Method for picking up passenger indoor in an autonomous vehicle

Abstract

An indoor passenger pick-up and drop-off method for an autonomous vehicle is provided, comprising: (1) receiving a request from a processor to allow passengers to board or alight indoors; (2) the processor confirming the entrance location using a mapping system and a first positioning system; (3) when the autonomous vehicle arrives near the entrance location, the processor confirms the entrance location and entrance traffic control status using sensors and outputs an output signal; (4) when the processor determines that the entrance traffic control status is open, the autonomous vehicle drives into the indoor space from the entrance location; (5) when the autonomous vehicle enters the indoor space, the processor switches to indoor operation mode according to a switching signal; and (6) based on the passenger boarding or alighting completion signal, the processor establishes an exit path in indoor operation mode to correctly identify the indoor entrance and complete cross-mode operation. A method for picking up passenger indoor in an autonomous vehicle is provided, including (1) receiving a request to get passenger on or off indoor by a processor; (2) confirming an entrance position through a map system and a first positioning system by the processor; (3) confirming the entrance position and an entrance traffic control status by a sensor to output an output signal when the autonomous vehicle arrives near the entrance position; (4) entering from the entrance position into the indoor with the autonomous vehicle when the processor determines that the entrance traffic control status is an enterable state; (5) switching to an indoor operation mode by the processor according to an switching signal when the autonomous vehicle enters the indoor;and (6) switching to the indoor operation mode by the processor according to an completion signal of passenger getting on or off the vehicle to establish a departure path to correctly identify indoor entrances and complete cross-mode operations.;

Description

Technical Field

[0001] This disclosure relates to a method, and more particularly to a method for picking up passengers inside an autonomous vehicle. Prior Technology

[0002] In current technology, autonomous vehicles, or self-driving vehicles, are evolving with technological advancements, bringing greater convenience to our lives. Autonomous vehicles can be used to transport passengers or goods from one location to another. Currently, autonomous vehicles are still equipped with a "remote operator" to view surrounding environmental images and real-time road condition information, assisting in directing vehicle operation in more complex environments. However, the time spent on remote operation and judgment is insufficient to respond promptly to the situation faced by the vehicle on-site, and may cause inconvenience to others. Furthermore, the setup of a remote operator still cannot achieve the true ability for autonomous vehicles to drive automatically.

[0003] Therefore, there is a real need to improve the existing technology. Summary of the Invention

[0004] One embodiment of this disclosure provides a method for picking up and dropping off passengers indoors using an autonomous vehicle, comprising the following steps: (1) receiving a request from at least one processor to allow passengers to board or alight inside a building; (2) confirming the entrance location of the building using a mapping system and a first positioning system; (3) when the autonomous vehicle arrives near the entrance location, confirming the entrance location using at least one sensor, and the at least one sensor detecting the entrance traffic control status at the entrance location and outputting an output signal; (4) when the at least one processor receives the output signal and determines that the entrance traffic control status is open, controlling the autonomous vehicle to drive into the building from the entrance location; (5) during the process of the autonomous vehicle entering the building, the at least one processor switches to an indoor operation mode according to a switching signal to control the autonomous vehicle to arrive at the passenger pick-up location; and (6) based on the passenger boarding or alighting completion signal, the processor establishes an exit path in the indoor operation mode to control the autonomous vehicle to exit from the building's indoor exit location.

[0005] In some implementations, the interior includes a basement, ground floor interior, above-ground floor interior, or a combination thereof.

[0006] In some implementations, the mapping system includes parking lot entrance features, parking lot exit features, maps, lane markings, parking signs, curbs, sidewalks, or combinations thereof.

[0007] In some implementations, the first positioning system includes the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the GLONASS system, the Galileo system, the Quasi-Zenith Satellite System (QZSS), the Indian Regional Navigation Satellite System (IRNSS), or a combination thereof.

[0008] In some implementations, step (3) includes the processor accessing at least one monitor via the network to confirm the location of the entry point.

[0009] In some implementations, entrance traffic control includes traffic light control for entrance lanes, single lanes requiring two-way traffic to pass each other, security personnel hand signals, entrance lane barriers, or combinations thereof.

