CN110555574B - Remote dispatching system and control method for unmanned vehicle - Google Patents

Remote dispatching system and control method for unmanned vehicle Download PDF

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CN110555574B
CN110555574B CN201810539836.7A CN201810539836A CN110555574B CN 110555574 B CN110555574 B CN 110555574B CN 201810539836 A CN201810539836 A CN 201810539836A CN 110555574 B CN110555574 B CN 110555574B
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station
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赵公旗
彭能岭
刘志勇
左刚
武亭
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Yutong Bus Co Ltd
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Abstract

The invention relates to the technical field of unmanned vehicles, in particular to a remote dispatching system and a control method of an unmanned vehicle. The device comprises a background dispatching system, a central control system and a central control system, wherein the background dispatching system acquires the running condition information of each started and/or started vehicle and the current passenger volume information of each platform on a set route; judging whether each current vehicle on the set route is in a safe state, if not, stopping running the corresponding vehicle; and judging whether the current running vehicle on the set route can meet the riding requirement, if not, sending a starting command and a running route instruction to the vehicle which is not started, solving the problem that the existing unmanned vehicle cannot meet the requirement of passengers due to unclear scheduling mode, and realizing reasonable scheduling control and distribution of the unmanned vehicle.

Description

Remote dispatching system and control method for unmanned vehicle
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a remote dispatching system and a control method of an unmanned vehicle.
Background
The unmanned vehicles are applied to the field of traffic services, such as unmanned taxies, unmanned buses, unmanned scenic spot circular traveling vehicles and the like, and the problem of how to reasonably arrange the scheduling control of the vehicles can occur when the unmanned vehicles are applied to the field of buses because of the unmanned vehicles.
Chinese patent publication No. CN104182820A discloses a remote scheduling system of an unmanned intelligent vehicle, which comprises a vehicle-mounted terminal, a data server, a database server, a website client and a passenger client, wherein the vehicle-mounted terminal is connected with the data server through a 3G module, the data server is respectively connected with the database server, the website server and the website client, and the website server is respectively connected with the database server, the website client and the passenger client; the vehicle-mounted terminal talks the vehicle information in real time and sends the vehicle information to the data server, the data server stores the vehicle information to the database server or directly sends the vehicle information to the website client, the website client displays the vehicle information, meanwhile, the website server receives the taxi calling information of the passenger client and displays the taxi calling information on the website client, and after the taxi calling information is compared with the vehicle information, a shunting control command is sent to the vehicle-mounted terminal through the data server. However, there is no specific description about how to schedule vehicles according to the information of calling and the information of vehicles, and vehicles cannot be reasonably arranged and scheduled.
Disclosure of Invention
The invention aims to provide a remote dispatching system and a control method of an unmanned vehicle, which are used for solving the problem that the unmanned vehicle cannot meet the requirements of passengers due to the fact that the dispatching mode of the existing unmanned vehicle is not clear.
In order to solve the problem that the existing unmanned vehicle cannot meet the requirements of passengers due to unclear scheduling mode and realize reasonable scheduling control and allocation of the unmanned vehicle, the invention provides a remote scheduling control method of the unmanned vehicle, which comprises the following steps:
1) Acquiring the current running condition information of each started and/or started vehicle and the current passenger volume information of each platform on a set route;
2) Judging whether each current vehicle on the set route is in a safe state, if not, controlling the corresponding vehicle to stop running;
3) And judging whether the vehicle in the safe state can meet the riding requirement, and if not, sending a starting command to the vehicle which is not started to enable the vehicle to run along the set route.
Further, in order to meet the riding demand of the passenger, the riding demand of the passenger is judged according to the current passenger quantity information of each platform, wherein the current passenger quantity information of each platform comprises the passenger quantity information of each platform, and if the sum of the passenger quantities of each platform is larger than a first set value or at least one of the passenger quantities of the platform is larger than a second set value and the transport capacity coefficient of the vehicle in the safety state is smaller than a third set value, the passenger demand is judged not to be met.
