CN109144053A - A kind of indoor operational know-how and system using automatic driving vehicle - Google Patents
A kind of indoor operational know-how and system using automatic driving vehicle Download PDFInfo
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- CN109144053A CN109144053A CN201810792207.5A CN201810792207A CN109144053A CN 109144053 A CN109144053 A CN 109144053A CN 201810792207 A CN201810792207 A CN 201810792207A CN 109144053 A CN109144053 A CN 109144053A
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- 238000007726 management method Methods 0.000 claims description 15
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- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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Abstract
A kind of indoor operational know-how using automatic driving vehicle, comprising steps of intensively laying website on each paths through interior of building ground；Telltale mark point is laid to each website, the spatial position where telltale mark point reflects corresponding website in indoor map, there are one-to-one mapping relations between telltale mark point and corresponding website；Provided website or telltale mark point obtain initial position and the destination locations of passenger when reserving automatic driving vehicle according to passenger；According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to optimal path scheduling automatic driving vehicle and controls automatic driving vehicle passenger is sent to destination locations by initial position.The introducing of automatic driving vehicle and the laying of intensive website can not only facilitate passenger's ride-on vehicles whenever and wherever possible, cost of labor be also saved, in addition, further saving inner space also without dedicated track is established.
Description
Technical field
The present invention relates to the technical field of interior of building traffic deployment, and in particular to a kind of using automatic driving vehicle
Indoor operational know-how and system.
Background technique
Inside building, such as airline, shopping mall, large-scale museum, it is desirable to from one to
Walking can only be relied at other one in most cases.In the buildings such as relatively large airport, farthest distance is more than 1 kilometer,
The time of cost can exceed that this is that cannot extremely receive for being not intended on foot or for handicapped personage 30 minutes
's.
In the prior art, have and be provided with the electric vehicle carrying that people drives in large airport, or be provided with tramcar
Carrying；Using the airport of manned electric vehicle carrying, stop is set generally at area entry of waiting, it is in need to arrive by bus
Passenger up to boarding gate demand needs booking to take, and for lower machine passenger, passenger needs walking to reach airport exit.
Several fixed on-board and off-board places, passenger can be generally arranged as the interior of building of the vehicles using tramcar
Train is waited in designated position.
Whether electric vehicle carrying or tramcar carrying are driven using people, had the following deficiencies:
1. the fixed on-board and off-board website of offer, prevents passenger from flexibly finding on-board and off-board website；
2. manned electric vehicle needs each car to be equipped with a driver, human cost is higher；
3. tramcar needs to build track, initial outlay is huge, and tramcar builds a large amount of interiors of orbit occupancy
Space；
4. rate of empty ride is higher when using, e.g., tramcar is according to moving constantly, and no matter whether there is or not passengers to run.
Summary of the invention
For various defects present in interior of building traffic, the application provides a kind of room using automatic driving vehicle
Interior operational know-how and system.
According in a first aspect, provide a kind of indoor operational know-how using automatic driving vehicle in a kind of embodiment, including
Step:
Website is intensively laid on each paths through interior of building ground；
Telltale mark point is laid to each website, the space bit where telltale mark point reflects corresponding website in indoor map
It sets, there are one-to-one mapping relations between telltale mark point and corresponding website；
Provided website or telltale mark point obtain the initial position of passenger when reserving automatic driving vehicle according to passenger
And destination locations；
According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to best road
Diameter, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
In a kind of embodiment, telltale mark point be to interior of building ground by the ground of zone number or coding number or
Spatial position where coding, ground number or coding reflect corresponding website in indoor map.
In a kind of embodiment, telltale mark point is the object with identification feature marked on map indoors.
In a kind of embodiment, telltale mark point is the mark point based on wireless radios signal on map indoors.
It further include reserving automatic driving vehicle according to passenger to generate the unique identifier for being directed to the reservation in a kind of embodiment
And unique identifier is fed back into passenger, when automatic driving vehicle reaches the initial position of passenger, according to unique identifier pair
The identity of passenger to be got on the bus is verified.
Further include the site terminal laid to each website for reserving automatic driving vehicle in a kind of embodiment, to from
After dynamic driving vehicle reservation success, identification code of the site terminal output for riding for passenger.
