CN111476388A - Network-reservation unmanned vehicle path planning method and system - Google Patents

Network-reservation unmanned vehicle path planning method and system Download PDF

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CN111476388A
CN111476388A CN201910068994.3A CN201910068994A CN111476388A CN 111476388 A CN111476388 A CN 111476388A CN 201910068994 A CN201910068994 A CN 201910068994A CN 111476388 A CN111476388 A CN 111476388A
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parking
place
unmanned vehicle
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parking place
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甘新华
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Guangzhou Automobile Group Co Ltd
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Guangzhou Automobile Group Co Ltd
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    • G—PHYSICS
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    • G06Q10/02—Reservations, e.g. for tickets, services or events
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    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences

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Abstract

The invention discloses a network contract unmanned vehicle path planning method, which comprises the following steps: the mobile terminal equipment sends a parking request place of the car booking user to a network server; the network server matches an unmanned vehicle nearby according to the parking request place and issues the parking request place to the unmanned vehicle high-precision map module; the unmanned vehicle high-precision map module optimizes the parking request place according to the road condition information of the high-precision map to generate a final parking place; and the unmanned vehicle high-precision map module generates path planning information according to the final parking place and sends the path planning information to the mobile terminal equipment through the network server. The parking request place of the user can be optimized through the high-precision map information of the unmanned vehicle, so that the driving path of the networked unmanned vehicle is further optimized, and the efficiency and the user experience are improved.

Description

Network-reservation unmanned vehicle path planning method and system
Technical Field
The invention relates to the technical field of Internet intelligent automobile application, in particular to a method and a system for planning a path of an Internet unmanned vehicle.
Background
At present, the net appointment vehicle and the like are more and more popularized, and the travel of people is greatly facilitated. With the appearance and development of unmanned vehicles, more unmanned vehicles can be expected to appear in the future network appointment vehicles. The unmanned vehicle senses the surrounding environment of the vehicle through a vehicle-mounted sensing system, and controls the steering and speed of the vehicle according to the road, vehicle position, obstacle information and the like obtained through sensing, so that the vehicle can safely and reliably run on the road.
The passenger can input the starting place and the destination place through a client application program loaded on a mobile terminal such as a smart phone and a tablet personal computer, and the client sends a taxi calling request containing the starting place and the destination place to the server. The server side sends the starting point and the destination point to the net appointment unmanned vehicle near the starting point, and the net appointment unmanned vehicle goes to the getting-on point to pick up the passenger to go to the destination point. However, in practical applications, there are various situations where a passenger requests to get on or get off at a non-paved road section or a forbidden place such as an intersection, so that the networked unmanned vehicle cannot drive to a contracted getting on or off place or the getting on or off place belongs to a road regulation forbidden stop area. Under the condition, if the getting-on and getting-off positions cannot be optimized in advance, the problems that the network contract unmanned vehicles cannot reasonably plan the driving paths, passengers cannot converge with the network contract unmanned vehicles or the network contract unmanned vehicles violate traffic rules to interfere with traffic and potential safety hazards are caused can be caused.
Disclosure of Invention
The invention provides a network-bound unmanned vehicle path planning method, which is applied to a network-bound unmanned vehicle path planning system, wherein the network-bound unmanned vehicle path planning system comprises a mobile terminal device, a network server and an unmanned vehicle high-precision map module, and further comprises the following steps:
the mobile terminal equipment sends a parking request place of the car booking user to the network server;
the network server matches an unmanned vehicle nearby according to the parking request place and issues the parking request place to the unmanned vehicle high-precision map module;
the unmanned vehicle high-precision map module optimizes the parking request place according to the road condition information of the high-precision map to generate a final parking place;
and the unmanned vehicle high-precision map module generates path planning information according to the final parking place and sends the path planning information to the mobile terminal equipment through the network server.