[0010] In some implementations, prior to step (4), the method further includes, when the processor receives the output signal and determines that the entrance traffic control status is not open, the processor sends a message to the personnel to convey information that the autonomous vehicle will be delayed in arriving at the personnel's pick-up location based on the entrance traffic control status, or to notify the personnel that they can currently receive instructions to change their pick-up location.

[0011] In some implementations, the switching signal includes the disappearance of the signal from the first positioning system, the map data of the mapping system encountering a switching point, the map data of the mapping system having insufficient content, or a combination thereof.

[0012] In some implementations, the indoor operation mode utilizes indoor mapping data in conjunction with a second positioning system to enable autonomous vehicles to drive indoors, wherein the indoor mapping data includes real-time constructed environment maps, pre-constructed environment maps, point cloud maps, or combinations thereof.

[0013] In some implementations, the second positioning system includes Assisted Global Positioning System (AGPS), visual image sensing, magnetic sensing technology, and RFID-based indoor positioning systems. Simple Explanation of the Diagram

[0014] The various aspects of this disclosure will be most readily understood when read in conjunction with the accompanying drawings. It should be noted that, in accordance with industry standard operating procedures, the various features may not be drawn to scale. In fact, for clarity of explanation, the dimensions of the various features can be arbitrarily increased or decreased. To make the above and other objects, features, advantages, and embodiments of this disclosure more apparent and understandable, the accompanying drawings are described below: Figure 1 illustrates a schematic diagram of vehicle functions according to some of the embodiments disclosed herein. Figure 2 illustrates a system schematic diagram of some of the embodiments disclosed herein. Figure 3 illustrates a system schematic diagram of some other embodiments disclosed herein. Figure 4 is a flowchart of an autonomous vehicle indoor passenger pick-up method according to some embodiments of this disclosure. Figure 5 is a flowchart of a method for autonomous vehicles to determine the traffic management status at an entrance, according to some embodiments of this disclosure. Implementation

[0015] To make the description of this disclosure more detailed and complete, illustrative descriptions of embodiments and specific examples of this disclosure are provided below. However, this is not the only form of implementing or utilizing the specific examples of this disclosure. The embodiments disclosed below can be combined or substituted with each other where advantageous, and other embodiments can be added to one embodiment without further description or explanation. In the following description, many specific details will be set forth in detail to enable the reader to fully understand the following embodiments. However, the embodiments of this disclosure can also be practiced without such specific details.

[0016] In addition, spatial relative terms, such as "down" and "up," are used to conveniently describe the relative relationship of a component or feature to other components or features in a diagram. These spatial relative terms are intended to encompass different orientations of the device during use or operation, in addition to those shown in the diagram. The device may be positioned otherwise (e.g., rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein can be interpreted accordingly.

[0017] In this document, unless otherwise specified in the text, the words “a” and “the” may refer to one or more. It will be further understood that the words “comprising,” “including,” “having,” and similar terms used herein specify the features, regions, integers, steps, operations, components, and / or parts described herein, but do not exclude one or more other features, regions, integers, steps, operations, components, and / or groups thereof described or additionally described herein.

[0018] The following examples and experimental cases illustrate the method for picking up and dropping off passengers in an autonomous vehicle indoors in more detail. However, they are only for illustrative purposes and are not intended to limit the scope of the disclosure. The scope of protection of the disclosure shall be defined by the appended claims.

[0019] Example

[0020] Although the methods disclosed herein are illustrated using a series of operations or steps, the order in which these operations or steps are shown should not be construed as a limitation of this disclosure. For example, some operations or steps may be performed in a different order and / or simultaneously with other steps. Furthermore, it is not necessary to perform all illustrated operations, steps, and / or features to achieve the implementation of this disclosure. In addition, each operation or step described herein may comprise several sub-steps or actions.

[0021] For clarity, features and elements that are known in the domain and are not essential for understanding the principles described will be omitted.

[0022] Current autonomous vehicles still rely on remote operators to view surrounding images and real-time traffic information. However, the time spent on remote operation for judgment is insufficient to respond promptly and causes inconvenience. Considering convenience and the continued need for taxis in basements / indoor spaces, such as for people with mobility impairments or those taking taxis in rainy weather, this disclosure provides a method for autonomous vehicles to pick up passengers indoors. This method enables autonomous vehicles to accurately identify building entrances and entrance traffic conditions, and features cross-mode operation (such as switching between different positioning systems), providing comprehensive driving operation planning from "receiving a request" to "leaving at the exit," thereby successfully completing the pick-up task.

