WO2021042293A1

WO2021042293A1 - Auto-driving vehicle service system and method

Info

Publication number: WO2021042293A1
Application number: PCT/CN2019/104402
Authority: WO
Inventors: 吴楠
Original assignee: 北京图森智途科技有限公司
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2021-03-11
Also published as: CN114365054A

Abstract

An auto-driving vehicle service system, comprising: a central control coordination device configured in a central control system, a vehicle coordination device configured in an auto-driving vehicle, and a hub coordination device configured in a hub service region, wherein when the auto-driving vehicle requires a vehicle service, the central control coordination device, the vehicle coordination device and the hub coordination device communicate with one another to determine a vehicle service scheme when the auto-driving vehicle requires a vehicle service; the vehicle coordination device controls, according to the vehicle service scheme, the auto-driving vehicle to interact with an entity in the hub service region; and the hub coordination device controls, according to the vehicle service scheme, the entity in the hub service region to interact with the auto-driving vehicle. The system fills in the technical blank, at the present, whereby road infrastructures are unable to provide energy supplementation, maintenance and other services for an auto-driving vehicle in the field of auto-driving, and same is thus favorable for prompting and developing the use of an auto-driving technology.

Description

Automatic driving vehicle service system and method

Technical field

The embodiment of the present application relates to the field of intelligent transportation, and more specifically, the embodiment of the present application relates to an autonomous driving vehicle service system and method.

Background technique

This section is intended to provide background or context for the implementation of the application stated in the claims. The description here is not admitted to be prior art just because it is included in this section.

In recent years, the logistics industry is gradually moving towards digital informatization and artificial intelligence. Advanced digital information technology and artificial intelligence technology not only help improve the service quality and operational efficiency of the logistics industry, but also effectively reduce logistics costs and greatly promote logistics The development of the industry.

Road freight is one of the main forms of logistics transportation. With the gradual improvement of road construction and road network structure, the road freight industry still has a large room for growth in the future.

Auto-Driving Vehicle (ADV) has shown a practical trend in recent years. Because it can greatly reduce labor costs and significantly improve transportation efficiency, it can be widely used in the road freight industry.

Summary of the invention

Generally speaking, an autonomous vehicle is a smart mobile device that uses an on-board sensor system to perceive the road environment, uses a computer system to plan a driving route and controls the power system to work to reach a predetermined destination. Similar to traditional cars, self-driving cars also require power sources and services such as maintenance and repairs. However, the current highway infrastructure cannot provide these services for self-driving cars.

In view of the above-mentioned problems, the present application provides an autonomous driving vehicle service system and method that overcomes the above-mentioned problems or at least partially solves the above-mentioned problems.

In the first aspect of the embodiments of the present application, an autonomous driving vehicle service system is provided, the system includes: a central control coordination device configured in a central control system, a vehicle coordination device configured in an autonomous driving vehicle, and a configuration The hub coordination device in the hub service area; among them, the central control coordination device, the vehicle coordination device, and the hub coordination device communicate to determine the vehicle service plan when the autonomous vehicle needs vehicle service; the vehicle coordination device controls the automatic vehicle service plan according to the vehicle service plan. The driving car interacts with the entity in the hub service area; the hub coordination device controls the entity in the hub service area to interact with the autonomous vehicle according to the vehicle service plan.

In the second aspect of the embodiments of the present application, a vehicle service system is provided, the vehicle service system includes: a central control system; an autonomous driving car; a hub service area; and, the aforementioned autonomous driving car service system .

In the third aspect of the embodiments of the present application, an autonomous driving vehicle service method is provided, which is applied to a vehicle coordination device, and the vehicle coordination device is configured in an autonomous vehicle. The method includes: the vehicle coordination device is in the autonomous driving When the vehicle needs vehicle service, it communicates with the central control coordination device and the hub coordination device to determine the vehicle service plan, and controls the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan; wherein the hub coordination device is configured in the hub service In the zone, the central control coordination equipment is configured in the central control system.

In the fourth aspect of the embodiments of the present application, a vehicle coordination device is provided. The vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor. The processor is When the computer program is run, the aforementioned automatic driving vehicle service method applied to the vehicle coordination device is executed.

In the fifth aspect of the implementation of the present application, an autonomous driving vehicle is provided, the autonomous driving vehicle includes: a vehicle coordination device; the vehicle coordination device is used to coordinate with the central control when the autonomous vehicle needs vehicle services The device communicates with the hub coordination device to determine the vehicle service plan, and controls the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan; wherein the hub coordination device is configured in the hub service area, and the central control coordination device is configured in the center. Control system.

In the sixth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the aforementioned automatic driving vehicle applied to a vehicle coordination device. Service method.

In the seventh aspect of the embodiments of the present application, an autonomous vehicle service method is provided, which is applied to a hub coordination device, the hub coordination device is configured in a hub service area, and the method includes: the hub coordination device is used for When the autonomous vehicle needs vehicle service, it communicates with the central control coordination device and the vehicle coordination device to determine the vehicle service plan, and controls the entities in the hub service area to interact with the autonomous vehicle according to the vehicle service plan; wherein, the vehicle coordination device It is configured in an automatic driving vehicle, and the central control coordination device is configured in a central control system.

In the eighth aspect of the embodiments of the present application, a hub coordination device is provided. The hub coordination device includes a processor, a memory, and a computer program that is stored in the memory and can run on the processor. The processor is When the computer program is run, the aforementioned autonomous vehicle service method applied to the hub coordination device is executed.

In the ninth aspect of the implementation of the present application, a hub service area is provided. The hub service area includes a hub coordination device and at least one entity; the hub coordination device is used to communicate with the autonomous vehicle when the autonomous vehicle needs vehicle services. The central control coordination device and the vehicle coordination device communicate to determine the vehicle service plan, and control entities in the hub service area to interact with the autonomous vehicle according to the vehicle service plan; wherein the vehicle coordination device is configured in the autonomous vehicle, and The central control coordination equipment is configured in the central control system.

In the tenth aspect of the embodiments of the present application, a computer-readable storage medium is provided, and a computer program is stored thereon. The computer program is executed by a processor to realize the aforementioned autonomous driving vehicle applied to a hub coordination device. Service method

In the eleventh aspect of the embodiments of the present application, an autonomous vehicle service method is provided, which is applied to a central control coordination device, the central control coordination device is configured in a central control system, and the method includes: central control coordination When the autonomous vehicle needs vehicle service, the device communicates with the vehicle coordination device and the hub coordination device to determine the vehicle service plan, so that the hub coordination device and the vehicle coordination device respectively control the entities in the hub service area and autonomous driving according to the vehicle service plan Cars interact; among them, the hub coordination device is configured in the hub service area, and the vehicle coordination device is configured in the autonomous vehicle.

In the twelfth aspect of the implementation of the present application, a central control coordination device is provided. The central control coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor. When the processor runs the computer program, it executes the aforementioned self-driving car service method applied to the central control coordination device.

In the thirteenth aspect of the implementation of the present application, a central control system is provided. The central control system includes: a central control coordination device; the central control coordination device is used to communicate with each other when an autonomous vehicle needs vehicle services. The vehicle coordination device and the hub coordination device communicate to determine the vehicle service plan, so that the vehicle coordination device and the hub coordination device respectively control the interaction between the autonomous vehicle and the entities in the hub service area according to the vehicle service plan; wherein the hub coordination device is configured in In the hub service area, the central control coordination equipment is configured in the central control system.

In the fourteenth aspect of the implementation of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, the aforementioned automatic control system applied to the central control coordination device is realized. Driving car service method.

This application provides a method and system for determining a vehicle service plan based on the needs of autonomous vehicles and providing vehicle services for autonomous vehicles from a hub service area, which makes up for the fact that in the field of autonomous driving, highway infrastructure cannot be automated. The technical gaps in the provision of energy supplement, maintenance and other services for driving cars are conducive to the promotion and development of the application of autonomous driving technology.

Other features and advantages of the present application will be described in the following description, and partly become obvious from the description, or understood by implementing the present application. The purpose and other advantages of the application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.

The technical solution of the present application will be further described in detail below through the accompanying drawings and embodiments.

Description of the drawings

By reading the following detailed description with reference to the accompanying drawings, the above and other objectives, features, and advantages of the exemplary embodiments of the present application will become easier to understand. In the drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, in which:

Fig. 1 schematically shows the system structure of an autonomous vehicle according to an embodiment of the present application;

Fig. 2 schematically shows a plan view of a hub service area according to an embodiment of the present application;

Fig. 3 schematically shows a system structure diagram of a hub service area according to an embodiment of the present application;

Fig. 4 schematically shows a system structure diagram of a central control system according to an embodiment of the present application;

Fig. 5 schematically shows a scene diagram of a vehicle service system according to an embodiment of the present application;

Fig. 6 schematically shows a scene diagram of an autonomous driving car service system according to an embodiment of the present application;

Fig. 7 schematically shows a driving route diagram of an autonomous vehicle according to an embodiment of the present application;

Fig. 8 schematically shows a driving route diagram of an autonomous vehicle according to an embodiment of the present application;

Fig. 9 schematically shows an autonomous driving vehicle according to an embodiment of the present application;

Fig. 10 schematically shows a hub service area according to an embodiment of the present application;

Fig. 11 schematically shows a central control system according to an embodiment of the present application;

In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

detailed description

The principle and spirit of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are only provided to enable those skilled in the art to better understand and then implement the application, but not to limit the scope of the application in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

Those skilled in the art know that the implementation manners of the present application can be implemented as a system, device, device, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

For ease of understanding, the technical terms involved in this application are explained as follows:

The "autonomous driving vehicle" mentioned in this application can be realized by using automatic driving technology to carry people (such as family cars, buses, etc.) and cargo (such as ordinary trucks, vans, drop trailers, closed trucks, tanks, etc.). Type trucks, flatbed trucks, container trucks, dump trucks, special structure trucks, etc.) or vehicles with special rescue functions (such as fire trucks, ambulances, etc.).

The terminals involved in this application may include, but are not limited to, mobile phones, tablet computers, desktop computers, portable notebook computers, etc.

The term "and/or" in this application is merely an association relationship describing the associated objects, indicating that there can be three types of relationships. For example, "A and/or B" can mean that there is A alone, and A and B exist at the same time. There are three cases of B alone; "at least one of A and B" is equivalent to "A and/or B"; "at least one of A and B" is equivalent to "A and/or B".

The character "/" in this application generally indicates that the associated objects before and after are in an "or" relationship.

Any number of elements in the drawings are for example rather than limitation, and any naming is only used for distinction and does not have any limiting meaning.

The principle and spirit of the application are explained in detail below with reference to several representative embodiments of the application.

1. Autonomous driving vehicle ADV

Self-driving vehicles can be realized with automatic driving technology with manned functions (such as family cars, buses, etc.), carrying functions (such as ordinary trucks, vans, drop trailers, enclosed trucks, tank trucks, flat trucks, etc.) , Container trucks, dump trucks, trucks with special structures, etc.) or vehicles with special rescue functions (such as fire trucks, ambulances, etc.).

Fig. 1 shows the structure of an automatic driving vehicle according to an embodiment of the present application. The autonomous vehicle includes a power system 110, a sensor system 120, an actuation system 130, a peripheral device system 140, and a vehicle computing system 150. In some other embodiments, the vehicle may include more, fewer, or different units, and each unit may include more, fewer, or different components. In other embodiments, the units and components shown in FIG. 1 may also be combined or divided in any number.

The power system 110 may be configured to provide motion power for the vehicle. The power system 110 includes one or more of an engine/motor 111, an energy source 112, a transmission 113, and wheels/tires 114.

The engine/motor 111 can be any combination of an internal combustion engine, an electric motor, a steam engine, and a Stirling engine, or other motors and engines. In some embodiments, the power system 110 may include multiple types of engines and/or motors. For example, a gas-electric hybrid vehicle may include a gasoline engine and an electric motor.

The energy source 112 may be an energy source 112 that powers the engine/motor 111 in whole or in part. The engine/motor 111 may be configured to convert the energy source 112 into mechanical energy. The energy source 112 may include gasoline, diesel, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other power sources. The energy source 112 may additionally or alternatively include any combination of fuel tanks, batteries, capacitors, and/or flywheels. In some embodiments, the energy source 112 may also provide energy for other units of the vehicle.

The transmission 113 may be configured to send mechanical power from the engine/motor 111 to the wheels/tires 114. To this end, the transmission 113 may include a gearbox, a clutch, a differential, a drive shaft, and/or other components. In embodiments where the transmission 113 includes a drive shaft, the drive shaft may include one or more axles configured to be coupled to the wheels/tires 114.

The wheels/tires 114 can be configured in any form, including single-wheel, double-wheel, three-wheel, four-wheel, six-wheel, and so on. Other wheel/tyre 114 forms are also possible, such as forms including eight or more wheels. In any case, the wheels/tires 114 may be configured to rotate differentially relative to the other wheels/tires 114. In some embodiments, the wheel/tire 114 may include at least one wheel fixedly attached to the transmission 113, and at least one tire that may be in contact with the road surface and coupled to the rim of the vehicle. The wheel/tire 114 may include any combination of metal and rubber, or a combination of other materials.

The power system 110 may additionally or alternatively include other components in addition to the aforementioned components.

The sensor system 120 may include an external sensor 121 and an internal sensor 122.

The external sensor 121 may include a plurality of sensors configured to sense information of the environment in which the vehicle is located, and one or more actuators 1217 configured to modify the position and/or direction of the sensors. For example, the external sensor 121 may include one or more of a position sensor 1211, an inertial sensor 1212, an object sensor 1213, and an image sensor 1214.

The position sensor 1211 can be any sensor that estimates the geographic position of the vehicle, such as GPS positioning equipment, carrier phase differential RTK positioning equipment, Beidou satellite positioning system positioning equipment, GLONASS positioning system positioning equipment, Galileo positioning system positioning equipment, global positioning system Navigation satellite system GNSS positioning equipment. The position sensor 1211 may include a transceiver that estimates the position of the vehicle relative to the earth.

The inertial sensor 1212 may be any combination of sensors configured to sense changes in the position and direction of the vehicle according to inertial acceleration, such as an inertial measurement unit IMU. In some embodiments, the inertial sensor 1212 may include an accelerometer and a gyroscope.

The object sensor 1213 may be any sensor that uses radio signals or laser signals to sense objects in the environment where the vehicle is located, such as radar, laser rangefinder, and lidar. In some embodiments, in addition to sensing objects, radar and lidar may additionally sense the speed and/or driving direction of the object. In some embodiments, the object sensor 1213 may include a transmitter that emits a radio signal or a laser signal and a detector that detects the radio signal or a laser signal.

The image sensor 1214 may include any camera (for example, a still camera, a video camera, etc.) for taking an image of the environment in which the vehicle is located.

In addition, the external sensor 121 may also include other sensors, such as any sensor used to detect the distance of an object, for example, a sonar 1215, an ultrasonic sensor 1216, and the like.

The internal sensor 122 may include a plurality of sensors configured to detect information corresponding to the driving state of the vehicle. For example, the internal sensor 122 may include one or more of a vehicle speed sensor 1221, an acceleration sensor 1222, and a yaw rate sensor 1223.

The vehicle speed sensor 1221 may be any sensor that detects the speed of the vehicle.

The acceleration sensor 1222 may be any sensor that detects the acceleration of the vehicle.

The yaw rate sensor 1223 may be any sensor that detects the yaw rate (rotation angular velocity) of the vertical axis of the vehicle around the center of gravity, for example, a gyro sensor.

In some embodiments, to detect driving operation information, the internal sensor 122 may further include one or more of an accelerator pedal sensor 1224, a brake pedal sensor 1225, and a steering wheel sensor 1226.

The accelerator pedal sensor 1224 may be any sensor that detects the amount of depression of an accelerator pedal, and the accelerator pedal sensor 1224 is provided, for example, on a shaft portion of an accelerator pedal of a vehicle.

The brake pedal sensor 1225 may be any sensor that detects the stepping amount of the brake pedal, and the brake pedal sensor 1225 is provided, for example, on the shaft portion of the brake pedal. The brake pedal sensor 1225 may detect the operating force of the brake pedal (depression force on the brake pedal, pressure of the master cylinder, etc.).

The steering wheel sensor 1226 may be any sensor that detects the rotation state of the steering wheel. The detection value of the rotation state is, for example, a steering torque or a rudder angle. The steering wheel sensor 1226 is provided, for example, on the steering shaft of the vehicle.

In addition, the internal sensor 122 may also include other sensors, such as sensors that monitor various components in the vehicle (for example, an oxygen monitor, a fuel gauge, an engine oil thermometer, etc.).

In some examples, the sensor system 120 may be implemented as a plurality of sensor combinations, and each sensor combination is configured to be installed on a corresponding position of the vehicle (eg, top, bottom, front, rear, left, right, etc.) .

The actuation system 130 may be configured to control the driving behavior of the vehicle. The actuation system 130 may include one or more of a steering module 131, a throttle valve module 132, and a brake module 133.

The steering module 131 may be any combination of devices that controls the steering torque (or steering torque) of the vehicle.

The throttle module 132 may be any combination of devices that control the operating speed of the engine/motor 111 and control the speed of the vehicle by adjusting the air supply amount (throttle opening) of the engine.

The braking module 133 may be any combination of devices that decelerate the vehicle. For example, the braking module 133 may use friction to decelerate the wheels/tires 114.

The peripheral device system 140 may be configured to enable the vehicle to interact with external sensors 121, other vehicles, external computing devices, and/or users. For example, the peripheral device system 140 may include one or more of a wireless communication device 141, a wired communication interface 142, a touch screen display 143, a microphone 144, and a speaker 145.

The wireless communication device 141 may be configured to directly or wirelessly connect to one or more devices included in the power system 110, the sensor system 120, the actuation system 130, the peripheral device system 140, and the vehicle computing system 150, and directly or wirelessly. Ground connection to one or more of other vehicles, central control systems, and entities in the hub service area. The wireless communication device 141 may include those based on techniques for communicating over wireless communication antenna and chipset, wherein the wireless communication technique may include a Global System for Mobile Communications (Global System for Mobile Communications, GSM ), general packet radio service (General Packet Radio Service, GPRS ), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA) , Long Term Evolution (LTE), Bluetooth (Blue Tooth, BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (Near Field Communication, NFC), infrared technology (Infrared, IR). GNSS can include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Beidou Navigation Satellite System (BDS), Quasi-zenith Satellite System (Quasi-zenith Satellite System, QZSS) and/or Satellite Based Augmentation Systems (SBAS).

The wired communication interface 142 can be configured to directly connect to one or more devices included in the power system 110, the sensor system 120, the actuation system 130, the peripheral device system 140, and the vehicle computing system 150, as well as to directly connect to other vehicles and the central control system. One or more of the entities in the system and hub service area. The wired communication interface 142 may include an integrated circuit (Inter-Integrated Circuit, I2C) interface, an integrated circuit built-in audio (Inter-Integrated Circuit Sound, I2S) interface, a pulse code modulation (Pulse Code Modulation, PCM) interface, and a universal asynchronous transceiver. (Universal Asynchronous Receiver/Transmitter, UART) interface, Mobile Industry Processor Interface (MIPI), General-Purpose Input/Output (GPIO) interface, Subscriber Identity Module (SIM) Interface, and/or Universal Serial Bus (USB) interface, etc.

The touch screen display 143 may be used by the user to input commands to the vehicle. The touch screen display 143 may be configured to sense the position and/or movement of the user's finger through capacitance sensing, resistance sensing, or surface acoustic wave processing. The touch screen display 143 can sense finger movement in a direction parallel or coplanar with the touch screen surface, a direction perpendicular to the touch screen surface, or both directions, and can also sense the pressure level applied to the touch screen surface. The touch screen display 143 may be formed of one or more translucent or transparent insulating layers and one or more translucent or transparent conductive layers. The touch screen display 143 may also be configured in other forms.

The microphone 144 may be configured to receive sound signals (eg, voice commands or other audio input) and convert the sound signals into electrical signals.

The speaker 145 may be configured to output audio.

The peripheral device system 140 may further or alternatively include other components.

The vehicle computing system 150 may include a processor 151 and a data storage device 152.

The processor 151 may be configured to execute instructions stored in the data storage device 152 to perform various functions, including but not limited to the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, Functions corresponding to the navigation module 1504, the decision module 1505, the driving control module 1506, and the task receiving module 1507. The processor 151 may include a general-purpose processor (for example, CPU, GPU), a special-purpose processor (for example, an application-specific integrated circuit (ASIC)), a field programmable gate array (FPGA), and a digital signal processor (DSP). , Integrated circuits, microcontrollers, etc. one or more combinations. In the case where the processor 151 includes a plurality of processors 151, these processors 151 can work individually or in combination.

