技术领域technical field
本发明涉及智能汽车应用的技术领域，特别是一种无人驾驶接驳车约车系统及方法。The invention relates to the technical field of smart car applications, in particular to an unmanned shuttle car hailing system and method.
背景技术Background technique
中国汽车工业协会对智能网联汽车（或网联汽车）定义为，搭载先进的车载传感器、控制器、执行器等装置，并融合现代通信与网络技术，实现车与X（人、车、路、后台等）智能信息交换共享，具备复杂的环境感知、智能决策、协同控制和执行等功能，可实现安全、舒适、节能、高效行驶，并最终可替代人来操作的新一代汽车，即所谓ICV。The China Association of Automobile Manufacturers defines intelligent networked vehicles (or networked vehicles) as equipped with advanced on-board sensors, controllers, actuators, etc. , background, etc.) intelligent information exchange and sharing, with functions such as complex environment perception, intelligent decision-making, collaborative control and execution, etc., can realize safe, comfortable, energy-saving, efficient driving, and finally replace human to operate a new generation of vehicles, the so-called ICV.
对于智能网联汽车的分级，欧洲、美国也各有各的分法，中国汽车工业协会提出五级，第一级叫驾驶资源辅助阶段DA，第二级是部分自动化阶段PA，第三级是有条件自动化阶段CA，第四阶段是高度自动化阶段HA，第五阶段就是完全的自动化FA。For the classification of intelligent networked vehicles, Europe and the United States also have their own divisions. The China Association of Automobile Manufacturers proposed five levels. The first level is called the driving resource assistance stage DA, the second level is the partial automation stage PA, and the third level is The conditional automation stage is CA, the fourth stage is the highly automated stage HA, and the fifth stage is the complete automation FA.
车联网（Internet of Vehicles）概念引申于物联网（Internet of Things），事实上，车联网是一个国人自创的名词，与其意义相对应的英文词汇，包括ConnectedVehicles、Vehicle Networking等。车联网系统将车辆看作一个简单的信息收发节点。实际上，现代汽车电子电器系统本身就构成了一个复杂的车内网络系统，同时在车与车、车与路侧设施、甚至车与行人及非机动车之间也可以通过专用短距离通信构成移动自组织车际网络。车联网的完整定义应该是：是以车内网、车际网和车云网为基础，按照约定的体系架构及其通信协议和数据交互标准，在车－X（X：车、路、行人及移动互联网等）之间进行通信和信息交换的信息物理系统。车联网能够实现的主要功能包括智能动态信息服务、车辆智能化控制和智能化交通管理等。The concept of Internet of Vehicles (Internet of Vehicles) is derived from the Internet of Things (Internet of Things). In fact, Internet of Vehicles is a term created by Chinese people. The English words corresponding to its meaning include ConnectedVehicles and Vehicle Networking. The vehicle networking system regards the vehicle as a simple information sending and receiving node. In fact, the modern automotive electronic and electrical system itself constitutes a complex in-vehicle network system. At the same time, it can also be formed by dedicated short-distance communication between vehicles and vehicles, between vehicles and roadside facilities, and even between vehicles and pedestrians and non-motorized vehicles. Mobile ad hoc inter-vehicle network. The complete definition of the Internet of Vehicles should be: based on the intra-vehicle network, the inter-vehicle network and the vehicle-cloud network, in accordance with the agreed system architecture and its communication protocols and data interaction standards, in-vehicle-X (X: vehicles, roads, pedestrians A cyber-physical system for communication and information exchange between mobile Internet and mobile Internet, etc. The main functions that the Internet of Vehicles can realize include intelligent dynamic information services, intelligent vehicle control, and intelligent traffic management.
近年来，随着网联汽车、车联网概念的出现和无人驾驶接驳车的飞速发展，无人驾驶接驳车的研究方向大致归纳为三个方面：（1）高速公路环境下的无人驾驶系统；（2）城市环境下的无人驾驶系统；（3）特殊环境下的无人驾驶系统。无人驾驶接驳车虽然已经进入了大众的视线，但是智能汽车驾驶技术还在探索和完善当中，目前，制约着国内外无人驾驶技术的发展三要素是：（1）技术安全；（2）法规伦理；（3）过度风险。In recent years, with the emergence of connected cars and the concept of Internet of Vehicles and the rapid development of unmanned shuttle vehicles, the research direction of unmanned shuttle vehicles can be roughly summarized into three aspects: (1) Unmanned shuttle vehicles in the highway environment Human driving system; (2) Unmanned driving system in urban environment; (3) Unmanned driving system in special environment. Although the unmanned shuttle bus has entered the public's sight, the smart car driving technology is still being explored and improved. At present, the three factors that restrict the development of unmanned driving technology at home and abroad are: (1) technical safety; (2) ) Regulatory ethics; (3) Excessive risk.
无人驾驶汽车主要由国内外的科研机构、高校和车企在牵头，掀起了国内外无人驾驶汽车研究的热潮。在国内外，无人驾驶汽车主要由普通汽车经过线控改装，配置导航、雷达、视觉等高精度传感设备，经过车上计算机对传感数据的高速处理与决策来实现无人驾驶技术的。目前，无人驾驶汽车的成熟技术路线是通过导航设备获取高精度先验地图，用于无人驾驶汽车全局路径规划和实时位置匹配，快速实现循迹驾驶功能，即车辆基本自动驾驶功能，雷达设备一般用来检测车辆周围障碍物及环境信息，视觉设备用来检测车道线、道路边缘和交通标志等信息，在无人驾驶汽车循迹过程中车载计算机融合雷达和视觉设备传感数据进行局部路径规划，以实现车辆的完整自动驾驶功能。目前，无人驾驶汽车还做不到像电影里描述的那么酷炫的能够应对所有交通路况的自动驾驶功能，无人驾驶技术安全也得不到百分百保证。Self-driving cars are mainly led by scientific research institutions, universities and car companies at home and abroad, which has set off an upsurge of research on self-driving cars at home and abroad. At home and abroad, unmanned vehicles are mainly converted from ordinary cars through wire control, equipped with high-precision sensing equipment such as navigation, radar, and vision, and realize the development of unmanned driving technology through the high-speed processing and decision-making of sensor data by the on-board computer. . At present, the mature technology route of unmanned vehicles is to obtain high-precision prior maps through navigation equipment, which are used for global path planning and real-time position matching of unmanned vehicles, and quickly realize the tracking driving function, that is, the basic automatic driving function of the vehicle. The equipment is generally used to detect obstacles and environmental information around the vehicle. Vision equipment is used to detect information such as lane lines, road edges, and traffic signs. Path planning for full autonomous driving capabilities of the vehicle. At present, self-driving cars are still unable to do the cool self-driving functions that can cope with all traffic conditions as described in the movie, and the safety of driverless technology cannot be guaranteed 100%.
目前，多数国家和无人驾驶接驳车研究者更偏重于智能驾驶汽车在特殊环境下的率先投入与应用，打开无人驾驶接驳车应用市场。近年来，英国在特殊环境下的智能驾驶汽车的应用方面有了很多成果，而我国也是掀起了无人驾驶接驳车的研究热潮，在特殊环境下的无人驾驶接驳车方面有自己的探索、研究和应用。At present, most countries and unmanned shuttle bus researchers are more focused on the first investment and application of intelligent driving vehicles in special environments, opening up the unmanned shuttle bus application market. In recent years, the United Kingdom has achieved a lot of results in the application of intelligent driving vehicles in special environments, and my country has also set off a research boom in unmanned shuttle vehicles, and has its own research on unmanned shuttle vehicles in special environments. Explore, research and apply.
公开号为CN106549981A的发明专利公开了一种基于大数据云计算服务的无方向盘智能网约车系统及其运营方法，在智能网约车内设置于大数据云计算服务互联的智能驾驶系统与自动导航系统互联，在每个车座前都设置有由触摸屏、手机数据接口或者银行卡接口、摄像头和语音交互系统组成的智能机器人，在后备箱中设置有与智能机器人连接的行李货物监控摄像头对行李货物进行实施监控，监控信息在后备箱打开或乘客或货主下车是在智能机器人上实时显示和语音提醒，智能驾驶系统和智能机器人实时通过互联网乘客或货主用车信息与运管中心交互，运营中心通过互联网控制智能驾驶系统按乘客或货主要求的起止线路自动驾驶智能网约车运营，智能机器人通过互联网实时与运管中心连接传送与乘客或货主的交互信息和运费结算。该系统中的网约车没有方向盘，不能够切换到人工驾驶，当遇到意外事件时，容易造成危险。The invention patent with the publication number CN106549981A discloses a steering wheel-less intelligent online car-hailing system based on big data cloud computing services and its operation method. The navigation system is interconnected, and an intelligent robot composed of a touch screen, a mobile phone data interface or a bank card interface, a camera and a voice interaction system is installed in front of each seat, and a baggage and cargo monitoring camera connected to the intelligent robot is installed in the trunk. Luggage and goods are monitored, and the monitoring information is displayed on the intelligent robot in real time and voice reminded when the trunk is opened or passengers or cargo owners get off the car. The operation center controls the intelligent driving system through the Internet to automatically drive the intelligent online car-hailing operation according to the start and end routes required by passengers or cargo owners. The intelligent robot is connected to the transportation management center through the Internet in real time to transmit interactive information and freight settlement with passengers or cargo owners. The online car-hailing vehicles in this system have no steering wheel and cannot be switched to manual driving. When an accident occurs, it is easy to cause danger.
