Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, rightThe present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, andIt is not used in the restriction present invention.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodimentsIt is contained at least one embodiment of the application.Each position in the description occur the phrase might not each mean it is identicalEmbodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly andImplicitly understand, embodiment described herein can be combined with other embodiments.
Unmanned vehicle dispatching method provided by the present application can be applied in application environment as shown in Figure 1.The application environmentIn include that server 101 and unmanned vehicle 102 (show 3 unmanned vehicles, may include more in actual application scenarios in Fig. 1Or less unmanned vehicle), network communication can be carried out between server 101 and unmanned vehicle 102.Unmanned vehicle 102 is located at differentIn region (it is of course also possible to being located at the same area).Wherein, server 101 determines mesh in the unmanned vehicle in unmanned regionIt marks unmanned vehicle (as shown in figure 1 plus unmanned vehicle of dotted line frame), and controls the target unmanned vehicle and travel region to terminal from initiation region.Server 101 can realize with the server cluster of independent server either multiple servers composition, certainly, server101 also could alternatively be terminal device, and terminal device can be, but not limited to be various personal computers, laptop, intelligenceMobile phone and tablet computer.Unmanned vehicle 102 can be various types of pilotless automobiles.
The embodiment of the present invention provide a kind of unmanned vehicle dispatching method, device, the system for executing unmanned vehicle dispatching method, nobodyVehicle controlling equipment and storage medium.It is described in detail separately below.
In one embodiment, as shown in Fig. 2, providing a kind of unmanned vehicle dispatching method.It is applied in Fig. 1 in this way101 end of server for be illustrated, comprising the following steps:
S201, starting area and land are determined.
First choice explains unmanned vehicle, and unmanned vehicle refers to pilotless automobile, is one kind of intelligent automobile, also referred to asWheeled mobile robot relies primarily on the interior intelligent driving instrument based on computer system to realize unpiloted mesh, the embodiment of the present invention to the type of unmanned vehicle with no restrictions.The candidate unmanned vehicle quantity possible more than one that server is connectedIt is a, therefore, candidate unmanned vehicle can be numbered, so that each candidate unmanned vehicle has unique ID.Further, nothingEquipped with computer system on people's vehicle, therefore, they can be divided by the information that the computer system sends serverAnalysis, the adjustment travel speed such as detection information that can also be sent according to detector and direction (such as: detecting 50 meters of front has barrierHinder object, then stop travelling).
Starting area refers to the corresponding start position of current scheduling, and land refers to the corresponding terminal of current schedulingPosition.Further, starting area and land can be the region for occupying certain level area, this horizontal area can be withIt is bigger, smaller than the size of unmanned vehicle, even consistent.
In one embodiment, the step of determining starting area and land, comprising: receive what control centre was sentVehicle dispatching information；According to vehicle dispatching information, starting area and land are determined in the unmanned region.
Wherein, control centre refers to the central platform that more unmanned vehicles are carried out with centralized dispatching, the control centre and clothesBeing engaged in, (control centre after power-up can be with login service device, and records the log-on message of oneself in server, steps on for device network communicationControl centre after record can be with server network communication), to send vehicle dispatching information to server.The control centre canTo be realized by terminal device or server.Further, control centre can for one, two, even more than.
Vehicle dispatching information can refer to the information being scheduled to unmanned vehicle, can wrap containing starting area and landDescription information, also can wrap the instruction information containing target unmanned vehicle, can also be comprising other are relevant to unmanned vehicle schedulingInformation (such as: the requirement to current scheduling, such as: the used time is most short, barrier is minimum).
Unmanned region (being referred to as automatic Pilot region) is the region that can be travelled for unmanned vehicle, this nobodySpecific sensor, detector, communication equipment etc. can be set in driver area, meanwhile, the lane in unmanned regionIt is also possible to be paved into as needed；Certainly, in some cases, unmanned region, which is also possible to conventional road, (hasThe road of common vehicle and walk).
Further, unmanned region can be a region, can also be formed by connecting, be can also be by multiple regionsMutually independent region.Unmanned vehicle and server can be under the controls of server in unmanned region after establishing connectionTraveling, the unmanned vehicle controlled can travel in a unmanned region, can also pass through interregional road interconnectedRoad and in interregional traveling.
Further, starting area and land are determined in the unmanned region, it is possible to understand that are as follows: oneTwo small starting areas and land are determined in a big unmanned region.