The data storage device 152 may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media. The data storage device 152 may include read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 152 may be integrated with the processor 151 in whole or in part. The data storage device 152 may be configured to store instructions that can be executed by the processor 151 to perform various functions. These functions include, but are not limited to, the positioning fusion module 1501, the sensing module 1502, the driving state determination module 1503, and the navigation system as described below. Module 1504, decision-making module 1505, driving control module 1506, task receiving module 1507 corresponding functions.

The positioning fusion module 1501 can be configured to receive environmental data, location data or other types of data sensed from the sensor system 120, and process these data through timestamp alignment, fusion calculation, etc., to obtain fused environmental data and vehicles. Location data. The positioning fusion module 1501 may include, for example, a Kalman filter, a Bayesian network, and algorithms that implement other functions.

The perception module 1502 may be configured to receive the fused environment data calculated by the positioning fusion module 1501, and perform computer vision processing on it to recognize objects and/or features in the environment where the vehicle is located. The objects and/or features include, for example, lanes. Lines, pedestrians, other vehicles, traffic signals, basic transportation facilities, etc. The perception module 1502 may use an object recognition algorithm, a Structure from Motion (SFM) algorithm, video tracking, or other computer vision technology. In some embodiments, the perception module 1502 may be further configured to map the environment, track objects, estimate the speed of the objects, and so on.

The driving state determination module 1503 recognizes the driving state of the vehicle based on the data obtained by the internal sensor 122 in the sensor system 120, including, for example, vehicle speed, acceleration, or yaw rate.

The task receiving module 1507 may be configured to receive tasks, analyze the loading and unloading address, cargo category, loading and unloading time and other information contained in the task, and send the information to the navigation module 1504.

The navigation module 1504 may be configured as any unit that determines the driving path of the vehicle. The navigation module 1504 may be further configured to dynamically update the driving path during the operation of the vehicle. In some embodiments, the navigation module 1504 may be configured to determine the driving of the vehicle based on the processing results from the positioning fusion module 1501, the positioning sensor, the object sensor 1213, the task receiving module 1507, and one or more pre-stored high-precision map data. path.

The decision-making module 1505 can be configured to generate the vehicle’s information based on the driving path calculated by the navigation module 1504, the vehicle position data calculated by the positioning fusion module 1501, and the objects and/or features in the environment where the vehicle is identified by the perception module 1502. Waypoint information. The waypoint in the waypoint information is the trajectory point of the vehicle in the driving path.

The driving control module 1506 may be configured to receive the waypoint information generated by the decision module 1505, and control the actuation system 130 according to the waypoint information, so that the vehicle drives according to the waypoint information.

The data storage device 152 may also be configured to store other instructions, including sending data to one or more of the power system 110, the sensor system 120, the actuation system 130, and/or the peripheral system 140, and receive data therefrom, Instructions to interact with and/or control it. The data storage device 152 may also be configured to store other instructions. For example, the data storage device 152 may store instructions for controlling the operation of the transmission 113 to improve fuel efficiency, may store instructions for controlling the image sensor 1214 to capture environmental images, and may store instructions for generating vehicles based on data sensed by the object sensor 1213. Instructions for the three-dimensional image of the environment in which they are located, and instructions for recognizing the electrical signals converted by the microphone 144 into voice commands may be stored.

The data storage device 152 may also be configured to store other instructions. In addition to storing instructions, the data storage device 152 may also be configured to store a variety of information, such as image processing parameters, training data, high-precision maps, path information, and so on. During the operation of the vehicle in an automatic mode, a semi-automatic mode, and a manual mode, this information may be used by one or more of the power system 110, the sensor system 120, the actuation system 130 and the peripheral system 140, and the vehicle computing system 150.

The vehicle computing system 150 may be communicatively connected to one or more of the power system 110, the sensor system 120, the actuation system 130, and the peripheral device system 140 through a system bus, a network, and/or other connection mechanisms.

The vehicle computing system 150 may directly connect to the wireless communication device 141 in the peripheral equipment system 140 through a data line or wirelessly through a wireless communication technology, and then wirelessly connect to the hub service area and/or the central control system through the wireless communication device 141.

The vehicle computing system 150 may also be a plurality of computing devices that control individual components or individual systems of the vehicle in a distributed manner.

The vehicle computing system 150 may additionally or alternatively include other components.

The vehicle computing system 150 may include a vehicle coordination device ADV-ECU. The vehicle coordination device ADV-ECU may include one or more first processors, one or more first memories, and stored in the first memory and may be stored in the first memory. Computer instructions running on a processor. When the first processor is running the computer instructions in the first memory, it executes the functions corresponding to the vehicle coordination module 1509 as described below. The vehicle coordination module 1509 may be configured to communicate with the central control coordination module of the central control system and the hub coordination module in the hub service area to determine a vehicle service plan, and control the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan. Among them, the first processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 151. (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The first memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 152 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The vehicle coordination module 1509 can be implemented as a computer program product. When the computer program product runs on a computer, it communicates with the central control coordination module of the central control system and the hub coordination module in the hub service area to determine the vehicle service plan, and An autonomous vehicle service method that controls the interaction between the autonomous vehicle and the entities in the hub service area according to the vehicle service plan.

As shown in FIG. 9 is an autonomous driving vehicle according to an embodiment of the present application. The autonomous driving vehicle is equipped with a vehicle coordination device ADV-ECU. The vehicle coordination device ADV-ECU includes a first processor, a first memory, and a storage device. Computer instructions on the first memory and executable on the first processor. When the first processor is running the computer instructions in the first memory, the method corresponding to the following steps is executed: S91, the vehicle coordination device ADV-ECU and the central control coordination device CCS of the central control system when the autonomous vehicle needs vehicle services -ECU communicates with the hub coordination device HUB-ECU in the hub service area to determine the vehicle service plan; S92, the vehicle coordination device ADV-ECU controls the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan.

2. Hub Service Area HUB

The hub service area can have one or more vehicle service items that can provide supplementary energy for autonomous vehicles, vehicle maintenance, vehicle maintenance, vehicle cleaning, loading, unloading, cargo storage, upgrade procedures, parking, weighing, and payment. The function of the place. The hub service area can also have other functions, such as providing one or more functions such as industrial manufacturing, railway transportation, air transportation, and highway area rest services. For example, the hub service area can be a highway port, a sea port, a freight distribution center, a logistics park, an industrial park, a warehouse, a railway station, an airport, an expressway service area, a gas station, a gas station, and other places.

Fig. 2 is a schematic plan view of a hub service area according to this embodiment, and Fig. 3 is a system structure diagram of the hub service area. As shown in FIG. 2, the hub service area may be configured to include a venue 210, an entrance 220, an exit 230, one or more service stations, and a hub control room 270.

The site 210 is the ground and the space area on the ground occupied by the entire hub service area. The venue 210 may be divided into a service area and a road area. The service area is configured for setting up service sites. The road area is configured for vehicles to travel in the field 210.

The entrance 220 is configured for vehicles to enter the field 210. The entrance 220 may be provided with an entrance road card 221 for allowing or denying vehicles to enter the site 210. The entrance road card 221 may be configured to include a vehicle identification device and a road card device. The vehicle identification device may include any device for detecting a vehicle approaching the entrance 220 and identifying the identity of the vehicle. For example, it may include one or more of a vehicle detector, a camera, and a card reader. The road card equipment can be one or more of electric retractable doors, electric sliding doors, and electric barriers.

The exit 230 is configured for vehicles to exit the field 210. The exit 230 may be provided with an exit road card 231 for allowing or denying the vehicle to leave the field 210. The exit road card 231 may be configured to include a vehicle identification device, a toll payment device, and a road card device. The vehicle identification device may include any device for detecting a vehicle approaching the exit 230 and identifying the identity of the vehicle. For example, it may include one or more of a vehicle detector, a camera, and a card reader. The road card equipment can be one or more of electric retractable doors, electric sliding doors, and electric barriers. The payment device may be configured to collect the total cost of all vehicle services provided by the hub service area paid by the autonomous vehicle. The payment device can be configured to connect to the electronic bank via the network, and is used to receive the fees paid by the vehicle through network transfer.

As shown in Figure 2, each service station is set in the service area, which may include but not limited to energy service station 241, maintenance service station 242, storage service station 243, parking service station 244, network service station 245, and road rescue service station 246 One or more of the service stations such as the spare car service station 247.

As shown in FIG. 2 and FIG. 3, the hub control room 270 is provided in the service area, and the hub computing system 250 and the communication system 260 can be provided in the hub control room 270.

The energy service station 241 may be configured to provide vehicle service items related to energy supplementation for vehicles, including but not limited to: refueling, refilling, charging, and replacing power battery packs.

The energy service station 241 may include any entity (including one or more of the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area) for providing energy supplement service items for vehicles. The energy service station 241 can include fuel dispensers, gas dispensers, AC charging piles, DC charging piles, AC and DC integrated charging piles, switching stations, firefighting equipment, energy controller 2411, operators, terminal equipment, identity verification equipment and monitoring One or more of entities such as equipment.

A fuel dispenser is a device that can replenish liquid fuel for a vehicle. Fuel dispensers can be used to supplement vehicles with gasoline, diesel or other types of liquid fuels for automobiles. In an embodiment, the fuel dispenser may include one or more of oil tanks, oil pipelines, submersible pumps, oil pumps, oil and gas recovery systems, flow meters, solenoid valves, oil guns, and the like.

A gas dispenser is a device that can replenish gas fuel for a vehicle. The gas dispenser can be used to supplement vehicles with Liquefied Petroleum Gas (LPG), Compressed Natural Gas (CNG), Liquefied Natural Gas (LNG) or other types of gas fuels for automobiles. The gas dispenser can include one of a mass flow meter, a pressure sensor, an electric control system, an explosion-proof control power supply, a pneumatic valve, a ball valve, a stop valve, a safety valve, a metal hose, an air filling gun, a return air gun, a gas pipeline, etc. Multiple.

The AC charging pile is a power supply device that can provide AC power to the on-board charger of an electric vehicle. The AC charging pile can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of one charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can charge multiple vehicles ) Of the charging pile.

The DC charging pile is a power supply device that can convert AC power from the grid into DC power and then provide it to electric vehicles. The DC charging pile can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of a charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can charge multiple vehicles ) Of the charging pile.

The AC-DC integrated charging pile is a power supply device that can provide both AC power and DC power for electric vehicles. The AC-DC integrated charging pile can be a floor-mounted or wall-mounted charging pile, and it can also be in the form of a charging pile (a charging pile can only charge one vehicle) or a multi-charging form (a charging pile can be multiple A vehicle charging) charging pile.

The replacement station can quickly replace the power battery pack for electric vehicles. In one embodiment, the swap station may include multiple power battery packs and a warehouse dedicated to storing the power battery packs. In another embodiment, the swap station may further include one or more of a DC charging pile, an AC charging pile, and an AC/DC integrated charging pile, for charging the replaced power battery pack.

Fire-fighting equipment can be any equipment used for fire prevention, explosion protection, lightning protection, and anti-static. For example, it can include fire extinguishers (dry powder type and/or carbon dioxide type), fire blankets, sand extinguishing, fire water supply systems, lightning protection devices, lightning protection belts, lightning protection nets, electrostatic dischargers, fire emergency lights, explosion-proof flashlights, electrostatic grounding alarms, One or more of combustible gas detection alarms, smoke alarms, liquid level alarms, pressure alarms, etc.

The energy controller 2411 can be configured to connect to one or more of a fuel dispenser, a gas dispenser, an AC charging pile, a DC charging pile, an AC/DC integrated charging pile, a switch station, a fire fighting device, and a terminal device, and receive data from it , Interact with, and/or control it. The energy controller 2411 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the energy service station 241 to perform actions according to the received commands. For example, the energy controller 2411 may control the fuel dispenser to fill an appropriate amount of fuel into the autonomous vehicle according to the command sent by the site control module 252, and control the dispenser to fill an appropriate amount of gas into the autonomous vehicle. The energy controller 2411 can be configured to obtain data from one or more of a fuel dispenser, a gas dispenser, an AC charging pile, a DC charging pile, an AC/DC integrated charging pile, a power exchange station, a fire fighting device, and a terminal device. Send to the site control module 252 in the hub computing system 250. The energy controller 2411 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the energy controller 2411. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the energy controller 2411.

The energy service station 241 may additionally or alternatively include other entities in addition to the aforementioned entities.

The repair service station 242 can be configured to provide related vehicle service items such as fault inspection, vehicle repair, vehicle maintenance, etc., including but not limited to sensor calibration, vehicle fault diagnosis, maintenance and cleaning, sheet metal baking, mechanical fault repair, and car replacement. Vehicle service items such as spare parts, tire repair, electronic component testing and repair.

The repair service station 242 may include any entity used to provide vehicle service items such as inspection, repair, and maintenance for vehicles (including the area occupied by the service station and one or more of the ground facilities, machinery and equipment and operators in the area. Species). In one embodiment, the repair service station 242 may include sensor calibration equipment, automobile diagnostic equipment, detection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, maintenance supplies, manual repair tools, tire repair equipment, vehicle lifting equipment, and maintenance. Controller 2421, one or more of entities such as tools for inspection and maintenance of electronic components, auto parts, electronic components, operators, terminal equipment, identity verification equipment, and monitoring equipment.

The sensor calibration equipment may include planar targets (such as checkerboards, ArUco codes), three-dimensional targets, and corner reflectors used to calibrate the position sensor 1211, inertial sensor 1212, object sensor 1213, and image sensor 1214 of the autonomous vehicle. One or more.

The car diagnostic equipment may include one or more of car decoders, car fault code reading cards and their dedicated computers.

Detection and analysis equipment can include automobile speed table, wheel weight inspection table, automobile brake inspection table, light detector, automobile side slip detection table, sound level meter, exhaust gas detection instrument, fuel consumption meter, angle meter, chassis dynamometer, engine One or more of analyzer, squarer, road tester, environmental dynamometer, discarded analyzer, etc.

Maintenance cleaning equipment can include automatic gearbox cleaning oil changer, power steering oil changer, butter filling machine, refrigerant recovery filling machine, fuel injection nozzle cleaning and testing equipment, polishing machine, waxing machine, vacuum cleaner, water suction machine One or more of etc.

The sheet metal baking paint equipment may include one or more of a paint baking room, a paint baking lamp, a paint mixing room, a beam corrector, a ground gossip, a spray gun, and the like.

Maintenance supplies can include refinish paint, refrigerant, brake fluid, antifreeze, lubricating oil, repair agent, glass water, sealant, putty, rust inhibitor, water tank treasure, car wax, car glaze, refrigerant, automobile and motorcycle use One or more of cleaning agents, tire polishes, and automotive adhesives.

The manual maintenance tool may include one or more of a wrench, a screwdriver, a set, a tool cart, a tool box, a workbench, and the like.

The tire repairing equipment may include one or more of a balancing machine, a tire changer, a nitrogen filling machine, a tire repairing machine, and the like.

The vehicle lifting equipment may include one or more of a two-post lift, a four-post lift, a scissor lift, a mobile lift, a jack, a crane, a crane, and the like.

Auto parts can include engine parts, power train parts, brake parts, steering parts, walking parts, etc. Engine accessories include but are not limited to throttle body, engine, engine assembly, fuel pump, fuel nozzle, tensioner, cylinder block, bearing bush, water pump, fuel injection, gasket, camshaft, valve, crankshaft, connecting rod assembly, piston , Belt, muffler, carburetor, fuel tank, water tank, fan, oil seal, radiator, filter, etc. Powertrain accessories include but are not limited to transmission, gear shift lever assembly, reducer, clutch, pneumatic, electric tools, magnetic materials, electronic components, clutch disc, clutch cover, universal joint, universal ball, universal Ball, ball cage, clutch plate, transfer case, power take-off, synchronizer, synchronizer ring, timing belt, differential, differential case, differential disc angle gear, planetary gear, wheel carrier, flange , Gearboxes, intermediate shafts, gears, gear lever forks, drive shaft assemblies, drive shaft flanges, belts, etc. Brake system accessories include but are not limited to brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake cylinders, and automotive anti-lock brake system controllers ABS-ECU, electric hydraulic pump, brake camshaft, brake roller, brake tellurium pin, brake adjustment arm, brake chamber, vacuum booster, hand brake assembly, parking brake assembly, parking Brake lever assembly, etc. Steering system accessories include, but are not limited to, steering gear, steering knuckle ball head, steering knuckle steering wheel, steering gear, assembly booster, steering tie rod, power steering pump, etc. Walking accessories include but are not limited to rear axle, air suspension system, balance weight, steel plate, tire, leaf spring, half axle, shock absorber, steel ring assembly, half axle bolt, axle housing, frame, assembly, Wheel platform, front axle, etc.

Electronic component inspection and maintenance tools can include memory particle tester, oscilloscope, programmer, test card, data acquisition card, chip mounter, ultraviolet eraser, tin furnace, motherboard slot, diagnostic card, digital multimeter, memory Tester, ultrasonic cleaning machine, etc.

Electronic components may include LCD screens, touch screens, motherboard IO interfaces, power supply chips, field effect tubes, capacitors, etc.

The maintenance controller 2421 can be configured to connect to one or more of automobile diagnostic equipment, inspection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, tire repair equipment, vehicle lifting equipment, and terminal equipment, and receive data from it, and Interact, and/or control it. The maintenance controller 2421 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the maintenance service station 242 to perform actions according to the received commands. For example, the maintenance controller 2421 may control the automobile diagnostic equipment to diagnose the fault of the autonomous vehicle according to the command sent by the site control module 252. The maintenance controller 2421 may be configured to send data obtained from one or more of the automobile diagnostic equipment, inspection and analysis equipment, maintenance and cleaning equipment, sheet metal paint equipment, tire repair equipment, vehicle lifting equipment, and terminal equipment to The site control module 252 in the hub computing system 250. The maintenance controller 2421 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the maintenance controller 2421. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the maintenance controller 2421.

The repair service station 242 may additionally or alternatively include other entities in addition to the aforementioned entities.

The storage service station 243 may be configured to provide vehicle service items related to loading and unloading goods for vehicles. The storage service station 243 may include any entity (including one or more of the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area) for providing loading and unloading services for vehicles. The storage service station 243 may include one or more entities such as a warehouse, a platform, a forklift, a crane, a handling robot, a loading and unloading platform, a storage controller 2431, an operator, a terminal device, an identity verification device, and a monitoring device.

The warehouse is configured to store goods. The warehouse can be divided into different spaces according to the type of goods (such as food, medicine, refrigerated, flammable, etc.). Cameras, infrared cameras, radars, temperature sensors, humidity sensors and other sensors can be installed in the warehouse.

The platform is configured as a road connected to the warehouse for parking vehicles waiting for loading and unloading. The number and size of platforms can be determined according to one or more factors such as the size of the warehouse, the number of spaces that the warehouse is divided into, the number of vehicles, the size of the vehicles, and the time required for loading and unloading each vehicle. The platform can be configured to provide a weighing scale sensor for weighing the vehicle.

The crane is configured for loading or unloading containers for vehicle transportation.

Forklifts and handling robots are configured to transport the goods stored in the warehouse to the vehicle, or to transport the goods transported by the vehicle to the warehouse.

The loading and unloading platform is configured to overlap between the vehicle and the platform, as a platform for forklifts and handling robots to travel between the platform and the vehicle. The loading and unloading platform can be a fixed loading and unloading platform with a hydraulic system, one end of which is in contact with the platform, and the other end can be adjusted in height to overlap the vehicle.

The storage service station 243 may be configured to call the standby vehicle in the standby vehicle service station 247 to load the cargo to be transported at the platform.

The warehouse controller 2431 can be configured to connect to one or more of sensors installed in the warehouse, sensors installed in the platform, forklifts, cranes, handling robots, loading and unloading platforms, and terminal devices, receive data from them, interact with them, and/ Or control it. The warehouse controller 2431 may be configured to receive commands sent by the site control module 252 in the hub computing system 250, and control one or more entities in the warehouse service station 243 to perform actions according to the received commands. For example, the warehouse controller 2431 may control the loading and unloading platform to be adjusted to an appropriate height according to the command sent by the site control module 252. The warehouse controller 2431 may be configured to send data obtained from one or more of sensors installed in the warehouse, sensors installed in the platform, forklifts, cranes, handling robots, loading and unloading platforms, and terminal devices to the hub computing system 250 The site control module 252 in. The warehouse controller 2431 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the warehouse controller 2431. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the warehouse controller 2431.

The storage service station 243 may additionally or alternatively include other entities in addition to the aforementioned entities.

The parking service station 244 may be configured to provide parking-related vehicle service items for vehicles. The parking service station 244 may include any entity (including the area occupied by the service station and one or more of ground facilities, machinery and equipment and operators in the area) for providing parking service items for vehicles. The parking service station 244 may include one of a parking lot, vehicle identification equipment, electric barriers, toll collection equipment, remaining space display equipment, parking lot controller 2441, operators, terminal equipment, identity verification equipment, monitoring equipment and other entities, or Many kinds.

The parking lot is configured for parking vehicles. The parking lot may include an exit 230, an entrance 220, and multiple parking spaces. The parking space may be one or more of a plane parking space and a mechanical parking space. The parking space may be configured to include one or more of a wheel positioner, a camera, and an ultrasonic parking space detector.