According to second aspect, a kind of indoor operating system using automatic driving vehicle is provided in a kind of embodiment, comprising:
Several websites are intensively laid on each paths on interior of building ground；
Telltale mark point, corresponding to be laid in each website, the telltale mark point reflects indoor map where corresponding website
On spatial position, there are one-to-one mapping relations between the telltale mark point and corresponding website；
Automatic driving vehicle is distributed in the specified region in building；
Management system, and automatic driving vehicle interactive information, the reservation according to passenger to automatic driving vehicle, control are automatic
It drives vehicle and passenger is sent to destination locations by initial position, management system specifically executes following operation:
Provided website or telltale mark point obtain the initial position of passenger when reserving automatic driving vehicle according to passenger
And destination locations；
According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to it is described most
Good path, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
In a kind of embodiment, telltale mark point be to interior of building ground by the ground of zone number or coding number or
Spatial position where coding, ground number or coding reflect corresponding website in indoor map.
In a kind of embodiment, telltale mark point is the object with identification feature marked on map indoors.
In a kind of embodiment, telltale mark point is the mark point based on wireless radios signal on map indoors.
It further include the energy supplement device that energy supplement is carried out to automatic driving vehicle in a kind of embodiment.
In a kind of embodiment, when passenger has multiple destinations, the route of automatic driving vehicle or management system planning
Approach all purposes place.
In a kind of embodiment, each website also lays the site terminal for reserving automatic driving vehicle, to automatic Pilot
After vehicle reservation success, identification code of the site terminal output for riding for passenger.
According to the indoor operational know-how of above-described embodiment, due to laying several websites on interior of building ground, and
Telltale mark point is arranged to each website, when automatic driving vehicle is applied to interior of building, passenger can be according to itself
Situation reserves automatic driving vehicle to nearest website, arrives at the destination passenger conveniently, the introducing of automatic driving vehicle and close
The laying of collection website can not only facilitate passenger's ride-on vehicles whenever and wherever possible, also save cost of labor, in addition, special also without establishing
With track, inner space is further saved.
In addition, the application devises website from the angle of passenger, set from the angle of control automatic driving vehicle
Telltale mark point has been counted, in this way, passenger can be by the location of website visual perception itself, while also having facilitated passenger's reservation certainly
Itself which positioned website can be explicitly pointed out when dynamic driving vehicle, and, website institute is reflected indoors by telltale mark point
Spatial position on figure can precisely obtain the specific location where passenger, further be precisely controlled to automatic driving vehicle.
Detailed description of the invention
Fig. 1 is indoor operational know-how flow chart；
Fig. 2 is a kind of embodiment figure of telltale mark point.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
In embodiments of the present invention, by the way that intensive website and corresponding telltale mark point is arranged to building interior space,
Automatic driving vehicle is introduced into building, facilitates passenger can ride-on vehicles whenever and wherever possible.
Embodiment one:
This example provides a kind of indoor operational know-how using automatic driving vehicle, and flow chart is as shown in Figure 1, specifically include
Following steps.
S1: website is intensively laid on each paths through interior of building ground.
The website of this example specifically can be site number, be also possible to site name, as long as the website can be identified uniquely
?.
S2: telltale mark point is laid to each website.
Spatial position where telltale mark point reflects corresponding website in indoor map, telltale mark point and corresponding website it
Between there are one-to-one mapping relations, which, which refers to, can find corresponding positioning mark according to website
Remember point, the spatial position where reflecting corresponding website due to the telltale mark point in indoor map, by website according to reflecting
It penetrates after relationship obtains telltale mark point and also just obtains spatial position in indoor map locating for website.
It should be noted why this example designs website and telltale mark point, and mapping relations between the two are set,
The purpose is to comprehensively consider the usual habit of passenger and being precisely controlled for automatic driving vehicle, due to multiplying in passenger's daily life
By bus or subway is taken, most sensitive information is website, rather than the spatial geographical locations locating for itself, and is controlled automatic
Driving vehicle is to control it based on spatial geographical locations to sail for destination locations by initial position, is based on this, and this example devises website,
In order to meet the daily habit by bus of passenger, while telltale mark point has also been devised, and the corresponding station of telltale mark point reflection
Spatial position where point in indoor map carries out automatic driving vehicle accurately to obtain geographical location locating for passenger
It is precisely controlled.
S3: provided website or telltale mark point obtain the start bit of passenger when reserving automatic driving vehicle according to passenger
It sets and destination locations.
