WO2023050640A1 - 车辆调度 - Google Patents

车辆调度 Download PDF

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Publication number
WO2023050640A1
WO2023050640A1 PCT/CN2022/070734 CN2022070734W WO2023050640A1 WO 2023050640 A1 WO2023050640 A1 WO 2023050640A1 CN 2022070734 W CN2022070734 W CN 2022070734W WO 2023050640 A1 WO2023050640 A1 WO 2023050640A1
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Prior art keywords
task
vehicle
central processing
processing device
dispatched
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PCT/CN2022/070734
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English (en)
French (fr)
Inventor
黄超
柴桢亮
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上海仙途智能科技有限公司
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Publication of WO2023050640A1 publication Critical patent/WO2023050640A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present disclosure relates to the technical field of intelligent driving, in particular to a method and device for vehicle scheduling.
  • a vehicle scheduling system For fleets with multiple intelligent driving vehicles, especially in the field of unmanned cleaning, a vehicle scheduling system is very necessary. First of all, it plays the role of connecting multiple intelligent driving sweepers in series, so that each unmanned sweeper is no longer a single independent individual, but a part of the entire fleet.
  • the vehicle scheduling system can determine each The job tasks that individual vehicles need to perform, including their start time and sub-tasks that need to be performed in the middle, avoid multiple vehicles from performing repeated operations. At the same time, the vehicle scheduling system can improve the cleaning efficiency of cleaning operations through reasonable task allocation. Improve cleaning effect.
  • each individual vehicle needs to be connected to the vehicle dispatching system after being manually started, after which the vehicle dispatching system can receive the status data of the vehicle and perform job scheduling on it, but there is a problem in this mode: in Before the vehicle is started and connected to the vehicle dispatching system, the vehicle has been in an offline state and cannot accept the instructions of the vehicle dispatching system. In the context of the sanitation field, part of the cleaning work starts at night. It is very labor-intensive to be responsible for the start-up of the vehicle hardware and software and the configuration of the job.
  • embodiments of the present disclosure provide at least one vehicle scheduling method and device.
  • a vehicle dispatching method is provided, the method is executed by a constant power module arranged on the side of the vehicle to be dispatched, and the method includes: receiving a vehicle dispatching The task information sent by the server, the task information includes information about at least one task to be performed by the vehicle to be dispatched; based on the task information, start the central processing device of the vehicle to be dispatched; after the central processing device is started and sending a first task execution instruction corresponding to the task in the task information to the central processing device, so that the central processing device controls the vehicle to be scheduled to execute the task according to the first task execution instruction.
  • a vehicle scheduling method is provided.
  • the method is executed by the central processing device of the vehicle to be dispatched, and the method includes: the central processing device starts under the control of the constant power module on the side of the vehicle to be dispatched;
  • the central processing device receives the first task execution instruction sent by the constant power module, the first task execution instruction includes the task to be executed by the vehicle to be dispatched; controls the vehicle to be dispatched according to the first task execution instruction Perform the task described.
  • a vehicle dispatching method is provided, the method is executed by a vehicle dispatching server, and the method includes: determining the working state of a central processing device of a vehicle to be dispatched; The constant power module on the side of the vehicle to be dispatched sends task information, and the task information includes information about at least one task to be performed by the vehicle to be dispatched.
  • a constant power device is provided, the constant power device is arranged on the side of the vehicle to be dispatched, and the device includes: a task receiving module and an equipment control module; the task receiving module is used to receive task information, and the The task information includes the task to be executed by the vehicle to be dispatched; and, after the central processing device of the vehicle to be dispatched is started, sending the first task execution instruction corresponding to the task in the task information to the central processing device, The central processing device is used to control the vehicle to be dispatched to execute the task according to the first task execution instruction; the device control module is used to start the task after the task receiving module receives the task information. Describe the central processing equipment of vehicles to be dispatched.
  • a vehicle dispatching device the device is located in the central processing device of the vehicle to be dispatched, and the central processing device is started under the control of the constant power module on the side of the vehicle to be dispatched, and the device includes:
  • the configuration module is configured to receive the first task execution instruction sent by the constant power module, the first task execution instruction includes the task to be executed by the vehicle to be dispatched;
  • the background execution module is configured to execute according to the first task The instruction controls the vehicle to be dispatched to execute the task.
  • a vehicle dispatching device is provided, the device is located in a vehicle dispatching server, and the device includes: a vehicle communication module, configured to determine the working status of a central processing device of a vehicle to be dispatched; a task issuing module, configured to respond to When the central processing device is in a non-working state, issue task information to the constant power module on the side of the vehicle to be dispatched, where the task information includes information about at least one task to be performed by the vehicle to be dispatched.
  • an unmanned vehicle includes: a constant power module and a central processing device; the constant power module is used to receive the task information sent by the vehicle dispatching server, and based on the task information, start The central processing device; after the central processing device is started, send the first task execution instruction corresponding to the task in the task information to the central processing device, and the task information includes the unmanned vehicle to be executed Information about at least one task; the central processing device is configured to receive the first task execution instruction sent by the constant power module, and the unmanned driving system in the central processing device executes the instruction according to the first task The unmanned vehicle is controlled to perform the task.
  • an electronic device in an eighth aspect, includes a memory and a processor, the memory is used to store computer instructions that can be run on the processor, and the processor is used to implement the present disclosure when executing the computer instructions The method described in any embodiment.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in any embodiment of the present disclosure is implemented.
  • the constant power module can receive task information even when the software and hardware of the vehicle to be dispatched are not started, and start
  • the central processing device of the vehicle to be dispatched sends the first task execution instruction corresponding to the task in the previously received task information to the central processing device, so that the central processing device controls the vehicle to be dispatched to perform the task according to the first task execution instruction, thereby
  • the vehicle to be dispatched can receive the issued task information and execute the task at any time under the condition of unmanned driving, which solves the problem that the vehicle to be dispatched cannot automatically wake up and complete the issued task in time after being turned off in the past, and reduces the burden of human resources. consume.
  • Fig. 1 is a flowchart of a vehicle dispatching method shown in at least one embodiment of the present disclosure
  • Fig. 2 is a flowchart of a vehicle scheduling method shown in at least one embodiment of the present disclosure
  • Fig. 3 is a flowchart of a vehicle dispatching method shown in at least one embodiment of the present disclosure
  • Fig. 4 is a block diagram of a constant current device shown in at least one embodiment of the present disclosure.
  • Fig. 5 is a block diagram of a vehicle dispatching device shown in at least one embodiment of the present disclosure
  • Fig. 6 is a block diagram of a vehicle dispatching device shown in at least one embodiment of the present disclosure
  • Fig. 7 is a schematic structural diagram of a vehicle dispatching system shown in at least one embodiment of the present disclosure.
  • Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to at least one embodiment of the present disclosure.
  • first, second, third, etc. may be used in this specification to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word “if” as used herein may be interpreted as “at” or “when” or “in response to a determination.”
  • Figure 1 is a flow chart of a vehicle dispatching method shown in at least one embodiment of the present disclosure, the method can be executed by a constant power module arranged on the side of the vehicle to be dispatched, and the constant power module is a device powered by a battery , because the constant power module is powered by batteries, it can always be in a non-shutdown state when the vehicle is not started.
  • the method includes the following steps: In step 102, the task information sent by the vehicle dispatching server is received, and the task information includes information of at least one task to be performed by the vehicle to be dispatched.