Further, in order to control the vehicle to start according to the passenger reservation and realize independent regulation and control of reserved passengers and non-reserved passengers, the current passenger volume information of each platform comprises reserved passenger number information of each platform, and if the sum of the reserved passenger numbers of each platform is larger than the first set reserved passenger number, the passenger demand is judged not to be met. Further, in order to prevent the reserved passengers from running empty after canceling the reservation and avoid waste of resources, after the vehicle is started according to the condition that the sum of the reserved passengers at each platform is greater than the first set reserved passenger number, if the sum of the reserved passengers at each platform is greater than a third set value, the vehicle is controlled to stop running, and the third set value is greater than or equal to the difference value between the sum of the reserved passengers at each platform and the first set reserved passenger number.
Further, in order to control the vehicle to start according to the reservation of the passengers and realize the independent regulation and control of reserved passengers and non-reserved passengers, the current passenger volume information of each platform comprises the reserved passenger number information of each platform, and if the reserved passenger number of at least one platform is larger than the second set reserved passenger number, the passenger demand is judged not to be met. Further, in order to prevent the vehicle from running without any reservation after the reservation of the reservation passenger is cancelled and avoid resource waste, after the vehicle is started according to the condition that the number of passengers reserved at least one platform is greater than the second set number of passengers reserved at the second station, if the number of passengers reserved at each platform is greater than the difference value between the corresponding number of passengers reserved at the first station and the second set number of passengers reserved at the second station, the vehicle is controlled to stop running.
Further, in order to avoid that passengers on a reserved platform wait for a long time at the platform, on the basis that the current passenger volume information of each platform comprises the reserved passenger number information, the arrival time of the passengers arriving at the reserved platform, the arrival time of each vehicle arriving at the reserved platform and the passenger carrying state are further obtained, and when the number of the passengers arriving at the vehicle is less than the set number of the passengers, the arrival time of the vehicles is less than the arrival time of the passengers and the interval is less than the first set time interval, the speed of the corresponding vehicle is adjusted, so that the arrival time at the reserved platform is greater than the arrival time of the passengers and the interval is the second set time interval.
Further, in order to accurately judge whether the vehicle is in an unsafe state, on the basis of the control methods, the condition that the vehicle is in the unsafe state needs to meet at least one of the situations of power system failure, chassis system failure, automatic driving system failure, vehicle body system failure, network communication intrusion and network system failure.
In order to facilitate the use of the unmanned vehicle, solve the problem that the existing unmanned vehicle cannot meet the requirements of passengers due to unclear scheduling mode, and realize reasonable scheduling control and allocation of the unmanned vehicle, the invention provides a remote scheduling system of the unmanned vehicle, which comprises a background scheduling system, wherein the background scheduling system is used for connecting each vehicle and each platform on a set line in a communication manner, and realizes the following steps:
1) Acquiring the current running condition information of each started and/or started vehicle and the current passenger volume information of each platform on a set route;
2) Judging whether each current vehicle on the set route is in a safe state, if not, controlling the corresponding vehicle to stop running;
3) And judging whether the vehicle in the safe state can meet the riding requirement, and if not, sending a starting command to the vehicle which is not started to enable the vehicle to run along the set route.
Further, in order to meet the riding requirements of passengers, the background dispatching system judges the riding requirements of the passengers according to the current passenger quantity information of each platform, wherein the current passenger quantity information of each platform comprises the passenger quantity information of each platform, and if the sum of the passenger quantities of each platform is greater than a first set value or at least one of the passenger quantities of each platform is greater than a second set value and the transport capacity coefficient of the vehicle in a safe state is less than a third set value, the background dispatching system judges that the riding requirements are not met.
Further, the background dispatching system controls the starting of the vehicle according to the reservation of the passengers, so that the reserved passengers and the non-reserved passengers can be independently regulated and controlled, the current passenger quantity information of each platform comprises the reserved passenger quantity information of each platform, and if the sum of the reserved passenger quantity information of each platform is larger than the first set reserved passenger quantity, the bus demand is judged not to be met. Further, in order to prevent the reserved passengers from running empty after canceling the reservation and avoid waste of resources, after the vehicle is started according to the condition that the sum of the reserved passengers at each platform is greater than the first set reserved passenger number, if the sum of the reserved passengers at each platform is greater than a third set value, the vehicle is controlled to stop running, and the third set value is greater than or equal to the difference value between the sum of the reserved passengers at each platform and the first set reserved passenger number.