S202, target unmanned vehicle is determined from candidate unmanned vehicle；Candidate's unmanned vehicle is the nothing in unmanned regionPeople's vehicle.
Wherein, candidate unmanned vehicle can refer to the unmanned vehicle that can be controlled by server, be specifically as follows positioned at unmanned areaUnmanned vehicle within the scope of domain；Or there are associated unmanned vehicles with unmanned region, for example, in unmanned regionNeighbouring unmanned vehicle.Further, candidate unmanned vehicle can be in the unmanned regional scope and nothing of login service devicePeople's vehicle.
This step determines target unmanned vehicle in candidate unmanned vehicle.Wherein, the quantity of target unmanned vehicle can be one, two, even more, target unmanned vehicle be two or more in the case where, server can simultaneously to these target unmanned vehiclesIt is controlled.
S203, according to the starting area and the land, calculate the driving path of the target unmanned vehicle.
Map where the available starting area of server and land is calculated according to the line information in the mapTarget unmanned vehicle travels the region driving path to be passed through to terminal from starting area.This driving path can be a plurality of,Such as: apart from shortest path, used time shortest path, the highest path of air quality etc..Further, server can be withMore target unmanned vehicles are controlled respectively to travel on a plurality of driving path.
Further, identified a plurality of driving path can be all sent to target unmanned vehicle by server, by unmanned vehicleIt is selected according to the actual situation, it can also according to the demand of user or vehicle dispatching information determines optimal traveling roadOptimal driving path is sent to target unmanned vehicle by diameter.
S204, Xiang Suoshu target unmanned vehicle send dispatch command；The dispatch command is for controlling the target unmanned vehicleIt travels from the starting area according to the driving path to the land.
In this step, server sends dispatch command to target unmanned vehicle, to control target unmanned vehicle from starting areaTraveling travels region to terminal according to driving path.In the process of moving, target unmanned vehicle may need by it is multiple nobody driveSail region.
Further, in dispatch command can also including Vehicle Speed etc. information, with more intelligently to target nobodyVehicle is controlled.
Certainly, after sending dispatch command to target unmanned vehicle, it can according to need and refer to the transmission parking of target unmanned vehicleIt enables, stops traveling to control target unmanned vehicle, speed control instruction and direction control command can also be sent to target unmanned vehicleDeng with travel speed and the direction etc. for adjusting target unmanned vehicle.
Unmanned vehicle dispatching method provided in this embodiment, determines starting area and land, from unmanned regionCandidate unmanned vehicle in determine target unmanned vehicle, calculate target unmanned vehicle driving path, to target unmanned vehicle send scheduling refer toIt enables, travels region to terminal according to driving path to control target unmanned vehicle from starting area, can dispatch in unmanned regionMore unmanned vehicles travelled in multiple regions, be able to achieve the multizone manage and dispatch of unmanned vehicle.
In one embodiment, described the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: it is determining with it is describedThe nearest candidate unmanned vehicle of starting area distance, as the target unmanned vehicle.Wherein, distance can be linear distance most recentlyClosely, it can also refer to that travel distance (distance of starting area is driven to from the current location of candidate unmanned vehicle) is most short.Determining meshAfter marking unmanned vehicle, driving instruction can be sent, to the target unmanned vehicle to control target unmanned vehicle from its current position rowIt sails to starting area.The candidate unmanned vehicle nearest apart from starting area is determined as target unmanned vehicle by the present embodiment, can guarantee meshMark unmanned vehicle travels within the shortest time to starting area.
In another embodiment, the step of target unmanned vehicle is determined from candidate unmanned vehicle, comprising: receive unmanned vehicle and refer toDetermine information, candidate unmanned vehicle corresponding with the unmanned vehicle specify information is determined, as the target unmanned vehicle.Equally, trueIt sets the goal after unmanned vehicle, driving instruction can be sent, to the target unmanned vehicle to control target unmanned vehicle from its current positionTraveling is set to starting area.The present embodiment determines target unmanned vehicle according to unmanned vehicle specify information, can be according to the demand of userIt is selected, improves the intelligence of entire unmanned vehicle scheduling system.
In one embodiment, vehicle dispatching information includes at least one of the following: scheduler task and recruits vehicle task；According to instituteThe step of stating starting area and the land, calculating the driving path of the target unmanned vehicle, comprising: if the vehicleScheduling information is scheduler task, calculating travel from the starting area to the path of the land, obtain the target withoutThe driving path of people's vehicle；If the vehicle dispatching information is to recruit vehicle task, determined in where passenger according to the trick vehicle taskTurn region, calculating is travelled to the transfer region from the starting area and travelled from the transfer region to the landPath, obtain the driving path of the target unmanned vehicle.