  • the vehicle dispatching server is the central server of the vehicle dispatching system, and the vehicle dispatching server can send task execution instructions to vehicles to be dispatched in multiple vehicle dispatching systems. For the vehicles to be dispatched whose central processing equipment is already in working state, the vehicle dispatching server directly sends task execution instructions to the central processing equipment of the vehicles to be dispatched, so as to schedule the vehicles to perform corresponding tasks.
  • the central processing equipment on the vehicle is not in the working state but offline. At this time, the vehicle to be dispatched cannot receive any instructions issued by the vehicle dispatching server. It is necessary for the personnel to start the vehicle and complete the configuration of the task After the central processing device enters the working state, it can receive the task execution instruction issued by the vehicle dispatching server.
  • the inventor has conducted in-depth research and introduced a constant power module on the side of the vehicle to be dispatched.
  • the vehicle dispatching server sends the task information of the task to be performed to the constant power module of the vehicle to be dispatched, instead of the central processing device that cannot be connected.
  • the battery that supplies power to the constant power module can be a rechargeable battery pack that can be automatically charged on the vehicle after the vehicle is started. The battery pack of the constant power module is charged by the vehicle power supply system during the operation of the vehicle to ensure that the battery does not need to be replaced frequently.
  • the constant power module receives the task information sent by the vehicle dispatching server, and the task information includes at least one task to be performed by the vehicle to be dispatched.
  • the vehicle to be dispatched is an unmanned sweeper
  • the task information includes four tasks including task a, task b, task c, and task d. These four tasks are the cleaning tasks to be performed by the unmanned sweeper.
  • Each task can specifically include the park that the unmanned sweeper needs to clean, the driving route during cleaning, and the time when cleaning starts.
  • step 104 based on the task information, start the central processing device of the vehicle to be dispatched.
  • the constant power module can immediately start the central processing device of the vehicle to be dispatched when receiving the task information, so that the central processing device enters the working state; it can also receive the task information and the task information also includes the respective tasks of the above-mentioned at least one task
  • the constant power module may wait, and in response to reaching the task execution time of any task, start the central processing device of the vehicle to be dispatched. For example, when any one of the above four tasks reaches its task execution time, the central processing device can be started.
  • the constant power module includes: an electronically controlled switch and an electronic control unit;
  • the electric control switch sends a startup instruction, and the startup instruction is used to instruct the electric control switch to start the central processing device; the electric control switch controls the central processing device to be powered on according to the received startup instruction to start the central processing device.
  • the electric control switch may be various types of relays, and in other examples, a contactor, an integrated switching circuit or a thyristor may also be used as the electric control switch.
  • the electronic control unit is ECU (Electronic Control Unit), on which the control program is stored. The electronic control unit can send commands to the relay to open and close the switches in it to realize operations such as power-on and power-off of vehicle equipment.
  • the electronic control unit sends a starting command to the circuit board relay, and after receiving the starting command, the relay powers on the vehicle equipment including the central processing device to start the central processing device.
  • the electronic control unit when the constant power module receives the shutdown command sent by the central processing device or the vehicle dispatching server, the electronic control unit sends a power-off command to the electric control switch, and the electric control switch closes the switch after receiving the power-off command, and the vehicle The device is powered down to shut down the central processing device.
  • the central processing device of the vehicle to be dispatched based on the task information when starting the central processing device of the vehicle to be dispatched based on the task information, it also includes: based on the task information, starting the vehicle to be dispatched at least as follows
  • a device a computing device, power supply, vehicle sensor, or push button switch assembly.
  • the central processing equipment on the vehicle when the central processing equipment on the vehicle is started, it is often started together with other equipment on the vehicle.
  • the electronic control switch controlled by the constant power module will control the power-on and power-off shutdown of all vehicle equipment .
  • the vehicle equipment activated by the constant power module includes at least one of the following devices in addition to the central processing equipment: computing equipment on the vehicle, such as main computing equipment and auxiliary computing equipment; vehicle sensors, such as sensory Special equipment for cameras; power supply, such as 12v power switch; and button switch components, such as manual and automatic switching buttons and other switches corresponding to various functions on the vehicle; etc.
  • step 106 after the central processing device is started, the first task execution instruction corresponding to the task in the task information is sent to the central processing device, so that the central processing device executes the task according to the first task.
  • the instruction controls the vehicle to be dispatched to execute the task.
  • the first task execution instruction may be an instruction including any task in the task information, and the first task execution instruction is used to instruct the central processing device to control the vehicle to be dispatched to execute the task in the first task execution instruction.
  • the constant power module may first determine whether the central processing device is successfully started, and after determining that the central processing device is successfully started, send the first task execution instruction to the central processing device. If the central processing device does not start successfully, you can try to restart the central processing device.
  • the constant power module after starting the central processing device, the constant power module sends a confirmation signal to the central processing device, and when receiving the response signal of the confirmation signal sent by the central processing device, it can be determined that the central processing device is successfully started, and the first A task execution instruction is sent to the central processing device, so that the central processing device controls the vehicle to be dispatched to execute the task according to the first task execution instruction.
  • the constant power module When the constant power module sends the first task execution instruction corresponding to the task in the task information to the central processing device, it can be sent according to the importance of multiple tasks in the task information, and each task can carry a label indicating the importance , the constant power module first sends the first task execution instruction corresponding to the most important task to the central processing device, and after detecting that the central processing device controls the vehicle to execute the above-mentioned most important task, it then sends the rest according to the importance Task. It can also be that multiple tasks in the task information have already carried the tags of the sending order, and the constant power module sends the remaining tasks after the central processing device executes the last task in turn according to the sending order.
  • the constant power module can send according to the task execution time of multiple tasks in the task information.
  • the constant power module can be used as a time-based task scheduler, and in the last step, it responds to the arrival of any task.
  • Task execution time After the central processing device of the vehicle to be dispatched is started, the first task execution instruction corresponding to the task reaching the task execution time in the task information is sent to the central processing device.
  • the central processing device is started, and after the central processing device is started, the first task execution instruction corresponding to task b is sent to the central processing device, so that the central processing device The device controls the vehicle to be dispatched to execute task b according to the first task execution instruction.
  • the central processing device can be shut down after executing the b task, and then repeat the cycle step 104 and step 106, that is, after the central processing device is shut down, when other tasks reach their task execution time, start the central processing device again, Then send the corresponding task execution instructions.
  • the central processing device can also not shut down after executing task b, and the constant power module waits for other tasks to reach their task execution time, and sends the task execution instruction corresponding to the task that reaches the task execution time to the central processing device.
  • the constant power device may also send an initialization command to the central processing device, and the initialization command is used to initialize task-related configuration in the central processing device .
  • the GRPC Google Remote Procedure Call, Google Remote Procedure Call
  • the constant power module can still receive new task information sent by the vehicle dispatching server.
  • the constant power module can receive task information even when the software and hardware of the vehicle to be dispatched are not started, and start the vehicle to be dispatched
  • the central processing device sends the first task instruction corresponding to the task in the previously received task information to the central processing device, so that the central processing device controls the vehicle to be dispatched to perform the task according to the first task execution instruction, so that the vehicle to be dispatched It can receive the issued task information and execute the task at any time under the condition of unmanned driving, which solves the problem that the vehicles to be dispatched in the past cannot automatically wake up and complete the issued tasks in time after they are turned off, and reduces the consumption of human resources.
  • FIG. 2 is a flow chart of a vehicle dispatching method shown in at least one embodiment of the present disclosure.
  • the method can be executed by a central processing device of a vehicle to be dispatched.
  • the method includes the following steps: In step 202, the central The processing device is started under the control of the constant power module on the side of the vehicle to be dispatched.
