CN107187420B - Pilotless automobile and its starting method, computer-readable medium - Google Patents
Pilotless automobile and its starting method, computer-readable medium Download PDFInfo
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- CN107187420B CN107187420B CN201710264516.0A CN201710264516A CN107187420B CN 107187420 B CN107187420 B CN 107187420B CN 201710264516 A CN201710264516 A CN 201710264516A CN 107187420 B CN107187420 B CN 107187420B
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- pilotless automobile
- passenger
- car owner
- parameter information
- biological parameter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/2018—Central base unlocks or authorises unlocking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/20—Means to switch the anti-theft system on or off
- B60R25/25—Means to switch the anti-theft system on or off using biometry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
- B60R25/30—Detection related to theft or to other events relevant to anti-theft systems
- B60R25/305—Detection related to theft or to other events relevant to anti-theft systems using a camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Burglar Alarm Systems (AREA)
Abstract
The present invention provides a kind of pilotless automobile and its starting method, computer-readable medium.It is the described method includes: acquisition is located at the video of the passenger in pilotless automobile when determining passenger not is the car owner of pilotless automobile；The video of passenger is sent, to the terminal of the car owner of pilotless automobile so that the car owner of pilotless automobile determines whether that passenger takes pilotless automobile according to the video of passenger；Receive the control instruction of the car owner of pilotless automobile sent by terminal；Judge whether control instruction is enabled instruction, when control instruction is enabled instruction, control pilotless automobile starting.By using technical solution of the present invention, it can guarantee only after car owner's authorization of pilotless automobile, other passenger except car owner just can star pilotless automobile, to effectively prevent the stolen risk of pilotless automobile, increase the safety of pilotless automobile.
Description
[technical field]
The present invention relates to computer application technology more particularly to a kind of pilotless automobile and its starting methods, meter
Calculation machine readable medium.
[background technique]
Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, rely primarily in vehicle
The intelligent driving instrument based on computer system it is unmanned to realize.The automatic control of pilotless automobile collection, architecture,
Numerous technologies such as artificial intelligence, vision calculating are computer science, pattern-recognition and intelligent control technology high development in one
Product, and an important symbol of national a research strength and industrial level is measured, in national defence and national economy field
It has broad application prospects.
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.In recent years, with the fast development of pilotless automobile, pilotless automobile will spread to common family
User, project will be an important issue by correctly and efficiently starting pilotless automobile, concerning the life convenient and peace of passenger
Entirely.The device of the pilot steerings such as steering wheel, throttle, brake is eliminated on the pilotless automobile of the prior art, can be only arranged
The function key started and stopped, passenger is when taking pilotless automobile, after setting destination and route, can press
Start key, pilotless automobile can start, and carry passenger and go to destination.
But in the starting scheme of above-mentioned existing pilotless automobile, arbitrarily it is able to enter taking for pilotless automobile
The person of multiplying can press start key, start pilotless automobile, cause pilotless automobile risk of missing larger.Therefore, existing
Pilotless automobile starting scheme safety it is poor.
[summary of the invention]
The present invention provides a kind of pilotless automobile and its starting methods, computer-readable medium, for improving nobody
The tamper-security of driving.
The present invention provides a kind of starting method of pilotless automobile, which comprises
When determining passenger not is the car owner of the pilotless automobile, acquisition is located in the pilotless automobile
The video of passenger；
The video of the passenger is sent, to the terminal of the car owner of the pilotless automobile for the unmanned vapour
The car owner of vehicle determines whether that the passenger takes the pilotless automobile according to the video of the passenger；
Receive the control instruction of the car owner of the pilotless automobile sent by the terminal；
When the control instruction is enabled instruction, the pilotless automobile starting is controlled.
Still optionally further, in method as described above, acquisition is located at the view of the passenger in the pilotless automobile
Before frequency, further includes:
Acquire the biological parameter information of the passenger；
Judge the pilotless automobile in the biological parameter information and pre-stored owner information library of the passenger
The biological parameter information of car owner whether match；
When the biological parameter information and pilotless automobile of the passenger car owner biological parameter information not
Timing, determining the passenger not is the car owner of the pilotless automobile.
Still optionally further, in method as described above, further includes:
When the biological parameter information matches of the car owner of the biological parameter information and pilotless automobile of the passenger
When, determine that the passenger is the car owner of the pilotless automobile；
Control the pilotless automobile starting；
Further, the biological parameter information includes fingerprint, palmmprint, vocal print, retina or facial characteristics.
It still optionally further, is the car owner of the pilotless automobile when determining passenger not in method as described above
When, acquisition is located at before the video of the passenger in the pilotless automobile, further includes:
ID authentication request is sent to the terminal of the car owner of the pilotless automobile；
Receive the agreement authentication of the car owner of the pilotless automobile sent by the terminal；
Judge the biological parameter information of the passenger with it is described unmanned in pre-stored spare information for taking passage library
Whether the biological parameter information of other spare passenger except the car owner of automobile matches；
Upon a match, the pilotless automobile starting is controlled.
Still optionally further, in method as described above, described in the terminal transmission of the car owner of Xiang Suoshu pilotless automobile
After the video of passenger, before the control instruction sent by the terminal for receiving the car owner of the pilotless automobile,
Further include:
Obtain current time and car owner to the pilotless automobile terminal send the passenger video when
Time span between quarter；
Judge whether the time span reaches predetermined time period threshold value, and whether receives the unmanned vapour
The control instruction of the car owner of vehicle sent by the terminal, and determine the time span reach predetermined time period threshold value it
Before, receive the control instruction of the car owner of the pilotless automobile sent by the terminal；
Further, the method also includes:
When the time span reaches the predetermined time period threshold value, the pilotless automobile is not received also
When the control instruction of car owner sent by the terminal, judge the biological parameter information of the passenger with it is pre-stored spare
The biological parameter information of other spare passenger except the car owner of the pilotless automobile in information for taking passage library whether
Match；
Upon a match, the pilotless automobile starting is controlled.