[0023] system

[0024] As shown in Figure 1, the vehicle 100 according to some embodiments of the present disclosure includes a variety of components. The vehicle 100 includes one or more computing devices 110, such as one or more processors 112 and memory 114. In some embodiments, the vehicle 100 of the present disclosure includes, but is not limited to, automobiles, buses, trucks, tour buses, freight cars, locomotives, etc.

[0025] Memory 114 stores information accessible by one or more processors 112, including instructions 116 and data 118 that can be executed or otherwise used by the processor 112. Memory 114 can be any type capable of storing processor-accessible information, including computer device-readable media or other media that store data that can be read by means of electronic devices, such as hard disks, memory cards, ROM, RAM or combinations thereof, and other writable and read-only memory.

[0026] Instruction 116 can be any set of instructions that can be executed directly or indirectly by processor 112. For example, instruction 116 can be stored as computer device code on a computer device readable medium. In this regard, the terms "instruction" and "program" are used interchangeably herein. Instructions can be stored in object code format for direct processing by the processor, or in any other computing device language, including scripts or collections of stand-alone source code modules that are interpreted on demand or compiled in advance.

[0027] Data 118 can be retrieved, stored, or modified by processor 112 according to instructions 116. The predetermined scenario can identify a set of scenario requirements, including the type of object, the position range of the object relative to the vehicle, and other factors, such as whether the autonomous vehicle can maneuver around the object, whether the object is using a turn signal, traffic control conditions related to the object's current position, and whether the object is approaching a stop sign.

[0028] One or more processors 112 can be any known processor, such as a commercially available CPU or GPU. Alternatively, one or more processors can be a specific device, such as an ASIC or other hardware-based processor. Although Figure 1 functionally presents the processor 112, memory 114, and other components of the computing device 110 in the same block, the processor 112 or memory 114 may actually contain multiple processors 112, and the memory 114 may or may not be stored in the same physical housing.

[0029] The computing device 110 can be any component typically used in conjunction with the computing device 110, such as the processor 112 and memory 114 described above, as well as input devices 120 (e.g., mouse, keyboard, touch screen, and / or microphone) and various electronic displays (e.g., a monitor with a screen or any other electronic device operable to display messages). In some embodiments, the vehicle 100 includes an in-vehicle display 122 and one or more speakers 124 to provide information or audiovisual content. In this respect, the in-vehicle display 122 can be located inside the passenger compartment of the vehicle 100 and can be used by the computing device 110 to provide information to passengers within the vehicle 100. In some embodiments, one or more computing devices 110 of the vehicle 100 can also receive or transmit information from other computing devices, for example, using a wireless network connection port 126.

[0030] In some embodiments, the computing device 110 may be an autonomous driving computing system incorporated into the vehicle 100. For example, the computing device 110 may be communicatively connected to various systems of the vehicle 100, such as a deceleration system 130 (for controlling the vehicle's braking), an acceleration system 132 (for controlling the vehicle's acceleration), a steering system 134 (for controlling the vehicle's steering), a signaling system 136 (for controlling turning signals), a mapping system 138 / indoor mapping system 139 (for navigating the vehicle to a location or the vicinity of an object), a positioning system 140 (for determining the vehicle's location), a sensing system 142 (for detecting objects in the vehicle's environment), and a power system 144 (e.g., a battery and / or a gas or diesel engine), so as to be in autonomous driving mode according to the instructions 116 of the memory 114, without the need for intervention from the vehicle's passengers.

[0031] The computing device 110 can control the direction and speed of the vehicle 100 by controlling various components. For example, the computing device 110 can autonomously navigate the vehicle 100 to a pick-up or drop-off location using data from the positioning system 140 and the mapping system 138, reacting to external objects as needed to safely reach that location. To achieve the above implementation, the computing device 110 can accelerate the vehicle 100 (e.g., by increasing the energy supplied to the power system 144 via the acceleration system 132), decelerate (e.g., by reducing the energy supplied to the power system 144, changing gears, and / or by applying brakes via the deceleration system 130), change direction (e.g., by turning the front or rear wheels of the vehicle 100 via the steering system 134), and issue signals for such lane changes (e.g., by issuing a steering signal via the signal system 136). Therefore, the acceleration system 132 and the deceleration system 130 can be part of the power system 144, which includes various components between the vehicle's engine and the vehicle's wheels. Similarly, by controlling these systems, the computing device 110 can also control the vehicle's power system 144 in order to autonomously operate the vehicle.