发明内容Contents of the invention
为了解决上述的技术问题，本发明提出一种无人驾驶接驳车手机约车系统和方法，应用于特殊环境下的无人驾驶系统，在无人驾驶接驳车原本具有的无人驾驶功能、停障功能、避障功能等功能的基础上，装备基于云端服务的无人驾驶接驳车约车系统，通过车载控制平台及无人驾驶接驳车平台、网络约车平台、手持设备端约（叫）车软件以及网络通讯模块这四个主要组成部分，实现网络约车平台根据手机约车用户生成的约车订单，引导无人驾驶接驳车自动前往上车站接约车用户并将其送至下车站，完成手机约（叫）车服务。In order to solve the above-mentioned technical problems, the present invention proposes a mobile phone hailing system and method for an unmanned shuttle bus, which is applied to the unmanned driving system in a special environment. , obstacle-stopping, and obstacle-avoiding functions, equipped with a cloud-based service-based unmanned shuttle bus car-hailing system, through the on-board control platform, unmanned shuttle bus platform, network car-hailing platform, and handheld device terminal The four main components of the car-hailing software and the network communication module enable the online car-hailing platform to guide the unmanned shuttle bus to the station to pick up the car-hailing user automatically based on the car-hailing order generated by the mobile phone car-hailing user. It is sent to the next station to complete the mobile phone appointment (calling) car service.
本发明的第一目的是提供一种无人驾驶接驳车手机约车系统，包括智能约车模块，包括以下模块：The first object of the present invention is to provide an unmanned shuttle bus mobile phone car-hailing system, including a smart car-hailing module, including the following modules:
汽车控制模块：用于控制无人驾驶接驳车；Vehicle control module: used to control unmanned shuttle vehicles;
无人驾驶接驳车模块：用于实现无人驾驶功能；Unmanned shuttle bus module: used to realize unmanned driving functions;
网络约车模块：用于处理约车订单；Online car-hailing module: used to process car-hailing orders;
网络通讯模块：包括服务器和/或网络通讯模块。Network communication module: including server and/or network communication module.
优选的是，所述无人驾驶接驳车是指经过改装后具有方向盘的无人驾驶汽车，包括公交车、巡逻车、接驳车和摆渡车中至少一种。Preferably, the driverless shuttle refers to a modified driverless car with a steering wheel, including at least one of a bus, a patrol car, a shuttle and a shuttle.
在上述任一方案中优选的是，所述汽车控制模块具有收集处理无人驾驶接驳车各传感系统的数据并进行数据融合和/或决策处理的功能。In any of the above schemes, preferably, the vehicle control module has the function of collecting and processing the data of each sensor system of the driverless shuttle vehicle and performing data fusion and/or decision processing.
在上述任一方案中优选的是，所述汽车控制模块还具有输出车辆底层控制信号控制无人驾驶接驳车模块自动驾驶的功能。In any of the above schemes, preferably, the vehicle control module also has the function of outputting vehicle floor control signals to control the automatic driving of the unmanned shuttle bus module.
在上述任一方案中优选的是，所述汽车控制模块还具有与所述网络约车模块进行远距离通讯并传输信息的功能。In any of the solutions above, preferably, the vehicle control module also has the function of long-distance communication and information transmission with the network car-hailing module.
在上述任一方案中优选的是，所述信息包括车辆工作状态信息和车辆动作指令信息中至少一种。In any of the solutions above, preferably, the information includes at least one of vehicle working status information and vehicle action instruction information.
在上述任一方案中优选的是，所述汽车控制模块还具有通过与所述汽车控制模块相连接的CAN卡与CAN总线将挡位开关、油门、刹车及转向中至少一种信息发送给无人驾驶接驳车模块的功能。Preferably in any of the above schemes, the vehicle control module also has at least one information in the gear switch, gas pedal, brake and steering to send to wireless through the CAN card and the CAN bus connected to the vehicle control module. The functions of the human-driven shuttle bus module.
在上述任一方案中优选的是，所述无人驾驶接驳车模块包括底层车辆控制器、经过改造的线控和传感器中至少一种。In any of the above schemes, it is preferred that the unmanned shuttle bus module includes at least one of the bottom vehicle controller, a modified wire control and a sensor.
在上述任一方案中优选的是，所述传感器包括激光雷达、超声波雷达、双目相机和导航仪中至少一种。In any of the above schemes, preferably, the sensor includes at least one of laser radar, ultrasonic radar, binocular camera and navigator.
在上述任一方案中优选的是，所述无人驾驶接驳车模块根据智能驾驶规则实现无人驾驶、停障和避障中至少一种功能。In any of the solutions above, preferably, the driverless shuttle bus module realizes at least one function of driverless driving, obstacle stopping and obstacle avoidance according to intelligent driving rules.
在上述任一方案中优选的是，所述智能驾驶规则为通过数据融合对所述传感器数据进行分析处理，决策出速度和/或角度控制信息。In any of the solutions above, preferably, the intelligent driving rule is to analyze and process the sensor data through data fusion to determine speed and/or angle control information.
在上述任一方案中优选的是，所述无人驾驶接驳车模块具有双驾双控的功能，所述双驾双控是指通过特定切换方式实现人工驾驶和自动驾驶之间的实时切换。In any of the above schemes, it is preferred that the driverless shuttle bus module has the function of dual driving and dual control, and the dual driving and dual control refers to the real-time switching between manual driving and automatic driving through a specific switching method .
在上述任一方案中优选的是，所述特定切换方式为拨动人工/自动开关和双手紧握方向盘中至少一种。In any of the solutions above, preferably, the specific switching mode is at least one of toggle a manual/automatic switch and hold the steering wheel with both hands.
在上述任一方案中优选的是，所述智能约车模块包括安装在按钮、终点选择器、固定智能设备和上车站中至少一种上的二维码、手持智能终端和约车软件中至少一种，所述按钮和所述终点选择器为安装在车站的装置。。In any of the above schemes, it is preferred that the smart car-hailing module includes at least one of two-dimensional codes installed on at least one of buttons, destination selectors, fixed smart devices and boarding stations, handheld smart terminals and car-hailing software. In one type, the button and the destination selector are devices installed at the station. .
在上述任一方案中优选的是，所述网络通讯模块包括网联室外WIFI、网联3G和网联4G中至少一种。In any of the solutions above, preferably, the network communication module includes at least one of Netlink outdoor WIFI, Netlink 3G and Netlink 4G.
在上述任一方案中优选的是，所述系统还包括安装在所述无人驾驶接驳车上的存储器和约车车站。In any of the solutions above, preferably, the system further includes a storage device and a ride-hailing station installed on the driverless shuttle bus.
在上述任一方案中优选的是，所述存储器用于存储地图数据和预先设定的自动驾驶路线。In any of the solutions above, preferably, the memory is used to store map data and a preset automatic driving route.
在上述任一方案中优选的是，所述自动驾驶路线为室外任意一条闭合或非闭合的驾驶路线。In any of the above schemes, preferably, the automatic driving route is any closed or non-closed driving route outdoors.
在上述任一方案中优选的是，所述地图数据是借助于无人驾驶接驳车平台的GPS导航传感系统和车载计算机获得。In any of the above schemes, preferably, the map data is obtained by means of the GPS navigation sensor system and the on-board computer of the unmanned shuttle bus platform.
在上述任一方案中优选的是，所述地图数据由道路的经度、纬度、高度、道路属性中至少一种数据构成。In any of the solutions above, it is preferable that the map data is composed of at least one data of longitude, latitude, height, and road attributes of the road.
在上述任一方案中优选的是，所述道路属性包括直道属性、弯道属性、上坡道属性和下坡道属性中至少一种。In any of the solutions above, preferably, the road attributes include at least one of straight road attributes, curve attributes, uphill attributes and downhill attributes.
在上述任一方案中优选的是，所述约车车站位于所述自动驾驶线路上，由经度、纬度和高度数据进行描述。In any of the above schemes, preferably, the car-hailing station is located on the automatic driving route, described by longitude, latitude and altitude data.