The present invention also provides a kind of pilotless automobile, the pilotless automobile includes:
Video acquisition module, for when determining passenger not is the car owner of the pilotless automobile, acquisition to be located at institute
State the video of the passenger in pilotless automobile；
Communication module, the terminal for the car owner to the pilotless automobile send the video of the passenger, for
The car owner of the pilotless automobile according to the video of the passenger determine whether the passenger take it is described nobody
Driving；
The communication module is also used to receive the control of the car owner of the pilotless automobile sent by the terminal
Instruction；
Control module, for when the control instruction is enabled instruction, controlling the pilotless automobile starting.
Still optionally further, in pilotless automobile as described above, further includes:
Biological parameter acquisition module is also used to acquire the biological parameter information of the passenger；
Detection module, in the biological parameter information and pre-stored owner information library for judging the passenger described in
Whether the biological parameter information of the car owner of pilotless automobile matches；And when the biological parameter information and the nothing of the passenger
When the biological parameter information of the car owner of people's driving mismatches, determining the passenger not is the vehicle of the pilotless automobile
It is main.
Still optionally further, in pilotless automobile as described above, the detection module is also used to when the passenger
Biological parameter information and the pilotless automobile car owner biological parameter information matches when, determine that the passenger is institute
State the car owner of pilotless automobile；
The control module is also used to determine that the passenger is the vehicle of the pilotless automobile when the detection module
When main, the pilotless automobile starting is controlled；
Further, the biological parameter information includes fingerprint, palmmprint, vocal print, retina or facial characteristics.
Still optionally further, in pilotless automobile as described above, the communication module, be also used to it is described nobody drive
The terminal for sailing the car owner of automobile sends ID authentication request；
The communication module is also used to receive the agreement of the car owner of the pilotless automobile sent by the terminal
Authentication；
The detection module, the spare information for taking passage for being also used to judge the biological parameter information of the passenger and being pre-stored
Whether the biological parameter information of other spare passenger except the car owner of the pilotless automobile in library matches；
The control module, be also used to when the detection module determine the passenger biological parameter information and it is described its
When the biological parameter information matches of its spare passenger, the pilotless automobile starting is controlled.
Still optionally further, in pilotless automobile as described above, the pilotless automobile further includes obtaining module；
The acquisition module, for obtaining described in terminal transmission of the current time with the car owner to the pilotless automobile
Time span between at the time of the video of passenger；
The detection module is also used to judge whether the time span reaches predetermined time period threshold value, and whether
The control instruction of the car owner of the pilotless automobile sent by the terminal is received, and determines that the time span reaches
To before predetermined time period threshold value, the control sent by the terminal for receiving the car owner of the pilotless automobile refers to
It enables；
Further, the detection module is also used to when the time span reaches the predetermined time period threshold value,
When not receiving the control instruction of the car owner of the pilotless automobile sent by the terminal also, the passenger is judged
Biological parameter information with it is other standby except the car owner of the pilotless automobile in pre-stored spare information for taking passage library
Whether matched with the biological parameter information of passenger；
The control module, be also used to when the detection module determine the passenger biological parameter information and it is described its
When the biological parameter information matches of its spare passenger, the pilotless automobile starting is controlled.
The present invention also provides a kind of pilotless automobile, the pilotless automobile includes:
Camera, for acquiring the video for the passenger being located in the pilotless automobile；With
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, institute
State the method that as above any control pilotless automobile starting is realized when program is executed by the processor.
The present invention also provides the computer-readable mediums in a kind of pilotless automobile, are stored thereon with computer program,
The method of as above any control pilotless automobile starting is realized when the program is executed by processor.
Pilotless automobile and its starting method, computer-readable medium of the invention, by not being when determining passenger
When the car owner of pilotless automobile, acquisition is located at the video of the passenger in pilotless automobile；To the vehicle of pilotless automobile
Main terminal sends the video of passenger, so that the car owner of pilotless automobile determines whether to take according to the video of passenger
The person of multiplying takes pilotless automobile；Receive the control instruction of the car owner of pilotless automobile sent by terminal；Judgement control
Whether instruction is enabled instruction, when control instruction is enabled instruction, control pilotless automobile starting.By using this implementation
The technical solution of example, it is ensured that only after car owner's authorization of pilotless automobile, other passenger except car owner are
It can star pilotless automobile, to effectively prevent the stolen risk of pilotless automobile, increase unmanned vapour
The safety of vehicle.
[Detailed description of the invention]
Fig. 1 is the flow chart of the starting embodiment of the method one of pilotless automobile of the invention.
Fig. 2 is the flow chart of the starting embodiment of the method two of pilotless automobile of the invention.
Fig. 3 is the flow chart of the starting embodiment of the method three of pilotless automobile of the invention.
Fig. 4 is the structure chart of pilotless automobile embodiment one of the invention.
Fig. 5 is the structure chart of pilotless automobile embodiment two of the invention.
Fig. 6 is the structure chart of pilotless automobile embodiment three of the invention.