[0032] In some embodiments, the computing device 110 may interact with the deceleration system 130 and the acceleration system 132 to control the speed of the vehicle. In some embodiments, the computing device 110 may use the steering system 134 to control the direction of the vehicle 100. In some embodiments, the computing device 110 may use the signaling system 136 to activate turn signals, issue voice messages, or display text messages to alert other road users before steering the vehicle 100.

[0033] In some embodiments, the computing device 110 may use the mapping system 138 to determine a route to a designated location. In some embodiments, the mapping system 138 includes navigation functions, map information, etc. In some embodiments, the mapping system 138 and / or data 118 may store map information, such as a high-precision map that the computing device 110 may use to navigate or control the vehicle 100. In some embodiments, the map information in this mapping system 138 includes, but is not limited to, parking lot entrance features, parking lot exit features, maps, lane markings, parking signs, curbs, sidewalks, roads, lane markings, intersections, crosswalks, speed limits, traffic signals, buildings, signs, real-time or historical traffic information, the shape and height of vegetation or other such objects and information. In some embodiments, the indoor mapping system 139 includes, but is not limited to, real-time constructed environmental maps, pre-constructed environmental maps, point cloud maps, or combinations thereof.

[0034] In some embodiments, the computing device 110 may use the positioning system 140 to determine the real-time location of the vehicle 100. In some embodiments, the positioning system 140 may be divided into a first positioning system and a second positioning system, and the first positioning system is different from the second positioning system. The first positioning system is used as a positioning method when the computing device 110 controls the vehicle 100 to drive in an outdoor environment, wherein the first positioning system includes, but is not limited to, the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS), the GLONASS system, the Galileo positioning system, the Quasi-Zenith Satellite System (QZSS), the Indian Regional Navigation Satellite System (IRNSS), or combinations thereof. The second positioning system is used as a positioning method when the computing device 110 controls the vehicle 100 to drive in an indoor environment, wherein the second positioning system includes, but is not limited to, the Assisted Global Positioning System (AGPS), visual image sensing, magnetic sensing technology, RFID-based indoor positioning systems, or combinations thereof. Indoor environments include basements, ground floor interiors, above-ground floor interiors, or combinations thereof.

[0035] In some embodiments, the computing device 110 may use the sensing system 142 to detect the environmental conditions around the vehicle 100 in real time. Specifically, the sensing system 142 identifies traffic conditions using cameras, lidar, radar, magnetic sensing technology, or combinations thereof. For example, identifying entrance traffic conditions includes traffic light control at the entrance lane, single lanes requiring two-way traffic to pass, security personnel hand signals, entrance lane barriers, or combinations thereof.

[0036] As shown in Figure 2, each of the arithmetic units 210, 220, 230, and 240 may include one or more processors, memory, data, and instructions. Such processors, memory, data, and instructions may be configured similarly to one or more processors 112, memory 114, data 118, and instructions 116 of the arithmetic unit 110.

[0037] Network 250 and intermediate nodes can include various configurations and protocols, including short-range communication protocols such as Bluetooth, the Internet, Virtual Private Network, Wide Area Network, Ethernet, Wireless Network (WiFi), Hypertext Transfer Protocol (HTTP), Radio Frequency Identification (RFID), and various combinations thereof. This network communication method can transmit or receive data via a computing device.

[0038] In some embodiments, the computing device 110 of the vehicle 100 may include multiple externally connected servers 210, such as a load balancing server cluster, which exchange messages with different nodes of the network 250 to receive, process, and transmit data and messages from other computing devices 110. For example, one or more servers 210 may communicate with the processor 112 of the vehicle 100, a smartphone 220, a smart wearable device 230, or a computer 240 (e.g., a laptop, tablet, etc.) via the network 250. For instance, the vehicle 100 may periodically or irregularly send its location information to the server 210 via the positioning system 140 to obtain the vehicle 100's location in a timely manner. In some embodiments, the server 210 may also be directly configured inside the vehicle 100.