Wherein, scheduler task can refer to the task that a certain unmanned vehicle is dispatched to final position B from start position A.AndRecruit vehicle task that can refer to that needing unmanned vehicle to travel from start position A to passenger (can be hair according to task of vehicle order being recruited to generatePlay the passenger of trick vehicle order) where position C carry the passenger, and continue traveling position B to terminal.
Above-described embodiment pointedly generates driving path according to vehicle dispatching information, can carry out independent tune to vehicleDegree, moreover it is possible to accept order, control unmanned vehicle goes to transfer region to carry passenger, can effectively extend the application scenarios of whole system.
In one embodiment, further comprising the steps of: according to the vehicle dispatching information, to send vehicle to target unmanned vehicleScheduling request；Receive the response message that the target unmanned vehicle is returned for vehicle scheduling request；The response is believedBreath is sent to the control centre.
For response message, it can be " having received vehicle scheduling solicited message, can receive dispatch command "；TargetUnmanned vehicle can request to verify to vehicle scheduling, if be proved to be successful, response message can be for " vehicle dispatching information is testedDemonstrate,prove successfully ", at this point, target unmanned vehicle can receive the dispatch command of server transmission and drive to terminal according to the dispatch commandRegion, if authentication failed, response message can be " vehicle dispatching information authentication failed ", at this point, target unmanned vehicle can be withReject the dispatch command that server is sent；Target unmanned vehicle can also according to itself state (such as: schedulable state orNon-scheduling state) Lai Shengcheng response message, such as: when oneself state is non-scheduling state, response message is " to have receivedVehicle scheduling solicited message, but this vehicle non-scheduling ".
Specifically, administrator can log in control centre, issue scheduler task to control centre or recruit vehicle task (whenSo, the two tasks can also be automatically generated by control centre).If what administrator initiated is scheduler task, control centreThe information such as the ID (i.e. the ID of target unmanned vehicle) of input scheduling vehicle, start-stop point, and the scheduler task is uploaded onto the server,After server authentication scheduler task is legal, scheduling request is initiated to target unmanned vehicle, and target unmanned vehicle is directed to the tuneThe response message of degree request returns to control centre；If what administrator initiated is to recruit vehicle task, control centre's input schedulingThe information such as ID, start-stop point, the Customer information (may include gender, position of passenger etc.) of vehicle, control centre is by the trickVehicle task is uploaded onto the server, and after server authentication recruits vehicle task legal, initiates target unmanned vehicle to recruit vehicle request, and willTarget unmanned vehicle returns to control centre for the response message of trick vehicle request.
In the present embodiment, server sends vehicle scheduling to target unmanned vehicle according to different vehicle dispatching informations and requests,And the response message that target unmanned vehicle returns is sent to control centre, response message can be obtained according to the state of target unmanned vehicle,To be more intelligently scheduled to target unmanned vehicle, it also can guarantee the current dispatching response feelings of management and running personnel's timely learningCondition.
In one embodiment, before the step of determining target unmanned vehicle in candidate unmanned vehicle, further includes: receive to be selectedThe logging request (may include the login authentications such as identifying code information in the logging request) of unmanned vehicle, tests logging requestCard；If logging request is proved to be successful, determines that the unmanned vehicle to be selected logins successfully, the unmanned vehicle to be selected is determined as candidate nothingPeople's vehicle, and the response message logined successfully is sent to the unmanned vehicle to be selected；If the logging request authentication failed, described in judgementUnmanned vehicle login failure to be selected sends the response message of login failure to the unmanned vehicle to be selected.
Further, the automatic operation for carrying out login service device after unmanned vehicle booting, uploads logging request.Server pairLogging request carries out verifying and returns to response message to corresponding unmanned vehicle.Unmanned vehicle is sentenced according to the response message that server returnsIt is disconnected whether online success.Wherein, server in password mistake, vehicle is unregistered, self-position is apart from all automatic Pilot regionsAll too far etc. reasons when, it is believed that logging request authentication failed (it is also assumed that logging request irregularity), and verifying is lostThe reason of losing returns to corresponding unmanned vehicle.
Above-described embodiment can verify the logging request of unmanned vehicle, prevent the unmanned vehicle of irregularity from accessing server,Guarantee the safety of entire unmanned vehicle scheduling system.