Due to telltale mark point reflection be website specific spatial position, to control automatic driving vehicle by passenger by
Starting point is sent to point of destination it is necessary to obtain the initial position of passenger and destination locations, and therefore, this example, which provides, obtains passenger's start bit
Set the two ways with destination locations: a kind of mode is to allow passenger to select start site and purpose website, another way are to allow
Passenger provides starting telltale mark point and purpose website, specifically which kind of mode is selected according to the convenience of passenger using.
According to initial position and the destination locations of the start site of user's selection and purpose station for acquiring passenger, specific implementation
Mode be:
1) provided start site and purpose website and corresponding mapping are closed when reserving automatic driving vehicle according to passenger
System obtains corresponding starting telltale mark point and purpose telltale mark point.
2) initial position of website, obtains according to purpose telltale mark point where obtaining passenger according to starting telltale mark point
Passenger's destination locations to be reached.
It should be noted that if having downloaded in smart phone used in passenger has reservation automatic driving vehicle
FTP client FTP system, when passenger using the FTP client FTP system reservation automatic driving vehicle when, passenger then can be direct
Start site and the purpose website of passenger are selected in FTP client FTP system.
Due to the mapping relations of website and corresponding telltale mark point existence anduniquess, when backstage obtains start site and purpose
After website, corresponding starting telltale mark point and purpose telltale mark point can be obtained according to the mapping relations.
And telltale mark point reflects the spatial position in the indoor map of corresponding website place, therefore, when backstage obtains
Also the initial position of website where just obtaining passenger after beginning telltale mark point, likewise, backstage obtains purpose telltale mark point
Passenger's destination locations to be reached also just are obtained afterwards.
The initial position of website and destination locations to be reached where S2-S3 can obtain passenger through the above steps, from
And the purpose that passenger successfully reserves automatic driving vehicle is completed, in addition to this, this example also provides another reservation automatic Pilot
The operation of vehicle, specific:
Site terminal for reserving automatic driving vehicle is laid to each website, passenger can be pre- according to the site terminal
About automatic driving vehicle that is to say that, by fixed site terminal positioning reservation automatic driving vehicle, which can be
Pile is also possible to screen display on wall, anyone, it is automatic regardless of that site terminal can be used to reserve either with or without mobile terminal
Drive vehicle.After automatic driving vehicle is reserved successfully by site terminal, which can print one uniquely
Identification code, after automatic driving vehicle reaches this website, user is got on the bus seating by this unique identifier.It that is to say, in passenger
In the case where not carrying mobile terminal (e.g., smart phone), self-service reservation is also able to achieve by each site terminal and is driven automatically
Sail vehicle.
Except the identification code for obtaining printing except through site terminal, passenger can also be as needed, is passing through website end
During end reservation automatic driving vehicle, to prevent the identification code of printing from losing, passenger also may be selected to send identification code to
On the mobile terminal of carrying, after passenger reserves successfully, site terminal sends the unique identifier on mobile terminal, to certainly
Dynamic to drive after vehicle reaches this website, user is got on the bus seating by this unique identifier.
S4: according to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to most
Good path, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
After obtaining initial position and the destination locations to be reached where passenger from the background, from the background according to built-in building
Object indoor map plans the optimal path by initial position to destination locations, dispatches corresponding automatic Pilot according to the optimal path
Vehicle, and control automatic driving vehicle and passenger is sent to destination locations by initial position.
In addition, e.g., same passenger selects multiple destinations, or different passenger's selections when with multiple destinations
Different destinations, then all purposes place that the optimal path approach passenger cooked up selects, to meet the need of passenger
It asks.
It should be noted that the phenomenon that in order to avoid causing confusion when passenger rides, this example further includes being reserved according to passenger
Automatic driving vehicle generates the unique identifier for the reservation and the unique identifier is fed back to passenger, meanwhile, passenger is also
It will receive the number information for subscribing vehicle, in order to identify.When automatic driving vehicle reaches the initial position of passenger, according to only
The identity that one identification code treats the passenger that gets on the bus is verified, which is preferably two dimensional code.The system is also supported simultaneously
User orders the modes such as vehicle confirmation form type slug or FTP client FTP account using boarding card, the bar code of admission ticket, website to confirm
Order.