  • the central processing device on the vehicle to be dispatched can receive the task execution instruction sent by the vehicle dispatching server, and execute the task according to the instruction of the task execution instruction, but the role of the central processing device can only be played after it is started.
  • the software and hardware on the vehicle to be dispatched need to be manually activated.
  • the central processing device is also shut down and is in a non-working state.
  • a constant power module is introduced on the side of the vehicle to be dispatched.
  • the constant power module is a device powered by a battery. Since the constant power module is powered by a battery, it can always be in a state of not shutting down when the vehicle is not started.
  • the constant power module receives the task execution instruction sent by the vehicle dispatching server when the central processing device is not started, and controls the central processing device to be powered on and started.
  • the central processing device After the central processing device is started, it can receive and send signals. When receiving the confirmation signal sent by the constant power module, it will reply a reply signal of the confirmation signal, so that the constant power module can confirm that the central processing device has been successfully started.
  • step 204 the central processing device receives a first task execution instruction sent by the constant power module, and the first task execution instruction includes the task to be executed by the vehicle to be dispatched.
  • the constant power module After the central processing device is started, the first task execution instruction sent by the constant power module to the central processing device, the constant power module receives the task information sent by the vehicle dispatching server when the central processing device is not started in advance, and then the task in the task information The corresponding first task execution instruction is sent to the central processing device.
  • the central processing device may include two modules: a task configuration module and a background execution module.
  • the constant power module controls the start of the central processing device, which may first control the start of the task configuration module in the central processing device, and the task configuration module receives the first task execution instruction sent by the constant power module. Then the task configuration module pulls up the background execution module to detect whether the background execution module is running normally to ensure its survival; the task configuration module and the background execution module can also be started together with the vehicle under the control of the constant power module.
  • the task configuration module After receiving the first task execution instruction sent by the constant power module, the task configuration module sets the tasks to be executed in the first task execution instruction to the application program of the background execution module.
  • the task configuration module can also receive the initialization instruction sent by the constant power module, and initialize the task-related configuration of the unmanned driving system in the background execution module, so that the unmanned driving system can control the vehicle to perform tasks.
  • step 206 the vehicle to be dispatched is controlled to execute the task according to the first task execution instruction.
  • the vehicle to be dispatched is an unmanned sweeper
  • the central processing device controls the unmanned sweeper to perform cleaning operations according to the task plan in the first task execution instruction.
  • the central processing device can send a shutdown command to the constant power module, so that the constant power module controls the shutdown of the central processing device to end the operation.
  • the central processing device of the vehicle to be dispatched is started by the constant power module, and accepts the first task execution instruction sent by the constant power module,
  • the central processing device controls the vehicle to be dispatched to perform the task according to the first task execution instruction, so that the vehicle to be dispatched can receive the task information and execute the task at any time under the condition of unmanned driving.
  • the problem that it cannot automatically wake up and complete the assigned tasks in time reduces the consumption of human resources.
  • the method further includes: the central processing device sends an online signal to the vehicle dispatching server, and the online signal is used for Indicates that the central processing device has entered the working state; the central processing device receives the second task execution instruction sent by the vehicle dispatching server after receiving the online signal, and the second task execution instruction includes at least one of the following : the new task to be executed by the vehicle to be dispatched and the control command to the vehicle to be dispatched.
  • the central processing device can receive new task execution instructions and/or control commands of vehicles to be dispatched subsequently sent by the vehicle dispatching server.
  • the central processing device needs to send an online signal to the vehicle dispatching server to inform the vehicle dispatching server that the central processing device has entered the working state, so that the vehicle dispatching server will add the central processing device as an object for issuing subsequent task execution instructions.
  • a second task execution instruction can be issued to the central processing device of the vehicle, and after receiving the second task execution instruction, the central processing device of the vehicle can follow the instructions of the second task execution instruction. Instructions to control new tasks performed by the vehicle or perform corresponding operations.
  • the control command of the vehicle to be dispatched can be any operation instruction of the vehicle to be dispatched, and can be sent to the control command of the vehicle to be dispatched when the central processing device of the vehicle to be dispatched is powered on.
  • the control command can be During the execution of the mission, the dispatched vehicle commands the dispatched vehicle to return to the initial position of the mission, orders the dispatched vehicle to change the mission route, orders the dispatched vehicle to stop or reverse, etc.
  • Figure 3 is a flowchart of a vehicle dispatching method shown in at least one embodiment of the present disclosure, the method can be used in a vehicle dispatching server, the method includes the following steps: In step 302, determine the vehicle to be dispatched The working status of the central processing device.
  • the vehicle dispatching server is the central server of the vehicle dispatching system, and the vehicle dispatching server can send task execution instructions to vehicles to be dispatched in multiple vehicle dispatching systems. Before sending the task execution instruction, the vehicle dispatching server may first determine the working status of the central processing device of the vehicle to be dispatched corresponding to the task to be executed.
  • step 304 in response to the central processing device being in an off state, task information is sent to the constant power module on the side of the vehicle to be dispatched.
  • the task information includes information about at least one task to be performed by the vehicle to be dispatched.
  • the vehicle dispatching server sends task information to the constant power module of the vehicle to be dispatched.
  • the constant power module is a battery-powered device on the vehicle to be dispatched. Since the constant power module is powered by a battery, it can always be in a non-shutdown state when the vehicle is not started.
  • the constant power module can start the central processing device of the vehicle to be dispatched after receiving the task information, and send the first task execution instruction corresponding to the task in the task information to the central processing device, so that the central processing device executes the first task according to the first task. Instructions control the vehicles to be dispatched to perform tasks.
  • the vehicle dispatching server in the vehicle dispatching method in the embodiment of the present disclosure can send task information to the constant power module on the side of the vehicle to be dispatched when the central processing device of the vehicle to be dispatched is not in the working state.
  • the task information can also be received, and the central processing device of the vehicle to be dispatched can be started, and the task information received previously can be sent to the central processing device, so that the central processing device can control the vehicle to be dispatched according to the task information Execute the task, so that the vehicle to be dispatched can receive the task information issued by the vehicle dispatching server at any time and execute the task under the condition of unmanned driving, which solves the problem that the vehicle to be dispatched cannot automatically wake up and complete the issued task in time after the vehicle is turned off. problem, reducing the consumption of human resources.
  • the method further includes: receiving an online signal sent by the central processing device of the vehicle to be dispatched, the online signal is used to indicate that the central processing device has entered work Status: sending a second task execution instruction to the central processing device, the second task execution instruction including at least one of the following: a new task to be executed by the vehicle to be dispatched and a control command to the vehicle to be dispatched.
  • the central processing device can receive new task execution instructions sent by the vehicle dispatching server subsequently.
  • the central processing device needs to send an online signal to the vehicle dispatching server to inform the vehicle dispatching server that the central processing device has entered the working state, so that the vehicle dispatching server will add the central processing device as an object for issuing subsequent task execution instructions.
  • a second task execution instruction can be issued to the central processing device of the vehicle, and the central processing device of the vehicle can execute the second task according to the second task execution instruction after receiving the second task execution instruction.
  • the vehicle dispatching server side of the vehicle dispatching system can include four modules: task dispatching application UI (User Interface, user interface) module, task dispatching service module, data storage service module (or database module) and task send module.
  • task dispatching application UI User Interface, user interface
  • task dispatching service module data storage service module (or database module)
  • task send module The internal communication protocol of the server is generally HTTP (Hyper Text Transfer Protocol, hypertext transfer) protocol.