Fig. 7 is a kind of exemplary diagram of the controller of pilotless automobile provided by the invention.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
Fig. 1 is the flow chart of the starting embodiment of the method one of pilotless automobile of the invention.As shown in Figure 1, this implementation
The starting method of the pilotless automobile of example, can specifically include following steps:
100, when determining passenger not is the car owner of pilotless automobile, acquisition is located at taking in pilotless automobile
The video of person；
The executing subject of the starting method of the pilotless automobile of the present embodiment is pilotless automobile.In order to prevent nobody
It drives a car stolen, guarantees the safety of pilotless automobile, when the pilotless automobile of the present embodiment starts, it is necessary to verify
The pilotless automobile is car owner, or obtains the enabled instruction of car owner, which just can star.For example, taking
The person of multiplying enters after pilotless automobile, it is desirable to which when starting the pilotless automobile, which can't immediately be opened
Whether dynamic, but be first that car owner authenticates to passenger, when deserving passenger not is car owner, which can be with
Acquisition module inside starting, acquisition are located at the video of the passenger in pilotless automobile.It should be noted that nobody drive this
Sailing automotive interior can be set acquisition module similar to camera, which can acquire positioned at pilotless automobile
The video of the interior desired passenger for starting the pilotless automobile.
101, the video of passenger is sent, to the terminal of the car owner of pilotless automobile for the car owner of pilotless automobile
Determine whether that passenger takes pilotless automobile according to the video of passenger；
Communication module is also provided in pilotless automobile, which can be with the car owner of pilotless automobile
Terminal communicated.Wherein the corresponding mark of the terminal of the car owner of pilotless automobile is registered in advance in pilotless automobile
In.The corresponding mark of the terminal of the car owner of the pilotless automobile can be the phone number of the car owner, or may be side
Car owner is helped to manage the account etc. of the car owner in the application of pilotless automobile.Acquisition module in pilotless automobile collects
The video of passenger in pilotless automobile is taken by communication module to the terminal transmission of the car owner of pilotless automobile
The video for the person of multiplying.After the car owner of pilotless automobile in this way receives the video, passenger can be identified by watching in video,
Determination is that the passenger is enough allowed to take the pilotless automobile.If such as to the car owner to borrow this unmanned by the friend of car owner
Automobile, car owner judge that passenger is strictly to borrow the good friend of vehicle by the video that terminal receives, can be driven by terminal to nobody
It sails automobile and sends enabled instruction, to indicate that pilotless automobile starts.If the video judgement that car owner is received by terminal is taken
Person is not the good friend by means of vehicle, not enabled instruction can be sent to pilotless automobile by terminal, to indicate pilotless automobile
It cannot start.
102, the control instruction of the car owner of pilotless automobile sent by terminal is received；
103, judge whether control instruction is enabled instruction, when control instruction is enabled instruction, execute step 104；It is no
Then, if control instruction is not enabled instruction, the start-up operation of pilotless automobile is not executed temporarily；
104, control pilotless automobile starting.
Accordingly, the car owner that the communication module in pilotless automobile can receive pilotless automobile is sent by terminal
Control instruction, which can be enabled instruction, or not enabled instruction.For example, in the pilotless automobile
A detection module can be set to detect whether the control instruction is enabled instruction.It accordingly, can in the pilotless automobile
To be provided with control module, for controlling the starting of pilotless automobile or not starting according to control instruction.When the control refers to
When order is enabled instruction, indicate that starting pilotless automobile has obtained the authorization of car owner at this time, control module can be straight
Connect control pilotless automobile starting.Otherwise when control instruction is not enabled instruction, control module is not at this time at this time
It controls pilotless automobile and executes any operation, is i.e. pilotless automobile continues to keep not starting state, to prevent nobody from driving
It is stolen to sail automobile, ensure that the safety of pilotless automobile.
The starting method of the pilotless automobile of the present embodiment is the car owner of pilotless automobile when determining passenger not
When, acquisition is located at the video of the passenger in pilotless automobile；Passenger is sent to the terminal of the car owner of pilotless automobile
Video, so that the car owner of pilotless automobile determines whether that passenger takes unmanned vapour according to the video of passenger
Vehicle；Receive the control instruction of the car owner of pilotless automobile sent by terminal；Judge whether control instruction is enabled instruction,
When control instruction is enabled instruction, control pilotless automobile starting.By using the technical solution of the present embodiment, Ke Yibao
For card only after car owner's authorization of pilotless automobile, other passenger except car owner just can star unmanned vapour
Vehicle increases the safety of pilotless automobile to effectively prevent the stolen risk of pilotless automobile.
Fig. 2 is the flow chart of the starting embodiment of the method two of pilotless automobile of the invention.Nobody of the present embodiment drives
The starting method for sailing automobile is further described more fully this on the basis of the technical solution of above-mentioned embodiment illustrated in fig. 1
The technical solution of invention.As shown in Fig. 2, the starting method of the pilotless automobile of the present embodiment, can specifically include following step
It is rapid:
200, the biological parameter information of passenger is acquired；
201, judge the biological parameter information of passenger and the vehicle of the pilotless automobile in pre-stored owner information library
Whether main biological parameter information matches；When the biological parameter of the car owner of the biological parameter information and pilotless automobile of passenger
When information mismatches, step 202 is executed；When the biological parameter of the car owner of the biological parameter information and pilotless automobile of passenger
When information matches, step 203 is executed；
202, determining passenger not is the car owner of pilotless automobile；Execute step 204；
203, determine that passenger is the car owner of pilotless automobile；Execute step 207；
The application scenarios of the starting method of the pilotless automobile of the present embodiment and the applied field of above-mentioned embodiment illustrated in fig. 1
Scape is identical.In the present embodiment, passenger enters after pilotless automobile, it is alternatively possible to first verify to owner identity.
For example, biological parameter information acquisition module is provided on pilotless automobile, for acquiring the biological parameter information of passenger.