The vehicle identification device may include any device for detecting vehicles close to the entrance and exit 220 of the parking lot and identifying the identity of the vehicle, for example, may include one or more of a vehicle detector, a camera, and a card reader. The vehicle detector may be a ground-sensing vehicle detector.

The electric barrier is configured to allow or deny vehicles to enter and exit the parking lot. The electric barrier may include one or more of a brake lever, a brake lever bracket, a transmission mechanism, a balancing device, a motor, a reduction gear box, and the like.

The toll collection device can be configured to perform tasks such as identifying, recording, accounting, and charging for vehicles entering and leaving the parking lot. The charging device may be configured to include one or more of a card reader, a computing device, and a memory. The card reader can be a contact reader, a medium-distance card reader, or a long-distance card reader. The toll collection device can also be configured to connect to the electronic bank via the network to receive fees paid by the vehicle through network transfer.

The remaining space display device is configured to display free parking spaces in the parking lot. The remaining space display device may be configured to determine whether the parking space is free according to the detection result of the ultrasonic parking space detector in the parking space or the image taken by the camera.

The parking lot controller 2441 can be configured to connect to one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device, receive data from it, interact with it, and/or control it . The parking lot controller 2441 may be configured to receive commands sent by the station control module 252 in the hub computing system 250, and control one or more entities in the parking service station 244 to perform actions according to the received commands. For example, the parking lot controller 2441 may control the opening or closing of the electric barrier according to the command sent by the station control module 252, or may be configured to control the charging device to update the charging standard. The parking lot controller 2441 may be configured to send data obtained from one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device to the station control module in the hub computing system 250 252. The parking lot controller 2441 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2441. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2441.

The parking service station 244 may additionally or alternatively include other entities in addition to the aforementioned entities.

The network service station 245 may be configured to provide services related to updating electronic files for the vehicle. Among them, electronic files may include software programs, map files, and so on. The network service station 245 may include any entity (including the area occupied by the service station and one or more of ground facilities, machinery and equipment and operators in the area) for providing services such as updating electronic files for vehicles. The network service station 245 may include one or more of entities such as a program update device 2451, a network connection device, an operator, a terminal device, an identity verification device, and a monitoring device.

The program update device 2451 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the functions corresponding to the check module, search module, comparison module, and update module as described below. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to functions corresponding to the check module, search module, comparison module, and update module as described below. The checking module can be configured to check and determine the versions of various electronic files in the vehicle; the search module can be configured to search for the latest versions of various electronic files in the network; the comparison module can be configured to compare the versions of various electronic files in the vehicle And the corresponding latest version to determine which electronic files in the vehicle need to be updated; the update module can be configured to download the latest version of the electronic file from the network to update the electronic file that needs to be updated. The program update device 2451 may include some interfaces, such as I2C interface, I2S interface, PCM interface, UART interface, MIPI interface, GPIO interface, SIM interface and/or USB interface. One or more of the aforementioned interfaces can be used to communicate and connect the autonomous driving vehicle with the program update device.

The network connection device may include a network interface and a network interface controller. The network interface may include, but is not limited to, one or more of RJ-45 interface, RJ-11 interface, SC optical fiber interface, FDDI interface, AUI interface, BNC interface, Console interface, USB interface, RS-232 interface, etc. The network interface controller can connect devices (such as autonomous vehicles) connected to the network interface with the network.

The network service station 245 may additionally or alternatively include other entities in addition to the aforementioned entities.

The road rescue service station 246 can be configured to provide related vehicle service items for rescue vehicles on the failed road site (the road outside the hub service area) for the failed vehicle. For example, it can include on-site refueling, on-site gas refueling, on-site charging, On-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer of personnel, road guidance, wounded treatment and other one or more vehicle service items. The road rescue service station 246 may include any entity used to provide on-site rescue services for vehicles that have broken down on the road outside the hub service area (including the area occupied by the service station and the ground facilities, machinery and equipment and operators in the area. One or more of). The road rescue service station 246 may include entities such as mobile maintenance vehicles, mobile energy vehicles, trailers, spare auto parts, road guidance equipment, ambulances, road rescue controllers 2461, operators, terminal equipment, identity verification equipment, and monitoring equipment. One or more of.

The mobile maintenance vehicle may be configured as a vehicle with vehicle maintenance tools and/or equipment for providing mechanical failure maintenance services for vehicles that have mechanical failures on the road.

The mobile energy vehicle can be configured as a vehicle that can provide liquid fuel for automobiles, gas fuel for automobiles, charging power, replaceable power battery packs, etc., to provide supplementary liquid fuel, gas fuel, and charging for vehicles that fail on the road Services such as power supply and replacement of power battery packs.

Tow trucks are used to tow vehicles that have broken down on the road to a suitable area (such as a hub service area).

Spare auto parts may include, but are not limited to, engine parts, drive train parts, brake parts, steering parts, walking parts, sensor parts, etc. Engine accessories include but are not limited to throttle body, engine, engine assembly, fuel pump, fuel nozzle, tensioner, cylinder block, bearing bush, water pump, fuel injection, gasket, camshaft, valve, crankshaft, connecting rod assembly, piston , Belt, muffler, carburetor, fuel tank, water tank, fan, oil seal, radiator, filter, etc. Powertrain accessories include but are not limited to transmission, gear shift lever assembly, reducer, clutch, pneumatic, electric tools, magnetic materials, electronic components, clutch disc, clutch cover, universal joint, universal ball, universal Ball, ball cage, clutch plate, transfer case, power take-off, synchronizer, synchronizer ring, timing belt, differential, differential case, differential disc angle gear, planetary gear, wheel carrier, flange , Gear box, intermediate shaft, gear, gear lever fork, drive shaft assembly, drive shaft flange, belt, etc. Brake system accessories include but are not limited to brake shoes, brake pads, brake discs, brake drums, compressors, brake assemblies, brake pedal assemblies, brake master cylinders, brake cylinders, ABS-ECU controllers, electric Hydraulic pump, brake camshaft, brake roller, brake tellurium pin, brake adjustment arm, brake chamber, vacuum booster, hand brake assembly, parking brake assembly, parking brake operating lever assembly Wait. Steering system accessories include, but are not limited to, steering gear, steering knuckle ball head, steering knuckle steering wheel, steering gear, assembly booster, steering tie rod, power steering pump, etc. Walking accessories include but are not limited to rear axle, air suspension system, balance weight, steel plate, tire, leaf spring, half axle, shock absorber, steel ring assembly, half axle bolt, axle housing, frame, assembly, Wheel platform, front axle, etc. Sensor accessories include but are not limited to cameras, lidars, ultrasonic radars, laser rangefinders, brackets, pan-tilts, etc.

The equipment for road clearing may include, but is not limited to, road cones, roadblocks and other equipment.

Ambulances can include vehicles, stretchers, wheelchairs, breathing aids, oxygen cylinders, sphygmomanometers, medications or drip packs, warning lights, buzzers, radio walkie-talkies, satellite locators and other equipment, used to pick up injured people from the scene Sent to the hospital.

The road rescue service station 246 may be configured to call the standby vehicle in the standby vehicle service station 247 to arrive at the rescue site to perform tasks such as transferring personnel and transferring goods.

The road rescue controller 2461 may be configured to connect to one or more of a mobile maintenance vehicle, a mobile energy vehicle, a trailer, an ambulance, and a terminal device, receive data therefrom, interact with it, and/or control it. The road rescue controller 2461 may be configured to receive commands sent by the station control module 252 in the hub computing system 250, and control one or more entities in the road rescue service station 246 to perform actions according to the received commands. For example, the road rescue controller 2461 may dispatch a suitable entity to the rescue site according to the command sent by the site control module 252 to provide vehicle service items for the autonomous vehicle. The road rescue controller 2461 may be configured to send data obtained from one or more of a mobile maintenance vehicle, a mobile energy vehicle, a trailer, an ambulance, and a terminal device to the site control module 252 in the hub computing system 250. The roadside assistance controller 2461 may include a processor and a data storage device. The processor may be configured to execute instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the road rescue controller 2461. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the road rescue controller 2461.

The road rescue service station 246 may additionally or alternatively include other entities in addition to the aforementioned entities.

The backup vehicle service station 247 may be configured to provide backup vehicles, for example, it may provide backup vehicles such as passenger cars, commercial vehicles, tractors, and trailers. The backup car service station 247 may include one of a parking lot, vehicle identification equipment, electric barriers, remaining position display equipment, parking lot controller 2471, backup vehicles, operators, terminal equipment, identity verification equipment, monitoring equipment and other entities. Or multiple.

The parking lot is configured for parking backup vehicles. The parking lot can include exits, entrances, and multiple parking spaces. The parking space may be one or more of a plane parking space and a mechanical parking space. The parking space may be configured to include one or more of a wheel positioner, a camera, and an ultrasonic parking space detector. The parking lot in the backup car service station 247 and the parking lot in the parking service station 244 may be configured as the same parking lot.

The vehicle identification device may include any device for detecting vehicles approaching the entrance of the parking lot and identifying the identity of the vehicle. The vehicle identification device may include one or more of a vehicle detector, a camera, and a card reader. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the vehicle identification device in the backup car service station 247 and the vehicle identification device in the parking service station 244 are configured For the same equipment.

Electric barriers are arranged at the entrance and exit of the parking lot to allow or deny vehicles to enter and exit the parking lot. The electric barrier may include one or more of a brake lever, a brake lever bracket, a transmission mechanism, a balancing device, a motor, a reduction gear box, and the like. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the electric barriers in the backup car service station 247 and the electric barriers in the parking service station 244 are configured For the same equipment.

The remaining space display device is configured to display free parking spaces in the parking lot. The remaining space display device may be configured to determine whether the parking space is free according to the detection result of the ultrasonic parking space detector in the parking space or the image taken by the camera. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the remaining space display device in the backup car service station 247 and the remaining space display device in the parking service station 244 Are configured as the same device.

The parking lot controller 2471 can be configured to connect to one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device, receive data from it, interact with it, and/or control it . The parking lot controller 2471 may be configured to receive commands sent by the station control module 252 in the hub computing system 250, and control one or more entities in the parking service station 244 to perform actions according to the received commands. For example, the parking lot controller 2471 may control the opening or closing of the electric barrier according to the command sent by the station control module 252, or it may be configured to control the charging device to update the charging standard. The parking lot controller 2471 may be configured to send data obtained from one or more of the vehicle identification device, the electric barrier, the toll device, the remaining position display device, and the terminal device to the station control module in the hub computing system 250 252. When the parking lot in the backup car service station 247 and the parking lot in the parking service station 244 are configured as the same parking lot, the parking lot controller 2441 in the backup car service station 247 and the parking lot control in the parking service station 244 The device 2471 is configured as the same device. The parking lot controller 2471 may include a processor and a data storage device. The processor may be configured to run instructions stored in the data storage device to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2471. The processor may include one or more general-purpose processors (e.g., CPU, GPU) and/or one or more special-purpose processors (e.g., ASIC). In the case where the processor includes a plurality of processors, these processors can work individually or in combination. The data storage device may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media, and the data storage device may Integrated with the processor in whole or in part. The data storage device may be configured to store instructions that can be executed by the processor to perform various functions, including but not limited to the above-mentioned functions corresponding to the parking lot controller 2471.

The backup vehicle may include one or more of passenger cars, complete commercial vehicles, tractors, and trailers.

Among them, passenger vehicles can include but are not limited to basic passenger vehicles (such as cars), multi-purpose vehicles (MPV), sport utility vehicles (SUV), special passenger vehicles and Cross-type passenger vehicles, etc., can be used to be dispatched to the road rescue site to transfer personnel, and can also be used to perform other tasks.

Commercial vehicles can include but are not limited to pickup trucks, micro trucks, light trucks, dump trucks, trucks, semi-trailer trucks, full-trailer trucks, vans, etc., and can be used to be dispatched to the road rescue site to transfer goods. It can also be used to perform the task of transporting goods in the warehouse.

Tractors can include, but are not limited to, full-trailer tractors and semi-trailer tractors, which can be used to be dispatched to the road rescue site to replace the malfunctioning tractor, and can also be used to be dispatched to the platform to tow the trailer.

Trailers can include, but are not limited to, full trailers and semi-trailers. They can be used to replace faulty trailers at the road rescue site, and can also be used to load cargo to be transported to the platform.

The backup car service station 247 may additionally or alternatively include other entities in addition to the aforementioned entities.

Each of the above service sites in the service area can be equipped with operators, terminal equipment, identity verification equipment and monitoring equipment.

Operators can be professionals who operate various equipment in the corresponding service station, assist in completing or independently complete related vehicle service items.

The terminal device may be configured as a device for interacting with vehicles entering the corresponding service site (including but not limited to data transmission with the vehicle, receiving control of the vehicle, or applying control to the vehicle). The terminal device may be configured to perform an interaction with the vehicle according to a command input by an operator. Terminal devices can be configured as mobile phones, handheld computers, tablet computers, desktop computers, portable notebook computers, industrial PDAs, barcode scanners, RFID readers and other forms of equipment. The terminal equipment and the vehicle can be connected through a wireless local area network (Wireless Local Area Networks, WLAN) (such as wireless fidelity (Wireless Fidelity, Wi-Fi) network), BT, GNSS, FM, NFC, IR and other wireless communication technologies, or Many kinds of communication.

The identity verification device may be configured as a device for verifying the identity of foreign entities (such as vehicles, equipment maintenance personnel, etc.) entering the corresponding service site. The identity verification device can use one or more of the following verification methods: identity verification methods based on shared keys (such as password verification), identity verification methods based on biological characteristics (such as fingerprint verification, iris verification, and avatar verification), based on Public key encryption algorithm authentication methods (such as Secure Socket Layer (SSL) certificate, digital signature), HTTP basic authentication HTTP Basic Authentication, server-side session-browser-side web tracker authentication Session- Cookie, token Token verification, open authorization OAuth verification, etc.

The monitoring device can be configured as a device that monitors any entity in the corresponding service site and the operations performed by it. The monitoring equipment may include one or more of cameras, infrared cameras, pan-tilts, displays, consoles, and so on.

Other types of service sites other than the aforementioned service sites can be additionally or alternatively set up in the service area. In an embodiment, a rest service station may also be set in the service area. The rest service station can be configured to include vending machines, supermarkets, accommodation rooms, entertainment venues, etc., to provide passengers with services such as catering, rest, entertainment, and consumption.

As shown in FIG. 3, the hub computing system 250 may include a processor 251 and a data storage device 252.

The processor 251 may be configured to execute instructions stored in the data storage device 252 to perform various functions, including but not limited to functions corresponding to the road card control module 253 and the station control module 254 as described below. The processor 251 may include a general-purpose processor (e.g., CPU, GPU), a dedicated processor (e.g., ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), an integrated circuit, a microcontroller, etc. Multiple combinations. In the case where the processor 251 includes a plurality of processors, these processors can work individually or in combination.

The data storage device 252 may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media. The data storage device 252 may include read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 252 may be integrated with the processor 251 in whole or in part. The data storage device 252 may be configured to store instructions that can be executed by the processor 251 to perform various functions, including but not limited to functions corresponding to the road card control module 253 and the station control module 254 as described below.

The road card control module 253 may be configured to receive the recognition results of the vehicle identification devices in the entrance road card 221 and the exit road card 231, and control the road card devices in the entrance road card 221 and the exit road card 231 to turn on or off.

The station control module 254 can be configured to generate a series of commands according to the vehicle service plan, and send these commands to the corresponding controllers, terminal devices, authentication devices or other entities configured in each service station, so that the corresponding controllers and / Or the terminal device controls the entity in the corresponding service site to interact with the vehicle according to the command. In an example, the site control module 254 may generate a refueling command according to the vehicle service plan, and the refueling command includes fuel quantity information. The site control module 254 may send the refueling command to the energy controller 2411 in the energy service station 241, and the energy The controller 2411 can directly control the refueling machine to fill the autopilot with a corresponding amount of fuel after receiving the refueling command. The energy controller 2411 can also forward the refueling command to the terminal in the energy service station 241 after receiving the refueling command. Equipment, terminal equipment through various display methods such as sound and light to prompt the operator to operate the fuel dispenser to fill the autonomous vehicle with a corresponding amount of fuel. The station control module 254 may also directly send the fueling command to the terminal device in the energy service station 241, so that the terminal device prompts the operator to operate the fuel dispenser to fill the autonomous vehicle with a corresponding amount of fuel. In an example, the site control module 254 can generate a program update command according to the vehicle service plan, the program update command includes the legal identity of the autonomous vehicle that needs to be upgraded with the program service, and the site control module 254 can send the program update command to the network The identity verification device in the service station 245. After receiving the program update command, the identity verification device authenticates the self-driving car entering the network service station 245 according to the legal identity contained therein. When the authentication is successful, the identity verification device sends The program update device 2451 sends a notification message. After receiving the notification message, the program update device 2451 connects to the corresponding autonomous vehicle and updates the program. In one example, the site control module 254 may generate a sensor calibration command according to the vehicle service plan. The sensor calibration command includes the type of sensor that needs to be calibrated, and the site control module 254 sends the sensor calibration command to the terminal device in the repair service station 242 , The terminal equipment prompts the operator to build or place the sensor calibration equipment corresponding to the corresponding type of sensor through various display methods such as sound and light. In an example, the site control module 254 may generate a fee payment order according to the vehicle service plan. The fee payment command includes information about the vehicle service fee to be paid by the autonomous vehicle, and the site control module 254 sends the fee payment command to the exit road card. The payment device of 231, after receiving the fee payment order, the payment device judges whether the fee paid by the self-driving car is appropriate according to the vehicle service fee information therein. The site control module 254 may be configured to receive data returned by the corresponding controller, terminal device, identity verification device or other entity in each service site, and learn and grasp the working status of each service site based on these data. In an example, the energy controller 2411 in the energy service station 241 returns a notification message to the station control module 254 after the gas dispenser fills the autonomous vehicle with gas. The notification message contains the total amount of gas to be filled and Corresponding expenses. In an example, the warehouse controller 2431 in the warehouse service station 243 can perceive the load situation of the warehouse space in the warehouse according to sensors provided in the warehouse.

The data storage device 252 may also be configured to store other instructions.

In addition to storing instructions, the data storage device 252 can also be configured to store a variety of information, such as the type and number of service stations included in the service area, the high-precision map of the road area, the total number of vehicles entering the hub service area, and each vehicle. Corresponding vehicle service list, etc. During the operation of the hub service area, this information may be used by one or more of the hub computing system 250, various service stations, and vehicles.

The hub computing system 250 may also be multiple computing devices, and these computing devices control one or more of the entrance road card 221, the exit road card 231, and each service site in a distributed manner.

The communication system 260 may be configured to include one or more antennas, base stations, satellite signal receivers, filters, power amplifiers, low noise amplifiers (LNA), switches, modem processors, baseband processors, etc. equipment. The communication system 260 may communicate based on wireless communication technology, where the wireless communication technology may include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, FM, NFC, IR and other technologies. The communication system 260 is communicatively connected to one or more of the entrance road card 221, the exit road card 231, and each service station through a wireless communication network, a wired communication network, and/or other connection mechanisms.

The hub computing system 250 can communicate with the autonomous vehicle and the hub service area through the communication system 260.

The hub computing system 250 may include a hub coordination device HUB-ECU, and the hub coordination device HUB-ECU may include one or more second processors, one or more second memories, and stored on the second memory and may be stored in the first Computer instructions running on the second processor. When the second processor is running the computer instructions in the second memory, it executes the functions corresponding to the hub coordination module 255 as described below. The hub coordination module 255 may be configured to communicate with the central control coordination module of the central control system and the vehicle coordination module in the autonomous vehicle to determine a vehicle service plan, and control entities in the hub service area to interact with the autonomous vehicle according to the vehicle service plan. Wherein, the second processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 251. (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The second memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 252 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The hub coordination module 255 can be implemented as a computer program product. When the computer program product runs on a computer, it communicates with the central control coordination module of the central control system and the vehicle coordination module in the autonomous vehicle to determine the vehicle service plan, and An autonomous vehicle service method that controls the interaction between entities in the hub service area and the autonomous vehicle according to the vehicle service plan.

Figure 10 shows a hub service area according to an embodiment of the application. The hub service area is equipped with a hub coordination device HUB-ECU. The hub coordination device HUB-ECU includes a second processor, a second memory, and storage. Computer instructions on the second memory and executable on the second processor. When the second processor is running the computer instructions in the second memory, the method corresponding to the following steps is executed: S101, the hub coordination device HUB-ECU and the central control coordination device CCS of the central control system when the autonomous vehicle needs vehicle services -ECU and the vehicle coordination device ADV-ECU of the autonomous vehicle communicate to determine the vehicle service plan; S102, the hub coordination device HUB-ECU controls the entity in the hub service area to interact with the autonomous vehicle according to the vehicle service plan.