[0039] In other embodiments, server 210 may use network 250 to transmit and present messages, such as displaying information to a user (e.g., one or more users) on the display 222 of smartphone 220, the display 232 of smart wearable device 230, or the display 242 of computer 240. In this embodiment, computing devices 220, 230, and 240 can be considered as user-side computing devices.

[0040] As shown in Figure 3, the multiple user-end computing devices 220, 230, and 240 can be personal computing devices used by multiple users and have all the components typically used in conjunction with personal computing devices. All components include one or more processors (e.g., a central processing unit (CPU) and / or a graphics processing unit (GPU)), memory for storing data and instructions (e.g., RAM and internal hard drives), displays 222, 232, and 242 (e.g., a mobile phone touchscreen, a touchscreen for a smart wearable device, a computer screen, or other devices operable to display information), and multiple user input devices 224, 234, and 244 (e.g., a mouse, keyboard, touchscreen, function keys, or microphone). For example, multiple users can use the input devices 224, 234, and 244 of computing devices 220, 230, and 240 to send messages such as requests to pick up or get off a vehicle to server computing device 210.

[0041] In some embodiments, user-end computing devices 220, 230, and 240 may each include various types of personal computing devices. For example, user-end computing device 220 may be a smartphone, user-end computing device 230 may be a smartphone as shown in Figure 2, and user-end computing device 240 may be a computer, such as a tablet computer, a laptop computer, etc.

[0042] method

[0043] In some embodiments, the user can download an application for requesting a vehicle 100 to the user-end computing device 220, 230, 240. The user then connects to one or more server computing devices 210 via network 250. The user-end computing devices 220, 230, 240 can then access the application and call for a vehicle. In some embodiments, the user can use the location device (e.g., GPS, AGPS, etc.) or map data (e.g., Google Maps, Apple Maps, Baidu Maps, Gaode Maps) built into the user-end computing devices 220, 230, 240 to send a vehicle request command to one or more server computing devices 210, and send its address data to facilitate identification of the user's desired pick-up and drop-off locations.

[0044] In some implementations, one or more server computing devices (e.g., server computing device 210) receive vehicle request instructions and address data from user computing devices 220, 230, 240, and provide vehicle 100 based on whether the vehicle is currently available for dispatch and its proximity to the user.

[0045] The autonomous vehicle indoor passenger pick-up method 300 can be executed by one or more processors (e.g., one or more processors 112 of computing device 110) in some of the following embodiments.

[0046] In some embodiments, the method 300 for picking up passengers indoors in an autonomous vehicle includes the following steps: (1) A request for people to board or alight inside a building is received by at least one processor; (2) At least one processor uses a mapping system and a first positioning system to determine the location of the building's interior entrance; (3) When the autonomous vehicle arrives near the entrance location, at least one processor uses at least one sensor to confirm the entrance location, and at least one sensor detects the entrance traffic control status at the entrance location and outputs an output signal; (4) When at least one processor receives the output signal and determines that the entrance traffic control status is open, at least one processor controls the autonomous vehicle to drive from the entrance into the building's interior; (5) During the process of the autonomous vehicle entering the building's interior, at least one processor switches to indoor operation mode based on a switching signal to control the autonomous vehicle's arrival at the passenger pick-up location; and (6) The processor establishes an exit path in indoor operation mode based on the signal of personnel getting on or off the vehicle, so as to control the autonomous vehicle to drive out from the indoor exit position of the building.

[0047] To provide a detailed explanation of how the autonomous vehicle's indoor passenger pick-up system operates, Figure 4 will be used as a reference. It should be understood that, unless otherwise specified, the order of the steps mentioned in Figure 4 can be adjusted as needed, and they can be performed simultaneously or partially simultaneously. Additional steps can be added, or some steps can be omitted.

[0048] Figure 4 is a flowchart of an autonomous vehicle indoor passenger pick-up and drop-off method 300 according to some embodiments of this disclosure, and Figures 1 to 3 can be consulted concurrently. In step S310, a request to get on or off the vehicle is received, for example, a request for a person to get on or off the vehicle indoors is received by at least one processor. In some embodiments, when the person, such as a user, is indoors, the user-end computing device (e.g., smartphone 220, smart wearable device 230, or computer 240) sends a request command for the vehicle directly to the processor 112 of the vehicle 100 using a built-in positioning device or map data. In other embodiments, when the person, such as a user, is indoors, the user-end computing devices 220, 230, and 240 send a request command for the passenger pick-up and drop-off to one or more servers 210 using a built-in positioning device or map data. Next, after communicating with all the vehicles under its management, the server 210 provides vehicles 100 capable of performing tasks based on whether the vehicles are currently available for dispatch and their proximity to the user. The server 210 sends the user's request instruction to the vehicle 100 that is actually capable of performing the task, and also provides the user with the corresponding information about the vehicle 100 capable of performing the task. In some embodiments, the interior includes a basement, a ground-floor interior, an above-ground interior, or a combination thereof.