For example, the biological parameter information of the present embodiment may include fingerprint, palmmprint, vocal print, retina or facial characteristics etc..Its middle finger
The biological parameters such as line, palmmprint, vocal print, retina or facial characteristics information can one passenger of unique identification.The present embodiment
In the biological parameter information of the car owner can be stored in the owner information library of pilotless automobile in advance, for taking collecting
After the biological parameter information for the person of multiplying, the biological parameter information of the passenger is compared with the biological parameter information of car owner,
Judge whether the two matches, if matching, determines that the passenger is car owner, otherwise the non-car owner of the passenger.Wherein by passenger
It, specifically can be by calculating the biology of the passenger when biological parameter information is compared with the biological parameter information of car owner
The similarity of the biological parameter information of parameter information and car owner is recognized when similarity is more than or equal to default similarity threshold
Match for the biological parameter information of passenger and the biological parameter information of car owner, which is car owner；Otherwise work as similarity
When less than default similarity threshold, it is believed that the biological parameter information of passenger and the biological parameter information of car owner do not match that, are somebody's turn to do
The non-car owner of passenger.In addition, can also include the mark such as the car owner of the terminal of the car owner in the owner information library of the present embodiment
Account etc. in the application of management pilotless automobile of phone number or the car owner for the unique identification car owner's
Information.Further, it can also include the name of the car owner, phone, address, height, age in the owner information library and drive
According to number, driving age information etc..
204, ID authentication request is sent to the terminal of the car owner of pilotless automobile；Execute step 205；
205, the agreement authentication of the car owner of pilotless automobile sent by terminal is received；Execute step 206；
206, judge the pilotless automobile in the biological parameter information and pre-stored spare information for taking passage library of passenger
Car owner except the biological parameter information of other spare passenger whether match；Upon a match, step 207 is executed；Otherwise, it holds
Row step 208；
207, control pilotless automobile starting, terminates；
Still optionally further, in the present embodiment, when confirming passenger is not car owner, nothing can also further be used
The information of other spare passenger except car owner in people's driving in the spare information for taking passage library that prestores, to being currently entering
The identity of passenger in pilotless automobile is verified.It can store car owner's in the spare information for taking passage library of the present embodiment
The people of family and some good friends, commonly using the pilotless automobile spare passenger information.Specifically, spare to take
The content that the information of person specifically includes is similar to the information content of car owner included in owner information library, and details are not described herein.
For example, when determining passenger not is the car owner of pilotless automobile, communication module in pilotless automobile to
The terminal of the car owner of pilotless automobile sends ID authentication request；If car owner agrees to using spare information for taking passage library to current
Passenger carries out authentication, and car owner can return to the instruction for agreeing to authentication by terminal to pilotless automobile.In this way,
The biological parameter information that passenger can be judged by the detection module in pilotless automobile, with pre-stored spare information for taking passage
Whether the biological parameter information of other spare passenger except the car owner of the pilotless automobile in library matches, and specifically matches
Mode, matched mode can be carried out with reference to the biological parameter information of above-mentioned passenger and the biological parameter information of car owner by seeing,
This is repeated no more.If matching, determines that the passenger is spare passenger, can star pilotless automobile.Otherwise, if not
Match, further can further verify whether that pilotless automobile can be started using following verification modes.
208, acquisition is located at the video of the passenger in pilotless automobile；Execute step 209；
209, the video of passenger is sent, to the terminal of the car owner of pilotless automobile for the car owner of pilotless automobile
Determine whether that passenger takes pilotless automobile according to the video of passenger；Execute step 210；
210, the control instruction of the car owner of pilotless automobile sent by terminal is received；Execute step 211；
211, judge whether control instruction is enabled instruction, when control instruction is enabled instruction, execute step 207；It is no
Then, if control instruction is not enabled instruction, the start-up operation of pilotless automobile is not executed temporarily.
The step 208-211 of the present embodiment is identical as the step 100-104 in above-mentioned embodiment illustrated in fig. 1, in detail can be with
It is recorded with reference to the correlation of above-mentioned embodiment illustrated in fig. 1, details are not described herein.
The starting method of the pilotless automobile of the present embodiment, by using above-mentioned technical proposal, it is ensured that only exist
After car owner's authorization of pilotless automobile, other passenger except car owner just can star pilotless automobile, to have
The risk for preventing pilotless automobile stolen to effect, increases the safety of pilotless automobile.
Fig. 3 is the flow chart of the starting embodiment of the method three of pilotless automobile of the invention.Nobody of the present embodiment drives
The starting method for sailing automobile is further described more fully this on the basis of the technical solution of above-mentioned embodiment illustrated in fig. 1
The technical solution of invention.As shown in figure 3, the starting method of the pilotless automobile of the present embodiment, can specifically include following step
It is rapid:
300, the biological parameter information of passenger is acquired；
301, judge the biological parameter information of passenger and the vehicle of the pilotless automobile in pre-stored owner information library
Whether main biological parameter information matches；When the biological parameter of the car owner of the biological parameter information and pilotless automobile of passenger
When information mismatches, step 302 is executed；When the biological parameter of the car owner of the biological parameter information and pilotless automobile of passenger
When information matches, step 303 is executed；
302, determining passenger not is the car owner of pilotless automobile；Execute step 304；
303, determine that passenger is the car owner of pilotless automobile；Execute step 310；
304, acquisition is located at the video of the passenger in pilotless automobile；Execute step 305；
305, the video of passenger is sent, to the terminal of the car owner of pilotless automobile for the car owner of pilotless automobile
Determine whether that passenger takes pilotless automobile according to the video of passenger；Execute step 306；
306, obtain current time and at the time of the terminal of car owner to pilotless automobile sends the video of passenger it
Between time span；Execute step 307；
307, whether detection time length reaches predetermined time period threshold value simultaneously, if receives pilotless automobile
The control instruction of car owner sent by terminal；If time span reaches predetermined time period threshold value, nobody is not received also
When the control instruction of the car owner of driving sent by terminal, step 308 is executed；Otherwise, if time span is not up to pre-
If when time span threshold value, receiving the control instruction of the car owner of pilotless automobile sent by terminal, executing step
309；
The technical solution of the present embodiment, on the basis of above-mentioned embodiment illustrated in fig. 1, in order to prevent to pilotless automobile
Car owner terminal send the video of passenger after, and car owner checks the video of the passenger not in time sometimes, causes to take
Indefinite duration is waiting person always, can be in the view of the terminal of from the car owner to pilotless automobile transmission passenger in the present embodiment
After frequency, start a timer, Lai Jilu current time and the terminal of from the car owner to pilotless automobile send passenger
Time span between at the time of video.One predetermined time period threshold value is set simultaneously, which can be with
The parameter of information transmission in network is influenced according to network state etc., one of setting allows to receive the maximum duration length of feedback.