3. Central Control System CCS

The central control system can be configured to centrally monitor, dispatch and control the autonomous vehicles connected to the network.

Fig. 4 is a schematic structural diagram of the central control system. The central control system may include a communication subsystem 310, an interactive subsystem 320, and a central control computing system 340.

The communication subsystem 310 may be configured to communicate with the autonomous vehicle through network resources. The communication subsystem 310 may include one or more of antennas, base stations, satellite signal receivers, filters, power amplifiers, low noise amplifiers, switches, modem processors, baseband processors, and other devices. The communication subsystem 310 can communicate with the autonomous vehicle (wireless communication device 141) based on wireless communication technology. The wireless communication technology can include GSM, GPRS, CDMA, WCDMA, TD-SCDMA, LTE, BT, GNSS, WLAN, NFC, FM and/or IR technology, etc. Among them, GNSS may include GPS, GLONASS, BDS, QZSS and/or SBAS.

The interaction subsystem 320 may be configured to display information and receive data and/or instructions input by the operator. The interaction subsystem 320 may include one or more of a display, a keyboard, a touch screen display, a speaker, a receiver, a microphone, a pointer, a camera, a mouse, a USB interface, a touch sensor, and the like.

The central control computing system 340 may be configured to include a processor 341, a data storage device 342, and a system bus 343.

The processor 341 may be configured to execute instructions stored in the data storage device 342 to perform various functions, including but not limited to the monitoring module 344, the scheduling module 345, the control module 346, and the interaction module 347 as described below. Corresponding function. The processor 341 may include a general-purpose processor (e.g., CPU, GPU), a dedicated processor (e.g., ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), an integrated circuit, a microcontroller, etc. Multiple combinations. In the case where the processor includes a plurality of processors, these processors can work individually or in combination.

The processor 341 may be configured to include one or more interfaces. The interface may include an integrated circuit I2C interface, I2S interface, PCM interface, UART interface, MIPI interface, GPIO interface, SIM interface, and/or USB interface. One or more of the above-mentioned interfaces may be used to communicatively connect the processor with the communication subsystem 310 and/or the interaction subsystem 320. The I2C interface can be used to connect the processor to the touch sensor in the interaction subsystem 320. The MIPI interface can be used to connect the processor to the display and camera in the interactive subsystem 320.

The data storage device 342 may include one or more volatile computer-readable storage media and/or one or more non-volatile computer-readable storage media, such as optical, magnetic, and/or organic storage media. The data storage device 342 may include read only memory (ROM), random access memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card ( eMMC), hard drive, or any combination of one or more of volatile or non-volatile media. The data storage device 342 may be integrated with the processor in whole or in part. The data storage device 342 may be configured to store instructions that can be executed by the processor to perform various functions. These functions include but are not limited to the monitoring module 344, the scheduling module 345, the control module 346, and the interaction module 347 as described below. Features.

The monitoring module 344 may be configured to obtain vehicle-related parameters through the communication subsystem 310. The vehicle-related parameters include but are not limited to one or more of sensor data, status information, navigation data, decision data, control data, and the like. Sensor data includes, but is not limited to, geographic location, driving speed, driving acceleration, engine speed, steering wheel rudder angle, yaw rate, accelerator pedal depression, brake pedal depression, fuel storage, etc. The status information includes, but is not limited to, working status (for example, starting, driving, stopping during the journey, stopping the vehicle, malfunctioning, being repaired, waiting for loading and unloading, etc.), driving mode (for example, automatic driving, semi-automatic driving, or manual driving). Navigation data includes but is not limited to departure address, destination address, driving route, etc. Decision data includes but is not limited to acceleration, deceleration, braking, steering, lane change, obstacle avoidance, etc. The control data includes, but is not limited to, the amount of change in steering torque, the amount of change in throttle opening, and the amount of change in engine speed.

The scheduling module 345 may be configured to dispatch the autonomous driving vehicle to perform tasks. The scheduling module 345 may be connected to or include a business order processing system. The business order processing system can be used to process passenger transportation order processing operations, and/or cargo transportation order processing operations. The dispatch module 345 can dispatch the autonomous driving vehicle to perform the passenger pick-up and drop-off task according to the boarding address and the destination address in the business order processing system. The scheduling module 345 can schedule the autonomous vehicle to perform logistics transportation tasks according to the loading address and the unloading address in the business order processing system.

The interaction module 347 may be configured to display vehicle-related parameters through the interaction subsystem 320, and receive data and/or instructions input by the operator from the interaction subsystem 320.

The control module 346 may be configured to make a decision for the autonomous driving vehicle according to one or more of the vehicle-related parameters, the data input by the operator, and the instructions, and send a command corresponding to the decision to the autonomous driving vehicle. The control module 346 may make a lane-changing decision based on the sensor data of the autonomous vehicle, and send corresponding commands to the autonomous vehicle to execute the command to realize the lane-changing. The control module 346 may formulate a driving route according to the loading address and the unloading address, and send a corresponding command to the autonomous vehicle to drive it from the loading address to the unloading address according to the driving route.

The data storage device 342 may also be configured to store other instructions, including sending data to one or more of the communication subsystem 310 and the interaction subsystem 320, receiving data therefrom, interacting with it, and/or controlling it. Instructions. The central control computing system 340 may be communicatively connected to the communication subsystem 310 and the interaction subsystem 320 through a system bus, a network, and/or other connection mechanisms.

In addition to storing instructions, the data storage device 342 may also be configured to store a variety of information, such as the identification of the autonomous vehicle connected to the network, vehicle-related parameters, map data, and so on. During the operation of the central control computing system 340, the information can be used by the communication subsystem 310 and/or the interaction subsystem 320.

The system bus 343 may include an industrial standard architecture (ISA) bus, an extended industry standard architecture (EISA) bus, a Video Electronics Standard Association (VESA) bus, and peripheral component interconnection ( One or more of Peripheral Component Interconnect (PCI) bus and Compact PCI (Compact PCI) bus.

The central control computing system 340 may be a server cluster, and each server in the cluster may monitor, dispatch, and control the autonomous vehicles connected to the network in a distributed manner.

The central control system can also be configured to centrally monitor and control the hub service area. The communication subsystem 310 may also be configured to communicate with the hub service area through network resources. The monitoring module 344 can also be configured to obtain service area related parameters through the communication subsystem 310. These service area related parameters include but are not limited to the working status of the entrance road card, the working status of the exit road card, the working status of each service station, One or more of the information of the vehicles being served by each service site. The working status of the entrance road card includes, but is not limited to, whether the vehicle identification equipment and road card equipment at the entrance are working normally, what operation is being performed, and so on. The working status of the exit road card includes, but is not limited to, whether the vehicle identification equipment and road card equipment at the exit are working normally, what kind of operation is being performed, and so on. The working status of each service site includes whether each entity in each service site is working properly and what operations are being performed. The information of the vehicle being served by each service site includes, but is not limited to, the identification and/or status of the vehicle. The interaction module 347 may also be configured to display related parameters of the service area through the interaction subsystem 320. The control module 346 can also be configured to generate control instructions based on one or more of service area related parameters, vehicle related parameters, data input by the operator, and/or instructions, and send the control instructions to the hub computing system to make it Control one or more of the entrance road card, the exit road card, and each entity in each service station to provide vehicle services for the autonomous vehicle.

The central control system can also be configured to centrally monitor transportation facilities. Transportation facilities may include, but are not limited to, one or more of public transportation roads, transportation equipment, pipelines, and the like. Among them, public transportation roads can include but are not limited to municipal roads, highways, railway tracks, etc.; transportation equipment can include, but are not limited to, traffic lights, barriers, road cones, spherical mirrors, warning tapes, traffic signs, etc.; pipeline routes can include But not limited to power transmission lines, network transmission lines, water supply pipelines, oil supply pipelines, natural gas pipelines, gas pipelines, etc. The central control system may include a monitoring subsystem 330. The monitoring subsystem 330 may be configured to monitor the location and/or status of one or more transportation facilities. The monitoring subsystem 330 may include one or more devices of a camera, a lens, a pan/tilt, a protective cover, a sensor, an alarm detector, a decoder, a display, a console, and the like. The console can be configured to perform various processing on the video signal collected by the camera (including but not limited to amplification, distribution, correction, compensation, switching, etc.), as well as the camera, lens, pan/tilt, protective cover, alarm detector, and decoding One or more of the devices such as monitors and displays are controlled. The monitoring subsystem 330 may be in communication connection with the interaction subsystem 320, and the interaction subsystem 320 may also be configured to display the location and/or status of one or more transportation facilities monitored by the monitoring subsystem 330. The monitoring subsystem 330 may be communicatively connected with the central control computing system 340, and the data storage device 342 in the central control computing system 340 is also configured to store instructions for making decisions for the autonomous vehicle based on the data monitored by the monitoring subsystem 330.

The central control system may include a central control coordination device CCS-ECU, and the central control coordination device CCS-ECU may include one or more third processors, one or more third memories, and the Computer instructions running on the third processor. When the third processor is running the computer instructions in the third memory, it executes the functions corresponding to the central control coordination module 349 as described below. The central control coordination module 349 can be configured to communicate with the vehicle coordination module in the autonomous vehicle and the hub coordination device in the hub service area to determine the vehicle service plan, so that the vehicle coordination module and the hub coordination module control the autonomous driving according to the vehicle service plan. The vehicle interacts with entities in the service area of the hub. Wherein, the third processor may be configured as one or more general-purpose processors (for example, CPU, GPU), one or more special-purpose processors (for example, ASIC), and one or more field programmable gate arrays in the processor 341 (FPGA), one or more digital signal processors (DSP), one or more integrated circuits, and/or, one or more microcontrollers, etc. The third memory may be configured as one or more read-only memories (ROM), one or more random access memories (RAM), one or more flash memories, one or more electronic devices in the data storage device 342 Programmable memory (EPROM), one or more electrically programmable and erasable memories (EEPROM), one or more embedded multimedia cards (eMMC), and/or, one or more hard drives, etc. The central control coordination module 349 can be implemented as a computer program product. When the computer program product runs on a computer, it can communicate with the vehicle coordination module in the autonomous vehicle and the hub coordination equipment in the hub service area to determine the vehicle service plan. In order to enable the vehicle coordination module and the hub coordination module to control the autonomous vehicle and the entity in the hub service area to interact with the autonomous vehicle service method according to the vehicle service plan.

Figure 11 shows a central control system according to an embodiment of the present application. The central control system is equipped with a central control coordination device CCS-ECU. The central control coordination device CCS-ECU includes a third processor and a third memory, And computer instructions stored on the third memory and executable on the third processor. When the third processor is running the computer instructions in the third memory, it executes the method corresponding to the following steps: S111, the central control coordination device CCS-ECU and the vehicle coordination device ADV of the autonomous vehicle when the autonomous vehicle needs vehicle services -ECU communicates with the hub coordination device HUB-ECU in the hub service area to determine the vehicle service plan, so that the vehicle coordination device ADV-ECU and the hub coordination device HUB-ECU respectively control the autonomous vehicle and the entity interaction in the hub service area according to the vehicle service plan .

4. Vehicle service system and self-driving car service system

As shown in FIG. 5, the vehicle service system may be configured to include a central control system CCS, at least one autonomous vehicle ADV, and at least one hub service area HUB. As shown in Figure 6, the autonomous vehicle service system can be configured to include the central control coordination device CCS-ECU in the central control system CCS, the vehicle coordination device ADV-ECU in the autonomous vehicle ADV, and the hub in the hub service area HUB Coordinating equipment HUB-ECU.

Referring to the scenarios shown in Figure 5 and Figure 6, the central control system CCS can be connected to the autonomous driving vehicle ADV and the hub service area HUB through network resources. The communication subsystem 310 of the central control system CCS can communicate with the wireless communication device 401 of the autonomous driving vehicle ADV and the communication system 260 of the hub service area HUB through network resources. Hereinafter, the autonomous driving vehicle ADV that is communicatively connected with the central control system CCS is referred to as the autonomous vehicle on the network, and the hub service area HUB that is communicatively connected with the central control system CCS is referred to as the hub service area on the network.

With reference to the scenarios shown in Figure 5 and Figure 6, the central control coordination device CCS-ECU determines the vehicle service plan when judging that the ADV of the autonomous vehicle needs vehicle service, and sends the determined vehicle service plan to the current autonomous vehicle ADV. The vehicle coordination equipment ADV-ECU and the hub coordination equipment HUB-ECU in the hub service area HUB, the vehicle coordination equipment ADV-ECU and the hub coordination equipment HUB-ECU respectively control the current autonomous vehicle ADV and the hub service area HUB according to the vehicle service plan The entities in complete the interaction.

5. Vehicle service plan

The vehicle service plan may include the identification of the autonomous vehicle that requires vehicle service, the identification of the target hub service area, and the list of vehicle services. Each self-driving car has its own logo. Different logos are used to identify different self-driving cars. The logo can include, but is not limited to, the identity ID of the self-driving car (such as license plate number) and network contact address (such as wireless communication device). 401 MAC address, IP address) and so on. Hereinafter, the self-driving car that requires vehicle service is referred to as the current self-driving car for short. Each hub service area has its own identification. Different identifications are used to identify different hub service areas. The identification can include, but is not limited to, the identity ID of the hub service area (such as the name of the hub service area\serial number, the number of the hub service area). Detailed address), network contact address (such as the MAC address and IP address of the communication system), etc. The self-driving car that needs vehicle service can be identified through the current self-driving car's identity, and the target hub service area is the hub service area that interacts with the self-driving car and provides vehicle services to the self-driving car. Therefore, the identification of the target hub service area can be used to identify the hub service area where the autonomous vehicle provides vehicle services.

The vehicle service list may include the identification of the current autonomous vehicle and the identification of the target hub service area.

The vehicle service list can also include actual vehicle service items, that is, the names of the service items actually provided for autonomous vehicles in the target hub service area, such as refueling, refilling, charging, replacing power battery packs, sensor calibration, car fault diagnosis, Maintenance and cleaning, sheet metal paint, mechanical failure repair, replacement of auto parts, tire repair, electronic component inspection and repair, loading, unloading, parking, program update, on-site refueling, on-site refueling, on-site charging, on-site replacement of power batteries One or more vehicle service items including group, trailer, on-site mechanical failure maintenance, on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer of personnel, road guidance, and wounded treatment.

The vehicle service list can also include vehicle service time, that is, the implementation time of the actual vehicle service items, which can be the start time and/or duration when one or more actual vehicle service items are executed as a whole, or one or more items. The start time and/or duration when any one of multiple actual vehicle service items is executed. Among them, the start time and/or duration can be accurate to the year, month, day, hour, minute, and second information.

The vehicle service list can also include the vehicle service location, that is, the actual implementation location of the vehicle service project. For example, it can be a certain area, it can also be a certain address, it can also be a hub service area, or it can be other more detailed or more detailed. Rough location.

The vehicle service list may also include the execution order of actual vehicle service items, that is, when more than one actual vehicle service item is implemented for the autonomous vehicle, the order of implementing these actual vehicle service items.

The vehicle service list can also include the authentication method corresponding to the actual vehicle service item, that is, the identity of both parties (the autonomous vehicle that accepts the actual vehicle service item and the entity that provides the actual vehicle service item) needs to be authenticated before the actual vehicle service item is implemented. It can be implemented after success. The authentication method may include the type of technology used for authentication, the legal identity information of both parties, and so on. Among them, the types of technologies used for authentication can include, but are not limited to, authentication methods based on public key encryption algorithms (such as Secure Socket Layer (SSL) certificates, digital signatures), HTTP Basic Authentication , Server-side session-browser-side web tracker verification session-cookie, token Token verification, open authorization OAuth verification, etc. one or more. The type of technology used for authentication can be determined according to the verification technology used by the identity verification device in each service site.

The vehicle service list can also include vehicle service costs, that is, the costs corresponding to the actual vehicle service items. It can include the costs corresponding to each actual vehicle service item individually, or it can include all the corresponding costs of all actual vehicle service items.

The list of vehicle services may also include other information.

6. Vehicle requirements for autonomous vehicles

The vehicle requirements of an autonomous vehicle may include the vehicle service items that the autonomous vehicle expects to receive, such as refueling, refilling, charging, replacing the power battery pack, sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal paint, and mechanical failure repair , Replacement of auto parts, tire repair, electronic component inspection and repair, loading, unloading, parking, program update, on-site refueling, on-site refueling, on-site charging, on-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, on-site One or more service items such as replacement of auto parts, replacement of tractors on site, replacement of trailers on site, transfer of goods, transfer of personnel, road guidance, and treatment of the wounded.

The vehicle requirements of an autonomous vehicle can also include the time when the autonomous vehicle expects to receive vehicle services, including the time range for starting to receive vehicle services, the time range for continuing to receive vehicle services, and the time range for waiting for vehicle services after the vehicle enters the hub service area, etc. One or more of.

The vehicle requirements of the autonomous vehicle may also include the location where the autonomous vehicle expects to receive vehicle services. The location may be a certain area, an address, or a hub service area.

The vehicle requirements of autonomous vehicles can also include other information, for example, the cost standards of various vehicle service items that the autonomous vehicle can accept (such as the unit price of gasoline, the unit price of loading and unloading services), and the amount of all vehicle service items that the autonomous vehicle can accept One or more of the total cost, etc.

The vehicle requirements of autonomous vehicles can be determined based on one or more of the following parameters:

(1) The operating status of the equipment of the self-driving car, including but not limited to the power system 100, the sensor system 200, the actuation system 300, the peripheral equipment system 400, and the software equipment and/or hardware equipment included in the vehicle computing system 500 of the self-driving car The operating state of the operating state, the operating state may include, for example, normal operation, failure, downtime, shutdown, startup, etc.;

(2) The data stored by the equipment of the self-driving car, including but not limited to the power system 100, the sensor system 200, the actuation system 300, the peripheral equipment system 400, and the software equipment and/or hardware included in the vehicle computing system 500 of the self-driving car Various types of data stored in the device; these data may include, for example, the planned driving path, the point cloud data detected by the object sensor 203, the environmental image taken by the image sensor 204, the positioning information obtained by the position sensor 201, and the speed data detected by the vehicle speed sensor 205 , Acceleration data detected by the acceleration sensor, lane changing decision, acceleration/deceleration decision, etc.;

(3) The data transmitted between the devices of the autonomous vehicle, including but not limited to the power system 100, the sensor system 200, the actuation system 300, the peripheral equipment system 400, the vehicle computing system 500 between the software equipment, and the hardware equipment. Various types of data transmitted between software devices and hardware devices; these data may include, for example, the planned driving path, the point cloud data detected by the object sensor 203, the environment image taken by the image sensor 204, the positioning data obtained by the position sensor 201, Speed data detected by the vehicle speed sensor 205, acceleration data detected by the acceleration sensor, lane changing decision, acceleration/deceleration decision, etc.;

(4) The working status of the self-driving vehicle, including but not limited to the working status of the self-driving vehicle with cargo/person driving, empty-load driving, parking rest, temporary parking, waiting for loading/unloading, loading/unloading, etc.;

(5) Requirements corresponding to the tasks performed by the autonomous vehicle, including but not limited to the starting place and/or destination of the manned mission, the start time and/or end time of the manned mission, and the starting place of the cargo transportation task And/or the destination, the start time and/or end time of the cargo transportation task, and the type of cargo in the cargo transportation task (such as daily necessities, dangerous goods, frozen products, etc.);

(6) The current position of the autonomous vehicle may be the positioning data (such as latitude and longitude information) obtained by the position sensor 201;

(7) The driving route of the self-driving car can be a planned driving route from the starting point of the task to the destination of the task in order to perform the manned/cargo task.

The vehicle requirements of the autonomous vehicle can also be determined based on other parameters. Hereinafter, the parameters (not limited to the parameters (1) to (7) above) used to determine the vehicle requirements of the autonomous driving vehicle are collectively referred to as vehicle-related parameters.

The vehicle-related parameters can be obtained by connecting various software devices and hardware devices in the power system 100, the sensor system 200, the actuation system 300, the peripheral device system 400, and the vehicle computing system 500 of the autonomous vehicle.

7. Service area resources of the hub service area

The service area resources of the hub service area can include the vehicle service items that the hub service area can provide, such as refueling, refilling, charging, replacement of power battery packs, sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal baking, mechanical failure Repair, replacement of auto parts, tire repair, electronic component inspection and repair, loading, unloading, parking, program update, on-site refueling, on-site refueling, on-site charging, on-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, One or more service items such as on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer of personnel, road guidance, and treatment of the wounded.

The service area resources of the hub service area can also include the time that the hub service area can provide vehicle services, including the time range for starting to provide vehicle services, the time range for continuing to provide vehicle services, and the time range for waiting for vehicle services after vehicles enter the hub service area. One or more of etc.

The service area resources of the hub service area may also include a location where the hub service area can provide vehicle services. The location may be a certain area or an address. For example, the area or address where road rescue related projects can be implemented, and the detailed address of the hub service area.