  • Module 1 task scheduling application UI module, corresponding to the operation interface seen by the user through the browser.
  • Module 2 task scheduling service module, used to implement a series of functions of the task scheduler, including the custom task period for each vehicle and the setting of each executed task to generate a task scheduling plan. Wherein, when setting the task, any expression conforming to the crontab format can be used, so that the task timing can be started using the system crontab service or a service similar to the system crontab service for task polling.
  • Module 3 data storage service module, used to record the set task scheduling plan.
  • Task distribution module which is used to disassemble all task scheduling plans recorded in the data storage service module into specific execution instances, record them in the data storage service module, and then execute the calculated tasks in order The instance is sent to the constant power module corresponding to the vehicle to be dispatched in the form of task information.
  • the user can set the routine operation time and corresponding operation tasks of the vehicles to be dispatched through the interface of module 1, and the above-mentioned content set by the user can be expressed by parameters; module 1 sends the parameters set by the user to module 2 through the http protocol, and module 2 After the parameters are preprocessed, the corresponding task scheduling plan is generated and stored in module 3.
  • Module 4 periodically scans the data of the task scheduling plan in module 3, converts it into an execution instance and records it in the data storage service module, and periodically executes The task information corresponding to the instance is sent to the constant power module of the vehicle to be dispatched. If the sending fails, it will wait for the next cycle to continue sending.
  • FIG. 4 is a block diagram of a constant power device shown in at least one embodiment of the present disclosure.
  • the device can be set on the side of the vehicle to be dispatched.
  • the device is powered by a battery.
  • the device can include: a task receiving module and a device control module; the task receiving module 41 is configured to receive task information, and the task information includes information about at least one task to be performed by the vehicle to be dispatched; and, after the central processing device of the vehicle to be dispatched is started , sending a first task execution instruction corresponding to the task in the task information to the central processing device, where the central processing device is used to control the vehicle to be scheduled to execute the task according to the first task execution instruction;
  • the device control module 42 is configured to start the central processing device of the vehicle to be dispatched after the task receiving module receives the task information.
  • the device control module 42 includes: an electronic controller and an electric control switch; the electronic controller is configured to, after the task receiving module receives the task information, send Sending a start instruction, the start instruction is used to instruct the electric control switch to start the central processing device; the electric control switch is used to control the central processing device to be powered on and start according to the received start instruction.
  • the task receiving module 41 is a 4G module.
  • the task information includes the task execution time of each of the at least one task
  • the equipment control module 42 is specifically configured to: respond to the arrival of the task execution time of any task, start the In the central processing device, the task receiving module 41 is further configured to send to the central processing device a first task execution instruction corresponding to the task that reaches the task execution time in the task information.
  • the equipment control module 42 is further configured to activate at least one of the following devices of the vehicle to be dispatched based on the task information: a computing device, a power supply, a vehicle sensor or a button switch assembly.
  • Fig. 5 is a block diagram of a vehicle dispatching device shown in at least one embodiment of the present disclosure, the device is located in the central processing device of the vehicle to be dispatched, and the central processing device is on the side of the vehicle to be dispatched Start under the control of the constant power module, the device includes: a task configuration module 51, configured to receive the first task execution instruction sent by the constant power module, the first task execution instruction includes the vehicle to be dispatched to be executed Task; background execution module 52, configured to control the vehicle to be dispatched to execute the task according to the first task execution instruction.
  • a task configuration module 51 configured to receive the first task execution instruction sent by the constant power module, the first task execution instruction includes the vehicle to be dispatched to be executed Task
  • background execution module 52 configured to control the vehicle to be dispatched to execute the task according to the first task execution instruction.
  • the task configuration module 51 is also used to: send an online signal to the vehicle dispatching server, the online signal is used to indicate that the central processing device has entered the working state;
  • a second task execution instruction sent after the online signal, the second task execution instruction includes at least one of the following: a new task to be executed by the vehicle to be dispatched and a control command to the vehicle to be dispatched.
  • Fig. 6 is a block diagram of a vehicle dispatching device shown in at least one embodiment of the present disclosure, the device is located in the vehicle dispatching server, and the device includes: a vehicle communication module 61, used to determine the vehicle to be dispatched The working state of the central processing device; the task sending module 62, which is used to send task information to the constant power module on the side of the vehicle to be dispatched in response to the central processing device being in a non-working state, and the task information includes the Information about at least one task to be executed by the vehicle to be dispatched.
  • a vehicle communication module 61 used to determine the vehicle to be dispatched The working state of the central processing device
  • the task sending module 62 which is used to send task information to the constant power module on the side of the vehicle to be dispatched in response to the central processing device being in a non-working state, and the task information includes the Information about at least one task to be executed by the vehicle to be dispatched.
  • the task delivery module 62 is also configured to receive an online signal sent by the central processing device of the vehicle to be dispatched, the online signal is used to indicate that the central processing device has entered a working state;
  • the central processing device sends a second task execution instruction, and the second task execution instruction includes at least one of the following: a new task to be executed by the vehicle to be dispatched and a control command for the vehicle to be dispatched.
  • An embodiment of the present disclosure also provides an unmanned vehicle, the vehicle includes: a constant power module and a central processing device; the constant power module is used to receive the task information sent by the vehicle dispatching server, and , starting the central processing device; after the central processing device is started, sending the task information to the central processing device, where the task information includes information about at least one task to be performed by the unmanned vehicle.
  • the central processing device is configured to receive a first task execution instruction corresponding to the task in the task information sent by the constant power module, and the unmanned driving system in the central processing device executes the instruction according to the first task
  • the unmanned vehicle is controlled to perform the task.
  • FIG 7 is a schematic structural diagram of a vehicle dispatching system shown in at least one embodiment of the present disclosure.
  • the vehicle dispatching system includes a vehicle dispatching server, constant power equipment on the side of the unmanned vehicle and the unmanned vehicle central processing device.
  • An embodiment of the present disclosure also provides an electronic device. As shown in FIG.
  • the device 82 is configured to implement the vehicle dispatching method described in any embodiment of the present disclosure when executing the computer instructions.
  • An embodiment of the present disclosure further provides a computer program product, which includes a computer program/instruction, and when the computer program/instruction is executed by a processor, implements the vehicle dispatching method described in any embodiment of the present disclosure.
  • An embodiment of the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the vehicle dispatching method described in any embodiment of the present disclosure is implemented.
  • the device embodiment since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment.
  • the device embodiments described above are only illustrative, and the modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution in this specification. It can be understood and implemented by those skilled in the art without creative effort.

