WO2023071618A1 - 一种无人驾驶车辆的预约***、方法和介质 - Google Patents

一种无人驾驶车辆的预约***、方法和介质 Download PDF

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Publication number
WO2023071618A1
WO2023071618A1 PCT/CN2022/119898 CN2022119898W WO2023071618A1 WO 2023071618 A1 WO2023071618 A1 WO 2023071618A1 CN 2022119898 W CN2022119898 W CN 2022119898W WO 2023071618 A1 WO2023071618 A1 WO 2023071618A1
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WIPO (PCT)
Prior art keywords
vehicle
site
reservation
reserved
information
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PCT/CN2022/119898
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English (en)
French (fr)
Inventor
王洪峰
尚秉旭
黄海洋
陈志新
李宇寂
刘洋
许朝文
张勇
何柳
袁文建
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中国第一汽车股份有限公司
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Publication of WO2023071618A1 publication Critical patent/WO2023071618A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry

Definitions

  • the embodiments of the present application relate to the application field of smart cars, for example, to a reservation system, method and medium for unmanned vehicles.
  • car-hailing software has been widely used, especially in service industries such as taxis and travel companies.
  • the car-hailing software not only brings convenience to passengers, but also facilitates the majority of drivers to obtain customers more conveniently and realize the rational use of vehicle resources.
  • how to design a car-hailing software for driverless vehicles is an urgent problem to be solved.
  • the embodiments of the present application provide an unmanned vehicle reservation system, method, and medium, which realize online reservation for unmanned vehicles, thereby facilitating the management and management of unmanned vehicles while improving the user's unmanned driving experience. Reasonable allocation of resources.
  • an embodiment of the present application provides an unmanned vehicle reservation system, including: a terminal client, a background server, a vehicle server, and an unmanned driving system; wherein, the background server is connected to the The terminal client and the vehicle service end establish a communication connection; the vehicle service end establishes a communication connection with the unmanned driving system;
  • the terminal client is set to send a vehicle reservation request to the background server; wherein, the vehicle reservation request includes: vehicle shift and reservation site information;
  • the background server is configured to receive at least one vehicle reservation request sent by the terminal client, and determine the target unmanned vehicle according to the vehicle shift, and send the vehicle reservation request to the target unmanned vehicle The corresponding vehicle server;
  • the vehicle service end is configured to determine a driving route according to the vehicle shift, and send the driving route and an arrival parking instruction generated according to the reserved site information to the unmanned driving system, so that the unmanned driving system
  • the driving of the vehicle is controlled according to the driving route, and the parking of the vehicle is controlled according to the stop instruction at the station.
  • the embodiment of the present application also provides a reservation method for an unmanned vehicle, including:
  • the background server receives at least one vehicle reservation request carrying the vehicle schedule and reservation site information sent by the terminal client, and determines the target unmanned vehicle according to the vehicle schedule, and sends the vehicle reservation request to the target unmanned vehicle.
  • the vehicle service terminal corresponding to the human-driven vehicle;
  • the driving route is determined by the vehicle service end according to the vehicle shift, and the driving route and the stop-stop instruction generated according to the reserved site information are sent to the unmanned driving system, so that the unmanned driving system follows the The driving route controls the running of the vehicle, and controls the parking of the vehicle according to the stop instruction at the station.
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for booking an unmanned vehicle as described in any of the above-mentioned embodiments is implemented. .
  • FIG. 1 is a schematic diagram of the architecture of an unmanned vehicle reservation system provided in Embodiment 1 of the present application;
  • FIG. 2 is a schematic diagram of the architecture of an unmanned vehicle reservation system provided in Embodiment 2 of the present application;
  • FIG. 3 is an interactive schematic diagram of an unmanned vehicle reservation system provided in Embodiment 3 of the present application.
  • Fig. 4 is a flow chart of a reservation method for an unmanned vehicle provided in Embodiment 4 of the present application.
  • FIG. 1 is a schematic diagram of the architecture of an unmanned vehicle reservation system provided in Embodiment 1 of the present application.
  • the embodiment of the present application is applicable to the situation of online reservation of unmanned vehicles.
  • the user can interact with the unmanned vehicle online through the reservation system of the unmanned vehicle, so as to realize the online reservation of the unmanned vehicle by the user.
  • the reservation system of unmanned vehicles includes: terminal client 101, background server 102, vehicle server 103 and unmanned driving system 104;
  • the server 103 establishes a communication connection;
  • the vehicle server 103 establishes a communication connection with the unmanned driving system 104;
  • the terminal client 101 is configured to send a vehicle reservation request to the background server 102; wherein, the vehicle reservation request includes: vehicle shift and reservation site information;
  • the background server 102 is configured to receive the vehicle reservation request sent by at least one terminal client 101, and determine the target unmanned vehicle according to the vehicle shift, and send the vehicle reservation request to the vehicle server corresponding to the target unmanned vehicle 103;
  • the vehicle server 103 is configured to determine the driving route according to the vehicle shift, and send the driving route and the parking instruction generated according to the reserved site information to the unmanned driving system 104, so that the unmanned driving system 104 controls the driving of the vehicle according to the driving route , and control the parking of the vehicle according to the parking instruction at the station.
  • the terminal client 101 may be a software program installed or configured on a smart terminal such as a smart phone, a tablet, or a notebook computer.
  • the terminal client 101 may be an independent application program (Application, APP), or may be a small program (that is, may be attached to an APP).
  • the terminal client 101 sends a vehicle reservation request carrying the vehicle schedule and reserved site information to the background server 102.
  • the vehicle shift is related to the driving route of the vehicle, that is, different vehicle shifts correspond to different driving routes.
  • the vehicle frequency can refer to the starting station, the terminal station, the departure time and the arrival time of the vehicle on the predetermined driving route within one day.
  • the vehicle frequency can be reflected by the vehicle round-trip timetable.
  • the reserved site information may include: boarding site and alighting site, for example, the boarding site and alighting site may be the starting station and the terminal station in the vehicle shift, or may be between the starting station and the terminal station Other sites in between, this is not limited.
  • the station refers to the place where the unmanned vehicle stops according to the predetermined driving route, where passengers get on and off and wait for the bus.
  • a corresponding stop sign can be configured at the location of each station, and all vehicle shifts passing through the station can be indicated on the stop sign.
  • the user can select the corresponding vehicle schedule, boarding site and alighting site in the terminal client 101, and after completing the selection, the terminal client 101 The site generates a corresponding vehicle reservation request, and then the terminal client 101 sends the vehicle reservation request carrying the vehicle shift, boarding station and disembarkation station to the background server 102, so that the background server 102 can make a reservation according to the vehicle reservation request sent by the terminal client 101. Request for follow-up processing.
  • unmanned vehicles can use sensor technology, signal processing technology, communication technology and computer technology, etc., through the integration of various on-board sensors such as vision, laser radar, ultrasonic sensors, microwave radar, global positioning system, odometer, magnetic compass, etc.
  • sensors such as vision, laser radar, ultrasonic sensors, microwave radar, global positioning system, odometer, magnetic compass, etc.
  • Unmanned vehicles can be unmanned buses, taxis and other vehicles that can provide shuttle services.
  • the unmanned driving system is configured to control the driving, parking and other operations of the unmanned vehicle. It can be understood that a corresponding unmanned driving system is configured for each unmanned vehicle, so that the unmanned driving system can control the driving, parking and other operations
  • the terminal client 101 sends a vehicle reservation request to the background server 102.
  • the background server 102 can The vehicle shifts in determine the corresponding target unmanned vehicles.
  • the background server 102 can determine the corresponding unmanned vehicles in the vehicle schedule according to the vehicle schedule information in the vehicle reservation request starting from site A at 12:00 noon on the same day and arriving at the terminal station D site at 14:00 on the same day.
  • Driving a target unmanned vehicle with a vehicle identification number of 33 and a license plate number of 123456 In the embodiment of this application, there is no restriction on the driving route and the corresponding departure time and arrival time in the vehicle shift.
  • the identification number and license plate number of the unmanned vehicle are The number is not limited and depends on the actual situation.
  • the background server 102 determines the target unmanned vehicle according to the vehicle schedule in the vehicle reservation request, it forwards the vehicle reservation request to the vehicle server 103 corresponding to the target unmanned vehicle.
  • the vehicle service terminal 103 can obtain the corresponding driving route according to the vehicle schedule in the vehicle reservation request, and generate the driving route and the reserved site information in the vehicle reservation request.
  • the parking instruction at the station is sent to the unmanned driving system 104.
  • the driving route can be from the originating station A to the terminal E station through stations B, C and D, and the reserved station can be that station A is the boarding station, and station B If the stop is a drop-off stop, then the arrival stop instruction is to stop at station A first and then stop at station B.
  • the unmanned driving system 104 controls the driving direction and control of the vehicle according to the driving route sent by the vehicle server 103.
  • the vehicle executes the corresponding standard safe driving speed, and will control the vehicle to slowly decelerate and stop according to the stop command at the station, so that passengers can get on and off the vehicle.
  • the smart terminal where the terminal client is located, and the vehicle where the vehicle server is located are equipped with communication modules.
  • the communication module can be a wireless Wi-Fi module or a Bluetooth module.
  • wired cables or base stations can be configured in the area of the driving route of the unmanned vehicle to realize intelligent Information transmission is carried out between the terminal and the vehicle server through the communication module.
  • the wireless WiFi module it is optional to use the wireless WiFi module for data interaction.
  • wired communication or wireless connection may be used, which is not limited.