The service area resources of the hub service area may also include the cost standards of one or more vehicle service items provided by the hub service area, such as the unit price of gasoline, the unit price of natural gas, and the price standard of charging services.

The service area resources of the hub service area may also include other information.

The service area resources of the hub service area can be determined according to one or more of the following parameters:

(1) The working status of each service station in the hub service area;

(2) The number of vehicles entering the hub service area;

(3) Maintenance plan of the hub service area (a plan to repair or maintain entities in the hub service area);

The service area resources of the hub service area can also be determined according to other parameters. Hereinafter, the parameters used to determine the service area resources of the hub service area (not limited to the parameters (1) to (3) above) are collectively referred to as service area related parameters.

8. Central control coordination equipment, vehicle coordination equipment and hub coordination equipment communicate to determine vehicle service plans

Referring to the scenarios shown in Figures 5 and 6, the central control system is connected to multiple autonomous vehicles and multiple hub service areas through network resources. When a certain autonomous vehicle (currently autonomous vehicle) on the network needs vehicle service, the central control coordination device of the central control system, the vehicle coordination device of the current autonomous vehicle and the hub coordination device of the hub service area communicate to determine the vehicle service plan .

8.1 With reference to the scenarios shown in Figures 5 and 6, in some embodiments, the process for the central control coordination device, the vehicle coordination device, and the hub coordination device to communicate and determine the vehicle service plan may include the following steps A1 to A2:

Step A1, at least one of the central control coordination device and the vehicle coordination device determines whether the current autonomous driving vehicle needs vehicle service.

Step A2: When it is determined that the current autonomous vehicle needs vehicle service, the central control coordination device, the vehicle coordination device, and the hub coordination device communicate to determine the vehicle service plan.

Several representative implementations of the examples are described below.

In this step, any one or both of the central control coordination device and the hub coordination device can execute the process of whether the current autonomous vehicle needs vehicle service. That is, the central control coordination device and the vehicle coordination device can both execute the process of judging whether the current self-driving car needs vehicle service, or only the central control coordination device can execute the process of judging whether the current self-driving vehicle needs vehicle service, or only the vehicle coordination device Perform the process of judging whether the current self-driving car needs vehicle service.

The central control coordination device and/or the vehicle coordination device can determine whether the current autonomous driving car needs vehicle service before the current autonomous driving car starts a period of travel. In one example, the central control coordination device and/or the vehicle coordination device can determine whether the current autonomous vehicle needs vehicle services when the current autonomous vehicle receives a transportation task, and the judgment result may include that the current autonomous vehicle needs the vehicle service at the current moment. Vehicle service can also include the current autonomous vehicle needs vehicle service at a certain time in the future. Among them, the central control coordination device can connect to the business order processing system through the dispatch module of the central control system to determine whether the current self-driving vehicle has received a transportation task. The vehicle coordination device can determine whether to receive a transportation task through the task receiving module of the current autonomous vehicle.

The central control coordination device and/or the vehicle coordination device can also determine whether the current autonomous driving vehicle needs vehicle services during the current driving process of the autonomous driving vehicle. In an example, the central control coordination device and/or the vehicle coordination device can determine whether the current autonomous driving vehicle needs vehicle service when the current mileage of the autonomous driving vehicle reaches a predetermined value. The central control coordination device can learn whether the current driving range of the autonomous vehicle reaches a predetermined value through the monitoring module of the central control system.

The central control coordination device and/or the vehicle coordination device can trigger the process of judging whether the current autonomous vehicle needs vehicle service in real time. The vehicle coordination device can cyclically determine whether the current self-driving car needs vehicle service since it is activated. The central control coordination device can cyclically determine whether the current self-driving car needs vehicle service after the current self-driving car is connected to the network of the central control system (that is, the current self-driving car becomes the self-driving car on the network).

The central control coordination device and/or the vehicle coordination device can trigger the process of judging whether the current self-driving car needs vehicle service according to the preset time interval. For example, the central control coordination device and/or the vehicle coordination device perform judgment every 5 minutes Whether the current self-driving car needs vehicle service.

The central control coordination device and/or the vehicle coordination device can trigger the process of judging whether the current autonomous vehicle needs vehicle service when the predetermined condition is fulfilled. The predetermined conditions here may include, but are not limited to, one or more of the following: remaining energy is a predetermined percentage of the total energy capacity, the mileage reached a predetermined value, a new transportation task is received, and the time since the last maintenance reaches a predetermined value Time length, lack of map files of the upcoming area, map files of the upcoming area need to be updated, etc. The central control coordination device can obtain various vehicle-related parameters of the current autonomous vehicle through the monitoring module of the central control system, and then judge whether the predetermined condition is fulfilled according to the obtained vehicle pre-off parameters. The vehicle coordination device can be connected to one or more of the various software devices and/or hardware devices included in the power system 100, sensor system 200, actuation system 300, peripheral device system 400, and vehicle computing system 500 of the current autonomous vehicle. To obtain vehicle-related parameters, and then determine whether the predetermined conditions are fulfilled according to the obtained vehicle pre-off parameters.

The central control coordination device and/or the vehicle coordination device can trigger the process of judging whether the current self-driving car needs vehicle service according to a preset time interval, and also trigger this judging process when the predetermined condition is fulfilled.

The process of the central control coordination device and/or the vehicle coordination device judging whether the current autonomous vehicle needs vehicle service may include the following steps A11 to A12:

Step A11, at least one of the central control coordination device and the vehicle coordination device of the current autonomous vehicle obtains vehicle-related parameters.

The central control coordination device can obtain various vehicle-related parameters of the current autonomous vehicle through the monitoring module of the central control system.

The vehicle coordination device can obtain vehicle-related parameters by connecting various software devices and/or hardware devices included in the power system 100, the sensor system 200, the actuation system 300, the peripheral device system 400, and the vehicle computing system 500.

Vehicle-related parameters include, but are not limited to, the current operating status of the automatic driving car, the data stored by the current automatic driving car, the data transmitted between the current automatic driving car, the current working status of the automatic driving car, and the current automatic driving One or more of the requirements corresponding to the tasks performed by the vehicle, the current location of the current autonomous vehicle, and the current driving route of the autonomous vehicle.

Step A12, at least one of the central control coordination device and the vehicle coordination device determines whether the current autonomous driving vehicle needs vehicle service according to the vehicle-related parameters of the current autonomous driving vehicle.

The central control coordination device and/or the vehicle coordination device can use vehicle-related parameters to determine whether the current autonomous vehicle needs vehicle service at the current moment or at a certain moment in the future.

In one example, the vehicle coordination device of the current autonomous vehicle can determine that the current autonomous vehicle needs vehicle services based on the vehicle-related parameters of the current autonomous vehicle, and send a reminder message to the central control coordination device so that the central control coordination device determines the current Autonomous vehicles require vehicle services.

Step A2: When it is determined that the current autonomous vehicle needs vehicle service, the central control coordination device, the vehicle coordination device, and the hub coordination device in each hub service area of the network communicate to determine the vehicle service plan.

The vehicle service plan may include the identification of the current autonomous vehicle, the identification of the target hub service area, and the vehicle service list.

The process of determining the vehicle service plan through communication between the central control coordination device, the vehicle coordination device, and the hub coordination device in each hub service area of the network may include the following steps A21 to A22:

Step A21, the central control coordination device, the vehicle coordination device, and the hub coordination device in each hub service area of the network communicate to determine the target hub service area.

Step A22, the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list.

Various implementations of steps A21 to A22 are described in detail below:

In an example, the process for the central control coordination device, the vehicle coordination device, and the hub coordination device in each hub service area of the network to determine the target hub service area through communication may include the following steps A211 to A213:

Step A211, at least one of the central control coordination device and the vehicle coordination device determines the current vehicle demand of the autonomous driving vehicle.

The current vehicle requirements of autonomous vehicles may include, but are not limited to, the vehicle service items that the current autonomous vehicle is expected to receive, the time when the current autonomous vehicle is expected to receive vehicle services, the location where the current autonomous vehicle is expected to receive vehicle services, and the current autonomous vehicle can One or more kinds of information, such as the cost standards of the various vehicle service items accepted, and the total cost of all vehicle service items that are currently acceptable to autonomous driving vehicles.

Step A212, at least one of the central control coordination device and the hub coordination device of each hub service area on the network determines the service area resources of the corresponding hub service area.

Either or both of the central control coordination device and the hub coordination device (corresponding hub coordination device) of each hub service area on the network can perform the process of determining the service area resources of the corresponding hub service area.

The service area resources of the hub service area include, but are not limited to, the vehicle service items that the hub service area can provide, the time that the hub service area can provide vehicle services, the location where the hub service area can provide vehicle services, and one or more of the services provided by the hub service area. One or more of the cost standards of the vehicle service items.

Each hub coordination device can determine the service area resources according to the service area related parameters of its corresponding hub service area. The hub coordination device can obtain the service area by connecting one or more of the entrance road card, the exit road card, each service station, the hub computing system, and the various software equipment and/or hardware equipment included in the communication system of the hub service area. Related parameters.

The central control coordination device can obtain the service area related parameters of each hub service area through the monitoring module of the central control system, and determine the service area resources of the corresponding hub service area according to the service area related parameters.

Step A213: At least one of the central control coordination device and the vehicle coordination device determines the target hub service area according to the current vehicle demand of the autonomous driving vehicle and the service area resources of each hub service area on the network.

The process of determining the target hub service area by at least one of the central control coordination device and the vehicle coordination device according to the current vehicle demand of the autonomous vehicle and the service area resources of each hub service area on the network may include the following steps A2131 to A2132:

In step A2131, at least one of the central control coordination device and the vehicle coordination device matches the current auto-driving vehicle demand determined in step A211 with the service area resources of each hub service area on the network determined in step A212, when When it is determined that at least part of the information contained in the two matches, it is determined that the current autonomous vehicle matches the corresponding hub service area.

The matching of the vehicle demand of the current autonomous vehicles with the service area resources of the hub service area at least part of the information indicates that the corresponding hub service area can provide suitable vehicle services for the current autonomous vehicles.

Wherein, the information matching includes at least one of the following situations: the current expected vehicle service items of the autonomous vehicle are at least partially the same as the vehicle service items that the hub service area can provide, and the current expected vehicle service time of the autonomous vehicle is the same as the hub service area. There is overlap in the time of providing vehicle services. The current vehicle service location expected by autonomous vehicles and the hub service area can provide vehicle services overlap. The current cost standards of various vehicle service items that are acceptable to autonomous vehicles and the hub service area overlap There are overlaps in the cost standards for the provision of various vehicle services.

For example, the current vehicle requirements for autonomous vehicles include: the current expected vehicle service items for autonomous vehicles include refueling and sensor calibration, and the current expected vehicle service hours for autonomous vehicles are from 16:00 to 17:00 on August 1, 2019. The current automatic The vehicle service location expected by the driver is the section of Beijing-Shanghai Expressway in Shandong; the service area resources of a certain hub service area include: the vehicle service items that the hub service area can provide include refueling, refueling, charging, and replacing power battery packs , Sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal paint, mechanical fault repair, tire repair, electronic component inspection and repair, program update, the hub service area can provide vehicle services on August 1, 2019 8. From hour to 22:00, the location where the service area of the hub can provide vehicle services is the section of Beijing-Shanghai Expressway in Jining City, Shandong Province; both include refueling projects and sensor calibration projects. There is overlap in time and location. Therefore, it can be determined that the current autonomous vehicle matches the service area of the hub.

Step A2132, at least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area matched with the autonomous vehicle.

At least one of the central control coordination device and the vehicle coordination device can send an appointment request to the hub coordination device of each hub service area that matches the current autonomous vehicle. The appointment request includes the determined vehicle demand and the current autonomous driving Some basic information about the car. Some basic information of the current self-driving car may include the current self-driving car’s identity, model, energy type, and type of goods transported.

Upon receiving the reservation request, the hub coordination device parses out the vehicle requirements and basic information of the current autonomous vehicle included in it, and then determines that its corresponding hub service area agrees to provide vehicle services for the current autonomous vehicle. If it agrees to provide vehicle services, it will return consent news. Among them, the hub coordination device can comprehensively consider the current situation of the service area related parameters of the corresponding hub service area and the current vehicle requirements and basic information of the current autonomous vehicle, and then determine that the corresponding hub service area agrees to be the current autonomous vehicle Provide vehicle service.

At least one of the central control coordination device and the vehicle coordination device may determine the target hub service area from the hub service area corresponding to the hub coordination device that returns the consent message. For example, at least one of the central control coordination device and the vehicle coordination device may determine the target hub service area from the hub service area corresponding to the hub coordination device that returns the consent message according to a predetermined standard. Among them, the predetermined standards may include one or more of the following: the hub service area with the lowest cost standard for providing vehicle services is determined as the target hub service area; the hub service area closest to the current autonomous vehicle is determined as the hub service area Target hub service area: The hub service area in which the vehicle has the shortest waiting time for vehicle service after entering the hub service area is determined as the target hub service area, etc.

In one example, the vehicle coordination device matches the vehicle demand of the current autonomous vehicle with the service area resources of each hub service area on the network, and determines the hub service area that matches the current autonomous vehicle. The matched hub service area is sent to the central control coordination device, and the central control coordination device determines the target hub service area from the matched hub service areas according to some predetermined criteria. These predetermined standards may, for example, include but are not limited to the aforementioned various standards, which will not be repeated here.

In an example, at least one of the central control coordination device and the vehicle coordination device determines the target hub service area according to the current vehicle demand of the autonomous vehicle and the service area resources of each hub service area on the network, which may include the following Steps A2133～A2136:

Step A2133, at least one of the central control coordination device and the vehicle coordination device broadcasts the current vehicle demand of the autonomous driving vehicle.

The central control coordination device and the vehicle coordination device can broadcast the current vehicle requirements of autonomous vehicles through the mobile communication network.

In step A2134, after the hub coordination device of each hub service area of the network receives the broadcast current demand for autonomous vehicles, according to the service area resources of the corresponding hub service area and the current vehicle demand for autonomous vehicles determined in step A212, Determine whether the corresponding hub service area is suitable for providing vehicle services for the current autonomous vehicle, and return the judgment result.

The hub coordination equipment in each hub service area of the network can match the service area resources of the corresponding hub service area with the current vehicle demand of autonomous vehicles. When it is determined that the information contained in the two matches at least part of the information, it determines itself The corresponding hub service area is suitable for providing vehicle services for current autonomous vehicles.

Step A2135, at least one of the central control coordination device and the vehicle coordination device receives the judgment result returned by the hub coordination device, and determines the corresponding hub service area when the judgment result is suitable as matching the autonomous driving vehicle.

The matching of the corresponding hub service area with the current autonomous vehicle indicates that the corresponding hub service area can provide suitable vehicle services for the current autonomous vehicle.

Step A2136, at least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area matching the autonomous vehicle according to a predetermined standard.

Among them, the predetermined standards may include one or more of the following: the hub service area with the lowest cost standard for providing vehicle services is determined as the target hub service area; the hub service area closest to the current autonomous vehicle is determined as the hub service area Target hub service area: The hub service area in which the vehicle has the shortest waiting time for vehicle service after entering the hub service area is determined as the target hub service area, etc.

The vehicle service list includes, but is not limited to, the identification of the current autonomous vehicle, the identification of the target hub service area, the actual vehicle service items, the execution order of the actual vehicle service items, the authentication method corresponding to the actual vehicle service item, the vehicle service time, and the vehicle service One or more of location and vehicle service fees.

The central control coordination device, the vehicle coordination device, and the hub coordination device in each hub service area of the network communicate to determine each content of the vehicle service list, which may include one or more of the following steps A221 to A226:

Step A221, the central control coordination device, the vehicle coordination device communicate with the hub coordination device of the target hub service area, and the actual vehicle service items are determined.

In an example, the process of communication between the central control coordination device, the vehicle coordination device and the hub coordination device of the target hub service area to determine the actual vehicle service items may include the following steps A2211 to A2213:

Step A2211, at least one of the central control coordination device and the vehicle coordination device determines all vehicle service items expected by the current autonomous driving vehicle.

The central control coordination device and/or the vehicle coordination device can determine all the vehicle service items expected by the current autonomous driving vehicle through the acquired vehicle-related parameters.

The central control coordination device and/or the vehicle coordination device can determine various vehicle service items required by the current autonomous driving vehicle, that is, all vehicle service items expected by the current autonomous driving vehicle according to the relevant vehicle parameters.

The central control coordination device and/or the vehicle coordination device can also determine the first part of the vehicle service items expected by the current autonomous vehicle according to the relevant vehicle parameters, and then obtain the second part of the current autonomous vehicle expected by the hub coordination device corresponding to the target hub service area. Part of the vehicle service items, and finally the union of the first part of the vehicle service items and the second part of the vehicle service items expected by the current self-driving car is determined as all the vehicle service items expected by the current self-driving car. Among them, the hub coordination device corresponding to the target hub service area can determine the second part of the vehicle service items expected by the current autonomous vehicle according to the relevant vehicle parameters. The hub coordination device can obtain vehicle-related parameters by connecting various software devices and/or hardware devices included in the power system 100, sensor system 200, actuation system 300, peripheral device system 400, and vehicle computing system 500 of the current autonomous vehicle.

Since the current autonomous vehicles are often in a fast-moving state, the network connection with the central control system is easily unstable, and the computing power of the vehicle computing system 500 is limited. Therefore, the central control coordination device and the vehicle coordination device may not be able to independently integrate The current situation where all vehicle requirements for autonomous vehicles have been determined.

In this example, some of the vehicle service items expected by the current autonomous vehicle are determined by the central control coordination device and/or the vehicle coordination device, and some vehicle service items are determined by the hub coordination device. This implementation takes advantage of the stability in the hub service area. The network and the large computing power hub computing system can more comprehensively and accurately determine the various vehicle service items expected by the current self-driving car.

One or more vehicle service items expected by the current autonomous vehicle determined by the central control coordination device and/or vehicle coordination device may overlap with one or more vehicle service items expected by the current autonomous vehicle determined by the hub coordination device. That is, both include one or more vehicle service items.

Step A2212, at least one of the central control coordination device and the hub coordination device of the target hub service area determines all vehicle service items provided by the target hub service area.

The central control coordination device and/or the hub coordination device can determine all the vehicle service items that the target hub service area can provide according to the current situation of the service area related parameters of the target hub service area.

Step A2213, at least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area will calculate all the vehicle service items expected by the current autonomous vehicle determined in step A2211 and the target hub determined in step A2212 The intersection of all vehicle service items provided by the service area, and the intersection is determined as the actual vehicle service item.

In an example, the central control coordination device, the vehicle coordination device and the hub coordination device of the target hub service area communicate to determine the actual vehicle service items, which may include the following steps A2214 to A2216:

Step A2214, the vehicle coordination device determines all the vehicle service items expected by the current autonomous driving vehicle, and sends all the vehicle service items expected by the current autonomous vehicle to at least one of the central control coordination device and the hub coordination device in the target hub service area .

The vehicle coordination device can determine all vehicle service items expected by the current autonomous vehicle through the acquired vehicle-related parameters.

The vehicle coordination device can determine various vehicle service items required by the current autonomous vehicle according to the relevant parameters of the vehicle, that is, all vehicle service items expected by the current autonomous vehicle.

The vehicle coordination device can also determine the first part of the vehicle service items expected by the current autonomous vehicle based on the relevant parameters of the vehicle, and then obtain the second part of the vehicle service items expected by the current autonomous vehicle as determined by the hub coordination device corresponding to the target hub service area, and finally The union of the first part of the vehicle service items and the second part of the vehicle service items expected by the current self-driving car is determined as all the vehicle service items expected by the current self-driving car. Among them, the hub coordination device corresponding to the target hub service area can determine the second part of the vehicle service items expected by the current autonomous vehicle according to the relevant vehicle parameters. The hub coordination device can obtain vehicle-related parameters by connecting various software devices and/or hardware devices included in the power system 100, sensor system 200, actuation system 300, peripheral device system 400, and vehicle computing system 500 of the current autonomous vehicle.

Step A2215, at least one of the central control coordination device and the hub coordination device of the target hub service area determines all vehicle service items provided by the target hub service area.

The central control coordination device and/or the hub coordination device may determine all the vehicle service items that the target hub service area can provide according to the service area related parameters of the target hub service area.

Step A2216, at least one of the central control coordination device and the hub coordination device of the target hub service area calculates all the vehicle service items expected by the current autonomous vehicle received in step A2214 and the target hub service area determined in step A2215. The intersection of all vehicle service items of, the intersection is determined as the actual vehicle service item.

In an example, the central control coordination device, the vehicle coordination device and the hub coordination device of the target hub service area communicate to determine the actual vehicle service items, which may include the following steps A2217 to A2219:

Step A2217, at least one of the central control coordination device and the vehicle coordination device determines all vehicle service items expected by the current autonomous driving vehicle.

The central control coordination device and the vehicle coordination device can determine all the vehicle service items expected by the current autonomous vehicle through the acquired vehicle-related parameters.