[0049] In step S320, the location of the building entrance is confirmed using a mapping system and a positioning system. For example, at least one processor confirms the location of the building's interior entrance using the mapping system and the positioning system. In some embodiments, the processor 112 of the vehicle 100 confirms the location of the building's interior entrance using a mapping system 138 and a positioning system 140. In one embodiment, the mapping system 138 includes parking lot entrance features, parking lot exit features, a map, lane markings, parking signs, curbs, sidewalks, or combinations thereof. In one embodiment, the positioning system 140 is a first positioning system suitable for use in outdoor environments.

[0050] In step S330, the sensor confirms the entrance location and entrance traffic control status. For example, when the autonomous vehicle arrives near the entrance location, at least one processor uses at least one sensor to confirm the entrance location, and at least one sensor detects the entrance traffic control status at the entrance location and outputs an output signal. In some embodiments, if the processor 112 of the vehicle 100 determines through the sensing system 142 that the actual location the vehicle 100 has arrived at is not the actual entrance location of the building, this means that the supplementary information (such as building features) in the original mapping system 138 is incorrect or has not been updated to the latest information. In this case, the vehicle 100 then cruises and explores according to the mapping system 138 and the positioning system 140 to find the correct entrance location of the building along the roads in the area where the building is located. Specifically, the processor 112 of the vehicle 100 can use the sensing system 142 (such as a camera) to perform real-time video analysis on the target building to identify signs (text or images, etc.) containing entrance-related information, thereby confirming the correct building entrance location. In addition, once the processor 112 of vehicle 100 confirms the correct building entrance location, it updates the map data system 138.

[0051] In some embodiments, the sensing system 142 of vehicle 100 detects the real-time situation and traffic control status at the entrance location. For example, when vehicle 100 arrives near the entrance / exit lane, the sensing system 142 identifies various control signals, signs, and actions, such as traffic lights, entry / exit lanes, security personnel hand signals, gates / fences, etc. In some embodiments, after detecting the real-time situation and traffic control status at the entrance location, the sensing system 142 of vehicle 100 outputs an output signal command to the processor 112 of vehicle 100. In some embodiments, in addition to detecting the real-time situation and traffic control status at the entrance location via the sensing system 142 of vehicle 100, the processor 112 may also access at least one monitor on the road via network 250 to confirm the entrance location and traffic control status.

[0052] In step S340, the processor determines the entrance traffic control status and then drives in. For example, when at least one processor receives an output signal and determines that the entrance traffic control status is open, at least one processor controls the autonomous vehicle to drive from the entrance position into the building's interior. Referring also to Figure 5, in some embodiments, in step S342, the processor determines the entrance traffic control status. For example, after receiving data from the sensing system 142 detecting the entrance traffic control status, the processor 112 of vehicle 100 determines whether vehicle 100 can drive from the entrance position into the building's interior under the current conditions.

[0053] If entry is permitted, in step S344, the processor controls the autonomous vehicle to enter from the entrance. For example, when entry is permitted, the processor 112 of vehicle 100 controls the acceleration system 132 and power system 144 of vehicle 100 to output power, and coordinates with the steering system 134 to turn vehicle 100 as needed, while the signal system 136 executes the flashing of the turn signals as a reminder.