In one embodiment, it is described determine the step of unmanned vehicle to be selected logins successfully after, further includes: receive toThe initial position for selecting unmanned vehicle to send；If the initial position is located at unmanned areas outside, the determining and initial positionThe nearest unmanned region of distance, as unmanned prime area；Driving instruction is sent to the unmanned vehicle to be selected；It is describedDriving instruction is travelled from the initial position to the unmanned prime area for controlling the unmanned vehicle to be selected.
If server issues driving instruction specifically, candidate unmanned vehicle is not in automatic Pilot region, waited with controllingUnmanned vehicle is selected to travel to automatic Pilot region.And candidate unmanned vehicle uploads vehicle-state letter to server in the process of runningBreath.
As shown in figure 3, determining after target unmanned vehicle (301 in such as Fig. 3), server obtains the initial of the target unmanned vehiclePosition controls target unmanned vehicle from initial position and drives to unmanned prime area, and then controls after calculating driving pathTarget unmanned vehicle processed travels region to terminal from starting area.
Above-described embodiment controls candidate unmanned vehicle according to initial position and travels to unmanned prime area, can makeCandidate unmanned vehicle is in the region that can easily travel, and sends and adjusts to corresponding unmanned vehicle when needing to be scheduled unmanned vehicleDegree instructs the unmanned vehicle that can make an immediate response, and can effectively improve the efficiency of unmanned vehicle scheduling.
In some embodiments, if it find that a certain unmanned vehicle D to be selected is not or not automatic Pilot region, and candidate's unmanned vehicleCandidate's unmanned vehicle D recently (being also possible to other reasons), then can be determined as target unmanned vehicle apart from starting area by D, canNot control in its traveling to automatic Pilot region, and at the beginning of directly controlling candidate unmanned vehicle D from its after determining driving pathBeginning position is travelled to starting area, and travels region to terminal from starting area.It is further possible to control candidate unmanned vehicleRegion to terminal is directly travelled without starting area.The present embodiment controls unmanned vehicle according to the actual situation, is able to achieve pairUnmanned vehicle intelligent scheduling.
In one embodiment, described the step of sending dispatch command to the target unmanned vehicle, comprising: according to describedPoint region, the land and the driving path, obtain map file；According to the map file, Xiang Suoshu targetUnmanned vehicle sends map pushed information；The map pushed information is for controlling the target unmanned vehicle, to the map fileIt carries out distorting verifying, if determining that the map file is not tampered with according to the result for distorting verifying, instruction information is not distorted in return；Receive the target unmanned vehicle return does not distort instruction information, and Xiang Suoshu target unmanned vehicle sends dispatch command.
Wherein, map file can be accurately map file, and accurately map file can be understood as that nothing can be made for thisPeople's vehicle knows the file of cartographic information as detailed as possible, such as: it can be 10 centimeter accurates, 20 centimeter accurates etc., certainly, heightPrecision map file may be other higher or lower precision.
In the present embodiment, target unmanned vehicle carries out it to distort verification, institute can be effectively ensured when receiving map fileThe safety of the map file used guarantees the safety traffic of unmanned vehicle, while also unmanned vehicle can be prevented according to the ground being tamperedFigure is travelled to the place of mistake.
In one embodiment, the interaction between server, unmanned vehicle and control centre, which may pass through, verifies thisStep, such as: unmanned vehicle sends logging request to server, and server can verify the logging request；Server toUnmanned vehicle sends map file, and unmanned vehicle can verify the map file；Control centre is sent to server recruits vehicle to appointBusiness, server can verify trick vehicle task；Etc..Such processing mode can be effectively ensured server, unmanned vehicle withAnd control centre constituted unmanned vehicle scheduling system safety.
In one embodiment, after the step of Xiang Suoshu target unmanned vehicle transmission dispatch command, further includes: described in acquisitionThe travel condition of vehicle of target unmanned vehicle in the process of moving；Store the travel condition of vehicle.Unmanned vehicle in the process of running,Travel condition of vehicle is generated by the information of the acquisitions such as the sensor of vehicle body, detector, which can be storedIn memory.Wherein, which can refer to Vehicle Speed, direction, vehicle safety state etc. information.Into oneStep ground, after server receives travel condition of vehicle, travel condition of vehicle can be stored in memory, can also be transported to vehicleRow state is analyzed, if according to travel condition of vehicle determine target unmanned vehicle break down, can to the target nobodyVehicle sends adjustment instruction or cutoff command.