Then whether detection time length reaches predetermined time period threshold value simultaneously for detection, if receives the car owner of pilotless automobile
By terminal send control instruction；If time span reaches predetermined time period threshold value, do not receive also unmanned
, at this time can be automatically into next Validation Mode when the control instruction of the car owner of automobile sent by terminal, such as following steps
Shown in rapid 308.If time span is not up to predetermined time period threshold value, receive the car owner of pilotless automobile passes through end
The control instruction sent is held, can continue to verify with as steps described below 309 at this time.
308, judge the pilotless automobile in the biological parameter information and pre-stored spare information for taking passage library of passenger
Car owner except the biological parameter information of other spare passenger whether match；If when matching, executing step 310；If not
Timing executes step 311；
309, judge whether control instruction is enabled instruction, when control instruction is enabled instruction, execute step 310；It is no
Then, if control instruction is not enabled instruction；Execute step 311；
310, control pilotless automobile starting, terminates.
311, it does not execute the start-up operation of pilotless automobile temporarily, terminates.
The step 300-303 of the present embodiment is identical as the step 200-203 in above-mentioned embodiment illustrated in fig. 2；The present embodiment
Step 304-305 it is identical as the step 100-101 in above-mentioned embodiment illustrated in fig. 1；The step 308 of the present embodiment and above-mentioned figure
Step 206 in 2 illustrated embodiments is identical；The step 309-311 of the present embodiment and the step in above-mentioned embodiment illustrated in fig. 1
103-104 is identical；It can be recorded in detail with reference to the related of above-mentioned related embodiment, details are not described herein.
The starting method of the pilotless automobile of the present embodiment, by using above-mentioned technical proposal, it is ensured that only exist
After car owner's authorization of pilotless automobile, other passenger except car owner just can star pilotless automobile, to have
The risk for preventing pilotless automobile stolen to effect, increases the safety of pilotless automobile.
Fig. 4 is the structure chart of pilotless automobile embodiment one of the invention.As shown in figure 4, nobody of the present embodiment drives
Automobile is sailed, can specifically include: video acquisition module 10, communication module 11 and control module 12.
Wherein video acquisition module 10 is used for when determining passenger not is the car owner of pilotless automobile, and acquisition is located at nothing
The video of passenger in people's driving；Such as the video acquisition module 10 can be realized using camera.
Communication module 11 is used to send taking for the acquisition of video acquisition module 10 to the terminal of the car owner of pilotless automobile
The video of person, so that according to the video of passenger to determine whether that passenger is taken unmanned by the car owner of pilotless automobile
Automobile；
Communication module 11 is also used to receive the control instruction of the car owner of pilotless automobile sent by terminal；
Control module 12 is used to control pilotless automobile when the received control instruction of communication module 11 is enabled instruction
Starting.
The pilotless automobile of the present embodiment realizes that the realization of the starting of pilotless automobile is former by using above-mentioned module
Reason and technical effect are identical as the realization of above-mentioned related method embodiment, in detail can be with reference to above-mentioned related method embodiment
It records, details are not described herein.
Fig. 5 is the structure chart of pilotless automobile embodiment two of the invention.As shown in figure 5, nobody of the present embodiment drives
Automobile is sailed, further can also include following technical solution on the basis of the technical solution of above-mentioned embodiment illustrated in fig. 4.
As shown in figure 5, the pilotless automobile of the present embodiment, can also include: biological parameter acquisition module 13 and detection
Module 14.
Wherein biological parameter acquisition module 13 is also used to acquire the biological parameter information of passenger；
Detection module 14 be used for judge biological parameter acquisition module 13 acquire passenger biological parameter information with prestore
Whether the biological parameter information of the car owner of the pilotless automobile in the owner information library of storage matches；And when the biology ginseng of passenger
When the biological parameter information of the car owner of number information and pilotless automobile mismatches, determine that passenger is not pilotless automobile
Car owner.
Still optionally further, in the pilotless automobile of the present embodiment, detection module 14 is also used to the biology when passenger
When the biological parameter information matches of the car owner of parameter information and pilotless automobile, determine that passenger is the vehicle of pilotless automobile
It is main；
Control module 12 is also used to control nobody when detection module 14 determines that passenger is the car owner of pilotless automobile
Driving starting；
Further, the biological parameter information of the present embodiment includes fingerprint, palmmprint, vocal print, retina or facial characteristics.
Still optionally further, in the pilotless automobile of the present embodiment, communication module 11 is also used to pilotless automobile
Car owner terminal send ID authentication request；
Communication module 11 is also used to receive the agreement authentication of the car owner of pilotless automobile sent by terminal；Touching
Detection module 14 is sent out to start.