  • the terminal client sends a vehicle reservation request to the background server
  • the background server receives at least one vehicle reservation request sent by the terminal client, and determines the target unmanned vehicle according to the vehicle schedule, and Send the vehicle reservation request to the vehicle service end corresponding to the target unmanned vehicle, the vehicle service end determines the driving route according to the vehicle shift, and sends the driving route and the arrival parking instruction generated according to the reserved site information to the unmanned driving system
  • the unmanned driving system control the driving of the vehicle according to the driving route, and control the parking of the vehicle according to the parking instruction at the station, the online reservation for the unmanned vehicle is realized, so as to improve the user's reservation experience for the unmanned vehicle. At the same time, it facilitates the management of unmanned vehicles and the reasonable allocation of resources.
  • FIG. 2 is a schematic diagram of the architecture of an unmanned vehicle reservation system provided in Embodiment 2 of the present application.
  • This embodiment refines the unmanned vehicle reservation system based on the above-mentioned embodiments.
  • the reservation system for unmanned vehicles in this embodiment includes: terminal client 101, background server 102, vehicle server 103, unmanned driving system 104, human-computer interaction system 105 and background management platform 106; wherein, the background server 102 respectively establishes a communication connection with the terminal client 101 and the vehicle server 103; the vehicle server 103 establishes a communication connection with the unmanned driving system 104;
  • the terminal client 101 is configured to send a vehicle reservation request to the background server 102; wherein, the vehicle reservation request includes: vehicle shift and reservation site information; the background server 102 is configured to receive at least one vehicle reservation request sent by the terminal client 101 , and determine the target unmanned vehicle according to the vehicle frequency, and send the vehicle reservation request to the vehicle server 103 corresponding to the target unmanned vehicle; the vehicle server 103 is set to determine the driving route according to the vehicle frequency, and the driving route and The arrival parking instruction generated by the reservation site information is sent to the unmanned driving system 104, so that the unmanned driving system 104 controls the vehicle to drive according to the driving route, and controls the vehicle to stop according to the arrival parking instruction.
  • the vehicle reservation request includes: vehicle shift and reservation site information
  • the background server 102 is configured to receive at least one vehicle reservation request sent by the terminal client 101 , and determine the target unmanned vehicle according to the vehicle frequency, and send the vehicle reservation request to the vehicle server 103 corresponding to the target unmanned vehicle
  • the vehicle server 103 is set to determine the
  • the vehicle server 103 is also configured to feed back the current driving information of the target unmanned vehicle to the terminal client 101 through the background server 102 .
  • the current driving information may be the operating parameter information of the target unmanned vehicle on the corresponding driving route.
  • the current driving information may include: the number of all stations on the driving route, the current location information of the target unmanned vehicle, the estimated arrival time from the current station to the next scheduled stop, the distance from the current station to the next reserved drop-off stop or the next scheduled stop Estimated time of arrival at the pick-up site, and the number of remaining stops between the current stop and the next scheduled drop-off stop.
  • the target unmanned vehicle is equipped with a positioning module sensor and a computing module (also called a processor).
  • the vehicle server 103 can obtain the current driving information of the vehicle, for example, the current station or current location information can be obtained through the Global Positioning System (Global Positioning System, GPS) in the positioning module, and the information between the stations can be obtained through sensors. Vehicle speed information between stations, as well as the calculation module to calculate the travel time between stations, the number of stations in the driving route, and the number of stations from the current station to the next scheduled alighting station.
  • the vehicle server 103 sends the acquired current driving information to the background server 102. After the background server 102 successfully receives it, it feeds back to the terminal client 101, so that the user can view the driving information of the unmanned vehicle through the terminal client 101. information.
  • the vehicle server 103 is also configured to feed back the current driving information of the target unmanned vehicle to the human-computer interaction system 105, so as to display the current driving information through the human-computer interaction system 105.
  • the vehicle server 103 sends the acquired current driving information to the human-computer interaction system 105 of the unmanned vehicle.
  • the human-computer interaction system 105 After the human-computer interaction system 105 successfully receives it, it displays the current driving information of the vehicle on the display screen And through the voice broadcaster to broadcast the information to remind passengers to arrive at the station, so that the user can view the driving information of the current unmanned vehicle and remind the user to get off at the alighting station. By displaying reminders and voice reminders, passengers are prevented from passing the station.
  • the reservation system for unmanned vehicles also includes: a background management platform 106; the background management platform 106 establishes a communication connection with the background server 102; the background management platform 106 is set to select site coordinates according to a pre-stored high-precision map , and generate a target format file from the driving site information generated according to the site coordinates, and send the target format file to the background server 102, so that the background server 102 sends the target format file to the driverless driver through the vehicle server 103 system 104, so that the unmanned driving system 104 updates the driving route according to the driving station information.
  • the communication connection may refer to physically connecting each isolated device to realize information exchange between people and computers, and between computers, so as to achieve the purpose of resource sharing and communication.
  • a wireless or wired connection may be established between the background management platform and the background server to achieve information interaction between the background management platform and the background server.
  • the high-precision map may be a map with higher coordinate accuracy and more data dimensions with higher resolution.
  • the higher accuracy can be reflected in centimeter-level accuracy
  • the data dimension can be reflected in the traffic-related surrounding static information other than road information, such as traffic signs, traffic signal colors, road speed limits, and road shapes. , lane slope, curvature, heading, elevation, roll and other data content.
  • the target format file may be a specific format file storing information of driving stations, and the embodiment of the present application does not limit the format of the file, for example, it may be Extensible Markup Language (XML).
  • the reservation system for unmanned vehicles may also include a background management platform 106.
  • the background management platform 106 may select site coordinates from a local pre-stored high-precision map, and generate driving site information based on the site coordinates. For example, due to external factors such as road maintenance or road re-planning, it is necessary to remove station B in the original driving route, and a new station can be selected in the high-precision map, such as station F; Station B in the route is changed to station F, thus forming new driving station information.
  • the embodiment of the present application does not limit the location coordinates of newly added sites and deleted sites, which can be adjusted according to actual conditions.
  • the background management platform 106 saves the generated driving station information in a target format, for example, an XML format file, so as to facilitate parsing and reading. Then the target format file is transmitted to the background server 102 through the network, and the background server 102 forwards it to the vehicle server 103. After the vehicle server 103 receives it successfully, the target format file is forwarded to the unmanned driving system 104, so that due to the road When objective reasons such as maintenance or road planning make the unmanned vehicle unable to drive according to the original route, the unmanned system 104 can update the site according to the driving site information in the target format file, thereby updating the driving route of the unmanned vehicle .
  • the background management platform 106 is also configured to send the driving site information to the terminal client 101 associated with the background server 102 through the background server 102, so that the terminal client 101 performs local update according to the driving site information.
  • the background management platform 106 can select site coordinates from the local pre-stored high-precision map, generate driving site information according to the site coordinates, and save the generated driving site information according to the target format to obtain the corresponding target format file, and then transmit the target format file to the background server 102 through the network.
  • the background server 102 After the background server 102 receives it successfully, it forwards the target format file to the associated system that can reserve an unmanned vehicle online and use the unmanned vehicle system.
  • the terminal client 101, the terminal client 101 can update the site according to the driving site information in the target format file, so as to realize the local site update of the terminal client 101.
  • the updated driving site information is also communicated to the terminal client 101 , to remind the user to re-plan the appointment site.
  • the technical solution provided by the embodiment of the present application can feed back the current driving information of the target unmanned vehicle to the terminal client through the background server, or feed back the current driving information of the target unmanned vehicle to the human-computer interaction system , to display the current driving information through the human-computer interaction system, so that the user can view the driving information of the unmanned vehicle through the terminal client or the human-computer interaction system to remind the user to get off at the station; it can also be managed through the background
  • the platform selects the site coordinates from the pre-stored high-precision map, and generates a target format file based on the driving site information generated by the site coordinates, and sends the target format file to the background server, so that the background server can pass the target format to the vehicle server.
  • the file is sent to the unmanned driving system, and the target format file can also be sent to the terminal client through the background server, so that the unmanned driving system can update the driving route according to the driving site information and the terminal client can follow the driving site information.
  • the information is updated locally to accurately update the site information and enable the unmanned driving system to accurately update the site information and accurately remind the user of the site update information.
  • the background server 102 simultaneously receives the vehicle reservation requests sent by at least two terminal clients 101.
  • the same time can be understood as being at the same moment; it can also be understood as there is a time sequence, which is not limited.
  • the processing process of the vehicle server 103 on the reserved site information includes:
  • the number of reserved sites in the reserved site queue is added by one, until all the terminal clients are completed Up to the processing of reservation site information;
  • the reserved site in the reserved site information of the next terminal client does not match the reserved site in the reserved site queue, the reserved site in the reserved site information of the next terminal client is stored in the reserved site queue until all Up to the processing of the reserved site information of the terminal client.
  • the reservation site queue may store the reservation site and the number of reservations of the corresponding site according to the reservation request of the terminal client.
  • the background server 102 can simultaneously receive vehicle reservation requests sent by at least two terminal clients. After successful reception, the background server 102 sends the vehicle reservation request to the corresponding The vehicle server 103, after the vehicle server 103 successfully receives, stores the reservation site in the reservation site information in the reservation request of one of the terminal clients 101 at the same time into the reservation site queue, and saves the reservation site of the reservation site The number of people is set to 1. Then, the vehicle server 103 matches the reserved site in the reserved site information of another terminal client 101 at the same time with the reserved site in the reserved site queue.
  • the reserved site in the reserved site information of the terminal 101 has the same reserved site as the reserved site in the reserved site queue, and the number of reservations of the corresponding reserved site in the reserved site queue is increased by one until the reservation of all terminal clients 101 is completed until the processing of site information; if there is no match, that is, the reserved site in the reserved site information of another terminal client 101 at the same time does not have the same reserved site as the reserved site in the reserved site queue, then the reserved site is stored in In the reservation site queue, the number of reservation site reservations is set to 1 until the processing of the reservation site information of all terminal clients 101 is completed. In order to more effectively handle the situation that multiple terminal clients 101 reserve a site at the same time.