Further, the background dispatching system controls the starting of the vehicle according to the reservation of the passengers, so that the independent regulation and control of reserved passengers and non-reserved passengers are realized, the current passenger quantity information of each platform comprises reserved passenger quantity information of each platform, and if the reserved passenger quantity of at least one platform is larger than a second set reserved passenger quantity, the situation that the passenger demand is not met is judged. Furthermore, in order to prevent the reserved passengers from idling after canceling the reservation and avoid the waste of resources, after the vehicle is started according to the condition that the number of passengers reserved at least one platform is greater than the second set number of reserved passengers, if the number of passengers reserved at each platform is greater than the difference value between the corresponding number of passengers reserved at the platform and the second set number of reserved passengers, the vehicle is controlled to stop running.
Further, in order to avoid that passengers on a reserved platform wait for a long time at the platform, the background scheduling system further acquires the arrival time of the passengers who are reserved to arrive at the reserved platform, the arrival time of the vehicles and the passenger carrying state of the vehicles which arrive at the reserved platform on the basis that the current passenger volume information of each platform comprises the reserved passenger number information, and adjusts the speed of the corresponding vehicle when the number of the passengers of the vehicles is less than the set number of the passengers, the arrival time of the vehicles is less than the arrival time of the passengers and the interval is less than the first set time interval, so that the arrival time of the passengers at the reserved platform is greater than the arrival time of the passengers and the interval is the second set time interval.
Further, in order to accurately judge whether the vehicle is in an unsafe state, the background dispatching system needs to meet at least one of the situations of power system failure, chassis system failure, automatic driving system failure, vehicle body system failure, network communication intrusion and network system failure when the vehicle is in the unsafe state on the basis of the control methods.
Drawings
FIG. 1 is a flow chart of a method of remote dispatch control of an unmanned vehicle of dispatch embodiment 1;
FIG. 2 is a schematic diagram of the remote dispatch control method for an unmanned vehicle in dispatch example 2;
fig. 3 is a flowchart of a starting control method of the unmanned vehicle of starting embodiment 1;
fig. 4 is a flowchart of a method of starting control of an unmanned vehicle according to starting embodiment 2;
fig. 5 is a flowchart of a method of starting control of an unmanned vehicle according to starting embodiment 3;
fig. 6 is a flowchart of a method of starting control of the unmanned vehicle according to starting embodiment 4.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Scheduling example 1
This scheduling embodiment 1 provides a remote scheduling system for an unmanned vehicle, including a background scheduling system, which is used to connect each vehicle and each platform on a set line in a communication manner, so as to implement a remote scheduling control method for an unmanned vehicle, as shown in fig. 1, the method includes the following steps:
(1) And acquiring the current running condition information of each started and/or started vehicle and the current passenger volume information of each platform on the set route.
The method comprises the steps that the corresponding acquisition module and the communication module which are arranged in a vehicle are used for sending running condition information of the started and/or started vehicle to a background dispatching system, wherein the running condition information comprises vehicle fault information threatening running safety, network communication intrusion, contact or non-contact intrusion information, natural weather conditions of a running area and all running condition information influencing the running safety of the vehicle; in addition, the operation condition information also comprises the passenger capacity of the vehicle, and the like, which relate to the transportation capacity of the vehicle.
Similarly, each station on the set line is provided with a corresponding acquisition module and a corresponding communication module, and current passenger flow information of each station is acquired and interacted with the background dispatching system.
(2) And judging whether each current vehicle on the set route is in a safe state, and if not, stopping running the corresponding vehicle.
And judging whether the vehicle is in a safe operation state or not according to the acquired operation condition information, and if not, for example, a power system fault, a chassis system fault, an automatic driving system fault, a vehicle body system fault, network communication invasion, a network system fault or a natural disaster on an operation route and the like, immediately processing the vehicle in the non-safe operation state, stopping the vehicle from continuously operating, and performing corresponding passenger transfer and evacuation.
(3) And judging whether the vehicle in the safe state can meet the riding requirement, and if not, sending a starting command and a running route instruction to the vehicle which is not started.