Detection module 14 be also used to when communication module 11 receive pilotless automobile car owner by terminal send
After agreeing to authentication, judge the biological parameter information of passenger with it is unmanned in the spare information for taking passage library being pre-stored
Whether the biological parameter information of other spare passenger except the car owner of automobile matches；
Control module 12 is also used to determine the biological parameter information and other spare passenger of passenger when detection module 14
Biological parameter information matches when, control pilotless automobile starting.
Still optionally further, as shown in figure 5, the pilotless automobile of the present embodiment further includes obtaining module 15；
It obtains module 15 and is used to obtain the view that current time sends passenger with the terminal of from the car owner to pilotless automobile
Time span between at the time of frequency；
Detection module 14 is also used to judge to obtain whether the time span that module 15 obtains reaches predetermined time period threshold value,
And whether communication module 11 receives the control instruction of the car owner of pilotless automobile sent by terminal, and determines the time
Before length reaches predetermined time period threshold value, the control sent by terminal for receiving the car owner of pilotless automobile refers to
It enables；
Further, detection module 14 is also used to not receive also when time span reaches predetermined time period threshold value
When the control instruction of the car owner of pilotless automobile sent by terminal, judges the biological parameter information of passenger and be pre-stored
Spare information for taking passage library in pilotless automobile car owner except other spare passenger biological parameter information whether
Matching；
Control module 12 is also used to determine the biological parameter information and other spare passenger of passenger when detection module 12
Biological parameter information matches when, control pilotless automobile starting.
The pilotless automobile of the present embodiment realizes that the realization of the starting of pilotless automobile is former by using above-mentioned module
Reason and technical effect are identical as the realization of above-mentioned related method embodiment, in detail can be with reference to above-mentioned related method embodiment
It records, details are not described herein.
Fig. 6 is the structure chart of pilotless automobile embodiment three of the invention.Since pilotless automobile is with computer
Intelligent driving instrument based on system, the pilotless automobile can be equivalent to a computer equipment.As shown in fig. 6, this implementation
The pilotless automobile of example, comprising: camera 20 and controller 30.
Wherein camera 20 is used to acquire the video for the passenger being located in pilotless automobile；Specifically execute above-mentioned Fig. 4
The function of middle video acquisition module 10.The camera 20 is equivalent to the peripheral equipment of this computer equipment of pilotless automobile.
Controller 30 includes memory and processor, and wherein memory is stored with computer program, and program is held by processor
The method of control pilotless automobile starting any in embodiment 1-3 as above is realized when row.Specifically, which can be with
When determining passenger not is the car owner of pilotless automobile, control camera 20 starts, and acquisition is located in pilotless automobile
Passenger video；And the video of the passenger of acquisition is sent to the terminal of the car owner of pilotless automobile, so that nobody drives
The car owner for sailing automobile determines whether that passenger takes pilotless automobile according to the video of passenger；Receive unmanned vapour
The control instruction of the car owner of vehicle sent by terminal；And when received control instruction is enabled instruction, control unmanned
Automobile starting.Controller 30 is equivalent to the core equipment of this computer equipment of pilotless automobile.
That is the acquisition that the control implement body of the present embodiment can be used for executing in above-mentioned Fig. 1-embodiment illustrated in fig. 3 operates it
Outer all operations, i.e., it is specific execute as in above-mentioned Fig. 4 and embodiment illustrated in fig. 5 such as video acquisition module 10 and biological parameter
The function of all software modules except hardware module shown in acquisition module 13, such as communication module 11, control module 12 and inspection
The institute for surveying module 14 is functional.In addition, the pilotless automobile of the present embodiment is in addition to this, it further include door, door lock, seat etc.
A lot of other hardware devices, no longer citing repeats one by one herein.
For example, Fig. 7 is a kind of exemplary diagram of the controller of pilotless automobile provided by the invention.Due to unmanned vapour
A vehicle inherently computer equipment, as shown in fig. 6, the software section of pilotless automobile concentrates on pilotless automobile
In controller.Fig. 7, which is shown in terms of the computer software of pilotless automobile, to be suitable for being used to realizing embodiment of the present invention
Exemplary pilotless automobile controller 12a block diagram.The controller 12a for the pilotless automobile that Fig. 7 is shown is only
One example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in fig. 7, the controller 12a of pilotless automobile is showed in the form of universal computing device.Unmanned vapour
The component of the controller 12a of vehicle can include but is not limited to: one or more processor 16a, system storage 28a, connection
The bus 18a of different system components (including system storage 28a and processor 16a).
Bus 18a indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
The controller 12a of pilotless automobile typically comprises a variety of computer system readable media.These media can be with
It is any usable medium that can be accessed by the controller 12a of pilotless automobile, including volatile and non-volatile media can
Mobile and immovable medium.
System storage 28a may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 30a and/or cache memory 32a.The controller 12a of pilotless automobile may further include
Other removable/nonremovable, volatile/non-volatile computer system storage mediums.Only as an example, storage system
34a can be used for reading and writing immovable, non-volatile magnetic media (Fig. 7 do not show, commonly referred to as " hard disk drive ").Although
It is not shown in Fig. 7, the disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") can be provided, and
To the CD drive of removable anonvolatile optical disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.At these
In the case of, each driver can be connected by one or more data media interfaces with bus 18a.System storage 28a
It may include at least one program product, which has one group of (for example, at least one) program module, these program moulds
Block is configured to perform the function of communication module in the above-mentioned each embodiment of Fig. 4-Fig. 5 of the present invention, control module and detection module.
Program with one group of (at least one) program module 42a/utility 40a, can store and deposit in such as system
In reservoir 28a, such program module 42a include --- but being not limited to --- operating system, one or more application program,
It may include the reality of network environment in other program modules and program data, each of these examples or certain combination
It is existing.Program module 42a usually executes communication module in above-mentioned each embodiment of Fig. 4-Fig. 5 described in the invention, control module
With the function of detection module.