  • the background server 102 can simultaneously receive the vehicle reservation requests sent by at least two terminal clients 101. After successful reception, the background server 102 sends the vehicle reservation request to The corresponding vehicle service end 103, after the vehicle service end 103 successfully receives, stores the reservation site in the reservation site information in the reservation request of the first terminal client 101 into the reservation site queue, and records the reservation number of the reservation site Set to 1.
  • the vehicle service end 103 matches the reserved site in the reserved site information of the second terminal client 101 at the same time with the reserved site in the reserved site queue, if they match, the second terminal client 101 makes a reservation
  • the reserved site in the site information has the same reserved site as the reserved site in the reserved site queue, and the number of reservations for the corresponding reserved site in the reserved site queue is increased by one until all terminal clients 101's reserved site information is completed.
  • the reserved site is stored in the reserved site queue, and
  • the number of reservation site reservations is set to 1 until the processing of site reservation information of all terminal clients 101 is completed, so as to more effectively handle the situation that multiple terminal clients 101 reserve sites at the same time.
  • the background server 102 is also configured to receive a vehicle cancellation reservation request sent by at least one terminal client, and send the vehicle cancellation reservation request to the corresponding vehicle server 103; wherein, the vehicle cancellation reservation request includes: vehicle shift and cancellation site information.
  • the cancel reservation site information may be cancel reservation boarding site and cancel alighting site.
  • canceling the reserved boarding site means that the user cancels the reserved boarding site through the terminal client;
  • canceling the alighting site refers to that the user cancels the reserved alighting site through the terminal client.
  • the background server 102 can also receive a vehicle cancellation reservation request sent by at least one terminal client. After successful reception, the background server sends the vehicle cancellation reservation request to the corresponding The vehicle server 103, so that the vehicle server 103 can perform corresponding processing according to the vehicle cancellation reservation request of the terminal client 101 sent by the background server 102.
  • the processing process of the vehicle service terminal 103 for canceling the reservation site information includes:
  • the number of reserved sites in the reserved site queue is reduced by one until all Up to the process of canceling the reserved site information of the terminal client.
  • the background server 102 simultaneously receives the vehicle reservation cancellation requests sent by at least two terminal clients 101 .
  • at the same time can be understood as being at the same moment; it can also be understood as there is a time sequence, which is not limited.
  • the background server 102 can simultaneously receive at least two vehicle cancellation reservation requests sent by terminal clients. After successful reception, the background server 102 sends the vehicle cancellation reservation request to The corresponding vehicle server 103, after the vehicle server 103 successfully receives it, will match the cancellation reservation site in the cancellation reservation site information in the vehicle cancellation reservation request of one of the terminal clients at the same time with the reservation site in the reservation site queue , if it matches, that is, one of the terminal clients 101 at the same time cancels the reserved site in the reserved site information and the reserved site in the reserved site queue has the same reserved site, then the corresponding reserved site in the reserved site queue The number of reservations is reduced by one, and then the vehicle server 103 matches the reservation cancellation site in the cancellation reservation site information in the vehicle cancellation reservation request of another terminal client 101 at the same time with the reservation site in the reservation site queue , if it matches, that is, at the same time, another terminal client 101 cancels the reserved site in the reserved site information and the reserved site in the reserved site queue has the same reserved site, then the corresponding
  • the background server 102 can simultaneously receive at least two vehicle cancellation reservation requests sent by terminal clients. After successful reception, the background server 102 sends the vehicle cancellation reservation request to The corresponding vehicle service end 103, after the vehicle service end 103 successfully receives it, matches the cancellation reservation site in the cancellation reservation site information in the vehicle cancellation reservation request of the first terminal client 101 with the reservation site in the reservation site queue , if it matches, that is, the first terminal client 101 cancels the reserved site in the reserved site information and the reserved site in the reserved site queue has the same reserved site, then the reservation number of the corresponding reserved site in the reserved site queue Perform minus one operation, and then the vehicle server 103 matches the canceled reservation site in the canceled reservation site information in the vehicle cancellation reservation request of the second terminal client with the reserved site in the reserved site queue, and if it matches, the second A terminal client 101 cancels the reserved site in the reserved site information and the reserved site in the reserved site queue has the same reserved site, then the number of reservations of the corresponding reserved site in the reserved site queue is reduced by
  • the reserved site is deleted from the reserved site queue until the processing of canceling the reserved site information of all terminal clients 101 is completed, so as to more effectively handle multiple terminal clients 101 The case where the reservation site is canceled at the same time.
  • FIG. 3 is an interactive schematic diagram of an unmanned vehicle reservation system provided in Embodiment 3 of the present application.
  • the terminal client as a mobile phone client and N users booking a vehicle online as an example
  • the interaction process between various modules in the unmanned vehicle system is described.
  • the user selects the vehicle schedule, boarding station, and alighting station through the mobile client, and the mobile client sends the vehicle schedule, boarding station, and alighting station information selected by the user to the background server, and the background service
  • the terminal selects the vehicle of the corresponding shift according to the vehicle shift, and forwards the vehicle shift, boarding station and alighting station information selected by the user to the vehicle server.
  • the vehicle server will feed back the current driving information of the vehicle to the human-computer interaction system to display the vehicle driving information through the human-computer interaction system.
  • the vehicle server can also forward the current driving information of the vehicle to the mobile client through the background server, so that the user can view and remind the user of the progress between stations through the mobile client.
  • the inter-station progress may refer to information such as the estimated arrival time from the current station to the next alighting station, and the number of remaining stations between the current station and the next alighting station.
  • the background management platform can send the schedule information of the vehicle schedule and the corresponding vehicle server to the background server and the background management platform can also maintain and update the site, and send the information of site maintenance and update to the vehicle service through the background server
  • the vehicle server forwards the site maintenance and update information to the unmanned driving system so that the unmanned driving system can update the site information, thereby updating the driving route.
  • Step 1 The background server transmits the reservation site information of the first person (that is, the first terminal client that sends a vehicle reservation request) to the vehicle server, and the vehicle server obtains the vehicle route and reservation site information, and sends the reservation
  • the station ie, the boarding station and/or getting off station in the above-mentioned embodiment
  • the reservation number of the reserved station is set to 1.
  • Step 2 The background server transmits the reservation site information of the second person to the vehicle server.
  • the vehicle server compares the reservation site information of the second person with the reservation site queue. The number of reservations is increased by 1, and when there are different reservation sites, the reservation site information is stored in the reservation site queue.
  • step 3 the background server transmits the reservation site information of the third, fourth, ..., Nth person to the vehicle server, and repeats the process of step 2 until all orders are processed.
  • Step 1 the background server transfers the cancellation site information of the first person (that is, the first terminal client that sends a vehicle cancellation request) to the vehicle server, and the vehicle server obtains the reservation site information that needs to be canceled (that is, the above-mentioned
  • the cancel reservation site information includes the cancel reservation boarding site and the cancellation reservation alighting site).
  • Step 2 The vehicle server compares the scheduled boarding site and/or scheduled alighting site that needs to be canceled with the reserved site in the reserved site queue. If the scheduled boarding site and/or scheduled alighting site that needs to be canceled If the reservation sites in the queue match, the reservation number of the reservation site that needs to be canceled in the reservation site queue will be reduced by 1. If the reservation number of a certain site in the reservation site queue is 0, the reservation site will be deleted from the reservation site queue .
  • step 3 the background server transmits the cancellation site information of the third, fourth, ..., Nth person to the vehicle server, and repeats the process of step 2 until all the vehicle cancellation requests are processed.
  • Fig. 4 is a flow chart of an unmanned vehicle reservation method provided in Embodiment 4 of the present application.
  • This embodiment of the present application can be applied to the scene of online reservation of unmanned vehicles.
  • the embodiment of the present application can include unmanned vehicles.
  • the equipment including the unmanned vehicle reservation system may be a smart terminal, an unmanned vehicle or a computer device.
  • the smart terminal may be a smart phone, an iPad or a notebook computer.
  • the method includes:
  • the user can send a vehicle reservation request to the background server through the terminal client, and can receive at least one vehicle reservation request with the vehicle schedule and reservation site information sent by the terminal client through the background server.
  • the background server can determine the corresponding target unmanned vehicle according to the vehicle schedule in the vehicle reservation request. Arriving at the vehicle shift information at the terminal station D, it is determined that the corresponding unmanned vehicle identification number in this vehicle shift is 33, and the target unmanned vehicle with the license plate number is 123456. There are no restrictions on the route and the corresponding departure time and arrival time, and there are no restrictions on the identification number and license plate number of the unmanned vehicle, which will be determined according to the actual situation.
  • the background server determines the target unmanned vehicle according to the vehicle schedule in the vehicle reservation request, it can forward the vehicle reservation request to the vehicle server corresponding to the target unmanned vehicle, so that the vehicle can be reserved through the vehicle server The request is followed up accordingly.
  • S220 Use the vehicle server to determine the driving route according to the vehicle frequency, and send the driving route and the parking instruction generated according to the reserved site information to the unmanned driving system, so that the unmanned driving system can control the vehicle according to the driving route, and
  • the arrival stop command controls the vehicle to stop.
  • the vehicle server determines the corresponding driving route according to the vehicle schedule in the vehicle reservation request, and compares the driving route with the The arrival parking instruction generated by the reserved site information is sent to the unmanned driving system.
  • the driving route can be from the starting station A to the terminal station E through stations B, C and D.
  • the reserved station can be A station for boarding Station, station B is the drop-off station, then the arrival stop instruction is to stop at station A first and then stop at station B.
  • the unmanned driving system When the unmanned driving system successfully receives the arrival parking instruction generated according to the driving route and reserved site information sent by the vehicle server, it will control the driving direction of the vehicle according to the driving route sent by the vehicle server and control the vehicle to perform corresponding standard safe driving Speed, and will control the vehicle to slowly decelerate and stop according to the stop command at the station, so that passengers can get on and off the bus.