After the safety judgment, the transport capacity of the running vehicle on the current line is compared with the passenger flow of each platform, whether the current running vehicle can meet the riding requirements is judged, if not, a starting command and a running route command are sent to the vehicle which is not started, so that the vehicle enters the set line to run, and the riding requirements of passengers at each platform on the set line are met. For example, if the sum of the number of passengers at each platform is greater than a first set value or at least one of the number of passengers at the platform is greater than a second set value and the transport capacity coefficient of the vehicle in the safe state is less than a third set value, it is determined that the riding demand is not satisfied.
The starting method of the vehicle will be explained by the following starting embodiment.
Further, in the step (1) of the scheduling method, the current passenger volume information of each platform further includes reserved passenger number information of each platform, and if the sum of the reserved passenger numbers of each platform is greater than the first set reserved passenger number, it is determined that the passenger demand is not satisfied. In order to prevent the reserved passengers from idling after canceling the reservation and avoid the waste of resources, after the vehicle is started according to the condition that the sum of the reserved passengers at each platform is greater than the first set reserved passenger number, if the sum of the reserved passengers at each platform is greater than a third set value, the vehicle is controlled to stop running, and the third set value is greater than or equal to the difference value between the sum of the reserved passengers at each platform and the first set reserved passenger number.
Alternatively, in the scheduling method step (1), the current passenger volume information of each station includes reserved passenger number information of each station, and if at least one reserved passenger number of the station is greater than a second set reserved passenger number, it is determined that the passenger demand is not satisfied. In order to prevent the reserved passengers from idling after canceling the reservation and avoid the waste of resources, after the vehicle is started according to the condition that the number of passengers reserved at least one platform is greater than the second set reserved number, if the number of passengers reserved at each platform is greater than the difference value between the corresponding number of passengers reserved at the platform and the second set reserved number, the vehicle is controlled to stop running.
Scheduling example 2
On the basis of the scheduling embodiment 1, the scheduling embodiment 2 further provides a remote scheduling control method for the unmanned vehicle, the background scheduling system further obtains a passenger arrival time when a reserved passenger arrives at the reservation station, a passenger carrying state of each vehicle behind the reservation station and a time when a rear vehicle arrives at the reservation station, and when the number of passengers carrying the vehicle is less than a set number of passengers, the arrival time of the vehicle is less than the passenger arrival time and the interval is less than a first set time interval, the speed of the corresponding vehicle is adjusted to make the arrival time at the reservation station greater than the arrival time of the passenger and the interval is a second set time interval.
The regulation and control scheme in the method is shown in FIG. 2, wherein the number of people with light load is<Medium load<Full load<Overload, the customer appoints the y station to take a bus through the mobile phone, the number of x vehicle-mounted passengers is less, the rear part of the station is close to, the number of x vehicle-mounted passengers is more, and the front part of the x vehicle reaches the y station tx-1<<tnThe vehicle needs to wait for a long time, which affects the trafficTherefore, the speed of the x vehicle is controlled to reasonably reach the y station, so that the requirement that passengers do not wait at the y station can be met, the waiting time of the x vehicle at the y station is short, and the x vehicle can give way for the rear vehicle on the set route when going to the y station.
Start-up example 1
This starting embodiment 1 provides a remote start control system for an unmanned vehicle, which includes a controller, wherein the controller is used for communication connection with a background; the background is used for acquiring the user request information, verifying the request information and sending a starting instruction to the controller if the verification is successful.
The background acquires the user request information in many ways, for example, the user scans the two-dimensional code of the vehicle body through a mobile phone, enters an authentication interface, fills in authentication information, submits the authentication information after filling, verifies the identity of the user through the background, allows the user to take a vehicle, enters remote start, and otherwise, feeds back authentication failure to the client; if the reservation is successful, the background sends information of a parking position, a boarding mode and the like of the vehicle to the mobile phone, the user selects to open a vehicle door in the mobile phone APP after reaching a vehicle parking point, the background sends a starting instruction to the controller to enter a vehicle starting process, and if the reservation fails, the user is prompted to inform the user of the reason of the failure; or the background analyzes and decides the dispatching vehicle according to the operation and maintenance data, and remotely controls and starts the dispatched vehicle.
The controller is arranged in the vehicle, may be an original vehicle networking controller in the vehicle, or may be a controller arranged in another vehicle networking controller, and when the controller is the vehicle networking controller, the vehicle networking controller wakes up the vehicle power management module, and then performs a starting operation of the vehicle after power is supplied; when the controller is an additionally arranged controller, the controller needs to have a function of not cutting off power supply and can communicate with a background in real time.