Server can be obtaining travel condition of vehicle by way of actively accessing the computer system of unmanned vehicle, can also be withThe passive travel condition of vehicle for receiving unmanned vehicle and sending.
Further, by taking server passively receives the travel condition of vehicle of unmanned vehicle transmission as an example.Unmanned vehicle is logging in clothesIt is engaged in that in real time, periodically or according to the instruction of server travel condition of vehicle can be sent to server after device.
Further, during target unmanned vehicle drives to unmanned prime area from initial position, Ke YixiangServer sends travel condition of vehicle.
Above-described embodiment, server obtain travel condition of vehicle, can when unmanned vehicle breaks down in the process of running andShi Jinhang processing.
The above method in order to better understand, as shown in figure 4, elaborating a present invention by taking server end as an example belowThe application example of unmanned vehicle dispatching method.
S401, logging request is received, determines the type of the logging request, if the type of logging request is unmanned vehicle to be selectedThe logging request of transmission, then execute S402, if it is the logging request that control centre is sent, executes S403.
S402, it carries out verifying to the logging request that unmanned vehicle to be selected is sent and returns to log in corresponding unmanned vehicle to be selected to answerAnswer information.
If S4021, authentication failed, the response message of login failure is returned to corresponding unmanned vehicle to be selected.
S4022, if the verification passes then returns to the response message logined successfully to corresponding unmanned vehicle to be selected and waits for thisUnmanned vehicle is selected to be determined as candidate unmanned vehicle.
S4023, vehicle login position when sending logging request according to candidate unmanned vehicle calculate candidate unmanned vehicle and recentlyAutomatic Pilot region distance.
If S4024, the threshold value set apart from size, the i.e. current location of the unmanned vehicle to be selected are all from all regionsToo far, then the instruction information of driver area can not be used by returning to current vehicle periphery to candidate's unmanned vehicle.
If S4025, the distance are less than or equal to the threshold value of setting, the high-precision in nearest automatic Pilot region is issuedMap and area information give candidate's unmanned vehicle, this nearest automatic Pilot region becomes unmanned prime area.
S4026, it waits control centre to send vehicle dispatching information, then executes S404.
S403, the logging request that the control centre is sent is carried out verifying and returned to control centre to log in response message,The administrator's account logged in control centre is verified and returns to verification result simultaneously.
If S4031, administrator's account authentication failed determine the failed login service device of administrator's account, will step onThe information of record failure returns to control centre.
If S4032, administrator's account are proved to be successful, determine administrator's account success login service device, then waitThe vehicle dispatching information that administrator's account is sent, if receiving the vehicle scheduling letter that administrator's account is sent in control centreBreath, then execute S404.
S404, according to vehicle dispatching information, starting area and land are determined in unmanned region.
S405, target unmanned vehicle is determined from candidate unmanned vehicle.
If S4061, the vehicle dispatching information are scheduler task, calculating is travelled from the starting area to the terminal areaThe path in domain obtains the driving path of the target unmanned vehicle.
S4062, Xiang Suoshu target unmanned vehicle send dispatch command (including scheduler task in instruction), to control the meshMark unmanned vehicle is travelled according to the driving path to the land from the starting area.
S4063, travel condition of vehicle is received, if determining that vehicle has been received scheduling and appoints according to travel condition of vehicleBusiness then receives the progress that target unmanned vehicle executes scheduler task.
If S4071, the vehicle dispatching information are to recruit vehicle task, the transfer where passenger is determined according to the trick vehicle taskRegion, calculating are travelled to the transfer region from the starting area and are travelled from the transfer region to the landPath obtains the driving path of the target unmanned vehicle.
S4072, Xiang Suoshu target unmanned vehicle send dispatch command (including to recruit vehicle task in instruction), to control the meshMark unmanned vehicle is travelled to the transfer region (carrying passenger) from the starting area and is travelled from the transfer region to describedLand.
S4073, travel condition of vehicle is received, recruits vehicle to appoint if determining that vehicle has been received according to travel condition of vehicleBusiness then receives target unmanned vehicle and executes the state for recruiting vehicle task and process (recruiting the execution state of vehicle order), judges that task isIt is no be cancelled, whether vehicle has begun whether stroke, stroke are completed.
Unmanned vehicle dispatching method provided in this embodiment can dispatch more unmanned vehicles in unmanned region in multiple areasIt is travelled in domain.The technological means solves the drawbacks of conventional truck administrative center is not suitable for management automatic driving vehicle, and solvesAutomatic driving vehicle multizone manage and dispatch of having determined and order distribute.