Preferably, the unmanned vehicle high-precision map module optimizes the requested parking place to generate a final parking place according to the road condition information of the high-precision map and includes the following steps:
s1, judging whether the parking request place belongs to a parking available area, if so, setting the parking request place as a final parking place, otherwise, entering S2;
s2, judging whether a historical parking place exists in the preset distance range of the requested parking place, if so, setting the historical parking place closest to the requested parking place as a final parking place, otherwise, entering S3;
and S3, selecting the parking available place closest to the requested parking place as the final parking place.
Preferably, the setting the historical parking place closest to the requested parking place as the final parking place specifically includes:
and judging whether the latest parking time of the historical parking place is within a preset time range, and if so, setting the historical parking place which is closest to the requested parking place and meets the conditions as a final parking place.
Preferably, the parking available area specifically includes: parking lots, roadside parking spaces, taxi parking points and roads which can be walked but are not closed in the map are identified in the map.
Preferably, the method further comprises the following steps:
an actual getting-on/off location of a car booking user is acquired, and the actual getting-on/off location is stored as a historical parking location.
The invention also provides a network contract unmanned vehicle path planning system, which comprises:
the mobile terminal equipment is used for sending the parking request place of the car booking user to the network server;
the network server is used for matching an unmanned vehicle nearby according to the parking request place and issuing the parking request place to the unmanned vehicle high-precision map module;
and the high-precision map module of the unmanned vehicle is used for optimizing the parking request place according to the stored road condition information of the high-precision map to generate a final parking place, generating path planning information according to the final parking place and sending the path planning information to the mobile terminal equipment through the network server.
Preferably, the unmanned vehicle high-precision map module further comprises:
the parking area judgment module is used for judging whether the parking request place belongs to a parking available area, if the parking request place belongs to the parking available area, the parking request place is set as a final parking place, and if the parking request place does not belong to the parking available area, a historical place selection instruction is sent to the historical place selection module;
the historical parking place selecting module is used for storing historical parking places and judging whether the historical parking places exist in the preset distance range of the requested parking place, if so, setting the historical parking place closest to the requested parking place as a final parking place, otherwise, sending a parking place selecting instruction to the parking place selecting module;
and the parking place selecting module is used for selecting a parking place nearest to the parking request place as a final parking place.
Preferably, the historical parking place selecting module further comprises a historical parking place time judging module, which is used for judging whether the latest parking time of the historical parking place is within a preset time range, if so, the historical parking place which is closest to the requested parking place and meets the condition is set as a final parking place, otherwise, a parking place selecting instruction is sent to the parking place selecting module.
Preferably, the parking system further comprises a historical location updating module for acquiring an actual getting-on/off location of the car booking user and storing the actual getting-on/off location as a historical parking location.
Compared with the prior art, the method and the system for planning the path of the networked unmanned vehicle have the advantages that parking places requested by vehicle booking users are reasonably optimized by combining the high-precision map information of the networked unmanned vehicle, so that the path planning information of the networked unmanned vehicle is further optimized, and the defects that the networked unmanned vehicle cannot reasonably plan a running path and cannot timely converge with the vehicle booking users to influence the experience of the vehicle booking users and bring potential safety hazards due to the fact that the parking places requested by the vehicle booking users do not have parking conditions can be effectively avoided.
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For better clarity of technical solutions of the embodiments of the present disclosure, the drawings that are required to be used in the description of the embodiments of the present disclosure will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings based on the drawings without inventive labor.