The output end of the controller is used for being connected with an ACC relay used for controlling electrification of electric appliances on the vehicle, an IG1 relay used for controlling electrification of the whole vehicle on the vehicle, namely electrification of all electric appliances and a Start relay used for ignition of a vehicle engine. The controller performs a remote start control method of the unmanned vehicle, as shown in fig. 3, including the steps of:
1) And acquiring a starting instruction sent by the background.
Because the controller is in communication connection with the background, the starting instruction sent by the background can be directly sent to the controller.
On the basis, corresponding verification can be added when the starting instruction is received, the starting instruction is verified, the legality of the request signal is verified according to information security policies such as information encryption, signature, verification, firewall and the like, and if the verification is successful, the step 2) is executed.
2) And judging whether the vehicle is started or not and in the starting process, if not, controlling the ACC relay to pull in, and judging whether the ACC relay is successfully pulled in.
When a starting instruction is received, the controller firstly judges whether the vehicle is started or not and in the starting process, and if the vehicle is started or not or in the starting process, the starting instruction is terminated. In addition, if the starting instruction is terminated, the current situation can be sent to the background, and then the current situation is fed back to the user through the background.
If the vehicle is not started or is not in the starting process, the controller controls the ACC relay to pull in so as to control part of electric appliances of the vehicle to be electrified, whether the pull-in of the ACC relay is successful or not is monitored through corresponding detection, for example, a current or voltage sensor detects the current or voltage value of a corresponding power supply line, and if the current or voltage value is 0, the pull-in is failed. When the ACC relay fails to suck, the fault information is reported to the background through the corresponding signal transmission system, the background determines whether to try to suck or maintain continuously, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
3) If yes, controlling the whole vehicle to be electrified, namely attracting the IG1 relay, and judging whether the IG1 relay is successfully attracted.
When the ACC relay is successfully attracted, the controller controls the IG1 relay to be attracted so as to control all electric appliances of the vehicle to be electrified, whether the IG1 relay is successfully attracted or not is monitored through corresponding detection, for example, the current or voltage value of a corresponding power supply line is detected through a current or voltage sensor, and if the value is 0, attraction fails. When the IG1 relay fails to be attracted, the fault information is reported to the background through the corresponding signal transmission system, the background determines whether to try to continue attracting or maintain, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
4) If yes, controlling ignition, namely attracting the Start relay, and if attracting the Start relay successfully, starting the vehicle.
When the IG1 relay is successfully attracted, the controller controls the Start relay to be attracted so as to control all electric appliances of the vehicle to be electrified, whether the Start relay is successfully attracted or not is monitored through corresponding detection, and for example, a high-voltage electrifying state signal of the whole vehicle controller is received for judgment. When the pull-in of the Start relay fails, the fault information is reported to the background through a corresponding signal transmission system, the background determines whether to try to continue pull-in or maintain, and further, if maintenance is needed, the user is informed of the vehicle fault through the background.
If the Start relay is successfully closed, the vehicle is successfully started.
Start-up example 2
In the starting embodiment 2, on the basis of the starting embodiment 1, in order to safely start and run the vehicle and ensure the normal operation of the vehicle, as shown in fig. 4, after the IG1 relay is successfully closed, self-checking for setting the reserved time should be performed on each electrical appliance in the vehicle, and if the vehicle has no fault, step 4 in the starting embodiment 1 is executed.
The Start relay can be controlled to be closed only when the following systems are required to perform self-checking and feed back no fault, for example, a vehicle body system, an external light control system and a door controller are included; for another example, the driving system comprises a vehicle control unit, a power battery management system or an engine control system, a transmission controller and a braking system; for another example, the automatic driving system comprises an intelligent controller and sensors for automatic driving; or the network system comprises a positioning module and a wireless communication module. The set reserved time can be 3s, can be set according to specific requirements, and can also be calibrated according to the vehicle condition.