In one embodiment, as shown in figure 5, the application of a unmanned vehicle dispatching method of the present invention detailed below is realExample.
S501, control centre's login service device record the log-on message of oneself in server.
S502, server authentication administrator account (administrator can also be referred to as) permission.
If S503, Authority Verification fail, server returns to corresponding Defect Indication information to control centre.
If the success of S504, Authority Verification, server successfully indicates information to control centre's return is corresponding.
S505, control centre pull the area information in all automatic Pilot regions supported, verify pulled regionWhether information is tampered.
If S506, area information are tampered, control centre notifies administrator.
If S507, area information are not tampered with, control centre jumps to the automatic Pilot region of administrator's selection, adjustsDegree center pulls all unmanned vehicles in selection region, and on interface these unmanned vehicles of real-time display shorthand information (such as Fig. 6Shown, whole region can be understood as a unmanned region, wherein circle indicates different places, and dotted line indicates twoThe road of intersite, Fig. 6 show position and the dispatch state of each unmanned vehicle).
S508, control centre receive the scheduling request that administrator sends, and determine the type of scheduling request.
If S509, scheduling request are to show the request of vehicle details, server determines nothing according to the selection of administratorThe vehicle details of people's vehicle, by vehicle details return to control centre, control centre show vehicle details (includingThe real time position speed of current vehicle, current planning path traveling progress, front obstacle, current vehicle scheduling or order etc.Information), shown content can be as shown in Figure 7, wherein what the broken line of real segment composition indicated is planned traveling roadDiameter, the real segment of overstriking indicate that target unmanned vehicle has crossed path, and what triangle indicated is barrier.
If S510, scheduling request are to initiate the request of scheduler task, the id of control centre's input scheduling vehicle, start-stopPoint, and the scheduler task is uploaded onto the server, after server authentication scheduler task is legal, target unmanned vehicle is initiated to adjustDegree request, and the response by target unmanned vehicle for scheduling request returns to control centre.
If S511, scheduling request are the request for initiating to recruit vehicle task, the id of control centre's input scheduling vehicle, start-stopThe order informations such as point, Customer information, control centre upload onto the server the order information, server authentication order it is legal itAfterwards, target unmanned vehicle is initiated to recruit vehicle request, and the response by target unmanned vehicle for order information returns to control centre.
It should be noted that for the various method embodiments described above, describing for simplicity, it is all expressed as a series ofCombination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described, because according toAccording to the present invention, certain steps can use other sequences or carry out simultaneously.
Based on thought identical with the unmanned vehicle dispatching method in above-described embodiment, the present invention also provides unmanned vehicle scheduling to fillIt sets, which can be used for executing above-mentioned unmanned vehicle dispatching method.For ease of description, the structure of unmanned vehicle dispatching device embodimentIn schematic diagram, part related to the embodiment of the present invention illustrate only, it will be understood by those skilled in the art that schematic structure is simultaneouslyThe not restriction of structure twin installation may include perhaps combining certain components or different than illustrating more or fewer componentsComponent layout.
The embodiment of the present invention provides a kind of unmanned vehicle dispatching device, as shown in figure 8, include area determination module 801, nobodyVehicle determining module 802, driving path computing module 803 and dispatch command sending module 804, detailed description are as follows: region determinesModule 801, for determining starting area and land；Unmanned vehicle determining module 802, for being determined from candidate unmanned vehicleTarget unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；Driving path computing module 803 is used for rootAccording to the starting area and the land, the driving path of the target unmanned vehicle is calculated；Dispatch command sending module804, for sending dispatch command to the target unmanned vehicle；The dispatch command is for controlling the target unmanned vehicle from describedStarting area is travelled according to the driving path to the land.Unmanned vehicle dispatching device provided in this embodiment can be adjustedThe more unmanned vehicles spent in unmanned region travel in multiple regions.
In one embodiment, unmanned vehicle determining module 802 is also used to the determining and starting area apart from nearest timeUnmanned vehicle is selected, as the target unmanned vehicle.
In one embodiment, unmanned vehicle determining module 802, is also used to receive unmanned vehicle specify information, it is determining with it is describedThe corresponding candidate unmanned vehicle of unmanned vehicle specify information, as the target unmanned vehicle.