本发明的第二目的是提供一种无人驾驶接驳车手机约车方法，包括向网络约车模块发送约车信息，包括以下步骤：The second object of the present invention is to provide a mobile phone car-hailing method for an unmanned shuttle bus, including sending car-hailing information to the network car-hailing module, including the following steps:
步骤1：网络约车模块向汽车控制模块发送约车信息；Step 1: The online car-hailing module sends car-hailing information to the car control module;
步骤2：所述汽车控制模块根据所述约车信息向无人驾驶接驳车模块发送车辆控制信息；Step 2: The car control module sends vehicle control information to the unmanned shuttle bus module according to the car-hailing information;
步骤3：所述无人驾驶接驳车模块操控车辆前往约车人所在地：Step 3: The unmanned shuttle bus module controls the vehicle to the location of the car-hailer:
步骤4：到达所在地后，约车人上车前往目的地。Step 4: After arriving at the location, the car-hailer gets on the car and goes to the destination.
优选的是，所述无人驾驶接驳车是指经过改装后具有方向盘的无人驾驶汽车，包括公交车、巡逻车、接驳车和摆渡车中至少一种。Preferably, the driverless shuttle refers to a modified driverless car with a steering wheel, including at least one of a bus, a patrol car, a shuttle and a shuttle.
在上述任一方案中优选的是，所述汽车控制模块具有收集处理无人驾驶接驳车各传感系统的数据并进行数据融合和/或决策处理的功能。In any of the above schemes, preferably, the vehicle control module has the function of collecting and processing the data of each sensor system of the driverless shuttle vehicle and performing data fusion and/or decision processing.
在上述任一方案中优选的是，所述汽车控制模块用于输出车辆底层控制信号控制无人驾驶接驳车模块自动驾驶。In any of the above solutions, it is preferred that the vehicle control module is used to output vehicle floor control signals to control the automatic driving of the unmanned shuttle bus module.
在上述任一方案中优选的是，所述汽车控制模块还用于与所述网络约车模块进行远距离通讯并传输信息。In any of the solutions above, preferably, the vehicle control module is also used for long-distance communication and information transmission with the network car-hailing module.
在上述任一方案中优选的是，在所述步骤2中，所述汽车控制模块还用于通过与所述汽车控制模块相连接的CAN卡与CAN总线发送信息。In any of the solutions above, preferably, in the step 2, the vehicle control module is further configured to send information through the CAN card connected to the vehicle control module and the CAN bus.
在上述任一方案中优选的是，所述车辆控制信息为挡位开关、油门、刹车及转向中至少一种信息。In any of the solutions above, it is preferred that the vehicle control information is at least one of gear switch, accelerator, brake and steering information.
在上述任一方案中优选的是，所述无人驾驶接驳车模块包括底层车辆控制器、经过改造的线控和传感器中至少一种。In any of the above schemes, it is preferred that the unmanned shuttle bus module includes at least one of the bottom vehicle controller, a modified wire control and a sensor.
在上述任一方案中优选的是，所述步骤3为根据智能驾驶规则实现无人驾驶、停障和避障中至少一种功能。In any of the above schemes, it is preferable that the step 3 is to realize at least one function of unmanned driving, obstacle stopping and obstacle avoidance according to intelligent driving rules.
在上述任一方案中优选的是，所述智能驾驶规则为通过数据融合对所述传感器数据进行分析处理，决策出速度和/或角度控制信息。In any of the solutions above, preferably, the intelligent driving rule is to analyze and process the sensor data through data fusion to determine speed and/or angle control information.
在上述任一方案中优选的是，所述无人驾驶接驳车模块具有双驾双控的功能，所述双驾双控是指通过特定切换方式实现人工驾驶和自动驾驶之间的实时切换。In any of the above schemes, it is preferred that the driverless shuttle bus module has the function of dual driving and dual control, and the dual driving and dual control refers to the real-time switching between manual driving and automatic driving through a specific switching method .
在上述任一方案中优选的是，所述特定切换方式为拨动人工/自动开关和双手紧握方向盘中至少一种。In any of the solutions above, preferably, the specific switching mode is at least one of toggle a manual/automatic switch and hold the steering wheel with both hands.
本发明提出了一种无人驾驶接驳车手机约车系统及方法，可以实现特定场合下的乘客接驳与通勤、安防巡逻等功能，快速开启无人驾驶接驳车的商业应用开端。The present invention proposes a mobile phone hailing system and method for an unmanned shuttle bus, which can realize functions such as passenger connection and commuting, security patrols, etc. in specific occasions, and quickly start the commercial application of the unmanned shuttle bus.
附图说明Description of drawings
图1为按照本发明的无人驾驶接驳车手机约车系统的一优选实施例的模块图。Fig. 1 is a block diagram of a preferred embodiment of the driverless shuttle car mobile phone hailing system according to the present invention.
图2为按照本发明的无人驾驶接驳车手机约车方法的一优选实施例的流程图。Fig. 2 is a flow chart of a preferred embodiment of the mobile phone car-hailing method for the unmanned shuttle bus according to the present invention.
图3为按照本发明的无人驾驶接驳车手机约车系统的汽车控制系统的一实施例的硬件连接图。Fig. 3 is a hardware connection diagram of an embodiment of the vehicle control system of the mobile phone hailing system of the unmanned shuttle bus according to the present invention.
图3A为按照本发明的无人驾驶接驳车手机约车系统的如图3所示实施例的结构原理图。Fig. 3A is a structural principle diagram of the embodiment shown in Fig. 3 of the mobile phone car-hailing system of the unmanned shuttle bus according to the present invention.
图4为按照本发明的无人驾驶接驳车手机约车方法的另一优选实施例的流程图。Fig. 4 is a flow chart of another preferred embodiment of the mobile phone hailing method for an unmanned shuttle bus according to the present invention.
图4A为按照本发明的无人驾驶接驳车手机约车方法的如图4所述实施例的数据交换流程图。Fig. 4A is a flow chart of data exchange according to the embodiment shown in Fig. 4 of the mobile phone hailing method for an unmanned shuttle bus according to the present invention.
图5为按照本发明的无人驾驶接驳车手机约车系统的如图4所述实施例的APP界面展示图。Fig. 5 is a display diagram of the APP interface of the embodiment as shown in Fig. 4 of the mobile phone car-hailing system of the unmanned shuttle bus according to the present invention.
图5A为按照本发明的无人驾驶接驳车手机约车系统的如图4所示实施例的实时位置显示图。Fig. 5A is a real-time position display diagram of the embodiment shown in Fig. 4 of the mobile phone car-hailing system of the unmanned shuttle bus according to the present invention.
图5B为按照本发明的无人驾驶接驳车手机约车系统的如图4所示实施例的目的车站选择图。Fig. 5B is a destination station selection diagram of the embodiment shown in Fig. 4 of the driverless shuttle car mobile phone hailing system according to the present invention.
图5C为按照本发明的无人驾驶接驳车手机约车系统的如图4所示实施例的目的交互设计图。FIG. 5C is an interactive design diagram for the purpose of the embodiment shown in FIG. 4 of the mobile phone car-hailing system of the unmanned shuttle bus according to the present invention.
图5D为按照本发明的无人驾驶接驳车手机约车系统的如图4所示实施例的目的约车示意图。FIG. 5D is a schematic diagram of the destination car-hailing system of the embodiment shown in FIG. 4 of the mobile phone car-hailing system of the unmanned shuttle bus according to the present invention.
图6为按照本发明的无人驾驶接驳车手机约车系统的接驳车站的一实施例的示意图。Fig. 6 is a schematic diagram of an embodiment of the connecting station of the mobile phone car-hailing system for the unmanned shuttle bus according to the present invention.
具体实施方式Detailed ways
下面结合附图和具体的实施例对本发明做进一步的阐述。The present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments.
实施例一Embodiment one
如图1所示，无人驾驶接驳车约车系统包括智能约车模块100、网络约车模块110、汽车控制模块120、无人驾驶接驳车模块130和网络通讯模块140。As shown in FIG. 1 , the driverless shuttle car hailing system includes a smart car hailing module 100 , an online car hailing module 110 , a car control module 120 , a driverless shuttle car module 130 and a network communication module 140 .
智能约车模块100，功能如下：The intelligent car-hailing module 100 has the following functions:
1、用于利用网络通讯模块140与网络约车模块进行通讯；1. It is used to use the network communication module 140 to communicate with the network car-hailing module;
2、安装在用户的手机或者移动智能设备上；2. Installed on the user's mobile phone or mobile smart device;
3、用于扫描车站的二维码；3. It is used to scan the QR code of the station;
4、 用于输入约车信息；4. It is used to enter car-hailing information;
5、包括安装在按钮、终点选择器、固定智能设备和上车站中至少一种上的二维码、手持智能终端和约车软件，按钮和所述终点选择器为安装在上车站的装置。5. Including QR codes, handheld smart terminals and car-hailing software installed on at least one of buttons, destination selectors, fixed smart devices and boarding stations, the buttons and the destination selector are devices installed at boarding stations.