FIG. 1 is a schematic diagram of the steps of a method for planning a network-bound unmanned vehicle path;
FIG. 2 is a schematic diagram of a method for selecting a parking spot of an unmanned networked vehicle;
FIG. 3 is a schematic diagram illustrating another embodiment of a method for selecting a parking spot for an unmanned networked vehicle;
FIG. 4 is a schematic diagram of a network reservation unmanned vehicle path planning system;
FIG. 5 is a schematic diagram of a high accuracy map module for an unmanned vehicle;
FIG. 6 is a schematic diagram of a historical location selection module.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The general design idea of the invention comprises three major parts, namely, a mobile device terminal initiates a car booking request, a background server dispatches a networked unmanned vehicle and the networked unmanned vehicle booking instruction is executed by the networked unmanned vehicle booking vehicle. The method comprises the steps that a mobile equipment terminal initiates a car booking request, specifically, a car booking user initiates a car booking request through an APP of the mobile equipment terminal such as a mobile phone and a tablet personal computer, sets a starting position and a destination position of a travel, and can confirm starting travel and confirm completion of travel when the car booking user gets off the car at the destination through the mobile equipment terminal after getting on the car; the method comprises the following steps that a background server dispatches a networked unmanned vehicle, specifically, the background server closely matches a networked unmanned vehicle in an idle state according to boarding position information contained in a vehicle-dispatching request after receiving the vehicle-dispatching request initiated by a user mobile terminal and issues a vehicle-dispatching instruction; the network appointment unmanned vehicle executes the vehicle appointment command, specifically, the network appointment unmanned vehicle carries out global path planning in stages based on information such as the current vehicle position, the vehicle state, the travel starting point position and the destination position, the vehicle moves to the travel starting point position from the current vehicle position, the vehicle appointment user is connected to the vehicle appointment user, the vehicle appointment user is sent to the destination, and finally the vehicle automatically plans a path to return to the parking lot for parking based on the parking lot position matched with the background server nearby. Meanwhile, the state and the position of the current network contract unmanned vehicle can be fed back to the APP of the mobile terminal through the background server in real time, so that a vehicle contract user can know the position and the state of the network contract unmanned vehicle in real time.
In the invention, a car booking user can set the starting point position in two modes, one mode is a following mode, namely, in the mode, the APP of the mobile terminal directly obtains the current position through the positioning module of the mobile terminal, and the current position is set as the starting point of the travel; the other mode is a non-following mode, namely, the car booking user can set a desired travel starting point on the mobile terminal APP, and the travel starting point can be different from the actual position of the car booking user. After receiving the car booking instruction, the networked unmanned vehicle determines the starting point and the destination position of the journey requested by the car booking user according to the starting point information of the journey contained in the car booking instruction and based on high-precision map data stored in a networked unmanned vehicle control system, performs path planning, and drives to the starting point of the journey according to the planned path to wait for the car booking user to get on the car; stopping the vehicle close to the side after reaching the target position to wait for the user to get off the vehicle; and automatically planning a path for the user to arrive at the parking lot for parking and wait for the next car booking instruction according to the parking lot position matched with the background server after getting off.
Since the mobile device side usually uses a conventional map, and the network-based unmanned vehicle usually carries a high-precision map, when a car-booking user initiates a car-booking request on the mobile device side APP, if a starting point of a trip (i.e., a boarding point) is set through the conventional map of the mobile device side, there may be a case where the set position is not in the high-precision map network carried by the network-based unmanned vehicle. Or the route starting point selected by the car booking user does not consider the attribute of the current road, namely the route starting point is possibly selected at a traffic intersection or a no-parking road section on the road, in this case, the unmanned reasonable planning of the driving path is not facilitated, and if the passengers are parked and received on the road section, the traffic jam or the traffic regulation is possibly caused to a great extent, the unmanned vehicle of the network booking can miss the car booking user and the like, and the waiting time of the car booking user is increased. In order to further optimize the driving path of the networked unmanned vehicle, the invention provides a method for planning the path of the networked unmanned vehicle, which is applied to a system for planning the path of the networked unmanned vehicle, wherein the system for planning the path of the networked unmanned vehicle comprises a mobile terminal device, a network server and an unmanned vehicle high-precision map module, and specifically comprises the following steps, and the method is shown in fig. 1:
s1: the mobile terminal equipment sends a parking request place of the car booking user to a network server;
s2: the network server matches an unmanned vehicle nearby according to the parking request place and issues the parking request place to the unmanned vehicle high-precision map module;
s3: the unmanned vehicle high-precision map module optimizes the parking request place according to the road condition information of the high-precision map to generate a final parking place;
s4: and the unmanned vehicle high-precision map module generates path planning information according to the final parking place and sends the path planning information to the mobile terminal equipment through the network server.