In one embodiment, area determination module 801, comprising: scheduling information receiving submodule, for receiving in schedulingThe vehicle dispatching information that the heart is sent；Region determines submodule, is used for according to the vehicle dispatching information, in the unmanned areaStarting area and land are determined in domain.
In one embodiment, the vehicle dispatching information includes at least one of the following: scheduler task and recruits vehicle task；RowSail path calculation module 803, comprising: scheduling path computing submodule, if being scheduler task, meter for the vehicle dispatching informationCalculation travels the driving path that the target unmanned vehicle is obtained to the path of the land from the starting area；Recruit bus or train routeDiameter computational submodule, if being to recruit vehicle task for the vehicle dispatching information, where determining passenger according to the trick vehicle taskTransfer region, calculating are travelled to the transfer region from the starting area and are travelled from the transfer region to the terminal areaThe path in domain obtains the driving path of the target unmanned vehicle.
In one embodiment, unmanned vehicle dispatching device further include: scheduling request sending module, for according to the vehicleScheduling information sends vehicle scheduling request to target unmanned vehicle；Response message receiving module, for receiving the target unmanned vehicleThe response message returned for vehicle scheduling request；Response message sending module, for the response message to be sent toThe control centre.
In one embodiment, unmanned vehicle dispatching device further include: logging request authentication module, for receive it is to be selected nobodyThe logging request of vehicle verifies the logging request；Login successfully processing module, if for the logging request verifying atFunction determines that the unmanned vehicle to be selected logins successfully, and the unmanned vehicle to be selected is determined as candidate unmanned vehicle, and to the nothing to be selectedPeople's vehicle sends the response message logined successfully；Login failure processing module determines institute if being used for the logging request authentication failedUnmanned vehicle login failure to be selected is stated, the response message of login failure is sent to the unmanned vehicle to be selected.
In one embodiment, unmanned vehicle dispatching device further include: initial position receiving module, for receive it is to be selected nobodyThe initial position that vehicle is sent；Prime area determining module determines if being located at unmanned areas outside for the initial positionThe nearest unmanned region with the initial position distance, as unmanned prime area；Driving instruction sending module is usedIn sending driving instruction to the unmanned vehicle to be selected；The driving instruction is for controlling the unmanned vehicle to be selected from the initial bitTraveling is set to the unmanned prime area.
In one embodiment, dispatch command sending module 804, comprising: map file acquisition submodule, for according to instituteStarting area, the land and the driving path are stated, map file is obtained；Pushed information sending submodule, is used forAccording to the map file, Xiang Suoshu target unmanned vehicle sends map pushed information；The map pushed information is for controlling instituteTarget unmanned vehicle is stated, the map file is carried out to distort verifying, if determining the map file according to the result for distorting verifyingIt is not tampered with, instruction information is not distorted in return；Dispatch command sending submodule returns not for receiving the target unmanned vehicleInstruction information is distorted, Xiang Suoshu target unmanned vehicle sends dispatch command.
In one embodiment, unmanned vehicle dispatching device further include: operating status obtains module, for obtaining the targetThe travel condition of vehicle of unmanned vehicle in the process of moving；Operating status memory module, for storing the travel condition of vehicle.
The system that the embodiment of the present invention also provides a kind of execution unmanned vehicle dispatching method (is referred to as unmanned vehicle scheduling systemSystem), wherein the unmanned vehicle dispatching method in unmanned vehicle dispatching method such as previous embodiment；As shown in figure 9, the system includes: netControl centre 901, server 902 and the candidate unmanned vehicle 903 of network connection；Candidate's unmanned vehicle is in unmanned regionUnmanned vehicle；The control centre 901, for sending vehicle dispatching information to the server；The server 902 is used for rootAccording to the vehicle dispatching information, starting area and land are determined；Target unmanned vehicle is determined from the candidate unmanned vehicle；Candidate's unmanned vehicle is the unmanned vehicle in unmanned region；According to the starting area and the land, calculateThe driving path of the target unmanned vehicle；Dispatch command is sent to the target unmanned vehicle；The target unmanned vehicle is used for basisThe dispatch command is travelled according to the driving path to the land from the starting area.It is provided in this embodiment to holdThe system of row unmanned vehicle dispatching method, the more unmanned vehicles that can be dispatched in unmanned region travel in multiple regions.
In one embodiment, the control centre is logged in administrator's account；The control centre is also used to obtain pipeThe selected unmanned region of reason person's account determines the candidate unmanned vehicle in the selected unmanned region, asUnmanned vehicle is selected；The context information for having selected unmanned vehicle is obtained, the context information is shown on interface.