网络约车模块110：是系统的中心部分，功能如下：Online car-hailing module 110: it is the central part of the system, and its functions are as follows:
1、获取无人驾驶接驳车的信息；1. Obtain information on unmanned shuttle vehicles;
2、接收智能约车模块100发过来的约车信息；2. Receive the car-hailing information sent by the smart car-hailing module 100;
3、向安装在无人驾驶接驳车上的汽车控制模块120发送约车信息。3. Send car-hailing information to the car control module 120 installed on the unmanned shuttle car.
4、订单完成后，向车辆控制模块120发送返回信息。4. After the order is completed, send a return message to the vehicle control module 120 .
汽车控制模块120，功能如下：The vehicle control module 120 has the following functions:
1、接收网络约车模块110发送过来的约车信息；1. Receive the car-hailing information sent by the online car-hailing module 110;
2、生成行车路线；2. Generate driving routes;
3、向无人驾驶接驳车模块130发送行车路线；3. Send the driving route to the unmanned shuttle bus module 130;
4、将车辆信息实时传送给网络约车模块110；4. Send the vehicle information to the online car-hailing module 110 in real time;
5、收集处理无人驾驶接驳车各传感系统的数据并进行数据融合和/或决策处理；5. Collect and process the data of each sensor system of the unmanned shuttle bus and perform data fusion and/or decision processing;
6、 输出车辆底层控制信号控制无人驾驶接驳车模块自动驾驶；6. Output the bottom layer control signal of the vehicle to control the automatic driving of the unmanned shuttle bus module;
7、通过与所述汽车控制模块相连接的CAN卡与CAN总线将挡位开关、油门、刹车及转向中至少一种信息发送给无人驾驶接驳车模块。7. Send at least one of the information of gear switch, accelerator, brake and steering to the driverless shuttle bus module through the CAN card and CAN bus connected to the vehicle control module.
无人驾驶接驳车模块130，功能如下：The unmanned shuttle bus module 130 has the following functions:
1、接收汽车控制模块发送过来的行车路线；1. Receive the driving route sent by the vehicle control module;
2、按照行车路线控制车辆；2. Control the vehicle according to the driving route;
3、根据智能驾驶规则实现无人驾驶、停障和避障中至少一种功能；3. Realize at least one of the functions of unmanned driving, obstacle stopping and obstacle avoidance according to the rules of intelligent driving;
4、到达车站后停靠在指定位置。4. Stop at the designated location after arriving at the station.
5、包括底层车辆控制器、经过改造的线控和传感器，传感器包括激光雷达、超声波雷达、双目相机和导航仪。5. Including the underlying vehicle controller, modified wire control and sensors. The sensors include lidar, ultrasonic radar, binocular camera and navigator.
6、具有双驾双控的功能，所述双驾双控是指通过特定切换方式实现人工驾驶和自动驾驶之间的实时切换，特定切换方式包括拨动人工/自动开关和双手紧握方向盘中至少一种。6. It has the function of dual driving and dual control. The dual driving and dual control refers to the real-time switching between manual driving and automatic driving through a specific switching method. The specific switching method includes toggling the manual/automatic switch and holding the steering wheel with both hands at least one.
网络通讯模块140，用于向智能约车模块100、网络约车模块110和汽车控制模块120提供网络通信。The network communication module 140 is used for providing network communication to the smart car-hailing module 100 , the network car-hailing module 110 and the car control module 120 .
系统还包括用于存储地图数据和预先设定的自动驾驶路线的存储器和约车车站，地图数据是借助于无人驾驶接驳车平台的GPS导航传感系统和车载计算机获得，由道路的经度、纬度、高度、道路属性中至少一种数据构成，道路属性包括直道属性、弯道属性、上坡道属性和下坡道属性中至少一种。约车车站位于所述自动驾驶线路上，由经度、纬度和高度数据进行描述。The system also includes a memory for storing map data and pre-set automatic driving routes and a car-hailing station. The map data is obtained by means of the GPS navigation sensor system and the on-board computer of the unmanned shuttle bus platform. The longitude of the road, At least one of latitude, height, and road attributes. The road attributes include at least one of straight road attributes, curve attributes, uphill attributes, and downhill attributes. The car-hailing station is located on the automatic driving route, described by longitude, latitude and altitude data.
实施例二Embodiment two
如图2所示，执行步骤200，向网络约车模块发送约车信息。执行步骤210，所述网络约车模块向汽车控制模块发送所述约车信息。执行步骤220，所述汽车控制模块根据所述约车信息向无人驾驶接驳车模块发送车辆控制信息，汽车控制模块还具有通过与所述汽车控制模块相连接的CAN卡与CAN总线发送信息。执行步骤230，所述无人驾驶接驳车模块操控车辆前往约车人所在地，根据智能驾驶规则实现无人驾驶、停障和避障。执行步骤240，到达所在地后，约车人上车前往目的地。As shown in FIG. 2 , step 200 is executed to send car-hailing information to the online car-hailing module. Step 210 is executed, the online car-hailing module sends the car-hailing information to the car control module. Execute step 220, the car control module sends vehicle control information to the unmanned shuttle bus module according to the car-hailing information, and the car control module also has the ability to send information through the CAN card connected to the car control module and the CAN bus . Step 230 is executed, the unmanned shuttle bus module controls the vehicle to go to the location of the car-hailer, and realize unmanned driving, obstacle parking and obstacle avoidance according to the intelligent driving rules. Execute step 240, after arriving at the location, the car-hailer gets on the car and goes to the destination.
实施例三Embodiment three
本发明的目的在于提供一种无人驾驶接驳车约车系统及方法，该手机约车方法应用于特殊环境下的无人驾驶系统，在无人驾驶接驳车原本具有的无人驾驶功能、停障功能、避障功能等功能的基础上，装备基于云端服务的无人驾驶接驳车约车系统，通过车载控制平台及无人驾驶接驳车平台、网络约车平台、手持设备端约（叫）车软件以及网络通讯模块这四个主要组成部分，实现网络约车平台根据手机约车用户生成的约车订单，引导无人驾驶接驳车自动前往上车站接约车用户并将其送至下车站，完成手机约（叫）车服务。The purpose of the present invention is to provide an unmanned shuttle car car-hailing system and method. The mobile phone car-hailing method is applied to the unmanned driving system in a special environment. , obstacle-stopping, and obstacle-avoiding functions, equipped with a cloud-based service-based unmanned shuttle bus car-hailing system, through the on-board control platform, unmanned shuttle bus platform, network car-hailing platform, and handheld device terminal The four main components of the car-hailing software and the network communication module enable the online car-hailing platform to guide the unmanned shuttle bus to the station to pick up the car-hailing user automatically based on the car-hailing order generated by the mobile phone car-hailing user. It is sent to the next station to complete the mobile phone appointment (calling) car service.
为了实现上述目的，本发明采用如下技术方案。In order to achieve the above object, the present invention adopts the following technical solutions.
一种无人驾驶接驳车约车系统，包括车载控制平台及无人驾驶接驳车平台、网络约车平台、手持设备端约（叫）车软件以及网络通讯模块，约车用户走到约车上车站位置并操作手持设备端约（叫）车软件发送约车任务，网络约车平台收到约车订单，引导上线的无人驾驶接驳车平台去上车站接送约车用户到下车站，完成手机约（叫）车服务。A car-hailing system for an unmanned shuttle bus, including an on-board control platform, an unmanned shuttle bus platform, an online car-hailing platform, a hand-held device terminal (calling) car software, and a network communication module. Get on the station location and operate the hand-held device terminal (calling) car software to send the car-hailing task. The online car-hailing platform receives the car-hailing order and guides the online unmanned shuttle bus platform to the boarding station to pick up the car-hailing user to the disembarkation station , to complete the mobile phone appointment (calling) car service.
无人驾驶接驳车包括公交车、观光车、巡逻车、接驳车和摆渡车，不包括客车、私家车、救护车、工程抢险车等。Unmanned shuttle vehicles include buses, sightseeing vehicles, patrol vehicles, shuttle vehicles and shuttle vehicles, excluding passenger cars, private cars, ambulances, engineering emergency vehicles, etc.