  • the background server simultaneously receives vehicle reservation requests sent by at least two terminal clients.
  • the same time can be understood as being at the same moment; it can also be understood as there is a time sequence, which is not limited.
  • the background server can receive at least two vehicle reservation requests sent by terminal clients at the same time. After successful reception, the background server will send the vehicle reservation request to the corresponding vehicle server according to the vehicle schedule in the vehicle reservation request After the vehicle server successfully receives it, it stores the reservation site in the reservation site information in the reservation request of one of the terminal clients at the same time into the reservation site queue, and sets the reservation number of the reservation site to 1. Then, the vehicle server matches the reserved site in the reserved site information of another terminal client at the same time with the reserved site in the reserved site queue.
  • the reserved site information of another terminal client at the same time There is the same reserved site in the reserved site in the reserved site and the reserved site in the reserved site queue, and the number of reserved sites corresponding to the reserved site in the reserved site queue is increased by one until the processing of the reserved site information of all terminal clients is completed; if No match, that is, the reserved site in the reserved site information of another terminal client at the same time does not have the same reserved site as the reserved site in the reserved site queue, then store the reserved site in the reserved site queue, and save the reserved site
  • the number of reserved site reservations is set to 1 until the processing of the reserved site information of all terminal clients is completed. The situation that multiple terminal clients reserve sites at the same time can be handled more effectively through the vehicle server.
  • the background server can also receive at least two vehicle reservation requests sent by terminal clients at the same time. After successful reception, the background server sends the vehicle reservation request to the corresponding vehicle service according to the vehicle schedule in the vehicle reservation request. end, after the vehicle server successfully receives it, it will store the reservation site in the reservation site information in the reservation request of the first terminal client into the reservation site queue, and set the reservation number of the reservation site to 1. Then, the vehicle server matches the reserved site in the reserved site information of the second terminal client with the reserved site in the reserved site queue.
  • the reserved site in the reserved site information of the second terminal client matches the reserved site
  • the reservation sites in the site queue have the same reservation site, and the reservation number of the corresponding reservation site in the reservation site queue is increased by one until the processing of the reservation site information of all terminal clients is completed; if there is no match, the second The reserved site in the reserved site information of a terminal client does not have the same reserved site as the reserved site in the reserved site queue, then the reserved site is stored in the reserved site queue, and the number of reserved people of the reserved site is set to 1, Until the processing of the reserved site information of all terminal clients is completed. The situation that multiple terminal clients reserve sites at the same time can be handled more effectively through the vehicle server.
  • the embodiment of the present application is based on the above-mentioned embodiments, and refines the reservation method for unmanned vehicles.
  • the reservation method of the unmanned vehicle of the embodiment of the present application also includes:
  • the vehicle cancellation reservation request sent by at least one terminal client through the background server, and send the vehicle cancellation reservation request to the corresponding vehicle server; wherein, the vehicle cancellation reservation request includes: vehicle shift and cancellation station information.
  • the cancel reservation site information may be cancel reservation boarding site and cancel alighting site.
  • the background server can receive at least one vehicle cancellation reservation request sent by the terminal client. After successful reception, the background server will send the vehicle cancellation reservation request to the corresponding vehicle according to the vehicle schedule in the vehicle cancellation reservation request. The server, so that the vehicle server can perform corresponding processing according to the vehicle cancellation request of the terminal client sent by the background server.
  • the background server receives at least two vehicle reservation cancellation requests sent by terminal clients at the same time.
  • at the same time can be understood as being at the same moment; it can also be understood as there is a time sequence, which is not limited.
  • the vehicle cancellation reservation request sent by at least two terminal clients can be received at the same time through the background server. After successful reception, the vehicle cancellation reservation request can be sent to the corresponding After the vehicle server successfully receives it, it will match the cancellation site information in the cancellation site information in the vehicle cancellation request of one of the terminal clients at the same time with the reservation site in the reservation site queue. Matching, that is, at the same time, one of the terminal clients cancels the reserved site in the reserved site information. One operation, and then the vehicle server will match the cancellation reservation site in the cancellation reservation site information in the vehicle cancellation reservation request of another terminal client at the same time with the reservation site in the reservation site queue.
  • the number of reservations of the corresponding reserved site in the reserved site queue is reduced by one. If the reservation number of a reservation station in the reservation station queue is 0, the reservation station will be deleted from the reservation station queue until the processing of canceling the reservation station information of all terminal clients is completed, so that the vehicle server can be used more efficiently. Handle the situation that multiple terminal clients simultaneously cancel the reserved site.
  • the background server can also receive at least two vehicle cancellation reservation requests sent by terminal clients at the same time. After successful reception, the vehicle cancellation reservation request can be sent to The corresponding vehicle server, after the vehicle server successfully receives it, matches the cancellation reservation site in the cancellation reservation site information in the vehicle cancellation reservation request of the first terminal client with the reservation site in the reservation site queue, and if it matches , that is, the cancellation reservation site in the cancellation reservation site information of the first terminal client has the same reservation site as the reservation site in the reservation site queue, then the number of reservations for the corresponding reservation site in the reservation site queue is reduced by one, Then the vehicle server matches the cancellation site in the cancellation site information in the vehicle cancellation request of the second terminal client with the reservation site in the reservation site queue, and if they match, the second terminal client cancels the reservation If there is the same reserved site in the canceled reservation site in the site information and the reserved site in the reserved site queue, the number of reservations for the corresponding reserved site in the reserved site queue will be reduced by one.
  • the reservation site will be deleted from the reservation site queue until the processing of all terminal clients' cancellation of reservation site information is completed, so that multiple terminal clients can cancel the reservation site at the same time more effectively through the vehicle server Case.
  • Embodiment 5 of the present application also provides a computer-readable storage medium, on which a computer program is stored.
  • the program When the program is executed by a processor, the method for reserving an unmanned vehicle provided in the embodiment of the present application is implemented.
  • the method includes: The background server receives the vehicle reservation request carrying the vehicle schedule and reservation site information sent by at least one terminal client, and determines the target unmanned vehicle according to the vehicle schedule, and sends the vehicle reservation request to the target unmanned vehicle.
  • Driving the corresponding vehicle service end of the vehicle through the vehicle service end, the driving route is determined according to the vehicle shift, and the driving route and the arrival parking instruction generated according to the reserved site information are sent to the unmanned driving system to
  • the unmanned driving system controls the vehicle to run according to the driving route, and controls the vehicle to stop according to the stop-at-stop instruction.
  • the computer storage medium in the embodiments of the present application may use any combination of at least one computer-readable medium.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
  • the program code contained on the computer readable medium can be transmitted by any appropriate medium, including but not limited to wireless, electric wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • any appropriate medium including but not limited to wireless, electric wire, optical cable, radio frequency (Radio Frequency, RF), etc., or any suitable combination of the above.
  • Computer program codes for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages.
  • a programming language such as the "C" language or a similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it may be connected to an external computer (for example, using Internet Service Provider to connect via the Internet).
  • LAN Local Area Network
  • WAN Wide Area Network
  • Internet Service Provider for example, using Internet Service Provider to connect via the Internet.