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Abstract

一种车辆调度方法和装置，该方法由设置在待调度车辆侧的常电模块执行，该方法包括：接收车辆调度服务器发送的任务信息（步骤102）；基于任务信息，启动待调度车辆的中央处理设备（步骤104）；在中央处理设备启动后，向中央处理设备发送任务信息中的任务对应的第一任务执行指令，以使得中央处理设备根据第一任务执行指令控制待调度车辆执行该任务（步骤106）。该方法解决了以往待调度车辆在关机后无法自动苏醒并及时完成下发的任务的问题，减少了人力资源的消耗。

Description

车辆调度 技术领域
本公开涉及智能驾驶技术领域，特别涉及用于车辆调度的方法和装置。
背景技术
对于存在多辆智能驾驶车辆的车队，尤其是在无人驾驶清扫领域内，车辆调度系统是十分有必要的。首先它起到了将多辆智能驾驶清扫车串联在一起的作用，这样每辆无人驾驶清扫车便不再是单一独立的一个个体，而是整个车队中的一部分，车辆调度系统可以决定每一个车辆个体所需要执行的作业任务，包括它的开始时间、中途需要执行的子任务等，避免了多辆车辆进行重复作业，同时车辆调度系统通过合理的任务分配，可以提高清扫作业的清扫效率以及提升清扫效果。
现有技术中，每一个车辆个体需要在手工启动后连接到车辆调度系统，在此之后车辆调度系统可以接受到车辆的状态数据，并对其进行作业调度，但是这样的模式存在一个问题：在车辆启动接入车辆调度系统之前，车辆一直处于一个离线状态，无法接受车辆调度系统的指令，而在环卫领域的大背景下，清扫工作有一部分是在夜间开始的，此时若仍需要人员专门负责车辆软硬件的启动以及作业的配置是非常耗费人力的。
发明内容
有鉴于此，本公开实施例提供至少一种车辆调度方法和装置。
具体地，本公开实施例是通过如下技术方案实现的：第一方面，提供一种车辆调度方法，所述方法由设置在待调度车辆侧的常电模块执行，所述方法包括：接收车辆调度服务器发送的任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息；基于所述任务信息，启动所述待调度车辆的中央处理设备；在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，以使得所述中央处理设备根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
第二方面，提供一种车辆调度方法所述方法由待调度车辆的中央处理设备执行，所述方法包括：所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动；所述中央处理设备接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务；根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
第三方面，提供一种车辆调度方法，所述方法由车辆调度服务器执行，所述方法包 括：确定待调度车辆的中央处理设备的工作状态；响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
第四方面，提供一种常电装置，所述常电装置设置在待调度车辆侧，所述装置包括：任务接收模块和设备控制模块；所述任务接收模块，用于接收任务信息，所述任务信息包括所述待调度车辆待执行的任务；以及，在所述待调度车辆的中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，所述中央处理设备用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务；所述设备控制模块，用于在所述任务接收模块接收到所述任务信息后，启动所述待调度车辆的中央处理设备。
第五方面，提供一种车辆调度装置，所述装置位于待调度车辆的中央处理设备，所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动，所述装置包括：任务配置模块，用于接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务；后台执行模块，用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
第六方面，提供一种车辆调度装置，所述装置位于车辆调度服务器，所述装置包括：车辆通讯模块，用于确定待调度车辆的中央处理设备的工作状态；任务下发模块，用于响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
第七方面，提供一种无人驾驶车辆，所述车辆包括：常电模块和中央处理设备；所述常电模块，用于接收车辆调度服务器发送的任务信息，并基于所述任务信息，启动所述中央处理设备；在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，所述任务信息包括所述无人驾驶车辆待执行的至少一个任务的信息；所述中央处理设备，用于接收所述常电模块发送的第一任务执行指令，并由所述中央处理设备中的无人驾驶系统根据所述第一任务执行指令控制所述无人驾驶车辆执行所述任务。
第八方面，提供一种电子设备，所述设备包括存储器、处理器，所述存储器用于存储可在处理器上运行的计算机指令，所述处理器用于在执行所述计算机指令时实现本公开任一实施例所述的方法。
第九方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现本公开任一实施例所述的方法。
本公开实施例中的技术方案提供的车辆调度方法，通过在待调度车辆侧引入一个常电模块，该常电模块即使在待调度车辆的软硬件未启动的时候也可以接收任务信息，并启动待调度车辆的中央处理设备，将先前接收到的任务信息中的任务对应的第一任务执行指令发送给中央处理设备，以使中央处理设备根据第一任务执行指令控制待调度车辆执行任务，从而使待调度车辆可以在无人驾驶的情况下随时接收下发的任务信息并执行任务，解决了以往待调度车辆在关机后无法自动苏醒并及时完成下发的任务的问题，减少了人力资源的消耗。
附图说明
为了更清楚地说明本公开一个或多个实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开一个或多个实施例中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本公开至少一个实施例示出的一种车辆调度方法的流程图；
图2是本公开至少一个实施例示出的一种车辆调度方法的流程图；
图3是本公开至少一个实施例示出的一种车辆调度方法的流程图；
图4是本公开至少一个实施例示出的一种常电装置的框图；
图5是本公开至少一个实施例示出的一种车辆调度装置的框图；
图6是本公开至少一个实施例示出的一种车辆调度装置的框图；
图7是本公开至少一个实施例示出的一种车辆调度系统的结构示意图；
图8是本公开至少一个实施例示出的一种电子设备的硬件结构示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本说明书相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本说明书的一些方面相一致的装置和方法的例子。
在本说明书使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本说明书。 在本说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本说明书可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本说明书范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
如图1所示，图1是本公开至少一个实施例示出的一种车辆调度方法的流程图，该方法可由设置在待调度车辆侧的常电模块执行，常电模块是使用电池供电的装置，常电模块由于使用电池供电所以在车辆未启动的时候也能够一直处于不关机的状态。该方法包括以下步骤：在步骤102中，接收车辆调度服务器发送的任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
车辆调度服务器是车辆调度系统的中心服务器，车辆调度服务器可以向多个车辆调度系统中的待调度车辆发送任务执行指令。对于中央处理设备已经处于工作状态的待调度车辆，车辆调度服务器直接向待调度车辆的中央处理设备发送任务执行指令，以调度车辆执行相应的任务。而在车辆未启动时，车辆上中央处理设备未处于工作状态而是处于离线状态，此时，待调度车辆无法接收车辆调度服务器下发的任何指令，需要由人员启动车辆以及完成作业任务的配置，中央处理设备进入工作状态后，才能接收车辆调度服务器下发的任务执行指令。
为此，发明人经过深入研究，在待调度车辆侧引入一个常电模块，在待调度车辆还未启动时，也就是待调度车辆接入车辆调度系统之前，当需要该待调度车辆执行任务时，车辆调度服务器将要执行的任务的任务信息发送到待调度车辆的常电模块，而不是无法连接的中央处理设备。特别的，给常电模块供电的电池，可以是可充电的电池组，在车辆启动后，可以在车辆上自动充电。常电模块的电池组在车辆工作期间被车辆供电系统充电，以保证不需要频繁更换电池。