[0054] If entry is not permitted, in step S346, the processor sends a message to the personnel explaining that the autonomous vehicle will be delayed in arriving. For example, when entry is not permitted, vehicle 100 will first stop at a suitable location in front of the entrance (such as near the edge of the road), and the processor 112 of vehicle 100 will send a message to the user's computing device (such as a smartphone 220, a smart wearable device 230, or a computer 240), and display on displays 222, 232, or 242 an explanation that vehicle 100 will be delayed in arriving at the personnel's pick-up location and the relevant reasons (such as the current traffic situation at the entrance). Then, returning to step S330, the sensing system 142 of vehicle 100 will continue to monitor the real-time situation and traffic conditions at the entrance location. In some embodiments, when entry is not possible, the processor 112 of vehicle 100 may send a message to the user and also notify the user that an instruction to change the boarding location is available. For example, the processor 112 of vehicle 100 may identify a suitable parking location (outdoor) near the entrance that will not affect road users and ask the user if they wish to board the vehicle at the provided suitable parking location. In addition, vehicle 100 may also accept other parking locations specified by the user at this time.

[0055] In step S350, the processor switches to indoor operation mode to reach the pick-up location. For example, during the process of the autonomous vehicle entering the interior of the building, at least one processor switches to indoor operation mode according to the switching signal to control the autonomous vehicle to reach the pick-up location.

[0056] In some embodiments, when the first positioning system in the positioning system 140 of the vehicle 100 loses signal, when the map data of the mapping system 138 encounters a preset switching point, when the map data of the mapping system 138 is insufficient, or a combination thereof, the positioning system 140 and / or the mapping system 138 trigger a switching signal to the processor 112 of the vehicle 100. Then, the processor 112 of the vehicle 100 receives the switching signal and switches to indoor operation mode. Further, the indoor operation mode utilizes an indoor mapping system 139 in conjunction with a second positioning system to enable the vehicle 100 to operate indoors. In some embodiments, the indoor mapping system 139 includes real-time environmental map construction, pre-constructed environmental map construction, point cloud map planning, or a combination thereof. In some embodiments, the second positioning system includes Assisted Global Positioning System (AGPS), visual image sensing, magnetic sensing technology, and an RFID-based indoor positioning system.

[0057] In other embodiments, the processor 112 of the vehicle 100 sends a command to the sensing system 142 to switch to indoor operation mode, and the sensing system 142 (e.g., camera, LiDAR, radar, etc.) instantly constructs an environmental map for indoor driving.

[0058] In other embodiments, the processor 112 of the vehicle 100 sends a command to the mapping system 138 to switch to indoor operation mode. The mapping system 138 performs indoor driving based on a pre-built indoor environment map and in conjunction with the sensing system 142 (e.g., camera, LiDAR, radar, etc.).

[0059] In some embodiments, the processor 112 of the vehicle 100 sends a command to the sensing system 142 to switch to an indoor operating mode. The sensing system 142 guides the vehicle 100 to drive indoors by sensing indoor lane lines or magnetic materials buried around the lanes using magnetic sensing technology. In other embodiments, the processor 112 of the vehicle 100 sends a command to the sensing system 142 to switch to an indoor operating mode. The sensing system 142 guides the vehicle 100 to drive indoors by sensing indoor lane lines or radio frequency identification (RFID) devices installed around the lanes using radio frequency identification technology.

[0060] In some embodiments, the personnel pick-up and drop-off location inside the building can be a specific area that is planned, for example, has special markings, labels, identification electronic components, etc., to make it easier to identify the vehicle 100 when it is driving inside the building.

[0061] In step S360, after a person has boarded or alighted, the processor establishes an exit path and drives out. For example, based on the person's boarding or alighting completion signal, the processor establishes an exit path in indoor operation mode to control the autonomous vehicle to drive out from the building's indoor exit location. In some embodiments, after a user boards the vehicle, the processor 112 of the vehicle 100 can control the in-vehicle display 122 or speaker 124 to instruct the user to confirm whether boarding is complete, and receive the boarding completion signal through the user's operation on the input device 120. In some embodiments, after a user has boarded the vehicle, when the vehicle 100's wireless network connection port 126 detects or does not detect the user's terminal computing device 220, 230, or 240, it determines that the user has alighted and transmits a person alighting completion signal to the vehicle 100's processor 112. Next, the vehicle 100 establishes an exit path in indoor operation mode, similar to step S350, using an indoor mapping system (such as a real-time constructed environmental map, a pre-constructed environmental map, a point cloud map, or a combination thereof) in conjunction with a second positioning system to control the vehicle 100 to exit from the building's indoor exit location. In some embodiments, the process steps before the autonomous vehicle exits the exit location are similar to step S330, using sensors to confirm the exit location and exit traffic control status, which will not be described in detail here.