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Abstract

提供了一种无人驾驶车辆的预约***、方法和介质。***包括：终端客户端（101）、后台服务端（102）、车辆服务端（103）和无人驾驶***（104）；通过终端客户端（101）向后台服务端（102）发送车辆预约请求，后台服务端（102）接收至少一个终端客户端（101）发送的车辆预约请求，并根据车辆班次确定目标无人驾驶车辆，并将车辆预约请求发送至目标无人驾驶车辆对应的车辆服务端（103），车辆服务端（103）根据车辆班次确定行驶路线，并将行驶路线和根据预约站点信息生成的到站停车指令发送至无人驾驶***（104），以使无人驾驶***按照行驶路线控制车辆行驶，以及按照到站停车指令控制车辆停车。

Description

一种无人驾驶车辆的预约***、方法和介质
本申请要求在2021年10月28日提交中国专利局、申请号为202111266505.9的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及智能汽车应用领域，例如涉及一种无人驾驶车辆的预约***、方法和介质。
背景技术
随着智能手机与无线网络的飞速发展，约车软件得到了广泛的应用，尤其广泛应用于出租车、出行公司等服务行业。约车软件不仅给乘客出行带来了便利，也方便广大的司机朋友更方便地获取客源，实现车辆资源的合理利用。然而，如何设计一款针对无人驾驶车辆的约车软件，是一个亟待解决的问题。
发明内容
本申请实施例提供一种无人驾驶车辆的预约***、方法和介质，实现了针对无人驾驶车辆的在线预约，从而在提升用户无人驾驶体验的同时，便于对无人驾驶车辆的管理和资源的合理调配。
第一方面，本申请实施例提供了一种无人驾驶车辆的预约***，包括：终端客户端、后台服务端、车辆服务端和无人驾驶***；其中，所述后台服务端分别与所述终端客户端以及所述车辆服务端建立通信连接；所述车辆服务端与所述无人驾驶***建立通信连接；
所述终端客户端设置为向所述后台服务端发送车辆预约请求；其中，所述车辆预约请求包括：车辆班次和预约站点信息；
所述后台服务端设置为接收至少一个所述终端客户端发送的车辆预约请求，并根据所述车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至所 述目标无人驾驶车辆对应的车辆服务端；
所述车辆服务端设置为根据所述车辆班次确定行驶路线，并将所述行驶路线和根据所述预约站点信息生成的到站停车指令发送至无人驾驶***，以使所述无人驾驶***按照所述行驶路线控制车辆行驶，以及按照所述到站停车指令控制车辆停车。
第二方面，本申请实施例还提供了一种无人驾驶车辆的预约方法，包括：
通过后台服务端接收至少一个终端客户端发送的携带车辆班次和预约站点信息的车辆预约请求，并根据所述车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至所述目标无人驾驶车辆对应的车辆服务端；
通过所述车辆服务端根据所述车辆班次确定行驶路线，并将所述行驶路线和根据所述预约站点信息生成的到站停车指令发送至无人驾驶***，以使所述无人驾驶***按照所述行驶路线控制车辆行驶，以及按照所述到站停车指令控制车辆停车。
第三方面，本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如上述任一实施例所述的无人驾驶车辆的预约方法。
附图说明
图1是本申请实施例一提供的一种无人驾驶车辆的预约***的架构示意图；
图2是本申请实施例二提供的一种无人驾驶车辆的预约***的架构示意图；
图3为本申请实施例三提供的一种无人驾驶车辆预约***的交互示意图；
图4是本申请实施例四提供的一种无人驾驶车辆的预约方法的流程图。
具体实施方式
下面结合附图和实施例对本申请作详细说明。
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被 描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
实施例一
图1是本申请实施例一提供的一种无人驾驶车辆的预约***的架构示意图，本申请实施例可适用于在线对无人驾驶车辆进行预约的情况。例如，用户可以通过无人驾驶车辆的预约***与无人驾驶车辆进行在线交互，以实现用户对无人驾驶车辆的在线预约。
如图1所示，无人驾驶车辆的预约***包括：终端客户端101、后台服务端102、车辆服务端103和无人驾驶***104；其中，后台服务端102分别与终端客户端101以及车辆服务端103建立通信连接；车辆服务端103与无人驾驶***104建立通信连接；
其中，终端客户端101，设置为向后台服务端102发送车辆预约请求；其中，所述车辆预约请求包括：车辆班次和预约站点信息；
后台服务端102，设置为接收至少一个终端客户端101发送的车辆预约请求，并根据车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至目标无人驾驶车辆对应的车辆服务端103；
车辆服务端103，设置为根据车辆班次确定行驶路线，并将行驶路线和根据预约站点信息生成的到站停车指令发送至无人驾驶***104，以使无人驾驶***104按照行驶路线控制车辆行驶，以及按照到站停车指令控制车辆停车。
其中，终端客户端101可以是在智能手机、平板或笔记本电脑等智能终端上安装或配置的软件程序。示例性地，终端客户端101可以为一个独立的应用程序(Application，APP)，也可以为小程序(即可以附属在某个APP中)。在实 施例中，通过终端客户端101向后台服务端102发送携带车辆班次和预约站点信息的车辆预约请求。其中，车辆班次与车辆的行驶路线有关，即不同的车辆班次，其对应的行驶路线是不同的。车辆班次可以指一天之内，在预先规定的行驶路线中，该车辆的始发站、终点站以及在每个站点的发车时间和到达时间。在实际操作过程中，车辆班次可以通过车辆往返时刻表进行体现。其中，预约站点信息可以包括：上车站点和下车站点，示例性地，上车站点和下车站点可以是车辆班次中的始发站和终点站，也可以是始发站和终点站之间的其它站点，对此并不进行限定。其中，站点指的是无人驾驶车辆按预先规定的行驶路线停靠、供乘客上下车及候车的地方。当然，为了便于用户查找到站点，可以在每个站点所在的位置上，配置对应的站牌，并在站牌上注明经过该站点的所有车辆班次。
本申请实施例中，用户可以在终端客户端101中进行相应的车辆班次、上车站点和下车站点的选择，并在完成选择之后，终端客户端101根据车辆班次、上车站点和下车站点生成对应的车辆预约请求，然后终端客户端101向后台服务端102发送携带车辆班次、上车站点和下车站点的车辆预约请求，以使后台服务端102根据终端客户端101发送的车辆预约请求进行后续处理。
其中，无人驾驶车辆可以是利用传感器技术、信号处理技术、通讯技术和计算机技术等，通过集成视、激光雷达、超声传感器、微波雷达、全球定位***、里程计、磁罗盘等多种车载传感器来辨识汽车所处的环境和状态，并可以根据所获得的道路信息、交通信号的信息、车辆装置和障碍物信息作出分析和判断，向主控计算机发出期望控制，控制车辆转向和速度，从而可以实现无人驾驶车辆依据规定的行驶路线进行拟人驾驶。无人驾驶车辆可以是无人驾驶巴士、出租等可以提供接驳服务的车辆。在实施例中，无人驾驶***设置为控制无人驾驶车辆的行驶、停靠等操作。可以理解为，对每个无人车辆均配置一个对应的无人驾驶***，以使无人驾驶***按照预先配置的行驶路线和到站停车指令控制无人驾驶车辆的行驶、停靠等操作。
本申请实施例中，终端客户端101向后台服务端102发送车辆预约请求，在后台服务端102成功接收到至少一个终端客户端101发送的车辆预约请求之后，后台服务端102可以根据车辆预约请求中的车辆班次确定相应的目标无人驾驶车辆。示例性的，后台服务端102可以根据车辆预约请求中的当天中午12点从A站点始发至当天下午14到达终点站D站点的车辆班次信息，确定出在此车辆班次中的对应的无人驾驶车辆识别号为33，车牌号为123456的目标无人驾驶车辆，本申请实施例，对车辆班次中行驶路线和对应的始发时间和达到时间不作限制，对无人驾驶车辆识别号、车牌号不做限制，根据实际情况而定。在实施例中，后台服务端102根据车辆预约请求中的车辆班次确定出目标无人驾驶车辆之后，并将车辆预约请求转发到目标无人驾驶车辆所对应的车辆服务端103中，在车辆服务端103成功接收到后台服务端102发送的车辆预约请求之后，车辆服务端103可以根据车辆预约请求中的车辆班次得到相应的行驶路线，并将行驶路线和根据车辆预约请求中的预约站点信息生成的到站停车指令发送给无人驾驶***104，示例性的，行驶路线可以是从始发A站点经过B、C和D站点到终点E站点，预约站点可以是A站点为上车站点，B站点为下车站点，那么到站停指令为先在A站点停靠后在B站点停靠。当无人驾驶***104成功接收车辆服务端103发送的根据行驶路线和预约站点信息生成的到站停车指令之后，无人驾驶***104按照车辆服务端103发送的行驶路线控制车辆行驶的方向和控制车辆执行相应的标准安全行驶速度，以及并会根据到站停车指令控制车辆缓慢减速并停车，以使乘客上下车。
需要说明的是，为了能够实现在线预约，终端客户端所在的智能终端，以及车辆服务端所在的车辆均配置通信模块。其中，通信模块可以是无线Wi-Fi模块或蓝牙模块，例如，为了实现智能终端与车辆服务端之间的通信，可以在无人驾驶车辆的行驶路线的区域配置有线电缆或基站，以实现智能终端和车辆服务端之间通过通信模块进行信息传输。当然，考虑到蓝牙的通信距离，可选采用无线WiFi模块进行数据交互。当然，针对车辆中各个模块(比如，车辆服 务端、无人驾驶***等)之间的数据交互，可以采用有线通信，也可以采用无线连接，对此并不进行限定。
本申请实施例的技术方案，通过终端客户端向后台服务端发送车辆预约请求，后台服务端接收至少一个所述终端客户端发送的车辆预约请求，并根据车辆班次确定目标无人驾驶车辆，并将车辆预约请求发送至所述目标无人驾驶车辆对应的车辆服务端，车辆服务端根据车辆班次确定行驶路线，并将行驶路线和根据预约站点信息生成的到站停车指令发送至无人驾驶***，以使无人驾驶***按照行驶路线控制车辆行驶，以及按照到站停车指令控制车辆停车，实现了针对无人驾驶车辆的在线预约，从而在提升用户对无人驾驶车辆的预约乘车体验的同时，便于对无人驾驶车辆的管理和资源的合理调配。
实施例二
图2是本申请实施例二提供的一种无人驾驶车辆的预约***的架构示意图，本实施例以上述实施例为基础对无人驾驶车辆的预约***进行细化。如图2所示，本实施例中的无人驾驶车辆的预约***包括：终端客户端101、后台服务端102、车辆服务端103、无人驾驶***104、人机交互***105和后台管理平台106；其中，后台服务端102分别与终端客户端101以及车辆服务端103建立通信连接；车辆服务端103与无人驾驶***104建立通信连接；后台管理平台106与后台服务端102建立通信连接。