常电模块接收车辆调度服务器发送的任务信息，任务信息包括待调度车辆待执行的至少一个任务的信息。比如，在无人驾驶清扫的情景下，待调度车辆为无人驾驶清扫车，任务信息包括a任务、b任务、c任务、d任务共四个任务的信息。这四个任务均是该无人驾驶清扫车待执行的清扫任务，每个任务具体可以包括该无人驾驶清扫车需要打扫的 园区、在打扫时的行驶路线以及打扫开始的时间点等。
在步骤104中，基于所述任务信息，启动所述待调度车辆的中央处理设备。
常电模块可以是接收到任务信息时，立即启动待调度车辆的中央处理设备，以使中央处理设备进入工作状态；也可以是接收到任务信息且在任务信息还包括上述至少一个任务各自的任务执行时间时，常电模块可以进入等待，响应于到达所述任一任务的任务执行时间，启动所述待调度车辆的中央处理设备。比如，上述四个任务中的任一个任务到达它的任务执行时间时，就可以启动中央处理设备。在本实施例或本公开其他某些实施例中，常电模块包括：电控开关和电子控制单元；启动待调度车辆的中央处理设备，具体可以是：在常电模块中，电子控制单元向电控开关发送启动指令，所述启动指令用于指示电控开关启动中央处理设备；电控开关根据接收到的启动指令控制中央处理设备上电以启动中央处理设备。
其中，电控开关可以是各种类型的继电器，在其他例子中，也可以使用接触器、集成开关电路或晶闸管等作为电控开关。电子控制单元即ECU(Electronic Control Unit)，其上存储有控制程序。电子控制单元可以通过发送指令到继电器，开闭其中的开关，实现车辆设备上电、断电等操作。
比如，电子控制单元向电路板式继电器发送启动指令，继电器在接收到启动指令后给包括中央处理设备的车辆设备上电以启动中央处理设备。
在一个例子中，当常电模块接收到中央处理设备或者车辆调度服务器发送的关机指令时，电子控制单元向电控开关发送断电指令，电控开关接收到断电指令后关闭开关，给车辆设备断电，以给中央处理设备关机。
在本实施例或本公开其他某些实施例中，基于所述任务信息，启动所述待调度车辆的中央处理设备时，还包括：基于所述任务信息，启动所述待调度车辆的如下至少一种装置：计算设备、电源、车辆传感器或按钮开关组件。
实际实施中，在启动车辆上的中央处理设备时，往往是和车辆上其他的设备一起启动的，特别的，常电模块控制的电控开关会控制所有车辆设备的上电启动和断电关闭。在接收到任务信息时，常电模块启动的车辆设备，除了包括中央处理设备，还包括如下至少一种装置：车辆上的计算设备，比如主计算设备、副计算设备；车辆传感器，比如，感知相机专用设备；电源，比如，12v电源开关；以及按钮开关组件，比如手自动切换按钮等对应车辆上各功能的开关；等等。
在步骤106中，在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，以使得所述中央处理设备根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
第一任务执行指令可以是包含任务信息中的任一项任务的指令，第一任务执行指令用于指示中央处理设备控制待调度车辆执行第一任务执行指令中的任务。
比如，常电模块可以先确定中央处理设备是否成功启动，在确定中央处理设备成功启动后，向中央处理设备发送第一任务执行指令。若中央处理设备未成功启动，可以尝试重新启动中央处理设备。
具体的，常电模块在启动中央处理设备后，向中央处理设备发送确认信号，当收到中央处理设备发送的该确认信号的回应信号时，则可以确定该中央处理设备成功启动，并将第一任务执行指令发送给中央处理设备，以使得中央处理设备根据第一任务执行指令控制待调度车辆执行任务。
常电模块在向中央处理设备发任务信息中的任务对应的第一任务执行指令时，可以是按照任务信息中的多个任务的重要程度发送，每个任务都可以携带有表示重要程度的标签，常电模块先将重要程度最高的任务对应的第一任务执行指令发送到中央处理设备，在探测到中央处理设备控制车辆执行完上述重要程度最高的任务后，再按照重要程度接着发送剩余的任务。也可以是按照任务信息中的多个任务已经携带有发送顺序的标签，常电模块按照发送顺序依次在中央处理设备执行完上个任务后发送剩余的任务。
在一个例子中，常电模块可以按照任务信息中的多个任务的任务执行时间发送，此时常电模块可以作为一个基于时间的任务调度器，在上个步骤响应于到达任一任务的所述任务执行时间，启动所述待调度车辆的中央处理设备后，向中央处理设备发送任务信息中达到任务执行时间的任务对应的第一任务执行指令。
比如，上述四个任务信息中的b任务到达它的任务执行时间后，启动中央处理设备，在中央处理设备启动后，向中央处理设备发送b任务对应的第一任务执行指令，以使中央处理设备根据第一任务执行指令控制待调度车辆执行b任务。
该例中，中央处理设备可以在执行完b任务后关机，然后重复循环步骤104和步骤106，即在中央处理设备关机后，当有其他任务到达其任务执行时间后，再次启动中央处理设备，然后发送相应的任务执行指令。中央处理设备也可以在执行完b任务后不关机，常电模块等待其他任务到达其任务执行时间，将达到任务执行时间的任务对应的任 务执行指令发送到中央处理设备。
在本实施例或本公开其他某些实施例中，在中央处理设备启动后，常电设备还可以向中央处理设备发送一个初始化指令，该初始化指令用于初始化中央处理设备中与任务相关的配置。
上述步骤中多个车辆上的设备在通信时，比如常电模块和中央处理设备之间通信时发送的初始化指令，可以使用GRPC(Google Remote Procedure Call，Google远程过程调用)协议。
需要说明的是，常电模块在车辆软硬件启动后，即中央处理设备进入工作状态后，仍可以接收由车辆调度服务器后续发送新的任务信息。
本公开实施例中提供的车辆调度方法，通过在待调度车辆侧引入一个常电模块，该常电模块即使在待调度车辆的软硬件未启动的时候也可以接收任务信息，并启动待调度车辆的中央处理设备，将先前接收到的任务信息中的任务对应的第一任务指令发送给中央处理设备，以使中央处理设备根据第一任务执行指令控制待调度车辆执行任务，从而使待调度车辆可以在无人驾驶的情况下随时接收下发的任务信息并执行任务，解决了以往待调度车辆在关机后无法自动苏醒并及时完成下发的任务的问题，减少了人力资源的消耗。
如图2所示，图2是本公开至少一个实施例示出的一种车辆调度方法的流程图，该方法可由待调度车辆的中央处理设备执行，该方法包括以下步骤：在步骤202中，中央处理设备在所述待调度车辆侧的常电模块的控制下启动。
待调度车辆上的中央处理设备可以接收车辆调度服务器发送的任务执行指令，并按照任务执行指令的指示执行任务，但是中央处理设备的作用要在启动后才能发挥。而在当前的技术中，待调度车辆上的软硬件需要人为的去启动，在车辆未启动时，中央处理设备也关机并处于未工作状态。
本实施例中，在待调度车辆侧引入常电模块，常电模块是使用电池供电的装置，常电模块由于使用电池供电所以在车辆未启动的时候也能够一直处于不关机的状态。由常电模块在中央处理设备未启动时接收车辆调度服务器发送的任务执行指令，并控制中央处理设备上电启动。
中央处理设备启动后，可以接收和发送信号，当接收到常电模块发送的确认信号时会回复一个该确认信号的回复信号，以使常电模块确认中央处理设备已成功启动。
在步骤204中，所述中央处理设备接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务。
在中央处理设备启动后，常电模块向中央处理设备发送的第一任务执行指令，常电模块预先在中央处理设备未启动时接收的车辆调度服务器发送的任务信息，然后将任务信息中的任务对应的第一任务执行指令发送到中央处理设备。
具体的，中央处理设备可以包括两个模块：任务配置模块和后台执行模块。常电模块控制中央处理设备启动，可以是先控制中央处理设备中的任务配置模块启动，由任务配置模块接收常电模块发送的第一任务执行指令。然后任务配置模块拉起后台执行模块，探测后台执行模块是否正常运行，保证其存活；也可以是任务配置模块和后台执行模块一起在常电模块的控制下随车辆启动。
任务配置模块接收到常电模块发送的第一任务执行指令后，将第一任务执行指令中的待执行任务设置到后台执行模块的应用程序中。任务配置模块还可以接收常电模块发送的初始化指令，初始化后台执行模块中无人驾驶系统的与任务相关的配置，以使无人驾驶系统可以控制车辆执行任务。
在步骤206中，根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
比如，在无人驾驶清扫的情景下，待调度车辆为无人驾驶清扫车，中央处理设备根据第一任务执行指令中的任务计划控制无人驾驶清扫车执行清扫作业。在清扫作业完成后，中央处理设备可以向常电模块发送一个关机指令，以使常电模块控制中央处理设备关机结束本次作业。
本公开实施例中提供的车辆调度方法，通过在待调度车辆侧引入一个常电模块，待调度车辆的中央处理设备由该常电模块启动，并接受常电模块发送的第一任务执行指令，以使中央处理设备根据第一任务执行指令控制待调度车辆执行任务，从而使待调度车辆可以在无人驾驶的情况下随时接收下发的任务信息并执行任务，解决了以往待调度车辆在关机后无法自动苏醒并及时完成下发的任务的问题，减少了人力资源的消耗。