Start-up example 3
In order to normally Start a vehicle, one-time actuation of an ACC relay, an IG1 relay and a Start relay is avoided, and a vehicle fault is determined after actuation failure, which may be caused by some non-fault factors and is not easy to directly determine as a vehicle fault, therefore, in this starting embodiment 3, on the basis of starting embodiment 1 or starting embodiment 2, a remote Start control method for an unmanned vehicle is provided, as shown in fig. 5, taking the basis of starting embodiment 1 as an example, in step 2), if the ACC relay fails to actuate, the ACC relay is controlled to continue actuation, in order to prevent device damage caused by multiple actuations, the number of times of actuation failure is recorded by corresponding counting elements, and when the ACC relay fails to actuate continuously for a first set number of times, actuation of the ACC relay is stopped, wherein the first set number of times may be 3.
And 3) if the actuation of the IG1 relay fails, controlling the IG1 relay to continue actuation, and if the actuation of the IG1 relay for the second set time fails, stopping the actuation of the IG1 relay, wherein the second set time can also be 3 times.
In the step 4), if the pull-in of the Start relay fails, controlling the Start relay to continuously pull in, and if the pull-in of the Start relay continues for a third set time, stopping the pull-in of the Start relay, wherein the third set time can also be 3 times.
The above improvement on the pull-in times of the ACC relay, the IG1 relay, and the Start relay may be an improvement on the control of the corresponding relay in the starting embodiment 1 or the starting embodiment 2, may also be an improvement on the control of any two relays in the starting embodiment 1 or the starting embodiment 2, or may be an improvement on the control of the three relays at the same time.
Start-up example 4
As shown in fig. 6, on the basis of starting embodiment 1 or starting embodiment 2, if the vehicle includes an IG2 relay, after the IG1 relay is successfully attracted, the controller controls the IG2 relay to be attracted, and determines whether the IG2 relay is successfully attracted, and if the IG2 relay is successfully attracted, the step 4 of starting embodiment 1 is executed.
On this basis, in order to ensure normal operation of the vehicle for safe start and running of the vehicle, as an improvement, if the IG2 relay is successfully attracted, each electrical appliance in the vehicle is controlled to perform self-checking of the set reserved time, and if the vehicle has no fault, step 4 in the starting embodiment 1 is executed).
Meanwhile, in order to start the vehicle normally, the IG2 relay in the scheme and the improvement scheme can also adopt multiple-time pull-in control, if the pull-in of the IG2 relay fails, the controller controls the IG2 relay to continuously pull in, and if the pull-in of the IG2 relay for the fourth set time fails, the pull-in of the IG2 relay is stopped, wherein the fourth set time can be 3 times.
In addition, due to the arrangement of the vehicle, the IG2 relay may be disconnected when the engine of the vehicle is ignited, that is, when the Start relay is switched on, and if the Start relay is switched on successfully, all the electric appliances on the vehicle should be powered on to work, so that the switching on of the IG2 relay needs to be controlled again, and the switching on mode can adopt the control method.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.

Claims (14)

1. A remote dispatching control method for an unmanned vehicle is characterized by comprising the following steps:
1) Acquiring the current running condition information of each started and/or started vehicle and the current passenger volume information of each platform on a set route;
2) Judging whether each current vehicle on the set route is in a safe state, if not, controlling the corresponding vehicle to stop running;
3) Judging whether the vehicle in the safe state can meet the riding requirement, if not, sending a starting command to the vehicle which is not started to enable the vehicle to run along the set route;
acquiring passenger arrival time of a reservation passenger at a reservation platform, and passenger carrying states of rear vehicles which are about to arrive at the reservation platform and time of the rear vehicles arriving at the reservation platform; when the passenger appoints the ride of the y station and the time of arriving at the y station is tnIn the time, if the x vehicle is close to the rear of the y station and has less passengers, and the time t when the x vehicle arrives at the y stationxNot much less than tnAnd adjusting the speed of the x vehicle to enable the time for the x vehicle to reach the y station to meet the requirement that the passenger does not wait at the y station and the waiting time of the x vehicle at the y station is shorter.
2. The method according to claim 1, wherein the current passenger volume information at each station includes passenger volume information at each station, and if the sum of the passenger volumes at each station is greater than a first set value or at least one of the passenger volumes at each station is greater than a second set value and the transport capacity factor of the vehicle in the safe state is less than a third set value, it is determined that the passenger demand is not satisfied.
3. The method according to claim 1, wherein the current passenger volume information at each station includes reserved passenger number information at each station, and if the sum of the reserved passenger numbers at each station is greater than a first set reserved passenger number, it is determined that the demand for passengers is not satisfied.