Specifically, automatic driving vehicle is scanned passenger and provided by vehicle-mounted identity recognition device such as two-dimensional code scanning instrument
Unique identifier, alternatively, after being scanned by smart phone entrained by passenger and with vehicle two dimensional code and being automatically uploaded to information
Platform confirms passenger identity, and after passenger identity verification success, passenger can just get on the bus, otherwise, passenger cannot get on the bus, on passenger
Passenger is sent to destination locations by Che Hou, Background control automatic driving vehicle.Passenger's unique identifier include boarding card bar code,
Museum's admission ticket bar code, website order the forms such as vehicle confirmation form type slug or FTP client FTP account.
In addition, related avoidance technology, automatic Pilot technology are the automatic driving vehicle of this example in the process of moving
Well-known to those skilled in the art, this example does not repeat.
After passenger is sent to destination locations by automatic driving vehicle, can control from the background automatic driving vehicle sail for it is specified
Parking area also can control automatic driving vehicle and sail for energy supplement region, by energy supplement device to automatic Pilot vehicle
Carry out energy supplement.
By above-mentioned indoor operational know-how, since website is laid than comparatively dense, greatly facilitate passenger can at any time with
Take automatic driving vehicle in ground.
Embodiment two:
Based on embodiment one, this example provides a kind of implementation of telltale mark point, and the telltale mark point of this example is to building
It builds object internal ground to be numbered or encoded by the ground of zone number or coding, ground number or coding reflect where corresponding website
Spatial position in indoor map, when passenger is by directly inputting website when FTP client FTP system calling automatic driving vehicle,
Backstage can be obtained the corresponding ground number of the website or coding, that is, the spatial position of website where may recognize that passenger.
It in other embodiments, can also be directly defeated when passenger passes through FTP client FTP system calling automatic driving vehicle
Enter ground number or coding, to obtain the spatial position of passenger place website.
Embodiment three:
Based on embodiment two, this example provides the implementation of another telltale mark point, and the telltale mark point of this example is
What is marked on map indoors has the object of identification feature, that is to say, this example is by vision positioning, the positioning mark based on this example
Remember point, when passenger is using FTP client FTP system reservation automatic driving vehicle, if being inconvenient to input start site, passenger can
On photo or one section of video to prompt one ambient enviroment of shooting according to the requirement of client using the camera of smart phone
It is transmitted to system, then system can be compared based on the intelligent recognition to this image or video with database information, to complete
The positioning of passenger start site.
Example IV:
This example is based on embodiment two, embodiment three, provides the implementation of another telltale mark point, the positioning of this example
Mark point basis is the wireless radios such as bluetooth equipment, wifi equipment or zigbee known to position on map indoors,
In, by taking bluetooth equipment as an example, as shown in Fig. 2, A, B, C be respectively three on Indoor environment map bluetooth known to position set
Standby, X is the position of passenger's smart phone, and the program built in FTP client FTP system calculates separately out intelligence according to signal attenuation principle
The position of energy mobile phone calculates the spatial position of passenger by triangulation location principle to the distance of three bluetooth equipments；Alternatively,
The signal of corresponding each bluetooth equipment and intensity in this position are acquired in the point of several known locations of interior of building in advance and are deposited
Enter database, then the bluetooth equipment that the passenger terminal moment is received signal and strength information and database in data into
Row comparison, finds out the most similar point in database, then the spatial position at passenger's moment can be positioned as the position of the similitude.
It is not needed when passenger is using FTP client FTP system reservation automatic driving vehicle by the telltale mark point of this example
It is manually entered start site or starting telltale mark point, the initial position of passenger can be obtained.
Embodiment five:
Based on embodiment two, embodiment three and example IV, this example provides the implementation of another telltale mark point,
The telltale mark point of this example is ground magnetic orientation, be that is to say: the distortion due to armored concrete for magnetic field in space can allow building
Magnetic field inside object becomes unique, oneself unique magnetic " lines " is formed, so as to position.By that will build in advance
Magnetic field in object collects and is stored in database, when the mobile phone or other mobile devices that carry passenger terminal enter in building
Portion, the information in magnetic field and database perceived compare, and positioning can be completed.
Likewise, pass through the telltale mark point of this example, when passenger is using FTP client FTP system reservation automatic driving vehicle,
It does not need to be manually entered start site or starting telltale mark point, the initial position of passenger can be obtained.