The central control coordination device and the vehicle coordination device can determine various vehicle service items required by the current autonomous vehicle according to the relevant vehicle parameters, that is, all vehicle service items expected by the current autonomous vehicle.

The central control coordination device and the vehicle coordination device can also determine the first part of the vehicle service items expected by the current autonomous vehicle according to the relevant parameters of the vehicle, and then obtain the second part of the vehicle expected by the current autonomous vehicle as determined by the hub coordination device corresponding to the target hub service area Service items, and finally the union of the first part of the vehicle service items and the second part of the vehicle service items expected by the current autonomous driving vehicle is determined as all the vehicle service items expected by the current autonomous driving vehicle. Among them, the hub coordination device corresponding to the target hub service area can determine the second part of the vehicle service items expected by the current autonomous vehicle according to the relevant vehicle parameters. The hub coordination device can obtain vehicle-related parameters by connecting various software devices and/or hardware devices included in the power system 100, sensor system 200, actuation system 300, peripheral device system 400, and vehicle computing system 500 of the current autonomous vehicle.

Step A2218, the hub coordination device of the target hub service area determines all the vehicle service items provided by the target hub service area, and sends all the vehicle service items provided by the target hub service area to at least one of the central control coordination device and the vehicle coordination device .

The hub coordination device can determine all the vehicle service items that the target hub service area can provide according to the service area related parameters of the target hub service area.

Step A2219, at least one of the central control coordination device and the vehicle coordination device calculates the values of all vehicle service items expected by the current autonomous vehicle determined in step A2217 and all vehicle service items provided by the target hub service area received in step A2218 Intersection, which is determined as the actual vehicle service item.

Step A222, the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the execution sequence of the actual vehicle service items.

At least one of the central control coordination device and the hub coordination device of the target hub service area can be based on the location of the service site corresponding to each actual vehicle service item in the target hub service area, the dependency relationship of different actual vehicle service items, and the target service. One or more of the relevant parameters of the service area of the area determine the execution order of the actual vehicle service items.

In the example shown in Figure 7, the actual vehicle service items that the target hub service area needs to provide include refueling, sensor calibration, and loading. In the service area of the hub, the maintenance service station is located next to the entrance road card, the energy service station is next to the exit road card, and the storage service station is located between the maintenance service station and the energy service station. Therefore, the central control coordination equipment and/ Or the hub coordination equipment can determine the execution order of each vehicle service item in the vehicle service list as: first carry out the sensor calibration project, then carry out the loading project, and finally carry out the refueling project. The arrowed line in FIG. 7 represents the current driving route of the autonomous vehicle in the target hub service area in this example, and the arrow represents the forward direction of the vehicle.

In the example shown in Figure 8, the actual vehicle service items that the target hub service area needs to provide include sensor calibration, unloading, and parking. In the service area of the hub, the maintenance service station is located close to the entrance road card, the parking service station is located close to the exit road card, and the storage service station is located between the maintenance service station and the parking service station. Under normal circumstances, maintenance projects and parking projects need to be carried out after the unloading project is completed, so the central control coordination equipment and/or hub coordination equipment can determine the execution order of each vehicle service item in the vehicle service list as follows: carry out the unloading project first , And then carry out the sensor calibration project, and finally carry out the parking project. The arrowed line in FIG. 8 represents the current driving route of the autonomous vehicle in the target hub service area in this example, and the arrow represents the forward direction of the vehicle.

Step A223, the central control coordination device, the vehicle coordination device communicate with the hub coordination device of the target hub service area, and the authentication method of the actual vehicle service item is determined.

At least one of the central control coordination device and the hub coordination device of the target hub service area can determine the authentication method of each actual vehicle service item according to the configuration of the service station corresponding to each actual vehicle service item in the target hub service area .

The authentication method of the actual vehicle service item may include the type of technology used for authentication, the legal identity information of both parties, and so on.

For example, if the identity verification device in the energy service station adopts the SSL certificate verification method, the hub coordination device in the target hub service area can determine that the authentication method corresponding to refueling includes the SSL certificate verification method, and at the same time, it also needs to include the current autopilot The legal identity information of the vehicle and the legal identity information of the target hub service area. Wherein, the legal identity information of the current self-driving car may be the identity ID of the current self-driving car, network contact address or other information used for verification. The legal identity information of the target hub service area may be the identity ID of the target hub service area, network contact address, or other information used for verification.

Step A224, the central control coordination device, the vehicle coordination device communicate with the hub coordination device of the target hub service area, and the vehicle service time is determined.

At least one of the central control coordination device and the hub coordination device of the target hub service area may determine the time when the target hub service area provides vehicle services for the current autonomous vehicle according to the service area related parameters of the target hub service area.

Step A225, the central control coordination device, the vehicle coordination device communicate with the hub coordination device of the target hub service area, and the vehicle service fee is determined.

At least one of the central control coordination device and the hub coordination device of the target hub service area can first determine the cost standard of each actual vehicle service item, and then calculate each actual vehicle service currently accepted by the autonomous driving vehicle according to the cost standard The vehicle service cost of the project and/or the total vehicle service cost of all actual vehicle service items.

Step A226, the central control coordination device, the vehicle coordination device communicate with the hub coordination device of the target hub service area, and the vehicle service location is determined.

When the actual vehicle service items (such as refueling, refilling, charging, replacing the power battery pack, sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal baking, mechanical failure repair, tire repair, electronic component inspection and repair, loading, When unloading, parking, program updates, etc.) are projects implemented in the target hub service area, at least one of the central control coordination equipment, vehicle coordination equipment, and the hub coordination equipment of the target hub service area directly connects the target hub service area to the target hub service area. The address is determined as the vehicle service location.

When the actual vehicle service items (such as on-site refueling, on-site refueling, on-site charging, on-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer personnel , Road diversion, wounded treatment, etc.) are road rescue related projects, at least one of the central control coordination equipment, vehicle coordination equipment and the hub coordination equipment of the target hub service area can first determine the rescue location, and then determine the rescue location as Vehicle service location. Wherein, the rescue location may be determined according to the current location of the autonomous vehicle and/or the location of the target hub service area. For example, the rescue location may be the location of the current autonomous vehicle, or a location between the location of the current autonomous vehicle and the location of the target hub service area.

8.2 In an example, when the central control coordination device determines that the current self-driving car has received a transportation task by connecting to the business order system, it triggers the process of judging whether the current self-driving car needs vehicle service. After the judgment process is triggered, the central control coordination device obtains vehicle-related parameters through the monitoring module of the central control system and the business order system. The relevant parameters of the vehicle include the following information:

(1) The current requirements for transportation tasks performed by autonomous vehicles are as follows: the loading address is Beijing, the unloading address is Shanghai, and the transportation of frozen goods starts at 8:00 on July 29, 2019, and ends in July 2019. 18:00 on the 29th.

(2) The current driving route of the self-driving car is: Beijing-Shanghai Expressway, the starting address is Beijing, and the ending address is Shanghai, passing through Tianjin, Hebei, Shandong, and Jiangsu.

(3) The current fuel tank capacity of autonomous vehicles is 100 liters, and the fuel consumption per 100 kilometers is 20 liters.

The central control coordination device makes the following judgments based on the above-mentioned vehicle-related parameters: the fuel tank is filled with about 100 liters of fuel before the current self-driving car departs, and the remaining fuel is about 20L when driving about 400 kilometers. At this time, fuel needs to be refilled in time. The current self-driving car Driving along the Beijing-Shanghai Expressway, starting from Beijing, about 350-420 kilometers when driving to the section of Jinan City, Shandong Province, so the current self-driving car needs to refuel when driving to the section of Jinan City, Shandong Province on the Beijing-Shanghai Expressway.

Based on the above judgment, the central control coordination device determines that the current autonomous vehicle needs vehicle service. After that, the central control coordination device continues to process as follows:

The central control coordination device obtains some basic information of the current autonomous vehicle by communicating with the vehicle coordination device. The basic information includes the following:

(1) The identification of the current autonomous vehicle: ADV-0001;

(2) Vehicle type: van;

(3) Energy type: 5# diesel;

(4) Type of goods transported: daily necessities.

The central control coordination device determines part of the vehicle requirements of the current autonomous vehicle based on the vehicle-related parameters that have been obtained, including the following information:

(1) The current expected vehicle service locations for autonomous vehicles include: the hub service area along the Beijing-Shanghai Expressway in Dezhou City, Shandong Province, and the hub service area along the Beijing-Shanghai Expressway in Jinan City, Shandong Province.

(2) The current expected vehicle service items for autonomous vehicles include: refueling and sensor calibration. Among them, the remaining fuel in the fuel tank is about 1/4 of the total volume when the current self-driving car has a driving range of about 400 kilometers, so refueling services are required; the lidar and binocular cameras on the current self-driving car are bumped during long-distance driving and need Recalibrate.

(3) The current expected vehicle service hours for autonomous vehicles include: 12:00 to 14:00 on July 29, 2019. This time is estimated by the vehicle coordination equipment based on the current driving distance, driving speed, departure time and other information of the current autonomous vehicle.

Based on the above-mentioned basic information and vehicle requirements of the current autonomous vehicles, the central control coordination equipment determines the candidate hub service areas including the hub service areas along the Beijing-Shanghai Expressway in Dezhou City, Shandong Province and Jinan City. Then, the central control coordination device communicates with the hub coordination devices of these candidate hub service areas to obtain the service area resources of these candidate hub service areas.

In this example, the Beijing-Shanghai Expressway has 9 hub service areas along the roads in Dezhou City and Jinan City, Shandong Province. The identifiers of these hub service areas are SD1～SD9. The service area resources of these hub service areas are described in the table below. :

The central control coordination device matches the aforementioned vehicle requirements of the current autonomous vehicles with the service area resources of the hub service areas SD1 to SD9, respectively. According to the above table, only the hub service areas SD1 and SD9 can provide two items of refueling and sensor calibration at the same time. Therefore, the central control coordination equipment determines the hub service areas SD1 and SD9 as hub service areas that match the current autonomous vehicles.

Further, the central control coordination device sends a reservation request to the hub service areas SD1 and SD9, and the reservation request contains the aforementioned basic information of the current autonomous vehicle.

In addition, the reservation request also includes the previously determined vehicle demand for the current autonomous vehicle.

After receiving the reservation request, the hub coordination devices of the hub service areas SD1 and SD9 each determine the service area related parameters of their hub service areas. Among them, the relevant parameters of the service area of the hub service area SD1 include: the hub service area SD1 will maintain the entity corresponding to the sensor calibration project from 12:00 to 13:00 on July 29, 2019. Since the maintenance plan will affect the hub service area SD1 to provide vehicle services for the current autonomous vehicles, the hub coordination equipment determines that the hub service area SD1 cannot provide vehicle services for the current autonomous vehicles. The relevant parameters of the service area of the hub service area SD9 include: the hub service area SD9 will maintain the entities corresponding to the gas refueling project from 7:00 to 8:00 on July 29, 2019. Since the maintenance plan will not affect the hub service area SD9 to provide vehicle services for the current autonomous vehicles, the hub coordination device returns a consent message to the central control coordination device.

After receiving the consent message, the central control coordination device determines the hub service area SD9 as the target hub service area, and determines that the target hub service area is identified as SD9.

The central control coordination device sends a notification message containing the identifier of the target hub service area to the vehicle coordination device, and the vehicle coordination device controls the current autonomous vehicle to drive to the target hub service area SD9 after receiving the notification message.

After the current autonomous vehicle enters the hub service area SD9, the hub coordination device of the hub service area SD9 connects the power system 100, sensor system 200, actuation system 300, peripheral equipment system 400, and vehicle computing system 500 of the current autonomous vehicle through Each of the software equipment and/or hardware equipment to obtain vehicle-related parameters. At this time, the vehicle-related parameters include the following information:

(3) The current fuel tank capacity of autonomous vehicles is 100 liters, the fuel consumption per 100 kilometers is about 20 liters, and the remaining fuel volume is 15 liters.

(4) The high-precision map file of Jiangsu Province stored in the vehicle computing system 500 is version 1.0.

The hub coordination equipment of the hub service area SD9 determines that in addition to the two service items of refueling and sensor calibration, there are other vehicle requirements for the current autonomous vehicle based on the newly determined vehicle-related parameters. This part of the new vehicle requirements includes program updates. project. This is because the hub coordination equipment compares the version of the Jiangsu Province high-precision map file stored in the vehicle computing system 500 with the latest version model released on the Internet and finds that the version 1.0 of the Jiangsu Province high-precision map file stored in the vehicle computing system 500 It lags behind the latest version 2.0 released on the Internet, so it needs to be updated in time.

The hub coordination equipment of the hub service area SD9 therefore determines that the actual vehicle service items include refueling, sensor calibration and program update, and simultaneously shares the names of these three actual vehicle service items with the vehicle coordination equipment.

In this example, in the site of the hub service area SD9, the network service station is located next to the entrance road card, the energy service station is next to the exit road card, and the maintenance service station is located between the network service station and the energy service station. Therefore, the hub The execution sequence of the coordination equipment to determine the actual vehicle service items is: first carry out the program update project, then carry out the sensor calibration project, and finally carry out the refueling project.

In this example, the three actual vehicle service items of refueling, sensor calibration, and program update need to be completed within the hub service area. Therefore, the hub coordination device of the hub service area SD9 determines the vehicle service location as the address of the hub service area SD9. Namely, G2 Beijing-Shanghai Expressway SD9 Hub Service Area, Laiwu District, Jinan City, Shandong Province.

The hub coordination device sends the notification message including the execution sequence of the actual vehicle service items and the vehicle service location to the central control coordination device and the vehicle coordination device, respectively.

In this example, the central control coordination device, the vehicle coordination device, and the hub coordination device communicate to determine the vehicle service list shown in Table 1:

Table 1

当前自动驾驶车的标识Identification of the current self-driving car	ADV-0001ADV-0001
目标枢纽服务区的标识Identification of the target hub service area	SD9SD9
实际车辆服务项目Actual vehicle service items	加油，程序更新，传感器标定Refueling, program update, sensor calibration
实际车辆服务项目的执行顺序The execution sequence of actual vehicle service items	先进行程序更新，然后进行传感器标定，最后进行加油Update the program first, then calibrate the sensor, and finally refuel
车辆服务地点Vehicle service location	山东省济南市莱芜区G2京沪高速SD9号枢纽服务区G2 Beijing-Shanghai Expressway SD9 Hub Service Area, Laiwu District, Jinan City, Shandong Province

8.3 In an example, the vehicle coordination device determines in real time whether the current autonomous vehicle needs vehicle service during the current driving process of the autonomous vehicle. In this example, the vehicle coordination device obtains the vehicle in real time by connecting the power system 100, sensor system 200, actuation system 300, peripheral device system 400, and vehicle computing system 500 of the current autonomous vehicle. Relevant parameters, and determine whether the current self-driving car needs vehicle service according to the relevant parameters of the vehicle. Among them, at a certain moment, the vehicle-related parameters include the following information:

(1) The current requirements for the transportation tasks performed by the autonomous vehicle are as follows: the loading address is Beijing, the unloading address is Shanghai, and the transportation of frozen goods starts at 8 o'clock on August 29, 2019, and the end time is August 2019. 18:00 on the 29th;

(2) The current driving route of the self-driving car is: Beijing-Shanghai Expressway, the starting address is Beijing, and the ending address is Shanghai, passing through Tianjin, Hebei, Shandong, and Jiangsu;

(3) The current fuel tank capacity of the self-driving car is 100 liters, the fuel consumption per 100 kilometers is 20 liters, and the current remaining fuel capacity is 30 liters;

(4) The left front wheel, right front wheel, left rear wheel and right rear wheel are all Linglong 6.50R16 tires;

(5) The maximum single tire load of the left front wheel, right front wheel, left rear wheel, and right rear wheel is 975kg/2150LBS, the maximum twin tire load is 875kg/2150LBS, and the maximum safe air pressure is 560kpa/81PSI;

(6) The left front tire pressure is 510kpa; the right front tire pressure is 400kpa; the left rear tire pressure is 550kpa; the right rear tire pressure is 550kpa;

(7) The vehicle speed is 90km/h;

(8) The negative acceleration is 5m/s.

The vehicle coordination equipment makes the following judgments based on the above-mentioned vehicle-related parameters: the right rear tire pressure is the same as the left rear tire pressure and both are at a normal level; the left front tire pressure is at a normal level; the right front tire pressure is lower than the left front tire pressure, and the difference is greater than 20%, the right front tire pressure is at an abnormal level; the current autonomous vehicle is driving at a slower speed; the right front wheel has a punctured or blown tire and needs to be repaired; and the fuel volume is 30L and needs to be refilled in time.

Based on the above judgment, the vehicle coordination device determines that the current autonomous vehicle needs vehicle service. After that, the vehicle coordination equipment continues to process as follows:

The vehicle coordination device obtains some basic information of the current autonomous vehicle, and the basic information includes the following:

(1) The identification of the current autonomous vehicle: ADV-0001;

(2) Vehicle type: van;

(3) Energy type: 5# diesel;

(4) Type of goods transported: daily necessities.

The vehicle coordination equipment determines the current vehicle requirements of the autonomous vehicle based on the vehicle-related parameters that have been obtained, including the following information:

(1) The expected service location of the current autonomous vehicle is 117 degrees 45 minutes 1.3 seconds east longitude and 36 degrees 13 minutes 16.6 seconds north latitude. This position is the current self-driving vehicle slowly decelerating and stopping at Laiwu, Jinan, Shandong Province. GPS position obtained after emergency parking zone on the road section of the district;

(2) The current expected vehicle service items for autonomous vehicles include: on-site replacement of auto parts (tires) and on-site refueling.

The vehicle coordination device sends the aforementioned vehicle requirements and basic information of the current autonomous vehicle to the central control coordination device.

The central control coordination equipment broadcasts the above-mentioned vehicle requirements and basic information to the hub coordination equipment in each hub service area on the network. Each hub coordination device that receives the aforementioned vehicle demand compares the aforementioned vehicle demand with the service area resources of its corresponding hub service area, and judges whether the corresponding hub service area matches the current autonomous vehicle based on this. In the matching process, since the current service location expected by autonomous vehicles is located in Laiwu District, Jinan City, Shandong Province, Beijing-Shanghai Expressway, based on the principle of nearby rescue, it is not located in the hub service area along the Beijing-Shanghai Expressway in Jinan City, Shandong Province. Is determined to be a mismatch. There are 5 hub service areas along the Beijing-Shanghai Expressway in Jinan City, Shandong Province. The marks of these hub service areas are SD5～SD9. The service area resources of these hub service areas are described in the following table:

The respective hub coordination devices of the hub service areas SD5 to SD9 respectively match the aforementioned vehicle requirements with the service area resources of their corresponding hub service areas. According to the above table, both the hub service areas SD6 and SD9 can provide on-site auto parts replacement projects and on-site refueling projects. Therefore, the respective hub coordination equipment of the hub service areas SD6 and SD9 respectively determine the corresponding hub service areas SD6, SD9 and current The self-driving cars are matched, and the matching results are respectively returned to the central control coordination device.

After receiving the matching result, the central control coordination device determines that the hub service area SD6 and SD9 match the current autonomous vehicle. Further, the central control coordination device determines that the distance between the hub service area SD6 and the current autonomous vehicle is less than the hub service area SD9 and the current autonomous vehicle. The current distance of the autonomous vehicle (it is judged that the hub service area SD6 can provide vehicle services faster), therefore, the hub service area SD6 is determined as the target hub service area.

Subsequently, the central control coordination device sends a notification message to the hub coordination device in the hub service area SD6 that the hub service area SD6 is selected as the target hub service area, so that the hub coordination device in the hub service area SD6 determines that the hub service area SD6 is determined as Target hub service area.

In addition, the central control coordination device sends a notification message containing the identifier of the target hub service area to the vehicle coordination device of the current autonomous vehicle, so that the vehicle coordination device of the current autonomous vehicle determines which hub service area is the target hub service area.

In addition, the central control coordination device also sends the aforementioned basic information and vehicle requirements of the current autonomous vehicle to the hub coordination device in the hub service area SD6.

The hub coordination equipment of the hub service area SD6 determines the actual vehicle service items required by the current autonomous vehicle as road rescue related items based on the basic information of the current autonomous vehicle and the above-mentioned vehicle requirements, so as to determine the vehicle service location expected by the current autonomous vehicle ( 117 degrees 45 minutes 1.3 seconds east longitude and 36 degrees 13 minutes 16.6 seconds north latitude. This position is the GPS position obtained by the current autonomous vehicle after slowly decelerating and stopping at the emergency parking zone in Laiwu District, Jinan City, Shandong Province, Beijing-Shanghai Expressway). It is the vehicle service location that ultimately provides the actual vehicle service items.