The controller 12a of pilotless automobile can also with one or more external equipment 14a (such as keyboard, be directed toward set
Standby, display 24a etc.) communication, it can also enable a user to hand over the controller 12a of the pilotless automobile with one or more
Mutual equipment communication, and/or with enable the controller 12a of the pilotless automobile and one or more of the other calculating equipment into
Any equipment (such as network interface card, modem etc.) communication of row communication.This communication can pass through input/output (I/O)
Interface 22a is carried out.Also, the controller 12a of pilotless automobile can also pass through network adapter 20a and one or more
Network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown, network is suitable
Orchestration 20a is communicated by bus 18a with other modules of the controller 12a of pilotless automobile.Although should be understood that in figure not
It shows, other hardware and/or software module can be used in conjunction with the controller 12a of pilotless automobile, including but not limited to: micro-
Code, device driver, redundant processor, external disk drive array, RAID system, tape drive and data backup are deposited
Storage system etc..
Processor 16a by the program that is stored in system storage 28a of operation, thereby executing various function application and
Data processing, such as realize the starting method of pilotless automobile shown in above-described embodiment.
The present invention also provides the computer-readable mediums in a kind of pilotless automobile, are stored thereon with computer program,
The starting side about pilotless automobile in as shown in above-mentioned Fig. 1-Fig. 3 embodiment is realized when the program is executed by processor
Method；I.e. it is specific execute as in above-mentioned Fig. 4 and embodiment illustrated in fig. 5 video acquisition module 10 and biological parameter acquisition module 13 it
The function of outer all modules.
Computer-readable medium in the pilotless automobile of the present embodiment may include in above-mentioned embodiment illustrated in fig. 7
RAM30a, and/or cache memory 32a, and/or storage system 34a in system storage 28a.
With the development of science and technology, the route of transmission of computer program is no longer limited by tangible medium, it can also be directly from net
Network downloading, or obtained using other modes.Therefore, the computer-readable medium in the present embodiment pilotless automobile not only may be used
It can also include invisible medium to include tangible medium.
Computer-readable medium in the pilotless automobile of the present embodiment can be using one or more computer-readable
Medium any combination.Computer-readable medium in the pilotless automobile of the present embodiment can be computer-readable signal
Medium or computer readable storage medium.Computer readable storage medium for example may be-but not limited to-electricity, magnetic,
Optical, electromagnetic, the system of infrared ray or semiconductor, device or device, or any above combination.Computer-readable storage medium
The more specific example (non exhaustive list) of matter includes: the electrical connection with one or more conducting wires, portable computer magnetic
Disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or sudden strain of a muscle
Deposit), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or above-mentioned appoint
The suitable combination of meaning.In this document, computer readable storage medium can be any tangible medium for including or store program,
The program can be commanded execution system, device or device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (12)
1. a kind of starting method of pilotless automobile, which is characterized in that the described method includes:
When determining passenger not is the car owner of the pilotless automobile, acquisition is located at taking in the pilotless automobile
The video of person；
The video of the passenger is sent, to the terminal of the car owner of the pilotless automobile for the pilotless automobile
Car owner determines whether that the passenger takes the pilotless automobile according to the video of the passenger；
Time between at the time of the video of the terminal of detection current time and from the car owner to pilotless automobile transmission passenger
Whether length reaches predetermined time period threshold value；
If the car owner for receiving the pilotless automobile when the time span is not up to predetermined time period threshold value passes through
The control instruction that the terminal is sent controls the pilotless automobile starting when the control instruction is enabled instruction；
If otherwise reaching predetermined time period threshold value in the time span and not receiving the car owner of the pilotless automobile
When the control instruction sent by the terminal, according to the biological parameter information of the passenger of acquisition control it is described nobody drive
Sail whether automobile starts.
2. the method according to claim 1, wherein acquisition is located at the passenger in the pilotless automobile
Before video, the method also includes:
Acquire the biological parameter information of the passenger；
Judge the biological parameter information of the passenger and the vehicle of the pilotless automobile in pre-stored owner information library
Whether main biological parameter information matches；
When the biological parameter information of the passenger and the biological parameter information of the car owner of the pilotless automobile mismatch,
Determining the passenger not is the car owner of the pilotless automobile.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
When the biological parameter information of the passenger and the biological parameter information matches of the car owner of the pilotless automobile, really
The fixed passenger is the car owner of the pilotless automobile；
Control the pilotless automobile starting；
Further, the biological parameter information includes fingerprint, palmmprint, vocal print, retina or facial characteristics.
4. according to the method in claim 2 or 3, which is characterized in that when determining passenger be not the pilotless automobile
Car owner when, acquisition be located at the pilotless automobile in passenger video before, the method also includes:
ID authentication request is sent to the terminal of the car owner of the pilotless automobile；
Receive the agreement authentication of the car owner of the pilotless automobile sent by the terminal；
Judge the pilotless automobile in the biological parameter information and pre-stored spare information for taking passage library of the passenger
Car owner except the biological parameter information of other spare passenger whether match；
Upon a match, the pilotless automobile starting is controlled.
