和所有未执行的乘车请求重新进行调度，并将调度结果发送至相应的自动驾驶车辆。
  17. 一种自动驾驶车辆调度方法，其特征在于，所述方法包括：
    接收车辆调度服务器下发的乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地、期望到达目的地时间及乘客信息；
    确定行车任务列表中是否存在与所述乘车请求相互冲突的乘车请求；
    如果所述行车任务列表中不存在与所述乘车请求相互冲突的乘车请求，则 根据所述乘车请求的期望达到目的地时间确定所述乘车请求的执行顺序，并根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中；
    根据所述行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
  18. 根据权利要求17所述的方法，其特征在于，所述根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中之后，所述方法还包括：
    为所述乘车请求设置执行状态；
    其中，所述行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
  19. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客周边典型道路标识，对所述乘车请求的发送者的当前位置进行精确匹配定位，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
  20. 根据权利要求17或19所述的方法，其特征在于，所述方法还包括：
    在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客特征标识，对所述乘车请求的发送者进行确认，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
  21. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    当检测到乘客在用户界面UI上执行了目的地变更操作后，根据变更后的目 的地更新所述行车任务列表。
  22. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    当检测到所述自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与所述车辆调度服务器进行乘车请求调度协商，得到调度协商结果；
    根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
  23. 根据权利要求17所述的方法，其特征在于，所述方法还包括：
    当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
    根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
  24. 一种自动驾驶车辆，其特征在于，所述车辆包括：
    乘车请求接收模块，用于接收车辆调度服务器下发的乘车请求，所述乘车请求至少包括乘车出发地、乘车目的地、期望达到目的地时间及乘客信息；
    乘车请求确定模块，用于确定行车任务列表中是否存在与所述乘车请求相互冲突的乘车请求；
    乘车请求添加模块，用于当所述行车任务列表中不存在与所述乘车请求相互冲突的乘车请求时，根据所述乘车请求的期望达到目的地时间确定所述乘车请求的执行顺序，并根据所述乘车请求的执行顺序将所述乘车请求添加到所述行车任务列表中；
    执行模块，用于根据所述行车任务列表中各个乘车请求的执行顺序，依次执行各个乘车请求。
  25. 根据权利要求24所述的车辆，其特征在于，所述车辆还包括：
    执行状态设置模块，用于为所述乘车请求设置执行状态；
    其中，所述行车任务列表中包括至少一个乘车请求和每个乘车请求对应的执行状态。
  26. 根据权利要求24所述的车辆，其特征在于，所述车辆还包括：
    匹配确认模块，用于在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客周边典型道路标识，对所述乘车请求的发送者的当前位置进行精确匹配定位，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
  27. 根据权利要求24或26所述的车辆，其特征在于，所述匹配确认模块，还用于在执行任一个乘车请求时，当到达所述乘车请求对应的乘车出发地时，根据所述乘车请求中包括的乘客特征标识，对所述乘车请求的发送者进行确认，以使所述乘车请求的发送者在根据接收到的车辆标识信息对到达所述乘车出发地的自动驾驶车辆进行确认后，驶离所述乘车出发地。
  28. 根据权利要求24所述的车辆，其特征在于，所述车辆还包括：
    行车任务列表更新模块，用于当检测到乘客在用户界面UI上执行了目的地变更操作后，根据变更后的目的地更新所述行车任务列表。
  29. 根据权利要求24所述的车辆，其特征在于，所述车辆还包括：
    调度协商模块，用于当检测到所述自动驾驶车辆当前所在行车路线上发生交通拥堵或交通事故时，与所述车辆调度服务器进行乘车请求调度协商，得到调度协商结果；
    所述行车任务列表更新模块，还用于根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
  30. 根据权利要求24所述的车辆，其特征在于，所述调度协商模块，还用于当检测到当前所在行车路线上发生交通拥堵或交通事故时，与建立通信的其他自动驾驶车辆进行乘车请求调度协商，得到调度协商结果；
    所述行车任务列表更新模块，还用于根据所述调度协商结果，更新所述行车任务列表并将至少一个后续乘车请求转移给其他自动驾驶车辆。
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