The invention further optimizes the parking place of the networked unmanned vehicle to solve the problem that the parking place is unreasonable in the existing scheme, and is beneficial to reasonably planning the driving path of the networked unmanned vehicle according to the optimized parking place, and the method mainly comprises the following steps, and is shown in figure 2.
S31: obtaining a parking request place of a car booking user;
the parking request place in the embodiment of the invention is specified by the car booking user when the car booking user gets on or off the order through the APP of the mobile equipment terminal, the current position of the user can be identified through the conventional map of the mobile equipment terminal to be used as the parking request place, and other positions except the current position can be specified by the user according to actual requirements to be used as the parking request place.
S32: and judging whether the requested parking place belongs to a parking available area, if so, setting the requested parking place as a final parking place, and if not, entering S3.
It should be noted that, a car booking user may set a traffic intersection or a no-parking area in a traffic regulation as a parking request place, if a car is booked to pick up/drop a passenger in such a place, road traffic may be affected or traffic regulations may be violated, and a safety hazard may be caused. In practical applications, the parking available area specifically refers to a set of all available parking locations, such as parking lots, roadside parking spaces, taxi parking spots near shopping malls, communities, schools, parks, and the like, roads that can be traveled on a map but are not closed, and the like.
S33: and searching for an alternative historical parking spot within a preset distance range from the requested parking spot according to the map information, if the alternative historical parking spot exists, selecting the alternative historical parking spot closest to the requested parking spot as a final parking spot, and if the alternative historical parking spot does not exist, entering S34.
The specific value of the preset distance range can be determined according to actual requirements, and is not further limited herein. The historical parking spot may be not only a spot where the current networked unmanned vehicle has successfully parked in the past, but also a spot where the current networked unmanned vehicle has successfully parked in the past, which is shared by other networked unmanned vehicles. The successful parking place in the past shows that the parking condition is already met at the moment, and the successful parking place in the past is preferentially selected from the historical parking places for parking in the past, so that the success rate and the efficiency of getting on/off of the car reservation user can be improved. However, in practical applications, since the road data may be updated due to the change of the road plan, and the earlier or too old parking place may not be suitable for the current road condition, which becomes information interference, in this embodiment, when the place where the parking was successfully performed in the past is selected, the following steps may be further included, as shown in fig. 3.
S331: and judging whether the latest parking time of the historical parking spot is within a preset time range, if so, taking the parking spot as a candidate historical parking spot, and if not, taking the parking spot not as a candidate historical parking spot.
The specific value of the preset time range may be determined according to actual requirements, and is not further limited herein.
S34: and searching a parking available area with the nearest distance within a preset distance range from the parking request place according to the map information to serve as a final parking place.
The specific value of the preset distance range can be determined according to actual requirements, and is not further limited herein.
The method can further optimize the parking places of the car booking users and the networked unmanned vehicles, and avoids road traffic interference or violation of traffic regulations when the car booking users get on/off the vehicle as far as possible. The embodiment of the invention may further include the following:
s35: an actual getting-on/off location of a car booking user is acquired, and the actual getting-on/off location is stored as a historical parking location.
Referring to fig. 4, corresponding to the above embodiment, the present invention further provides a network-based unmanned vehicle path planning system 10, including:
a mobile terminal device 11 for transmitting a parking request place of the car booking user to a network server;
the network server 12 is used for matching an unmanned vehicle nearby according to the parking request place and issuing the parking request place to the unmanned vehicle high-precision map module;
and the high-precision map module 13 of the unmanned vehicle is used for optimizing the parking request place according to the road condition information of the high-precision map to generate a final parking place, generating path planning information according to the final parking place, and sending the path planning information to the mobile terminal equipment through the network server.