在本实施例或本公开其他某些实施例中，中央处理设备在常电模块的控制下启动后，所述方法还包括：中央处理设备向车辆调度服务器发送在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；所述中央处理设备接收所述车辆调度服务器在接收到所述在线信号之后发送的第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
中央处理设备启动后即进入工作状态后，可以由中央处理设备接收由车辆调度服务器后续发送的新的任务执行指令和/或对待调度车辆的控制命令。
中央处理设备需要向车辆调度服务器发送在线信号，以告知车辆调度服务器该中央处理设备已进入工作状态，使车辆调度服务器将中央处理设备添加为后续的任务执行指令的下发对象，当车辆调度服务器需要调度该车辆执行新的任务时，可以向该车辆的中央处理设备下发第二任务执行指令，该车辆的中央处理设备接收到该第二任务执行指令后，可以按照第二任务执行指令的指示，控制车辆执行的新任务或者执行相应的操作。
对待调度车辆的控制命令可以是对待调度车辆的任意操作指令，可以在所述待调度车辆的中央处理设备开机时发送给所述待调度车辆对其的控制命令，比如，控制命令可以是在待调度车辆执行任务的中途命令待调度车辆回到任务初始位置，命令待调度车辆更换任务路线，命令待调度车辆停车或倒车等。
如图3所示，图3是本公开至少一个实施例示出的一种车辆调度方法的流程图，该方法可用于车辆调度服务器，该方法包括以下步骤：在步骤302中，确定待调度车辆的中央处理设备的工作状态。
车辆调度服务器是车辆调度系统的中心服务器，车辆调度服务器可以向多个车辆调度系统中的待调度车辆发送任务执行指令。在发送任务执行指令之前，车辆调度服务器可以先确定要执行的任务对应的待调度车辆的中央处理设备的工作状态。
当车辆调度系统中的该待调度车辆由于还未启动而离线，可以认为该待调度车辆的中央处理设备处于未工作状态；当车辆调度系统中的该待调度车辆已启动而在线，可以认为该待调度车辆的中央处理设备处于工作状态。
在步骤304中，响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息。
所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
当中央处理设备处于未工作状态，车辆调度服务器向待调度车辆侧的常电模块下发任务信息。常电模块是待调度车辆上使用电池供电的装置，常电模块由于使用电池供电所以在车辆未启动的时候也能够一直处于不关机的状态。常电模块可以在接收到任务信息后，启动待调度车辆的中央处理设备，并将任务信息中的任务对应的第一任务执行指令发给中央处理设备，以使中央处理设备根据第一任务执行指令控制待调度车辆执行任务。
本公开实施例中的车辆调度方法中的车辆调度服务器可以在待调度车辆的中央处理设备未进入工作状态时，将任务信息发送到待调度车辆侧的常电模块，该常电模块即使在待调度车辆的软硬件未启动的时候也可以接收任务信息，并启动待调度车辆的中央处理设备，将先前接收到的任务信息发送给中央处理设备，以使中央处理设备根据任务信息控制待调度车辆执行任务，从而使待调度车辆可以在无人驾驶的情况下随时接收车辆调度服务器下发的任务信息并执行任务，解决了以往待调度车辆在关机后无法自动苏醒并及时完成下发的任务的问题，减少了人力资源的消耗。
在本实施例或本公开其他某些实施例中，所述方法还包括：接收所述待调度车辆的中央处理设备发送的在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；向所述中央处理设备发送第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
中央处理设备启动后即进入工作状态后，可以由中央处理设备接收由车辆调度服务器后续发送的新的任务执行指令。中央处理设备需要向车辆调度服务器发送在线信号，以告知车辆调度服务器该中央处理设备已进入工作状态，使车辆调度服务器将中央处理设备添加为后续的任务执行指令的下发对象，当车辆调度服务器需要调度该车辆执行新的任务或操作时，可以向该车辆的中央处理设备下发第二任务执行指令，该车辆的中央处理设备接收到该第二任务执行指令后，可以按照第二任务执行指令的指示，控制车辆执行的新任务或操作。
下面以无人驾驶清扫的情景为例，对车辆调度服务器生成任务信息的过程进行说明。
实际实施中，在车辆调度系统的车辆调度服务器端可以包括四个模块：任务调度应用UI(User Interface，用户界面)模块，任务调度服务模块，数据存储服务模块(或者说数据库模块)和任务下发模块。服务器的内部通信协议一般为HTTP(Hyper Text Transfer Protocol，超文本传输)协议。
模块1：任务调度应用UI模块，对应于用户通过浏览器所见的操作界面。
模块2：任务调度服务模块，用于实现任务调度器的一系列功能，包括对于每一辆车的自定义任务周期以及每次执行的任务的设置以生成任务调度计划。其中，在设置任务时，可以使用符合crontab格式的任意表达式，以便于任务计时启动使用系统crontab服务或者类似于系统crontab服务的服务进行任务轮询。
模块3：数据存储服务模块，用于记录设置的任务调度计划。
模块4：任务下发模块，用于根据数据存储服务模块中记录的所有任务调度计划，将其拆解成具体的执行实例，记录在数据存储服务模块中，然后按序将已计算出来的执行实例以任务信息的形式下发到对应待调度车辆的常电模块中。
用户可以通过模块1的界面设置需要调度的车辆的例行作业时间及相应的作业任务，用户设置的上述内容可以用参数表示；模块1通过http协议将用户设置的参数发给模块2，模块2将参数进行预处理后生成相应的任务调度计划并存储到模块3中，模块4定期扫描模块3中的任务调度计划的数据，将其转换成执行实例记录在数据存储服务模块中，定期将执行实例对应的任务信息下发到待调度车辆的常电模块中，若发送失败则会等下个周期继续下发。
请参见图4，图4为本公开至少一个实施例示出的一种常电装置的框图，该装置可设置在待调度车辆侧，该装置由电池进行供电，该装置可以包括：任务接收模块和设备控制模块；所述任务接收模块41，用于接收任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息；以及，在所述待调度车辆的中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，所述中央处理设备用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务；所述设备控制模块42，用于在所述任务接收模块接收到所述任务信息后，启动所述待调度车辆的中央处理设备。
在一个例子中，所述设备控制模块42，包括：电子控制器和电控开关；所述电子控制器，用于在所述任务接收模块接收到所述任务信息后，向所述电控开关发送启动指令，所述启动指令用于指示所述电控开关启动所述中央处理设备；所述电控开关，用于根据接收到的所述启动指令，控制中央处理设备上电启动。
在一个例子中，所述任务接收模块41为4G模块。
在一个例子中，所述任务信息包括所述至少一个任务各自的任务执行时间，所述设备控制模块42，具体用于：响应于到达任一任务的任务执行时间，启动所述待调度车辆的中央处理设备，所述任务接收模块41还用于向所述中央处理设备发送所述任务信息中达到任务执行时间的所述任务对应的第一任务执行指令。
在一个例子中，所述设备控制模块42，还用于基于所述任务信息，启动所述待调度车辆的如下至少一种装置：计算设备、电源、车辆传感器或按钮开关组件。
如图5所示，图5是本公开至少一个实施例示出的一种车辆调度装置的框图，所述 装置位于待调度车辆的中央处理设备，所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动，所述装置包括：任务配置模块51，用于接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务；后台执行模块52，用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
在一个例子中，所述任务配置模块51还用于：向车辆调度服务器发送在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；接收所述车辆调度服务器在接收到所述在线信号之后发送的第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
如图6所示，图6是本公开至少一个实施例示出的一种车辆调度装置的框图，所述装置位于车辆调度服务器，所述装置包括：车辆通讯模块61，用于确定待调度车辆的中央处理设备的工作状态；任务下发模块62，用于响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
在一个例子中，所述任务下发模块62，还用于接收所述待调度车辆的中央处理设备发送的在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；向所述中央处理设备发送第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