其中，终端客户端101设置为向后台服务端102发送车辆预约请求；其中，车辆预约请求包括：车辆班次和预约站点信息；后台服务端102设置为接收至少一个终端客户端101发送的车辆预约请求，并根据车辆班次确定目标无人驾驶车辆，并将车辆预约请求发送至目标无人驾驶车辆对应的车辆服务端103；车辆服务端103设置为根据车辆班次确定行驶路线，并将行驶路线和根据预约站点信息生成的到站停车指令发送至无人驾驶***104，以使无人驾驶***104按照行驶路线控制车辆行驶，以及按照到站停车指令控制车辆停车。
可选的，车辆服务端103，还设置为将目标无人驾驶车辆的当前行驶信息通过后台服务端102反馈至终端客户端101。
其中，当前行驶信息可以是目标无人驾驶车辆在对应行驶路线上的运行参数信息。例如，当前行驶信息可以包括：行驶路线上所有站点数量，目标无人驾驶车辆的当前位置信息，当前站点距离下一预约站点的预计到达时间，当前站点距离下一预约下车站点或下一预约上车站点的预计到达时间，以及当前站点与下一预约下车站点之间剩余站点数量等信息。
在实际操作过程中，目标无人驾驶车辆中配置定位模块传感器和计算模块(也可以称为处理器)。在本申请实施例中，车辆服务端103可以通过获取车辆的当前行驶信息，例如可以通过定位模块中的全球定位***(Global Positioning System，GPS)获取当前站点或当前位置信息，通过传感器获取站点之间的车辆行驶速度信息，以及通过计算模块计算站点之间的行驶时间和行驶路线中的站点数量以及当前站点至下一预约下车站点的站点数量信息等信息。车辆服务端103将获取到的当前行驶信息发送给后台服务端102，后台服务端102成功接收之后并反馈给终端客户端101，以供用户可以通过终端客户端101查看无人驾驶车辆行驶的相关信息。
可选的，车辆服务端103，还设置为将所述目标无人驾驶车辆的当前行驶信息反馈至人机交互***105，以通过所述人机交互***105展示当前行驶信息。
本申请实施例中，车辆服务端103将获取到的当前行驶信息发送给无人驾驶车辆的人机交互***105，人机交互***105成功接收之后并将车辆的当前行驶信息显示到显示屏上以及通过语音播报器进行播报提醒乘客到站信息，以供用户查看当前无人驾驶车辆的行驶信息以及提醒用户到下车站点下车，通过显示提醒和语音提醒的方式，避免乘客坐过站。
可选的，无人驾驶车辆的预约***，还包括：后台管理平台106；后台管理平台106与后台服务端102建立通信连接；后台管理平台106，设置为按照预先存储的高精度地图选取站点坐标，并将按照站点坐标生成的行驶站点信息生成 目标格式文件，并将目标格式文件发送至后台服务端102，以使后台服务端102通过车辆服务端103将目标格式文件发送至所述无人驾驶***104，以使无人驾驶***104按照行驶站点信息更新行驶路线。
其中，通信连接可以是指将各个孤立的设备进行物理连接，实现人与计算机、计算机与计算机之间进行信息交换，从而达到资源共享和通信的目的。例如，可以是后台管理平台和后台服务端建立无线或有线连接，以达到后台管理平台和后台服务端之间的信息交互。其中，高精度地图可以是坐标精度更高、数据维度更多的分辨率更高的地图。例如，精度更高可以体现在精确到厘米级别，数据维度可以体现在其包括道路信息之外的与交通相关的周围静态信息，如包括交通标志、交通信号灯的颜色、道路限速、道路的形状、车道的坡度、曲率、航向、高程、侧倾等数据内容。其中，目标格式文件可以是存储行驶站点信息的特定格式文件，本申请实施例对文件的格式不作限制，例如可以是可扩展标记语(Extensible Markup Language，XML)。
本申请实施例中，无人驾驶车辆的预约***还可以包括后台管理平台106，后台管理平台106可以通过本地预先存储的高精度地图中选取站点坐标，并根据站点坐标生成行驶站点信息。例如，由于道路维修或道路重新规划等外在因素导致需要移除原来的行驶路线中的B站点，可以在高精度地图中重新选取一个新的站点，比如，F站点；然后可以将原来的行驶路线中的B站点修改为F站点，从而形成新的行驶站点信息。当然，本申请实施例对新增的站点位置坐标以及删除的站点位置坐标不作限制，可根据实际情况进行调整。在实施例中，后台管理平台106将生成的行驶站点信息按照目标格式，例如可以是XML格式文件保存成文件，以便于解析和读取。然后通过网络将目标格式文件传输发送给后台服务端102，后台服务端102转发给车辆服务端103，车辆服务端103接收成功之后，将目标格式文件转发给无人驾驶***104，以使因道路维修或道路规划等客观原因导致无人驾驶车辆无法按照原先的行驶路线行驶时，无人驾驶***104可以根据目标格式文件中的行驶站点信息进行站点的更新，从而更新 无人驾驶车辆的行驶路线。可选的，后台管理平台106，还设置为通过后台服务端102将行驶站点信息发送至后台服务端102所关联的终端客户端101，以使终端客户端101按照行驶站点信息进行本地更新。
本申请实施例中，后台管理平台106可以通过本地预先存储的高精度地图中选取站点坐标，并根据站点坐标生成行驶站点信息，并将生成的行驶站点信息按照目标格式进行保存，得到对应的目标格式文件，然后通过网络将目标格式文件传输发送给后台服务端102，后台服务端102接收成功之后，将目标格式文件转发给可以在线预约无人驾驶车辆并使用该无人驾驶车辆***的所关联的终端客户端101，终端客户端101可以根据目标格式文件中的行驶站点信息进行站点的更新，从而实现终端客户端101的本地站点更新。以使因道路维修或道路规划等客观原因导致无人驾驶车辆无法按照原先行驶路线行驶时，将无人驾驶车辆的行驶站点更新的同时，也将更新后的行驶站点信息传达给终端客户端101，以提醒用户重新规划预约站点。
本申请实施例所提供的技术方案，可以通过将目标无人驾驶车辆的当前行驶信息通过后台服务端反馈至终端客户端，也可以将目标无人驾驶车辆的当前行驶信息反馈至人机交互***，以通过人机交互***展示当前行驶信息，以方便用户既可以通过终端客户端也可以通过人机交互***查看无人驾驶车辆的行驶信息，以提醒用户到站下车；还可以通过后台管理平台在预先存储的高精度地图选取站点坐标，并将按照站点坐标生成的行驶站点信息生成目标格式文件，并将目标格式文件发送至后台服务端，以使后台服务端通过车辆服务端将目标格式文件发送至所述无人驾驶***，也可以将目标格式文件通过后台服务端将行驶站点信息发送给终端客户端，使无人驾驶***按照行驶站点信息更新行驶路线以及终端客户端可以按照行驶站点信息进行本地站点更新，以准确更新站点的信息并使无人驾驶***准确更新站点信息以及准确提醒用户站点更新信息。
在一实施例中，在实际预约过程中，存在多个用户同时对同一无人驾驶车辆进行预约的情况。可以理解为，后台服务端102同时接收至少两个终端客户 端101发送的车辆预约请求的情况。其中，同时可以理解为在同一个时刻；也可以理解为存在先后时间顺序，对此并不进行限定。
在实施例中，在后台服务端102同时接收至少两个终端客户端发送的车辆预约请求的情况下，车辆服务端103对预约站点信息的处理过程，包括：
将其中一个终端客户端的预约站点信息中的预约站点存入预约站点队列；
依次确定将下一个终端客户端的预约站点信息中的预约站点与预约站点队列中的预约站点的匹配情况；
在下一个终端客户端的预约站点信息中的预约站点与所述预约站点队列中的预约站点相匹配的情况下，将预约站点队列中的预约站点的预约人数执行加一操作，直至完成所有终端客户端的预约站点信息的处理为止；
在下一个终端客户端的预约站点信息中的预约站点与所述预约站点队列中的预约站点未匹配的情况下，将下一个终端客户端的预约站点信息中的预约站点存入预约站点队列，直至完成所有终端客户端的预约站点信息的处理为止。
其中，预约站点队列可以是根据终端客户端的预约请求存储预约站点以及相应站点的预约人数。
在一发明实施例中，后台服务端102可以同时接收至少两个终端客户端发送的车辆预约请求，成功接收之后，后台服务端102根据车辆预约请求中的车辆班次将车辆预约请求发送给对应的车辆服务端103，车辆服务端103成功接收之后，并将同一时刻中的其中一个终端客户端101的预约请求中的预约站点信息中的预约站点存入预约站点队列，并将该预约站点的预约人数设为1。然后，车辆服务端103将同一时刻中的其中另一个终端客户端101的预约站点信息中的预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的另一个终端客户端101预约站点信息中的预约站点与预约站点队列中的预约站点存在相同的预约站点，将预约站点队列中的对应的预约站点的预约人数执行加一操作，直到完成所有终端客户端101的预约站点信息的处理为止；如果未匹配，即同一时刻中的另一个终端客户端101预约站点信息中的预约站点 与预约站点队列中的预约站点不存在相同的预约站点，则将该预约站点存入预约站点队列中，并将该预约站点的预约人数设为1，直至完成所有终端客户端101的预约站点信息的处理为止。以更有效处理多个终端客户端101同时预约站点的情况。
在另一发明实施例中，后台服务端102可以同时接收至少两个终端客户端101发送的车辆预约请求，成功接收之后，后台服务端102根据车辆预约请求中的车辆班次将车辆预约请求发送给对应的车辆服务端103，车辆服务端103成功接收之后，并将第一个终端客户端101的预约请求中的预约站点信息中的预约站点存入预约站点队列，并将该预约站点的预约人数设为1。然后，车辆服务端103将同一时刻中的第二个终端客户端101的预约站点信息中的预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第二个终端客户端101预约站点信息中的预约站点与预约站点队列中的预约站点存在相同的预约站点，将预约站点队列中的对应的预约站点的预约人数执行加一操作，直到完成所有终端客户端101的预约站点信息的处理为止；如果未匹配，即第二个终端客户端101预约站点信息中的预约站点与预约站点队列中的预约站点不存在相同的预约站点，则将该预约站点存入预约站点队列中，并将该预约站点的预约人数设为1，直至完成所有终端客户端101的预约站点信息的处理为止，以更有效处理多个终端客户端101同时预约站点的情况。
可选的，后台服务端102，还设置为接收至少一个终端客户端发送的车辆取消预约请求，并将车辆取消预约请求发送至对应的车辆服务端103；其中，车辆取消预约请求包括：车辆班次和取消预约站点信息。
其中，取消预约站点信息可以是取消预约上车站点和取消下车站点。在实施例中，取消预约上车站点指的是用户通过终端客户端取消已预约的上车站点；取消下车站点指的是用户通过终端客户端取消已预约的下车站点。