The unmanned vehicle high-precision map module 13 further includes:
the parking area determining module 131 is configured to determine whether the parking request location belongs to a parking available area, set the parking request location as a final parking location if the parking request location belongs to the parking available area, and send a historical location selection instruction to the historical location selecting module 132 if the parking request location belongs to the parking unavailable area.
It should be noted that, a car booking user may set a traffic intersection or a no-parking area in a traffic regulation as a parking request place, if a car booking unmanned vehicle parks to pick up/drop off passengers at such a place, road traffic may be affected or traffic regulations may be violated, high-precision map data may record the no-parking area already identified in the road and may identify whether the current position is at the traffic intersection, so that it is necessary to perform an early determination to exclude such a no-parking area from a final parking place so as to avoid affecting traffic or bringing about potential safety hazard.
The historical parking place selecting module 132 is configured to store historical parking places, search for alternative historical parking places within a preset distance range from the requested parking place according to the map information, select an alternative historical parking place closest to the requested parking place as a final parking place if the alternative historical parking place exists, and send a parking place selecting instruction to the parking place selecting module 133 if the alternative historical parking place does not exist.
The specific value of the preset distance range can be determined according to actual requirements, and is not further limited herein. The historical parking spot may be not only a spot where the current networked unmanned vehicle has successfully parked in the past, but also a spot where the current networked unmanned vehicle has successfully parked in the past, which is shared by other networked unmanned vehicles. The successful parking place in the past shows that the parking condition is already met at the moment, and the successful parking place in the past is preferentially selected from the historical parking places for parking in the past, so that the success rate and the efficiency of getting on/off of the car reservation user can be improved.
The time determination module 1321 is configured to determine whether the latest parking time of the historical parking spot is within a preset time range, if the latest parking time is within the preset time range, the parking spot may be used as the alternative historical parking spot, and if the latest parking time is not within the preset time range, the parking spot is not used as the alternative historical parking spot.
The specific value of the preset time range may be determined according to actual requirements, and is not further limited herein.
The parking place selecting module 133 searches a parking available place closest to the requested parking place within a preset distance range from the requested parking place according to the map information, and uses the parking available place as a final parking place. The specific value of the preset distance range can be determined according to actual requirements, and is not further limited herein.
The historical location update module 134 acquires an actual getting-on/off location of the car-booking user and stores the actual getting-on/off location as a historical parking location.
It should be noted that although the car booking user sets a parking request place when initiating a car booking request, and determines a final parking place through the judgment of the method steps, in an actual situation, the final parking place may not be parked due to complex traffic road conditions, or a high-precision map in an unmanned vehicle of the network booking is not updated due to road information change, so that after the final parking place is reached, the final parking place does not have parking conditions, and the car booking user cannot complete getting on/off the car at the appointed final parking place, and at this time, the parking place and the route need to be re-planned according to the actual situation, which is the same as the existing scheme, and no further description is given here.
In contrast, if the road condition of the networked unmanned vehicle is provided with the parking condition after the networked unmanned vehicle reaches the final parking place, and the vehicle is successfully picked up/picked up at the final parking place, the final parking place is stored as the historical parking place which can provide an alternative when other vehicle-reserving users request for reserving the vehicle are received nearby.
In the present invention, the term "comprises" is not an exclusive inclusion, i.e. includes not only the listed technical contents for implementing the technical solutions of the present invention, but also the technical contents which are not explicitly listed for assisting the implementation of the technical solutions of the present invention. This part can be obtained by the skilled person through conventional technical means or common knowledge, and will not be described herein.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-described preferred embodiment should not be construed as limiting the present invention. The protection scope of the present invention shall be subject to the scope defined by the claims. It will be apparent to those skilled in the art that various substitutions and modifications can be made without departing from the spirit and scope of the invention, and these substitutions and modifications should also be construed as within the scope of the invention.