车载控制平台，负责收集处理无人驾驶接驳车各传感系统的数据，经过数据融合、决策处理后，输出车辆底层控制信号控制车辆平台自动驾驶，同时将车辆工作状态等信息实时发送至网络约车平台，车载控制平台也会实时接收来自网络约车平台的车辆动作指令，通过与车载控制平台相连接的CAN卡与CAN总线将挡位开关、油门、刹车及转向信息发送给底层车辆控制器，控制无人驾驶接驳车实现自动驾驶等。The on-board control platform is responsible for collecting and processing the data of each sensor system of the unmanned shuttle bus. After data fusion and decision-making processing, it outputs the underlying control signal of the vehicle to control the automatic driving of the vehicle platform, and at the same time sends information such as the working status of the vehicle to the network in real time. The car-hailing platform and the vehicle control platform will also receive the vehicle action commands from the online car-hailing platform in real time, and send the gear switch, accelerator, brake and steering information to the underlying vehicle control through the CAN card and CAN bus connected to the vehicle control platform. Controller, control unmanned shuttle bus to realize automatic driving, etc.
无人驾驶接驳车平台是经过了底层线控改造及各类传感器安装的电动智能车平台，具备转向电控和速度、档位、刹车等底层电控功能，安装的各类传感器数据输入到车载控制平台，由车载制平台来处理融合输入的大量传感器数据，结合自身车辆状态与车身周围环境及网络约车平台指令，发出转向和速度、档位、刹车指令，控制车辆动作。无人驾驶接驳车平台能实现自动驾驶功能、停障功能、避障功能等基本智能驾驶功能。The unmanned shuttle bus platform is an electric smart car platform that has undergone the transformation of the underlying wire control and the installation of various sensors. The on-board control platform processes and fuses a large amount of input sensor data, combines the state of the own vehicle with the surrounding environment of the vehicle body and the commands of the online car-hailing platform, and issues steering, speed, gear, and brake commands to control the vehicle's actions. The unmanned shuttle bus platform can realize basic intelligent driving functions such as automatic driving function, obstacle stopping function, and obstacle avoidance function.
经过改装后具有方向盘的无人驾驶汽车，经过线控改装和装备传感器后，具有双驾双控功能，即无人驾驶接驳车既可以实现无人自动驾驶功能，也可以在自动驾驶过程中，通过拨动人工/自动开关切换到人工驾驶模式，由车上乘客接管车辆，车辆控制权掌握在乘客手里，再次拨动人工/自动开关即可回到自动驾驶模式；也可以通过方向盘压力传感器感应乘客是否接管车辆，乘客只需如正常开始姿势一样双手握紧方向盘，车辆自动切换到人工驾驶模式，乘客放开方向盘，车辆自动切换到自动驾驶模式。以上开关拨动和方向盘压力感应两种切换方法都支持人工/自动驾驶模式实时切换。The modified driverless car with a steering wheel has the function of dual driving and dual control after being modified by wire control and equipped with sensors. , switch to the manual driving mode by flipping the manual/automatic switch, and the passengers in the car will take over the vehicle, and the control of the vehicle is in the hands of the passengers. Toggle the manual/automatic switch again to return to the automatic driving mode; The sensor senses whether the passenger is taking over the vehicle. Passengers only need to hold the steering wheel with both hands as in the normal starting position, and the vehicle will automatically switch to the manual driving mode. When the passenger releases the steering wheel, the vehicle will automatically switch to the automatic driving mode. Both the switch toggle and steering wheel pressure sensing switching methods above support real-time switching between manual/automatic driving modes.
所述无人驾驶接驳车平台应用领域为如公园、动物园、公交路线等特定区域和路线，无人驾驶接驳车平台依靠配备的高精度传感设备获取高精度先验地图作车辆的全局规划，同时依赖高精度传感设备进行局部路径规划，根据特定场合的特点选定固定接驳站点，依靠传感技术、计算机技术、网络技术等实现特定区域下无人驾驶接驳车平台的手机约（叫）车服务。The application fields of the unmanned shuttle bus platform are specific areas and routes such as parks, zoos, and bus routes. At the same time, it relies on high-precision sensing equipment for local path planning, selects fixed connection sites according to the characteristics of specific occasions, and relies on sensing technology, computer technology, network technology, etc. About (called) car service.
所述无人驾驶接驳车平台受技术安全、法规伦理和过度风险所限，综合传感技术、计算机技术和网络技术等，只能在特定区域和路线如公园、动物园、公交路线等地实现接驳功能，不能超出特定区域和路线的限制，如小轿车人工驾驶一样能够实现任意两点或多点之间的自动驾驶接驳功能。The unmanned shuttle bus platform is limited by technical safety, legal ethics and excessive risks. Integrated sensing technology, computer technology and network technology can only be realized in specific areas and routes such as parks, zoos, bus routes, etc. The connection function cannot exceed the restrictions of specific areas and routes. It can realize the automatic driving connection function between any two or more points just like the manual driving of a car.
约车用户手持智能设备和手持设备端约（叫）车软件。手持智能设备及手持设备端约（叫）车软件负责接收约车用户的用车请求，并提供人机交互服务。约车用户的具体约车流程包括：扫描上车站二维码，填写目的车站、同行人数等信息，发送约车指令至网络约车平台，接收网络约车平台发来的车辆位置等信息并显示。约车用户根据提示完成叫车、登车、乘车、下车等约车交互及其他交互服务。Car-hailing users hold smart devices and hand-held device-end (calling) car software. Handheld smart devices and handheld (calling) car-hailing software are responsible for receiving car-hailing requests from car-hailing users and providing human-computer interaction services. The specific car-hailing process of the car-hailing user includes: scanning the QR code of the station, filling in information such as the destination station and the number of passengers, sending the car-hailing instruction to the online car-hailing platform, receiving and displaying the vehicle location and other information from the online car-hailing platform . Car-hailing users complete car-hailing interactions and other interactive services such as calling, boarding, riding, and getting off according to the prompts.
网络通讯模块负责提供无人驾驶接驳车平台的网络连接，无人驾驶接驳车约车系统支持在室外WIFI和3/4G环境下使用。The network communication module is responsible for providing the network connection of the unmanned shuttle bus platform, and the unmanned shuttle bus car-hailing system supports the use of outdoor WIFI and 3/4G environments.
无人驾驶接驳车约车系统的网络通讯模块，包括网联室外WIFI和网联3/4G通信。The network communication module of the unmanned shuttle bus car-hailing system, including Netlink outdoor WIFI and Netlink 3/4G communication.
还包括无人驾驶接驳车约车系统运行时的自动驾驶路线及地图数据，自动驾驶路线可选择室外如公园、动物园等任意一条闭合或非闭合的驾驶路线，地图数据是借助于无人驾驶接驳车平台的GPS导航传感系统和车载计算机获得的，一般由道路的经度、纬度、高度、道路属性（直道、弯道等属性）等数据构成。自动驾驶路线及地图数据主要用于实现无人驾驶接驳车的自动驾驶功能。It also includes the automatic driving route and map data when the unmanned shuttle bus car-hailing system is running. The automatic driving route can choose any closed or non-closed driving route outside such as parks and zoos. The map data is obtained by means of unmanned driving. The data obtained by the GPS navigation sensor system of the shuttle bus platform and the on-board computer generally consist of data such as the longitude, latitude, height, and road attributes (straight roads, curves, etc.) of the road. The automatic driving route and map data are mainly used to realize the automatic driving function of the unmanned shuttle bus.
还包括无人驾驶接驳车约车系统的约车车站及车站二维码，约车车站位于自动驾驶路线上，取自于地图数据，约车车站一般由经度、纬度、高度等数据来描述，约车车站在自动驾驶路线的物理位置上架设车站站牌，车站站牌显示车站信息。车站二维码由约车车站的经度、纬度、高度等数据借助二维码生成工具生成，车站二维码显示在车站站牌信息栏，用于约车用户手持智能设备和手持设备端约（叫）车软件生成约车订单时的定位信息。It also includes the car-hailing station and the QR code of the car-hailing system of the unmanned shuttle bus. The car-hailing station is located on the automatic driving route and is taken from the map data. The car-hailing station is generally described by data such as longitude, latitude, and height. , The ride-hailing station sets up a station sign on the physical location of the automatic driving route, and the station sign displays the station information. The QR code of the station is generated by the longitude, latitude, height and other data of the car-hailing station with the help of a QR code generation tool. The positioning information when the car software generates a car-hailing order.
基于发明的目的，本发明还公开了一种无人驾驶接驳车的手机约车方法，该方法包括：Based on the purpose of the invention, the present invention also discloses a mobile phone hailing method for an unmanned shuttle bus, the method comprising:
在无人驾驶接驳车原本具有的自动驾驶功能、停障功能、避障功能等功能的基础上，装备基于云端服务的无人驾驶接驳车约车系统，在园区等制定的接驳规划路线和预设接驳车站站点的基础上，实现无人驾驶接驳车约车的特定技术和特定功能。On the basis of the automatic driving function, obstacle stopping function, and obstacle avoidance function originally possessed by the unmanned shuttle bus, the unmanned shuttle bus car-hailing system based on cloud services is equipped, and the connection plan formulated in the park, etc. On the basis of the route and the preset shuttle station site, the specific technology and specific functions of the unmanned shuttle bus car-hailing are realized.