Embodiment six:
Based on embodiment one to embodiment five, this example provides a kind of indoor operating system using automatic driving vehicle, tool
Body includes:
Several websites are intensively laid on each paths on interior of building ground；
Telltale mark point, it is corresponding to be laid in each website, where telltale mark point reflects corresponding website in indoor map
Spatial position, there are one-to-one mapping relations between telltale mark point and corresponding website；
Automatic driving vehicle is distributed in the specified region in building；
Management system, and automatic driving vehicle interactive information, the reservation according to passenger to automatic driving vehicle, control are automatic
It drives vehicle and passenger is sent to destination locations by initial position, management system specifically executes following operation:
Provided website or telltale mark point obtain the initial position of passenger when reserving automatic driving vehicle according to passenger
And destination locations；
According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to it is described most
Good path, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
The telltale mark point of this example, which can be, is numbered or is compiled by the ground of zone number or coding to interior of building ground
Spatial position where code, ground number or coding reflect corresponding website in indoor map；It is also possible to map subscript indoors
The object with identification feature of note；It is also possible on map indoors based on bluetooth equipment, wifi equipment or zigbee equipment
Etc. radiofrequency signals mark point, the concrete application of the telltale mark point of this example please refers to embodiment one to embodiment five, and this example is not
It repeats.
Realize outside reservation automatic driving vehicle that this example can also be realized automatically by other means except through telltale mark point
The reservation of vehicle is driven, e.g., each website also lays the site terminal for reserving automatic driving vehicle, to automatic driving vehicle
After reserving successfully, identification code of the site terminal output for riding for passenger；Automatic Pilot vehicle is implemented by site terminal
Reservation in, can obtain site terminal printing identification code, identification code can also be sent to passenger carrying mobile end
End；Site terminal realizes the process of self-service reservation automatic driving vehicle, can refer to embodiment one, this example does not repeat.
In addition, this example further includes the energy supplement device that energy supplement is carried out to automatic driving vehicle, and, the management of this example
System is the bridge of passenger's client and information of vehicles intercommunication, is responsible for traffic information, the reception of assignment instructions and distribution, vehicle tune
The monitoring and emergent accident processing response of degree and operation, and finally total system operating condition is summarized.When user exists
When client is proposed with vehicle demand, management system searches optimal available vehicle automatically, and gives the demand task assignment to the vehicle
?.After vehicle terminates service, management system will arrange vehicle parking to specified region, or if it is necessary, the vehicle be arranged to sail for
Energy supplement region carries out supplement energy by energy supplement device.
If automatic driving vehicle will include one or more it should be noted that this example is applied to airport lounge
Seat or special storage space, so that article and a multimedia advertising platform are taken or transported for people；If be applied to
Market or shopping center, then automatic driving vehicle will likely include people's standing room, cargo space, purchase guiding system and mobile knot
Account terminal；If being applied to large-scale museum, automatic driving vehicle will likely include that a people or more people take space and visit
Route planning system, guide system and exhibit information multimedia system.The vehicle includes drive system, braking system, steering system
System, control system, sensor-based system, planning system, communication system, multimedia terminal and other component.Automatic driving vehicle is not necessarily to
Human driver, the information realization that all kinds of various sensors or management system that can be equipped with by itself provide independently travel.Its
Using in-wheel driving, it are furnished with two or more wheels；Sensor-based system is to perceive the precise positioning of vehicle indoors, while to row
The moving obstacles such as people, human powered vehicle and other automotive vehicles carry out target acquisition and tracking, and complete its behavior prediction；Planning
System can carry out the optimum transportation route planning of airport lounge according to the demand of passenger, the best shopping path in market is planned,
Or the best visit path planning in museum, while carrying out the trajectory planning of automatic running；In addition, when there is multiple desired mesh
Place when, automatic driving vehicle or management system will cook up an optimal path, it is ensured that can pass through all purposes place,
And the used time is most short；Control system then determines how vehicle travels according to the information of sensor-based system, and dependent instruction is issued to drive
Dynamic system, braking system, steering system etc.；In order to complete the communication with management system, be further provided with communication system, it can be achieved that
The wireless telecommunications of mobile cellular network, wifi network, bluetooth or other modes；Carry passenger multimedia terminal thereon equipped with
Camera, microphone, loudspeaker, touch screen can allow user to input the information such as text, picture, voice；The terminal may be used also simultaneously
Relevant information is shown in the form of text, picture, voice etc., completes the information exchange of people and traffic system.Towards surrounding
The multimedia terminal of environment can play dynamic advertising.The daily maintenance of vehicle is completed by attendant, failure or accident etc.