5. according to the method in claim 2 or 3, which is characterized in that the terminal of the car owner of Xiang Suoshu pilotless automobile is sent out
After the video for sending the passenger, the control instruction of the car owner of the pilotless automobile sent by the terminal is received
Before, the method also includes:
Obtain current time and at the time of the terminal of car owner to the pilotless automobile sends the video of the passenger it
Between time span；
Judge whether the time span reaches predetermined time period threshold value, and whether receives the pilotless automobile
The control instruction of car owner sent by the terminal, and before determining that the time span reaches predetermined time period threshold value,
Receive the control instruction of the car owner of the pilotless automobile sent by the terminal；
Further, the method also includes:
When the time span reaches the predetermined time period threshold value, the car owner of the pilotless automobile is not received also
The control instruction sent by the terminal when, judge that the biological parameter information of the passenger spare is taken with pre-stored
Whether the biological parameter information of other spare passenger except the car owner of the pilotless automobile in information bank matches；
Upon a match, the pilotless automobile starting is controlled.
6. a kind of pilotless automobile, which is characterized in that the pilotless automobile includes:
Video acquisition module, for when determining passenger not is the car owner of the pilotless automobile, acquisition to be located at the nothing
The video of passenger in people's driving；
Communication module, the terminal for the car owner to the pilotless automobile sends the video of the passenger, for described
It is described unmanned that the car owner of pilotless automobile according to the video of the passenger determines whether that the passenger is taken
Automobile；
Detection module, the terminal for detecting current time and car owner to pilotless automobile send the video of passenger when
Whether the time span between quarter reaches predetermined time period threshold value；
The communication module, the control sent by the terminal for being also used to receive the car owner of the pilotless automobile refer to
It enables；
Control module, if for receiving the unmanned vapour when the time span is not up to predetermined time period threshold value
The control instruction that the car owner of vehicle is sent by the terminal, when the control instruction is enabled instruction, control is described, and nobody is driven
Sail automobile starting；If otherwise reaching predetermined time period threshold value in the time span and not receiving the pilotless automobile
Car owner sent by the terminal control instruction when, according to the biological parameter information of the passenger of acquisition control described in
Whether pilotless automobile starts.
7. pilotless automobile according to claim 6, which is characterized in that the pilotless automobile further include:
Biological parameter acquisition module is also used to acquire the biological parameter information of the passenger；
Detection module, in the biological parameter information and pre-stored owner information library for judging the passenger it is described nobody
Whether the biological parameter information of the car owner of driving matches；And when the passenger biological parameter information with it is described nobody drive
When sailing the biological parameter information mismatch of the car owner of automobile, determining the passenger not is the car owner of the pilotless automobile.
8. pilotless automobile according to claim 7, it is characterised in that:
The detection module is also used to the life as the car owner of the biological parameter information and pilotless automobile of the passenger
When object parameter information matches, determine that the passenger is the car owner of the pilotless automobile；
The control module is also used to determine that the passenger is the car owner of the pilotless automobile when the detection module
When, control the pilotless automobile starting；
Further, the biological parameter information includes fingerprint, palmmprint, vocal print, retina or facial characteristics.
9. pilotless automobile according to claim 7 or 8, it is characterised in that:
The communication module is also used to send ID authentication request to the terminal of the car owner of the pilotless automobile；
The communication module is also used to receive the agreement identity of the car owner of the pilotless automobile sent by the terminal
Certification；
The detection module is also used to judge in the biological parameter information and pre-stored spare information for taking passage library of the passenger
The pilotless automobile car owner except the biological parameter information of other spare passenger whether match；
The control module, be also used to when the detection module determine the biological parameter information of the passenger with it is described other standby
When with the biological parameter information matches of passenger, the pilotless automobile starting is controlled.
10. pilotless automobile according to claim 7 or 8, which is characterized in that the pilotless automobile further includes obtaining
Modulus block；
The acquisition module is taken described in the terminal transmission at current time and the car owner to the pilotless automobile for obtaining
Time span between at the time of the video of person；
Whether the detection module, is also used to judge whether the time span reaches predetermined time period threshold value, and receive
To the control instruction of the car owner of the pilotless automobile sent by the terminal, and determine that the time span reaches pre-
If before time span threshold value, receiving the control instruction of the car owner of the pilotless automobile sent by the terminal；
Further, the detection module is also used to when the time span reaches the predetermined time period threshold value, also not
When receiving the control instruction of the car owner of the pilotless automobile sent by the terminal, the life of the passenger is judged
Object parameter information spare is taken with other except the car owner of the pilotless automobile in pre-stored spare information for taking passage library
Whether the biological parameter information for the person of multiplying matches；
The control module, be also used to when the detection module determine the biological parameter information of the passenger with it is described other standby
When with the biological parameter information matches of passenger, the pilotless automobile starting is controlled.
11. a kind of pilotless automobile, which is characterized in that the pilotless automobile includes:
Camera, for acquiring the video for the passenger being located in the pilotless automobile；With
Controller, the controller includes memory and processor, wherein the memory is stored with computer program, the journey
The side that the pilotless automobile as described in control as claimed in any one of claims 1 to 5 starts is realized when sequence is executed by the processor
Method.
12. the computer-readable medium in a kind of pilotless automobile, is stored thereon with computer program, which is characterized in that should
The side that the pilotless automobile as described in control as claimed in any one of claims 1 to 5 starts is realized when program is executed by processor
Method.
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| CN201710264516.0A CN107187420B (en) | 2017-04-21 | 2017-04-21 | Pilotless automobile and its starting method, computer-readable medium |
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| CN201710264516.0A CN107187420B (en) | 2017-04-21 | 2017-04-21 | Pilotless automobile and its starting method, computer-readable medium |
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| CN107187420B true CN107187420B (en) | 2019-07-02 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108389418A (en) * | 2018-04-27 | 2018-08-10 | 北京智行者科技有限公司 | The dispatching method of automatic driving vehicle |
| CN109725638A (en) * | 2018-12-12 | 2019-05-07 | 北京百度网讯科技有限公司 | Function for Automatic Pilot authorization method, device, system and storage medium |
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