基于云端服务的无人驾驶接驳车约车系统主要由车载控制平台及无人驾驶接驳车平台、网络约车平台、手持设备端约（叫）车软件以及网络通讯模块四部分组成。The unmanned shuttle bus car-hailing system based on cloud services is mainly composed of four parts: vehicle control platform and unmanned shuttle bus platform, network car-hailing platform, hand-held device terminal (calling) car software, and network communication module.
无人驾驶接驳车约车方法的具体内容是，在无人驾驶接驳车平台的车载计算机上插入3G/4G网卡或接入wifi无线网，保持无人驾驶接驳车平台的车载计算机持续接入网络，在指定与规划好的园区等接驳线路上，设置若干接驳车站点，约车用户通过手持设备端约（叫）车软件扫描接驳站点处设置的站牌二维码，将约车指令发给服务器，即网络约车平台，网络约车平台收到约车用户的手机叫（约）车服务请求后，引导一辆无人接驳车响应约车用户指令，驱车到达指定接驳站点去搭载约车用户，并将约车用户送至提前设定好的目的车站，完成手机约（叫）车服务。The specific content of the driverless shuttle car booking method is to insert a 3G/4G network card or connect to the wifi wireless network on the on-board computer of the driverless shuttle platform to keep the on-board computer of the driverless shuttle platform continuously Access to the network, set up a number of shuttle bus stations on the designated and planned park and other connecting lines, and car-hailing users scan the two-dimensional codes of the stop signs set at the connecting stations through the hand-held device terminal (calling) car software, Send the car-hailing instructions to the server, that is, the online car-hailing platform. After the online car-hailing platform receives the car-hailing user's mobile phone call (hailing) service request, it will guide an unmanned shuttle car to respond to the car-hailing user's instruction and drive to the destination. Designate the connecting station to pick up the car-hailing user, and send the car-hailing user to the destination station set in advance to complete the mobile phone car-hailing (calling) service.
本发明的无人驾驶接驳车约车方法应用于特种场地下如园区、居民小区（社区）、公园等非市政道路环境中，利用该手机约车方法，可以解决在特种场合如园区、居民小区（社区）、公园等非市政道路环境中游客、上班族等的接驳与通勤任务。备有该手机约车系统及方法的无人驾驶接驳车可以快速实现特定场所下的接驳与通勤任务，且不需要对无人驾驶接驳车进行大的改造。The unmanned shuttle bus car-hailing method of the present invention is applied to non-municipal road environments such as parks, residential quarters (communities), and parks in special venues. Using the mobile phone car-hailing method, it can solve the problem in special occasions such as parks, residential areas, etc. Connecting and commuting tasks for tourists and office workers in residential areas (communities), parks and other non-municipal road environments. The unmanned shuttle bus equipped with the mobile phone car-hailing system and method can quickly realize the connection and commuting tasks in a specific place, and does not require major modifications to the unmanned shuttle bus.
实现无人驾驶接驳车的手机约车方法是本发明的主要内容，主要包括以下要点：It is the main content of the present invention to realize the mobile phone hailing method of unmanned shuttle bus, which mainly includes the following points:
1）使用本发明改造后的无人驾驶接驳车，在没有接到手机约车订单时，和无人驾驶接驳车没有区别，不影响无人驾驶接驳车原本就具备的自动驾驶功能、停障功能、避障功能等。1) The unmanned shuttle bus modified by the present invention is no different from the unmanned shuttle bus when no mobile phone booking order is received, and does not affect the original automatic driving function of the unmanned shuttle bus , obstacle stop function, obstacle avoidance function, etc.
2）使用本发明改造后的无人驾驶接驳车，除了需要配备wifi网络或3G/4G网络，其他硬件设备几乎不用改动，改造代价小。2) Except for wifi network or 3G/4G network, the unmanned shuttle bus modified by the present invention needs almost no modification of other hardware devices, and the transformation cost is low.
3）无人驾驶接驳车约车方法支持多人多车多订单的约车任务。3) The car-hailing method of the unmanned shuttle car supports the car-hailing task of multiple people, multiple vehicles and multiple orders.
4）无人驾驶接驳车约车方法类似于公交或出租车的运营模式，完成任务后的无人驾驶接驳车回到停车场，等待再次出发，完成手机约（叫）车服务。4) The driverless shuttle car booking method is similar to the operation mode of buses or taxis. After completing the task, the driverless shuttle bus returns to the parking lot and waits to start again to complete the mobile phone booking (calling) service.
配有该手机约车系统及方法的无人驾驶接驳车，可以实现特定场合下的乘客接驳与通勤、安防巡逻等功能，快速开启无人驾驶接驳车的商业应用开端。The unmanned shuttle bus equipped with the mobile phone car-hailing system and method can realize the functions of passenger connection and commuting, security patrol and other functions in specific occasions, and quickly start the commercial application of the unmanned shuttle bus.
实施例四Embodiment Four
如图3、3A所示，无人驾驶接驳车约车系统及方法软件实现主要依靠感知层、认知层和控制层。感知层包含雷达模块310、双目模块313和GPS模块314.雷达模块包括激光雷达311和超声波雷达312；认知层包括工控机300；控制层包括CAN网关380、转向控制器381、转向电机382、速度控制器383和油门、制动电机384。As shown in Figures 3 and 3A, the software implementation of the unmanned shuttle car hailing system and method mainly relies on the perception layer, the cognition layer and the control layer. Perception layer includes radar module 310, binocular module 313 and GPS module 314. Radar module includes lidar 311 and ultrasonic radar 312; cognitive layer includes industrial computer 300; control layer includes CAN gateway 380, steering controller 381, steering motor 382 , speed controller 383 and throttle, braking motor 384.
双目模块313通过道路边缘、行人和车辆检测算法，同样将道路边缘、行人和车辆等信息统一在同一坐标系下，提供给认知层。认知层首先对GPS模块314、雷达模块310和双目模块313输出的数据进行融合，将各类传感器数据放在同一坐标系下，构建高精度的车身雷达拓扑图，结合采集的高精度先验地图和车身位置与姿态以及车身周围环境信息，认知层进行二次规划并自主决策，实现循迹、停障和换道避障等功能；控制层主要指底盘控制器和底盘控制执行系统，通过Can总线接收认知层发出的横向和纵向命令控制车辆自动驾驶。The binocular module 313 also unifies information such as road edges, pedestrians, and vehicles in the same coordinate system through road edge, pedestrian, and vehicle detection algorithms, and provides them to the cognitive layer. The cognitive layer first fuses the data output by the GPS module 314, the radar module 310, and the binocular module 313, puts all kinds of sensor data in the same coordinate system, constructs a high-precision body radar topology map, and combines the collected high-precision advanced Inspect the map, the position and attitude of the vehicle body, and the surrounding environment information of the vehicle body. The cognitive layer performs secondary planning and independent decision-making to realize functions such as tracking, stopping, and changing lanes to avoid obstacles. The control layer mainly refers to the chassis controller and the chassis control execution system. , receiving the horizontal and vertical commands sent by the cognitive layer through the Can bus to control the automatic driving of the vehicle.
GPS模块314提供通过定位与路径规化算法，提供认知层决策规划时所需的地图路径、定位、车身姿态等信息；雷达模块通过地面分割、聚类和追踪等算法，将车身周围的动静态障碍物通过栅格化统一在同一坐标系下，提供认知层决策规化时所需要的动静态障碍物位置及速度信息。The GPS module 314 provides positioning and path planning algorithms to provide information such as map paths, positioning, and body posture required for decision-making at the cognitive layer; the radar module uses algorithms such as ground segmentation, clustering, and tracking to map the dynamic Static obstacles are unified in the same coordinate system through rasterization, providing the position and speed information of dynamic and static obstacles required for decision-making at the cognitive layer.
经过线控改造，无人驾驶接驳车硬件系统主要由三部分组成：传感器系统、主控计算机系统和底盘控制执行系统。无人驾驶接驳车实现自动驾驶功能，主要是依靠车上的三个组成部分来实现的。视觉、雷达和导航系统组成了无人驾驶接驳车的感知系统，能准确地识别车道线、前行方向、车辆定位及姿态信息、车辆周围障碍物如其他车辆、行人等信息。主控计算机系统接收各传感器采集与处理的数据，通过数据融合技术对这些数据进行分析处理，决策出速度、角度控制信息，控制车辆安全、正确、平稳地自动驾驶。底盘控制执行系统接收来自主控计算机的速度、角度控制命令进行动作。After the transformation of the wire control, the hardware system of the unmanned shuttle bus is mainly composed of three parts: the sensor system, the main control computer system and the chassis control execution system. The automatic driving function of the unmanned shuttle bus is mainly realized by three components on the vehicle. Vision, radar and navigation systems make up the perception system of unmanned shuttle vehicles, which can accurately identify lane lines, forward direction, vehicle positioning and attitude information, obstacles around the vehicle such as other vehicles, pedestrians and other information. The main control computer system receives the data collected and processed by each sensor, analyzes and processes these data through data fusion technology, and determines the speed and angle control information to control the safe, correct and stable automatic driving of the vehicle. The chassis control execution system receives the speed and angle control commands from the main control computer to act.