[0062] In some embodiments, when the vehicle 100 leaves the building from the exit position and the first positioning system in the positioning system 140 regains a signal, when the map data of the indoor mapping system 139 encounters a preset switching point, when the map data of the indoor mapping system 139 is insufficient, or a combination thereof, the processor 112 of the vehicle 100 will force a switch from indoor operation mode back to normal mode, that is, reuse the map data system 138 and the first positioning system of the positioning system 140 to drive on outdoor roads.

[0063] Although the present disclosure has been described above with reference to embodiments, it is not intended to limit the present disclosure. Anyone skilled in the art may make various modifications and refinements without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure shall be determined by the appended claims.

[0064] 100: Vehicles 110: Computing device 112: Processor 114: Memory 116: Instruction 118: Data 120: Input device 122: In-vehicle display screen 124: Speaker 126: Wireless network port 130: Reduction System 132: Acceleration System 134: Steering System 136: Signal System 138: Map Data System 139: Indoor Mapping System 140: Positioning System 142: Sensing System 144: Power System 210: Computing device / server 220: Computing device / Smartphone 222: Monitor 224: Input devices 230: Computing device / Smart wearable device 232: Monitor 234: Input devices 240: Computing device / computer 242: Monitor 244: Input devices 250: Network 300: Method S310, S320, S330, S340, S342, S344, S346, S350, S360: Steps

Claims

1. A method for picking up and dropping off passengers indoors by an autonomous vehicle, comprising the steps of: (1) receiving a request from at least one processor to allow a person to board or alight in an indoor space of a building; (2) the at least one processor confirming the location of an entrance in the indoor space of the building using a mapping system and a first positioning system; (3) when the autonomous vehicle arrives near the entrance location, the at least one processor uses at least one sensor in conjunction with cruise exploration to find and confirm the correct entrance location, and the at least one sensor detects the entrance traffic control status at the entrance location and outputs an output signal; (4) when the at least one processor receives the output signal and determines that the entrance traffic control status is an enterable state, the at least one processor controls the autonomous vehicle to drive from the entrance location into the indoor space of the building. (5) During the process of the autonomous vehicle entering the interior of the building, the at least one processor switches to an interior operation mode according to a switching signal, so as to use an interior map and a second positioning system to control the autonomous vehicle to arrive at a passenger pick-up location, wherein the second positioning system is different from the first positioning system; and (6) According to a signal indicating that a passenger has boarded or disembarked, the at least one processor establishes an exit path in the interior operation mode to control the autonomous vehicle to drive out from an exit location of the interior of the building.

2. The method as described in claim 1, wherein the interior comprises a basement, a ground floor interior, an above-ground floor interior, or a combination thereof.

3. The method as described in claim 1, wherein the mapping system includes parking lot entrance features, parking lot exit features, a map, lane markings, parking signs, curbs, sidewalks, or combinations thereof.

4. The method as described in claim 1, wherein the first positioning system comprises a Global Positioning System, a BeiDou Navigation Satellite System, a GLONASS system, a Galileo positioning system, a Quasi-Zenith Satellite System, an Indian Regional Navigation Satellite System, or a combination thereof.

5. The method as described in claim 1, wherein step (3) includes the processor accessing at least one monitor via a network to confirm the location of the entry point.

6. The method as described in claim 1, wherein the entrance traffic management conditions include traffic light control of the entrance lane, a single lane for two-way traffic to enter and exit, security personnel hand signals, entrance lane barriers, or a combination thereof.

7. The method as described in claim 1, wherein prior to step (4), the method further includes, when the processor receives the output signal and determines that the entrance traffic control status is an inaccessible state, the processor sends a message to the person to convey, based on the entrance traffic control status, information indicating that the autonomous vehicle will be delayed in arriving at the person's pick-up location, or to notify the person that an instruction to change the pick-up location is currently available.

8. The method as described in claim 1, wherein the switching signal includes the disappearance of the signal of the first positioning system, the map data of the map system encountering a switching point, the map data of the map system having insufficient content, or a combination thereof.

9. The method as described in claim 1, wherein the indoor map data includes an in-situ constructed environment map, a pre-constructed environment map, a point cloud map, or a combination thereof.

10. The method as described in claim 1, wherein the second positioning system comprises an assisted global positioning system, visual image sensing, magnetic sensing technology, and an RFID-based indoor positioning system.

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