It is handled by attendant, attendant is by the help of demand relevant governmental administrative department when necessary.The energy supplement of vehicle can be with
Automatically pass through auxiliary equipment or under the intervention of attendant to complete.
After receiving the instruction of management system, driving process can be completed independently the vehicle.With common automatic Pilot vehicle
Difference does not depend on Global Navigation Satellite System (GNSS) signal in the vehicle travel process and carries out self poisoning and path rule
It draws, but this task is completed by indoor map built in it and onboard sensor completely.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (13)
1. a kind of indoor operational know-how using automatic driving vehicle, which is characterized in that comprising steps of
Website is intensively laid on each paths through interior of building ground；
Telltale mark point is laid to each website, the space bit where the telltale mark point reflects corresponding website in indoor map
It sets, there are one-to-one mapping relations between the telltale mark point and corresponding website；
Provided website or telltale mark point obtain initial position and the mesh of passenger when reserving automatic driving vehicle according to passenger
Position；
According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to the best road
Diameter, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
2. interior operational know-how as described in claim 1, which is characterized in that the telltale mark point is to interior of building
Indoor map where corresponding website is reflected by the ground of zone number or coding number or coding, the ground number or coding in face
On spatial position.
3. interior operational know-how as described in claim 1, which is characterized in that the telltale mark point is map subscript indoors
The object with identification feature of note.
4. interior operational know-how as described in claim 1, which is characterized in that the telltale mark point is base on map indoors
In the mark point of wireless radios signal.
5. interior operational know-how as described in claim 1, which is characterized in that further include reserving automatic driving vehicle according to passenger
It generates the unique identifier for the reservation and the unique identifier is fed back into passenger, reach passenger to automatic driving vehicle
Initial position when, verified according to the identity that the unique identifier treats the passenger that gets on the bus.
6. interior operational know-how as described in claim 1, which is characterized in that further include laying each website for reserving certainly
The dynamic site terminal for driving vehicle, after automatic driving vehicle is reserved successfully, the site terminal output for passenger for riding
Identification code.
7. a kind of indoor operating system using automatic driving vehicle characterized by comprising
Several websites are intensively laid on each paths on interior of building ground；
Telltale mark point, it is corresponding to be laid in each website, where the telltale mark point reflects corresponding website in indoor map
Spatial position, there are one-to-one mapping relations between the telltale mark point and corresponding website；
Automatic driving vehicle is distributed in the specified region in building；
Management system, and the automatic driving vehicle interactive information, the reservation according to passenger to automatic driving vehicle, control are automatic
It drives vehicle and passenger is sent to destination locations by initial position, the management system specifically executes following operation:
Provided website or telltale mark point obtain initial position and the mesh of passenger when reserving automatic driving vehicle according to passenger
Position；
According to built-in Indoor environment map planning by the optimal path of initial position to destination locations, according to the best road
Diameter, which dispatches automatic driving vehicle and controls automatic driving vehicle, is sent to destination locations by initial position for passenger.
8. interior operating system as claimed in claim 7, which is characterized in that the telltale mark point is to interior of building
Indoor map where corresponding website is reflected by the ground of zone number or coding number or coding, the ground number or coding in face
On spatial position.
9. interior operating system as claimed in claim 7, which is characterized in that the telltale mark point is map subscript indoors
The object with identification feature of note.
10. interior operating system as claimed in claim 7, which is characterized in that the telltale mark point is on map indoors
Mark point based on wireless radios signal.
11. interior operating system as claimed in claim 7, which is characterized in that further include being carried out to the automatic driving vehicle
The energy supplement device of energy supplement.
12. interior operating system as claimed in claim 7, which is characterized in that when passenger has multiple destinations, it is described from
The route approach all purposes place that dynamic driving vehicle or management system are cooked up.
13. interior operating system as claimed in claim 7, which is characterized in that each website is also laid for reserving certainly
The dynamic site terminal for driving vehicle, after automatic driving vehicle is reserved successfully, the site terminal output for passenger for riding
Identification code.
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