实施例五Embodiment five
如图4、4A所示，一次完整的手机约车接驳服务流程描述如下：As shown in Figure 4 and 4A, a complete mobile phone car-hailing connection service process is described as follows:
顺序执行步骤401和步骤402，约车用户430打开手机约车APP440，并通过短信验证的方式登录APP如图5所示，并向云平台410发送实时位置如图5A所示，云平台410验证用户信息。顺序执行步骤403和步骤404，约车用户430使用约车APP440扫描站台上的站牌二维码，并在约车APP440上设置约车目的车站（如图5B所示）、通行人数，并发送给智能约车平台400。执行步骤405，约车用户430等待相应约车指令的无人接泊车，智能约车平台400接收订单数据，通过云平台410确认无人驾驶接驳车420的位置及车辆状态，引导无人接驳车410至上车站，返回确认并提供车辆实时位置。 顺序执行步骤406和步骤406，无人驾驶接驳车401到达约车用户430所在的车站，约车用户430上车坐稳扶好，并在约车APP上确认已上车，无人驾驶接驳车410前往目的地车站。执行步骤408，到达目的地车站后。约车用户430下车，并在约车APP上确认已下车，车APP440发送服务完成（或终止）至智能约车平台400，智能约车平台400确认，约车任务结束，无人驾驶接驳车420返回指定位置。步骤430-步骤480中约车APP与智能约车平台400之间的交互如图5C所示。Steps 401 and 402 are executed sequentially. The car-hailing user 430 opens the car-hailing APP 440 on the mobile phone, and logs into the APP through SMS verification as shown in FIG. 5 , and sends the real-time location to the cloud platform 410 as shown in FIG. 5A. User Info. Step 403 and step 404 are executed sequentially. The ride-hailing user 430 uses the ride-hailing APP440 to scan the two-dimensional code of the stop sign on the platform, and sets the destination station of the ride-hailing app (as shown in FIG. 5B ) and the number of passers-by on the ride-hailing APP440, and sends 400 to the smart car-hailing platform. Execute step 405, the car-hailing user 430 waits for the unmanned parking of the corresponding car-hailing instruction, the smart car-hailing platform 400 receives the order data, confirms the location and vehicle status of the unmanned shuttle bus 420 through the cloud platform 410, and guides the unmanned The shuttle bus 410 arrives at the station, returns confirmation and provides the real-time position of the vehicle. Steps 406 and 406 are executed sequentially. The unmanned shuttle bus 401 arrives at the station where the car-hailing user 430 is located. The car-hailing user 430 boards the car and sits down firmly. The shuttle 410 goes to the destination station. Execute step 408, after arriving at the destination station. The car-hailing user 430 gets off the car and confirms on the car-hailing APP that he has got off the car. The car APP 440 sends the service completion (or termination) to the smart car-hailing platform 400. The shuttle 420 returns to the designated location. The interaction between the car-hailing APP and the smart car-hailing platform 400 from step 430 to step 480 is shown in FIG. 5C .
如图5D所示，约车用户1身在第i（i>=1）站，通过约车APP，设置在m（i+1=<m<=6）站下车，约车成功后，接驳车自动驾驶至第i站，乘客上车并确认上车后，接驳车自动驾驶至m站，乘客下车并确认后，如若没有订单，接驳车自动驾驶至终点站的停车场，自检ok后回到起始站，等待乘客约车订单。As shown in Figure 5D, car-hailing user 1 is at station i (i>=1), and through the car-hailing APP, set to get off at station m (i+1=<m<=6). After the car is successfully booked, The shuttle bus automatically drives to the i-th station. After passengers board and confirm boarding, the shuttle bus automatically drives to station m. After the passengers get off and confirms, if there is no order, the shuttle bus automatically drives to the parking lot at the terminal station , return to the starting station after the self-check is ok, and wait for passengers to book a ride.
实施例六Embodiment six
对于不会使用APP进行约车的人群（比如老人等），我们采用了一种按钮约车的方法，即：For people who do not know how to use APP to book a car (such as the elderly, etc.), we have adopted a method of calling a car with a button, namely:
在无人驾驶接驳车站500上安装有无人驾驶接驳车站牌510、无人驾驶接驳车呼叫按钮520、终点站按钮530、指示灯540、喇叭550、红外传感器560和显示屏570，显示屏570显示当前车站位置和无人驾驶接驳车的位置。The driverless shuttle station 500 is equipped with a driverless shuttle station sign 510, a driverless shuttle bus call button 520, a terminal button 530, an indicator light 540, a horn 550, an infrared sensor 560 and a display screen 570, The display screen 570 shows the current station location and the location of the unmanned shuttle bus.
当老人步行到达安装有无人驾驶接驳车站牌510的无人驾驶接驳车站500时，红外传感器560感知到有人到达无人驾驶接驳车站，喇叭550播放“请按下呼叫按钮”。当老人按下无人驾驶接驳车呼叫按钮520后，喇叭550播放“请选择终点”，老人通过按下终点站按钮530中的一个按钮选择终点站，选择完成后，如果选择不正确或未选择上，指示灯540变为常亮的红灯，喇叭550播放“选择不成功，请重新选择”。如果选择成功，指示灯540变为常亮的绿灯，喇叭550播放“选择成功，请稍后”。老人在车站等待无人驾驶接驳车。当无人驾驶接驳车接到并受理信息后，自动前往车站，此时，指示灯540变为闪亮的绿灯，喇叭550播放“车辆已经出发，请等待”，显示屏570实时显示无人驾驶接驳车的位置，以及无人驾驶接驳车和本站的距离。When the old man walks to the driverless shuttle station 500 where the driverless shuttle station sign 510 is installed, the infrared sensor 560 senses that someone has arrived at the driverless shuttle station, and the speaker 550 plays "Please press the call button". When the old man presses the call button 520 of the unmanned shuttle bus, the speaker 550 will play "Please select the destination", and the old man selects the terminal by pressing one of the terminal buttons 530. After the selection is completed, if the selection is incorrect or not When selecting, the indicator light 540 becomes a constant red light, and the speaker 550 plays "the selection is unsuccessful, please re-select". If the selection is successful, the indicator light 540 becomes a constant green light, and the speaker 550 plays "the selection is successful, please wait". The old man waits for the unmanned shuttle bus at the station. When the unmanned shuttle bus receives and accepts the information, it will automatically go to the station. At this time, the indicator light 540 turns into a flashing green light, and the speaker 550 plays "the vehicle has departed, please wait", and the display screen 570 shows in real time The location of the driving shuttle bus, and the distance between the unmanned shuttle bus and the station.