本申请实施例中，后台服务端102还可以接收至少一个终端客户端发送的车辆取消预约请求，成功接收之后，后台服务端根据车辆取消预约请求中的车 辆班次将车辆取消预约请求发送给对应的车辆服务端103，以使车辆服务端103可以根据后台服务端102发送的终端客户端101的车辆取消预约请求进行相应的处理。
可选的，在后台服务端102同时接收至少两个终端客户端发送的车辆取消预约请求的情况下，车辆服务端103对取消预约站点信息的处理过程，包括：
依次确定每个终端客户端的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点的匹配情况；
在任意一个终端客户端的取消预约站点信息中的取消预约站点与所述预约站点队列中的预约站点相匹配的情况下，将预约站点队列中的预约站点的预约人数执行减一操作，直至完成所有终端客户端的取消预约站点信息的处理为止。
在实施例中，在实际取消预约过程中，存在多个用户同时对同一无人驾驶车辆进行取消预约的情况。可以理解为，后台服务端102同时接收至少两个终端客户端101发送的车辆取消预约请求的情况。其中，同时可以理解为在同一个时刻；也可以理解为存在先后时间顺序，对此并不进行限定。
在一发明实施例中，后台服务端102可以同时接收至少两个终端客户端发送的车辆取消预约请求，成功接收之后，后台服务端102根据车辆预约请求中的车辆班次将车辆取消预约请求发送给对应的车辆服务端103，车辆服务端103成功接收之后，并将同一时刻的其中一个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的其中一个终端客户端101取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的对应的预约站点的预约人数执行减一操作，然后车辆服务端103将同一时刻的其中另一个终端客户端101的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的其中另一个终端客户端101取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的 对应的预约站点的预约人数执行减一操作，若预约站点队列中的某个预约站点的预约人数为0，则将该预约站点从预约站点队列中删除，直到完成所有终端客户端101的取消预约站点信息的处理为止，以更有效处理多个终端客户端101同时取消预约站点的情况。
在一发明实施例中，后台服务端102可以同时接收至少两个终端客户端发送的车辆取消预约请求，成功接收之后，后台服务端102根据车辆预约请求中的车辆班次将车辆取消预约请求发送给对应的车辆服务端103，车辆服务端103成功接收之后，并将第一个终端客户端101的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第一个终端客户端101取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的对应的预约站点的预约人数执行减一操作，然后车辆服务端103将第二个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第二个终端客户端101取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的对应的预约站点的预约人数执行减一操作，若预约站点队列中的某个预约站点的预约人数为0，则将该预约站点从预约站点队列中删除，直到完成所有终端客户端101的取消预约站点信息的处理为止，以更有效处理多个终端客户端101同时取消预约站点的情况。
实施例三
在一实施例中，图3为本申请实施例三提供的一种无人驾驶车辆预约***的交互示意图。在实施例中，以终端客户端为手机客户端，以及N个用户在线预约车辆为例，对无人驾驶车辆***中各个模块之间的交互过程进行说明。如图3所示，用户通过手机客户端选择车辆班次、上车站点和下车站点，手机客户端并把用户选择的车辆班次、上车站点和下车站点信息发送给后台服务端， 后台服务端根据车辆班次选择对应班次的车辆，并将用户的选择的车辆班次、上车站点和下车站点信息转发给车辆服务端，车辆服务端根据车辆班次确定车辆行驶路线以及根据上下车站点信息生成到站停车指令，并将车辆行驶路线和到站停车指令发送给无人驾驶***，车辆服务端并将车辆的当前行驶信息反馈给人机交互***，以通过人机交互***显示车辆行驶信息，以提醒用户站间进度，车辆服务端还可以通过将车辆的当前行驶信息通过后台服务端转发给手机客户端，以使用户可以通过手机客户端查看并提醒用户站间进度。其中，站间进度可以指当前站点距离下一下车站点的预计达到时间，以及当前站点与下一下车站点之间剩余站点数量等信息。另外，后台管理平台可以将车辆班次和对应的车辆服务端的安排信息发送给后台服务端以及后台管理平台还可以对站点维护与更新，并将站点维护和更新的信息通过后台服务端发送给车辆服务端，车辆服务端将站点维护和更新信息转发给无人驾驶***以使无人驾驶***更新站点信息，从而更新行驶路线。
在实施例中，当多人同时预约同一台无人驾驶车辆时可以包括如下步骤：
步骤1，后台服务端将第一个人(即第一个发送车辆预约请求的终端客户端)的预约站点信息传递给车辆服务端，车辆服务端获取车辆路线及预约站点信息，并将该预约站点(即上述实施例中的上车站点和/或下车站点)存入约车站点队列，并将该预约站点的预约人数设为1。
步骤2，后台服务端将第二个人的预约站点信息传递给车辆服务端，车辆服务端比较第二个人的预约站点信息和预约站点队列，存在相同的站点时，将站点队列中的该站点的预约人数加1，存在不同预约站点时候，将该预约站点信息存入预约站点队列。
步骤3，后台服务端将第三、第四、…、第N个人的预约站点信息传递给车辆服务端，重复步骤2过程，直至处理完全部订单。
在一实施例中，当多人同时取消预约同一台无人驾驶车辆时，可以包括如下步骤：
步骤1，后台服务端将第一个人(即第一个发送车辆取消预约请求的终端客户端)的取消预约站点信息传递给车辆服务端，车辆服务端获取需要取消的预约站点信息(即上述实施例中的取消预约站点信息，并且，包括取消预约上车站点和取消预约下车站点)。
步骤2，车辆服务端将需要取消的预约上车站点和/或预约下车站点与预约站点队列中的预约站点进行比较，若需要取消的预约上车站点和/或预约下车站点与预约站点队列中的预约站点相匹配，则将预约站点队列中需要取消的预约站点的预约人数减1，若预约站点队列中某个站点的预约人数为0，则将该预约站点从预约站点队列中删除。
步骤3，后台服务端将第三、第四、…、第N个人的取消预约站点信息传递给车辆服务端，重复步骤2过程，直至处理完全部车辆取消预约请求。
实施例四
图4是本申请实施例四提供的一种无人驾驶车辆的预约方法的流程图，本申请实施例可适用于在线预约无人驾驶车辆的场景，本申请实施例可以由包含无人驾驶车辆预约***的设备执行。其中，包含无人驾驶车辆预约***的设备可以为智能终端、无人驾驶车辆或计算机设备。示例性地，智能终端可以为智能手机、iPad或笔记本电脑。该方法包括：
S210、通过后台服务端接收至少一个终端客户端发送的携带车辆班次和预约站点信息的车辆预约请求，并根据车辆班次确定目标无人驾驶车辆，并将车辆预约请求发送至目标无人驾驶车辆对应的车辆服务端。
本申请实施例中，用户可以通过在终端客户端向后台服务端发送车辆预约请求，可以通过后台服务端接收至少一个终端客户端发送的携带车辆班次和预约站点信息的车辆预约请求，接收成功之后，后台服务端可以根据车辆预约请求中的车辆班次来确定相应的目标无人驾驶车辆，示例性的，后台服务端可以根据车辆预约请求中的当天中午12点从A站点始发至当天下午14到达终点站 D站点的车辆班次信息，确定出在此车辆班次中的对应的无人驾驶车辆识别号为33，车牌号为123456的目标无人驾驶车辆，本申请实施例，对车辆班次中行驶路线和对应的始发时间和达到时间不作限制，对无人驾驶车辆识别号、车牌号不做限制，根据实际情况而定。后台服务端根据车辆预约请求中的车辆班次确定出目标无人驾驶车辆之后，可以将车辆预约请求转发到目标无人驾驶车辆所对应的车辆服务端中，以使可以通过车辆服务端对车辆预约请求进行相应的后续处理。
S220、通过车辆服务端根据车辆班次确定行驶路线，并将行驶路线和根据预约站点信息生成的到站停车指令发送至无人驾驶***，以使无人驾驶***按照行驶路线控制车辆行驶，以及按照到站停车指令控制车辆停车。
本申请实施例中，车辆服务端成功接收后台服务端发送的车辆预约请求之后，车辆服务端根据车辆预约请求中的车辆班次进行确定相应的行驶路线，并将行驶路线和根据车辆预约请求中的预约站点信息生成的到站停车指令发送给无人驾驶***，示例性的，行驶路线可以是从始发A站点经过B、C和D站点到终点E站点，预约站点可以是A站点为上车站点，B站点为下车站点，那么到站停指令为先在A站点停靠后在B站点停靠。当无人驾驶***成功接收车辆服务端发送的根据行驶路线和预约站点信息生成的到站停车指令之后，会按照车辆服务端发送的行驶路线控制车辆行驶的方向和控制车辆执行相应的标准安全行驶速度，以及会根据到站停车指令控制车辆缓慢减速并停车，以使乘客上下车。
在一实施例中，在实际预约过程中，存在多个用户同时对同一无人驾驶车辆进行预约的情况。可以理解为，后台服务端同时接收至少两个终端客户端发送的车辆预约请求的情况。其中，同时可以理解为在同一个时刻；也可以理解为存在先后时间顺序，对此并不进行限定。
需要说明的是，可以通过后台服务端同时接收至少两个终端客户端发送的车辆预约请求，成功接收之后，后台服务端根据车辆预约请求中的车辆班次将 车辆预约请求发送给对应的车辆服务端，车辆服务端成功接收之后，并将同一时刻中的其中一个终端客户端的预约请求中的预约站点信息中的预约站点存入预约站点队列，并将该预约站点的预约人数设为1。然后，车辆服务端将同一时刻中的另一个终端客户端的预约站点信息中的预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的另一个终端客户端预约站点信息中的预约站点与预约站点队列中的预约站点存在相同的预约站点，将预约站点队列中的对应的预约站点的预约人数执行加一操作，直到完成所有终端客户端的预约站点信息的处理为止；如果未匹配，即同一时刻中的另一个终端客户端预约站点信息中的预约站点与预约站点队列中的预约站点不存在相同的预约站点，则将该预约站点存入预约站点队列中，并将该预约站点的预约人数设为1，直至完成所有终端客户端的预约站点信息的处理为止。以可以通过车辆服务端更有效处理多个终端客户端同时预约站点的情况。