Wherein, control centre can also forbid administrator's account progress Authority Verification if Authority Verification does not pass throughWhat the response message for responding to the association requests of administrator's account, while returning to authentication failed was logged in administrator's accountTerminal.Further, the control centre is also used to carry out Authority Verification to administrator's account, if Authority Verification fails,Export the prompt information of authentication failed.
In the present embodiment, control centre can carry out the display of information of vehicles according to the selection of administrator, can improve and userInteractivity.
It should be noted that the logic of each program module is drawn in the embodiment of the unmanned vehicle dispatching device of above-mentioned exampleDivide and be merely illustrative of, can according to need in practical application, such as the configuration requirement of corresponding hardware or the reality of softwareExisting convenient consideration is completed above-mentioned function distribution by different program modules, i.e., by the inside of the unmanned vehicle dispatching deviceStructure is divided into different program modules, to complete all or part of the functions described above.
In addition, unmanned vehicle dispatching device of the invention and execute unmanned vehicle dispatching method system and of the invention nobodyVehicle dispatching method is corresponding, is suitable in the technical characteristic and its advantages of the embodiment elaboration of above-mentioned unmanned vehicle dispatching methodIn the embodiment of the system of unmanned vehicle dispatching device and execution unmanned vehicle dispatching method (vice versa), particular content be can be found inNarration in embodiment of the present invention method, details are not described herein again, hereby give notice that.
Unmanned vehicle dispatching method provided by the present application can be applied in computer equipment as shown in Figure 10.The computerEquipment can be server, be also possible to terminal device, and internal structure chart can be as shown in Figure 10.The computer equipment includesProcessor, memory, network interface and the database connected by system bus.Wherein, processor is calculated and is controlled for providingAbility processed；Memory includes non-volatile memory medium, built-in storage, the non-volatile memory medium be stored with operating system,Computer program (computer program realizes a kind of unmanned vehicle dispatching method when being executed by processor) and database, the interior storageDevice provides environment for the operation of operating system and computer program in non-volatile memory medium；Database is for storing nobodyVarious data involved in vehicle dispatching method implementation procedure；Network interface is used to communicate with external terminal by network connection.
It will be understood by those skilled in the art that structure shown in Figure 10, only part relevant to application schemeThe block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is setStandby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of unmanned vehicle controlling equipment, including memory and processor, memory storage are providedThere is computer program, when computer program is executed by processor, so that the step of processor executes above-mentioned unmanned vehicle dispatching method.The step of unmanned vehicle dispatching method can be the step in the unmanned vehicle dispatching method of above-mentioned each embodiment herein.
In one embodiment, a kind of computer readable storage medium is provided, computer program, computer journey are stored withWhen sequence is executed by processor, so that the step of processor executes above-mentioned unmanned vehicle dispatching method.Unmanned vehicle dispatching method hereinStep can be the step in the unmanned vehicle dispatching method of above-mentioned each embodiment.
It will appreciated by the skilled person that realizing all or part of the process in above-described embodiment method, being canIt is completed with instructing relevant hardware by computer program, the program can be stored in a computer-readable storage and be situated betweenIn matter, sells or use as independent product.The more specific example (non-exhaustive list) of computer-readable medium includesBelow: there is the electrical connection section (electronic device) of one or more wirings, portable computer diskette box (magnetic device), arbitrary accessMemory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), optical fiber dressIt sets and portable optic disk read-only storage (CDROM).In addition, computer-readable medium, which can even is that, to be printed on itThe paper of described program or other suitable media, because can be for example by carrying out optical scanner to paper or other media, thenIt edited, interpreted or is handled when necessary with other suitable methods electronically to obtain described program, then by itStorage is in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentionedIn embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storageOr firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardwareAny one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signalDiscrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), sceneProgrammable gate array (FPGA) etc..
The term " includes " of the embodiment of the present invention and " having " and their any deformations, it is intended that cover non-exclusiveInclude.Such as contain series of steps or the process, method, system, product or equipment of (module) unit are not limited toThe step of listing or unit, but optionally further comprising the step of not listing or unit, or optionally further comprising for theseThe intrinsic other step or units of process, method, product or equipment.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned realityIt applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not depositedIn contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, should not be understood as to the invention patent rangeLimitation.It should be pointed out that for those of ordinary skill in the art, without departing from the inventive concept of the premise,Various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, the scope of protection of the patent of the present inventionIt should be determined by the appended claims.