4. The method according to claim 3, wherein after the vehicle is started up according to the fact that the sum of the reserved number of passengers at each station is greater than the first set reserved number, if the sum of the reserved number of passengers at each station is greater than a third set value, the vehicle is controlled to stop running, and the third set value is greater than or equal to the difference between the sum of the reserved number of passengers at each station and the first set reserved number.
5. The method of claim 1, wherein the current traffic information at each station comprises reserved number of passengers at each station, and the determination is made that the demand for passengers is not met if at least one station reserved number of passengers is greater than a second predetermined number of passengers.
6. The method of claim 5, wherein the vehicle is started based on a number of reserved passengers at the at least one platform being greater than a second predetermined number of reserved passengers, if any
And controlling the vehicle to stop running under the condition that the number of passengers for canceling the reserved passengers at each platform is greater than the difference value between the number of passengers for reserving the corresponding platform and the second set number of reserved passengers.
7. The unmanned aerial vehicle remote dispatch control method of claim 1, 2, 3, 4, 5 or 6, wherein the vehicle is in an unsafe state requiring satisfaction of at least one of a power system failure, a chassis system failure, an autonomous driving system failure, a body system failure, intrusion of network communications, a network system failure and a natural disaster situation of a running route.
8. The remote unmanned vehicle dispatching system is characterized by comprising a background dispatching system, wherein the background dispatching system is used for connecting each vehicle and each platform on a set line in a communication manner, and realizing the following steps:
1) Acquiring the current running condition information of each started and/or started vehicle and the current passenger volume information of each platform on a set route;
2) Judging whether each current vehicle on the set route is in a safe state, if not, controlling the corresponding vehicle to stop running;
3) Judging whether the vehicle in the safe state can meet the riding requirement, if not, sending a starting command to the vehicle which is not started to enable the vehicle to run along the set route;
the background scheduling system is also used for acquiring the arrival time of the reserved passenger at the reservation station, the passenger carrying state of each vehicle behind the reservation station and the arrival time of the rear vehicle at the reservation station; when the passenger appoints the ride of the y station and the time of arriving at the y station is tnIn the time, if the x vehicle is close to the rear of the y station and has less passengers, and the time t when the x vehicle arrives at the y stationxNot much less than tnAnd adjusting the speed of the x vehicle to enable the time for the x vehicle to reach the y station to meet the requirement that the passenger does not wait at the y station and the waiting time of the x vehicle at the y station is shorter.
9. The system of claim 8, wherein the current passenger volume information at each platform comprises a number of passengers at each platform, and the determination that the ride demand is not satisfied is made if the sum of the number of passengers at each platform is greater than a first set value or at least one of the number of passengers at each platform is greater than a second set value, and the capacity factor of the vehicle in the safe state is less than a third set value.
10. The system of claim 8, wherein the current passenger volume information for each platform comprises reserved number of passengers for each platform, and the decision that the demand for passengers is not met is made if the sum of the reserved number of passengers for each platform is greater than a first predetermined reserved number of passengers.
11. The system of claim 10, wherein after the vehicle is started based on the sum of the reserved number of passengers at each platform being greater than the first predetermined number of passengers, the vehicle is controlled to stop if the sum of the reserved number of passengers at each platform is greater than a third predetermined value, the third predetermined value being greater than or equal to a difference between the sum of the reserved number of passengers at each platform and the first predetermined number of passengers.
12. The system of claim 8, wherein the current passenger volume information for each platform comprises reserved passenger volume information for each platform, and the decision to not meet the demand is made if at least one reserved passenger volume for the platform is greater than a second predetermined reserved passenger volume.
13. The system of claim 12, wherein after the vehicle is started based on at least one of the number of stop reservation passengers being greater than the second predetermined number of stop reservation passengers, if there is a difference between each stop cancellation reservation passenger number and the corresponding stop reservation passenger number, the vehicle is controlled to stop.
14. The unmanned vehicle remote dispatch system of claim 8, 9, 10, 11, 12 or 13, wherein the vehicle is in an unsafe state requiring satisfaction of at least one of a power system failure, a chassis system failure, an autonomous system failure, a body system failure, an intrusion into network communications, and a network system failure.
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