需要说明的是，也可以通过后台服务端同时接收至少两个终端客户端发送的车辆预约请求，成功接收之后，后台服务端根据车辆预约请求中的车辆班次将车辆预约请求发送给对应的车辆服务端，车辆服务端成功接收之后，并将第一个终端客户端的预约请求中的预约站点信息中的预约站点存入预约站点队列，并将该预约站点的预约人数设为1。然后，车辆服务端将第二个终端客户端的预约站点信息中的预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第二个终端客户端预约站点信息中的预约站点与预约站点队列中的预约站点存在相同的预约站点，将预约站点队列中的相应的预约站点的预约人数执行加一操作，直到完成所有终端客户端的预约站点信息的处理为止；如果未匹配，即第二个终端客户端预约站点信息中的预约站点与预约站点队列中的预约站点不存在相同的预约站点，则将该预约站点存入预约站点队列中，并将该预约站点的预约人数设为1，直至完成所有终端客户端的预约站点信息的处理为止。以可以通过车辆服务端更有效处理多个终端客户端同时预约站点的情况。
在一实施例中，本申请实施例以上述实施例为基础，对无人驾驶车辆的预 约方法进行细化。本申请实施例的无人驾驶车辆的预约方法还包括：
通过后台服务端接收至少一个终端客户端发送的车辆取消预约请求，并将车辆取消预约请求发送至对应的车辆服务端；其中，车辆取消预约请求包括：车辆班次和取消预约站点信息。
其中，取消预约站点信息可以是取消预约上车站点和取消下车站点。
本申请实施例中，可以通过后台服务端接收至少一个终端客户端发送的车辆取消预约请求，成功接收之后，后台服务端根据车辆取消预约请求中的车辆班次将车辆取消预约请求发送给对应的车辆服务端，以使可以通过车辆服务端根据后台服务端发送的终端客户端的车辆取消预约请求进行相应的处理。
在实施例中，在实际取消预约过程中，存在多个用户同时对同一无人驾驶车辆进行取消预约的情况。可以理解为，后台服务端同时接收至少两个终端客户端发送的车辆取消预约请求的情况。其中，同时可以理解为在同一个时刻；也可以理解为存在先后时间顺序，对此并不进行限定。
需要说明的是，可以通过后台服务端同时接收至少两个终端客户端发送的车辆取消预约请求，成功接收之后，可以通过后台服务端根据车辆预约请求中的车辆班次将车辆取消预约请求发送给对应的车辆服务端，车辆服务端成功接收之后，并将同一时刻的其中一个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的其中一个终端客户端取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的该预约站点的预约人数执行减一操作，然后车辆服务端将同一时刻的其中另一个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即同一时刻中的其中另一个终端客户端取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的相应的预约站点的预约人数执行减一操作，若预约站点队列中的某个预约站点的预约人数为0，则将该预约站 点从预约站点队列中删除，直到完成所有终端客户端的取消预约站点信息的处理为止，以可以通过车辆服务端更有效处理多个终端客户端同时取消预约站点的情况。
需要说明的是，也可以通过后台服务端同时接收至少两个终端客户端发送的车辆取消预约请求，成功接收之后，可以通过后台服务端根据车辆预约请求中的车辆班次将车辆取消预约请求发送给对应的车辆服务端，车辆服务端成功接收之后，并将第一个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第一个终端客户端取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的相应的预约站点的预约人数执行减一操作，然后车辆服务端将第二个终端客户端的车辆取消预约请求中的取消预约站点信息中的取消预约站点与预约站点队列中的预约站点进行匹配，如果相匹配，即第二个终端客户端取消预约站点信息中的取消预约站点与预约站点队列中的预约站点存在相同的预约站点，则将预约站点队列中的相应的预约站点的预约人数执行减一操作，若预约站点队列中的某个预约站点的预约人数为0，则将该预约站点从预约站点队列中删除，直到完成所有终端客户端的取消预约站点信息的处理为止，以可以通过车辆服务端更有效处理多个终端客户端同时取消预约站点的情况。
实施例五
本申请实施例五还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本申请实施例提供的无人驾驶车辆的预约方法，该方法包括：通过后台服务端接收至少一个终端客户端发送的携带车辆班次和预约站点信息的车辆预约请求，并根据所述车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至所述目标无人驾驶车辆对应的车辆服务端；通过所述车辆服务端根据所述车辆班次确定行驶路线，并将所述行驶路线和根据所 述预约站点信息生成的到站停车指令发送至无人驾驶***，以使所述无人驾驶***按照所述行驶路线控制车辆行驶，以及按照所述到站停车指令控制车辆停车。
本申请实施例的计算机存储介质，可以采用至少一个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是，但不限于电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有至少一个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read-Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable ROM，EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、电线、光缆、射频(Radio Frequency，RF)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，程序设计语言包括面向对象的程序设计语言，诸如Java、Smalltalk、 C++，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络，包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (11)

  1. 一种无人驾驶车辆的预约***，包括：终端客户端、后台服务端、车辆服务端和无人驾驶***；其中，所述后台服务端分别与所述终端客户端以及所述车辆服务端建立通信连接；所述车辆服务端与所述无人驾驶***建立通信连接；
    所述终端客户端设置为向所述后台服务端发送车辆预约请求；其中，所述车辆预约请求包括：车辆班次和预约站点信息；
    所述后台服务端设置为接收至少一个所述终端客户端发送的车辆预约请求，并根据所述车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至所述目标无人驾驶车辆对应的车辆服务端；
    所述车辆服务端设置为根据所述车辆班次确定行驶路线，并将所述行驶路线和根据所述预约站点信息生成的到站停车指令发送至无人驾驶***，以使所述无人驾驶***按照所述行驶路线控制车辆行驶，以及按照所述到站停车指令控制车辆停车。
  2. 根据权利要求1所述的***，其中，所述车辆服务端，还设置为将所述目标无人驾驶车辆的当前行驶信息通过所述后台服务端反馈至终端客户端。
  3. 根据权利要求1所述的***，其中，所述车辆服务端，还设置为将所述目标无人驾驶车辆的当前行驶信息反馈至人机交互***，以通过所述人机交互***展示当前行驶信息。
  4. 根据权利要求1所述的***，还包括：后台管理平台；所述后台管理平台与所述后台服务端建立通信连接；
    所述后台管理平台，设置为按照预先存储的高精度地图选取站点坐标，并将按照所述站点坐标生成的行驶站点信息生成目标格式文件，并将所述目标格式文件发送至所述后台服务端，以使所述后台服务端通过所述车辆服务端将所述目标格式文件发送至所述无人驾驶***，以使所述无人驾驶***按照所述行驶站点信息更新行驶路线。
  5. 根据权利要求4所述的***，其中，所述后台管理平台，还设置为通过 后台服务端将所述行驶站点信息发送至所述后台服务端所关联的终端客户端，以使所述终端客户端按照所述行驶站点信息进行本地更新。
  6. 根据权利要求1所述的***，其中，在所述后台服务端同时接收至少两个所述终端客户端发送的车辆预约请求的情况下，所述车辆服务端对所述预约站点信息的处理过程，包括：
    将其中一个终端客户端的预约站点信息中的预约站点存入预约站点队列；
    依次确定将下一个终端客户端的预约站点信息中的预约站点与所述预约站点队列中的预约站点的匹配情况；
    响应于下一个终端客户端的预约站点信息中的预约站点与所述预约站点队列中的预约站点相匹配，将所述预约站点队列中的预约站点的预约人数执行加一操作，直至完成所有终端客户端的预约站点信息的处理为止；
    响应于下一个终端客户端的预约站点信息中的预约站点与所述预约站点队列中的预约站点未匹配，将所述下一个终端客户端的预约站点信息中的预约站点存入所述预约站点队列，直至完成所有终端客户端的预约站点信息的处理为止。
  7. 根据权利要求1所述的***，其中，所述后台服务端，还设置为接收至少一个所述终端客户端发送的车辆取消预约请求，并将所述车辆取消预约请求发送至对应的车辆服务端；其中，所述车辆取消预约请求包括：车辆班次和取消预约站点信息。
  8. 根据权利要求7所述的***，其中，在所述后台服务端同时接收至少两个所述终端客户端发送的车辆取消预约请求的情况下，所述车辆服务端对所述取消预约站点信息的处理过程，包括：
    依次确定每个终端客户端的取消预约站点信息中的取消预约站点与所述预约站点队列中的预约站点的匹配情况；
    响应于任意一个终端客户端的取消预约站点信息中的取消预约站点与所述预约站点队列中的预约站点相匹配，将所述预约站点队列中的预约站点的预约 人数执行减一操作，直至完成所有终端客户端的取消预约站点信息的处理为止。
  9. 一种无人驾驶车辆的预约方法，包括：
    通过后台服务端接收至少一个终端客户端发送的携带车辆班次和预约站点信息的车辆预约请求，并根据所述车辆班次确定目标无人驾驶车辆，并将所述车辆预约请求发送至所述目标无人驾驶车辆对应的车辆服务端；
    通过所述车辆服务端根据所述车辆班次确定行驶路线，并将所述行驶路线和根据所述预约站点信息生成的到站停车指令发送至无人驾驶***，以使所述无人驾驶***按照所述行驶路线控制车辆行驶，以及按照所述到站停车指令控制车辆停车。
  10. 根据权利要求9所述的方法，还包括：
    通过后台服务端接收至少一个所述终端客户端发送的车辆取消预约请求，并将所述车辆取消预约请求发送至对应的车辆服务端；其中，所述车辆取消预约请求包括：车辆班次和取消预约站点信息。
  11. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求9-10中任一所述的无人驾驶车辆的预约方法。
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