本公开实施例还提供了一种无人驾驶车辆，所述车辆包括：常电模块和中央处理设备；所述常电模块，用于接收车辆调度服务器发送的任务信息，并基于所述任务信息，启动所述中央处理设备；在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息，所述任务信息包括所述无人驾驶车辆待执行的至少一个任务的信息。
所述中央处理设备，用于接收所述常电模块发送的任务信息中的任务对应的第一任务执行指令，并由所述中央处理设备中的无人驾驶系统根据所述第一任务执行指令控制所述无人驾驶车辆执行所述任务。
如图7所示，图7是本公开至少一个实施例示出的一种车辆调度系统的结构示意图，所述车辆调度系统包括车辆调度服务器，无人驾驶车辆侧的常电设备和无人驾驶车辆的中央处理设备。
上述装置、车辆和系统中各个模块的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
本公开实施例还提供了一种电子设备，如图8所示，所述电子设备包括存储器81、处理器82，所述存储器81用于存储可在处理器上运行的计算机指令，所述处理器82用于在执行所述计算机指令时实现本公开任一实施例所述的车辆调度方法。
本公开实施例还提供了一种计算机程序产品，该产品包括计算机程序/指令，该计算机程序/指令被处理器执行时实现本公开任一实施例所述的车辆调度方法。
本公开实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，所述程序被处理器执行时实现本公开任一实施例所述的车辆调度方法。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本说明书方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本领域技术人员在考虑说明书及实践这里申请的发明后，将容易想到本说明书的其它实施方案。本说明书旨在涵盖本说明书的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本说明书的一般性原理并包括本说明书未申请的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本说明书的真正范围和精神由下面的权利要求指出。
应当理解的是，本说明书并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本说明书的范围仅由所附的权利要求来限制。
以上所述仅为本说明书的较佳实施例而已，并不用以限制本说明书，凡在本说明书的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本说明书保护的范围之内。

Claims (15)

  1. 一种车辆调度方法，由设置在待调度车辆侧的常电模块执行，所述方法包括：
    接收车辆调度服务器发送的任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息；
    基于所述任务信息，启动所述待调度车辆的中央处理设备；
    在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，以使得所述中央处理设备根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
  2. 根据权利要求1所述的方法，其特征在于，所述任务信息还包括所述至少一个任务各自的任务执行时间；
    所述基于所述任务信息，启动所述待调度车辆的中央处理设备，包括：
    响应于到达任一任务的任务执行时间，启动所述待调度车辆的中央处理设备；
    所述向所述中央处理设备发送所述任务信息中任务对应的第一任务执行指令，包括：
    向所述中央处理设备发送所述任务信息中达到任务执行时间的所述任务对应的第一任务执行指令。
  3. 根据权利要求1所述的方法，其特征在于，所述常电模块包括：电控开关和电子控制单元；
    所述启动所述待调度车辆的中央处理设备，包括：
    所述电子控制单元向所述电控开关发送启动指令，所述启动指令用于指示所述电控开关启动所述中央处理设备；
    所述电控开关根据接收到的所述启动指令控制所述中央处理设备上电以启动所述中央处理设备。
  4. 根据权利要求1所述的方法，其特征在于，所述基于所述任务信息，启动所述待调度车辆的中央处理设备，还包括：
    基于所述任务信息，启动所述待调度车辆的如下至少一种装置：
    计算设备、电源、车辆传感器或按钮开关组件。
  5. 一种车辆调度方法，由待调度车辆的中央处理设备执行，所述方法包括：
    所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动；
    所述中央处理设备接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务；
    根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
  6. 根据权利要求5所述的方法，其特征在于，所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动后，所述方法还包括：
    所述中央处理设备向车辆调度服务器发送在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；
    所述中央处理设备接收所述车辆调度服务器在接收到所述在线信号之后发送的第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
  7. 一种车辆调度方法，由车辆调度服务器执行，所述方法包括：
    确定待调度车辆的中央处理设备的工作状态；
    响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    接收所述待调度车辆的中央处理设备发送的在线信号，所述在线信号用于表示所述中央处理设备已进入工作状态；
    向所述中央处理设备发送第二任务执行指令，所述第二任务执行指令包括如下至少一项：所述待调度车辆待执行的新任务和对所述待调度车辆的控制命令。
  9. 一种常电装置，设置在待调度车辆侧，所述装置包括：
    任务接收模块，用于接收任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息；以及，在所述待调度车辆的中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，所述中央处理设备用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务；
    设备控制模块，用于在所述任务接收模块接收到所述任务信息后，启动所述待调度车辆的中央处理设备。
  10. 根据权利要求9所述的装置，其特征在于，所述设备控制模块，包括：电子控制器和电控开关；
    所述电子控制器，用于在所述任务接收模块接收到所述任务信息后，向所述电控开关发送启动指令，所述启动指令用于指示所述电控开关启动所述中央处理设备；
    所述电控开关，用于根据接收到的所述启动指令，控制中央处理设备上电启动。
  11. 一种车辆调度装置，位于待调度车辆的中央处理设备，所述中央处理设备在所述待调度车辆侧的常电模块的控制下启动，所述装置包括：
    任务配置模块，用于接收所述常电模块发送的第一任务执行指令，所述第一任务执行指令包括所述待调度车辆待执行的任务；
    后台执行模块，用于根据所述第一任务执行指令控制所述待调度车辆执行所述任务。
  12. 一种车辆调度装置，位于车辆调度服务器，所述装置包括：
    车辆通讯模块，用于确定待调度车辆的中央处理设备的工作状态；
    任务下发模块，用于响应于所述中央处理设备处于未工作状态，向所述待调度车辆侧的常电模块下发任务信息，所述任务信息包括所述待调度车辆待执行的至少一个任务的信息。
  13. 一种无人驾驶车辆，包括常电模块和中央处理设备；
    所述常电模块，用于接收车辆调度服务器发送的任务信息，并基于所述任务信息，启动所述中央处理设备；在所述中央处理设备启动后，向所述中央处理设备发送所述任务信息中的任务对应的第一任务执行指令，所述任务信息包括所述无人驾驶车辆待执行的至少一个任务的信息；
    所述中央处理设备，用于接收所述常电模块发送的第一任务执行指令，并由所述中央处理设备中的无人驾驶系统根据所述第一任务执行指令控制所述无人驾驶车辆执行所述任务。
  14. 一种电子设备，包括：
    存储器，用于存储计算机指令；以及
    处理器，用于在执行所述计算机指令时实现权利要求1至4任一所述的方法，或实现权利要求5至6任一所述的方法，或实现权利要求7至8任一所述的方法。
  15. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述程序被处理器执行时实现权利要求1至4任一所述的方法，或实现权利要求5至6任一所述的方法，或实现权利要求7至8任一所述的方法。
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