Claims (9)

1. The method for planning the path of the networked unmanned vehicle is applied to a system for planning the path of the networked unmanned vehicle, and the system for planning the path of the networked unmanned vehicle comprises a mobile terminal device, a network server and an unmanned vehicle high-precision map module, and further comprises the following steps:
the mobile terminal equipment sends a parking request place of the car booking user to the network server;
the network server matches an unmanned vehicle nearby according to the parking request place and issues the parking request place to the unmanned vehicle high-precision map module;
the unmanned vehicle high-precision map module optimizes the parking request place according to the road condition information of the high-precision map to generate a final parking place;
and the unmanned vehicle high-precision map module generates path planning information according to the final parking place and sends the path planning information to the mobile terminal equipment through the network server.
2. The method for network-bound unmanned vehicle path planning according to claim 1, wherein the unmanned vehicle high-precision map module optimizes the requested parking place to generate a final parking place according to the road condition information of the high-precision map comprises the following steps:
s1, judging whether the parking request place belongs to a parking available area, if so, setting the parking request place as a final parking place, otherwise, entering S2;
s2, judging whether a historical parking place exists in the preset distance range of the requested parking place, if so, setting the historical parking place closest to the requested parking place as a final parking place, otherwise, entering S3;
and S3, selecting the parking available place closest to the requested parking place as the final parking place.
3. The method for planning the path of the networked unmanned vehicle according to claim 2, wherein the step of setting the historical parking place closest to the requested parking place as a final parking place specifically comprises:
and judging whether the latest parking time of the historical parking place is within a preset time range, if so, setting the historical parking place which is closest to the requested parking place and meets the preset time range as a final parking place.
4. The network-bound unmanned vehicle path planning method of claim 2, wherein the parkable area specifically comprises: parking lots, roadside parking spaces, taxi parking points and roads which can be walked but are not closed in the map are identified in the map.
5. The method for network-bound unmanned vehicle path planning according to claim 2, further comprising the steps of:
an actual getting-on/off location of a car booking user is acquired, and the actual getting-on/off location is stored as a historical parking location.
6. A network reservation unmanned vehicle path planning system, comprising:
the mobile terminal equipment is used for sending the parking request place of the car booking user to the network server;
the network server is used for matching an unmanned vehicle nearby according to the parking request place and issuing the parking request place to the unmanned vehicle high-precision map module;
and the high-precision map module of the unmanned vehicle is used for optimizing the parking request place according to the stored road condition information of the high-precision map to generate a final parking place, generating path planning information according to the final parking place and sending the path planning information to the mobile terminal equipment through the network server.
7. The network-bound unmanned vehicle path planning system of claim 6, wherein the unmanned vehicle high-precision map module further comprises:
the parking area judgment module is used for judging whether the parking request place belongs to a parking available area, if the parking request place belongs to the parking available area, the parking request place is set as a final parking place, and if the parking request place does not belong to the parking available area, a historical place selection instruction is sent to the historical place selection module;
the historical parking place selecting module is used for storing historical parking places and judging whether the historical parking places exist in the preset distance range of the requested parking place, if so, setting the historical parking place closest to the requested parking place as a final parking place, otherwise, sending a parking place selecting instruction to the parking place selecting module;
and the parking place selecting module is used for selecting a parking place nearest to the parking request place as a final parking place.
8. The network-constrained unmanned vehicle path planning system of claim 7, wherein the historical place selection module further comprises a historical place time determination module, configured to determine whether a latest parking time of the historical parking place is within a preset time range, and if so, set the historical parking place that is closest to the requested parking place and satisfies the preset time range as a final parking place, otherwise, send a parking place selection instruction to the parking place selection module.
9. The system for network appointment unmanned vehicle path planning of claim 6, further comprising a historical location update module that obtains actual entry/exit locations of car appointment users and stores the actual entry/exit locations as historical parking locations.
CN201910068994.3A 2019-01-24 2019-01-24 Network-reservation unmanned vehicle path planning method and system Pending CN111476388A (en)

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Application publication date: 20200731