In this example, the vehicle service list determined by the communication between the central control coordination device, the vehicle coordination device, and the hub coordination device includes at least the information shown in Table 2:

Table 2

当前自动驾驶车的标识Identification of the current self-driving car	ADV-0001ADV-0001
目标枢纽服务区的标识Identification of the target hub service area	SD6SD6
实际车辆服务项目Actual vehicle service items	现场更换汽车零部件(轮胎)、现场加油On-site replacement of auto parts (tires), on-site refueling
车辆服务地点Vehicle service location	东经117度45分1.3秒，北纬36度13分16.6秒117 degrees 45 minutes 1.3 seconds east longitude, 36 degrees 13 minutes 16.6 seconds north latitude

The hub coordination equipment of the hub service area SD6 dispatches entities in the road rescue service station to the vehicle service location to provide on-site tire replacement services for the current autonomous vehicles based on the above-mentioned vehicle service list.

9. The current autonomous vehicle controlled by the vehicle coordination device and the entities in the hub service area controlled by the hub coordination device interact in accordance with the vehicle service plan

Referring to the scenarios shown in Figure 5 and Figure 6, after the central control coordination equipment, vehicle coordination equipment and hub coordination equipment determine the vehicle service plan through communication, the central control coordination equipment, vehicle coordination equipment and the hub coordination of the target hub service area Each of the three equipment stores a confirmed vehicle service list. Currently, autonomous vehicles perform actions in accordance with the vehicle service list under the control of the vehicle coordination device, and the target hub service area performs actions in accordance with the vehicle service list under the control of the hub coordination device.

9.1 With reference to the scenarios shown in Figures 5 and 6, in some embodiments, the process of interaction between the current autonomous vehicle and the entities in the target hub service area according to the vehicle service list includes the following steps B1 to B3:

Step B1: When the vehicle service location included in the vehicle service list is the address of the target hub service area, the vehicle coordination device controls the current autonomous driving vehicle to enter the target hub service area.

When the actual vehicle service items included in the vehicle service list are not road rescue related items, the vehicle service location is the location of the target hub service area. For example, refueling, refilling, charging, replacement of power battery packs, sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal paint, mechanical failure repair, replacement of auto parts, tire repair, electronic component inspection and repair, loading, Vehicle service items such as unloading, parking, and program updates need to be carried out in the service area of the target hub.

The process of the vehicle coordination device controlling the current autonomous driving vehicle to enter the target hub service area may include: the vehicle coordination device sends the address of the target hub service area as the destination to the navigation module 504 of the current autonomous vehicle, and the navigation module 504 uses the current automatic The current location of the driving car and the planning driving path of the destination are then determined by the current positioning fusion module 501, the perception module 502, the driving state determination module 503, the navigation module 504, the decision-making module 505, and the driving control module 506 in the current autonomous driving car. The task receiving module works together to realize that the current self-driving car travels from the current location to the destination and enters the target hub service area.

Step B2: The hub coordination device determines the service stations in the target hub service area corresponding to each actual vehicle service item included in the vehicle service list; the vehicle coordination device controls the current autonomous vehicle according to each actual vehicle service item included in the vehicle service list Drive to the service station corresponding to each actual vehicle service item in the target hub service area.

Each hub service area contains one or more service stations, such as energy service stations, maintenance service stations, storage service stations, parking service stations, network service stations, etc. The entities in each service site can provide one or more vehicle service items for autonomous vehicles. For example, energy service stations can provide vehicle service items such as refueling, refueling, charging, and replacement of power battery packs; maintenance service stations can provide sensor calibration, automobile fault diagnosis, maintenance and cleaning, sheet metal paint, mechanical failure repair, and replacement of auto parts , Tire repair, electronic component testing and maintenance and other vehicle service items; storage service stations can provide loading, unloading and other vehicle service items; parking service stations provide parking service items; network service stations provide program update service items.

The vehicle coordination equipment controls the process of the current autonomous vehicle driving to the service station corresponding to each actual vehicle service item in the target hub service area, which may include the following steps B21 to B22:

Step B21: The vehicle coordination device determines the current driving route of the autonomous vehicle in the target hub service area.

The vehicle coordination device can plan the current driving route of the autonomous vehicle in the target hub service area according to the high-precision map of the target hub service area. The high-precision map of the service area of the target hub may include the distribution information of the service area, road area, entrance and exit. Among them, the distribution information of the service area may include the specific distribution of each service site and the arrangement of entities in each service site. The distribution information of the road area may include information such as road type, road connectivity, traffic marking, crosswalk, road geometric characteristics, and so on.

The vehicle coordination equipment can determine the order in which the current autonomous vehicle should arrive at the corresponding service station according to the execution order of each actual vehicle service item included in the vehicle service list, and then determine the corresponding service station based on the high-precision map of the target hub service area Finally, according to the order of the current autonomous vehicles arriving at the corresponding service stations and the distribution of the corresponding service stations, determine what driving route the current autonomous vehicles should follow in the target hub service area.

The vehicle coordination device can control the current autonomous vehicle to drive in the target hub service according to the travel route planned by the hub coordination device in the target hub service area for the current autonomous vehicle. The hub coordination device of the target hub service area can plan a driving route for the current autonomous vehicle according to the high-precision map of the target hub service area. The hub coordination device of the target hub service area can also plan the driving route for the current autonomous vehicle according to the execution sequence of each actual vehicle service item included in the vehicle service list, and combined with the location of the service station corresponding to each actual vehicle service item.

Step B22: The vehicle coordination device controls the current autonomous vehicle to drive according to the driving route to the service station corresponding to each actual vehicle service item in the target hub service area.

Step B3: After the current autonomous vehicle arrives at the service site, it interacts with entities in the service site controlled by the hub coordination device under the control of the vehicle coordination device to complete the actual vehicle service project.

The vehicle coordination device and the hub coordination device respectively control the current autonomous vehicle and entities in the target hub service area to authenticate each other according to the authentication mode of each actual vehicle service item included in the vehicle service list. The current autonomous vehicle and the entities in the target hub service area interact to complete the corresponding actual vehicle service items after successful authentication.

It can include the type of technology used for authentication, the legal identity information of both parties, and so on. Among them, the types of technologies used for authentication can include, but are not limited to, authentication methods based on public key encryption algorithms (such as SSL certificates, digital signatures), HTTP basic authentication, HTTP Basic Authentication, server-side sessions-browser-side web trackers Verify one or more of session-cookie, token verification, open authorization OAuth verification, etc.

When the entity is a fuel dispenser, a gas dispenser, an AC charging pile, a DC charging pile, an AC/DC integrated charging pile, a substation, a crane, a handling robot, a loading and unloading platform, a vehicle detector, an electric barrier, a toll device, a program update device When waiting for equipment, the current autonomous vehicle can directly authenticate each other with the corresponding equipment.

When the entity is an operator, the current autonomous vehicle can perform mutual authentication with the terminal device held by the operator.

The vehicle coordination device and/or the hub coordination device can record a log during the process of the current autonomous vehicle interacting with entities in the target hub service area to complete each actual vehicle service item. The log may include one or more kinds of information such as the start time, end time, duration, and content of the actual vehicle service item. Among them, the content of the actual vehicle service items may include operation objects (such as tires, engines), types of operation objects (such as tire models, engine models), operation names (replace tires or repair tires, replace engines), and so on.

The vehicle coordination device can control the current self-driving car to pay to the entity in the target hub service area according to the vehicle service fee included in the vehicle service list. At present, self-driving cars can pay fees to entities in the service area of the target hub through contact swiping or network deduction. The vehicle service fee may include the individual corresponding fee for each actual vehicle service item, or may include all the corresponding fees for all actual vehicle service items. The payment process may be to pay the completed actual vehicle service items immediately after each actual vehicle service item is completed, or it may be to pay all the actual vehicle service items uniformly after all the actual vehicle service items are completed.

The hub coordination equipment can determine whether the current self-driving car's payment to the entity in the target hub service area is consistent with the vehicle service fee included in the vehicle service list based on the vehicle service fee included in the vehicle service list. If the two are inconsistent, the current The fee paid by the self-driving car is wrong and needs to be paid or refunded.

9.2 With reference to the scenarios shown in Figures 5 and 6, in some embodiments, the process of the current autonomous vehicle and the entities in the hub service area interacting according to the vehicle service list includes the following steps C1 to C3:

Step C1: When the vehicle service location included in the vehicle service list is the rescue location, the hub coordination equipment first determines the rescue location, and then determines one of the actual vehicle service items included in the vehicle service list according to the actual vehicle service items included in the vehicle service list. Or multiple entities, and dispatch these entities to the rescue location; the vehicle coordination device determines whether the current autonomous vehicle has arrived at the rescue location.

When the actual vehicle service items included in the vehicle service list belong to road rescue related items, the vehicle service location is the road rescue site, that is, the rescue location. For example, on-site refueling, on-site refueling, on-site charging, on-site replacement of power battery packs, trailers, on-site mechanical failure maintenance, on-site replacement of auto parts, on-site replacement of tractors, on-site replacement of trailers, transfer of goods, transfer of personnel, road guidance, and treatment of the wounded Such vehicle service items need to be carried out at the rescue location.

The rescue location may be the location of the current autonomous vehicle, or a certain location between the location of the current autonomous vehicle and the location of the target hub service area.

Step C2: When the vehicle coordination device determines that the current autonomous vehicle has reached the rescue location, it determines whether the entity in the target hub service area has arrived at the rescue location.

The vehicle coordination device can perceive various entities in the rescue location (not limited to the service area of the target hub) through the sensors (such as cameras, lidar, etc.) on the self-driving car, and/or through the peripheral equipment on the self-driving car ( Wireless communication devices, wired communication interfaces, microphones, touch screen displays, etc.) communicate with various entities in the rescue location (not limited to the service area of the target hub) to determine whether the entities in the service area of the target hub have arrived at the rescue location.

Step C3: After the hub coordination device determines that the dispatched entities arrive at the rescue location, they control these entities to interact with the current autonomous vehicle controlled by the vehicle coordination device to complete each actual vehicle service item.

The vehicle coordination device and the hub coordination device can respectively control the current autonomous vehicle and the entities that come from the target hub service area and arrive at the rescue location to authenticate each other according to the authentication mode of each actual vehicle service item included in the vehicle service list. The current autonomous vehicle and these entities from the service area of the target hub interact with each other to complete the corresponding actual vehicle service items after successful authentication.

The authentication method may include the type of technology used for authentication, the legal identity information of both parties, and so on. Among them, the types of technologies used for authentication can include, but are not limited to, authentication methods based on public key encryption algorithms (such as SSL certificates, digital signatures), HTTP basic authentication, HTTP Basic Authentication, server-side sessions-browser-side web trackers Verify one or more of session-cookie, token verification, open authorization OAuth verification, etc.

When the entity is a mobile maintenance vehicle, a mobile energy vehicle, a trailer, a spare tractor, a spare trailer, a spare auto parts, a spare passenger car, a spare commercial vehicle, road guidance equipment, an ambulance, etc., the current autonomous vehicle can Mutual authentication directly with the corresponding equipment.

The vehicle coordination device can control the current self-driving car to pay to the entity in the target hub service area of the rescue location according to the vehicle service fee included in the vehicle service list. At present, self-driving cars can pay fees to entities in the service area of the target hub through contact swiping or network deduction. The vehicle service fee may include the individual corresponding fee for each actual vehicle service item, or may include all the corresponding fees for all actual vehicle service items. The payment process can be to pay the completed actual vehicle service immediately after each actual vehicle service item is completed, or it may be to uniformly pay all the actual vehicle service items after all the actual vehicle service items are completed.

9.3 According to the example in section 8.2 above, the vehicle service list includes at least the following information:

In this example, the vehicle coordination device controls the current autonomous vehicle ADV-0001 to drive to the G2 Beijing-Shanghai high-speed section of Laiwu District, Jinan City, Shandong Province, and enter the target hub service area SD9.

The current autonomous vehicle ADV-0001 enters the target hub service area SD9 through the entrance road card at the entrance of the target hub service area SD9.

The vehicle coordination equipment of the current autonomous vehicle ADV-0001 is based on the three actual vehicle service items included in the vehicle service list (refueling, program update, and sensor calibration), and the execution order of these three actual vehicle service items (program update first, Then perform sensor calibration, and finally refuel), and the high-precision map of the target hub service area SD9, plan the current driving route of the automatic driving vehicle ADV-0001.

According to the above driving route, the current autonomous vehicle ADV-0001 first drives to the network service station, then to the maintenance service station, and finally to the energy service station.

After the current autonomous vehicle ADV-0001 arrives at the network service station, it first authenticates with the program update device in the network service station. After the authentication is successful, the wireless communication device 401 or wired communication interface of the current autonomous vehicle ADV-0001 succeeds Connect the program update device, and accept the inspection, update and other services of the program update device. The inspection module of the program update device checks and determines the algorithm modules such as the positioning fusion module 501, the perception module 502, the driving state determination module 503, the navigation module 504, the decision-making module 505, the driving control module 506, and the task receiving module in the current automatic driving vehicle ADV-0001. As well as the versions of high-precision electronic maps used in Beijing, Tianjin, Hebei, Shandong, Jiangsu and other high-precision electronic maps, the search module searches for the latest versions of these electronic files on the Internet, and the comparison module compares the current ADV- The version of these electronic files in 0001 and the corresponding latest version, it is found that the version 1.0 of the Jiangsu Province high-precision map file used in the current autonomous vehicle ADV-0001 lags behind the latest version version 2.0 released on the Internet, and it needs to be updated in time Therefore, the update module downloads the Jiangsu Province high-precision map file of version 2.0 from the Internet to update the Jiangsu Province high-precision map file in the current autonomous vehicle ADV-0001. During this process, the vehicle coordination equipment or hub coordination equipment recorded the following log information: the authentication result of the current automatic driving vehicle ADV-0001 and the program update equipment, the updated electronic file is the high-precision map file of Jiangsu Province, and the updated content is The Jiangsu Province high-precision map file has been updated from version 1.0 to version 2.0. The current connection time and disconnection time between the automatic driving vehicle ADV-0001 and the program update device.

In this example, after the current autonomous vehicle ADV-0001 arrives at the network service station, it can also mutually authenticate and connect with the network connection device in the network service station. After the two are connected, the current self-driving car ADV-0001 can connect to a specific network through the network connection device, such as the program update network platform of this type of self-driving car. The current autonomous vehicle ADV-0001 first uses its own program update algorithm to retrieve and determine its positioning fusion module 501, perception module 502, driving state determination module 503, navigation module 504, decision-making module 505, driving control module 506, task receiving module, etc. The version of the algorithm module, and the version of the high-precision electronic map of each province and city used, and then search for the latest version of these electronic files in the connected specific network, and compare the versions of these electronic files in the current autonomous vehicle ADV-0001 with The corresponding latest version, when it is found that the version of one of the electronic files lags behind the latest version model released on the Internet, the latest version of the electronic file is downloaded from the specific network and updated to the current autonomous vehicle ADV-0001. In this process, the vehicle coordination device or the hub coordination device can record the corresponding log information.

In this example, the operator can use the handheld terminal to interact with the current autonomous vehicle ADV-0001 to complete the payment of the program update project fee.

When the program update project is completed, the current self-driving car ADV-0001 drives to the maintenance service station. After the current self-driving car ADV-0001 enters the maintenance service station, it first authenticates with the identity verification device in the service station. After the authentication is successful, the operator in the maintenance service station uses the handheld terminal to learn that the self-driving car needs sensor calibration Afterwards, the operators in the maintenance service station use the checkerboard target to calibrate the binocular camera of the current autonomous vehicle ADV-0001, and use the corner reflector to calibrate the lidar of the current autonomous vehicle ADV-0001. In the calibration process, the operator modifies the relevant parameters of the binocular camera or lidar of the current autonomous vehicle ADV-0001 through the handheld terminal or the touch screen display of the current autonomous vehicle ADV-0001. During the entire calibration process, the vehicle coordination equipment or hub coordination equipment recorded the following log information: the authentication result of the current self-driving car ADV-0001 and the identity verification equipment. The calibration objects are binocular cameras and lidars. The calibration equipment includes a chessboard. Grid target and corner reflector, various parameter values before and after calibration, the time when the operator starts and ends the calibration of the binocular camera, the time when the operator starts and ends the calibration of the lidar, and the name of the operator And/or number.

In this example, after the current autonomous vehicle ADV-0001 enters the maintenance service station, it can also authenticate each other with the operator's handheld terminal, and perform the subsequent calibration process after the authentication is successful.

In this example, the operator can use the handheld terminal to interact with the current autonomous vehicle ADV-0001 to complete the payment of the sensor calibration project.

When the sensor calibration project is completed, the current autonomous vehicle ADV-0001 drives to the energy service station. After the current self-driving car ADV-0001 enters the energy service station, it first authenticates with the identity verification device in the service station. After the authentication is successful, the operator in the maintenance service station uses the handheld terminal to learn the fuel tank capacity of the self-driving car , The current remaining fuel volume and the required fuel volume, then the operator operates the fuel gun in the fuel dispenser to aim at the fuel tank injection port of the autopilot to refuel. After adding the required amount of oil, the handheld terminal can display and calculate the oil fee. In this process, the vehicle coordination equipment or hub coordination equipment recorded the following log information: the authentication result of the current autonomous vehicle ADV-0001 and the identity verification device, adding the fuel quantity value, fuel fee, and the operator holding the fuel gun to the fuel tank Fill in the entrance time and departure time, the name and/or number of the operator.

In this example, the operator can use the handheld terminal to interact with the current autonomous vehicle ADV-0001 to complete the payment of the refueling project.

When the sensor calibration project is completed, the current autonomous vehicle ADV-0001 drives to the SD9 exit of the target hub service area, and after passing the exit road card, it drives out of the target hub service area SD9.

In this example, the current self-driving vehicle ADV-0001 can also interact with the payment device at the SD9 exit of the target hub service area to uniformly pay the entire cost of the program update project, the sensor calibration project, and the refueling project.

9.4 According to the example in Section 8.3, the vehicle service list includes at least the following information:

In this example, the vehicle coordination device obtains the location data collected by the on-board positioning device of the current autonomous vehicle ADV-0001, and determines whether the current autonomous vehicle ADV-0001 has reached the rescue location based on the location data, that is, 117 degrees 45 minutes east longitude 1.3 Second, the geographic location corresponding to 36 degrees 13 minutes 16.6 seconds north latitude is located on the emergency parking zone of the Beijing-Shanghai Expressway in Laiwu District, Jinan City, Shandong Province.

After determining that the current autonomous vehicle ADV-0001 has arrived at the rescue location, the vehicle coordination equipment uses the camera and lidar on the autonomous vehicle ADV-0001 to perceive various entities at the rescue location, and through the wireless of the autonomous vehicle ADV-0001 Communication devices, wired communication interfaces, microphones or touch-screen displays and other peripheral devices communicate with various entities in the rescue site.

The hub coordination equipment of the target hub service area SD6 dispatches mobile energy vehicles and operators based on the above-mentioned vehicle service list, and at the same time carries spare auto parts such as handheld terminals and tires to the rescue location.

After arriving at the rescue location, the operator indicates that he is from the target hub service area SD6 by operating the touch screen display on the current autonomous vehicle ADV-0001. At the same time, the vehicle coordination equipment determines that the entity in the target hub service area SD6 has arrived at the rescue location.

In this example, the operator can also connect with the wireless communication device of the autonomous vehicle ADV-0001 through a handheld terminal, and send a message indicating that he is from the target hub service area SD6.

The operator who arrives at the rescue location and the vehicle coordination device of the current autonomous vehicle ADV-0001 are authenticated through the handheld terminal. After the authentication is successful, the operator will unload the faulty tire (right front tire) of the current autonomous vehicle ADV-0001. And replace the new tires brought from the target hub service area SD6 to the right front wheel position to complete the on-site tire replacement service project. In this process, the operator can use the handheld terminal to take pictures and/or video of the entire service process. The vehicle coordination equipment records the following log information: the authentication results of the vehicle coordination equipment and the handheld terminal, the model of the faulty tire, the model of the new tire, the price of the new tire, the time when the operator starts to disassemble the faulty tire, and the operator will The time when the tire is installed, the name and/or number of the operator.

After completing the on-site tire replacement project, the operator uses the handheld terminal to learn the fuel tank capacity of the autonomous vehicle, the current remaining fuel volume, and the amount of fuel added. Then, the operator operates the mobile energy vehicle as the current autonomous vehicle ADV-0001 Refuel, after adding the required amount of fuel, the handheld terminal can display and calculate the fuel cost. During this process, the vehicle coordination equipment recorded the following log information: the value of the fuel added, the fuel cost, the time of starting and ending refueling, and the name and/or number of the operator.

The operator uses the handheld terminal to interact with the current self-driving vehicle ADV-0001 to complete the payment of on-site replacement of auto parts (tyres) and on-site refueling.

After completing the on-site replacement of auto parts (tyres) and on-site refueling, the current autonomous vehicle ADV-0001 continues to drive to complete the corresponding transportation tasks, and the operator and mobile energy vehicle return to the target hub service area with handheld terminals and faulty tires SD6.

Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated according to needs. It is completed by different functional modules, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

In the several embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple units or components may be divided. It can be combined or integrated into another device, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate. The parts displayed as units may be one physical unit or multiple physical units, that is, they may be located in one place, or they may be distributed to multiple different places. . Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments. In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product, and the software product is stored in a storage medium. It includes several instructions to make a device (may be a single-chip microcomputer, a chip, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any changes or substitutions within the technical scope disclosed in this application shall be covered by the protection scope of this application. . Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

An automatic driving vehicle service system, characterized in that the system includes: a central control coordination device configured in a central control system, a vehicle coordination device configured in an automatic driving vehicle, and a hub coordination device configured in a hub service area ;among them,

Central control coordination equipment, vehicle coordination equipment, and hub coordination equipment communicate to determine vehicle service plans when autonomous vehicles require vehicle services;

The vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the hub service area according to the vehicle service plan;

The hub coordination device controls the entities in the hub service area to interact with the autonomous vehicle according to the vehicle service plan.
The self-driving car service system according to claim 1, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device communicate to determine the vehicle service plan when the autonomous vehicle needs vehicle service, including:

At least one of the central control coordination device and the vehicle coordination device determines whether the autonomous vehicle needs vehicle service;

When at least one of the central control coordination device and the vehicle coordination device determines that the autonomous vehicle needs vehicle service, the central control coordination device, the vehicle coordination device, and the hub coordination device communicate to determine the vehicle service plan.
The self-driving car service system according to claim 2, wherein at least one of the central control coordination device and the vehicle coordination device determines whether the self-driving car needs vehicle service, including:

In at least one of the two situations before the autonomous vehicle starts its journey and during the driving of the autonomous vehicle, at least one of the central control coordination device and the vehicle coordination device determines whether the autonomous vehicle needs vehicle services.
The self-driving car service system according to claim 2, wherein at least one of the central control coordination device and the vehicle coordination device determines whether the self-driving car needs vehicle service, including:

At least one of the central control coordination device and the vehicle coordination device determines in real time whether the autonomous driving vehicle needs vehicle service.
The self-driving car service system according to claim 2, wherein at least one of the central control coordination device and the vehicle coordination device determines whether the self-driving car needs vehicle service, including one or two of the following:

At least one of the central control coordination device and the vehicle coordination device periodically judges whether the autonomous driving vehicle needs vehicle service according to a preset time interval;

At least one of the central control coordination device and the vehicle coordination device determines whether the autonomous driving vehicle needs vehicle service when the predetermined condition is fulfilled.
The self-driving car service system according to claim 2, wherein at least one of the central control coordination device and the vehicle coordination device determines whether the self-driving car needs vehicle service, including:

At least one of the central control coordination device and the vehicle coordination device determines whether the autonomous driving vehicle needs vehicle service according to the vehicle-related parameters of the autonomous driving vehicle.
The self-driving car service system according to claim 1, wherein:

Central control coordination equipment, vehicle coordination equipment, and hub coordination equipment communicate to determine vehicle service plans when autonomous vehicles require vehicle services, including: central control coordination equipment, vehicle coordination equipment, and hub coordination equipment in at least one hub service area to communicate and determine targets Hub service area; central control coordination equipment, vehicle coordination equipment and hub coordination equipment in the target hub service area communicate to determine the vehicle service list;

Then, the vehicle coordination device controls the interaction between the autonomous vehicle and the entity in the hub service area according to the vehicle service plan, including: the vehicle coordination device controls the interaction between the autonomous vehicle and the entity in the target hub service area according to the vehicle service list;

The hub coordination device controls the entity in the hub service area to interact with the autonomous vehicle according to the vehicle service plan, including: the hub coordination device controls the entity in the target hub service area to interact with the autonomous vehicle according to the vehicle service plan.
The self-driving car service system according to claim 7, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the at least one hub service area communicate to determine the target hub service area, comprising:

At least one of the central control coordination device and the vehicle coordination device determines the vehicle requirements of the autonomous driving vehicle;

At least one of the central control coordination device and each of the hub coordination devices of the at least one hub service area determines the service area resources of the corresponding hub service area;

At least one of the central control coordination device and the vehicle coordination device determines the target hub service area according to the vehicle demand of the autonomous vehicle and the service area resources of the at least one hub service area.
The self-driving car service system according to claim 8, wherein the vehicle requirements of the self-driving car include one or more of the following:

Vehicle service items expected by autonomous vehicles;

Expected vehicle service time for autonomous vehicles;

The expected service location of the autonomous vehicle.
The self-driving car service system according to claim 8, wherein at least one of the central control coordination device and the vehicle coordination device determines the vehicle demand of the self-driving car, comprising:

At least one of the central control coordination device and the vehicle coordination device determines the vehicle requirements of the autonomous driving vehicle according to the vehicle-related parameters of the autonomous driving vehicle.
The self-driving car service system according to claim 8, wherein the service area resources of the hub service area include one or more of the following:

Vehicle service items provided by the hub service area;

The time when the hub service area provides vehicle services;

The fee standard for the provision of vehicle services in the hub service area.
The self-driving car service system according to claim 8, wherein at least one of the central control coordination device and each of the hub coordination devices of the at least one hub service area determines the corresponding hub service The service area resources of the district include:

At least one of the central control coordination device and each of the hub coordination devices of the at least one hub service area determines the service area resources of the corresponding hub service area according to the service area related parameters of the corresponding hub service area.
The self-driving car service system according to claim 8, wherein at least one of the central control coordination device and the vehicle coordination device is based on the vehicle demand of the self-driving car and the service area resources of the at least one hub service area Determine the target hub service area, including:

At least one of the central control coordination device and the vehicle coordination device matches the vehicle requirements of the autonomous vehicle with the service area resources of the at least one hub service area, and when the two are at least partially matched, it is determined that the autonomous vehicle and the The corresponding hub service area matches;

At least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area matched with the autonomous vehicle.
The self-driving car service system according to claim 13, wherein at least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area matching the self-driving car, comprising:

At least one of the central control coordination device and the vehicle coordination device sends an appointment request to the hub coordination device in the hub service area matching the autonomous vehicle; the appointment request includes the vehicle demand of the autonomous vehicle;

The hub coordination device that receives the reservation request determines whether to agree to provide vehicle services for the autonomous vehicle in the hub service area corresponding to the autonomous vehicle according to the vehicle demand of the autonomous vehicle, and returns a consent message when determining the consent;

At least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area corresponding to the hub coordination device that returns the consent message.
The self-driving car service system according to claim 8, wherein at least one of the central control coordination device and the vehicle coordination device is based on the vehicle demand of the self-driving car and the service area resources of the at least one hub service area Determine the target hub service area, including:

At least one of a central control coordination device and a vehicle coordination device broadcasts the vehicle demand of the autonomous vehicle;

The hub coordination device of the at least one hub service area receives the vehicle demand of the autonomous vehicle, and judges whether its corresponding hub service area is suitable according to the vehicle demand of the autonomous vehicle and the service area resources of its corresponding hub service area Provide vehicle services for autonomous vehicles and return the judgment results;

At least one of the central control coordination device and the vehicle coordination device receives the judgment result, and determines the corresponding hub service area when the judgment result is suitable as matching the autonomous driving vehicle;

At least one of the central control coordination device and the vehicle coordination device determines the target hub service area from the hub service area matching the autonomous vehicle according to a predetermined standard.
The autonomous driving vehicle service system according to claim 7, wherein the vehicle service list includes one or more of the following:

Actual vehicle service items;

The execution sequence of actual vehicle service items;

The authentication method corresponding to the actual vehicle service item;

Vehicle service location;

Vehicle service fees.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination device and the vehicle coordination device determines all vehicle service items expected by the autonomous driving vehicle;

At least one of the central control coordination device and the hub coordination device of the target hub service area determines all vehicle service items provided by the target hub service area;

At least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area determines the intersection of all vehicle service items expected by the autonomous vehicle and all vehicle service items provided by the target hub service area as the actual vehicle service items.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination device and the vehicle coordination device determines the first batch of vehicle service items expected by the autonomous vehicle;

The hub coordination equipment in the target hub service area determines the second batch of vehicle service items expected by the autonomous vehicle;

At least one of the central control coordination device and the hub coordination device of the target hub service area determines all vehicle service items provided by the target hub service area;

At least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area determines the union of the first batch of vehicle service items and the second batch of vehicle service items expected by the autonomous driving vehicle as autonomous driving All vehicle service items expected by the vehicle;

At least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area determines the intersection of all vehicle service items expected by the autonomous vehicle and all vehicle service items provided by the target hub service area as the actual vehicle service items.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

When at least one of the central control coordination equipment, the vehicle coordination equipment, and the hub coordination equipment of the target hub service area determines that the actual vehicle service items do not include road rescue related items, the location of the target hub service area is determined, and the location of the target hub service area is determined Determined as the vehicle service location.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

When at least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area determines that the actual vehicle service items include road rescue related items, determine the location of the autonomous vehicle;

At least one of the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area determines the rescue location based on at least one of the location of the autonomous vehicle and the location of the target hub service area, and The rescue location is determined as the vehicle service location.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination device and the hub coordination device of the target hub service area is based on the location of the service station corresponding to each actual vehicle service item in the target hub service area, the dependency relationship of different actual vehicle service items, and the target service area One or more of the relevant parameters of the service area to determine the execution order of the actual vehicle service items.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination device and the hub coordination device of the target hub service area determines the authentication method of each actual vehicle service item according to the authentication method adopted by the entity in the target hub service area for executing each actual vehicle service item. Right way.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination device and the hub coordination device of the target hub service area determines the time when the target hub service area provides vehicle services for the autonomous vehicle based on the service area related parameters of the target hub service area.
The self-driving car service system according to claim 16, wherein the central control coordination device, the vehicle coordination device, and the hub coordination device of the target hub service area communicate to determine the vehicle service list, including:

At least one of the central control coordination equipment and the hub coordination equipment of the target hub service area determines the cost standard of each actual vehicle service item, and calculates the vehicle service cost of each actual vehicle service item and/or all actual vehicle service items according to the cost standard The total vehicle service cost of the vehicle service item.
The self-driving car service system according to claim 16, wherein the vehicle service list includes vehicle service locations and actual vehicle service items, and the vehicle service location is the location of the target hub service area; then,

The vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the service area of the target hub according to the vehicle service list, including:

The vehicle coordination device controls the autonomous driving vehicle to enter the target hub service area according to the location of the target hub service area included in the vehicle service list;

The vehicle coordination device controls the autonomous driving vehicle to travel to the service station corresponding to the actual vehicle service item in the target hub service area according to each actual vehicle service item included in the vehicle service list;

The vehicle coordination device controls the autonomous vehicle to interact with entities in the service site to complete the actual vehicle service items;

And, the hub coordination device controls the interaction between entities in the hub service area and the autonomous vehicle according to the vehicle service list, including:

The hub coordination device determines the service station in the target hub service area corresponding to each actual vehicle service item included in the vehicle service list;

When the hub coordination device determines that the autonomous driving vehicle reaches the service site in the target hub service area corresponding to each actual vehicle service item, it controls the entity in the corresponding service site to interact with the autonomous vehicle to complete each actual vehicle service item.
The self-driving car service system according to claim 25, wherein the vehicle coordination device controls the self-driving car to travel to the service site corresponding to each actual vehicle service item in the target hub service area, comprising:

The vehicle coordination equipment determines the driving route of the autonomous vehicle in the service area of the target hub;

The vehicle coordination device controls the automatic driving vehicle to drive according to the driving route to the service station corresponding to each actual vehicle service item in the target hub service area.
The self-driving car service system according to claim 26, wherein the vehicle service list further includes the execution sequence of the actual vehicle service items, then the vehicle coordination device determines the driving route of the self-driving car in the target hub service area ,include:

The vehicle coordination device determines the order in which the autonomous vehicle arrives at the service station corresponding to each actual vehicle service item according to the execution sequence of each actual vehicle service item included in the vehicle service list;

The vehicle coordination device determines the driving route of the autonomous vehicle in the target hub service area according to the order in which the autonomous vehicle arrives at the service station corresponding to each actual vehicle service item and the location of the service station.
The self-driving car service system according to claim 26, wherein the vehicle coordination device determines the driving route of the self-driving car in the target hub service area, comprising:

The vehicle coordination device receives the driving route of the autonomous vehicle in the target hub service area sent by the hub coordination device of the target hub service area, where the driving route is the actual vehicle included in the corresponding hub coordination device according to the vehicle service list The execution sequence of the service items is determined by the location of the service site corresponding to each actual vehicle service item.
The self-driving car service system according to claim 16, wherein the vehicle service list includes vehicle service locations and actual vehicle service items, and the vehicle service location is a rescue location; then,

The vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the target hub service area according to the vehicle service list, including: the vehicle coordination device determines the rescue location according to the vehicle service location included in the vehicle service list; the vehicle coordination device determines the target hub service area After the entity in arrives at the rescue location, controlling the autonomous vehicle to interact with the entity arriving at the rescue location to complete each actual vehicle service item included in the vehicle service list;

And, the hub coordination device controls the entity in the target hub service area to interact with the autonomous vehicle according to the vehicle service list, including: the hub coordination device determines the rescue location based on the vehicle service location included in the vehicle service list; the hub coordination device determines the rescue location based on the vehicle service list. For each actual vehicle service item included in the vehicle service list, determine one or more entities used to provide each actual vehicle service item; the hub coordination equipment dispatches the one or more entities to the rescue location, and After one or more entities arrive at the rescue location, they control the one or more entities to interact with the autonomous vehicle to complete the actual vehicle service items.
The self-driving car service system according to claim 16, wherein the vehicle service list includes authentication methods of actual vehicle service items; then,

The vehicle coordination device controls the interaction between the autonomous vehicle and the entities in the target hub service area according to the vehicle service list, including: the vehicle coordination device controls the automatic driving according to the authentication method of each actual vehicle service item included in the vehicle service list The vehicle and the entities in the service area of the target hub mutually authenticate each other and complete the corresponding actual vehicle service items interactively after the authentication is successful;

And, the hub coordination device controls the entities in the target hub service area to interact with the autonomous vehicle according to the vehicle service list, including: the hub coordination device controls the authentication method of each actual vehicle service item included in the vehicle service list according to the authentication method of each actual vehicle service item included in the vehicle service list. The entity in the service area of the target hub and the autonomous vehicle mutually authenticate each other and complete the corresponding actual vehicle service items after the authentication is successful.
The self-driving car service system according to claim 16, wherein the vehicle service list includes vehicle service fees; then,

The vehicle coordination device controls the interaction between the autonomous driving vehicle and the entities in the target hub service area according to the vehicle service list, including: the vehicle coordination device controls the autonomous driving vehicle to the target hub service area according to the vehicle service fee included in the vehicle service list Entity payment;

And, the hub coordination device controls the entity in the target hub service area to interact with the autonomous vehicle according to the vehicle service list, including: the hub coordination device determines that the autonomous vehicle pays to the entity in the target hub service area and the vehicle service Whether the vehicle service fees included in the list are consistent, and when the two are inconsistent, send a message containing the repaid fees or refund fees to the vehicle coordination device.
The self-driving car service system according to claim 1, wherein the vehicle coordination device controls the interaction between the self-driving car and the entities in the hub service area according to the vehicle service plan, including: the vehicle coordination device interacts with the self-driving car and the hub. The process of interaction between entities in the service area is logged.
The self-driving car service system according to claim 1, wherein the hub coordination device controls the interaction between entities in the hub service area and the autonomous vehicle according to the vehicle service plan, including: the hub coordination device interacts with the autonomous vehicle in the hub service area. The process of the entity interacting with the autonomous vehicle is recorded in a log.
A vehicle service system, characterized in that, the vehicle service system includes:

Central control system;

Self-driving car

Hub service area; and,

The self-driving car service system according to claims 1 to 33.
An autonomous driving vehicle service method, characterized in that it is applied to a vehicle coordination device, the vehicle coordination device being configured in an autonomous vehicle, and the method includes:

When the autonomous vehicle needs vehicle services, the vehicle coordination device communicates with the central control coordination device and the hub coordination device to determine the vehicle service plan, and controls the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan; where, the hub The coordination equipment is configured in the hub service area, and the central control coordination equipment is configured in the central control system.
The self-driving car service method according to claim 35, wherein the vehicle coordination device communicates with the central control coordination device and the hub coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, including:

The vehicle coordination device communicates with the central control coordination device and the hub coordination device of at least one hub service area to determine the target hub service area;

The vehicle coordination equipment communicates with the central control coordination equipment and the hub coordination equipment in the target hub service area to determine the vehicle service list.
The self-driving car service method according to claim 36, wherein the vehicle service list includes one or more of the following:

Actual vehicle service items;

The execution sequence of actual vehicle service items;

The authentication method corresponding to the actual vehicle service item;

Vehicle service location;

Vehicle service fees.
A vehicle coordination device, characterized in that, the vehicle coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor executes rights when the computer program is running. The method described in any one of 35 to 37 is required.
An automatic driving vehicle, characterized in that, the automatic driving vehicle includes: vehicle coordination equipment;

The vehicle coordination device is used to communicate with the central control coordination device and the hub coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, and control the autonomous vehicle to interact with entities in the hub service area according to the vehicle service plan ; Among them, the hub coordination device is configured in the hub service area, and the central control coordination device is configured in the central control system.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 35 to 37 when the computer program is run by a processor.
An autonomous vehicle service method, characterized in that it is applied to a hub coordination device, the hub coordination device being configured in a hub service area, and the method includes:

The hub coordination device is used to communicate with the central control coordination device and the vehicle coordination device to determine a vehicle service plan when the autonomous vehicle needs vehicle service, and control the interaction between entities in the hub service area and the autonomous vehicle according to the vehicle service plan; wherein The vehicle coordination device is configured in an autonomous vehicle, and the central control coordination device is configured in a central control system.
The autonomous driving vehicle service method according to claim 41, wherein the hub coordination device is used to communicate with the central control coordination device and the vehicle coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, including:

The hub coordination device of at least one hub service area communicates with the central control coordination device and the vehicle coordination device to determine the target hub service area;

The hub coordination equipment in the target hub service area communicates with the central control coordination equipment and the vehicle coordination equipment to determine the vehicle service list.
The self-driving car service method according to claim 42, wherein the vehicle service list includes one or more of the following:

Actual vehicle service items;

The execution sequence of actual vehicle service items;

The authentication method corresponding to the actual vehicle service item;

Vehicle service location;

Vehicle service fees.
A hub coordination device, characterized in that, the hub coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor executes rights when the computer program is running. The method described in any one of 41 to 43 is required.
A hub service area, characterized in that the hub service area includes a hub coordination device and at least one entity;

The hub coordination device is used to communicate with the central control coordination device and the vehicle coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, and control the interaction between entities in the hub service area and the autonomous vehicle according to the vehicle service plan ; Wherein, the vehicle coordination device is configured in an autonomous vehicle, and the central control coordination device is configured in a central control system.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the method according to any one of claims 41 to 43 when the computer program is run by a processor.
An autonomous vehicle service method, characterized by being applied to a central control coordination device, the central control coordination device being configured in a central control system, and the method includes:

When the autonomous vehicle needs vehicle service, the central control coordination device communicates with the vehicle coordination device and the hub coordination device to determine the vehicle service plan, so that the hub coordination device and the vehicle coordination device respectively control the entities in the hub service area according to the vehicle service plan Interact with the autonomous vehicle; among them, the hub coordination device is configured in the hub service area, and the vehicle coordination device is configured in the autonomous vehicle.
The autonomous driving vehicle service method according to claim 47, wherein the central control coordination device communicates with the vehicle coordination device and the hub coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, including:

The central control coordination device communicates with the vehicle coordination device and the hub coordination device of at least one hub service area to determine the target hub service area;

The central control coordination equipment communicates with the vehicle coordination equipment and the hub coordination equipment of the target hub service area to determine the vehicle service list.
The self-driving car service method according to claim 47, wherein the vehicle service list includes one or more of the following:

Actual vehicle service items;

The execution sequence of actual vehicle service items;

The authentication method corresponding to the actual vehicle service item;

Vehicle service location;

Vehicle service fees.
A central control coordination device, characterized in that, the central control coordination device includes a processor, a memory, and a computer program stored in the memory and running on the processor, and when the processor runs the computer program, Perform the method of any one of claims 47 to 49.
A central control system, characterized in that, the central control system includes: central control coordination equipment;

The central control coordination device is used to communicate with the vehicle coordination device and the hub coordination device to determine the vehicle service plan when the autonomous vehicle needs vehicle service, so that the vehicle coordination device and the hub coordination device respectively control the automatic driving according to the vehicle service plan The vehicle interacts with entities in the hub service area; among them, the hub coordination device is configured in the hub service area, and the central control coordination device is configured in the central control system.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the method according to any one of claims 47 to 49 when the computer program is run by a processor.