为了更好地理解本发明，以上结合本发明的具体实施例做了详细描述，但并非是对本发明的限制。凡是依据本发明的技术实质对以上实施例所做的任何简单修改，均仍属于本发明技术方案的范围。本说明书中每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似的部分相互参见即可。对于系统实施例而言，由于其与方法实施例基本对应，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。In order to better understand the present invention, the above has been described in detail in conjunction with specific embodiments of the present invention, but it is not intended to limit the present invention. Any simple modification made to the above embodiments according to the technical essence of the present invention still belongs to the scope of the technical solution of the present invention. What each embodiment in this specification focuses on is the difference from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. As for the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the related parts, please refer to the part of the description of the method embodiment.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810149216.2ACN108536117A (en) | 2018-02-13 | 2018-02-13 | A kind of unmanned Che Yueche system and methods of plugging into |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810149216.2ACN108536117A (en) | 2018-02-13 | 2018-02-13 | A kind of unmanned Che Yueche system and methods of plugging into |
| Publication Number | Publication Date |
|---|---|
| CN108536117Atrue CN108536117A (en) | 2018-09-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810149216.2APendingCN108536117A (en) | 2018-02-13 | 2018-02-13 | A kind of unmanned Che Yueche system and methods of plugging into |
| Country | Link |
|---|---|
| CN (1) | CN108536117A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109255943A (en)* | 2018-09-21 | 2019-01-22 | 李云峰 | The intelligent transportation system of smart phone and autonomous driving vehicle and viaduct composition |
| CN110426969A (en)* | 2019-07-31 | 2019-11-08 | 交通运输部公路科学研究所 | Control system, reservation and response control method based on intelligent network-connected micro-bus |
| CN110557444A (en)* | 2019-08-20 | 2019-12-10 | 合肥维天运通信息科技股份有限公司 | Unmanned container short barge vehicle scheduling system and method |
| CN111242475A (en)* | 2020-01-10 | 2020-06-05 | 北京联合大学 | An unmanned taxi interaction system and method based on minimum state set |
| CN111586130A (en)* | 2020-04-29 | 2020-08-25 | 清华大学 | Performance Evaluation Method and Device for Longitudinal Control Algorithm in Mixed Traffic Scenario |
| CN111857130A (en)* | 2020-06-18 | 2020-10-30 | 郑州智驱科技有限公司 | Unmanned pure electric airport ferry vehicle and control method |
| CN111986063A (en)* | 2020-08-17 | 2020-11-24 | 广西云森科技有限公司 | Network appointment passenger protection system and method |
| CN112230656A (en)* | 2020-10-10 | 2021-01-15 | 广州汽车集团股份有限公司 | A kind of park vehicle automatic driving method and its system, client, storage medium |
| CN113655799A (en)* | 2021-08-21 | 2021-11-16 | 山东金博电动车有限公司 | Low-delay remote control automatic driving device and system connection access method |
| CN114126945A (en)* | 2020-07-01 | 2022-03-01 | 克斯科株式会社 | How to provide self-driving car connection sightseeing service |
| CN114358533A (en)* | 2021-12-21 | 2022-04-15 | 南昌大学 | Campus multi-station unmanned connection vehicle and rescue system |
| CN114358386A (en)* | 2021-12-07 | 2022-04-15 | 江苏大学 | Double-trip-mode ride-sharing site generation method based on reserved trip demand |
| CN115883377A (en)* | 2022-10-25 | 2023-03-31 | 上海赫千电子科技有限公司 | Method for displaying network topology map of intelligent automobile |
| CN116011765A (en)* | 2023-01-03 | 2023-04-25 | 北京清丰智行科技有限公司 | Automatic driving and manual driving dual-mode method and vehicle for sharing travel |
| WO2023071618A1 (en)* | 2021-10-28 | 2023-05-04 | 中国第一汽车股份有限公司 | Reservation system and method for autonomous vehicle, and medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799666A (en)* | 2010-03-30 | 2010-08-11 | 奇瑞汽车股份有限公司 | Control method and system of automatic driving system |
| CN202815590U (en)* | 2012-07-30 | 2013-03-20 | 中国航天科工集团第三研究院第八三五七研究所 | Control system for mini self-driving unmanned vehicle |
| CN204989831U (en)* | 2015-08-04 | 2016-01-20 | 内蒙古麦酷智能车技术有限公司 | Self -driving car control system |
| CN105711591A (en)* | 2016-04-26 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle, and control method and device thereof |
| CN206178476U (en)* | 2016-11-02 | 2017-05-17 | 深圳市招科智控科技有限公司 | Unmanned vehicle based on high in clouds intelligent service ware |
| CN107610448A (en)* | 2017-08-21 | 2018-01-19 | 深圳市海梁科技有限公司 | A kind of automatic driving vehicle and its dispatching method and scheduling system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799666A (en)* | 2010-03-30 | 2010-08-11 | 奇瑞汽车股份有限公司 | Control method and system of automatic driving system |
| CN202815590U (en)* | 2012-07-30 | 2013-03-20 | 中国航天科工集团第三研究院第八三五七研究所 | Control system for mini self-driving unmanned vehicle |
| CN204989831U (en)* | 2015-08-04 | 2016-01-20 | 内蒙古麦酷智能车技术有限公司 | Self -driving car control system |
| CN105711591A (en)* | 2016-04-26 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle, and control method and device thereof |
| CN206178476U (en)* | 2016-11-02 | 2017-05-17 | 深圳市招科智控科技有限公司 | Unmanned vehicle based on high in clouds intelligent service ware |
| CN107610448A (en)* | 2017-08-21 | 2018-01-19 | 深圳市海梁科技有限公司 | A kind of automatic driving vehicle and its dispatching method and scheduling system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109255943A (en)* | 2018-09-21 | 2019-01-22 | 李云峰 | The intelligent transportation system of smart phone and autonomous driving vehicle and viaduct composition |
| CN110426969A (en)* | 2019-07-31 | 2019-11-08 | 交通运输部公路科学研究所 | Control system, reservation and response control method based on intelligent network-connected micro-bus |
| CN110557444A (en)* | 2019-08-20 | 2019-12-10 | 合肥维天运通信息科技股份有限公司 | Unmanned container short barge vehicle scheduling system and method |
| CN111242475A (en)* | 2020-01-10 | 2020-06-05 | 北京联合大学 | An unmanned taxi interaction system and method based on minimum state set |
| CN111586130A (en)* | 2020-04-29 | 2020-08-25 | 清华大学 | Performance Evaluation Method and Device for Longitudinal Control Algorithm in Mixed Traffic Scenario |
| CN111857130A (en)* | 2020-06-18 | 2020-10-30 | 郑州智驱科技有限公司 | Unmanned pure electric airport ferry vehicle and control method |
| CN114126945A (en)* | 2020-07-01 | 2022-03-01 | 克斯科株式会社 | How to provide self-driving car connection sightseeing service |
| CN111986063B (en)* | 2020-08-17 | 2022-08-30 | 广西云森科技有限公司 | Network taxi appointment passenger protection system and method |
| CN111986063A (en)* | 2020-08-17 | 2020-11-24 | 广西云森科技有限公司 | Network appointment passenger protection system and method |
| CN112230656A (en)* | 2020-10-10 | 2021-01-15 | 广州汽车集团股份有限公司 | A kind of park vehicle automatic driving method and its system, client, storage medium |
| CN112230656B (en)* | 2020-10-10 | 2024-07-16 | 广州汽车集团股份有限公司 | Automatic driving method of park vehicle, system, client and storage medium thereof |
| CN113655799A (en)* | 2021-08-21 | 2021-11-16 | 山东金博电动车有限公司 | Low-delay remote control automatic driving device and system connection access method |
| WO2023071618A1 (en)* | 2021-10-28 | 2023-05-04 | 中国第一汽车股份有限公司 | Reservation system and method for autonomous vehicle, and medium |
| CN114358386A (en)* | 2021-12-07 | 2022-04-15 | 江苏大学 | Double-trip-mode ride-sharing site generation method based on reserved trip demand |
| CN114358386B (en)* | 2021-12-07 | 2024-11-15 | 镇江市江苏大学工程技术研究院 | A method for generating dual-travel mode carpooling stations based on travel reservation demand |
| CN114358533A (en)* | 2021-12-21 | 2022-04-15 | 南昌大学 | Campus multi-station unmanned connection vehicle and rescue system |
| CN115883377A (en)* | 2022-10-25 | 2023-03-31 | 上海赫千电子科技有限公司 | Method for displaying network topology map of intelligent automobile |
| CN116011765A (en)* | 2023-01-03 | 2023-04-25 | 北京清丰智行科技有限公司 | Automatic driving and manual driving dual-mode method and vehicle for sharing travel |
| Publication | Publication Date | Title |
|---|---|---|
| CN108536117A (en) | A kind of unmanned Che Yueche system and methods of plugging into | |
| CN112823372B (en) | Queuing up for boarding and alighting | |
| US20220197280A1 (en) | Systems and Methods for Error Sourcing in Autonomous Vehicle Simulation | |
| US12319316B2 (en) | Systems and methods for autonomous vehicle controls | |
| JP7153724B2 (en) | Suggesting alternate boarding and disembarking locations for autonomous vehicles | |
| US20250282361A1 (en) | Reducing inconvenience to surrounding road users caused by stopped autonomous vehicles | |
| US11436926B2 (en) | Multi-autonomous vehicle servicing and control system and methods | |
| US11772603B2 (en) | Passenger authentication and entry for autonomous vehicles | |
| CN207742347U (en) | Car-mounted device, net connection vehicle and navigation positioning system | |
| CN114435393B (en) | Behavior prediction for rail agents for autonomous driving systems | |
| EP4235615A1 (en) | Arranging passenger trips for autonomous vehicles | |
| CN105730453B (en) | Intelligent automobile interactive system based on three-tier architecture and design method | |
| US20210389137A1 (en) | Systems and Methods for Integrating Autonomous Vehicles and Light Electric Vehicles | |
| CN116185019A (en) | Unmanned public transport system control method, unmanned public transport system control device, computer equipment and storage medium | |
| CN109564674A (en) | Passenger-friendly self-driving vehicles | |
| US12412130B1 (en) | Arranging tour trips using autonomous vehicles | |
| Bongiovanni et al. | Smart City Pilots: Advancing Sustainable Mobility and Urban Innovation | |
| KR20240076676A (en) | Systems And Methods for Remote Valet Parking Service | |
| JP2022138773A (en) | Autonomous vehicle management device | |
| WANG et al. | Intelligent Road Transport Systems |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20180914 |